feat: initialize project with core dependencies and game entry point

2026-01-03 01:24:51 -05:00
commit 45d46ddac6
1382 changed files with 844553 additions and 0 deletions
--- a/node_modules/three/examples/jsm/animation/CCDIKSolver.js
+++ b/node_modules/three/examples/jsm/animation/CCDIKSolver.js
@@ -0,0 +1,591 @@
+import {
+	BufferAttribute,
+	BufferGeometry,
+	Color,
+	Line,
+	LineBasicMaterial,
+	Matrix4,
+	Mesh,
+	MeshBasicMaterial,
+	Object3D,
+	Quaternion,
+	SphereGeometry,
+	Vector3
+} from 'three';
+
+const _quaternion = new Quaternion();
+const _targetPos = new Vector3();
+const _targetVec = new Vector3();
+const _effectorPos = new Vector3();
+const _effectorVec = new Vector3();
+const _linkPos = new Vector3();
+const _invLinkQ = new Quaternion();
+const _linkScale = new Vector3();
+const _axis = new Vector3();
+const _vector = new Vector3();
+const _matrix = new Matrix4();
+
+/**
+ * This class solves the Inverse Kinematics Problem with a [CCD Algorithm](https://web.archive.org/web/20221206080850/https://sites.google.com/site/auraliusproject/ccd-algorithm).
+ *
+ * `CCDIKSolver` is designed to work with instances of {@link SkinnedMesh}.
+ *
+ * @three_import import { CCDIKSolver } from 'three/addons/animation/CCDIKSolver.js';
+ */
+class CCDIKSolver {
+
+	/**
+	 * @param {SkinnedMesh} mesh - The skinned mesh.
+	 * @param {Array<CCDIKSolver~IK>} [iks=[]] - The IK objects.
+	 */
+	constructor( mesh, iks = [] ) {
+
+		/**
+		 * The skinned mesh.
+		 *
+		 * @type {SkinnedMesh}
+		 */
+		this.mesh = mesh;
+
+		/**
+		 * The IK objects.
+		 *
+		 * @type {SkinnedMesh}
+		 */
+		this.iks = iks;
+
+		this._initialQuaternions = [];
+		this._workingQuaternion = new Quaternion();
+
+		for ( const ik of iks ) {
+
+			const chainQuats = [];
+			for ( let i = 0; i < ik.links.length; i ++ ) {
+
+			  chainQuats.push( new Quaternion() );
+
+			}
+
+			this._initialQuaternions.push( chainQuats );
+
+		}
+
+		this._valid();
+
+	}
+
+	/**
+	 * Updates all IK bones by solving the CCD algorithm.
+	 *
+	 * @param {number} [globalBlendFactor=1.0] - Blend factor applied if an IK chain doesn't have its own .blendFactor.
+	 * @return {CCDIKSolver} A reference to this instance.
+	 */
+	update( globalBlendFactor = 1.0 ) {
+
+		const iks = this.iks;
+
+		for ( let i = 0, il = iks.length; i < il; i ++ ) {
+
+			this.updateOne( iks[ i ], globalBlendFactor );
+
+		}
+
+		return this;
+
+	}
+
+	/**
+	 * Updates one IK bone solving the CCD algorithm.
+	 *
+	 * @param {CCDIKSolver~IK} ik - The IK to update.
+	 * @param {number} [overrideBlend=1.0] - If the IK object does not define `blendFactor`, this value is used.
+	 * @return {CCDIKSolver} A reference to this instance.
+	 */
+	updateOne( ik, overrideBlend = 1.0 ) {
+
+		const chainBlend = ik.blendFactor !== undefined ? ik.blendFactor : overrideBlend;
+		const bones = this.mesh.skeleton.bones;
+		const chainIndex = this.iks.indexOf( ik );
+		const initialQuaternions = this._initialQuaternions[ chainIndex ];
+
+		// for reference overhead reduction in loop
+		const math = Math;
+
+		const effector = bones[ ik.effector ];
+		const target = bones[ ik.target ];
+
+		// don't use getWorldPosition() here for the performance
+		// because it calls updateMatrixWorld( true ) inside.
+		_targetPos.setFromMatrixPosition( target.matrixWorld );
+
+		const links = ik.links;
+		const iteration = ik.iteration !== undefined ? ik.iteration : 1;
+
+		if ( chainBlend < 1.0 ) {
+
+			for ( let j = 0; j < links.length; j ++ ) {
+
+			  const linkIndex = links[ j ].index;
+			  initialQuaternions[ j ].copy( bones[ linkIndex ].quaternion );
+
+			}
+
+		}
+
+		for ( let i = 0; i < iteration; i ++ ) {
+
+			let rotated = false;
+
+			for ( let j = 0, jl = links.length; j < jl; j ++ ) {
+
+				const link = bones[ links[ j ].index ];
+
+				// skip this link and following links
+				if ( links[ j ].enabled === false ) break;
+
+				const limitation = links[ j ].limitation;
+				const rotationMin = links[ j ].rotationMin;
+				const rotationMax = links[ j ].rotationMax;
+
+				// don't use getWorldPosition/Quaternion() here for the performance
+				// because they call updateMatrixWorld( true ) inside.
+				link.matrixWorld.decompose( _linkPos, _invLinkQ, _linkScale );
+				_invLinkQ.invert();
+				_effectorPos.setFromMatrixPosition( effector.matrixWorld );
+
+				// work in link world
+				_effectorVec.subVectors( _effectorPos, _linkPos );
+				_effectorVec.applyQuaternion( _invLinkQ );
+				_effectorVec.normalize();
+
+				_targetVec.subVectors( _targetPos, _linkPos );
+				_targetVec.applyQuaternion( _invLinkQ );
+				_targetVec.normalize();
+
+				let angle = _targetVec.dot( _effectorVec );
+
+				if ( angle > 1.0 ) {
+
+					angle = 1.0;
+
+				} else if ( angle < - 1.0 ) {
+
+					angle = - 1.0;
+
+				}
+
+				angle = math.acos( angle );
+
+				// skip if changing angle is too small to prevent vibration of bone
+				if ( angle < 1e-5 ) continue;
+
+				if ( ik.minAngle !== undefined && angle < ik.minAngle ) {
+
+					angle = ik.minAngle;
+
+				}
+
+				if ( ik.maxAngle !== undefined && angle > ik.maxAngle ) {
+
+					angle = ik.maxAngle;
+
+				}
+
+				_axis.crossVectors( _effectorVec, _targetVec );
+				_axis.normalize();
+
+				_quaternion.setFromAxisAngle( _axis, angle );
+				link.quaternion.multiply( _quaternion );
+
+				// TODO: re-consider the limitation specification
+				if ( limitation !== undefined ) {
+
+					let c = link.quaternion.w;
+
+					if ( c > 1.0 ) c = 1.0;
+
+					const c2 = math.sqrt( 1 - c * c );
+					link.quaternion.set( limitation.x * c2,
+					                     limitation.y * c2,
+					                     limitation.z * c2,
+					                     c );
+
+				}
+
+				if ( rotationMin !== undefined ) {
+
+					link.rotation.setFromVector3( _vector.setFromEuler( link.rotation ).max( rotationMin ) );
+
+				}
+
+				if ( rotationMax !== undefined ) {
+
+					link.rotation.setFromVector3( _vector.setFromEuler( link.rotation ).min( rotationMax ) );
+
+				}
+
+				link.updateMatrixWorld( true );
+
+				rotated = true;
+
+			}
+
+			if ( ! rotated ) break;
+
+		}
+
+		if ( chainBlend < 1.0 ) {
+
+			for ( let j = 0; j < links.length; j ++ ) {
+
+			  const linkIndex = links[ j ].index;
+			  const link = bones[ linkIndex ];
+
+			  this._workingQuaternion.copy( initialQuaternions[ j ] ).slerp( link.quaternion, chainBlend );
+
+			  link.quaternion.copy( this._workingQuaternion );
+			  link.updateMatrixWorld( true );
+
+			}
+
+		}
+
+		  return this;
+
+	}
+
+	/**
+	 * Creates a helper for visualizing the CCDIK.
+	 *
+	 * @param {number} sphereSize - The sphere size.
+	 * @return {CCDIKHelper} The created helper.
+	 */
+	createHelper( sphereSize ) {
+
+		return new CCDIKHelper( this.mesh, this.iks, sphereSize );
+
+	}
+
+	// private methods
+
+	_valid() {
+
+		const iks = this.iks;
+		const bones = this.mesh.skeleton.bones;
+
+		for ( let i = 0, il = iks.length; i < il; i ++ ) {
+
+			const ik = iks[ i ];
+			const effector = bones[ ik.effector ];
+			const links = ik.links;
+			let link0, link1;
+
+			link0 = effector;
+
+			for ( let j = 0, jl = links.length; j < jl; j ++ ) {
+
+				link1 = bones[ links[ j ].index ];
+
+				if ( link0.parent !== link1 ) {
+
+					console.warn( 'THREE.CCDIKSolver: bone ' + link0.name + ' is not the child of bone ' + link1.name );
+
+				}
+
+				link0 = link1;
+
+			}
+
+		}
+
+	}
+
+}
+
+function getPosition( bone, matrixWorldInv ) {
+
+	return _vector
+		.setFromMatrixPosition( bone.matrixWorld )
+		.applyMatrix4( matrixWorldInv );
+
+}
+
+function setPositionOfBoneToAttributeArray( array, index, bone, matrixWorldInv ) {
+
+	const v = getPosition( bone, matrixWorldInv );
+
+	array[ index * 3 + 0 ] = v.x;
+	array[ index * 3 + 1 ] = v.y;
+	array[ index * 3 + 2 ] = v.z;
+
+}
+
+/**
+ * Helper for visualizing IK bones.
+ *
+ * @augments Object3D
+ * @three_import import { CCDIKHelper } from 'three/addons/animation/CCDIKSolver.js';
+ */
+class CCDIKHelper extends Object3D {
+
+	/**
+	 * @param {SkinnedMesh} mesh - The skinned mesh.
+ 	 * @param {Array<CCDIKSolver~IK>} [iks=[]] - The IK objects.
+ 	 * @param {number} [sphereSize=0.25] - The sphere size.
+	 */
+	constructor( mesh, iks = [], sphereSize = 0.25 ) {
+
+		super();
+
+		/**
+		 * The skinned mesh this helper refers to.
+		 *
+		 * @type {SkinnedMesh}
+		 */
+		this.root = mesh;
+
+		/**
+		 * The IK objects.
+		 *
+		 * @type {Array<CCDIKSolver~IK>}
+		 */
+		this.iks = iks;
+
+		this.matrix.copy( mesh.matrixWorld );
+		this.matrixAutoUpdate = false;
+
+		/**
+		 * The helpers sphere geometry.
+		 *
+		 * @type {SkinnedMesh}
+		 */
+		this.sphereGeometry = new SphereGeometry( sphereSize, 16, 8 );
+
+		/**
+		 * The material for the target spheres.
+		 *
+		 * @type {MeshBasicMaterial}
+		 */
+		this.targetSphereMaterial = new MeshBasicMaterial( {
+			color: new Color( 0xff8888 ),
+			depthTest: false,
+			depthWrite: false,
+			transparent: true
+		} );
+
+		/**
+		 * The material for the effector spheres.
+		 *
+		 * @type {MeshBasicMaterial}
+		 */
+		this.effectorSphereMaterial = new MeshBasicMaterial( {
+			color: new Color( 0x88ff88 ),
+			depthTest: false,
+			depthWrite: false,
+			transparent: true
+		} );
+
+		/**
+		 * The material for the link spheres.
+		 *
+		 * @type {MeshBasicMaterial}
+		 */
+		this.linkSphereMaterial = new MeshBasicMaterial( {
+			color: new Color( 0x8888ff ),
+			depthTest: false,
+			depthWrite: false,
+			transparent: true
+		} );
+
+		/**
+		 * A global line material.
+		 *
+		 * @type {LineBasicMaterial}
+		 */
+		this.lineMaterial = new LineBasicMaterial( {
+			color: new Color( 0xff0000 ),
+			depthTest: false,
+			depthWrite: false,
+			transparent: true
+		} );
+
+		this._init();
+
+	}
+
+	updateMatrixWorld( force ) {
+
+		const mesh = this.root;
+
+		if ( this.visible ) {
+
+			let offset = 0;
+
+			const iks = this.iks;
+			const bones = mesh.skeleton.bones;
+
+			_matrix.copy( mesh.matrixWorld ).invert();
+
+			for ( let i = 0, il = iks.length; i < il; i ++ ) {
+
+				const ik = iks[ i ];
+
+				const targetBone = bones[ ik.target ];
+				const effectorBone = bones[ ik.effector ];
+
+				const targetMesh = this.children[ offset ++ ];
+				const effectorMesh = this.children[ offset ++ ];
+
+				targetMesh.position.copy( getPosition( targetBone, _matrix ) );
+				effectorMesh.position.copy( getPosition( effectorBone, _matrix ) );
+
+				for ( let j = 0, jl = ik.links.length; j < jl; j ++ ) {
+
+					const link = ik.links[ j ];
+					const linkBone = bones[ link.index ];
+
+					const linkMesh = this.children[ offset ++ ];
+
+					linkMesh.position.copy( getPosition( linkBone, _matrix ) );
+
+				}
+
+				const line = this.children[ offset ++ ];
+				const array = line.geometry.attributes.position.array;
+
+				setPositionOfBoneToAttributeArray( array, 0, targetBone, _matrix );
+				setPositionOfBoneToAttributeArray( array, 1, effectorBone, _matrix );
+
+				for ( let j = 0, jl = ik.links.length; j < jl; j ++ ) {
+
+					const link = ik.links[ j ];
+					const linkBone = bones[ link.index ];
+					setPositionOfBoneToAttributeArray( array, j + 2, linkBone, _matrix );
+
+				}
+
+				line.geometry.attributes.position.needsUpdate = true;
+
+			}
+
+		}
+
+		this.matrix.copy( mesh.matrixWorld );
+
+		super.updateMatrixWorld( force );
+
+	}
+
+	/**
+	 * Frees the GPU-related resources allocated by this instance.
+	 * Call this method whenever this instance is no longer used in your app.
+	 */
+	dispose() {
+
+		this.sphereGeometry.dispose();
+
+		this.targetSphereMaterial.dispose();
+		this.effectorSphereMaterial.dispose();
+		this.linkSphereMaterial.dispose();
+		this.lineMaterial.dispose();
+
+		const children = this.children;
+
+		for ( let i = 0; i < children.length; i ++ ) {
+
+			const child = children[ i ];
+
+			if ( child.isLine ) child.geometry.dispose();
+
+		}
+
+	}
+
+	// private method
+
+	_init() {
+
+		const scope = this;
+		const iks = this.iks;
+
+		function createLineGeometry( ik ) {
+
+			const geometry = new BufferGeometry();
+			const vertices = new Float32Array( ( 2 + ik.links.length ) * 3 );
+			geometry.setAttribute( 'position', new BufferAttribute( vertices, 3 ) );
+
+			return geometry;
+
+		}
+
+		function createTargetMesh() {
+
+			return new Mesh( scope.sphereGeometry, scope.targetSphereMaterial );
+
+		}
+
+		function createEffectorMesh() {
+
+			return new Mesh( scope.sphereGeometry, scope.effectorSphereMaterial );
+
+		}
+
+		function createLinkMesh() {
+
+			return new Mesh( scope.sphereGeometry, scope.linkSphereMaterial );
+
+		}
+
+		function createLine( ik ) {
+
+			return new Line( createLineGeometry( ik ), scope.lineMaterial );
+
+		}
+
+		for ( let i = 0, il = iks.length; i < il; i ++ ) {
+
+			const ik = iks[ i ];
+
+			this.add( createTargetMesh() );
+			this.add( createEffectorMesh() );
+
+			for ( let j = 0, jl = ik.links.length; j < jl; j ++ ) {
+
+				this.add( createLinkMesh() );
+
+			}
+
+			this.add( createLine( ik ) );
+
+		}
+
+	}
+
+}
+
+/**
+ * This type represents IK configuration objects.
+ *
+ * @typedef {Object} CCDIKSolver~IK
+ * @property {number} target - The target bone index which refers to a bone in the `Skeleton.bones` array.
+ * @property {number} effector - The effector bone index which refers to a bone in the `Skeleton.bones` array.
+ * @property {Array<CCDIKSolver~BoneLink>} links - An array of bone links.
+ * @property {number} [iteration=1] - Iteration number of calculation. Smaller is faster but less precise.
+ * @property {number} [minAngle] - Minimum rotation angle in a step in radians.
+ * @property {number} [maxAngle] - Minimum rotation angle in a step in radians.
+ * @property {number} [blendFactor] - The blend factor.
+ **/
+
+/**
+ * This type represents bone links.
+ *
+ * @typedef {Object} CCDIKSolver~BoneLink
+ * @property {number} index - The index of a linked bone which refers to a bone in the `Skeleton.bones` array.
+ * @property {number} [limitation] - Rotation axis.
+ * @property {number} [rotationMin] - Rotation minimum limit.
+ * @property {number} [rotationMax] - Rotation maximum limit.
+ * @property {boolean} [enabled=true] - Whether the link is enabled or not.
+ **/
+
+
+export { CCDIKSolver, CCDIKHelper };