IK Bone Sample
こっそり開発している、3DライブラリにIKを実装しようと思ったのだけど、
いきなり3Dで考えると訳わからなくなってきたので、ちょっと試しに2Dでプロトタイプを作成。
先の事考えて、余分なクラスとか入ってますが気にしないでください。
Joint部分の、抵抗値や、稼動範囲値などは、まだ未実装
次Verでは、自作Meshやシェイプに関連付けられるようにする予定
@author narutohyper
/**
* Copyright narutohyper ( http://wonderfl.net/user/narutohyper )
* MIT License ( http://www.opensource.org/licenses/mit-license.php )
* Downloaded from: http://wonderfl.net/c/tj5H
*/
package
{
import flash.display.Sprite;
/**
* こっそり開発している、3DライブラリにIKを実装しようと思ったのだけど、
* いきなり3Dで考えると訳わからなくなってきたので、ちょっと試しに2Dでプロトタイプを作成。
*
* 先の事考えて、余分なクラスとか入ってますが気にしないでください。
*
* Joint部分の、抵抗値や、稼動範囲値などは、まだ未実装
* 次Verでは、自作Meshやシェイプに関連付けられるようにする予定
*
* @author narutohyper
*/
[SWF(width = 465, height = 465, frameRate = 60)]
public class Main extends Sprite {
private var ika:IKArmature2d;
private var segments:Array;
private var num:Number = 10;
public function Main() {
this.stage.quality = "BEST";
//アーマチュアの作成
ika = new IKArmature2d();
//ボーンの作成
var test:uint = 0;
if (test) {
ika.setBone(new IKBone2d('test1', 100, 0));
ika.setBone(new IKBone2d('test2', 50, 70));
ika.joint('root', 'test1');
ika.joint('test1', 'test2');
} else {
ika.setBone(new IKBone2d('body', 60, 0));
ika.setBone(new IKBone2d('breast', 50, 0));
ika.setBone(new IKBone2d('waistRight', 50, 140));
ika.setBone(new IKBone2d('upperFootRight', 80, 180));
ika.setBone(new IKBone2d('lowerFootRight', 70, 180));
ika.setBone(new IKBone2d('ankleRight', 30, 120));
ika.setBone(new IKBone2d('shoulderRight',50,100));
ika.setBone(new IKBone2d('upperArmRight',50,150));
ika.setBone(new IKBone2d('lowerArmRight',50,170));
ika.setBone(new IKBone2d('handRight', 20, 180));
ika.setBone(new IKBone2d('waistLeft', 50, -140));
ika.setBone(new IKBone2d('upperFootLeft', 80, -180));
ika.setBone(new IKBone2d('lowerFootLeft', 70, -180));
ika.setBone(new IKBone2d('ankleLeft', 30, -120));
ika.setBone(new IKBone2d('shoulderLeft',50,-100));
ika.setBone(new IKBone2d('upperArmLeft',50,-150));
ika.setBone(new IKBone2d('lowerArmLeft',50,-170));
ika.setBone(new IKBone2d('handLeft', 20, -180));
ika.setBone(new IKBone2d('neck',20,0));
ika.setBone(new IKBone2d('head',40,0));
//ボーンをジョイント
ika.joint('root', 'body');
ika.joint('root', 'waistRight');
ika.joint('root', 'waistLeft');
ika.joint('body', 'breast');
ika.joint('breast', 'neck');
ika.joint('neck', 'head');
ika.joint('breast', 'shoulderRight');
ika.joint('breast', 'shoulderLeft');
ika.joint('shoulderRight','upperArmRight');
ika.joint('shoulderLeft', 'upperArmLeft');
ika.joint('upperArmRight','lowerArmRight');
ika.joint('upperArmLeft','lowerArmLeft');
ika.joint('lowerArmRight','handRight');
ika.joint('lowerArmLeft', 'handLeft');
ika.joint('waistRight','upperFootRight');
ika.joint('waistLeft','upperFootLeft');
ika.joint('upperFootRight','lowerFootRight');
ika.joint('upperFootLeft', 'lowerFootLeft');
ika.joint('lowerFootRight','ankleRight');
ika.joint('lowerFootLeft','ankleLeft');
}
this.addChild(ika);
ika.x = 465/2;
ika.y = 465/2;
}
}
}
import flash.display.Shape;
import flash.display.Sprite;
import flash.events.Event;
import flash.events.MouseEvent;
import flash.geom.ColorTransform;
import flash.geom.Matrix3D;
import flash.geom.Point;
import flash.geom.Vector3D;
class IKArmature2d extends Sprite {
private var _rootJoint:IKJoint2d;
private var _bones:Object;
private var _mesh:Mesh2d;
public function IKArmature2d () {
bones = new Object;
rootJoint = new IKJoint2d('root')
this.addChild(rootJoint)
}
public function setBone(value:IKBone2d):void {
bones[value.id]=value;
value.mesh = mesh;
this.addChild(value);
}
public function joint($boneA:String = null, $boneB:String = null):void {
if ($boneA) {
if ($boneA == 'root') {
if (bones[$boneB]) {
bones[$boneB].jointRoot(rootJoint);
} else {
trace('Error:boneが存在しません。', $boneB + '=', bones[$boneB]);
}
} else if (bones[$boneB] && bones[$boneA]) {
bones[$boneB].setParentBone(bones[$boneA]);
bones[$boneA].setChildBone(bones[$boneB]);
} else {
trace('Error:boneが存在しません。', $boneA + '=', bones[$boneA], $boneA + '=', bones[$boneB]);
}
} else {
}
}
//関連付けられたMesh2d
public function set mesh(value:Mesh2d):void {
_mesh = value;
}
public function get mesh():Mesh2d {
return _mesh;
}
//基準となるジョイント
public function set rootJoint(value:IKJoint2d):void {
_rootJoint = value;
}
public function get rootJoint():IKJoint2d {
return _rootJoint;
}
public function set bones(value:Object):void {
_bones = value;
}
public function get bones():Object {
return _bones;
}
}
class IKBone2d extends Sprite {
public static const MOVE_BONE:String = 'move_bone';
private var _me:IKBone2d;
private var _headJoint : IKJoint2d;
private var _tailJoint : IKJoint2d;
private var _parentBones : Array;
private var _childBones : Array;
private var _length : Number;
private var _vectors : Vector.<Vector2d>;
private var _mesh:Mesh2d;
private var _bone:Shape;
private var _id:String;
private var _rootFlag:Boolean = false
private var _clickPoint:Point
public function IKBone2d ($id:String = 'null', $length:Number=100, $rotation:Number=0) {
id = $id;
_me = this;
_clickPoint = new Point();
_parentBones = [];
_childBones = [];
_bone = new Shape();
addChild(_bone);
headJoint = new IKJoint2d();
addChild(headJoint);
tailJoint = new IKJoint2d();
addChild(tailJoint)
length = $length;
rotationZ = $rotation;
addEventListener(MouseEvent.MOUSE_OVER, onMouseOver);
addEventListener(MouseEvent.MOUSE_OUT, onMouseOut);
addEventListener(MouseEvent.MOUSE_DOWN, onMouseDown);
}
//ドラッグの仕組み
private function onMouseOver(event:MouseEvent):void {
changeColor(0x3333ff);
}
private function onMouseOut(event:MouseEvent):void {
changeColor();
}
private function onMouseDown(event:MouseEvent):void {
_clickPoint = new Point(mouseX, mouseY);
removeEventListener(MouseEvent.MOUSE_OUT, onMouseOut);
removeEventListener(MouseEvent.MOUSE_OVER, onMouseOver);
removeEventListener(MouseEvent.MOUSE_DOWN, onMouseDown);
stage.addEventListener(MouseEvent.MOUSE_UP, onMouseUp);
stage.addEventListener(MouseEvent.MOUSE_MOVE,onMouseMove);
}
private function onMouseUp(event:MouseEvent):void {
_clickPoint = new Point(0, 0);
if (event.target != this) {
changeColor();
}
addEventListener(MouseEvent.MOUSE_OVER, onMouseOver);
addEventListener(MouseEvent.MOUSE_OUT, onMouseOut);
addEventListener(MouseEvent.MOUSE_DOWN, onMouseDown);
stage.removeEventListener(MouseEvent.MOUSE_MOVE,onMouseMove);
}
private function onMouseMove($color:uint = 0x006600):void {
move(headJoint, new Point(parent.mouseX, parent.mouseY), new Point(x, y),null,null,'mouseMove')
//親と子両方に伝達
var i:uint;
if (_childBones.length) {
for (i = 0; i < _childBones.length;i++) {
_childBones[i].parentMove(this,new Point(tailJoint.jx+x, tailJoint.jy+y))
}
}
if (_parentBones.length) {
for (i = 0; i < _parentBones.length;i++) {
_parentBones[i].childMove(this,new Point(x, y))
}
}
}
public function parentMove($target:IKBone2d,$pt:Point):void {
move(null, $pt, new Point(tailJoint.jx+x, tailJoint.jy+y),$target,'parent')
//親から回ってきたら、子に伝達
var i:uint;
if (_childBones.length) {
for (i = 0; i < _childBones.length;i++) {
_childBones[i].parentMove(this,new Point(tailJoint.jx+x, tailJoint.jy+y));
}
}
}
public function childMove($target:IKBone2d, $pt:Point):void {
move(headJoint, $pt, new Point(x, y),$target)
//子から回ってきたら、親に伝達
var i:uint;
if (_parentBones.length) {
for (i = 0; i < _parentBones.length;i++) {
_parentBones[i].childMove(this,new Point(x, y))
}
}
}
private function move($j:IKJoint2d, $p1:Point, $p2:Point, $target:IKBone2d = null , $type:String = null,$mode:String = null):void {
var dx:Number = $p1.x-$p2.x;
var dy:Number = $p1.y-$p2.y;
var angle:Number = Math.atan2( dy, dx );
if (!$type) {
rotationZ = angle * 180 / Math.PI + 90;
} else {
rotationZ = angle * 180 / Math.PI - 90;
}
//もし、headerJointが固定点（rootJoint）に繋がっていたら、動かさない
if (!_rootFlag) {
if ($mode) {
var v3d:Vector3D = new Vector3D(0 ,_clickPoint.y, 0);
var mtx:Matrix3D = new Matrix3D();
mtx.prependRotation(rotationZ, Vector3D.Z_AXIS);
v3d = mtx.transformVector(v3d);
x = $p1.x - v3d.x
y = $p1.y - v3d.y;
} else if ($j) {
x = $p1.x - $j.jx;
y = $p1.y - $j.jy;
} else {
x = $p1.x;
y = $p1.y;
}
} else {
if ($target) {
$target.parentMove(null,new Point(tailJoint.jx+x, tailJoint.jy+y));
}
}
}
private function changeColor($color:uint = 0x006600):void {
var tc:ColorTransform = new ColorTransform()
tc.color = $color;
transform.colorTransform = tc;
}
//関連付けられたMesh2d
public function set mesh(value:Mesh2d):void {
_mesh = value;
}
public function get mesh():Mesh2d {
return _mesh;
}
//ボーンが影響するVector2d
public function set vectors(value:Vector.<Vector2d>):void {
_vectors = value;
}
public function get vectors():Vector.<Vector2d> {
return _vectors;
}
//ボーンの長さ
public function set length(value:Number):void {
makeBone(value)
_length = value;
tailJoint.y = -value;
tailJoint.v3d = new Vector3D(0,-_length, 0);
var mtx:Matrix3D = new Matrix3D();
mtx.prependRotation(rotationZ, Vector3D.Z_AXIS);
tailJoint.v3d = mtx.transformVector(tailJoint.v3d);
}
public function get length():Number {
return _length;
}
//ボーンの回転
//単にrotationでもいいのだが、3D化に備えあえてrotationZ&Vector3D
override public function set rotationZ(value:Number):void {
super.rotationZ = value;
tailJoint.v3d = new Vector3D(0,-_length, 0);
var mtx:Matrix3D = new Matrix3D();
mtx.prependRotation(value, Vector3D.Z_AXIS);
tailJoint.v3d = mtx.transformVector(tailJoint.v3d);
}
override public function get rotationZ():Number {
return super.rotationZ;
}
//始点ジョイント
public function set headJoint(value:IKJoint2d):void {
_headJoint = value;
}
public function get headJoint():IKJoint2d {
return _headJoint;
}
//終点ジョイント
public function set tailJoint(value:IKJoint2d):void {
_headJoint = value;
}
public function get tailJoint():IKJoint2d {
return _headJoint;
}
//JointBone(始点Jointを親BoneのtailJointに結合する)
public function jointBone(value:IKBone2d):void {
x = value.tailJoint.jx;
y = value.tailJoint.jy;
if (value){
x += value.x
y += value.y
}
}
//JointRoot(始点JointをrootJointに結合する)
public function jointRoot(value:IKJoint2d):void {
_rootFlag=true
x = value.jx;
y = value.jy;
}
//親Boneのセット
public function setParentBone(value:IKBone2d):void {
_parentBones.push(value);
jointBone(value);
}
//子Boneのセット
public function setChildBone(value:IKBone2d):void {
_childBones.push(value);
}
//関連付けられたMesh2d
public function set id(value:String):void {
_id = value;
}
public function get id():String {
return _id;
}
private function makeBone(no:Number=100,$color:uint=0x006600):void {
//bone画像の生成
_bone.graphics.clear();
_bone.graphics.beginFill($color, 1);
_bone.graphics.moveTo(0, 0);
if (no > 10) {
_bone.graphics.lineTo(5,-7);
_bone.graphics.lineTo(no - 5,-2);
_bone.graphics.lineTo(no,-2);
_bone.graphics.lineTo(no - 5,2);
_bone.graphics.lineTo(5,7);
} else {
_bone.graphics.lineTo(no / 2, -7);
_bone.graphics.lineTo(no - 5,-2);
_bone.graphics.lineTo(no - 5,2);
_bone.graphics.lineTo(no / 2, 7);
}
_bone.graphics.endFill();
_bone.rotation=-90
}
}
class IKJoint2d extends Sprite {
public var v3d:Vector3D;
private var _type:String;
public function IKJoint2d ($type:String = 'default') {
_type = $type;
v3d = new Vector3D(0, 0, 0);
if (_type == 'root') {
drawRoot();
} else {
drawDefault();
}
}
private function drawRoot():void {
graphics.lineStyle(4, 0x006600,1);
graphics.drawCircle(0, 0, 10);
}
private function drawDefault():void {
graphics.lineStyle(3, 0x006600,1);
graphics.drawCircle(0, 0, 3);
}
//rootJointの場合は、自分自身の位置を返す。
//defaultJointは、位置、回転変換された座標を返す。
public function get jx():Number {
return v3d.x
}
public function get jy():Number {
return v3d.y
}
public function get type():String {
return _type;
}
}
class Object2d {
public function Object2d () {
}
}
class Mesh2d extends Object2d {
public function Mesh2d () {
}
}
class Vector2d {
private var _x:Number;
private var _y:Number;
private var _name:String;
public function Vector2d ($name:String=null,$x:Number=0,$y:Number=0) {
name = $name;
x = $x;
y = $y;
}
public function set x(value:Number):void {
_x = value;
}
public function get x():Number {
return _x;
}
public function set y(value:Number):void {
_y = value;
}
public function get y():Number {
return _y;
}
public function set name(value:String):void {
_name = value;
}
public function get name():String {
return _name;
}
}