mirror of
https://github.com/EsotericSoftware/spine-runtimes.git
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330 lines
10 KiB
Haxe
330 lines
10 KiB
Haxe
/******************************************************************************
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* Spine Runtimes License Agreement
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* Last updated April 5, 2025. Replaces all prior versions.
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*
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* Copyright (c) 2013-2025, Esoteric Software LLC
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*
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* Integration of the Spine Runtimes into software or otherwise creating
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* derivative works of the Spine Runtimes is permitted under the terms and
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* conditions of Section 2 of the Spine Editor License Agreement:
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* http://esotericsoftware.com/spine-editor-license
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*
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* Otherwise, it is permitted to integrate the Spine Runtimes into software
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* or otherwise create derivative works of the Spine Runtimes (collectively,
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* "Products"), provided that each user of the Products must obtain their own
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* Spine Editor license and redistribution of the Products in any form must
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* include this license and copyright notice.
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*
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* THE SPINE RUNTIMES ARE PROVIDED BY ESOTERIC SOFTWARE LLC "AS IS" AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL ESOTERIC SOFTWARE LLC BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES,
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* BUSINESS INTERRUPTION, OR LOSS OF USE, DATA, OR PROFITS) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THE SPINE RUNTIMES, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*****************************************************************************/
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package spine;
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/** Stores the current pose for an IK constraint. An IK constraint adjusts the rotation of 1 or 2 constrained bones so the tip of
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* the last bone is as close to the target bone as possible.
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*
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* @see https://esotericsoftware.com/spine-ik-constraints IK constraints in the Spine User Guide */
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class IkConstraint extends Constraint<IkConstraint, IkConstraintData, IkConstraintPose> {
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/** The 1 or 2 bones that will be modified by this IK constraint. */
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public final bones:Array<BonePose>;
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/** The bone that is the IK target. */
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public var target(default, set):Bone;
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public function new(data:IkConstraintData, skeleton:Skeleton) {
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super(data, new IkConstraintPose(), new IkConstraintPose());
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if (skeleton == null)
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throw new SpineException("skeleton cannot be null.");
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bones = new Array<BonePose>();
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for (boneData in data.bones)
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bones.push(skeleton.bones[boneData.index].constrained);
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target = skeleton.bones[data.target.index];
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}
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public function copy(skeleton:Skeleton) {
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var copy = new IkConstraint(data, skeleton);
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copy.pose.set(pose);
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return copy;
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}
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/** Applies the constraint to the constrained bones. */
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public function update(skeleton:Skeleton, physics:Physics):Void {
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var p = applied;
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if (p.mix == 0)
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return;
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var target = target.applied;
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switch (bones.length) {
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case 1:
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apply1(skeleton, bones[0], target.worldX, target.worldY, p.compress, p.stretch, data.uniform, p.mix);
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case 2:
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apply2(skeleton, bones[0], bones[1], target.worldX, target.worldY, p.bendDirection, p.stretch, data.uniform, p.softness, p.mix);
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}
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}
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public function sort(skeleton:Skeleton) {
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skeleton.sortBone(target);
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var parent = bones[0].bone;
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skeleton.sortBone(parent);
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skeleton._updateCache.push(this);
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parent.sorted = false;
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skeleton.sortReset(parent.children);
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skeleton.constrained(parent);
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if (bones.length > 1)
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skeleton.constrained(bones[1].bone);
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}
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override public function isSourceActive() {
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return target.active;
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}
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public function set_target(target:Bone):Bone {
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if (target == null)
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throw new SpineException("target cannot be null.");
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this.target = target;
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return target;
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}
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/** Applies 1 bone IK. The target is specified in the world coordinate system. */
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static public function apply1(skeleton:Skeleton, bone:BonePose, targetX:Float, targetY:Float, compress:Bool, stretch:Bool, uniform:Bool, mix:Float) {
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if (bone == null)
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throw new SpineException("bone cannot be null.");
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bone.modifyLocal(skeleton);
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var p = bone.bone.parent.applied;
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var pa = p.a, pb = p.b, pc = p.c, pd = p.d;
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var rotationIK = -bone.shearX - bone.rotation, tx = 0., ty = 0.;
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function switchDefault() {
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var x = targetX - p.worldX, y = targetY - p.worldY;
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var d = pa * pd - pb * pc;
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if (Math.abs(d) <= 0.0001) {
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tx = 0;
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ty = 0;
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} else {
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tx = (x * pd - y * pb) / d - bone.x;
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ty = (y * pa - x * pc) / d - bone.y;
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}
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}
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switch (bone.inherit) {
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case Inherit.onlyTranslation:
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tx = (targetX - bone.worldX) * MathUtils.signum(skeleton.scaleX);
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ty = (targetY - bone.worldY) * MathUtils.signum(skeleton.scaleY);
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case Inherit.noRotationOrReflection:
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var s = Math.abs(pa * pd - pb * pc) / Math.max(0.0001, pa * pa + pc * pc);
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var sa:Float = pa / skeleton.scaleX;
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var sc:Float = pc / skeleton.scaleY;
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pb = -sc * s * skeleton.scaleX;
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pd = sa * s * skeleton.scaleY;
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rotationIK += MathUtils.atan2Deg(sc, sa);
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switchDefault(); // Fall through.
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default:
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switchDefault();
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}
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rotationIK += MathUtils.atan2Deg(ty, tx);
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if (bone.scaleX < 0)
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rotationIK += 180;
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if (rotationIK > 180)
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rotationIK -= 360;
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else if (rotationIK < -180) //
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rotationIK += 360;
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bone.rotation += rotationIK * mix;
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if (compress || stretch) {
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switch (bone.inherit) {
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case Inherit.noScale, Inherit.noScaleOrReflection:
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tx = targetX - bone.worldX;
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ty = targetY - bone.worldY;
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}
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var b = bone.bone.data.length * bone.scaleX;
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if (b > 0.0001) {
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var dd = tx * tx + ty * ty;
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if ((compress && dd < b * b) || (stretch && dd > b * b)) {
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var s = (Math.sqrt(dd) / b - 1) * mix + 1;
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bone.scaleX *= s;
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if (uniform)
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bone.scaleY *= s;
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}
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}
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}
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}
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/** Applies 2 bone IK. The target is specified in the world coordinate system.
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* @param child A direct descendant of the parent bone. */
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static public function apply2(skeleton:Skeleton, parent:BonePose, child:BonePose, targetX:Float, targetY:Float, bendDir:Int, stretch:Bool, uniform:Bool,
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softness:Float, mix:Float):Void {
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if (parent == null)
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throw new SpineException("parent cannot be null.");
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if (child == null)
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throw new SpineException("child cannot be null.");
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if (parent.inherit != Inherit.normal || child.inherit != Inherit.normal)
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return;
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parent.modifyLocal(skeleton);
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child.modifyLocal(skeleton);
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var px = parent.x, py = parent.y, psx = parent.scaleX, psy = parent.scaleY, csx = child.scaleX;
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var os1 = 0, os2 = 0, s2 = 0;
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if (psx < 0) {
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psx = -psx;
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os1 = 180;
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s2 = -1;
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} else {
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os1 = 0;
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s2 = 1;
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}
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if (psy < 0) {
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psy = -psy;
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s2 = -s2;
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}
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if (csx < 0) {
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csx = -csx;
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os2 = 180;
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} else
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os2 = 0;
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var cwx = 0., cwy = 0., a = parent.a, b = parent.b, c = parent.c, d = parent.d;
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var u = Math.abs(psx - psy) <= 0.0001;
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if (!u || stretch) {
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child.y = 0;
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cwx = a * child.x + parent.worldX;
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cwy = c * child.x + parent.worldY;
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} else {
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cwx = a * child.x + b * child.y + parent.worldX;
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cwy = c * child.x + d * child.y + parent.worldY;
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}
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var pp = parent.bone.parent.applied;
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a = pp.a;
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b = pp.b;
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c = pp.c;
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d = pp.d;
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var id = a * d - b * c, x = cwx - pp.worldX, y = cwy - pp.worldY;
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id = Math.abs(id) <= 0.0001 ? 0 : 1 / id;
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var dx = (x * d - y * b) * id - px, dy = (y * a - x * c) * id - py;
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var l1 = Math.sqrt(dx * dx + dy * dy), l2 = child.bone.data.length * csx, a1 = 0., a2 = 0.;
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if (l1 < 0.0001) {
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apply1(skeleton, parent, targetX, targetY, false, stretch, false, mix);
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child.rotation = 0;
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return;
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}
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x = targetX - pp.worldX;
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y = targetY - pp.worldY;
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var tx:Float = (x * d - y * b) * id - px;
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var ty:Float = (y * a - x * c) * id - py;
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var dd:Float = tx * tx + ty * ty;
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if (softness != 0) {
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softness *= psx * (csx + 1) / 2;
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var td:Float = Math.sqrt(dd);
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var sd:Float = td - l1 - l2 * psx + softness;
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if (sd > 0) {
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var p:Float = Math.min(1, sd / (softness * 2)) - 1;
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p = (sd - softness * (1 - p * p)) / td;
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tx -= p * tx;
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ty -= p * ty;
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dd = tx * tx + ty * ty;
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}
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}
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var breakOuter:Bool = false;
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if (u) {
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l2 *= psx;
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var cos:Float = (dd - l1 * l1 - l2 * l2) / (2 * l1 * l2);
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if (cos < -1) {
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cos = -1;
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} else if (cos > 1) {
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cos = 1;
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if (stretch) {
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a = (Math.sqrt(dd) / (l1 + l2) - 1) * mix + 1;
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parent.scaleX *= a;
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if (uniform)
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parent.scaleY *= a;
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}
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}
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a2 = Math.acos(cos) * bendDir;
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a = l1 + l2 * cos;
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b = l2 * Math.sin(a2);
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a1 = Math.atan2(ty * a - tx * b, tx * a + ty * b);
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} else {
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a = psx * l2;
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b = psy * l2;
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var aa:Float = a * a;
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var bb:Float = b * b;
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var ta:Float = Math.atan2(ty, tx);
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c = bb * l1 * l1 + aa * dd - aa * bb;
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var c1:Float = -2 * bb * l1;
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var c2:Float = bb - aa;
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d = c1 * c1 - 4 * c2 * c;
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if (d >= 0) {
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var q:Float = Math.sqrt(d);
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if (c1 < 0)
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q = -q;
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q = -(c1 + q) / 2;
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var r0:Float = q / c2, r1:Float = c / q;
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var r:Float = Math.abs(r0) < Math.abs(r1) ? r0 : r1;
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r0 = dd - r * r;
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if (r0 >= 0) {
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y = Math.sqrt(r0) * bendDir;
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a1 = ta - Math.atan2(y, r);
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a2 = Math.atan2(y / psy, (r - l1) / psx);
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breakOuter = true;
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}
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}
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if (!breakOuter) {
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var minAngle:Float = Math.PI;
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var minX:Float = l1 - a;
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var minDist:Float = minX * minX;
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var minY:Float = 0;
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var maxAngle:Float = 0;
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var maxX:Float = l1 + a;
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var maxDist:Float = maxX * maxX;
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var maxY:Float = 0;
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c = -a * l1 / (aa - bb);
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if (c >= -1 && c <= 1) {
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c = Math.acos(c);
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x = a * Math.cos(c) + l1;
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y = b * Math.sin(c);
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d = x * x + y * y;
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if (d < minDist) {
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minAngle = c;
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minDist = d;
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minX = x;
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minY = y;
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}
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if (d > maxDist) {
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maxAngle = c;
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maxDist = d;
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maxX = x;
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maxY = y;
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}
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}
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if (dd <= (minDist + maxDist) / 2) {
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a1 = ta - Math.atan2(minY * bendDir, minX);
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a2 = minAngle * bendDir;
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} else {
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a1 = ta - Math.atan2(maxY * bendDir, maxX);
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a2 = maxAngle * bendDir;
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}
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}
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}
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var os:Float = Math.atan2(child.y, child.x) * s2;
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a1 = (a1 - os) * MathUtils.radDeg + os1 - parent.rotation;
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if (a1 > 180)
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a1 -= 360;
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else if (a1 < -180) //
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a1 += 360;
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parent.rotation += a1 * mix;
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a2 = ((a2 + os) * MathUtils.radDeg - child.shearX) * s2 + os2 - child.rotation;
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if (a2 > 180)
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a2 -= 360;
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else if (a2 < -180) //
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a2 += 360;
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child.rotation += a2 * mix;
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}
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}
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