IKCCD with SkinnedMesh

by ikatyang

HTML

<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r81/three.min.js"></script>
<script src="https://threejs.org/examples/js/controls/OrbitControls.js"></script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/dat-gui/0.5.1/dat.gui.min.js"></script>
<script src="https://threejs.org/examples/js/animation/CCDIKSolver.js"></script>

CSS

body {
  margin: 0;
  overflow: hidden;
}

JavaScript

var scene, camera, renderer, controls;
var arm, gui, skeletonHelper;

init();
animate();

function init() {
  
  scene = new THREE.Scene();

  camera = new THREE.PerspectiveCamera(50, window.innerWidth / window.innerHeight, 1, 1000);
  camera.position.set(0, 200, 200);

  renderer = new THREE.WebGLRenderer();
  renderer.setSize(window.innerWidth, window.innerHeight);
  renderer.setClearColor(0x888888);
  document.body.appendChild(renderer.domElement);

  controls = new THREE.OrbitControls(camera, renderer.domElement);

  var gridXZ = new THREE.GridHelper(100, 20, 0xff0000, 0xffffff);
  scene.add(gridXZ);
  
  var light = new THREE.PointLight(0xffffff, 1);
 	light.position.set(10, 80, 20);
  scene.add(light);
  
  arm = createArm();
  arm.position.y = 50;
  scene.add(arm);
  /*
  gui = new dat.GUI();
  for (var i = 0; i < arm.skeleton.bones.length - 1; i++) {
  	var bone = arm.skeleton.bones[i];
    var folder = gui.addFolder('Bone ' + (i + 1));
    folder.add(bone.rotation, 'x', Math.PI * -2, Math.PI * 2);
    folder.add(bone.rotation, 'y', Math.PI * -2, Math.PI * 2);
    folder.add(bone.rotation, 'z', Math.PI * -2, Math.PI * 2);
    folder.add(bone.rotation, 'order', ['XYZ', 'XZY', 'YXZ', 'YZX', 'ZXY', 'ZYX']);
  }
  */
  skeletonHelper = new THREE.SkeletonHelper(arm);
  scene.add(skeletonHelper);
  
	window.addEventListener('resize', onWindowResize, false);
}

function onWindowResize() {
  camera.aspect = window.innerWidth / window.innerHeight;
  camera.updateProjectionMatrix();
  renderer.setSize(window.innerWidth, window.innerHeight);
}

function animate() {
	skeletonHelper.update();
  controls.update();
  requestAnimationFrame(animate);
  renderer.render(scene, camera);
}

function createArm() {
	
  var boneCount = 2;
  
  var radiusTop = 10;
  var radiusBottom = 10;
  var height = 100;
  var radiusSegments = 16;
  var heightSegments = boneCount * 10;
  
  var segmentHeight = height / boneCount;
  
  var geometry = new THREE.CylinderGeometry(radiusTop,...