ccd-ik.glisp

(defn ccd-ik-root
	{:inverse (fn [[target edge] [pos length angle]]
	              (let [p0 pos
	                    diffAngle (- (vec2/angle (vec2/- target p0)) (vec2/angle (vec2/- edge p0)))
	                    newAngle (+ angle diffAngle)]
	    							[pos length newAngle]))}
	[pos length angle]
	(let [p0 pos
				p1 (vec2/+ p0 (vec2/dir angle length))]
	     {:p0 p0 :p1 p1 :angle angle
	      :path [(line p0 p1)]}
	      ))
(defn ccd-ik-limb
	{:inverse (fn [[target edge] [length angle parent]]
	              (let [p0 (get parent :p1)
	                    diffAngle (- (vec2/angle (vec2/- target p0)) (vec2/angle (vec2/- edge p0)))
	                    newAngle (+ angle diffAngle)
	                    newEdge (vec2/rotate p0 diffAngle edge)
	    								param [target newEdge]]
	    							[length newAngle param]))}
	[length angle parent]
	(let [p0 (get parent :p1)
	      angle (+ angle (get parent :angle))
	      p1 (vec2/+ p0 (vec2/dir angle length))]
	     {:p0 p0 :p1 p1 :angle angle
	      :path (concat (get parent :path) [(line p0 p1)])}
	      ))
(defn ccd-ik-edge
	{:inverse (fn [target [length angle parent]]
	              (let [p0 (get parent :p1)
	                    absAngle (vec2/angle (vec2/- target p0))
	    								relAngle (- absAngle (get parent :angle))
	    								edge (vec2/+ p0 (vec2/dir absAngle length))
	    								param [target edge]]
	    							[length relAngle param]))}
	[length angle parent]
	(let [p0 (get parent :p1)
	      angle (+ angle (get parent :angle))
	      p1 (vec2/+ p0 (vec2/dir angle length))]
	     {:p0 p0 :p1 p1 :angle angle
	      :path (concat (get parent :path) [(line p0 p1)])}
	      ))
(defn ccd-ik-target
	{:handles {:draw (fn [{:params [pos edge]}] [{:type "point" :pos pos}])
	           :drag (fn [{:pos p :params [pos edge]}] [p p])}}
	[pos edge]
	(get edge :path)
	)
(style (stroke "salmon" 5)
(ccd-ik-target [-369.5 33.3125] (ccd-ik-edge 10 (deg -3239.2754086096165) (ccd-ik-limb 10 (deg -369.67028704771707) (ccd-ik-limb 20 (deg 1799.9923213958866) (ccd-ik-limb 30 (deg 730.2140285230621) (ccd-ik-limb 40 (deg 720.1639597252323) (ccd-ik-limb 50 (deg 713.8889350806504) (ccd-ik-root [0 0] 60 -3.19727183964033)))))))))