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* Skeleton rig implementation for articulated body model
*
* Creates and manages humanoid skeletal rig with 28 bones for realistic
* martial arts animations. Implements bone hierarchy following Korean martial
* arts body mechanics.
*
* @module systems/animation/SkeletonRig
* @category Animation System
* @korean 골격시스템
*/
import * as THREE from "three";
import { BoneName } from "../../types/skeletal";
import type {
Bone,
SkeletalRig,
JointConstraint,
BoneChain,
} from "../../types/skeletal";
/**
* Create a bone with default rest pose
*
* Helper function to create a bone with position, rotation, and scale.
* Sets up rest pose for animation blending.
*
* @param name - Unique bone identifier
* @param parent - Parent bone (null for root)
* @param position - Local position relative to parent [x, y, z]
* @param length - Bone length for rendering
* @returns Newly created bone
*
* @korean 뼈생성
*/
export const createBone = (
name: string,
parent: Bone | null,
position: [number, number, number],
length = 0.1
): Bone => {
const pos = new THREE.Vector3(position[0], position[1], position[2]);
const rot = new THREE.Euler(0, 0, 0);
const scale = new THREE.Vector3(1, 1, 1);
const bone: Bone = {
name,
parent,
position: pos.clone(),
rotation: rot.clone(),
scale: scale.clone(),
children: [],
length,
restPosition: pos.clone(),
restRotation: rot.clone(),
};
// Add to parent's children
if (parent) {
parent.children.push(bone);
}
return bone;
};
/**
* Create complete humanoid skeletal rig
*
* Creates 28-bone humanoid skeleton following Korean martial arts anatomy:
* - 1 root (pelvis)
* - 3 spine bones
* - 2 head bones (neck, head)
* - 12 arm bones (6 per arm)
* - 10 leg bones (5 per leg)
*
* Total: 28 bones (under 30 bone limit for 60fps performance)
*
* @returns Complete skeletal rig with bone hierarchy
*
* @example
* ```typescript
* const rig = createHumanoidRig();
* const rightHand = rig.bones.get(BoneName.HAND_R);
* console.log(`Hand position: ${rightHand?.position}`);
* ```
*
* @korean 인간형골격생성
*/
export const createHumanoidRig = (): SkeletalRig => {
// Root (pelvis) - center of mass at hip height
const root = createBone(BoneName.PELVIS, null, [0, 0.9, 0], 0.15);
// Spine chain (3 bones)
const spine1 = createBone(
BoneName.SPINE_LOWER,
root,
[0, 0.15, 0],
0.2
);
const spine2 = createBone(
BoneName.SPINE_MIDDLE,
spine1,
[0, 0.2, 0],
0.2
);
const spine3 = createBone(
BoneName.SPINE_UPPER,
spine2,
[0, 0.2, 0],
0.2
);
// Head chain (2 bones)
const neck = createBone(BoneName.NECK, spine3, [0, 0.15, 0], 0.1);
const head = createBone(BoneName.HEAD, neck, [0, 0.2, 0], 0.2);
// Left arm chain (6 bones)
const leftShoulder = createBone(
BoneName.SHOULDER_L,
spine3,
[-0.15, 0.1, 0],
0.1
);
const leftUpperArm = createBone(
BoneName.UPPER_ARM_L,
leftShoulder,
[-0.15, 0, 0],
0.25
);
const leftElbow = createBone(
BoneName.ELBOW_L,
leftUpperArm,
[-0.25, 0, 0],
0.05
);
const leftForearm = createBone(
BoneName.FOREARM_L,
leftElbow,
[-0.25, 0, 0],
0.25
);
const leftWrist = createBone(
BoneName.WRIST_L,
leftForearm,
[-0.15, 0, 0],
0.05
);
const leftHand = createBone(
BoneName.HAND_L,
leftWrist,
[-0.08, 0, 0],
0.08
);
// Right arm chain (6 bones - mirror of left)
const rightShoulder = createBone(
BoneName.SHOULDER_R,
spine3,
[0.15, 0.1, 0],
0.1
);
const rightUpperArm = createBone(
BoneName.UPPER_ARM_R,
rightShoulder,
[0.15, 0, 0],
0.25
);
const rightElbow = createBone(
BoneName.ELBOW_R,
rightUpperArm,
[0.25, 0, 0],
0.05
);
const rightForearm = createBone(
BoneName.FOREARM_R,
rightElbow,
[0.25, 0, 0],
0.25
);
const rightWrist = createBone(
BoneName.WRIST_R,
rightForearm,
[0.15, 0, 0],
0.05
);
const rightHand = createBone(
BoneName.HAND_R,
rightWrist,
[0.08, 0, 0],
0.08
);
// Left leg chain (5 bones)
const leftHip = createBone(BoneName.HIP_L, root, [-0.1, -0.1, 0], 0.1);
const leftThigh = createBone(
BoneName.THIGH_L,
leftHip,
[0, -0.3, 0],
0.3
);
const leftKnee = createBone(
BoneName.KNEE_L,
leftThigh,
[0, -0.3, 0],
0.05
);
const leftShin = createBone(
BoneName.SHIN_L,
leftKnee,
[0, -0.3, 0],
0.3
);
const leftFoot = createBone(
BoneName.FOOT_L,
leftShin,
[0, -0.1, 0.1],
0.15
);
// Right leg chain (5 bones - mirror of left)
const rightHip = createBone(BoneName.HIP_R, root, [0.1, -0.1, 0], 0.1);
const rightThigh = createBone(
BoneName.THIGH_R,
rightHip,
[0, -0.3, 0],
0.3
);
const rightKnee = createBone(
BoneName.KNEE_R,
rightThigh,
[0, -0.3, 0],
0.05
);
const rightShin = createBone(
BoneName.SHIN_R,
rightKnee,
[0, -0.3, 0],
0.3
);
const rightFoot = createBone(
BoneName.FOOT_R,
rightShin,
[0, -0.1, 0.1],
0.15
);
// Create bone map for fast lookup
const bones = new Map<string, Bone>([
[BoneName.PELVIS, root],
[BoneName.SPINE_LOWER, spine1],
[BoneName.SPINE_MIDDLE, spine2],
[BoneName.SPINE_UPPER, spine3],
[BoneName.NECK, neck],
[BoneName.HEAD, head],
[BoneName.SHOULDER_L, leftShoulder],
[BoneName.UPPER_ARM_L, leftUpperArm],
[BoneName.ELBOW_L, leftElbow],
[BoneName.FOREARM_L, leftForearm],
[BoneName.WRIST_L, leftWrist],
[BoneName.HAND_L, leftHand],
[BoneName.SHOULDER_R, rightShoulder],
[BoneName.UPPER_ARM_R, rightUpperArm],
[BoneName.ELBOW_R, rightElbow],
[BoneName.FOREARM_R, rightForearm],
[BoneName.WRIST_R, rightWrist],
[BoneName.HAND_R, rightHand],
[BoneName.HIP_L, leftHip],
[BoneName.THIGH_L, leftThigh],
[BoneName.KNEE_L, leftKnee],
[BoneName.SHIN_L, leftShin],
[BoneName.FOOT_L, leftFoot],
[BoneName.HIP_R, rightHip],
[BoneName.THIGH_R, rightThigh],
[BoneName.KNEE_R, rightKnee],
[BoneName.SHIN_R, rightShin],
[BoneName.FOOT_R, rightFoot],
]);
return {
root,
bones,
boneCount: bones.size,
};
};
/**
* Joint constraints for anatomically correct movement
*
* Defines rotation limits for each joint to prevent unrealistic poses.
* Based on human anatomy and Korean martial arts biomechanics.
*
* @korean 관절제약조건들
*/
export const JOINT_CONSTRAINTS: JointConstraint[] = [
// Elbow joints - can only bend one direction
{
boneName: BoneName.ELBOW_L,
minRotation: new THREE.Vector3(0, 0, -2.4), // ~-137 degrees
maxRotation: new THREE.Vector3(0, 0, 0),
canTwist: false,
},
{
boneName: BoneName.ELBOW_R,
minRotation: new THREE.Vector3(0, 0, 0),
maxRotation: new THREE.Vector3(0, 0, 2.4), // ~137 degrees
canTwist: false,
},
// Knee joints - can only bend backward
{
boneName: BoneName.KNEE_L,
minRotation: new THREE.Vector3(-2.4, 0, 0), // ~-137 degrees
maxRotation: new THREE.Vector3(0, 0, 0),
canTwist: false,
},
{
boneName: BoneName.KNEE_R,
minRotation: new THREE.Vector3(-2.4, 0, 0), // ~-137 degrees
maxRotation: new THREE.Vector3(0, 0, 0),
canTwist: false,
},
// Shoulder joints - full range of motion
{
boneName: BoneName.SHOULDER_L,
minRotation: new THREE.Vector3(-1.5, -1.5, -3.0),
maxRotation: new THREE.Vector3(1.5, 1.5, 3.0),
canTwist: true,
},
{
boneName: BoneName.SHOULDER_R,
minRotation: new THREE.Vector3(-1.5, -1.5, -3.0),
maxRotation: new THREE.Vector3(1.5, 1.5, 3.0),
canTwist: true,
},
// Hip joints - large range for kicks
{
boneName: BoneName.HIP_L,
minRotation: new THREE.Vector3(-1.8, -0.8, -1.5),
maxRotation: new THREE.Vector3(1.8, 0.8, 1.5),
canTwist: true,
},
{
boneName: BoneName.HIP_R,
minRotation: new THREE.Vector3(-1.8, -0.8, -1.5),
maxRotation: new THREE.Vector3(1.8, 0.8, 1.5),
canTwist: true,
},
// Neck - moderate range
{
boneName: BoneName.NECK,
minRotation: new THREE.Vector3(-0.5, -0.8, -0.5),
maxRotation: new THREE.Vector3(0.5, 0.8, 0.5),
canTwist: true,
},
// Spine bones - limited rotation for realism
{
boneName: BoneName.SPINE_LOWER,
minRotation: new THREE.Vector3(-0.3, -0.5, -0.3),
maxRotation: new THREE.Vector3(0.3, 0.5, 0.3),
canTwist: true,
},
{
boneName: BoneName.SPINE_MIDDLE,
minRotation: new THREE.Vector3(-0.3, -0.5, -0.3),
maxRotation: new THREE.Vector3(0.3, 0.5, 0.3),
canTwist: true,
},
{
boneName: BoneName.SPINE_UPPER,
minRotation: new THREE.Vector3(-0.3, -0.5, -0.3),
maxRotation: new THREE.Vector3(0.3, 0.5, 0.3),
canTwist: true,
},
];
/**
* Bone chains for IK (Inverse Kinematics)
*
* Defines logical bone chains for limbs, used for IK solving
* and animation retargeting.
*
* @korean 뼈체인들
*/
export const BONE_CHAINS: BoneChain[] = [
// Left arm chain
{
name: "left_arm",
startBone: BoneName.SHOULDER_L,
endBone: BoneName.HAND_L,
bones: [
BoneName.SHOULDER_L,
BoneName.UPPER_ARM_L,
BoneName.ELBOW_L,
BoneName.FOREARM_L,
BoneName.WRIST_L,
BoneName.HAND_L,
],
},
// Right arm chain
{
name: "right_arm",
startBone: BoneName.SHOULDER_R,
endBone: BoneName.HAND_R,
bones: [
BoneName.SHOULDER_R,
BoneName.UPPER_ARM_R,
BoneName.ELBOW_R,
BoneName.FOREARM_R,
BoneName.WRIST_R,
BoneName.HAND_R,
],
},
// Left leg chain
{
name: "left_leg",
startBone: BoneName.HIP_L,
endBone: BoneName.FOOT_L,
bones: [
BoneName.HIP_L,
BoneName.THIGH_L,
BoneName.KNEE_L,
BoneName.SHIN_L,
BoneName.FOOT_L,
],
},
// Right leg chain
{
name: "right_leg",
startBone: BoneName.HIP_R,
endBone: BoneName.FOOT_R,
bones: [
BoneName.HIP_R,
BoneName.THIGH_R,
BoneName.KNEE_R,
BoneName.SHIN_R,
BoneName.FOOT_R,
],
},
// Spine chain
{
name: "spine",
startBone: BoneName.PELVIS,
endBone: BoneName.HEAD,
bones: [
BoneName.PELVIS,
BoneName.SPINE_LOWER,
BoneName.SPINE_MIDDLE,
BoneName.SPINE_UPPER,
BoneName.NECK,
BoneName.HEAD,
],
},
];
/**
* Apply joint constraints to bone rotation
*
* Clamps bone rotation to anatomically correct ranges.
* Prevents unrealistic poses like backward-bending elbows.
*
* @param bone - Bone to constrain
* @param constraints - Joint constraint to apply
*
* @korean 관절제약적용
*/
export const applyJointConstraint = (
bone: Bone,
constraint: JointConstraint
): void => {
// Clamp X rotation
bone.rotation.x = Math.max(
constraint.minRotation.x,
Math.min(constraint.maxRotation.x, bone.rotation.x)
);
// Clamp Y rotation
bone.rotation.y = Math.max(
constraint.minRotation.y,
Math.min(constraint.maxRotation.y, bone.rotation.y)
);
// Clamp Z rotation
bone.rotation.z = Math.max(
constraint.minRotation.z,
Math.min(constraint.maxRotation.z, bone.rotation.z)
);
};
/**
* Get world position of bone
*
* Calculates absolute world position by traversing parent chain.
* Accounts for parent rotations and positions.
*
* @param bone - Bone to get world position for
* @returns World position as Vector3
*
* @korean 뼈의세계위치구하기
*/
export const getBoneWorldPosition = (bone: Bone): THREE.Vector3 => {
const worldPos = new THREE.Vector3();
let currentBone: Bone | null = bone;
// Traverse up parent chain
while (currentBone) {
worldPos.add(currentBone.position);
currentBone = currentBone.parent;
}
return worldPos;
};
/**
* Get world rotation of bone
*
* Calculates absolute world rotation by traversing parent chain.
* Combines all parent rotations.
*
* @param bone - Bone to get world rotation for
* @returns World rotation as Euler
*
* @korean 뼈의세계회전구하기
*/
export const getBoneWorldRotation = (bone: Bone): THREE.Euler => {
const worldRot = new THREE.Euler();
let currentBone: Bone | null = bone;
// Traverse up parent chain
while (currentBone) {
worldRot.x += currentBone.rotation.x;
worldRot.y += currentBone.rotation.y;
worldRot.z += currentBone.rotation.z;
currentBone = currentBone.parent;
}
return worldRot;
};
/**
* Reset bone to rest pose
*
* Resets bone position and rotation to default rest pose.
* Useful for animation blending and initialization.
*
* @param bone - Bone to reset
*
* @korean 뼈를기본자세로초기화
*/
export const resetBoneToRestPose = (bone: Bone): void => {
bone.position.copy(bone.restPosition);
bone.rotation.copy(bone.restRotation);
bone.scale.set(1, 1, 1);
};
/**
* Reset entire rig to rest pose
*
* Resets all bones in rig to rest pose.
*
* @param rig - Skeletal rig to reset
*
* @korean 골격을기본자세로초기화
*/
export const resetRigToRestPose = (rig: SkeletalRig): void => {
rig.bones.forEach((bone) => {
resetBoneToRestPose(bone);
});
};
/**
* Create hand bones with 5 fingers
*
* Creates detailed hand structure with 5 fingers (thumb, index, middle, ring, pinky),
* attached to an existing hand/palm bone.
* Each finger has 3-4 bones for realistic animation.
*
* Finger bone structure:
* - Thumb: 3 bones (metacarpal, proximal, distal) - no intermediate
* - Other fingers: 4 bones (metacarpal, proximal, intermediate, distal)
*
* Total created by this function: 19 finger bones per hand (3 thumb + 4*4 other fingers),
* all attached to the provided hand bone.
*
* @param handBone - Parent hand bone (acts as the palm/root for finger bones)
* @param side - Hand side ("left" or "right")
* @returns Map of finger bones added to the rig
*
* @korean 손뼈생성
*/
export const createHandBones = (
handBone: Bone,
side: "left" | "right"
): Map<string, Bone> => {
const fingerBones = new Map<string, Bone>();
// Hand orientation: left hand extends to -X, right hand extends to +X
const sideMultiplier = side === "left" ? -1 : 1;
// Thumb (3 bones) - offset slightly toward palm center and forward
const thumbMeta = createBone(
`${BoneName[`THUMB_META_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
handBone,
[0.015 * sideMultiplier, 0.02, 0.01],
0.025
);
const thumbProx = createBone(
`${BoneName[`THUMB_PROX_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
thumbMeta,
[0.015 * sideMultiplier, 0.015, 0.01],
0.02
);
const thumbDist = createBone(
`${BoneName[`THUMB_DIST_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
thumbProx,
[0.01 * sideMultiplier, 0.01, 0],
0.015
);
fingerBones.set(thumbMeta.name, thumbMeta);
fingerBones.set(thumbProx.name, thumbProx);
fingerBones.set(thumbDist.name, thumbDist);
// Index finger (4 bones)
const indexMeta = createBone(
`${BoneName[`INDEX_META_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
handBone,
[0.015 * sideMultiplier, 0.06, 0],
0.03
);
const indexProx = createBone(
`${BoneName[`INDEX_PROX_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
indexMeta,
[0, 0.025, 0],
0.025
);
const indexInter = createBone(
`${BoneName[`INDEX_INTER_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
indexProx,
[0, 0.02, 0],
0.02
);
const indexDist = createBone(
`${BoneName[`INDEX_DIST_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
indexInter,
[0, 0.015, 0],
0.015
);
fingerBones.set(indexMeta.name, indexMeta);
fingerBones.set(indexProx.name, indexProx);
fingerBones.set(indexInter.name, indexInter);
fingerBones.set(indexDist.name, indexDist);
// Middle finger (4 bones) - longest finger
const middleMeta = createBone(
`${BoneName[`MIDDLE_META_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
handBone,
[0.005 * sideMultiplier, 0.065, 0],
0.035
);
const middleProx = createBone(
`${BoneName[`MIDDLE_PROX_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
middleMeta,
[0, 0.03, 0],
0.03
);
const middleInter = createBone(
`${BoneName[`MIDDLE_INTER_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
middleProx,
[0, 0.025, 0],
0.025
);
const middleDist = createBone(
`${BoneName[`MIDDLE_DIST_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
middleInter,
[0, 0.02, 0],
0.02
);
fingerBones.set(middleMeta.name, middleMeta);
fingerBones.set(middleProx.name, middleProx);
fingerBones.set(middleInter.name, middleInter);
fingerBones.set(middleDist.name, middleDist);
// Ring finger (4 bones)
const ringMeta = createBone(
`${BoneName[`RING_META_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
handBone,
[-0.005 * sideMultiplier, 0.06, 0],
0.03
);
const ringProx = createBone(
`${BoneName[`RING_PROX_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
ringMeta,
[0, 0.025, 0],
0.025
);
const ringInter = createBone(
`${BoneName[`RING_INTER_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
ringProx,
[0, 0.02, 0],
0.02
);
const ringDist = createBone(
`${BoneName[`RING_DIST_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
ringInter,
[0, 0.015, 0],
0.015
);
fingerBones.set(ringMeta.name, ringMeta);
fingerBones.set(ringProx.name, ringProx);
fingerBones.set(ringInter.name, ringInter);
fingerBones.set(ringDist.name, ringDist);
// Pinky finger (4 bones) - shortest finger
const pinkyMeta = createBone(
`${BoneName[`PINKY_META_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
handBone,
[-0.015 * sideMultiplier, 0.05, 0],
0.025
);
const pinkyProx = createBone(
`${BoneName[`PINKY_PROX_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
pinkyMeta,
[0, 0.02, 0],
0.02
);
const pinkyInter = createBone(
`${BoneName[`PINKY_INTER_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
pinkyProx,
[0, 0.015, 0],
0.015
);
const pinkyDist = createBone(
`${BoneName[`PINKY_DIST_${side.toUpperCase()[0]}` as keyof typeof BoneName]}`,
pinkyInter,
[0, 0.01, 0],
0.01
);
fingerBones.set(pinkyMeta.name, pinkyMeta);
fingerBones.set(pinkyProx.name, pinkyProx);
fingerBones.set(pinkyInter.name, pinkyInter);
fingerBones.set(pinkyDist.name, pinkyDist);
return fingerBones;
};
/**
* Create humanoid rig with optional hand bones
*
* Creates complete skeletal rig with optional detailed hand bones.
* Hand bones can be excluded for performance (LOD system).
*
* @param includeHandBones - Whether to include detailed hand bones (default: false)
* @returns Complete skeletal rig with or without hand bones
*
* @korean 손뼈포함골격생성
*/
export const createHumanoidRigWithHands = (
includeHandBones: boolean = false
): SkeletalRig => {
// Create base rig
const baseRig = createHumanoidRig();
// If hand bones not requested, return base rig
if (!includeHandBones) {
return baseRig;
}
// Get hand bones from base rig
const leftHand = baseRig.bones.get(BoneName.HAND_L);
const rightHand = baseRig.bones.get(BoneName.HAND_R);
if (!leftHand || !rightHand) {
console.warn("Hand bones not found in base rig");
return baseRig;
}
// Create finger bones
const leftFingerBones = createHandBones(leftHand, "left");
const rightFingerBones = createHandBones(rightHand, "right");
// Add finger bones to rig bone map
leftFingerBones.forEach((bone, name) => {
baseRig.bones.set(name, bone);
});
rightFingerBones.forEach((bone, name) => {
baseRig.bones.set(name, bone);
});
return {
...baseRig,
boneCount: baseRig.bones.size,
};
};
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