closed-chain-ik-js

Added

• Better error messages.
• Typescript definition files.
• Functions for setting draw through and color on IKRootsHelper.

Fixed

• IKRootsHelper throwing an error when calling updateStructure.
• IKRootsHelper throwing an error when calling dispose.
• Support for prismatic joints when assigning the ik state to URDF joints.

Changed

• Disabled SVD by default on Solver because it was causing solves to diverge.

Changed

• Frame and Joint matrices from using Float64Array to using Float32Array.
• Added matrixPool onto Solver and ChainSolver instances so they are not retained globally.
• WorkerSolver now falls back to clone ArrayBuffers when SharedArrayBuffers are not available.

Fixed

• useSVD option not be set onto Solver's ChainSolvers.
• useSVD option will fall back to non SVD pseudoinverse if SVD fails to be computed.
• Removed ability to set unmoveable DoF on Joints.
• Removed unmoveable joints from solve.

Added

• findRoots function for finding unique connected hierarchy roots from a set of frames.
• useSVD option for Solvers.

Fixed

• Joint rest pose not being applied correctly resulting in the solver often not converging.

Changed

• Closure links are no longer added to the Joint children array.
• All connected roots no longer have to be manually added to the IKRootsHelper or Solvers.
• Renamed IKRootsHelper.update to IKRootsHelper.updateStructure.

Initial release