sketchpunk

/*
const pnts = [
    -2,0,-2,
    -2,0,2,
    2,0,2,
    4,0,1,
];

const poly = roundedline( pnts );
const buf  = new Vec3Buffer( poly );

sketchpunk

/*
NOTES
https://blog.scottlogic.com/2019/11/18/drawing-lines-with-webgl.html

EXAMPLE
    const pnts = [
        -2,0,-2,
        -2,0,2,
        2,0,2,
        4,0,0,

sketchpunk

/*
const pnts = [-2,0,-2,-2,0,2,2,0,2,2,0,-2];
for( let v of iterFlatVec3Buf( pnts ) ) console.log( v );

instead of

const v = [0,0,0];
for( let i=0; i < pnts.length; i+=3 ){
    v[0] = pnts[i+0];
    v[1] = pnts[i+1];

sketchpunk

function nanoID( t=21 ){
    const r = crypto.getRandomValues( new Uint8Array( t ) );
    let n, e = '';
    for( ;t--; ){
        n  = 63 & r[ t ];
        e += ( n < 36 )? n.toString( 36 ) : 
             ( n < 62 )? ( n - 26 ).toString( 36 ).toUpperCase() : 
             ( n < 63 )? '_' : '-';
    }
    return e;

sketchpunk

function KeyboardEvents(){
    let self;
    const keys = new Map(); // State of a key press, lets user hold down multiple buttons

    // #region HANDLERS
    const onKeyDown = e=>{ keys.set( e.key, true ); }; 
    const onKeyUp   = e=>{ keys.set( e.key, false ); }; 
    // #endregion

    // #region MAIN

sketchpunk

import * as THREE           from 'three';
import { OrbitControls }    from 'three/examples/jsm/controls/OrbitControls.js';

/*
const App = useThreeWebGL2();
App.scene.add( facedCube( [0,3,0], 6 ) );
App
    .sphericalLook( 45, 35, 40 )
    .renderLoop();
*/

sketchpunk

import { ShaderChunk } from 'three';

/*
USAGE
const geo  = new THREE.BoxGeometry( 1, 1, 1 );
const mat  = new THREE.PointsMaterial( { size: 0.5, vertexColors: true } );
const mesh = new THREE.Points( geo, mat );
resolvedShaderPromise( mat ).
    then( sh => console.log( sh ) );
*/

sketchpunk

function nanoID( t=21 ){
    const r = crypto.getRandomValues( new Uint8Array( t ) );
    let n, e = '';
    for( ;t--; ){
        n  = 63 & r[ t ];
        e += ( n < 36 )? n.toString( 36 ) : 
             ( n < 62 )? ( n - 26 ).toString( 36 ).toUpperCase() : 
             ( n < 63 )? '_' : '-';
    }
    return e;

sketchpunk

/* [ NOTES ] ============================================================
BigInt has 64 bits, since its signed there is only 63 bits to work with.

First 5 bits are reserved to store the Level value, which results the max value of 31

63bits - 5bits = 58 bits for quadrant information

Each quadrant needs 2bits to store its information
So 58 / 2 = 29, which is the max level to generate ids from

sketchpunk

jntCount     = ChainPose.count;
angles[]     = new Array( jntCount ).fill( 0 )

loop
    // ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
    // Get world space transform (pos,rot,scl) of each bone in the chain
    // Then preallocate space for the jacobian matrix
    transforms[] = compute_WorldSpace_Transforms( ChainPose );
    jacobian     = Array( transforms.length * 3 * 3 ); // Each Joint gets 3 floats for 3 axes