kalidokit/dist/kalidokit.umd.js

Blendshape and kinematics calculator for Mediapipe/Tensorflow.js Face, Eyes, Pose, and Finger tracking models.

/**
 * @kalidokit v1.1.5
 * Blendshape and kinematics calculator for Mediapipe/Tensorflow.js Face, Eyes, Pose, and Finger tracking models.
 * 
 * @license
 * Copyright (c) 2020-2021 yeemachine
 * SPDX-License-Idntifier: MIT 
 * https://github.com/yeemachine/kalidokit#readme
 */
(function(g,x){typeof exports=="object"&&typeof module!="undefined"?x(exports):typeof define=="function"&&define.amd?define(["exports"],x):(g=typeof globalThis!="undefined"?globalThis:g||self,x(g.Kalidokit={}))})(this,function(g){"use strict";const x=(e,t,n)=>Math.max(Math.min(e,n),t),L=(e,t,n)=>(x(e,t,n)-t)/(n-t),I={Face:{eye:{l:1,r:1},mouth:{x:0,y:0,shape:{A:0,E:0,I:0,O:0,U:0}},head:{x:0,y:0,z:0,width:.3,height:.6,position:{x:.5,y:.5,z:0}},brow:0,pupil:{x:0,y:0}},Pose:{RightUpperArm:{x:0,y:0,z:-1.25},LeftUpperArm:{x:0,y:0,z:1.25},RightLowerArm:{x:0,y:0,z:0},LeftLowerArm:{x:0,y:0,z:0},LeftUpperLeg:{x:0,y:0,z:0},RightUpperLeg:{x:0,y:0,z:0},RightLowerLeg:{x:0,y:0,z:0},LeftLowerLeg:{x:0,y:0,z:0},LeftHand:{x:0,y:0,z:0},RightHand:{x:0,y:0,z:0},Spine:{x:0,y:0,z:0},Hips:{position:{x:0,y:0,z:0},rotation:{x:0,y:0,z:0}}},RightHand:{RightWrist:{x:-.13,y:-.07,z:-1.04},RightRingProximal:{x:0,y:0,z:-.13},RightRingIntermediate:{x:0,y:0,z:-.4},RightRingDistal:{x:0,y:0,z:-.04},RightIndexProximal:{x:0,y:0,z:-.24},RightIndexIntermediate:{x:0,y:0,z:-.25},RightIndexDistal:{x:0,y:0,z:-.06},RightMiddleProximal:{x:0,y:0,z:-.09},RightMiddleIntermediate:{x:0,y:0,z:-.44},RightMiddleDistal:{x:0,y:0,z:-.06},RightThumbProximal:{x:-.23,y:-.33,z:-.12},RightThumbIntermediate:{x:-.2,y:-.199,z:-.0139},RightThumbDistal:{x:-.2,y:.002,z:.15},RightLittleProximal:{x:0,y:0,z:-.09},RightLittleIntermediate:{x:0,y:0,z:-.225},RightLittleDistal:{x:0,y:0,z:-.1}},LeftHand:{LeftWrist:{x:-.13,y:-.07,z:-1.04},LeftRingProximal:{x:0,y:0,z:.13},LeftRingIntermediate:{x:0,y:0,z:.4},LeftRingDistal:{x:0,y:0,z:.049},LeftIndexProximal:{x:0,y:0,z:.24},LeftIndexIntermediate:{x:0,y:0,z:.25},LeftIndexDistal:{x:0,y:0,z:.06},LeftMiddleProximal:{x:0,y:0,z:.09},LeftMiddleIntermediate:{x:0,y:0,z:.44},LeftMiddleDistal:{x:0,y:0,z:.066},LeftThumbProximal:{x:-.23,y:.33,z:.12},LeftThumbIntermediate:{x:-.2,y:.25,z:.05},LeftThumbDistal:{x:-.2,y:.17,z:-.06},LeftLittleProximal:{x:0,y:0,z:.17},LeftLittleIntermediate:{x:0,y:0,z:.4},LeftLittleDistal:{x:0,y:0,z:.1}}};var N=Object.freeze({__proto__:null,[Symbol.toStringTag]:"Module",clamp:x,remap:L,RestingDefault:I});const p="Right",R="Left",l=Math.PI,C=Math.PI*2;class i{constructor(t,n,r){var o,s,y,a,z,h;if(Array.isArray(t)){this.x=(o=t[0])!=null?o:0,this.y=(s=t[1])!=null?s:0,this.z=(y=t[2])!=null?y:0;return}if(!!t&&typeof t=="object"){this.x=(a=t.x)!=null?a:0,this.y=(z=t.y)!=null?z:0,this.z=(h=t.z)!=null?h:0;return}this.x=t!=null?t:0,this.y=n!=null?n:0,this.z=r!=null?r:0}negative(){return new i(-this.x,-this.y,-this.z)}add(t){return t instanceof i?new i(this.x+t.x,this.y+t.y,this.z+t.z):new i(this.x+t,this.y+t,this.z+t)}subtract(t){return t instanceof i?new i(this.x-t.x,this.y-t.y,this.z-t.z):new i(this.x-t,this.y-t,this.z-t)}multiply(t){return t instanceof i?new i(this.x*t.x,this.y*t.y,this.z*t.z):new i(this.x*t,this.y*t,this.z*t)}divide(t){return t instanceof i?new i(this.x/t.x,this.y/t.y,this.z/t.z):new i(this.x/t,this.y/t,this.z/t)}equals(t){return this.x==t.x&&this.y==t.y&&this.z==t.z}dot(t){return this.x*t.x+this.y*t.y+this.z*t.z}cross(t){return new i(this.y*t.z-this.z*t.y,this.z*t.x-this.x*t.z,this.x*t.y-this.y*t.x)}length(){return Math.sqrt(this.dot(this))}distance(t,n=3){return Math.sqrt(n===2?Math.pow(this.x-t.x,2)+Math.pow(this.y-t.y,2):Math.pow(this.x-t.x,2)+Math.pow(this.y-t.y,2)+Math.pow(this.z-t.z,2))}lerp(t,n){return t.subtract(this).multiply(n).add(this)}unit(){return this.divide(this.length())}min(){return Math.min(Math.min(this.x,this.y),this.z)}max(){return Math.max(Math.max(this.x,this.y),this.z)}toSphericalCoords(t={x:"x",y:"y",z:"z"}){return{theta:Math.atan2(this[t.y],this[t.x]),phi:Math.acos(this[t.z]/this.length())}}angleTo(t){return Math.acos(this.dot(t)/(this.length()*t.length()))}toArray(t){return[this.x,this.y,this.z].slice(0,t||3)}clone(){return new i(this.x,this.y,this.z)}init(t,n,r){return this.x=t,this.y=n,this.z=r,this}static negative(t,n=new i){return n.x=-t.x,n.y=-t.y,n.z=-t.z,n}static add(t,n,r=new i){return n instanceof i?(r.x=t.x+n.x,r.y=t.y+n.y,r.z=t.z+n.z):(r.x=t.x+n,r.y=t.y+n,r.z=t.z+n),r}static subtract(t,n,r=new i){return n instanceof i?(r.x=t.x-n.x,r.y=t.y-n.y,r.z=t.z-n.z):(r.x=t.x-n,r.y=t.y-n,r.z=t.z-n),r}static multiply(t,n,r=new i){return n instanceof i?(r.x=t.x*n.x,r.y=t.y*n.y,r.z=t.z*n.z):(r.x=t.x*n,r.y=t.y*n,r.z=t.z*n),r}static divide(t,n,r=new i){return n instanceof i?(r.x=t.x/n.x,r.y=t.y/n.y,r.z=t.z/n.z):(r.x=t.x/n,r.y=t.y/n,r.z=t.z/n),r}static cross(t,n,r=new i){return r.x=t.y*n.z-t.z*n.y,r.y=t.z*n.x-t.x*n.z,r.z=t.x*n.y-t.y*n.x,r}static unit(t,n){const r=t.length();return n.x=t.x/r,n.y=t.y/r,n.z=t.z/r,n}static fromAngles(t,n){return new i(Math.cos(t)*Math.cos(n),Math.sin(n),Math.sin(t)*Math.cos(n))}static randomDirection(){return i.fromAngles(Math.random()*C,Math.asin(Math.random()*2-1))}static min(t,n){return new i(Math.min(t.x,n.x),Math.min(t.y,n.y),Math.min(t.z,n.z))}static max(t,n){return new i(Math.max(t.x,n.x),Math.max(t.y,n.y),Math.max(t.z,n.z))}static lerp(t,n,r){return n instanceof i?n.subtract(t).multiply(r).add(t):(n-t)*r+t}static fromArray(t){return Array.isArray(t)?new i(t[0],t[1],t[2]):new i(t.x,t.y,t.z)}static angleBetween(t,n){return t.angleTo(n)}static distance(t,n,r){return Math.sqrt(r===2?Math.pow(t.x-n.x,2)+Math.pow(t.y-n.y,2):Math.pow(t.x-n.x,2)+Math.pow(t.y-n.y,2)+Math.pow(t.z-n.z,2))}static toDegrees(t){return t*(180/l)}static normalizeAngle(t){let n=t%C;return n=n>l?n-C:n<-l?C+n:n,n/l}static normalizeRadians(t){return t>=l/2&&(t-=C),t<=-l/2&&(t+=C,t=l-t),t/l}static find2DAngle(t,n,r,o){const s=o-n,y=r-t;return Math.atan2(s,y)}static findRotation(t,n,r=!0){return r?new i(i.normalizeRadians(i.find2DAngle(t.z,t.x,n.z,n.x)),i.normalizeRadians(i.find2DAngle(t.z,t.y,n.z,n.y)),i.normalizeRadians(i.find2DAngle(t.x,t.y,n.x,n.y))):new i(i.find2DAngle(t.z,t.x,n.z,n.x),i.find2DAngle(t.z,t.y,n.z,n.y),i.find2DAngle(t.x,t.y,n.x,n.y))}static rollPitchYaw(t,n,r){if(!r)return new i(i.normalizeAngle(i.find2DAngle(t.z,t.y,n.z,n.y)),i.normalizeAngle(i.find2DAngle(t.z,t.x,n.z,n.x)),i.normalizeAngle(i.find2DAngle(t.x,t.y,n.x,n.y)));const o=n.subtract(t),s=r.subtract(t),a=o.cross(s).unit(),z=o.unit(),h=a.cross(z),c=Math.asin(a.x)||0,u=Math.atan2(-a.y,a.z)||0,f=Math.atan2(-h.x,z.x)||0;return new i(i.normalizeAngle(u),i.normalizeAngle(c),i.normalizeAngle(f))}static angleBetween3DCoords(t,n,r){t instanceof i||(t=new i(t),n=new i(n),r=new i(r));const o=t.subtract(n),s=r.subtract(n),y=o.unit(),a=s.unit(),z=y.dot(a),h=Math.acos(z);return i.normalizeRadians(h)}static getRelativeSphericalCoords(t,n,r,o){t instanceof i||(t=new i(t),n=new i(n),r=new i(r));const s=n.subtract(t),y=r.subtract(n),a=s.unit(),z=y.unit(),{theta:h,phi:c}=a.toSphericalCoords(o),{theta:u,phi:f}=z.toSphericalCoords(o),M=h-u,A=c-f;return{theta:i.normalizeAngle(M),phi:i.normalizeAngle(A)}}static getSphericalCoords(t,n,r={x:"x",y:"y",z:"z"}){t instanceof i||(t=new i(t),n=new i(n));const s=n.subtract(t).unit(),{theta:y,phi:a}=s.toSphericalCoords(r);return{theta:i.normalizeAngle(-y),phi:i.normalizeAngle(l/2-a)}}}const T=e=>{const t={r:i.findRotation(e[11],e[13]),l:i.findRotation(e[12],e[14])};t.r.y=i.angleBetween3DCoords(e[12],e[11],e[13]),t.l.y=i.angleBetween3DCoords(e[11],e[12],e[14]);const n={r:i.findRotation(e[13],e[15]),l:i.findRotation(e[14],e[16])};n.r.y=i.angleBetween3DCoords(e[11],e[13],e[15]),n.l.y=i.angleBetween3DCoords(e[12],e[14],e[16]),n.r.z=x(n.r.z,-2.14,0),n.l.z=x(n.l.z,-2.14,0);const r={r:i.findRotation(i.fromArray(e[15]),i.lerp(i.fromArray(e[17]),i.fromArray(e[19]),.5)),l:i.findRotation(i.fromArray(e[16]),i.lerp(i.fromArray(e[18]),i.fromArray(e[20]),.5))},o=S(t.r,n.r,r.r,p),s=S(t.l,n.l,r.l,R);return{UpperArm:{r:o.UpperArm,l:s.UpperArm},LowerArm:{r:o.LowerArm,l:s.LowerArm},Hand:{r:o.Hand,l:s.Hand},Unscaled:{UpperArm:t,LowerArm:n,Hand:r}}},S=(e,t,n,r=p)=>{const o=r===p?1:-1;return e.z*=-2.3*o,e.y*=l*o,e.y-=Math.max(t.x),e.y-=-o*Math.max(t.z,0),e.x-=.3*o,t.z*=-2.14*o,t.y*=2.14*o,t.x*=2.14*o,e.x=x(e.x,-.5,l),t.x=x(t.x,-.3,.3),n.y=x(n.z*2,-.6,.6),n.z=n.z*-2.3*o,{UpperArm:e,LowerArm:t,Hand:n}},O=(e,t)=>{const n=i.fromArray(t[23]),r=i.fromArray(t[24]),o=i.fromArray(t[11]),s=i.fromArray(t[12]),y=n.lerp(r,1),a=o.lerp(s,1),z=y.distance(a),h={position:{x:x(y.x-.4,-1,1),y:0,z:x(z-1,-2,0)}};h.worldPosition={x:h.position.x,y:0,z:h.position.z*Math.pow(h.position.z*-2,2)},h.worldPosition.x*=h.worldPosition.z,h.rotation=i.rollPitchYaw(e[23],e[24]),h.rotation.y>.5&&(h.rotation.y-=2),h.rotation.y+=.5,h.rotation.z>0&&(h.rotation.z=1-h.rotation.z),h.rotation.z<0&&(h.rotation.z=-1-h.rotation.z);const c=L(Math.abs(h.rotation.y),.2,.4);h.rotation.z*=1-c,h.rotation.x=0;const u=i.rollPitchYaw(e[11],e[12]);u.y>.5&&(u.y-=2),u.y+=.5,u.z>0&&(u.z=1-u.z),u.z<0&&(u.z=-1-u.z);const f=L(Math.abs(u.y),.2,.4);return u.z*=1-f,u.x=0,K(h,u)},K=(e,t)=>(e.rotation&&(e.rotation.x*=Math.PI,e.rotation.y*=Math.PI,e.rotation.z*=Math.PI),t.x*=l,t.y*=l,t.z*=l,{Hips:e,Spine:t});class m{constructor(t,n,r,o){var s,y,a,z;if(!!t&&typeof t=="object"){this.x=(s=t.x)!=null?s:0,this.y=(y=t.y)!=null?y:0,this.z=(a=t.z)!=null?a:0,this.rotationOrder=(z=t.rotationOrder)!=null?z:"XYZ";return}this.x=t!=null?t:0,this.y=n!=null?n:0,this.z=r!=null?r:0,this.rotationOrder=o!=null?o:"XYZ"}multiply(t){return new m(this.x*t,this.y*t,this.z*t,this.rotationOrder)}}const G={upperLeg:{z:.1}},E=e=>{const t=i.getSphericalCoords(e[23],e[25],{x:"y",y:"z",z:"x"}),n=i.getSphericalCoords(e[24],e[26],{x:"y",y:"z",z:"x"}),r=i.getRelativeSphericalCoords(e[23],e[25],e[27],{x:"y",y:"z",z:"x"}),o=i.getRelativeSphericalCoords(e[24],e[26],e[28],{x:"y",y:"z",z:"x"}),s=i.findRotation(e[23],e[24]),y={r:new i({x:t.theta,y:r.phi,z:t.phi-s.z}),l:new i({x:n.theta,y:o.phi,z:n.phi-s.z})},a={r:new i({x:-Math.abs(r.theta),y:0,z:0}),l:new i({x:-Math.abs(o.theta),y:0,z:0})},z=W(y.r,a.r,p),h=W(y.l,a.l,R);return{UpperLeg:{r:z.UpperLeg,l:h.UpperLeg},LowerLeg:{r:z.LowerLeg,l:h.LowerLeg},Unscaled:{UpperLeg:y,LowerLeg:a}}},W=(e,t,n=p)=>{const r=n===p?1:-1,o=new m({x:x(e.x,0,.5)*l,y:x(e.y,-.25,.25)*l,z:x(e.z,-.5,.5)*l+r*G.upperLeg.z,rotationOrder:"XYZ"}),s=new m({x:t.x*l,y:t.y*l,z:t.z*l});return{UpperLeg:o,LowerLeg:s}};class U{static solve(t,n,{runtime:r="mediapipe",video:o=null,imageSize:s=null,enableLegs:y=!0}={}){var A,B,P,D;if(!t&&!n){console.error("Need both World Pose and Pose Landmarks");return}if(o){const w=typeof o=="string"?document.querySelector(o):o;s={width:w.videoWidth,height:w.videoHeight}}if(r==="tfjs"&&s){for(const w of t)w.visibility=w.score;for(const w of n)w.x/=s.width,w.y/=s.height,w.z=0,w.visibility=w.score}const a=T(t),z=O(t,n),h=y?E(t):null,c=t[15].y>.1||((A=t[15].visibility)!=null?A:0)<.23||.995<n[15].y,u=t[16].y>.1||((B=t[16].visibility)!=null?B:0)<.23||.995<n[16].y,f=t[23].y>.1||((P=t[23].visibility)!=null?P:0)<.63||z.Hips.position.z>-.4,M=t[24].y>.1||((D=t[24].visibility)!=null?D:0)<.63||z.Hips.position.z>-.4;return a.UpperArm.l=a.UpperArm.l.multiply(u?0:1),a.UpperArm.l.z=u?I.Pose.LeftUpperArm.z:a.UpperArm.l.z,a.UpperArm.r=a.UpperArm.r.multiply(c?0:1),a.UpperArm.r.z=c?I.Pose.RightUpperArm.z:a.UpperArm.r.z,a.LowerArm.l=a.LowerArm.l.multiply(u?0:1),a.LowerArm.r=a.LowerArm.r.multiply(c?0:1),a.Hand.l=a.Hand.l.multiply(u?0:1),a.Hand.r=a.Hand.r.multiply(c?0:1),h&&(h.UpperLeg.l=h.UpperLeg.l.multiply(M?0:1),h.UpperLeg.r=h.UpperLeg.r.multiply(f?0:1),h.LowerLeg.l=h.LowerLeg.l.multiply(M?0:1),h.LowerLeg.r=h.LowerLeg.r.multiply(f?0:1)),{RightUpperArm:a.UpperArm.r,RightLowerArm:a.LowerArm.r,LeftUpperArm:a.UpperArm.l,LeftLowerArm:a.LowerArm.l,RightHand:a.Hand.r,LeftHand:a.Hand.l,RightUpperLeg:h?h.UpperLeg.r:I.Pose.RightUpperLeg,RightLowerLeg:h?h.LowerLeg.r:I.Pose.RightLowerLeg,LeftUpperLeg:h?h.UpperLeg.l:I.Pose.LeftUpperLeg,LeftLowerLeg:h?h.LowerLeg.l:I.Pose.LeftLowerLeg,Hips:z.Hips,Spine:z.Spine}}}U.calcArms=T,U.calcHips=O,U.calcLegs=E;class J{static solve(t,n=p){if(!t){console.error("Need Hand Landmarks");return}const r=[new i(t[0]),new i(t[n===p?17:5]),new i(t[n===p?5:17])],o=i.rollPitchYaw(r[0],r[1],r[2]);o.y=o.z,o.y-=.4;let s={};return s[n+"Wrist"]={x:o.x,y:o.y,z:o.z},s[n+"RingProximal"]={x:0,y:0,z:i.angleBetween3DCoords(t[0],t[13],t[14])},s[n+"RingIntermediate"]={x:0,y:0,z:i.angleBetween3DCoords(t[13],t[14],t[15])},s[n+"RingDistal"]={x:0,y:0,z:i.angleBetween3DCoords(t[14],t[15],t[16])},s[n+"IndexProximal"]={x:0,y:0,z:i.angleBetween3DCoords(t[0],t[5],t[6])},s[n+"IndexIntermediate"]={x:0,y:0,z:i.angleBetween3DCoords(t[5],t[6],t[7])},s[n+"IndexDistal"]={x:0,y:0,z:i.angleBetween3DCoords(t[6],t[7],t[8])},s[n+"MiddleProximal"]={x:0,y:0,z:i.angleBetween3DCoords(t[0],t[9],t[10])},s[n+"MiddleIntermediate"]={x:0,y:0,z:i.angleBetween3DCoords(t[9],t[10],t[11])},s[n+"MiddleDistal"]={x:0,y:0,z:i.angleBetween3DCoords(t[10],t[11],t[12])},s[n+"ThumbProximal"]={x:0,y:0,z:i.angleBetween3DCoords(t[0],t[1],t[2])},s[n+"ThumbIntermediate"]={x:0,y:0,z:i.angleBetween3DCoords(t[1],t[2],t[3])},s[n+"ThumbDistal"]={x:0,y:0,z:i.angleBetween3DCoords(t[2],t[3],t[4])},s[n+"LittleProximal"]={x:0,y:0,z:i.angleBetween3DCoords(t[0],t[17],t[18])},s[n+"LittleIntermediate"]={x:0,y:0,z:i.angleBetween3DCoords(t[17],t[18],t[19])},s[n+"LittleDistal"]={x:0,y:0,z:i.angleBetween3DCoords(t[18],t[19],t[20])},s=Q(s,n),s}}const Q=(e,t=p)=>{const n=t===p?1:-1,r=["Ring","Index","Little","Thumb","Middle"],o=["Proximal","Intermediate","Distal"];return e[t+"Wrist"].x=x(e[t+"Wrist"].x*2*n,-.3,.3),e[t+"Wrist"].y=x(e[t+"Wrist"].y*2.3,t===p?-1.2:-.6,t===p?.6:1.6),e[t+"Wrist"].z=e[t+"Wrist"].z*-2.3*n,r.forEach(s=>{o.forEach(y=>{const a=e[t+s+y];if(s==="Thumb"){const z={x:y==="Proximal"?2.2:0,y:y==="Proximal"?2.2:y==="Intermediate"?.7:1,z:.5},h={x:y==="Proximal"?1.2:-.2,y:y==="Proximal"?1.1*n:.1*n,z:.2*n},c={x:0,y:0,z:0};y==="Proximal"?(c.z=x(h.z+a.z*-l*z.z*n,t===p?-.6:-.3,t===p?.3:.6),c.x=x(h.x+a.z*-l*z.x,-.6,.3),c.y=x(h.y+a.z*-l*z.y*n,t===p?-1:-.3,t===p?.3:1)):(c.z=x(h.z+a.z*-l*z.z*n,-2,2),c.x=x(h.x+a.z*-l*z.x,-2,2),c.y=x(h.y+a.z*-l*z.y*n,-2,2)),a.x=c.x,a.y=c.y,a.z=c.z}else a.z=x(a.z*-l*n,t===p?-l:0,t===p?0:l)})}),e},$=e=>{const t=new i(e[21]),n=new i(e[251]),r=new i(e[397]),o=new i(e[172]),s=r.lerp(o,.5);return{vector:[t,n,s],points:[t,n,r,o]}},j=e=>{const 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