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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.

[0.0.6] - 2026-02-02

Added

  • Basic benchmark for solve.
  • Used damped pseudo inverse for SVD case.
  • Make progressively smaller step sizes towards goals if an IK chain is diverging.
  • Jacobian pseudo inverse caching for opportunistic performance gain.
  • Added "saveRestPose" to "IKUtils" export.

Changed

  • Simplified internal Matrix initialization.
  • Use analytic Jacobian.
  • Remove "translationStep" and "rotatinoStep" options.
  • Use a simplified formulation for rest pose calculations for a significant speed up when using rest pose.
  • Move "findRoots" to "IKUtils" export.
  • Moved "urdfRobotToIKRoot", "setUrdfFromIK", "setIKFromUrdf" to URDFUtils export.
  • URDFUtils.setIKFromUrdf: Root DoF values are now set with taking the IK root into account.
  • URDFUtils.urdfRobotToIKRoot: The produced IK system now accounts for any existing changes to the URDF joint values.

Fixed

  • Fixed case where Matrices were not zeroed out when fetched from MatrixPool, possibly causing some outdated values to be used in calculations.

[0.0.5] - 2025-07-18

Fixed

  • Adjust package version requirements.
  • Set the type and module entry in the package.
  • Updated the project to work with three.js r159 and up.

Changed

  • Removed IKRootsHelper.setResolution.

[0.0.4] - 2022-11-21

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.

[0.0.3] - 2020-12-31

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.

[0.0.2] - 2020-12-28

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.

[0.0.1] - 2020-10-17

Initial release