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198 lines
4.1 KiB
HTML
198 lines
4.1 KiB
HTML
<!DOCTYPE html>
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<html lang="en">
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<head>
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<title>three.js webgl - collada - kinematics</title>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
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<link type="text/css" rel="stylesheet" href="main.css">
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</head>
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<body>
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<div id="info">
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<a href="https://threejs.org" target="_blank" rel="noopener">three.js</a> collada loader - kinematics<br/>
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robot from <a href="https://github.com/rdiankov/collada_robots" target="_blank" rel="noopener">collada robots</a>
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</div>
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<script type="importmap">
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{
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"imports": {
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"three": "../build/three.module.js",
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"three/addons/": "./jsm/"
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}
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}
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</script>
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<script type="module">
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import * as THREE from 'three';
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import Stats from 'three/addons/libs/stats.module.js';
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import TWEEN from 'three/addons/libs/tween.module.js';
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import { ColladaLoader } from 'three/addons/loaders/ColladaLoader.js';
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let container, stats;
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let camera, scene, renderer;
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let dae;
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let kinematics;
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let kinematicsTween;
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const tweenParameters = {};
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const loader = new ColladaLoader();
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loader.load( './models/collada/abb_irb52_7_120.dae', function ( collada ) {
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dae = collada.scene;
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dae.traverse( function ( child ) {
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if ( child.isMesh ) {
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// model does not have normals
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child.material.flatShading = true;
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}
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} );
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dae.scale.x = dae.scale.y = dae.scale.z = 10.0;
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dae.updateMatrix();
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kinematics = collada.kinematics;
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init();
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} );
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function init() {
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container = document.createElement( 'div' );
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document.body.appendChild( container );
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camera = new THREE.PerspectiveCamera( 45, window.innerWidth / window.innerHeight, 1, 2000 );
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camera.position.set( 2, 2, 3 );
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scene = new THREE.Scene();
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// Grid
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const grid = new THREE.GridHelper( 20, 20, 0xc1c1c1, 0x8d8d8d );
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scene.add( grid );
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// Add the COLLADA
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scene.add( dae );
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// Lights
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const light = new THREE.HemisphereLight( 0xfff7f7, 0x494966, 3 );
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scene.add( light );
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renderer = new THREE.WebGLRenderer( { antialias: true } );
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renderer.setPixelRatio( window.devicePixelRatio );
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renderer.setSize( window.innerWidth, window.innerHeight );
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renderer.setAnimationLoop( animate );
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container.appendChild( renderer.domElement );
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stats = new Stats();
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container.appendChild( stats.dom );
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setupTween();
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//
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window.addEventListener( 'resize', onWindowResize );
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}
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function setupTween() {
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const duration = THREE.MathUtils.randInt( 1000, 5000 );
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const target = {};
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for ( const prop in kinematics.joints ) {
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if ( kinematics.joints.hasOwnProperty( prop ) ) {
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if ( ! kinematics.joints[ prop ].static ) {
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const joint = kinematics.joints[ prop ];
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const old = tweenParameters[ prop ];
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const position = old ? old : joint.zeroPosition;
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tweenParameters[ prop ] = position;
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target[ prop ] = THREE.MathUtils.randInt( joint.limits.min, joint.limits.max );
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}
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}
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}
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kinematicsTween = new TWEEN.Tween( tweenParameters ).to( target, duration ).easing( TWEEN.Easing.Quadratic.Out );
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kinematicsTween.onUpdate( function ( object ) {
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for ( const prop in kinematics.joints ) {
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if ( kinematics.joints.hasOwnProperty( prop ) ) {
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if ( ! kinematics.joints[ prop ].static ) {
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kinematics.setJointValue( prop, object[ prop ] );
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}
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}
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}
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} );
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kinematicsTween.start();
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setTimeout( setupTween, duration );
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}
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function onWindowResize() {
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camera.aspect = window.innerWidth / window.innerHeight;
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camera.updateProjectionMatrix();
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renderer.setSize( window.innerWidth, window.innerHeight );
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}
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//
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function animate() {
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TWEEN.update();
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render();
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stats.update();
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}
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function render() {
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const timer = Date.now() * 0.0001;
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camera.position.x = Math.cos( timer ) * 20;
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camera.position.y = 10;
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camera.position.z = Math.sin( timer ) * 20;
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camera.lookAt( 0, 5, 0 );
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renderer.render( scene, camera );
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}
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</script>
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</body>
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</html>
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