56 lines
1.9 KiB
JavaScript
56 lines
1.9 KiB
JavaScript
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define((require, exports, module) => {
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const storeManager = require('State')
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const { scene } = require('THREEScene')
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const robotStore = require('Robot')
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const THREESimulationRobot = new THREE.Group()
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scene.add(THREESimulationRobot)
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const robotTHREEStore = storeManager.createStore('RobotTHREE', {})
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let VisualRobot
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robotStore.listen([state => state.geometry, state => state.jointLimits], (geometry, jointLimits) => {
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buildRobot({ geometry, jointLimits }) // after GUI loaded in the stored values
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})
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const cacheState = {
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jointOutOfBound: [false, false, false, false, false, false],
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}
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robotStore.listen((state) => {
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const angles = Object.values(state.angles)
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VisualRobot.setAngles(angles)
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for (let i = 0; i < 6; i++) { // do some caching
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if (!cacheState.jointOutOfBound[i] && state.jointOutOfBound[i]) { // highlight only on change
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VisualRobot.highlightJoint(i, 0xff0000)
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} else if (cacheState.jointOutOfBound[i] && !state.jointOutOfBound[i]) {
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VisualRobot.highlightJoint(i)
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}
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}
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cacheState.jointOutOfBound = state.jointOutOfBound
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})
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function buildRobot(state) {
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if (state.geometry.V3.y !== 0 || state.geometry.V3.z !== 0 || state.geometry.V4.y !== 0 || state.geometry.V4.z !== 0) {
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alert('geometry where V3 y,z not 0 and V4 x,z not 0 are not supported, yet')
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state.geometry.V3.y =
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state.geometry.V3.z =
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state.geometry.V4.y =
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state.geometry.V4.x = 0
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}
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while (THREESimulationRobot.children.length) {
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THREESimulationRobot.remove(THREESimulationRobot.children[0])
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}
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// object to nested arrays
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const geometry = Object.values(state.geometry).map((val, i, array) => [val.x, val.y, val.z])
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const jointLimits = Object.values(state.jointLimits)
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VisualRobot = new THREERobot(geometry, jointLimits, THREESimulationRobot)
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}
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module.exports = robotStore
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})
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