npm - @operato/scene-urdf - Versions diffs - 1.2.3 → 1.2.4 - Mend

@operato/scene-urdf 1.2.3 → 1.2.4

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (6) hide show

package/CHANGELOG.md +9 -0
package/dist/elements/urdf-viewer-element.js +5 -4
package/dist/elements/urdf-viewer-element.js.map +1 -1
package/package.json +4 -3
package/src/elements/urdf-viewer-element.ts +5 -4
package/tsconfig.tsbuildinfo +1 -1

package/CHANGELOG.md CHANGED Viewed

@@ -3,6 +3,15 @@
 All notable changes to this project will be documented in this file.
 See [Conventional Commits](https://conventionalcommits.org) for commit guidelines.
+### [1.2.4](https://github.com/things-scene/operato-scene/compare/v1.2.3...v1.2.4) (2023-02-13)
+### :bug: Bug Fix
+* [#5](https://github.com/things-scene/operato-scene/issues/5) done ([8de018c](https://github.com/things-scene/operato-scene/commit/8de018c61c3195a557ba69121a4255865dfa2345))
 ### [1.2.3](https://github.com/things-scene/operato-scene/compare/v1.2.2...v1.2.3) (2023-02-09)

package/dist/elements/urdf-viewer-element.js CHANGED Viewed

@@ -109,7 +109,7 @@ export default class URDFViewerElement extends HTMLElement {
         // World setup
         const world = new THREE.Object3D();
         scene.add(world);
-        const plane = new THREE.Mesh(new THREE.PlaneBufferGeometry(40, 40), new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 }));
+        const plane = new THREE.Mesh(new THREE.PlaneGeometry(40, 40), new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 }));
         plane.rotation.x = -Math.PI / 2;
         plane.position.y = -0.5;
         plane.receiveShadow = true;
@@ -297,9 +297,10 @@ export default class URDFViewerElement extends HTMLElement {
                                 if (m instanceof THREE.MeshBasicMaterial) {
                                     m = new THREE.MeshPhongMaterial();
                                 }
-                                if (m.map) {
-                                    m.map.encoding = THREE.GammaEncoding;
-                                }
+                                // FIXME THREE.GammaEncoding is removed at v136
+                                // if (m.map) {
+                                //   m.map.encoding = THREE.GammaEncoding
+                                // }
                                 return m;
                             });
                             c.material = mats.length === 1 ? mats[0] : mats;

package/dist/elements/urdf-viewer-element.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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* as THREE from 'three'\nimport { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'\nimport URDFLoader, { URDFJoint, URDFRobot } from 'urdf-loader/src/URDFLoader'\nimport { XacroLoader } from 'xacro-parser'\n\n// urdf-viewer element\n// Loads and displays a 3D view of a URDF-formatted robot\n\n// Events\n// urdf-change: Fires when the URDF has finished loading and getting processed\n// urdf-processed: Fires when the URDF has finished loading and getting processed\n// geometry-loaded: Fires when all the geometry has been fully loaded\n// ignore-limits-change: Fires when the 'ignore-limits' attribute changes\n// angle-change: Fires when an angle changes\nexport default class URDFViewerElement extends HTMLElement {\n static get observedAttributes() {\n return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'no-auto-recenter']\n }\n\n get package() {\n return this.getAttribute('package') \|\| ''\n }\n set package(val) {\n this.setAttribute('package', val)\n }\n\n get urdf() {\n return this.getAttribute('urdf') \|\| ''\n }\n set urdf(val) {\n this.setAttribute('urdf', val)\n }\n\n get ignoreLimits() {\n return this.hasAttribute('ignore-limits') \|\| false\n }\n set ignoreLimits(val) {\n val ? this.setAttribute('ignore-limits', String(val)) : this.removeAttribute('ignore-limits')\n }\n\n get up() {\n return this.getAttribute('up') \|\| '+Z'\n }\n set up(val) {\n this.setAttribute('up', val)\n }\n\n get displayShadow() {\n return this.hasAttribute('display-shadow') \|\| false\n }\n set displayShadow(val) {\n val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow')\n }\n\n get ambientColor() {\n return this.getAttribute('ambient-color') \|\| '#455A64'\n }\n set ambientColor(val) {\n val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color')\n }\n\n get noAutoRecenter() {\n return this.hasAttribute('no-auto-recenter') \|\| false\n }\n set noAutoRecenter(val) {\n val ? this.setAttribute('no-auto-recenter', String(true)) : this.removeAttribute('no-auto-recenter')\n }\n\n get jointValues() {\n const values = {} as any\n if (this.robot) {\n for (const name in this.robot.joints) {\n const joint = this.robot.joints[name]\n values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue]\n }\n }\n\n return values\n }\n set jointValues(val) {\n this.setJointValues(val)\n }\n\n get angles() {\n return this.jointValues\n }\n set angles(v) {\n this.jointValues = v\n }\n\n robot?: URDFRobot\n controls: OrbitControls\n scene: THREE.Scene\n camera: THREE.PerspectiveCamera\n\n world: THREE.Object3D\n renderer: THREE.WebGLRenderer\n plane: THREE.Mesh\n directionalLight: THREE.DirectionalLight\n ambientLight: THREE.HemisphereLight\n\n _prevload?: string\n _requestId = 0\n _dirty = true\n _loadScheduled = false\n loadMeshFunc?: (\n url: string,\n manager: THREE.LoadingManager,\n onLoad: (mesh: THREE.Object3D, err?: Error) => void\n ) => void\n urlModifierFunc?: (url: string) => string\n\n /* Lifecycle Functions /\n constructor() {\n super()\n\n const scene = new THREE.Scene()\n\n const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000')\n ambientLight.groundColor.lerp(ambientLight.color, 0.5)\n ambientLight.intensity = 0.5\n ambientLight.position.set(0, 1, 0)\n scene.add(ambientLight)\n\n // Light setup\n const dirLight = new THREE.DirectionalLight(0xffffff)\n dirLight.position.set(4, 10, 1)\n dirLight.shadow.mapSize.width = 2048\n dirLight.shadow.mapSize.height = 2048\n dirLight.shadow.normalBias = 0.001\n dirLight.castShadow = true\n scene.add(dirLight)\n scene.add(dirLight.target)\n\n // Renderer setup\n const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true })\n renderer.setClearColor(0xffffff)\n renderer.setClearAlpha(0)\n renderer.shadowMap.enabled = true\n renderer.shadowMap.type = THREE.PCFSoftShadowMap\n renderer.outputEncoding = THREE.sRGBEncoding\n\n // Camera setup\n const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000)\n camera.position.z = -10\n\n // World setup\n const world = new THREE.Object3D()\n scene.add(world)\n\n const plane = new THREE.Mesh(\n new THREE.PlaneBufferGeometry(40, 40),\n new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 })\n )\n plane.rotation.x = -Math.PI / 2\n plane.position.y = -0.5\n plane.receiveShadow = true\n plane.scale.set(10, 10, 10)\n scene.add(plane)\n\n // Controls setup\n const controls = new OrbitControls(camera, renderer.domElement)\n controls.rotateSpeed = 2.0\n controls.zoomSpeed = 5\n controls.panSpeed = 2\n controls.enableZoom = true\n controls.enableDamping = false\n controls.maxDistance = 50\n controls.minDistance = 0.25\n controls.addEventListener('change', () => this.recenter())\n\n this.scene = scene\n this.world = world\n this.renderer = renderer\n this.camera = camera\n this.controls = controls\n this.plane = plane\n this.directionalLight = dirLight\n this.ambientLight = ambientLight\n\n this._setUp(this.up)\n }\n\n connectedCallback() {\n if (!this.querySelector('canvas')) {\n var canvas = this.renderer.domElement\n canvas.style.display = 'block'\n canvas.style.width = '100%'\n canvas.style.height = '100%'\n\n this.appendChild(canvas)\n }\n\n requestAnimationFrame(() => this.recenter())\n }\n\n disconnectedCallback() {}\n\n attributeChangedCallback(attr: string, oldval: any, newval: any) {\n this.recenter()\n\n switch (attr) {\n case 'package':\n case 'urdf': {\n this._scheduleLoad()\n break\n }\n\n case 'up': {\n this._setUp(this.up)\n break\n }\n\n case 'ambient-color': {\n this.ambientLight.color.set(this.ambientColor)\n this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5)\n break\n }\n\n case 'ignore-limits': {\n this._setIgnoreLimits(this.ignoreLimits, true)\n break\n }\n }\n }\n\n / Public API /\n updateSize() {\n const r = this.renderer\n const w = this.clientWidth\n const h = this.clientHeight\n\n const currsize = r.getSize(new THREE.Vector2())\n\n if (currsize.width !== w \|\| currsize.height !== h) {\n this.recenter()\n }\n\n r.setPixelRatio(window.devicePixelRatio)\n r.setSize(w, h, false)\n\n this.camera.aspect = w / h\n this.camera.updateProjectionMatrix()\n }\n\n redraw() {\n if (this.parentNode && this._dirty) {\n this._dirty = false\n try {\n this.updateSize()\n\n if (!this.noAutoRecenter) {\n this._updateEnvironment()\n }\n\n this.renderer.render(this.scene, this.camera)\n\n // update controls after the environment in\n // case the controls are retargeted\n this.controls.update()\n } catch (err) {\n console.error(err)\n } finally {\n this._dirty = true\n }\n }\n }\n\n recenter() {\n this._updateEnvironment()\n this.redraw()\n }\n\n // Set the joint with jointName to\n // angle in degrees\n setJointValue(jointName: string, ...values: Number[]) {\n if (!this.robot) return\n if (!this.robot.joints[jointName]) return\n\n if (this.robot.joints[jointName].setJointValue(values[0], values[1], values[2]) as any) {\n this.redraw()\n this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }))\n }\n }\n\n setJointValues(values: Number[]) {\n for (const name in values) this.setJointValue(name, values[name])\n }\n\n / Private Functions */\n // Updates the position of the plane to be at the\n // lowest point below the robot and focuses the\n // camera on the center of the scene\n _updateEnvironment() {\n if (!this.robot) return\n\n this.world.updateMatrixWorld()\n\n const bbox = new THREE.Box3()\n bbox.setFromObject(this.robot)\n\n const center = bbox.getCenter(new THREE.Vector3())\n this.controls.target.y = center.y\n this.plane.position.y = bbox.min.y - 1e-3\n\n const dirLight = this.directionalLight\n dirLight.castShadow = this.displayShadow\n\n if (this.displayShadow) {\n // Update the shadow camera rendering bounds to encapsulate the\n // model. We use the bounding sphere of the bounding box for\n // simplicity -- this could be a tighter fit.\n const sphere = bbox.getBoundingSphere(new THREE.Sphere())\n const minmax = sphere.radius\n const cam = dirLight.shadow.camera\n cam.left = cam.bottom = -minmax\n cam.right = cam.top = minmax\n\n // Update the camera to focus on the center of the model so the\n // shadow can encapsulate it\n const offset = dirLight.position.clone().sub(dirLight.target.position)\n dirLight.target.position.copy(center)\n dirLight.position.copy(center).add(offset)\n\n cam.updateProjectionMatrix()\n }\n }\n\n _scheduleLoad() {\n // if our current model is already what's being requested\n // or has been loaded then early out\n if (this._prevload === `${this.package}\|${this.urdf}`) return\n this._prevload = `${this.package}\|${this.urdf}`\n\n // if we're already waiting on a load then early out\n if (this._loadScheduled) return\n this._loadScheduled = true\n\n if (this.robot) {\n this.robot.traverse((c: any) => c.dispose && c.dispose())\n this.robot.parent!.remove(this.robot)\n delete this.robot\n }\n\n requestAnimationFrame(() => {\n this._loadUrdf(this.package, this.urdf)\n this._loadScheduled = false\n })\n }\n\n // Watch the package and urdf field and load the robot model.\n // This should _only_ be called from _scheduleLoad because that\n // ensures the that current robot has been removed\n _loadUrdf(pkg: string, urdf: string) {\n this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }))\n\n if (urdf) {\n // Keep track of this request and make\n // sure it doesn't get overwritten by\n // a subsequent one\n this._requestId++\n const requestId = this._requestId\n\n const updateMaterials = (mesh: URDFRobot) => {\n mesh.traverse(c => {\n if ((c as any).isMesh) {\n c.castShadow = true\n c.receiveShadow = true\n\n if ((c as any).material) {\n const mats = (Array.isArray((c as any).material) ? (c as any).material : [(c as any).material]).map(\n (m: any) => {\n if (m instanceof THREE.MeshBasicMaterial) {\n m = new THREE.MeshPhongMaterial()\n }\n\n if (m.map) {\n m.map.encoding = THREE.GammaEncoding\n }\n\n return m\n }\n )\n\n ;(c as any).material = mats.length === 1 ? mats[0] : mats\n }\n }\n })\n }\n\n if (pkg.includes(':') && pkg.split(':')[1].substring(0, 2) !== '//') {\n // E.g. pkg = \"pkg_name: path/to/pkg_name, pk2: path2/to/pk2\"}\n\n // Convert pkg(s) into a map. E.g.\n // { \"pkg_name\": \"path/to/pkg_name\",\n // \"pk2\": \"path2/to/pk2\" }\n\n pkg = pkg.split(',').reduce((map: any, value: string) => {\n const split = value.split(/:/).filter(x => !!x)\n const pkgName = split.shift()!.trim()\n const pkgPath = split.join(':').trim()\n map[pkgName] = pkgPath\n\n return map\n }, {} as any)\n }\n\n let robot: URDFRobot\n const manager = new THREE.LoadingManager()\n manager.onLoad = () => {\n // If another request has come in to load a new\n // robot, then ignore this one\n if (this._requestId !== requestId) {\n robot.traverse(c => (c as any).dispose && (c as any).dispose())\n return\n }\n\n this.robot = robot\n\n this.world.add(robot)\n updateMaterials(robot)\n\n this._setIgnoreLimits(this.ignoreLimits)\n\n this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }))\n this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }))\n\n this.recenter()\n }\n\n if (this.urlModifierFunc) {\n manager.setURLModifier(this.urlModifierFunc)\n }\n\n const checkXacro = /[.]/.exec(urdf) ? /[^.]+$/.exec(urdf) : undefined\n\n if (checkXacro && checkXacro[0] === 'xacro') {\n const xacroLoader = new XacroLoader()\n try {\n xacroLoader.load(\n urdf,\n xml => {\n const loader = new URDFLoader(manager)\n loader.packages = pkg\n loader.loadMeshCb = this.loadMeshFunc!\n loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' }\n robot = loader.parse(xml)\n },\n err => {\n console.error('xacroloader error: ', err)\n }\n )\n } catch (error) {\n console.error(error)\n }\n } else {\n const loader = new URDFLoader(manager)\n loader.packages = pkg\n loader.loadMeshCb = this.loadMeshFunc!\n loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' }\n loader.load(urdf, model => (robot = model))\n }\n }\n }\n\n // Watch the coordinate frame and update the\n // rotation of the scene to match\n _setUp(up: string) {\n if (!up) up = '+Z'\n up = up.toUpperCase()\n const sign = up.replace(/[^-+]/g, '')[0] \|\| '+'\n const axis = up.replace(/[^XYZ]/gi, '')[0] \|\| 'Z'\n\n const PI = Math.PI\n const HALFPI = PI / 2\n if (axis === 'X') this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI)\n if (axis === 'Z') this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0)\n if (axis === 'Y') this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0)\n }\n\n // Updates the current robot's angles to ignore\n // joint limits or not\n _setIgnoreLimits(ignore: boolean, dispatch = false) {\n if (this.robot) {\n Object.values(this.robot.joints).forEach(joint => {\n joint.ignoreLimits = ignore\n joint.setJointValue(joint.jointValue[0], joint.jointValue[1], joint.jointValue[2])\n })\n }\n\n if (dispatch) {\n this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }))\n }\n }\n}\n"]}
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* as THREE from 'three'\nimport { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'\nimport URDFLoader, { URDFJoint, URDFRobot } from 'urdf-loader/src/URDFLoader'\nimport { XacroLoader } from 'xacro-parser'\n\n// urdf-viewer element\n// Loads and displays a 3D view of a URDF-formatted robot\n\n// Events\n// urdf-change: Fires when the URDF has finished loading and getting processed\n// urdf-processed: Fires when the URDF has finished loading and getting processed\n// geometry-loaded: Fires when all the geometry has been fully loaded\n// ignore-limits-change: Fires when the 'ignore-limits' attribute changes\n// angle-change: Fires when an angle changes\nexport default class URDFViewerElement extends HTMLElement {\n static get observedAttributes() {\n return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'no-auto-recenter']\n }\n\n get package() {\n return this.getAttribute('package') \|\| ''\n }\n set package(val) {\n this.setAttribute('package', val)\n }\n\n get urdf() {\n return this.getAttribute('urdf') \|\| ''\n }\n set urdf(val) {\n this.setAttribute('urdf', val)\n }\n\n get ignoreLimits() {\n return this.hasAttribute('ignore-limits') \|\| false\n }\n set ignoreLimits(val) {\n val ? this.setAttribute('ignore-limits', String(val)) : this.removeAttribute('ignore-limits')\n }\n\n get up() {\n return this.getAttribute('up') \|\| '+Z'\n }\n set up(val) {\n this.setAttribute('up', val)\n }\n\n get displayShadow() {\n return this.hasAttribute('display-shadow') \|\| false\n }\n set displayShadow(val) {\n val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow')\n }\n\n get ambientColor() {\n return this.getAttribute('ambient-color') \|\| '#455A64'\n }\n set ambientColor(val) {\n val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color')\n }\n\n get noAutoRecenter() {\n return this.hasAttribute('no-auto-recenter') \|\| false\n }\n set noAutoRecenter(val) {\n val ? this.setAttribute('no-auto-recenter', String(true)) : this.removeAttribute('no-auto-recenter')\n }\n\n get jointValues() {\n const values = {} as any\n if (this.robot) {\n for (const name in this.robot.joints) {\n const joint = this.robot.joints[name]\n values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue]\n }\n }\n\n return values\n }\n set jointValues(val) {\n this.setJointValues(val)\n }\n\n get angles() {\n return this.jointValues\n }\n set angles(v) {\n this.jointValues = v\n }\n\n robot?: URDFRobot\n controls: OrbitControls\n scene: THREE.Scene\n camera: THREE.PerspectiveCamera\n\n world: THREE.Object3D\n renderer: THREE.WebGLRenderer\n plane: THREE.Mesh\n directionalLight: THREE.DirectionalLight\n ambientLight: THREE.HemisphereLight\n\n _prevload?: string\n _requestId = 0\n _dirty = true\n _loadScheduled = false\n loadMeshFunc?: (\n url: string,\n manager: THREE.LoadingManager,\n onLoad: (mesh: THREE.Object3D, err?: Error) => void\n ) => void\n urlModifierFunc?: (url: string) => string\n\n /* Lifecycle Functions /\n constructor() {\n super()\n\n const scene = new THREE.Scene()\n\n const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000')\n ambientLight.groundColor.lerp(ambientLight.color, 0.5)\n ambientLight.intensity = 0.5\n ambientLight.position.set(0, 1, 0)\n scene.add(ambientLight)\n\n // Light setup\n const dirLight = new THREE.DirectionalLight(0xffffff)\n dirLight.position.set(4, 10, 1)\n dirLight.shadow.mapSize.width = 2048\n dirLight.shadow.mapSize.height = 2048\n dirLight.shadow.normalBias = 0.001\n dirLight.castShadow = true\n scene.add(dirLight)\n scene.add(dirLight.target)\n\n // Renderer setup\n const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true })\n renderer.setClearColor(0xffffff)\n renderer.setClearAlpha(0)\n renderer.shadowMap.enabled = true\n renderer.shadowMap.type = THREE.PCFSoftShadowMap\n renderer.outputEncoding = THREE.sRGBEncoding\n\n // Camera setup\n const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000)\n camera.position.z = -10\n\n // World setup\n const world = new THREE.Object3D()\n scene.add(world)\n\n const plane = new THREE.Mesh(\n new THREE.PlaneGeometry(40, 40),\n new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 })\n )\n plane.rotation.x = -Math.PI / 2\n plane.position.y = -0.5\n plane.receiveShadow = true\n plane.scale.set(10, 10, 10)\n scene.add(plane)\n\n // Controls setup\n const controls = new OrbitControls(camera, renderer.domElement)\n controls.rotateSpeed = 2.0\n controls.zoomSpeed = 5\n controls.panSpeed = 2\n controls.enableZoom = true\n controls.enableDamping = false\n controls.maxDistance = 50\n controls.minDistance = 0.25\n controls.addEventListener('change', () => this.recenter())\n\n this.scene = scene\n this.world = world\n this.renderer = renderer\n this.camera = camera\n this.controls = controls\n this.plane = plane\n this.directionalLight = dirLight\n this.ambientLight = ambientLight\n\n this._setUp(this.up)\n }\n\n connectedCallback() {\n if (!this.querySelector('canvas')) {\n var canvas = this.renderer.domElement\n canvas.style.display = 'block'\n canvas.style.width = '100%'\n canvas.style.height = '100%'\n\n this.appendChild(canvas)\n }\n\n requestAnimationFrame(() => this.recenter())\n }\n\n disconnectedCallback() {}\n\n attributeChangedCallback(attr: string, oldval: any, newval: any) {\n this.recenter()\n\n switch (attr) {\n case 'package':\n case 'urdf': {\n this._scheduleLoad()\n break\n }\n\n case 'up': {\n this._setUp(this.up)\n break\n }\n\n case 'ambient-color': {\n this.ambientLight.color.set(this.ambientColor)\n this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5)\n break\n }\n\n case 'ignore-limits': {\n this._setIgnoreLimits(this.ignoreLimits, true)\n break\n }\n }\n }\n\n / Public API /\n updateSize() {\n const r = this.renderer\n const w = this.clientWidth\n const h = this.clientHeight\n\n const currsize = r.getSize(new THREE.Vector2())\n\n if (currsize.width !== w \|\| currsize.height !== h) {\n this.recenter()\n }\n\n r.setPixelRatio(window.devicePixelRatio)\n r.setSize(w, h, false)\n\n this.camera.aspect = w / h\n this.camera.updateProjectionMatrix()\n }\n\n redraw() {\n if (this.parentNode && this._dirty) {\n this._dirty = false\n try {\n this.updateSize()\n\n if (!this.noAutoRecenter) {\n this._updateEnvironment()\n }\n\n this.renderer.render(this.scene, this.camera)\n\n // update controls after the environment in\n // case the controls are retargeted\n this.controls.update()\n } catch (err) {\n console.error(err)\n } finally {\n this._dirty = true\n }\n }\n }\n\n recenter() {\n this._updateEnvironment()\n this.redraw()\n }\n\n // Set the joint with jointName to\n // angle in degrees\n setJointValue(jointName: string, ...values: Number[]) {\n if (!this.robot) return\n if (!this.robot.joints[jointName]) return\n\n if (this.robot.joints[jointName].setJointValue(values[0], values[1], values[2]) as any) {\n this.redraw()\n this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }))\n }\n }\n\n setJointValues(values: Number[]) {\n for (const name in values) this.setJointValue(name, values[name])\n }\n\n / Private Functions */\n // Updates the position of the plane to be at the\n // lowest point below the robot and focuses the\n // camera on the center of the scene\n _updateEnvironment() {\n if (!this.robot) return\n\n this.world.updateMatrixWorld()\n\n const bbox = new THREE.Box3()\n bbox.setFromObject(this.robot)\n\n const center = bbox.getCenter(new THREE.Vector3())\n this.controls.target.y = center.y\n this.plane.position.y = bbox.min.y - 1e-3\n\n const dirLight = this.directionalLight\n dirLight.castShadow = this.displayShadow\n\n if (this.displayShadow) {\n // Update the shadow camera rendering bounds to encapsulate the\n // model. We use the bounding sphere of the bounding box for\n // simplicity -- this could be a tighter fit.\n const sphere = bbox.getBoundingSphere(new THREE.Sphere())\n const minmax = sphere.radius\n const cam = dirLight.shadow.camera\n cam.left = cam.bottom = -minmax\n cam.right = cam.top = minmax\n\n // Update the camera to focus on the center of the model so the\n // shadow can encapsulate it\n const offset = dirLight.position.clone().sub(dirLight.target.position)\n dirLight.target.position.copy(center)\n dirLight.position.copy(center).add(offset)\n\n cam.updateProjectionMatrix()\n }\n }\n\n _scheduleLoad() {\n // if our current model is already what's being requested\n // or has been loaded then early out\n if (this._prevload === `${this.package}\|${this.urdf}`) return\n this._prevload = `${this.package}\|${this.urdf}`\n\n // if we're already waiting on a load then early out\n if (this._loadScheduled) return\n this._loadScheduled = true\n\n if (this.robot) {\n this.robot.traverse((c: any) => c.dispose && c.dispose())\n this.robot.parent!.remove(this.robot)\n delete this.robot\n }\n\n requestAnimationFrame(() => {\n this._loadUrdf(this.package, this.urdf)\n this._loadScheduled = false\n })\n }\n\n // Watch the package and urdf field and load the robot model.\n // This should _only_ be called from _scheduleLoad because that\n // ensures the that current robot has been removed\n _loadUrdf(pkg: string, urdf: string) {\n this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }))\n\n if (urdf) {\n // Keep track of this request and make\n // sure it doesn't get overwritten by\n // a subsequent one\n this._requestId++\n const requestId = this._requestId\n\n const updateMaterials = (mesh: URDFRobot) => {\n mesh.traverse(c => {\n if ((c as any).isMesh) {\n c.castShadow = true\n c.receiveShadow = true\n\n if ((c as any).material) {\n const mats = (Array.isArray((c as any).material) ? (c as any).material : [(c as any).material]).map(\n (m: any) => {\n if (m instanceof THREE.MeshBasicMaterial) {\n m = new THREE.MeshPhongMaterial()\n }\n\n // FIXME THREE.GammaEncoding is removed at v136\n // if (m.map) {\n // m.map.encoding = THREE.GammaEncoding\n // }\n\n return m\n }\n )\n\n ;(c as any).material = mats.length === 1 ? mats[0] : mats\n }\n }\n })\n }\n\n if (pkg.includes(':') && pkg.split(':')[1].substring(0, 2) !== '//') {\n // E.g. pkg = \"pkg_name: path/to/pkg_name, pk2: path2/to/pk2\"}\n\n // Convert pkg(s) into a map. E.g.\n // { \"pkg_name\": \"path/to/pkg_name\",\n // \"pk2\": \"path2/to/pk2\" }\n\n pkg = pkg.split(',').reduce((map: any, value: string) => {\n const split = value.split(/:/).filter(x => !!x)\n const pkgName = split.shift()!.trim()\n const pkgPath = split.join(':').trim()\n map[pkgName] = pkgPath\n\n return map\n }, {} as any)\n }\n\n let robot: URDFRobot\n const manager = new THREE.LoadingManager()\n manager.onLoad = () => {\n // If another request has come in to load a new\n // robot, then ignore this one\n if (this._requestId !== requestId) {\n robot.traverse(c => (c as any).dispose && (c as any).dispose())\n return\n }\n\n this.robot = robot\n\n this.world.add(robot)\n updateMaterials(robot)\n\n this._setIgnoreLimits(this.ignoreLimits)\n\n this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }))\n this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }))\n\n this.recenter()\n }\n\n if (this.urlModifierFunc) {\n manager.setURLModifier(this.urlModifierFunc)\n }\n\n const checkXacro = /[.]/.exec(urdf) ? /[^.]+$/.exec(urdf) : undefined\n\n if (checkXacro && checkXacro[0] === 'xacro') {\n const xacroLoader = new XacroLoader()\n try {\n xacroLoader.load(\n urdf,\n xml => {\n const loader = new URDFLoader(manager)\n loader.packages = pkg\n loader.loadMeshCb = this.loadMeshFunc!\n loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' }\n robot = loader.parse(xml)\n },\n err => {\n console.error('xacroloader error: ', err)\n }\n )\n } catch (error) {\n console.error(error)\n }\n } else {\n const loader = new URDFLoader(manager)\n loader.packages = pkg\n loader.loadMeshCb = this.loadMeshFunc!\n loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' }\n loader.load(urdf, model => (robot = model))\n }\n }\n }\n\n // Watch the coordinate frame and update the\n // rotation of the scene to match\n _setUp(up: string) {\n if (!up) up = '+Z'\n up = up.toUpperCase()\n const sign = up.replace(/[^-+]/g, '')[0] \|\| '+'\n const axis = up.replace(/[^XYZ]/gi, '')[0] \|\| 'Z'\n\n const PI = Math.PI\n const HALFPI = PI / 2\n if (axis === 'X') this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI)\n if (axis === 'Z') this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0)\n if (axis === 'Y') this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0)\n }\n\n // Updates the current robot's angles to ignore\n // joint limits or not\n _setIgnoreLimits(ignore: boolean, dispatch = false) {\n if (this.robot) {\n Object.values(this.robot.joints).forEach(joint => {\n joint.ignoreLimits = ignore\n joint.setJointValue(joint.jointValue[0], joint.jointValue[1], joint.jointValue[2])\n })\n }\n\n if (dispatch) {\n this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }))\n }\n }\n}\n"]}

package/package.json CHANGED Viewed

@@ -2,7 +2,7 @@
   "name": "@operato/scene-urdf",
   "description": "Scene module for manipulating robot simulation through URDF format",
   "author": "heartyoh",
-  "version": "1.2.3",
+  "version": "1.2.4",
   "main": "dist/index.js",
   "module": "dist/index.js",
   "things-scene": true,
@@ -29,7 +29,7 @@
     "@hatiolab/things-scene": "^3.2.0",
     "@operato/styles": "^1.0.0",
     "lit": "^2.5.0",
-    "three": "^0.122.0",
+    "three": "^0.149.0",
     "urdf-loader": "^0.10.4",
     "xacro-parser": "^0.3.9"
   },
@@ -37,6 +37,7 @@
     "@hatiolab/prettier-config": "^1.0.0",
     "@things-factory/builder": "^6.0.0",
     "@things-factory/operato-board": "^6.0.0",
+    "@types/three": "^0.149.0",
     "@types/tinycolor2": "^1.4.3",
     "@typescript-eslint/eslint-plugin": "^4.33.0",
     "@typescript-eslint/parser": "^4.33.0",
@@ -62,5 +63,5 @@
       "prettier --write"
     ]
   },
-  "gitHead": "3b6ca9404c2260930a7012290125e14434b9b313"
+  "gitHead": "dbfe6dde63c186e62ebb2f5083347f0bf5ba83cd"
 }

package/src/elements/urdf-viewer-element.ts CHANGED Viewed

@@ -149,7 +149,7 @@ export default class URDFViewerElement extends HTMLElement {
     scene.add(world)
     const plane = new THREE.Mesh(
-      new THREE.PlaneBufferGeometry(40, 40),
+      new THREE.PlaneGeometry(40, 40),
       new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 })
     )
     plane.rotation.x = -Math.PI / 2
@@ -374,9 +374,10 @@ export default class URDFViewerElement extends HTMLElement {
                     m = new THREE.MeshPhongMaterial()
                   }
-                  if (m.map) {
-                    m.map.encoding = THREE.GammaEncoding
-                  }
+                  // FIXME THREE.GammaEncoding is removed at v136
+                  // if (m.map) {
+                  //   m.map.encoding = THREE.GammaEncoding
+                  // }
                   return m
                 }

package/tsconfig.tsbuildinfo CHANGED Viewed

	@@ -1 +1 @@
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