@operato/scene-urdf 10.0.0-beta.2 → 10.0.0-beta.22

package/dist/elements/urdf-manipulator-element.js

@@ -1,112 +0,0 @@
-import { __decorate } from "tslib";
-import { customElement } from 'lit/decorators.js';
-import * as THREE from 'three';
-import { PointerURDFDragControls } from './urdf-drag-controls.js';
-import URDFViewerElement from './urdf-viewer-element.js';
-// urdf-manipulator element
-// Displays a URDF model that can be manipulated with the mouse
-// Events
-// joint-mouseover: Fired when a joint is hovered over
-// joint-mouseout: Fired when a joint is no longer hovered over
-// manipulate-start: Fires when a joint is manipulated
-// manipulate-end: Fires when a joint is done being manipulated
-let URDFManipulatorElement = class URDFManipulatorElement extends URDFViewerElement {
-    static get observedAttributes() {
-        return ['highlight-color', ...super.observedAttributes];
-    }
-    highlightMaterial;
-    dragControls;
-    get disableDragging() {
-        return this.hasAttribute('disable-dragging');
-    }
-    set disableDragging(val) {
-        val ? this.setAttribute('disable-dragging', String(!!val)) : this.removeAttribute('disable-dragging');
-    }
-    get highlightColor() {
-        return this.getAttribute('highlight-color') || '#FFFFFF';
-    }
-    set highlightColor(val) {
-        val ? this.setAttribute('highlight-color', val) : this.removeAttribute('highlight-color');
-    }
-    constructor() {
-        super();
-        // The highlight material
-        this.highlightMaterial = new THREE.MeshPhongMaterial({
-            shininess: 10,
-            color: this.highlightColor,
-            emissive: this.highlightColor,
-            emissiveIntensity: 0.25
-        });
-        const isJoint = (j) => {
-            return j.isURDFJoint && j.jointType !== 'fixed';
-        };
-        // Highlight the link geometry under a joint
-        const highlightLinkGeometry = (m, revert) => {
-            const traverse = (c) => {
-                // Set or revert the highlight color
-                if (c.type === 'Mesh') {
-                    if (revert) {
-                        c.material = c.__origMaterial;
-                        delete c.__origMaterial;
-                    }
-                    else {
-                        c.__origMaterial = c.material;
-                        c.material = this.highlightMaterial;
-                    }
-                }
-                // Look into the children and stop if the next child is
-                // another joint
-                if (c === m || !isJoint(c)) {
-                    for (let i = 0; i < c.children.length; i++) {
-                        traverse(c.children[i]);
-                    }
-                }
-            };
-            traverse(m);
-        };
-        const el = this.renderer.domElement;
-        const dragControls = new PointerURDFDragControls(this.scene, this.camera, el);
-        dragControls.onDragStart = joint => {
-            this.dispatchEvent(new CustomEvent('manipulate-start', { bubbles: true, cancelable: true, detail: joint.name }));
-            this.controls.enabled = false;
-            this.redraw();
-        };
-        dragControls.onDragEnd = joint => {
-            this.dispatchEvent(new CustomEvent('manipulate-end', { bubbles: true, cancelable: true, detail: joint.name }));
-            this.controls.enabled = true;
-            this.redraw();
-        };
-        dragControls.updateJoint = (joint, angle) => {
-            this.setJointValue(joint.name, angle);
-        };
-        dragControls.onHover = (joint) => {
-            highlightLinkGeometry(joint, false);
-            this.dispatchEvent(new CustomEvent('joint-mouseover', { bubbles: true, cancelable: true, detail: joint.name }));
-            this.redraw();
-        };
-        dragControls.onUnhover = joint => {
-            highlightLinkGeometry(joint, true);
-            this.dispatchEvent(new CustomEvent('joint-mouseout', { bubbles: true, cancelable: true, detail: joint.name }));
-            this.redraw();
-        };
-        this.dragControls = dragControls;
-    }
-    disconnectedCallback() {
-        super.disconnectedCallback();
-        this.dragControls.dispose();
-    }
-    attributeChangedCallback(attr, oldval, newval) {
-        super.attributeChangedCallback(attr, oldval, newval);
-        switch (attr) {
-            case 'highlight-color':
-                this.highlightMaterial.color.set(this.highlightColor);
-                this.highlightMaterial.emissive.set(this.highlightColor);
-                break;
-        }
-    }
-};
-URDFManipulatorElement = __decorate([
-    customElement('urdf-viewer')
-], URDFManipulatorElement);
-export default URDFManipulatorElement;
-//# sourceMappingURL=urdf-manipulator-element.js.map

package/dist/elements/urdf-manipulator-element.js.map

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{ customElement } from 'lit/decorators.js'\nimport * as THREE from 'three'\nimport { PointerURDFDragControls } from './urdf-drag-controls.js'\nimport { Material, MeshPhongMaterial } from 'three'\nimport URDFViewerElement from './urdf-viewer-element.js'\nimport { URDFJoint } from 'urdf-loader'\n\n// urdf-manipulator element\n// Displays a URDF model that can be manipulated with the mouse\n\n// Events\n// joint-mouseover: Fired when a joint is hovered over\n// joint-mouseout: Fired when a joint is no longer hovered over\n// manipulate-start: Fires when a joint is manipulated\n// manipulate-end: Fires when a joint is done being manipulated\n\n@customElement('urdf-viewer')\nexport default class URDFManipulatorElement extends URDFViewerElement {\n  static get observedAttributes() {\n    return ['highlight-color', ...super.observedAttributes]\n  }\n\n  highlightMaterial: MeshPhongMaterial\n  dragControls: PointerURDFDragControls\n\n  get disableDragging() {\n    return this.hasAttribute('disable-dragging')\n  }\n\n  set disableDragging(val) {\n    val ? this.setAttribute('disable-dragging', String(!!val)) : this.removeAttribute('disable-dragging')\n  }\n\n  get highlightColor() {\n    return this.getAttribute('highlight-color') || '#FFFFFF'\n  }\n\n  set highlightColor(val) {\n    val ? this.setAttribute('highlight-color', val) : this.removeAttribute('highlight-color')\n  }\n\n  constructor() {\n    super()\n\n    // The highlight material\n    this.highlightMaterial = new THREE.MeshPhongMaterial({\n      shininess: 10,\n      color: this.highlightColor,\n      emissive: this.highlightColor,\n      emissiveIntensity: 0.25\n    })\n\n    const isJoint = (j: URDFJoint) => {\n      return j.isURDFJoint && j.jointType !== 'fixed'\n    }\n\n    // Highlight the link geometry under a joint\n    const highlightLinkGeometry = (m: THREE.Material, revert: boolean) => {\n      const traverse = (c: any) => {\n        // Set or revert the highlight color\n        if (c.type === 'Mesh') {\n          if (revert) {\n            c.material = c.__origMaterial\n            delete c.__origMaterial\n          } else {\n            c.__origMaterial = c.material\n            c.material = this.highlightMaterial\n          }\n        }\n\n        // Look into the children and stop if the next child is\n        // another joint\n        if (c === m || !isJoint(c)) {\n          for (let i = 0; i < c.children.length; i++) {\n            traverse(c.children[i])\n          }\n        }\n      }\n\n      traverse(m)\n    }\n\n    const el = this.renderer.domElement\n\n    const dragControls = new PointerURDFDragControls(this.scene, this.camera, el)\n\n    dragControls.onDragStart = joint => {\n      this.dispatchEvent(new CustomEvent('manipulate-start', { bubbles: true, cancelable: true, detail: joint.name }))\n      this.controls.enabled = false\n      this.redraw()\n    }\n\n    dragControls.onDragEnd = joint => {\n      this.dispatchEvent(new CustomEvent('manipulate-end', { bubbles: true, cancelable: true, detail: joint.name }))\n      this.controls.enabled = true\n      this.redraw()\n    }\n\n    dragControls.updateJoint = (joint, angle) => {\n      this.setJointValue(joint.name, angle)\n    }\n\n    dragControls.onHover = (joint: URDFJoint) => {\n      highlightLinkGeometry(joint as any, false)\n      this.dispatchEvent(new CustomEvent('joint-mouseover', { bubbles: true, cancelable: true, detail: joint.name }))\n      this.redraw()\n    }\n\n    dragControls.onUnhover = joint => {\n      highlightLinkGeometry(joint as any, true)\n      this.dispatchEvent(new CustomEvent('joint-mouseout', { bubbles: true, cancelable: true, detail: joint.name }))\n      this.redraw()\n    }\n\n    this.dragControls = dragControls\n  }\n\n  disconnectedCallback() {\n    super.disconnectedCallback()\n    this.dragControls.dispose()\n  }\n\n  attributeChangedCallback(attr: string, oldval: any, newval: any) {\n    super.attributeChangedCallback(attr, oldval, newval)\n\n    switch (attr) {\n      case 'highlight-color':\n        this.highlightMaterial.color.set(this.highlightColor)\n        this.highlightMaterial.emissive.set(this.highlightColor)\n        break\n    }\n  }\n}\n"]}

package/dist/elements/urdf-viewer-element.d.ts

@@ -1,53 +0,0 @@
-import * as THREE from 'three';
-import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
-import { URDFRobot } from 'urdf-loader/src/URDFLoader.js';
-export default class URDFViewerElement extends HTMLElement {
-    static get observedAttributes(): string[];
-    get package(): string;
-    set package(val: string);
-    get urdf(): string;
-    set urdf(val: string);
-    get ignoreLimits(): boolean;
-    set ignoreLimits(val: boolean);
-    get up(): string;
-    set up(val: string);
-    get displayShadow(): boolean;
-    set displayShadow(val: boolean);
-    get ambientColor(): string;
-    set ambientColor(val: string);
-    get noAutoRecenter(): boolean;
-    set noAutoRecenter(val: boolean);
-    get jointValues(): any;
-    set jointValues(val: any);
-    get angles(): any;
-    set angles(v: any);
-    robot?: URDFRobot;
-    controls: OrbitControls;
-    scene: THREE.Scene;
-    camera: THREE.PerspectiveCamera;
-    world: THREE.Object3D;
-    renderer: THREE.WebGLRenderer;
-    plane: THREE.Mesh;
-    directionalLight: THREE.DirectionalLight;
-    ambientLight: THREE.HemisphereLight;
-    _prevload?: string;
-    _requestId: number;
-    _dirty: boolean;
-    _loadScheduled: boolean;
-    loadMeshFunc?: (url: string, manager: THREE.LoadingManager, onLoad: (mesh: THREE.Object3D, err?: Error) => void) => void;
-    urlModifierFunc?: (url: string) => string;
-    constructor();
-    connectedCallback(): void;
-    disconnectedCallback(): void;
-    attributeChangedCallback(attr: string, oldval: any, newval: any): void;
-    updateSize(): void;
-    redraw(): void;
-    recenter(): void;
-    setJointValue(jointName: string, ...values: Number[]): void;
-    setJointValues(values: Number[]): void;
-    _updateEnvironment(): void;
-    _scheduleLoad(): void;
-    _loadUrdf(pkg: string, urdf: string): void;
-    _setUp(up: string): void;
-    _setIgnoreLimits(ignore: boolean, dispatch?: boolean): void;
-}

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

@@ -1,414 +0,0 @@
-import * as THREE from 'three';
-import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
-import URDFLoader from 'urdf-loader/src/URDFLoader.js';
-import { XacroLoader } from 'xacro-parser';
-// urdf-viewer element
-// Loads and displays a 3D view of a URDF-formatted robot
-// Events
-// urdf-change: Fires when the URDF has finished loading and getting processed
-// urdf-processed: Fires when the URDF has finished loading and getting processed
-// geometry-loaded: Fires when all the geometry has been fully loaded
-// ignore-limits-change: Fires when the 'ignore-limits' attribute changes
-// angle-change: Fires when an angle changes
-export default class URDFViewerElement extends HTMLElement {
-    static get observedAttributes() {
-        return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'no-auto-recenter'];
-    }
-    get package() {
-        return this.getAttribute('package') || '';
-    }
-    set package(val) {
-        this.setAttribute('package', val);
-    }
-    get urdf() {
-        return this.getAttribute('urdf') || '';
-    }
-    set urdf(val) {
-        this.setAttribute('urdf', val);
-    }
-    get ignoreLimits() {
-        return this.hasAttribute('ignore-limits') || false;
-    }
-    set ignoreLimits(val) {
-        val ? this.setAttribute('ignore-limits', String(val)) : this.removeAttribute('ignore-limits');
-    }
-    get up() {
-        return this.getAttribute('up') || '+Z';
-    }
-    set up(val) {
-        this.setAttribute('up', val);
-    }
-    get displayShadow() {
-        return this.hasAttribute('display-shadow') || false;
-    }
-    set displayShadow(val) {
-        val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow');
-    }
-    get ambientColor() {
-        return this.getAttribute('ambient-color') || '#455A64';
-    }
-    set ambientColor(val) {
-        val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color');
-    }
-    get noAutoRecenter() {
-        return this.hasAttribute('no-auto-recenter') || false;
-    }
-    set noAutoRecenter(val) {
-        val ? this.setAttribute('no-auto-recenter', String(true)) : this.removeAttribute('no-auto-recenter');
-    }
-    get jointValues() {
-        const values = {};
-        if (this.robot) {
-            for (const name in this.robot.joints) {
-                const joint = this.robot.joints[name];
-                values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue];
-            }
-        }
-        return values;
-    }
-    set jointValues(val) {
-        this.setJointValues(val);
-    }
-    get angles() {
-        return this.jointValues;
-    }
-    set angles(v) {
-        this.jointValues = v;
-    }
-    robot;
-    controls;
-    scene;
-    camera;
-    world;
-    renderer;
-    plane;
-    directionalLight;
-    ambientLight;
-    _prevload;
-    _requestId = 0;
-    _dirty = true;
-    _loadScheduled = false;
-    loadMeshFunc;
-    urlModifierFunc;
-    /* Lifecycle Functions */
-    constructor() {
-        super();
-        const scene = new THREE.Scene();
-        const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000');
-        ambientLight.groundColor.lerp(ambientLight.color, 0.5);
-        ambientLight.intensity = 0.5;
-        ambientLight.position.set(0, 1, 0);
-        scene.add(ambientLight);
-        // Light setup
-        const dirLight = new THREE.DirectionalLight(0xffffff);
-        dirLight.position.set(4, 10, 1);
-        dirLight.shadow.mapSize.width = 2048;
-        dirLight.shadow.mapSize.height = 2048;
-        dirLight.shadow.normalBias = 0.001;
-        dirLight.castShadow = true;
-        scene.add(dirLight);
-        scene.add(dirLight.target);
-        // Renderer setup
-        const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
-        renderer.setClearColor(0xffffff);
-        renderer.setClearAlpha(0);
-        renderer.shadowMap.enabled = true;
-        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
-        renderer.outputColorSpace = THREE.SRGBColorSpace;
-        // Camera setup
-        const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000);
-        camera.position.z = -10;
-        // World setup
-        const world = new THREE.Object3D();
-        scene.add(world);
-        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;
-        plane.scale.set(10, 10, 10);
-        scene.add(plane);
-        // Controls setup
-        const controls = new OrbitControls(camera, renderer.domElement);
-        controls.rotateSpeed = 2.0;
-        controls.zoomSpeed = 5;
-        controls.panSpeed = 2;
-        controls.enableZoom = true;
-        controls.enableDamping = false;
-        controls.maxDistance = 50;
-        controls.minDistance = 0.25;
-        controls.addEventListener('change', () => this.recenter());
-        this.scene = scene;
-        this.world = world;
-        this.renderer = renderer;
-        this.camera = camera;
-        this.controls = controls;
-        this.plane = plane;
-        this.directionalLight = dirLight;
-        this.ambientLight = ambientLight;
-        this._setUp(this.up);
-    }
-    connectedCallback() {
-        if (!this.querySelector('canvas')) {
-            var canvas = this.renderer.domElement;
-            canvas.style.display = 'block';
-            canvas.style.width = '100%';
-            canvas.style.height = '100%';
-            this.appendChild(canvas);
-        }
-        requestAnimationFrame(() => this.recenter());
-    }
-    disconnectedCallback() { }
-    attributeChangedCallback(attr, oldval, newval) {
-        this.recenter();
-        switch (attr) {
-            case 'package':
-            case 'urdf': {
-                this._scheduleLoad();
-                break;
-            }
-            case 'up': {
-                this._setUp(this.up);
-                break;
-            }
-            case 'ambient-color': {
-                this.ambientLight.color.set(this.ambientColor);
-                this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5);
-                break;
-            }
-            case 'ignore-limits': {
-                this._setIgnoreLimits(this.ignoreLimits, true);
-                break;
-            }
-        }
-    }
-    /* Public API */
-    updateSize() {
-        const r = this.renderer;
-        const w = this.clientWidth;
-        const h = this.clientHeight;
-        const currsize = r.getSize(new THREE.Vector2());
-        if (currsize.width !== w || currsize.height !== h) {
-            this.recenter();
-        }
-        r.setPixelRatio(window.devicePixelRatio);
-        r.setSize(w, h, false);
-        this.camera.aspect = w / h;
-        this.camera.updateProjectionMatrix();
-    }
-    redraw() {
-        if (this.parentNode && this._dirty) {
-            this._dirty = false;
-            try {
-                this.updateSize();
-                if (!this.noAutoRecenter) {
-                    this._updateEnvironment();
-                }
-                this.renderer.render(this.scene, this.camera);
-                // update controls after the environment in
-                // case the controls are retargeted
-                this.controls.update();
-            }
-            catch (err) {
-                console.error(err);
-            }
-            finally {
-                this._dirty = true;
-            }
-        }
-    }
-    recenter() {
-        this._updateEnvironment();
-        this.redraw();
-    }
-    // Set the joint with jointName to
-    // angle in degrees
-    setJointValue(jointName, ...values) {
-        if (!this.robot)
-            return;
-        if (!this.robot.joints[jointName])
-            return;
-        if (this.robot.joints[jointName].setJointValue(values[0], values[1], values[2])) {
-            this.redraw();
-            this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }));
-        }
-    }
-    setJointValues(values) {
-        for (const name in values)
-            this.setJointValue(name, values[name]);
-    }
-    /* Private Functions */
-    // Updates the position of the plane to be at the
-    // lowest point below the robot and focuses the
-    // camera on the center of the scene
-    _updateEnvironment() {
-        if (!this.robot)
-            return;
-        this.world.updateMatrixWorld();
-        const bbox = new THREE.Box3();
-        bbox.setFromObject(this.robot);
-        const center = bbox.getCenter(new THREE.Vector3());
-        this.controls.target.y = center.y;
-        this.plane.position.y = bbox.min.y - 1e-3;
-        const dirLight = this.directionalLight;
-        dirLight.castShadow = this.displayShadow;
-        if (this.displayShadow) {
-            // Update the shadow camera rendering bounds to encapsulate the
-            // model. We use the bounding sphere of the bounding box for
-            // simplicity -- this could be a tighter fit.
-            const sphere = bbox.getBoundingSphere(new THREE.Sphere());
-            const minmax = sphere.radius;
-            const cam = dirLight.shadow.camera;
-            cam.left = cam.bottom = -minmax;
-            cam.right = cam.top = minmax;
-            // Update the camera to focus on the center of the model so the
-            // shadow can encapsulate it
-            const offset = dirLight.position.clone().sub(dirLight.target.position);
-            dirLight.target.position.copy(center);
-            dirLight.position.copy(center).add(offset);
-            cam.updateProjectionMatrix();
-        }
-    }
-    _scheduleLoad() {
-        // if our current model is already what's being requested
-        // or has been loaded then early out
-        if (this._prevload === `${this.package}|${this.urdf}`)
-            return;
-        this._prevload = `${this.package}|${this.urdf}`;
-        // if we're already waiting on a load then early out
-        if (this._loadScheduled)
-            return;
-        this._loadScheduled = true;
-        if (this.robot) {
-            this.robot.traverse((c) => c.dispose && c.dispose());
-            this.robot.parent.remove(this.robot);
-            delete this.robot;
-        }
-        requestAnimationFrame(() => {
-            this._loadUrdf(this.package, this.urdf);
-            this._loadScheduled = false;
-        });
-    }
-    // Watch the package and urdf field and load the robot model.
-    // This should _only_ be called from _scheduleLoad because that
-    // ensures the that current robot has been removed
-    _loadUrdf(pkg, urdf) {
-        this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }));
-        if (urdf) {
-            // Keep track of this request and make
-            // sure it doesn't get overwritten by
-            // a subsequent one
-            this._requestId++;
-            const requestId = this._requestId;
-            const updateMaterials = (mesh) => {
-                mesh.traverse(c => {
-                    if (c.isMesh) {
-                        c.castShadow = true;
-                        c.receiveShadow = true;
-                        if (c.material) {
-                            const mats = (Array.isArray(c.material) ? c.material : [c.material]).map((m) => {
-                                if (m instanceof THREE.MeshBasicMaterial) {
-                                    m = new THREE.MeshPhongMaterial();
-                                }
-                                // 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;
-                        }
-                    }
-                });
-            };
-            if (pkg.includes(':') && pkg.split(':')[1].substring(0, 2) !== '//') {
-                // E.g. pkg = "pkg_name: path/to/pkg_name, pk2: path2/to/pk2"}
-                // Convert pkg(s) into a map. E.g.
-                // { "pkg_name": "path/to/pkg_name",
-                //   "pk2":      "path2/to/pk2"      }
-                pkg = pkg.split(',').reduce((map, value) => {
-                    const split = value.split(/:/).filter(x => !!x);
-                    const pkgName = split.shift().trim();
-                    const pkgPath = split.join(':').trim();
-                    map[pkgName] = pkgPath;
-                    return map;
-                }, {});
-            }
-            let robot;
-            const manager = new THREE.LoadingManager();
-            manager.onLoad = () => {
-                // If another request has come in to load a new
-                // robot, then ignore this one
-                if (this._requestId !== requestId) {
-                    robot.traverse(c => c.dispose && c.dispose());
-                    return;
-                }
-                this.robot = robot;
-                this.world.add(robot);
-                updateMaterials(robot);
-                this._setIgnoreLimits(this.ignoreLimits);
-                this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));
-                this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));
-                this.recenter();
-            };
-            if (this.urlModifierFunc) {
-                manager.setURLModifier(this.urlModifierFunc);
-            }
-            const checkXacro = /[.]/.exec(urdf) ? /[^.]+$/.exec(urdf) : undefined;
-            if (checkXacro && checkXacro[0] === 'xacro') {
-                const xacroLoader = new XacroLoader();
-                try {
-                    xacroLoader.load(urdf, xml => {
-                        const loader = new URDFLoader(manager);
-                        loader.packages = pkg;
-                        loader.loadMeshCb = this.loadMeshFunc;
-                        loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
-                        robot = loader.parse(xml);
-                    }, err => {
-                        console.error('xacroloader error: ', err);
-                    });
-                }
-                catch (error) {
-                    console.error(error);
-                }
-            }
-            else {
-                const loader = new URDFLoader(manager);
-                loader.packages = pkg;
-                loader.loadMeshCb = this.loadMeshFunc;
-                loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
-                loader.load(urdf, model => (robot = model));
-            }
-        }
-    }
-    // Watch the coordinate frame and update the
-    // rotation of the scene to match
-    _setUp(up) {
-        if (!up)
-            up = '+Z';
-        up = up.toUpperCase();
-        const sign = up.replace(/[^-+]/g, '')[0] || '+';
-        const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z';
-        const PI = Math.PI;
-        const HALFPI = PI / 2;
-        if (axis === 'X')
-            this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI);
-        if (axis === 'Z')
-            this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0);
-        if (axis === 'Y')
-            this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0);
-    }
-    // Updates the current robot's angles to ignore
-    // joint limits or not
-    _setIgnoreLimits(ignore, dispatch = false) {
-        if (this.robot) {
-            Object.values(this.robot.joints).forEach(joint => {
-                joint.ignoreLimits = ignore;
-                joint.setJointValue(joint.jointValue[0], joint.jointValue[1], joint.jointValue[2]);
-            });
-        }
-        if (dispatch) {
-            this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }));
-        }
-    }
-}
-//# sourceMappingURL=urdf-viewer-element.js.map

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

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* as THREE from 'three'\nimport { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js'\nimport URDFLoader, { URDFJoint, URDFRobot } from 'urdf-loader/src/URDFLoader.js'\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.outputColorSpace = THREE.SRGBColorSpace\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"]}