@wandelbots/wandelbots-js-react-components 4.3.0 → 4.4.0

package/dist/MotionGroupVisualizer-DePl371W.cjs

@@ -0,0 +1,2 @@
+"use strict";const t=require("./externalizeComponent-CkVWk2F_.cjs"),g=require("three"),W=require("three-stdlib"),_=require("@react-three/fiber"),M=require("@react-three/drei"),y=require("@mui/material"),ae=require("mobx-react-lite"),m=require("react"),ue=require("react-i18next"),E=require("./interpolation-CiEw5jkz.cjs"),H=require("react-error-boundary");function ce(e){const n=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const i=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(n,r,i.get?i:{enumerable:!0,get:()=>e[r]})}}return n.default=e,Object.freeze(n)}const j=ce(g);function le(e){switch(e.shape_type){case"convex_hull":return new W.ConvexGeometry(e.vertices.map(r=>new j.Vector3(r[0]/1e3,r[1]/1e3,r[2]/1e3)));case"box":return new j.BoxGeometry(e.size_x/1e3,e.size_y/1e3,e.size_z/1e3);case"sphere":return new j.SphereGeometry(e.radius/1e3);case"capsule":return new 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t.jsxRuntimeExports.jsxs(t.jsxRuntimeExports.Fragment,{children:[t.jsxRuntimeExports.jsx(M.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),t.jsxRuntimeExports.jsx("group",{rotation:[0,.5,0],children:t.jsxRuntimeExports.jsx("group",{children:e.map((n,r)=>t.jsxRuntimeExports.jsx(M.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[n,4,r*4],scale:[3,1,1]},r))})}),t.jsxRuntimeExports.jsx(M.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),t.jsxRuntimeExports.jsx(M.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),t.jsxRuntimeExports.jsx(M.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),t.jsxRuntimeExports.jsx(M.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),t.jsxRuntimeExports.jsx(M.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}function 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re({rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:r,children:i}){const s=m.useRef([]),l=m.useRef([]),a=m.useRef(null),{invalidate:x}=_.useThree();m.useEffect(()=>{const o=e.joint_position.filter(u=>u!==void 0);return a.current=new E.ValueInterpolator(o,{tension:120,friction:20,threshold:.001}),()=>{var u;(u=a.current)==null||u.destroy()}},[]),_.useFrame((o,u)=>{if(a.current){const f=a.current.update(u);p(),f||x()}});function c(o){o&&(l.current=$(o),p(),x())}function p(){var u;const o=((u=a.current)==null?void 0:u.getCurrentValues())||[];if(r)r(l.current,o);else for(const[f,R]of l.current.entries()){const w=n[f].reverse_rotation_direction?-1:1;R.position.y=w*(o[f]||0)/1e3}}const d=m.useCallback(()=>{const o=e.joint_position.filter(u=>u!==void 0);requestAnimationFrame(()=>{var u;s.current=o,(u=a.current)==null||u.setTarget(o)})},[e]);return m.useEffect(()=>{d()},[e,d]),E.useAutorun(()=>{d()}),t.jsxRuntimeExports.jsx("group",{ref:c,children:i})}function ne({rapidlyChangingMotionState:e,dhParameters:n,...r}){const i=new g.Matrix4,s=m.useRef(null),l=m.useRef(null);function a(p){const d=new g.Matrix4;for(let R=0;R<n.length;R++){const h=n[R],w=p[R]??0,b=new g.Matrix4().makeRotationY(h.theta).multiply(new g.Matrix4().makeTranslation(h.a/1e3,(h.d+w*(h.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new g.Matrix4().makeRotationX(h.alpha));d.multiply(b)}const o=new g.Vector3,u=new g.Quaternion,f=new g.Vector3;return d.decompose(o,u,f),o}const x=a(e.joint_position);function c(p,d){i.identity();let o=new g.Vector3;for(let h=0;h<n.length;h++){const w=d[h]??0,b=n[h],G=new g.Matrix4().makeRotationY(b.theta).multiply(new g.Matrix4().makeTranslation(b.a/1e3,(b.d+w*(b.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new g.Matrix4().makeRotationX(b.alpha));i.multiply(G)}const u=new g.Vector3,f=new g.Quaternion,R=new g.Vector3;if(i.decompose(u,f,R),o=u,s.current&&s.current.position.set(o.x,o.y,o.z),l.current){const h=l.current.geometry;h&&h.setPositions&&h.setPositions([0,0,0,o.x,o.y,o.z])}}return t.jsxRuntimeExports.jsx(t.jsxRuntimeExports.Fragment,{children:t.jsxRuntimeExports.jsx(re,{rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:c,children:t.jsxRuntimeExports.jsxs("group",{...r,name:"Scene",children:[t.jsxRuntimeExports.jsxs("mesh",{name:"Base",position:[0,0,0],children:[t.jsxRuntimeExports.jsx("sphereGeometry",{args:[.02,32,32]}),t.jsxRuntimeExports.jsx("meshStandardMaterial",{color:"green",depthTest:!0})]}),t.jsxRuntimeExports.jsx(M.Line,{ref:l,points:[new g.Vector3(0,0,0),x],color:"White",lineWidth:5}),t.jsxRuntimeExports.jsxs("mesh",{ref:s,name:"TCP",position:x,children:[t.jsxRuntimeExports.jsx("sphereGeometry",{args:[.025,32,32]}),t.jsxRuntimeExports.jsx("meshStandardMaterial",{color:"red",depthTest:!0})]})]})})})}const B=t.externalizeComponent(({rapidlyChangingMotionState:e,modelFromController:n,dhParameters:r,getModel:i=T,flangeRef:s,postModelRender:l,transparentColor:a,instanceUrl:x,...c})=>{const[p,d]=m.useState(null),o=m.useCallback(f=>{d(f)},[]);m.useEffect(()=>{p&&(a?Z(p,a):ee(p))},[p,a]);const u=t.jsxRuntimeExports.jsx(ne,{rapidlyChangingMotionState:e,dhParameters:r,...c});return t.jsxRuntimeExports.jsxs(H.ErrorBoundary,{fallback:u,onError:f=>{console.warn(f)},children:[t.jsxRuntimeExports.jsx(m.Suspense,{fallback:u,children:t.jsxRuntimeExports.jsx("group",{ref:o,children:t.jsxRuntimeExports.jsx(re,{rapidlyChangingMotionState:e,dhParameters:r,children:t.jsxRuntimeExports.jsx(Q,{modelURL:(()=>{const f=i(n,x);if(!f){const R=new Blob([],{type:"model/gltf-binary"}),h=new File([R],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(h))}return f})(),postModelRender:l,flangeRef:s,...c})})})}),t.jsxRuntimeExports.jsx(K,{})]})});function Te({connectedMotionGroup:e,getModel:n=T,flangeRef:r,transparentColor:i,postModelRender:s,...l}){if(!e.dhParameters)return null;const a=e.modelFromController||"";return a&&n(a)?t.jsxRuntimeExports.jsx(B,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:a,dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:i,postModelRender:s,...l}):t.jsxRuntimeExports.jsx(ne,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,dhParameters:e.dhParameters,...l})}const P={[E.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[E.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[E.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[E.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[E.Manufacturer.Universalrobots]:[0,-Math.PI/2,-Math.PI/2,-Math.PI/2,Math.PI/2,-Math.PI/2,0]};function se(e){const[n]=e.split("_");switch(n){case"ABB":return E.Manufacturer.Abb;case"FANUC":return E.Manufacturer.Fanuc;case"YASKAWA":return E.Manufacturer.Yaskawa;case"KUKA":return E.Manufacturer.Kuka;case"UniversalRobots":return E.Manufacturer.Universalrobots;default:return null}}function Le(e,n){const r=se(e);return r&&r in P?P[r]:n||null}const Se=t.externalizeComponent(e=>{const{inverseSolver:n,dhParameters:r,...i}=e,[s,l]=m.useState(E.JointTypeEnum.RevoluteJoint);m.useEffect(()=>{r.length&&l(r[0].type??E.JointTypeEnum.RevoluteJoint)},[r]);const a=m.useMemo(()=>n===null&&s===E.JointTypeEnum.RevoluteJoint,[n,s]),x=m.useMemo(()=>n===null&&s===E.JointTypeEnum.PrismaticJoint,[n,s]);return m.useMemo(()=>!!n,[n])||a?t.jsxRuntimeExports.jsx(I,{dhParameters:r,...i}):x?t.jsxRuntimeExports.jsx(B,{dhParameters:r,...i}):t.jsxRuntimeExports.jsx(t.jsxRuntimeExports.Fragment,{})});exports.CollisionSceneRenderer=pe;exports.LinearAxis=Te;exports.MANUFACTURER_HOME_CONFIGS=P;exports.MotionGroupVisualizer=Se;exports.PresetEnvironment=F;exports.Robot=te;exports.RobotCard=ve;exports.SafetyZonesRenderer=he;exports.SupportedLinearAxis=B;exports.SupportedRobot=I;exports.TrajectoryRenderer=je;exports.defaultAxisConfig=_e;exports.defaultGetModel=T;exports.extractManufacturer=se;exports.getDefaultHomeConfig=Le;
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