urdf-loader 0.10.3 → 0.10.5

package/src/URDFClasses.js

@@ -1,402 +1,395 @@
-import { Object3D, Vector3 } from 'three';
-
-class URDFBase extends Object3D {
-
-    constructor(...args) {
-
-        super(...args);
-        this.urdfNode = null;
-        this.urdfName = '';
-
-    }
-
-    copy(source, recursive) {
-
-        super.copy(source, recursive);
-
-        this.urdfNode = source.urdfNode;
-        this.urdfName = source.urdfName;
-
-        return this;
-
-    }
-
-}
-
-class URDFCollider extends URDFBase {
-
-    constructor(...args) {
-
-        super(...args);
-        this.isURDFCollider = true;
-        this.type = 'URDFCollider';
-
-    }
-
-}
-
-class URDFVisual extends URDFBase {
-
-    constructor(...args) {
-
-        super(...args);
-        this.isURDFVisual = true;
-        this.type = 'URDFVisual';
-
-    }
-
-}
-
-class URDFLink extends URDFBase {
-
-    constructor(...args) {
-
-        super(...args);
-        this.isURDFLink = true;
-        this.type = 'URDFLink';
-
-    }
-
-}
-
-class URDFJoint extends URDFBase {
-
-    get jointType() {
-
-        return this._jointType;
-
-    }
-
-    set jointType(v) {
-
-        if (this.jointType === v) return;
-        this._jointType = v;
-        this.matrixWorldNeedsUpdate = true;
-        switch (v) {
-
-            case 'fixed':
-                this.jointValue = [];
-                break;
-
-            case 'continuous':
-            case 'revolute':
-            case 'prismatic':
-                this.jointValue = new Array(1).fill(0);
-                break;
-
-            case 'planar':
-                this.jointValue = new Array(2).fill(0);
-                break;
-
-            case 'floating':
-                this.jointValue = new Array(6).fill(0);
-                break;
-
-        }
-
-    }
-
-    get angle() {
-
-        return this.jointValue[0];
-
-    }
-
-    constructor(...args) {
-
-        super(...args);
-
-        this.isURDFJoint = true;
-        this.type = 'URDFJoint';
-
-        this.jointValue = null;
-        this.jointType = 'fixed';
-        this.axis = new Vector3(1, 0, 0);
-        this.limit = { lower: 0, upper: 0 };
-        this.ignoreLimits = false;
-
-        this.origPosition = null;
-        this.origQuaternion = null;
-
-        this.mimicJoints = [];
-
-    }
-
-    /* Overrides */
-    copy(source, recursive) {
-
-        super.copy(source, recursive);
-
-        this.jointType = source.jointType;
-        this.axis = source.axis.clone();
-        this.limit.lower = source.limit.lower;
-        this.limit.upper = source.limit.upper;
-        this.ignoreLimits = false;
-
-        this.jointValue = [...source.jointValue];
-
-        this.origPosition = source.origPosition ? source.origPosition.clone() : null;
-        this.origQuaternion = source.origQuaternion ? source.origQuaternion.clone() : null;
-
-        this.mimicJoints = [...source.mimicJoints];
-
-        return this;
-
-    }
-
-    /* Public Functions */
-    setJointValue(...values) {
-
-        values = values.map(v => parseFloat(v));
-
-        if (!this.origPosition || !this.origQuaternion) {
-
-            this.origPosition = this.position.clone();
-            this.origQuaternion = this.quaternion.clone();
-
-        }
-
-        let didUpdate = false;
-
-        this.mimicJoints.forEach(joint => {
-
-            didUpdate = joint.updateFromMimickedJoint(...values) || didUpdate;
-
-        });
-
-        switch (this.jointType) {
-
-            case 'fixed': {
-
-                return didUpdate;
-
-            }
-            case 'continuous':
-            case 'revolute': {
-
-                let angle = values[0];
-                if (angle == null) return didUpdate;
-                if (angle === this.jointValue[0]) return didUpdate;
-
-                if (!this.ignoreLimits && this.jointType === 'revolute') {
-
-                    angle = Math.min(this.limit.upper, angle);
-                    angle = Math.max(this.limit.lower, angle);
-
-                }
-
-                this.quaternion
-                    .setFromAxisAngle(this.axis, angle)
-                    .premultiply(this.origQuaternion);
-
-                if (this.jointValue[0] !== angle) {
-
-                    this.jointValue[0] = angle;
-                    this.matrixWorldNeedsUpdate = true;
-                    return true;
-
-                } else {
-
-                    return didUpdate;
-
-                }
-
-            }
-
-            case 'prismatic': {
-
-                let pos = values[0];
-                if (pos == null) return didUpdate;
-                if (pos === this.jointValue[0]) return didUpdate;
-
-                if (!this.ignoreLimits) {
-
-                    pos = Math.min(this.limit.upper, pos);
-                    pos = Math.max(this.limit.lower, pos);
-
-                }
-
-                this.position.copy(this.origPosition);
-                this.position.addScaledVector(this.axis, pos);
-
-                if (this.jointValue[0] !== pos) {
-
-                    this.jointValue[0] = pos;
-                    this.matrixWorldNeedsUpdate = true;
-                    return true;
-
-                } else {
-
-                    return didUpdate;
-
-                }
-
-            }
-
-            case 'floating':
-            case 'planar':
-                // TODO: Support these joint types
-                console.warn(`'${ this.jointType }' joint not yet supported`);
-
-        }
-
-        return didUpdate;
-
-    }
-
-}
-
-class URDFMimicJoint extends URDFJoint {
-
-    constructor(...args) {
-
-        super(...args);
-        this.type = 'URDFMimicJoint';
-        this.mimicJoint = null;
-        this.offset = 0;
-        this.multiplier = 1;
-
-    }
-
-    updateFromMimickedJoint(...values) {
-
-        const modifiedValues = values.map(x => x * this.multiplier + this.offset);
-        return super.setJointValue(...modifiedValues);
-
-    }
-
-    /* Overrides */
-    setJointValue(...values) {
-
-        console.warn(`URDFMimicJoint: Setting the joint value of mimic joint "${ this.urdfName }" will cause it to be out of sync.`);
-        return super.setJointValue(...values);
-    }
-
-    /* Overrides */
-    copy(source, recursive) {
-
-        super.copy(source, recursive);
-
-        this.mimicJoint = source.mimicJoint;
-        this.offset = source.offset;
-        this.multiplier = source.multiplier;
-
-        return this;
-
-    }
-
-}
-
-class URDFRobot extends URDFLink {
-
-    constructor(...args) {
-
-        super(...args);
-        this.isURDFRobot = true;
-        this.urdfNode = null;
-
-        this.urdfRobotNode = null;
-        this.robotName = null;
-
-        this.links = null;
-        this.joints = null;
-        this.colliders = null;
-        this.visual = null;
-        this.frames = null;
-
-    }
-
-    copy(source, recursive) {
-
-        super.copy(source, recursive);
-
-        this.urdfRobotNode = source.urdfRobotNode;
-        this.robotName = source.robotName;
-
-        this.links = {};
-        this.joints = {};
-        this.colliders = {};
-        this.visual = {};
-
-        this.traverse(c => {
-
-            if (c.isURDFJoint && c.urdfName in source.joints) {
-
-                this.joints[c.urdfName] = c;
-
-            }
-
-            if (c.isURDFLink && c.urdfName in source.links) {
-
-                this.links[c.urdfName] = c;
-
-            }
-
-            if (c.isURDFCollider && c.urdfName in source.colliders) {
-
-                this.colliders[c.urdfName] = c;
-
-            }
-
-            if (c.isURDFVisual && c.urdfName in source.visual) {
-
-                this.visual[c.urdfName] = c;
-
-            }
-
-        });
-
-        this.frames = {
-            ...this.colliders,
-            ...this.visual,
-            ...this.links,
-            ...this.joints,
-        };
-
-        return this;
-
-    }
-
-    getFrame(name) {
-
-        return this.frames[name];
-
-    }
-
-    setJointValue(jointName, ...angle) {
-
-        const joint = this.joints[jointName];
-        if (joint) {
-
-            return joint.setJointValue(...angle);
-
-        }
-
-        return false;
-    }
-
-    setJointValues(values) {
-
-        let didChange = false;
-        for (const name in values) {
-
-            const value = values[name];
-            if (Array.isArray(value)) {
-
-                didChange = this.setJointValue(name, ...value) || didChange;
-
-            } else {
-
-                didChange = this.setJointValue(name, value) || didChange;
-
-            }
-
-        }
-
-        return didChange;
-
-    }
-
-}
-
-export { URDFRobot, URDFLink, URDFJoint, URDFMimicJoint, URDFVisual, URDFCollider };
+import { Object3D, Vector3 } from 'three';
+
+class URDFBase extends Object3D {
+
+    constructor(...args) {
+
+        super(...args);
+        this.urdfNode = null;
+        this.urdfName = '';
+
+    }
+
+    copy(source, recursive) {
+
+        super.copy(source, recursive);
+
+        this.urdfNode = source.urdfNode;
+        this.urdfName = source.urdfName;
+
+        return this;
+
+    }
+
+}
+
+class URDFCollider extends URDFBase {
+
+    constructor(...args) {
+
+        super(...args);
+        this.isURDFCollider = true;
+        this.type = 'URDFCollider';
+
+    }
+
+}
+
+class URDFVisual extends URDFBase {
+
+    constructor(...args) {
+
+        super(...args);
+        this.isURDFVisual = true;
+        this.type = 'URDFVisual';
+
+    }
+
+}
+
+class URDFLink extends URDFBase {
+
+    constructor(...args) {
+
+        super(...args);
+        this.isURDFLink = true;
+        this.type = 'URDFLink';
+
+    }
+
+}
+
+class URDFJoint extends URDFBase {
+
+    get jointType() {
+
+        return this._jointType;
+
+    }
+
+    set jointType(v) {
+
+        if (this.jointType === v) return;
+        this._jointType = v;
+        this.matrixWorldNeedsUpdate = true;
+        switch (v) {
+
+            case 'fixed':
+                this.jointValue = [];
+                break;
+
+            case 'continuous':
+            case 'revolute':
+            case 'prismatic':
+                this.jointValue = new Array(1).fill(0);
+                break;
+
+            case 'planar':
+                this.jointValue = new Array(2).fill(0);
+                break;
+
+            case 'floating':
+                this.jointValue = new Array(6).fill(0);
+                break;
+
+        }
+
+    }
+
+    get angle() {
+
+        return this.jointValue[0];
+
+    }
+
+    constructor(...args) {
+
+        super(...args);
+
+        this.isURDFJoint = true;
+        this.type = 'URDFJoint';
+
+        this.jointValue = null;
+        this.jointType = 'fixed';
+        this.axis = new Vector3(1, 0, 0);
+        this.limit = { lower: 0, upper: 0 };
+        this.ignoreLimits = false;
+
+        this.origPosition = null;
+        this.origQuaternion = null;
+
+        this.mimicJoints = [];
+
+    }
+
+    /* Overrides */
+    copy(source, recursive) {
+
+        super.copy(source, recursive);
+
+        this.jointType = source.jointType;
+        this.axis = source.axis.clone();
+        this.limit.lower = source.limit.lower;
+        this.limit.upper = source.limit.upper;
+        this.ignoreLimits = false;
+
+        this.jointValue = [...source.jointValue];
+
+        this.origPosition = source.origPosition ? source.origPosition.clone() : null;
+        this.origQuaternion = source.origQuaternion ? source.origQuaternion.clone() : null;
+
+        this.mimicJoints = [...source.mimicJoints];
+
+        return this;
+
+    }
+
+    /* Public Functions */
+    setJointValue(...values) {
+
+        values = values.map(v => parseFloat(v));
+
+        if (!this.origPosition || !this.origQuaternion) {
+
+            this.origPosition = this.position.clone();
+            this.origQuaternion = this.quaternion.clone();
+
+        }
+
+        let didUpdate = false;
+
+        this.mimicJoints.forEach(joint => {
+
+            didUpdate = joint.updateFromMimickedJoint(...values) || didUpdate;
+
+        });
+
+        switch (this.jointType) {
+
+            case 'fixed': {
+
+                return didUpdate;
+
+            }
+            case 'continuous':
+            case 'revolute': {
+
+                let angle = values[0];
+                if (angle == null) return didUpdate;
+                if (angle === this.jointValue[0]) return didUpdate;
+
+                if (!this.ignoreLimits && this.jointType === 'revolute') {
+
+                    angle = Math.min(this.limit.upper, angle);
+                    angle = Math.max(this.limit.lower, angle);
+
+                }
+
+                this.quaternion
+                    .setFromAxisAngle(this.axis, angle)
+                    .premultiply(this.origQuaternion);
+
+                if (this.jointValue[0] !== angle) {
+
+                    this.jointValue[0] = angle;
+                    this.matrixWorldNeedsUpdate = true;
+                    return true;
+
+                } else {
+
+                    return didUpdate;
+
+                }
+
+            }
+
+            case 'prismatic': {
+
+                let pos = values[0];
+                if (pos == null) return didUpdate;
+                if (pos === this.jointValue[0]) return didUpdate;
+
+                if (!this.ignoreLimits) {
+
+                    pos = Math.min(this.limit.upper, pos);
+                    pos = Math.max(this.limit.lower, pos);
+
+                }
+
+                this.position.copy(this.origPosition);
+                this.position.addScaledVector(this.axis, pos);
+
+                if (this.jointValue[0] !== pos) {
+
+                    this.jointValue[0] = pos;
+                    this.matrixWorldNeedsUpdate = true;
+                    return true;
+
+                } else {
+
+                    return didUpdate;
+
+                }
+
+            }
+
+            case 'floating':
+            case 'planar':
+                // TODO: Support these joint types
+                console.warn(`'${ this.jointType }' joint not yet supported`);
+
+        }
+
+        return didUpdate;
+
+    }
+
+}
+
+class URDFMimicJoint extends URDFJoint {
+
+    constructor(...args) {
+
+        super(...args);
+        this.type = 'URDFMimicJoint';
+        this.mimicJoint = null;
+        this.offset = 0;
+        this.multiplier = 1;
+
+    }
+
+    updateFromMimickedJoint(...values) {
+
+        const modifiedValues = values.map(x => x * this.multiplier + this.offset);
+        return super.setJointValue(...modifiedValues);
+
+    }
+
+    /* Overrides */
+    copy(source, recursive) {
+
+        super.copy(source, recursive);
+
+        this.mimicJoint = source.mimicJoint;
+        this.offset = source.offset;
+        this.multiplier = source.multiplier;
+
+        return this;
+
+    }
+
+}
+
+class URDFRobot extends URDFLink {
+
+    constructor(...args) {
+
+        super(...args);
+        this.isURDFRobot = true;
+        this.urdfNode = null;
+
+        this.urdfRobotNode = null;
+        this.robotName = null;
+
+        this.links = null;
+        this.joints = null;
+        this.colliders = null;
+        this.visual = null;
+        this.frames = null;
+
+    }
+
+    copy(source, recursive) {
+
+        super.copy(source, recursive);
+
+        this.urdfRobotNode = source.urdfRobotNode;
+        this.robotName = source.robotName;
+
+        this.links = {};
+        this.joints = {};
+        this.colliders = {};
+        this.visual = {};
+
+        this.traverse(c => {
+
+            if (c.isURDFJoint && c.urdfName in source.joints) {
+
+                this.joints[c.urdfName] = c;
+
+            }
+
+            if (c.isURDFLink && c.urdfName in source.links) {
+
+                this.links[c.urdfName] = c;
+
+            }
+
+            if (c.isURDFCollider && c.urdfName in source.colliders) {
+
+                this.colliders[c.urdfName] = c;
+
+            }
+
+            if (c.isURDFVisual && c.urdfName in source.visual) {
+
+                this.visual[c.urdfName] = c;
+
+            }
+
+        });
+
+        this.frames = {
+            ...this.colliders,
+            ...this.visual,
+            ...this.links,
+            ...this.joints,
+        };
+
+        return this;
+
+    }
+
+    getFrame(name) {
+
+        return this.frames[name];
+
+    }
+
+    setJointValue(jointName, ...angle) {
+
+        const joint = this.joints[jointName];
+        if (joint) {
+
+            return joint.setJointValue(...angle);
+
+        }
+
+        return false;
+    }
+
+    setJointValues(values) {
+
+        let didChange = false;
+        for (const name in values) {
+
+            const value = values[name];
+            if (Array.isArray(value)) {
+
+                didChange = this.setJointValue(name, ...value) || didChange;
+
+            } else {
+
+                didChange = this.setJointValue(name, value) || didChange;
+
+            }
+
+        }
+
+        return didChange;
+
+    }
+
+}
+
+export { URDFRobot, URDFLink, URDFJoint, URDFMimicJoint, URDFVisual, URDFCollider };