midas
/
threejs-obj-space


			
				
					
						
						
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							<!DOCTYPE html>
<html lang="en">
	<head>
		<title>three.js webgl - collada - kinematics</title>
		<meta charset="utf-8">
		<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
		<link type="text/css" rel="stylesheet" href="main.css">
	</head>
	<body>
		<div id="info">
			<a href="https://threejs.org" target="_blank" rel="noopener">three.js</a> collada loader - kinematics<br/>
			robot from <a href="https://github.com/rdiankov/collada_robots" target="_blank" rel="noopener">collada robots</a>
		</div>

		<script type="module">

			import * as THREE from '../build/three.module.js';

			import Stats from './jsm/libs/stats.module.js';

			import { TWEEN } from './jsm/libs/tween.module.min.js';
			import { ColladaLoader } from './jsm/loaders/ColladaLoader.js';

			var container, stats;

			var camera, scene, renderer;
			var particleLight;
			var dae;

			var kinematics;
			var kinematicsTween;
			var tweenParameters = {};

			var loader = new ColladaLoader();
			// loader.load( './models/collada/kawada-hironx.dae', function ( collada ) {
			loader.load( './models/collada/abb_irb52_7_120.dae', function ( collada ) {

				dae = collada.scene;

				dae.traverse( function ( child ) {

					if ( child.isMesh ) {

						// model does not have normals
						child.material.flatShading = true;

					}

				} );

				dae.scale.x = dae.scale.y = dae.scale.z = 10.0;
				dae.updateMatrix();

				kinematics = collada.kinematics;

				init();
				animate();

			} );

			function init() {

				container = document.createElement( 'div' );
				document.body.appendChild( container );

				camera = new THREE.PerspectiveCamera( 45, window.innerWidth / window.innerHeight, 1, 2000 );
				camera.position.set( 2, 2, 3 );

				scene = new THREE.Scene();

				// Grid

				var grid = new THREE.GridHelper( 20, 20 );
				scene.add( grid );

				// Add the COLLADA

				scene.add( dae );

				particleLight = new THREE.Mesh( new THREE.SphereBufferGeometry( 4, 8, 8 ), new THREE.MeshBasicMaterial( { color: 0xffffff } ) );
				scene.add( particleLight );

				// Lights

				var light = new THREE.HemisphereLight( 0xffeeee, 0x111122 );
				scene.add( light );

				var pointLight = new THREE.PointLight( 0xffffff, 0.3 );
				particleLight.add( pointLight );

				renderer = new THREE.WebGLRenderer();
				renderer.setPixelRatio( window.devicePixelRatio );
				renderer.setSize( window.innerWidth, window.innerHeight );
				container.appendChild( renderer.domElement );

				stats = new Stats();
				container.appendChild( stats.dom );

				setupTween();

				//

				window.addEventListener( 'resize', onWindowResize, false );

			}

			function setupTween() {

				var duration = THREE.MathUtils.randInt( 1000, 5000 );

				var target = {};

				for ( var prop in kinematics.joints ) {

					if ( kinematics.joints.hasOwnProperty( prop ) ) {

						if ( ! kinematics.joints[ prop ].static ) {

							var joint = kinematics.joints[ prop ];

							var old = tweenParameters[ prop ];

							var position = old ? old : joint.zeroPosition;

							tweenParameters[ prop ] = position;

							target[ prop ] = THREE.MathUtils.randInt( joint.limits.min, joint.limits.max );

						}

					}

				}

				kinematicsTween = new TWEEN.Tween( tweenParameters ).to( target, duration ).easing( TWEEN.Easing.Quadratic.Out );

				kinematicsTween.onUpdate( function ( object ) {

					for ( var prop in kinematics.joints ) {

						if ( kinematics.joints.hasOwnProperty( prop ) ) {

							if ( ! kinematics.joints[ prop ].static ) {

								kinematics.setJointValue( prop, object[ prop ] );

							}

						}

					}

				} );

				kinematicsTween.start();

				setTimeout( setupTween, duration );

			}

			function onWindowResize() {

				camera.aspect = window.innerWidth / window.innerHeight;
				camera.updateProjectionMatrix();

				renderer.setSize( window.innerWidth, window.innerHeight );

			}

			//

			function animate() {

				requestAnimationFrame( animate );

				render();
				stats.update();
				TWEEN.update();

			}

			function render() {

				var timer = Date.now() * 0.0001;

				camera.position.x = Math.cos( timer ) * 20;
				camera.position.y = 10;
				camera.position.z = Math.sin( timer ) * 20;

				camera.lookAt( 0, 5, 0 );

				particleLight.position.x = Math.sin( timer * 4 ) * 3009;
				particleLight.position.y = Math.cos( timer * 5 ) * 4000;
				particleLight.position.z = Math.cos( timer * 4 ) * 3009;

				renderer.render( scene, camera );

			}

		</script>
	</body>
</html>