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webgl_loader_collada_kinematics.html
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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">
<style>
body {
background:#777;
padding:0;
margin:0;
overflow:hidden;
}
#info {
position: absolute;
top: 0px;
width: 100%;
color: #ffffff;
padding: 5px;
font-family:Monospace;
font-size:13px;
text-align:center;
}
a {
color: #ffffff;
}
</style>
</head>
<body>
<div id="info">
<a href="http://threejs.org" target="_blank" rel="noopener">three.js</a> collada loader - kinematics
| robot from <a href="https://github.com/rdiankov/collada_robots" target="_blank" rel="noopener">collada robots</a>
</div>
<script src="../build/three.js"></script>
<script src="js/libs/tween.min.js"></script>
<script src="js/loaders/ColladaLoader.js"></script>
<script src="js/WebGL.js"></script>
<script src="js/libs/stats.min.js"></script>
<script>
if ( WEBGL.isWebGLAvailable() === false ) {
document.body.appendChild( WEBGL.getWebGLErrorMessage() );
}
var container, stats;
var camera, scene, renderer;
var particleLight;
var dae;
var kinematics;
var kinematicsTween;
var tweenParameters = {};
var loader = new THREE.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 instanceof THREE.Mesh ) {
// 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.Math.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.Math.randInt( joint.limits.min, joint.limits.max );
}
}
}
kinematicsTween = new TWEEN.Tween( tweenParameters ).to( target, duration ).easing( TWEEN.Easing.Quadratic.Out );
kinematicsTween.onUpdate( function () {
for ( var prop in kinematics.joints ) {
if ( kinematics.joints.hasOwnProperty( prop ) ) {
if ( ! kinematics.joints[ prop ].static ) {
kinematics.setJointValue( prop, this[ 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>