Deletes old project

2024-04-25 21:57:34 +02:00
parent 0b4fe8a0ef
commit 027d5eebc7
189 changed files with 1341 additions and 7239 deletions
@@ -0,0 +1,153 @@
+<script lang="ts">
+	import { onDestroy, onMount } from 'svelte';
+	import { BufferGeometry, Line, LineBasicMaterial, Vector3, type NormalBufferAttributes } from 'three';
+	import uzip from 'uzip';
+	import { model, servoAnglesOut } from '$lib/stores';
+	import { footColor, isEmbeddedApp, toeWorldPositions } from '$lib/utilities';
+	import { fileService } from '$lib/services';
+	import { servoAngles, mpu, jointNames } from '$lib/stores';
+	import SceneBuilder from '$lib/sceneBuilder';
+	import { lerp, degToRad } from 'three/src/math/MathUtils';
+    import { GUI } from 'three/addons/libs/lil-gui.module.min.js';
+
+    export let sky = true
+    export let orbit = false
+    export let panel = true
+    export let debug = false
+    export let ground = true
+
+	let sceneManager = new SceneBuilder();
+	let canvas: HTMLCanvasElement
+
+	let currentModelAngles: number[] = new Array(12).fill(0);
+	let modelTargetAngles: number[] = new Array(12).fill(0)
+    let gui_panel: GUI
+
+    let feet_trace = new Array(4).fill([]);
+    let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
+
+    let settings = {
+        'Trace feet':debug,
+        'Trace points': 30,
+        'Fix camera on robot': true
+    }
+
+	onMount(async () => {
+        await cacheModelFiles()
+        await createScene();
+        if (!isEmbeddedApp && panel) createPanel();
+        servoAngles.subscribe(updateAnglesFromStore)
+	});
+    
+    const updateAnglesFromStore = (angles: number[]) => {
+        if (sceneManager.isDragging) return
+        modelTargetAngles = angles;
+    }
+
+	onDestroy(() => {
+        canvas.remove()
+        gui_panel?.destroy()
+    });
+
+    const createPanel = () => {
+        gui_panel = new GUI({width: 310});
+        gui_panel.close();
+        gui_panel.domElement.id = 'three-gui-panel';
+ 
+        const visibility = gui_panel.addFolder('Visualization');
+        visibility.add(settings, 'Trace feet')
+        visibility.add(settings, 'Trace points', 1, 1000, 1)
+    }
+
+	const cacheModelFiles = async () => {
+		let data = await fetch('/stl.zip').then((data) => data.arrayBuffer());
+
+		var files = uzip.parse(data);
+
+		for (const [path, data] of Object.entries(files) as [path: string, data: Uint8Array][]) {
+			const url = new URL(path, window.location.href);
+			fileService.saveFile(url.toString(), data);
+		}
+	};
+
+	const updateAngles = (name: string, angle: number) => {
+		modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI);
+        servoAnglesOut.set(modelTargetAngles)
+	};
+
+	const createScene = async () => {
+		sceneManager
+			.addRenderer({ antialias: true, canvas, alpha: true })
+			.addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
+			.addOrbitControls(8, 30, orbit)
+            .addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 0.9 })
+			.addAmbientLight({ color: 0xffffff, intensity: 0.6 })
+			.addFogExp2(0xcccccc, 0.015)
+			.addModel($model)
+			.fillParent()
+			.addRenderCb(render)
+			.startRenderLoop();
+            
+            if (ground) sceneManager
+			.addGroundPlane()
+            .addGridHelper({ size: 30, divisions: 25 })
+        
+        
+        if (sky) sceneManager.addSky()
+        if (debug) sceneManager.addDragControl(updateAngles)
+
+        for (let i = 0; i < 4; i++) {
+			const geometry = new BufferGeometry();
+			const material = new LineBasicMaterial({ color: footColor() });
+			const line = new Line(geometry, material);
+			trace_lines.push(geometry);
+			sceneManager.scene.add(line);
+		}
+	};
+
+    const renderTraceLines = (foot_positions: Vector3[]) => {
+        if (!settings['Trace feet']) {
+            if (!feet_trace.length) return 
+            trace_lines.forEach((line, i) => line.setFromPoints(feet_trace[i].slice(-1)))
+            feet_trace = new Array(4).fill([])
+            return
+        }
+        
+        trace_lines.forEach((line, i) => {
+            feet_trace[i].push(foot_positions[i])
+            feet_trace[i] = feet_trace[i].slice(-settings['Trace points'])
+            line.setFromPoints(feet_trace[i]);
+        })
+    }
+
+	const render = () => {
+		const robot = sceneManager.model;
+		if (!robot) return;
+
+        const toes = toeWorldPositions(robot)
+
+        renderTraceLines(toes)
+
+        if (settings['Fix camera on robot']) {
+            sceneManager.controls.target = robot.position.clone()
+        }
+
+		robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y));
+		robot.rotation.z = lerp(robot.rotation.z, degToRad($mpu.heading + 90), 0.1);
+
+		for (let i = 0; i < $jointNames.length; i++) {
+			currentModelAngles[i] = lerp(
+				(robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
+				modelTargetAngles[i],
+				0.1
+			);
+			robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]));
+		}
+	};
+
+
+</script>
+
+<svelte:window on:resize={sceneManager.fillParent} />
+
+<canvas bind:this={canvas}></canvas>