📏 Formats app code

2024-02-23 09:16:20 +01:00
parent 2e1d99b1df
commit 22b54261f0
34 changed files with 1525 additions and 1400 deletions
@@ -1,32 +1,38 @@
-import { LoaderUtils } from "three";
-import URDFLoader, { type URDFRobot } from "urdf-loader"
-import { XacroLoader } from "xacro-parser"
-import { Result } from "$lib/utilities";
+import { LoaderUtils } from 'three';
+import URDFLoader, { type URDFRobot } from 'urdf-loader';
+import { XacroLoader } from 'xacro-parser';
+import { Result } from '$lib/utilities';

-export const loadModelAsync = async (url:string):Promise<Result<[URDFRobot, string[]], string>> => {
-  return new Promise((resolve, reject) => {
-    const xacroLoader = new XacroLoader();
-    
-    xacroLoader.load(url, async (xml) => {
-      const urdfLoader = new URDFLoader();
-      
-      urdfLoader.workingPath = LoaderUtils.extractUrlBase(url);
-      
-      try {
-        const model = urdfLoader.parse(xml);
-        model.rotation.x = -Math.PI / 2;
-        model.rotation.z = Math.PI / 2;
-        model.traverse(c => c.castShadow = true);
-        model.updateMatrixWorld(true);
-        model.scale.setScalar(10);
-        const joints = Object.entries(model.joints)
-            .filter(joint => joint[1].jointType !== 'fixed')
-            .map(joint => joint[0])
+export const loadModelAsync = async (
+	url: string
+): Promise<Result<[URDFRobot, string[]], string>> => {
+	return new Promise((resolve, reject) => {
+		const xacroLoader = new XacroLoader();

-            resolve(Result.ok([model, joints])); 
-        } catch (error) {
-            resolve(Result.err("Failed to load model", error)); 
-      }
-    }, (error) => reject(error)); 
-  });
-}
+		xacroLoader.load(
+			url,
+			async (xml) => {
+				const urdfLoader = new URDFLoader();
+
+				urdfLoader.workingPath = LoaderUtils.extractUrlBase(url);
+
+				try {
+					const model = urdfLoader.parse(xml);
+					model.rotation.x = -Math.PI / 2;
+					model.rotation.z = Math.PI / 2;
+					model.traverse((c) => (c.castShadow = true));
+					model.updateMatrixWorld(true);
+					model.scale.setScalar(10);
+					const joints = Object.entries(model.joints)
+						.filter((joint) => joint[1].jointType !== 'fixed')
+						.map((joint) => joint[0]);
+
+					resolve(Result.ok([model, joints]));
+				} catch (error) {
+					resolve(Result.err('Failed to load model', error));
+				}
+			},
+			(error) => reject(error)
+		);
+	});
+};