🌌 Migrate app to svelte-5
This commit is contained in:
Rune Harlyk
+319
-319
@@ -1,26 +1,26 @@
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import {
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Mesh,
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PerspectiveCamera,
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PlaneGeometry,
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Scene,
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WebGLRenderer,
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AmbientLight,
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DirectionalLight,
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PCFSoftShadowMap,
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GridHelper,
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ArrowHelper,
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Vector3,
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FogExp2,
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CanvasTexture,
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type ColorRepresentation,
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type WebGLRendererParameters,
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MeshPhongMaterial,
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EquirectangularReflectionMapping,
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ACESFilmicToneMapping,
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MathUtils,
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Group,
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MeshBasicMaterial,
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RepeatWrapping
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Mesh,
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PerspectiveCamera,
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PlaneGeometry,
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Scene,
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WebGLRenderer,
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AmbientLight,
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DirectionalLight,
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PCFSoftShadowMap,
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type GridHelper,
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ArrowHelper,
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Vector3,
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FogExp2,
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CanvasTexture,
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type ColorRepresentation,
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type WebGLRendererParameters,
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MeshPhongMaterial,
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EquirectangularReflectionMapping,
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ACESFilmicToneMapping,
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MathUtils,
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Group,
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MeshBasicMaterial,
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RepeatWrapping
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} from 'three';
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import { Sky } from 'three/addons/objects/Sky.js';
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import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls';
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@@ -33,347 +33,347 @@ import { sunCalculator } from './utilities/position-utilities';
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export const addScene = () => new Scene();
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interface position {
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x?: number;
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y?: number;
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z?: number;
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x?: number;
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y?: number;
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z?: number;
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}
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interface light {
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color?: ColorRepresentation;
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intensity?: number;
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color?: ColorRepresentation;
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intensity?: number;
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}
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interface arrowOptions {
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origin: position;
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direction: position;
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length?: number;
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color?: ColorRepresentation;
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origin: position;
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direction: position;
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length?: number;
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color?: ColorRepresentation;
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}
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type directionalLight = position & light;
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export default class SceneBuilder {
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public scene: Scene;
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public camera!: PerspectiveCamera;
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public ground!: Mesh;
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public renderer!: WebGLRenderer;
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public orbit: OrbitControls;
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public callback: Function | undefined;
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public gridHelper!: GridHelper;
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public model!: URDFRobot;
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public liveStreamTexture!: CanvasTexture;
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private fog!: FogExp2;
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private isLoaded: boolean = false;
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public isDragging: boolean = false;
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highlightMaterial: any;
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sky!: Sky;
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transformControl: TransformControls;
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public modelGroup!: Group;
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public scene: Scene;
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public camera!: PerspectiveCamera;
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public ground!: Mesh;
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public renderer!: WebGLRenderer;
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public orbit: OrbitControls;
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public callback: Function | undefined;
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public gridHelper!: GridHelper;
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public model!: URDFRobot;
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public liveStreamTexture!: CanvasTexture;
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private fog!: FogExp2;
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private isLoaded: boolean = false;
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public isDragging: boolean = false;
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highlightMaterial: any;
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sky!: Sky;
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transformControl: TransformControls;
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public modelGroup!: Group;
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constructor() {
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this.scene = new Scene();
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if (this.scene.environment?.mapping) {
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this.scene.environment.mapping = EquirectangularReflectionMapping;
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}
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return this;
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}
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constructor() {
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this.scene = new Scene();
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if (this.scene.environment?.mapping) {
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this.scene.environment.mapping = EquirectangularReflectionMapping;
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}
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return this;
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}
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public addRenderer = (parameters?: WebGLRendererParameters) => {
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this.renderer = new WebGLRenderer(parameters);
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this.renderer.outputColorSpace = 'srgb';
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this.renderer.shadowMap.enabled = true;
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this.renderer.shadowMap.type = PCFSoftShadowMap;
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this.renderer.toneMapping = ACESFilmicToneMapping;
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this.renderer.toneMappingExposure = 0.85;
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if (!parameters?.canvas) document.body.appendChild(this.renderer.domElement);
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return this;
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};
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public addRenderer = (parameters?: WebGLRendererParameters) => {
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this.renderer = new WebGLRenderer(parameters);
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this.renderer.outputColorSpace = 'srgb';
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this.renderer.shadowMap.enabled = true;
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this.renderer.shadowMap.type = PCFSoftShadowMap;
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this.renderer.toneMapping = ACESFilmicToneMapping;
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this.renderer.toneMappingExposure = 0.85;
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if (!parameters?.canvas) document.body.appendChild(this.renderer.domElement);
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return this;
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};
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public addSky = () => {
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this.sky = new Sky();
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this.sky.scale.setScalar(450000);
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this.scene.add(this.sky);
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const effectController = {
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turbidity: 10,
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rayleigh: 3,
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mieCoefficient: 0.005,
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mieDirectionalG: 0.7,
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elevation: sunCalculator.calculateSunElevation(),
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azimuth: 200,
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exposure: this.renderer.toneMappingExposure
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};
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const uniforms = this.sky.material.uniforms;
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uniforms['turbidity'].value = effectController.turbidity;
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uniforms['rayleigh'].value = effectController.rayleigh;
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uniforms['mieCoefficient'].value = effectController.mieCoefficient;
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uniforms['mieDirectionalG'].value = effectController.mieDirectionalG;
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this.renderer.toneMappingExposure = 0.5;
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const phi = MathUtils.degToRad(90 - effectController.elevation);
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const theta = MathUtils.degToRad(effectController.azimuth);
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const sun = new Vector3();
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public addSky = () => {
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this.sky = new Sky();
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this.sky.scale.setScalar(450000);
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this.scene.add(this.sky);
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const effectController = {
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turbidity: 10,
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rayleigh: 3,
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mieCoefficient: 0.005,
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mieDirectionalG: 0.7,
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elevation: sunCalculator.calculateSunElevation(),
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azimuth: 200,
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exposure: this.renderer.toneMappingExposure
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};
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const uniforms = this.sky.material.uniforms;
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uniforms['turbidity'].value = effectController.turbidity;
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uniforms['rayleigh'].value = effectController.rayleigh;
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uniforms['mieCoefficient'].value = effectController.mieCoefficient;
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uniforms['mieDirectionalG'].value = effectController.mieDirectionalG;
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this.renderer.toneMappingExposure = 0.5;
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const phi = MathUtils.degToRad(90 - effectController.elevation);
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const theta = MathUtils.degToRad(effectController.azimuth);
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const sun = new Vector3();
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sun.setFromSphericalCoords(1, phi, theta);
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uniforms['sunPosition'].value.copy(sun);
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return this;
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};
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sun.setFromSphericalCoords(1, phi, theta);
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uniforms['sunPosition'].value.copy(sun);
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return this;
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};
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public addPerspectiveCamera = (options: position) => {
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this.camera = new PerspectiveCamera();
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this.camera.position.set(options.x ?? 0, options.y ?? 2.7, options.z ?? 0);
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this.scene.add(this.camera);
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return this;
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};
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public addPerspectiveCamera = (options: position) => {
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this.camera = new PerspectiveCamera();
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this.camera.position.set(options.x ?? 0, options.y ?? 2.7, options.z ?? 0);
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this.scene.add(this.camera);
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return this;
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};
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public addGroundPlane = (options?: position) => {
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const checkerboardTexture = this.createCheckerboardTexture(1024, 2);
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checkerboardTexture.wrapS = RepeatWrapping;
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checkerboardTexture.wrapT = RepeatWrapping;
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checkerboardTexture.repeat.set(100, 100);
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const checkerboardMat = new MeshBasicMaterial({
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map: checkerboardTexture,
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opacity: 0.1,
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transparent: true
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});
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public addGroundPlane = (options?: position) => {
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const checkerboardTexture = this.createCheckerboardTexture(1024, 2);
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checkerboardTexture.wrapS = RepeatWrapping;
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checkerboardTexture.wrapT = RepeatWrapping;
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checkerboardTexture.repeat.set(100, 100);
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const checkerboardMat = new MeshBasicMaterial({
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map: checkerboardTexture,
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opacity: 0.1,
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transparent: true
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});
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const plane = new PlaneGeometry(400, 400);
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const plane = new PlaneGeometry(400, 400);
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this.ground = new Mesh(plane, checkerboardMat);
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this.ground.rotation.x = -Math.PI / 2;
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this.ground.position.set(options?.x ?? 0, options?.y ?? 0.01, options?.z ?? 0);
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this.ground.receiveShadow = true;
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this.scene.add(this.ground);
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this.ground = new Mesh(plane, checkerboardMat);
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this.ground.rotation.x = -Math.PI / 2;
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this.ground.position.set(options?.x ?? 0, options?.y ?? 0.01, options?.z ?? 0);
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this.ground.receiveShadow = true;
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this.scene.add(this.ground);
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const mirror = new Reflector(plane, {
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clipBias: 0.003,
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textureWidth: window.innerWidth * window.devicePixelRatio,
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textureHeight: window.innerHeight * window.devicePixelRatio,
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color: 0x00bfff
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});
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mirror.rotateX(-Math.PI / 2);
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this.scene.add(mirror);
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const mirror = new Reflector(plane, {
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clipBias: 0.003,
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textureWidth: window.innerWidth * window.devicePixelRatio,
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textureHeight: window.innerHeight * window.devicePixelRatio,
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color: 0x00bfff
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});
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mirror.rotateX(-Math.PI / 2);
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this.scene.add(mirror);
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return this;
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};
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return this;
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};
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public addOrbitControls = (minDistance: number, maxDistance: number, autoRotate = true) => {
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this.orbit = new OrbitControls(this.camera, this.renderer.domElement);
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this.orbit.minDistance = minDistance;
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this.orbit.maxDistance = maxDistance;
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this.orbit.autoRotate = autoRotate;
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this.orbit.update();
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return this;
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};
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public addOrbitControls = (minDistance: number, maxDistance: number, autoRotate = true) => {
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this.orbit = new OrbitControls(this.camera, this.renderer.domElement);
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this.orbit.minDistance = minDistance;
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this.orbit.maxDistance = maxDistance;
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this.orbit.autoRotate = autoRotate;
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this.orbit.update();
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return this;
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};
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public addAmbientLight = (options: light) => {
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const ambientLight = new AmbientLight(options.color, options.intensity);
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this.scene.add(ambientLight);
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return this;
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};
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public addAmbientLight = (options: light) => {
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const ambientLight = new AmbientLight(options.color, options.intensity);
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this.scene.add(ambientLight);
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return this;
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};
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public addDirectionalLight = (options: directionalLight) => {
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const directionalLight = new DirectionalLight(options.color, options.intensity);
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directionalLight.castShadow = true;
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directionalLight.shadow.camera.top = 10;
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directionalLight.shadow.camera.bottom = -10;
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directionalLight.shadow.camera.right = 10;
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directionalLight.shadow.camera.left = -10;
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directionalLight.shadow.mapSize.set(4096, 4096);
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public addDirectionalLight = (options: directionalLight) => {
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const directionalLight = new DirectionalLight(options.color, options.intensity);
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directionalLight.castShadow = true;
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directionalLight.shadow.camera.top = 10;
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directionalLight.shadow.camera.bottom = -10;
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directionalLight.shadow.camera.right = 10;
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directionalLight.shadow.camera.left = -10;
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directionalLight.shadow.mapSize.set(4096, 4096);
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directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
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this.scene.add(directionalLight);
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return this;
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};
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directionalLight.position.set(options.x ?? 0, options.y ?? 0, options.z ?? 0);
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this.scene.add(directionalLight);
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return this;
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};
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private createCheckerboardTexture = (size: number, squares: number) => {
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const canvas = document.createElement('canvas');
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canvas.width = size;
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canvas.height = size;
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const context = canvas.getContext('2d');
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private createCheckerboardTexture = (size: number, squares: number) => {
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const canvas = document.createElement('canvas');
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canvas.width = size;
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canvas.height = size;
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const context = canvas.getContext('2d');
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const squareSize = size / squares;
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const squareSize = size / squares;
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for (let y = 0; y < squares; y++) {
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for (let x = 0; x < squares; x++) {
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context!.fillStyle = (x + y) % 2 === 0 ? '#ffffff' : '#000000';
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context!.fillRect(x * squareSize, y * squareSize, squareSize, squareSize);
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}
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}
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for (let y = 0; y < squares; y++) {
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for (let x = 0; x < squares; x++) {
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context!.fillStyle = (x + y) % 2 === 0 ? '#ffffff' : '#000000';
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context!.fillRect(x * squareSize, y * squareSize, squareSize, squareSize);
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}
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}
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const texture = new CanvasTexture(canvas);
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texture.wrapS = texture.wrapT = RepeatWrapping;
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texture.anisotropy = 16;
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return texture;
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};
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const texture = new CanvasTexture(canvas);
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texture.wrapS = texture.wrapT = RepeatWrapping;
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texture.anisotropy = 16;
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return texture;
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};
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public addFogExp2 = (color: ColorRepresentation, density?: number) => {
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this.scene.fog = new FogExp2(color, density);
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return this;
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};
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public addFogExp2 = (color: ColorRepresentation, density?: number) => {
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this.scene.fog = new FogExp2(color, density);
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return this;
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};
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public fillParent = () => {
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const parentElement = this.renderer.domElement.parentElement;
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if (parentElement) {
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const width = parentElement.clientWidth;
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const height = parentElement.clientHeight;
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this.handleResize(width, height);
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}
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return this;
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};
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public fillParent = () => {
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const parentElement = this.renderer.domElement.parentElement;
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if (parentElement) {
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const width = parentElement.clientWidth;
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const height = parentElement.clientHeight;
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this.handleResize(width, height);
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}
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return this;
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};
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public handleResize = (width = window.innerWidth, height = window.innerHeight) => {
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this.renderer.setSize(width, height);
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this.renderer.setPixelRatio(window.devicePixelRatio);
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this.camera.aspect = width / height;
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this.camera.updateProjectionMatrix();
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return this;
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};
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public handleResize = (width = window.innerWidth, height = window.innerHeight) => {
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this.renderer.setSize(width, height);
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this.renderer.setPixelRatio(window.devicePixelRatio);
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this.camera.aspect = width / height;
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this.camera.updateProjectionMatrix();
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return this;
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};
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public addRenderCb = (callback: Function) => {
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this.callback = callback;
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return this;
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};
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public addRenderCb = (callback: Function) => {
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this.callback = callback;
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return this;
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};
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public startRenderLoop = () => {
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this.renderer.setAnimationLoop(() => {
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this.renderer.render(this.scene, this.camera);
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this.orbit.update();
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this.handleRobotShadow();
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if (this.callback) this.callback();
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if (!this.liveStreamTexture) return;
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});
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return this;
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};
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public startRenderLoop = () => {
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this.renderer.setAnimationLoop(() => {
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this.renderer.render(this.scene, this.camera);
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this.orbit.update();
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this.handleRobotShadow();
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if (this.callback) this.callback();
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if (!this.liveStreamTexture) return;
|
||||
});
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return this;
|
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};
|
||||
|
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public addArrowHelper = (options?: arrowOptions) => {
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const dir = new Vector3(
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options?.direction.x ?? 0,
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options?.direction.y ?? 0,
|
||||
options?.direction.z ?? 0
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);
|
||||
const origin = new Vector3(
|
||||
options?.origin.x ?? 0,
|
||||
options?.origin.y ?? 0,
|
||||
options?.origin.z ?? 0
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||||
);
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||||
const arrowHelper = new ArrowHelper(
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||||
dir,
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||||
origin,
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||||
options?.length ?? 1.5,
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||||
options?.color ?? 0xff0000
|
||||
);
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this.scene.add(arrowHelper);
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return this;
|
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};
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public addArrowHelper = (options?: arrowOptions) => {
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||||
const dir = new Vector3(
|
||||
options?.direction.x ?? 0,
|
||||
options?.direction.y ?? 0,
|
||||
options?.direction.z ?? 0
|
||||
);
|
||||
const origin = new Vector3(
|
||||
options?.origin.x ?? 0,
|
||||
options?.origin.y ?? 0,
|
||||
options?.origin.z ?? 0
|
||||
);
|
||||
const arrowHelper = new ArrowHelper(
|
||||
dir,
|
||||
origin,
|
||||
options?.length ?? 1.5,
|
||||
options?.color ?? 0xff0000
|
||||
);
|
||||
this.scene.add(arrowHelper);
|
||||
return this;
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||||
};
|
||||
|
||||
private setJointValue(jointName: string, angle: number) {
|
||||
if (!this.model) return;
|
||||
if (!this.model.joints[jointName]) return;
|
||||
this.model.joints[jointName].setJointValue(angle);
|
||||
}
|
||||
private setJointValue(jointName: string, angle: number) {
|
||||
if (!this.model) return;
|
||||
if (!this.model.joints[jointName]) return;
|
||||
this.model.joints[jointName].setJointValue(angle);
|
||||
}
|
||||
|
||||
isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed';
|
||||
isJoint = (j: URDFJoint) => j.isURDFJoint && j.jointType !== 'fixed';
|
||||
|
||||
highlightLinkGeometry = (m: URDFMimicJoint, revert: boolean, material: MeshPhongMaterial) => {
|
||||
const traverse = (c: any) => {
|
||||
if (c.type === 'Mesh') {
|
||||
if (revert) {
|
||||
c.material = c.__origMaterial;
|
||||
delete c.__origMaterial;
|
||||
} else {
|
||||
c.__origMaterial = c.material;
|
||||
c.material = material;
|
||||
}
|
||||
}
|
||||
highlightLinkGeometry = (m: URDFMimicJoint, revert: boolean, material: MeshPhongMaterial) => {
|
||||
const traverse = (c: any) => {
|
||||
if (c.type === 'Mesh') {
|
||||
if (revert) {
|
||||
c.material = c.__origMaterial;
|
||||
delete c.__origMaterial;
|
||||
} else {
|
||||
c.__origMaterial = c.material;
|
||||
c.material = material;
|
||||
}
|
||||
}
|
||||
|
||||
if (c === m || !this.isJoint(c)) {
|
||||
for (let i = 0; i < c.children.length; i++) {
|
||||
const child = c.children[i];
|
||||
if (!child.isURDFCollider) {
|
||||
traverse(c.children[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
traverse(m);
|
||||
};
|
||||
if (c === m || !this.isJoint(c)) {
|
||||
for (let i = 0; i < c.children.length; i++) {
|
||||
const child = c.children[i];
|
||||
if (!child.isURDFCollider) {
|
||||
traverse(c.children[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
traverse(m);
|
||||
};
|
||||
|
||||
public addTransformControls = (model: any) => {
|
||||
this.transformControl = new TransformControls(this.camera, this.renderer.domElement);
|
||||
this.transformControl.addEventListener('dragging-changed', (event: any) => {
|
||||
this.orbit.enabled = !event.value;
|
||||
this.isDragging = !event.value;
|
||||
});
|
||||
this.transformControl.attach(model);
|
||||
this.scene.add(this.transformControl);
|
||||
this.transformControl.setMode('rotate');
|
||||
return this;
|
||||
};
|
||||
public addTransformControls = (model: any) => {
|
||||
this.transformControl = new TransformControls(this.camera, this.renderer.domElement);
|
||||
this.transformControl.addEventListener('dragging-changed', (event: any) => {
|
||||
this.orbit.enabled = !event.value;
|
||||
this.isDragging = !event.value;
|
||||
});
|
||||
this.transformControl.attach(model);
|
||||
this.scene.add(this.transformControl);
|
||||
this.transformControl.setMode('rotate');
|
||||
return this;
|
||||
};
|
||||
|
||||
public addModel = (model: any) => {
|
||||
this.modelGroup = new Group();
|
||||
this.modelGroup.add(model);
|
||||
this.model = model;
|
||||
this.scene.add(this.modelGroup);
|
||||
return this;
|
||||
};
|
||||
public addModel = (model: any) => {
|
||||
this.modelGroup = new Group();
|
||||
this.modelGroup.add(model);
|
||||
this.model = model;
|
||||
this.scene.add(this.modelGroup);
|
||||
return this;
|
||||
};
|
||||
|
||||
public addDragControl = (updateAngle: any) => {
|
||||
const highlightColor = '#FFFFFF';
|
||||
const highlightMaterial = new MeshPhongMaterial({
|
||||
shininess: 10,
|
||||
color: highlightColor,
|
||||
emissive: highlightColor,
|
||||
emissiveIntensity: 0.9
|
||||
});
|
||||
public addDragControl = (updateAngle: any) => {
|
||||
const highlightColor = '#FFFFFF';
|
||||
const highlightMaterial = new MeshPhongMaterial({
|
||||
shininess: 10,
|
||||
color: highlightColor,
|
||||
emissive: highlightColor,
|
||||
emissiveIntensity: 0.9
|
||||
});
|
||||
|
||||
const dragControls = new PointerURDFDragControls(
|
||||
this.scene,
|
||||
this.camera,
|
||||
this.renderer.domElement
|
||||
);
|
||||
dragControls.updateJoint = (joint: URDFMimicJoint, angle: number) => {
|
||||
this.setJointValue(joint.name, angle);
|
||||
updateAngle(joint.name, angle);
|
||||
};
|
||||
dragControls.onDragStart = () => {
|
||||
this.orbit.enabled = false;
|
||||
this.isDragging = true;
|
||||
};
|
||||
dragControls.onDragEnd = () => {
|
||||
this.orbit.enabled = true;
|
||||
this.isDragging = false;
|
||||
};
|
||||
dragControls.onHover = (joint: URDFMimicJoint) =>
|
||||
this.highlightLinkGeometry(joint, false, highlightMaterial);
|
||||
dragControls.onUnhover = (joint: URDFMimicJoint) =>
|
||||
this.highlightLinkGeometry(joint, true, highlightMaterial);
|
||||
const dragControls = new PointerURDFDragControls(
|
||||
this.scene,
|
||||
this.camera,
|
||||
this.renderer.domElement
|
||||
);
|
||||
dragControls.updateJoint = (joint: URDFMimicJoint, angle: number) => {
|
||||
this.setJointValue(joint.name, angle);
|
||||
updateAngle(joint.name, angle);
|
||||
};
|
||||
dragControls.onDragStart = () => {
|
||||
this.orbit.enabled = false;
|
||||
this.isDragging = true;
|
||||
};
|
||||
dragControls.onDragEnd = () => {
|
||||
this.orbit.enabled = true;
|
||||
this.isDragging = false;
|
||||
};
|
||||
dragControls.onHover = (joint: URDFMimicJoint) =>
|
||||
this.highlightLinkGeometry(joint, false, highlightMaterial);
|
||||
dragControls.onUnhover = (joint: URDFMimicJoint) =>
|
||||
this.highlightLinkGeometry(joint, true, highlightMaterial);
|
||||
|
||||
this.renderer.domElement.addEventListener(
|
||||
'touchstart',
|
||||
(data) => dragControls._mouseDown(data.touches[0]),
|
||||
{ passive: true }
|
||||
);
|
||||
this.renderer.domElement.addEventListener(
|
||||
'touchmove',
|
||||
(data) => dragControls._mouseMove(data.touches[0]),
|
||||
{ passive: true }
|
||||
);
|
||||
this.renderer.domElement.addEventListener(
|
||||
'touchend',
|
||||
(data) => dragControls._mouseUp(data.touches[0]),
|
||||
{ passive: true }
|
||||
);
|
||||
return this;
|
||||
};
|
||||
this.renderer.domElement.addEventListener(
|
||||
'touchstart',
|
||||
data => dragControls._mouseDown(data.touches[0]),
|
||||
{ passive: true }
|
||||
);
|
||||
this.renderer.domElement.addEventListener(
|
||||
'touchmove',
|
||||
data => dragControls._mouseMove(data.touches[0]),
|
||||
{ passive: true }
|
||||
);
|
||||
this.renderer.domElement.addEventListener(
|
||||
'touchend',
|
||||
data => dragControls._mouseUp(data.touches[0]),
|
||||
{ passive: true }
|
||||
);
|
||||
return this;
|
||||
};
|
||||
|
||||
public toggleFog = () => {
|
||||
this.scene.fog = this.scene.fog ? null : this.fog;
|
||||
};
|
||||
public toggleFog = () => {
|
||||
this.scene.fog = this.scene.fog ? null : this.fog;
|
||||
};
|
||||
|
||||
private handleRobotShadow = () => {
|
||||
if (this.isLoaded) return;
|
||||
const intervalId = setInterval(() => this.model?.traverse((c) => (c.castShadow = true)), 10);
|
||||
setTimeout(() => clearInterval(intervalId), 1000);
|
||||
this.isLoaded = true;
|
||||
};
|
||||
private handleRobotShadow = () => {
|
||||
if (this.isLoaded) return;
|
||||
const intervalId = setInterval(() => this.model?.traverse(c => (c.castShadow = true)), 10);
|
||||
setTimeout(() => clearInterval(intervalId), 1000);
|
||||
this.isLoaded = true;
|
||||
};
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user