🎨 format
This commit is contained in:
Rune Harlyk
@@ -1,332 +1,339 @@
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<script lang="ts">
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import { onDestroy, onMount } from 'svelte'
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import {
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BufferGeometry,
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Line,
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LineBasicMaterial,
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Mesh,
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MeshBasicMaterial,
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type Object3D,
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SphereGeometry,
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Vector3,
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type NormalBufferAttributes,
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type Object3DEventMap
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} from 'three'
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import {
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ModesEnum,
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kinematicData,
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mode,
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model,
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outControllerData,
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servoAnglesOut,
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servoAngles,
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mpu,
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jointNames,
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currentKinematic,
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walkGait,
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walkGaits,
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walkGaitToMode
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} from '$lib/stores'
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import {
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extractFootColor,
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populateModelCache,
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throttler,
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getToeWorldPositions
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} from '$lib/utilities'
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import SceneBuilder from '$lib/sceneBuilder'
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import { lerp, degToRad } from 'three/src/math/MathUtils'
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import { GUI } from 'three/addons/libs/lil-gui.module.min.js'
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import { type body_state_t } from '$lib/kinematic'
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import { BezierState, CalibrationState, IdleState, RestState, StandState } from '$lib/gait'
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import { radToDeg } from 'three/src/math/MathUtils.js'
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import type { URDFRobot } from 'urdf-loader'
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import { get } from 'svelte/store'
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import { onDestroy, onMount } from 'svelte'
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import {
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BufferGeometry,
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Line,
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LineBasicMaterial,
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Mesh,
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MeshBasicMaterial,
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type Object3D,
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SphereGeometry,
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Vector3,
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type NormalBufferAttributes,
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type Object3DEventMap
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} from 'three'
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import {
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ModesEnum,
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kinematicData,
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mode,
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model,
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outControllerData,
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servoAnglesOut,
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servoAngles,
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mpu,
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jointNames,
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currentKinematic,
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walkGait,
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walkGaits,
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walkGaitToMode
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} from '$lib/stores'
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import {
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extractFootColor,
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populateModelCache,
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throttler,
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getToeWorldPositions
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} from '$lib/utilities'
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import SceneBuilder from '$lib/sceneBuilder'
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import { lerp, degToRad } from 'three/src/math/MathUtils'
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import { GUI } from 'three/addons/libs/lil-gui.module.min.js'
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import { type body_state_t } from '$lib/kinematic'
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import { BezierState, CalibrationState, IdleState, RestState, StandState } from '$lib/gait'
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import { radToDeg } from 'three/src/math/MathUtils.js'
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import type { URDFRobot } from 'urdf-loader'
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import { get } from 'svelte/store'
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interface Props {
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sky?: boolean
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orbit?: boolean
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panel?: boolean
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debug?: boolean
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ground?: boolean
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}
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let { sky = true, orbit = false, panel = true, debug = false, ground = true }: Props = $props()
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let sceneManager = $state(new SceneBuilder())
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let canvas: HTMLCanvasElement
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let currentModelAngles: number[] = new Array(12).fill(0)
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let modelTargetAngles: number[] = new Array(12).fill(0)
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let gui_panel: GUI
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let Throttler = new throttler()
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let feet_trace = new Array(4).fill([])
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let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
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let target: Object3D<Object3DEventMap>
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let target_position = { x: 0, z: 0, yaw: 0 }
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let kinematic = get(currentKinematic)
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let planners = {
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[ModesEnum.Deactivated]: new IdleState(),
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[ModesEnum.Idle]: new IdleState(),
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[ModesEnum.Calibration]: new CalibrationState(),
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[ModesEnum.Rest]: new RestState(),
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[ModesEnum.Stand]: new StandState(),
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[ModesEnum.Walk]: new BezierState()
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}
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let lastTick = performance.now()
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const dir = [1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1]
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let body_state = {
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omega: 0,
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phi: 0,
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psi: 0,
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xm: 0,
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ym: 0.5,
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zm: 0,
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feet: kinematic.getDefaultFeetPos()
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}
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let settings = {
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'Internal kinematic': true,
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'Robot transform controls': false,
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'Auto orient robot': true,
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'Trace feet': debug,
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'Target position': false,
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'Trace points': 30,
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'Fix camera on robot': true,
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'Smooth motion': true,
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omega: 0,
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phi: 0,
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psi: 0,
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xm: 0,
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ym: 0.7,
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zm: 0,
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Background: 'black'
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}
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onMount(async () => {
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await populateModelCache()
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await createScene()
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servoAngles.subscribe(updateAnglesFromStore)
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walkGait.subscribe(gait => planners[ModesEnum.Walk].set_mode(walkGaitToMode(gait)))
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if (panel) createPanel()
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})
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onDestroy(() => {
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canvas.remove()
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gui_panel?.destroy()
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})
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const updateAnglesFromStore = (angles: number[]) => {
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if (sceneManager.isDragging) return
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if (settings['Internal kinematic']) return
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modelTargetAngles = angles
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}
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const createPanel = () => {
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gui_panel = new GUI({ width: 310 })
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gui_panel.close()
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gui_panel.domElement.id = 'three-gui-panel'
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const general = gui_panel.addFolder('General')
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general.add(settings, 'Internal kinematic')
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general.add(settings, 'Robot transform controls')
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general.add(settings, 'Auto orient robot')
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const kinematic = gui_panel.addFolder('Kinematics')
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kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen()
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kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen()
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kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen()
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kinematic.add(settings, 'xm', -1, 1).onChange(updateKinematicPosition).listen()
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kinematic.add(settings, 'ym', 0, 1).onChange(updateKinematicPosition).listen()
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kinematic.add(settings, 'zm', -1.3, 1.3).onChange(updateKinematicPosition).listen()
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const visibility = gui_panel.addFolder('Visualization')
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visibility.add(settings, 'Trace feet')
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visibility.add(settings, 'Trace points', 1, 1000, 1)
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visibility.add(settings, 'Target position')
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visibility.add(settings, 'Smooth motion')
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visibility.addColor(settings, 'Background')
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}
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const updateKinematicPosition = () => {
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kinematicData.set([
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settings.omega,
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settings.phi,
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settings.psi,
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settings.xm,
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settings.ym,
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settings.zm
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])
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}
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const updateAngles = (name: string, angle: number) => {
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modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
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Throttler.throttle(() => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))), 100)
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}
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const createScene = async () => {
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sceneManager
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.addRenderer({ antialias: true, canvas, alpha: true })
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.addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
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.addOrbitControls(2, 20, orbit)
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.addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 3 })
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.addAmbientLight({ color: 0xffffff, intensity: 0.5 })
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.addFogExp2(0xcccccc, 0.015)
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.addModel($model)
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.addTransformControls(sceneManager.model)
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.fillParent()
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.addRenderCb(render)
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.startRenderLoop()
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if (ground) sceneManager.addGroundPlane()
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const geometry = new SphereGeometry(0.1, 32, 16)
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const material = new MeshBasicMaterial({ color: 0xffff00 })
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target = new Mesh(geometry, material)
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sceneManager.scene.add(target)
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if (debug) {
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sceneManager.addDragControl(updateAngles)
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}
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if (sky) sceneManager.addSky()
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for (let i = 0; i < 4; i++) {
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const geometry = new BufferGeometry()
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const material = new LineBasicMaterial({ color: extractFootColor() })
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const line = new Line(geometry, material)
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trace_lines.push(geometry)
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sceneManager.scene.add(line)
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}
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}
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const renderTraceLines = (foot_positions: Vector3[]) => {
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if (!settings['Trace feet']) {
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if (!feet_trace.length) return
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trace_lines.forEach((line, i) => line.setFromPoints(feet_trace[i].slice(-1)))
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feet_trace = new Array(4).fill([])
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return
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interface Props {
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sky?: boolean
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orbit?: boolean
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panel?: boolean
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debug?: boolean
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ground?: boolean
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}
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trace_lines.forEach((line, i) => {
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feet_trace[i].push(foot_positions[i])
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feet_trace[i] = feet_trace[i].slice(-settings['Trace points'])
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line.setFromPoints(feet_trace[i])
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let { sky = true, orbit = false, panel = true, debug = false, ground = true }: Props = $props()
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let sceneManager = $state(new SceneBuilder())
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let canvas: HTMLCanvasElement
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let currentModelAngles: number[] = new Array(12).fill(0)
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let modelTargetAngles: number[] = new Array(12).fill(0)
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let gui_panel: GUI
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let Throttler = new throttler()
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let feet_trace = new Array(4).fill([])
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let trace_lines: BufferGeometry<NormalBufferAttributes>[] = []
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let target: Object3D<Object3DEventMap>
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let target_position = { x: 0, z: 0, yaw: 0 }
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let kinematic = get(currentKinematic)
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let planners = {
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[ModesEnum.Deactivated]: new IdleState(),
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[ModesEnum.Idle]: new IdleState(),
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[ModesEnum.Calibration]: new CalibrationState(),
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[ModesEnum.Rest]: new RestState(),
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[ModesEnum.Stand]: new StandState(),
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[ModesEnum.Walk]: new BezierState()
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}
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let lastTick = performance.now()
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const dir = [1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1]
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let body_state = {
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omega: 0,
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phi: 0,
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psi: 0,
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xm: 0,
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ym: 0.5,
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zm: 0,
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feet: kinematic.getDefaultFeetPos()
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}
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let settings = {
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'Internal kinematic': true,
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'Robot transform controls': false,
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'Auto orient robot': true,
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'Trace feet': debug,
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'Target position': false,
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'Trace points': 30,
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'Fix camera on robot': true,
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'Smooth motion': true,
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omega: 0,
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phi: 0,
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psi: 0,
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xm: 0,
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ym: 0.7,
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zm: 0,
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Background: 'black'
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}
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onMount(async () => {
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await populateModelCache()
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await createScene()
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servoAngles.subscribe(updateAnglesFromStore)
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walkGait.subscribe(gait => planners[ModesEnum.Walk].set_mode(walkGaitToMode(gait)))
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if (panel) createPanel()
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})
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}
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const calculate_kinematics = () => {
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if (sceneManager.isDragging || !settings['Internal kinematic']) return
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const position: body_state_t = {
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omega: settings.omega,
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phi: settings.phi,
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psi: settings.psi,
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xm: settings.xm,
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ym: settings.ym,
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zm: settings.zm,
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feet: body_state.feet
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onDestroy(() => {
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canvas.remove()
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gui_panel?.destroy()
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})
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const updateAnglesFromStore = (angles: number[]) => {
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if (sceneManager.isDragging) return
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if (settings['Internal kinematic']) return
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modelTargetAngles = angles
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}
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let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]))
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modelTargetAngles = new_angles
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}
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const createPanel = () => {
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gui_panel = new GUI({ width: 310 })
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gui_panel.close()
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gui_panel.domElement.id = 'three-gui-panel'
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const orient_robot = (robot: URDFRobot, toes: Vector3[]) => {
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if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
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robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y))
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const general = gui_panel.addFolder('General')
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general.add(settings, 'Internal kinematic')
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general.add(settings, 'Robot transform controls')
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general.add(settings, 'Auto orient robot')
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robot.position.z = smooth(robot.position.z, -settings.xm, 0.1)
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robot.position.x = smooth(robot.position.x, -settings.zm, 0.1)
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const kinematic = gui_panel.addFolder('Kinematics')
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kinematic.add(settings, 'omega', -20, 20).onChange(updateKinematicPosition).listen()
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kinematic.add(settings, 'phi', -30, 30).onChange(updateKinematicPosition).listen()
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kinematic.add(settings, 'psi', -20, 15).onChange(updateKinematicPosition).listen()
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kinematic.add(settings, 'xm', -1, 1).onChange(updateKinematicPosition).listen()
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kinematic.add(settings, 'ym', 0, 1).onChange(updateKinematicPosition).listen()
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kinematic.add(settings, 'zm', -1.3, 1.3).onChange(updateKinematicPosition).listen()
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robot.rotation.z = smooth(robot.rotation.z, degToRad(-settings.phi + $mpu.heading + 90), 0.1)
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robot.rotation.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1)
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robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1)
|
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}
|
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const update_camera = (robot: URDFRobot) => {
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if (!settings['Fix camera on robot']) return
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||||
sceneManager.orbit.target = robot.position.clone()
|
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}
|
||||
|
||||
const smooth = (start: number, end: number, amount: number) => {
|
||||
return settings['Smooth motion'] ? lerp(start, end, amount) : end
|
||||
}
|
||||
|
||||
const update_gait = () => {
|
||||
if (sceneManager.isDragging || !settings['Internal kinematic']) return
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const controlData = get(outControllerData)
|
||||
const data = {
|
||||
lx: controlData[0],
|
||||
ly: controlData[1],
|
||||
rx: controlData[2],
|
||||
ry: controlData[3],
|
||||
h: controlData[4],
|
||||
s: controlData[5],
|
||||
s1: controlData[6]
|
||||
}
|
||||
body_state.ym = data.h
|
||||
|
||||
let planner = planners[get(mode)]
|
||||
const delta = performance.now() - lastTick
|
||||
lastTick = performance.now()
|
||||
|
||||
body_state = planner.step(body_state, data, delta)
|
||||
|
||||
settings.omega = body_state.omega
|
||||
settings.phi = body_state.phi
|
||||
settings.psi = body_state.psi
|
||||
settings.xm = body_state.xm
|
||||
settings.ym = body_state.ym
|
||||
settings.zm = body_state.zm
|
||||
}
|
||||
|
||||
const update_robot_position = (robot: URDFRobot) => {
|
||||
if (!settings['Robot transform controls']) return
|
||||
settings.omega = radToDeg(robot.rotation.y)
|
||||
settings.phi = radToDeg(robot.rotation.z) + $mpu.heading - 90
|
||||
settings.psi = radToDeg(robot.rotation.x) + 90
|
||||
settings.xm = robot.position.z * 100
|
||||
settings.zm = -robot.position.x * 100
|
||||
}
|
||||
|
||||
const updateTargetPosition = () => {
|
||||
target.visible = settings['Target position']
|
||||
target.position.x = smooth(target.position.x, target_position.x, 0.5)
|
||||
target.position.z = smooth(target.position.z, target_position.z, 0.5)
|
||||
}
|
||||
|
||||
const render = () => {
|
||||
const robot = sceneManager.model
|
||||
if (!robot) return
|
||||
|
||||
const toes = getToeWorldPositions(robot)
|
||||
|
||||
renderTraceLines(toes)
|
||||
update_camera(robot)
|
||||
update_gait()
|
||||
calculate_kinematics()
|
||||
update_robot_position(robot)
|
||||
|
||||
sceneManager.transformControl.showX = settings['Robot transform controls']
|
||||
sceneManager.transformControl.showY = settings['Robot transform controls']
|
||||
sceneManager.transformControl.showZ = settings['Robot transform controls']
|
||||
|
||||
for (let i = 0; i < $jointNames.length; i++) {
|
||||
currentModelAngles[i] = smooth(
|
||||
(robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
|
||||
modelTargetAngles[i],
|
||||
0.1
|
||||
)
|
||||
robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]))
|
||||
const visibility = gui_panel.addFolder('Visualization')
|
||||
visibility.add(settings, 'Trace feet')
|
||||
visibility.add(settings, 'Trace points', 1, 1000, 1)
|
||||
visibility.add(settings, 'Target position')
|
||||
visibility.add(settings, 'Smooth motion')
|
||||
visibility.addColor(settings, 'Background')
|
||||
}
|
||||
|
||||
orient_robot(robot, toes)
|
||||
updateTargetPosition()
|
||||
}
|
||||
const updateKinematicPosition = () => {
|
||||
kinematicData.set([
|
||||
settings.omega,
|
||||
settings.phi,
|
||||
settings.psi,
|
||||
settings.xm,
|
||||
settings.ym,
|
||||
settings.zm
|
||||
])
|
||||
}
|
||||
|
||||
const updateAngles = (name: string, angle: number) => {
|
||||
modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
|
||||
Throttler.throttle(
|
||||
() => servoAnglesOut.set(modelTargetAngles.map(num => Math.round(num))),
|
||||
100
|
||||
)
|
||||
}
|
||||
|
||||
const createScene = async () => {
|
||||
sceneManager
|
||||
.addRenderer({ antialias: true, canvas, alpha: true })
|
||||
.addPerspectiveCamera({ x: -0.5, y: 0.5, z: 1 })
|
||||
.addOrbitControls(2, 20, orbit)
|
||||
.addDirectionalLight({ x: 10, y: 20, z: 10, color: 0xffffff, intensity: 3 })
|
||||
.addAmbientLight({ color: 0xffffff, intensity: 0.5 })
|
||||
.addFogExp2(0xcccccc, 0.015)
|
||||
.addModel($model)
|
||||
.addTransformControls(sceneManager.model)
|
||||
.fillParent()
|
||||
.addRenderCb(render)
|
||||
.startRenderLoop()
|
||||
|
||||
if (ground) sceneManager.addGroundPlane()
|
||||
|
||||
const geometry = new SphereGeometry(0.1, 32, 16)
|
||||
const material = new MeshBasicMaterial({ color: 0xffff00 })
|
||||
target = new Mesh(geometry, material)
|
||||
sceneManager.scene.add(target)
|
||||
|
||||
if (debug) {
|
||||
sceneManager.addDragControl(updateAngles)
|
||||
}
|
||||
if (sky) sceneManager.addSky()
|
||||
|
||||
for (let i = 0; i < 4; i++) {
|
||||
const geometry = new BufferGeometry()
|
||||
const material = new LineBasicMaterial({ color: extractFootColor() })
|
||||
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 calculate_kinematics = () => {
|
||||
if (sceneManager.isDragging || !settings['Internal kinematic']) return
|
||||
const position: body_state_t = {
|
||||
omega: settings.omega,
|
||||
phi: settings.phi,
|
||||
psi: settings.psi,
|
||||
xm: settings.xm,
|
||||
ym: settings.ym,
|
||||
zm: settings.zm,
|
||||
feet: body_state.feet
|
||||
}
|
||||
|
||||
let new_angles = kinematic.calcIK(position).map((x, i) => radToDeg(x * dir[i]))
|
||||
modelTargetAngles = new_angles
|
||||
}
|
||||
|
||||
const orient_robot = (robot: URDFRobot, toes: Vector3[]) => {
|
||||
if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
|
||||
robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y))
|
||||
|
||||
robot.position.z = smooth(robot.position.z, -settings.xm, 0.1)
|
||||
robot.position.x = smooth(robot.position.x, -settings.zm, 0.1)
|
||||
|
||||
robot.rotation.z = smooth(
|
||||
robot.rotation.z,
|
||||
degToRad(-settings.phi + $mpu.heading + 90),
|
||||
0.1
|
||||
)
|
||||
robot.rotation.y = smooth(robot.rotation.y, degToRad(settings.omega), 0.1)
|
||||
robot.rotation.x = smooth(robot.rotation.x, degToRad(settings.psi - 90), 0.1)
|
||||
}
|
||||
|
||||
const update_camera = (robot: URDFRobot) => {
|
||||
if (!settings['Fix camera on robot']) return
|
||||
sceneManager.orbit.target = robot.position.clone()
|
||||
}
|
||||
|
||||
const smooth = (start: number, end: number, amount: number) => {
|
||||
return settings['Smooth motion'] ? lerp(start, end, amount) : end
|
||||
}
|
||||
|
||||
const update_gait = () => {
|
||||
if (sceneManager.isDragging || !settings['Internal kinematic']) return
|
||||
const controlData = get(outControllerData)
|
||||
const data = {
|
||||
lx: controlData[0],
|
||||
ly: controlData[1],
|
||||
rx: controlData[2],
|
||||
ry: controlData[3],
|
||||
h: controlData[4],
|
||||
s: controlData[5],
|
||||
s1: controlData[6]
|
||||
}
|
||||
body_state.ym = data.h
|
||||
|
||||
let planner = planners[get(mode)]
|
||||
const delta = performance.now() - lastTick
|
||||
lastTick = performance.now()
|
||||
|
||||
body_state = planner.step(body_state, data, delta)
|
||||
|
||||
settings.omega = body_state.omega
|
||||
settings.phi = body_state.phi
|
||||
settings.psi = body_state.psi
|
||||
settings.xm = body_state.xm
|
||||
settings.ym = body_state.ym
|
||||
settings.zm = body_state.zm
|
||||
}
|
||||
|
||||
const update_robot_position = (robot: URDFRobot) => {
|
||||
if (!settings['Robot transform controls']) return
|
||||
settings.omega = radToDeg(robot.rotation.y)
|
||||
settings.phi = radToDeg(robot.rotation.z) + $mpu.heading - 90
|
||||
settings.psi = radToDeg(robot.rotation.x) + 90
|
||||
settings.xm = robot.position.z * 100
|
||||
settings.zm = -robot.position.x * 100
|
||||
}
|
||||
|
||||
const updateTargetPosition = () => {
|
||||
target.visible = settings['Target position']
|
||||
target.position.x = smooth(target.position.x, target_position.x, 0.5)
|
||||
target.position.z = smooth(target.position.z, target_position.z, 0.5)
|
||||
}
|
||||
|
||||
const render = () => {
|
||||
const robot = sceneManager.model
|
||||
if (!robot) return
|
||||
|
||||
const toes = getToeWorldPositions(robot)
|
||||
|
||||
renderTraceLines(toes)
|
||||
update_camera(robot)
|
||||
update_gait()
|
||||
calculate_kinematics()
|
||||
update_robot_position(robot)
|
||||
|
||||
sceneManager.transformControl.showX = settings['Robot transform controls']
|
||||
sceneManager.transformControl.showY = settings['Robot transform controls']
|
||||
sceneManager.transformControl.showZ = settings['Robot transform controls']
|
||||
|
||||
for (let i = 0; i < $jointNames.length; i++) {
|
||||
currentModelAngles[i] = smooth(
|
||||
(robot.joints[$jointNames[i]].angle as number) * (180 / Math.PI),
|
||||
modelTargetAngles[i],
|
||||
0.1
|
||||
)
|
||||
robot.joints[$jointNames[i]].setJointValue(degToRad(currentModelAngles[i]))
|
||||
}
|
||||
|
||||
orient_robot(robot, toes)
|
||||
updateTargetPosition()
|
||||
}
|
||||
</script>
|
||||
|
||||
<svelte:window onresize={sceneManager.fillParent} />
|
||||
|
||||
Reference in New Issue
Block a user