🎨 format

app/src/lib/utilities/model-utilities.ts

@@ -10,84 +10,85 @@ import { get } from 'svelte/store'
 let model_xml: XMLDocument
 
 export const populateModelCache = async () => {
-  await cacheModelFiles()
-  const modelRes = await loadModel(get(currentVariant).model)
-  if (modelRes.isOk()) {
-    const [urdf, JOINT_NAME] = modelRes.inner
-    jointNames.set(JOINT_NAME)
-    model.set(urdf)
-  } else {
-    console.error(modelRes.inner, { exception: modelRes.exception })
-  }
+    await cacheModelFiles()
+    const modelRes = await loadModel(get(currentVariant).model)
+    if (modelRes.isOk()) {
+        const [urdf, JOINT_NAME] = modelRes.inner
+        jointNames.set(JOINT_NAME)
+        model.set(urdf)
+    } else {
+        console.error(modelRes.inner, { exception: modelRes.exception })
+    }
 }
 
 export const cacheModelFiles = async () => {
-  const data = await fetch(get(currentVariant).stl)
+    const data = await fetch(get(currentVariant).stl)
 
-  const files = uzip.parse(await data.arrayBuffer())
+    const files = uzip.parse(await data.arrayBuffer())
 
-  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)
-  }
+    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)
+    }
 }
 
 export const loadModel = async (url: string): Promise<Result<[URDFRobot, string[]], string>> => {
-  const urdfLoader = new URDFLoader()
-  urdfLoader.workingPath = LoaderUtils.extractUrlBase(url)
+    const urdfLoader = new URDFLoader()
+    urdfLoader.workingPath = LoaderUtils.extractUrlBase(url)
 
-  let xml = url.endsWith('.xacro') ? await loadXacro(url) : await fetch(url).then(res => res.text())
+    let xml =
+        url.endsWith('.xacro') ? await loadXacro(url) : await fetch(url).then(res => res.text())
 
-  if (typeof xml === 'string') {
-    xml = new window.DOMParser().parseFromString(xml, 'text/xml')
-  }
-
-  return new Promise(resolve => {
-    model_xml = xml
-    try {
-      const model = urdfLoader.parse(xml)
-      setupRobot(model)
-      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))
+    if (typeof xml === 'string') {
+        xml = new window.DOMParser().parseFromString(xml, 'text/xml')
     }
-  })
+
+    return new Promise(resolve => {
+        model_xml = xml
+        try {
+            const model = urdfLoader.parse(xml)
+            setupRobot(model)
+            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))
+        }
+    })
 }
 
 const loadXacro = async (url: string): Promise<XMLDocument> =>
-  new Promise((resolve, reject) => {
-    new XacroLoader().load(url, resolve, reject)
-  })
+    new Promise((resolve, reject) => {
+        new XacroLoader().load(url, resolve, reject)
+    })
 
 function setupRobot(robot: URDFRobot) {
-  robot.rotation.x = -Math.PI / 2
-  robot.rotation.z = Math.PI / 2
-  robot.scale.setScalar(10)
-  robot.traverse(c => (c.castShadow = true))
-  robot.updateMatrixWorld(true)
+    robot.rotation.x = -Math.PI / 2
+    robot.rotation.z = Math.PI / 2
+    robot.scale.setScalar(10)
+    robot.traverse(c => (c.castShadow = true))
+    robot.updateMatrixWorld(true)
 }
 
 export function getToeWorldPositions(robot: URDFRobot): Vector3[] {
-  const toes: Vector3[] = []
-  robot.traverse(c => {
-    if (c.name.includes('toe') && !c.name.includes('_link'))
-      toes.push(c.getWorldPosition(new Vector3()))
-  })
-  return toes
+    const toes: Vector3[] = []
+    robot.traverse(c => {
+        if (c.name.includes('toe') && !c.name.includes('_link'))
+            toes.push(c.getWorldPosition(new Vector3()))
+    })
+    return toes
 }
 
 export const extractFootColor = () => {
-  const colorElem = model_xml.querySelector('material[name=foot_color] > color') as Element
-  const colorAttrStr = colorElem.getAttribute('rgba') as string
-  const colorStr = colorAttrStr
-    .split(' ')
-    .slice(0, 3)
-    .map(val => Math.floor(+val * 255))
-    .join(', ')
+    const colorElem = model_xml.querySelector('material[name=foot_color] > color') as Element
+    const colorAttrStr = colorElem.getAttribute('rgba') as string
+    const colorStr = colorAttrStr
+        .split(' ')
+        .slice(0, 3)
+        .map(val => Math.floor(+val * 255))
+        .join(', ')
 
-  return new Color(`rgb(${colorStr})`)
+    return new Color(`rgb(${colorStr})`)
 }