🪖 Moves modelloader to model-utilities

2024-02-22 23:51:53 +01:00
parent 5e789fce38
commit e2291813a5
2 changed files with 3 additions and 1 deletions
@@ -0,0 +1,31 @@
+import { LoaderUtils } from "three";
+import URDFLoader, { type URDFRobot } from "urdf-loader"
+import { XacroLoader } from "xacro-parser"
+
+export const loadModelAsync = async (url:string):Promise<[URDFRobot, 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])
+
+        resolve([model, joints]); 
+      } catch (error) {
+        reject(error); 
+      }
+    }, (error) => reject(error)); 
+  });
+}