[881] | 1 | /*global Module*/ |
---|
| 2 | "use strict"; |
---|
| 3 | |
---|
| 4 | import * as THREE from 'three'; |
---|
| 5 | import JointMeshFactory from './jointmeshfactory'; |
---|
| 6 | import PartMeshFactory from './partmeshfactory'; |
---|
| 7 | |
---|
| 8 | /**@typedef {object} BodyElement |
---|
| 9 | * @property {boolean} isBodyElement checked if element is body element |
---|
| 10 | * @property {string} type should be 'p' for parts, 'j' for joints |
---|
| 11 | * @property {object} data model logic for part or joint |
---|
| 12 | * @property {Mesh} mesh mesh for a given part |
---|
| 13 | */ |
---|
| 14 | |
---|
| 15 | /**@typedef {BodyElement} PartMesh |
---|
| 16 | * @property {Module.Part} data model logic for part |
---|
| 17 | * @property {Module.Joint[]} connectedJoints list of joints connected to part |
---|
| 18 | */ |
---|
| 19 | |
---|
| 20 | /**@typedef {BodyElement} JointMesh |
---|
| 21 | * @property {Module.Joint} data reference to model logic joint |
---|
| 22 | * @property {Module.Part[]} connectedParts list of parts connected by this joint |
---|
| 23 | * @property {boolean} showTransparent true if joint should be transparent |
---|
| 24 | */ |
---|
| 25 | |
---|
| 26 | /** |
---|
| 27 | * @typedef {object} ShapeInfo |
---|
| 28 | * @property {string} name full name of shape |
---|
| 29 | * @property {number} value enum for part shape |
---|
| 30 | */ |
---|
| 31 | |
---|
| 32 | /** Parts and Joints geometry info for viewer */ |
---|
| 33 | export const geometry = { |
---|
| 34 | part: { |
---|
| 35 | defaultShape: { |
---|
| 36 | radius: 0.213, |
---|
| 37 | segments: 16 |
---|
| 38 | }, |
---|
| 39 | ellipsoidShape: { |
---|
| 40 | radius: 1, |
---|
| 41 | segments: 32 |
---|
| 42 | } |
---|
| 43 | }, |
---|
| 44 | joint: { |
---|
| 45 | cylinderShape: { |
---|
| 46 | radius: 0.1, |
---|
[911] | 47 | radiusSegments: 10 |
---|
[881] | 48 | }, |
---|
| 49 | linkShape: { |
---|
| 50 | radius: 0.04, |
---|
[911] | 51 | radiusSegments: 10 |
---|
[881] | 52 | } |
---|
| 53 | } |
---|
| 54 | }; |
---|
| 55 | |
---|
| 56 | /** |
---|
| 57 | * Class for creating various transformations on Framsticks-SDK joints and parts |
---|
| 58 | * meshes. It contains helpers for conversions between Joint/Part logic and THREE.js |
---|
| 59 | * visualization. |
---|
| 60 | * |
---|
| 61 | * Any constants and methods considering shapes should go here. |
---|
| 62 | */ |
---|
| 63 | class Transformations { |
---|
| 64 | |
---|
| 65 | /** |
---|
| 66 | * Basic constructor for Transformations class. |
---|
| 67 | * Initializes fields partShapes and jointShapes with getPartShapes and |
---|
| 68 | * getJointsShapes results. |
---|
| 69 | */ |
---|
| 70 | constructor() { |
---|
| 71 | this.partShapes = this.getPartShapes(); |
---|
| 72 | this.jointShapes = this.getJointShapes(); |
---|
| 73 | } |
---|
| 74 | |
---|
| 75 | /** |
---|
| 76 | * Getter for Part shapes informations. |
---|
| 77 | * @returns {ShapeInfo[]} basic info about shapes of parts |
---|
| 78 | */ |
---|
| 79 | getPartShapes() { |
---|
| 80 | let shapes = []; |
---|
| 81 | shapes["SHAPE_BALL_AND_STICK"] = { name: "Ball & Stick", value: Module.Part["SHAPE_BALL_AND_STICK"] }; |
---|
| 82 | shapes["SHAPE_ELLIPSOID"] = { name: "Elipsoid", value: Module.Part["SHAPE_ELLIPSOID"] }; |
---|
| 83 | shapes["SHAPE_CUBOID"] = { name: "Cuboid", value: Module.Part["SHAPE_CUBOID"] }; |
---|
| 84 | shapes["SHAPE_CYLINDER"] = { name: "Cylinder", value: Module.Part["SHAPE_CYLINDER"] }; |
---|
| 85 | return shapes; |
---|
| 86 | } |
---|
| 87 | |
---|
| 88 | /** |
---|
| 89 | * Getter for Joint shapes informations. |
---|
| 90 | * @returns {ShapeInfo[]} basic info about shapes of joints |
---|
| 91 | */ |
---|
| 92 | getJointShapes() { |
---|
| 93 | let shapes = []; |
---|
| 94 | shapes["SHAPE_BALL_AND_STICK"] = { name: "Ball & Stick", value: Module.Joint["SHAPE_BALL_AND_STICK"] }; |
---|
| 95 | shapes["SHAPE_FIXED"] = { name: "Fixed", value: Module.Joint["SHAPE_FIXED"] }; |
---|
| 96 | return shapes; |
---|
| 97 | } |
---|
| 98 | |
---|
| 99 | /** |
---|
| 100 | * Recursive method for checking which elements are affected by transformations of object. |
---|
| 101 | * This is internal method that should not be called. |
---|
| 102 | * @param {BodyElement} bodyElement bodyelement, for which connected elements are checked for affection |
---|
| 103 | * @param {object} result {partElements: PartMesh[], jointElements: JointMesh[]} that is result of recursive call |
---|
| 104 | */ |
---|
| 105 | getAffectedElements_r(bodyElement, result) { |
---|
| 106 | if (bodyElement.marked) { |
---|
| 107 | return; |
---|
| 108 | } |
---|
| 109 | |
---|
| 110 | if (bodyElement.type == "p") { |
---|
| 111 | |
---|
| 112 | bodyElement.marked = true; |
---|
| 113 | result.partElements.push(bodyElement); |
---|
| 114 | |
---|
| 115 | for (let i = 0; i < bodyElement.connectedJoints.length; ++i) { |
---|
| 116 | let joint = bodyElement.connectedJoints[i]; |
---|
| 117 | if (!joint.marked) { |
---|
| 118 | joint.marked = true; |
---|
| 119 | result.jointElements.push(joint); |
---|
| 120 | if (joint.data.get_usedelta()) { |
---|
| 121 | this.getAffectedElements_r(joint.connectedParts[1], result); |
---|
| 122 | } |
---|
| 123 | } |
---|
| 124 | } |
---|
| 125 | |
---|
| 126 | } |
---|
| 127 | else if (bodyElement.type == "j") { |
---|
| 128 | bodyElement.marked = true; |
---|
| 129 | result.jointElements.push(bodyElement); |
---|
| 130 | |
---|
| 131 | this.getAffectedElements_r(bodyElement.connectedParts[1], result); |
---|
| 132 | } |
---|
| 133 | } |
---|
| 134 | |
---|
| 135 | /** |
---|
| 136 | * Function that finds affected elements with function getAffectedElements_r |
---|
| 137 | * and returns all affected parts and joints |
---|
| 138 | * @param {BodyElement} bodyElement bodyelement, for which connected elements are checked for affection |
---|
| 139 | * @returns {object} {partElements: PartMesh[], jointElements: JointMesh[]} that is result of recursive call |
---|
| 140 | */ |
---|
| 141 | getAffectedElements(bodyElement) { |
---|
| 142 | let result = { |
---|
| 143 | partElements: [], |
---|
| 144 | jointElements: [] |
---|
| 145 | }; |
---|
| 146 | |
---|
| 147 | this.getAffectedElements_r(bodyElement, result); |
---|
| 148 | |
---|
| 149 | for (let j = 0; j < result.partElements.length; ++j) { |
---|
| 150 | result.partElements[j].marked = false; |
---|
| 151 | } |
---|
| 152 | for (let k = 0; k < result.jointElements.length; ++k) { |
---|
| 153 | result.jointElements[k].marked = false; |
---|
| 154 | } |
---|
| 155 | return result; |
---|
| 156 | } |
---|
| 157 | |
---|
| 158 | /** |
---|
| 159 | * Helper for clamping colors from Framsticks-SDK to 0-1 values |
---|
| 160 | * @param {number} value density of color |
---|
| 161 | * @returns {number} clamped color |
---|
| 162 | */ |
---|
| 163 | calcColorComponent(value) { |
---|
| 164 | return THREE.Math.clamp(value, 0, 1); |
---|
| 165 | } |
---|
| 166 | |
---|
| 167 | /** |
---|
| 168 | * Applies color for a given element |
---|
| 169 | * @param {BodyElement} bodyElement body element to color |
---|
| 170 | * @param {number} component which component should be changed |
---|
| 171 | * @param {number} value new value of component |
---|
| 172 | */ |
---|
| 173 | applyColor(bodyElement, component, value) { |
---|
| 174 | bodyElement.mesh.material.color[component] = this.calcColorComponent(value); |
---|
| 175 | } |
---|
| 176 | |
---|
| 177 | /** |
---|
| 178 | * Creates new phong material for Mesh |
---|
| 179 | * @param {number} r color red |
---|
| 180 | * @param {number} g color green |
---|
| 181 | * @param {number} b color blue |
---|
| 182 | * @returns {MeshPhongMaterial} new material for Mesh |
---|
| 183 | */ |
---|
[911] | 184 | getNewMaterial(color) { |
---|
| 185 | return new THREE.MeshPhongMaterial({ |
---|
| 186 | color: color, |
---|
| 187 | transparent: true, |
---|
| 188 | opacity: 0.6, |
---|
| 189 | reflectivity: 0.2, |
---|
| 190 | shininess: 600 |
---|
| 191 | }); |
---|
[881] | 192 | } |
---|
| 193 | |
---|
| 194 | /** |
---|
| 195 | * Returns THREE.js object representing rotation matrix based on XYZ axis |
---|
| 196 | * rotation angles. |
---|
| 197 | * @param {number} rotAngleX angle of rotation for X axis |
---|
| 198 | * @param {number} rotAngleY angle of rotation for Y axis |
---|
| 199 | * @param {number} rotAngleZ angle of rotation for Z axis |
---|
| 200 | * @returns {THREE.Euler} rotation matrix to be applied for model |
---|
| 201 | */ |
---|
| 202 | getPartRotation(rotAngleX, rotAngleY, rotAngleZ) { |
---|
| 203 | return new THREE.Euler(rotAngleX, -rotAngleY, rotAngleZ, "ZYX"); |
---|
| 204 | } |
---|
| 205 | |
---|
| 206 | /** |
---|
| 207 | * Creates rotation matrix for cylinder Part |
---|
| 208 | * @param {number} rotAngleX rotate coordinate |
---|
| 209 | * @param {number} rotAngleY rotate coordinate |
---|
| 210 | * @param {number} rotAngleZ rotate coordinate |
---|
| 211 | * @returns {Matrix4} rotation matrix for cylinder Part |
---|
| 212 | */ |
---|
| 213 | getCylinderPartRotationMatrix(rotAngleX, rotAngleY, rotAngleZ) { |
---|
| 214 | let rot = this.getPartRotation(rotAngleX, rotAngleY, rotAngleZ); |
---|
| 215 | |
---|
| 216 | let m = new THREE.Matrix4(); |
---|
| 217 | m.makeRotationZ(THREE.Math.degToRad(90)); |
---|
| 218 | |
---|
| 219 | let m2 = new THREE.Matrix4(); |
---|
| 220 | m2.makeRotationFromEuler(rot); |
---|
| 221 | m2.multiply(m); |
---|
| 222 | return m2; |
---|
| 223 | } |
---|
| 224 | |
---|
| 225 | /** |
---|
| 226 | * Applies rotation on a single part |
---|
| 227 | * @param {BodyElement} bodyElement element on which rotation will be performed |
---|
| 228 | */ |
---|
| 229 | applySinglePartRotation(bodyElement) { |
---|
| 230 | let shape = bodyElement.data.get_shape(); |
---|
| 231 | let rot = bodyElement.data.get_o().getAngles(); |
---|
| 232 | |
---|
| 233 | if (this.partShapes['SHAPE_CYLINDER'].value == shape) { |
---|
| 234 | let m = this.getCylinderPartRotationMatrix( |
---|
| 235 | rot.get_x(), |
---|
| 236 | rot.get_y(), |
---|
| 237 | rot.get_z()); |
---|
| 238 | bodyElement.mesh.rotation.setFromRotationMatrix(m); |
---|
| 239 | } |
---|
| 240 | else { |
---|
| 241 | let r = this.getPartRotation(rot.get_x(), rot.get_y(), rot.get_z()); |
---|
| 242 | bodyElement.mesh.rotation.copy(r); |
---|
| 243 | } |
---|
| 244 | } |
---|
| 245 | |
---|
| 246 | /** |
---|
| 247 | * Applies rotation on a bodyElement part and all other affected elements. |
---|
| 248 | * @param {BodyElement} bodyElement element on which rotation will be performed |
---|
| 249 | */ |
---|
| 250 | applyPartRotation(bodyElement) { |
---|
| 251 | |
---|
| 252 | let affectedElements = this.getAffectedElements(bodyElement); |
---|
| 253 | |
---|
| 254 | if (affectedElements.partElements.length > 1) { |
---|
| 255 | for (let i = 0; i < affectedElements.partElements.length; ++i) { |
---|
| 256 | let part = affectedElements.partElements[i]; |
---|
| 257 | part.mesh.position.x = part.data.get_p().get_x(); |
---|
| 258 | part.mesh.position.y = part.data.get_p().get_y(); |
---|
| 259 | part.mesh.position.z = part.data.get_p().get_z(); |
---|
| 260 | this.applySinglePartRotation(part); |
---|
| 261 | } |
---|
| 262 | let jointMeshFactory = new JointMeshFactory(this.jointShapes); |
---|
| 263 | for (let j = 0; j < affectedElements.jointElements.length; ++j) { |
---|
| 264 | let newJointMesh = jointMeshFactory.create(affectedElements.jointElements[j].data); |
---|
| 265 | this.changeBodyElementMesh(affectedElements.jointElements[j], newJointMesh); |
---|
| 266 | } |
---|
| 267 | } else { |
---|
| 268 | this.applySinglePartRotation(bodyElement); |
---|
| 269 | } |
---|
| 270 | |
---|
| 271 | } |
---|
| 272 | |
---|
| 273 | /** |
---|
| 274 | * Redefines all affected joints due to part changes |
---|
| 275 | * @param {BodyElement} bodyElement starting element |
---|
| 276 | */ |
---|
| 277 | applyJointDeltaChange(bodyElement) { |
---|
| 278 | |
---|
| 279 | let affectedElements = this.getAffectedElements(bodyElement); |
---|
| 280 | |
---|
| 281 | for (let i = 0; i < affectedElements.partElements.length; ++i) { |
---|
| 282 | let part = affectedElements.partElements[i]; |
---|
| 283 | part.mesh.position.x = part.data.get_p().get_x(); |
---|
| 284 | part.mesh.position.y = part.data.get_p().get_y(); |
---|
| 285 | part.mesh.position.z = part.data.get_p().get_z(); |
---|
| 286 | this.applySinglePartRotation(part); |
---|
| 287 | } |
---|
| 288 | let jointMeshFactory = new JointMeshFactory(this.jointShapes); |
---|
| 289 | for (let j = 0; j < affectedElements.jointElements.length; ++j) { |
---|
| 290 | let newJointMesh = jointMeshFactory.create(affectedElements.jointElements[j].data); |
---|
| 291 | this.changeBodyElementMesh(affectedElements.jointElements[j], newJointMesh); |
---|
| 292 | } |
---|
| 293 | |
---|
| 294 | } |
---|
| 295 | |
---|
| 296 | /** |
---|
| 297 | * Applies scale to a part |
---|
| 298 | * @param {BodyElement} bodyElement element to be scaled |
---|
| 299 | */ |
---|
| 300 | applyPartScale(bodyElement) { |
---|
| 301 | let part = bodyElement.data; |
---|
| 302 | let shape = part.get_shape(); |
---|
| 303 | if (this.partShapes['SHAPE_CYLINDER'].value == shape) { |
---|
| 304 | bodyElement.mesh.scale.set( |
---|
| 305 | part.get_scale().get_y(), |
---|
| 306 | part.get_scale().get_x(), |
---|
| 307 | part.get_scale().get_z()); |
---|
| 308 | } else if (this.partShapes['SHAPE_BALL_AND_STICK'].value != shape) { |
---|
| 309 | bodyElement.mesh.scale.set( |
---|
| 310 | part.get_scale().get_x(), |
---|
| 311 | part.get_scale().get_y(), |
---|
| 312 | part.get_scale().get_z()); |
---|
| 313 | } |
---|
| 314 | } |
---|
| 315 | |
---|
| 316 | /** |
---|
| 317 | * Replaces old mesh of an element with a new mesh |
---|
| 318 | * @param {BodyElement} element Element to be changed |
---|
| 319 | * @param {Mesh} newMesh New mesh for element |
---|
| 320 | */ |
---|
| 321 | changeBodyElementMesh(element, newMesh) { |
---|
| 322 | let scene = element.mesh.parent; |
---|
| 323 | let oldMesh = element.mesh; |
---|
| 324 | |
---|
| 325 | let userData = oldMesh.userData; |
---|
| 326 | userData.showTransparent = newMesh.userData.showTransparent; |
---|
| 327 | userData.mesh = newMesh.userData.mesh; |
---|
| 328 | newMesh.userData = userData; |
---|
| 329 | |
---|
| 330 | scene.remove(oldMesh); |
---|
| 331 | scene.add(newMesh); |
---|
| 332 | |
---|
| 333 | oldMesh.geometry.dispose(); |
---|
| 334 | oldMesh.geometry = null; |
---|
| 335 | oldMesh.material.dispose(); |
---|
| 336 | oldMesh.material = null; |
---|
| 337 | } |
---|
| 338 | |
---|
| 339 | /** |
---|
| 340 | * Changes Part position. |
---|
| 341 | * @param {BodyElement} bodyElement element to be changed |
---|
| 342 | * @param {string} axis which axis should be changed |
---|
| 343 | */ |
---|
| 344 | applyPartPosition(bodyElement, axis) { |
---|
| 345 | let jointMeshFactory = new JointMeshFactory(this.jointShapes); |
---|
| 346 | |
---|
| 347 | let affectedElements = this.getAffectedElements(bodyElement); |
---|
| 348 | for (let i = 0; i < affectedElements.partElements.length; ++i) { |
---|
| 349 | affectedElements.partElements[i].mesh.position[axis] = |
---|
| 350 | affectedElements.partElements[i].data.get_p()["get_" + axis](); |
---|
| 351 | } |
---|
| 352 | for (let j = 0; j < affectedElements.jointElements.length; ++j) { |
---|
| 353 | let newJointMesh = jointMeshFactory.create(affectedElements.jointElements[j].data); |
---|
| 354 | this.changeBodyElementMesh(affectedElements.jointElements[j], newJointMesh); |
---|
| 355 | } |
---|
| 356 | } |
---|
| 357 | |
---|
| 358 | /** |
---|
| 359 | * Updates all affected elements positions. |
---|
| 360 | * @param {BodyElement} bodyElement beginning element |
---|
| 361 | */ |
---|
| 362 | updateAfterPartTranslation(bodyElement) { |
---|
| 363 | let jointMeshFactory = new JointMeshFactory(this.jointShapes); |
---|
| 364 | |
---|
| 365 | let affectedElements = this.getAffectedElements(bodyElement); |
---|
| 366 | for (let i = 0; i < affectedElements.partElements.length; ++i) { |
---|
| 367 | let currentElement = affectedElements.partElements[i]; |
---|
| 368 | if (currentElement !== bodyElement) { |
---|
| 369 | affectedElements.partElements[i].mesh.position.x = |
---|
| 370 | affectedElements.partElements[i].data.get_p().get_x(); |
---|
| 371 | affectedElements.partElements[i].mesh.position.y = |
---|
| 372 | affectedElements.partElements[i].data.get_p().get_y(); |
---|
| 373 | affectedElements.partElements[i].mesh.position.z = |
---|
| 374 | affectedElements.partElements[i].data.get_p().get_z(); |
---|
| 375 | } |
---|
| 376 | } |
---|
| 377 | for (let j = 0; j < affectedElements.jointElements.length; ++j) { |
---|
| 378 | let newJointMesh = jointMeshFactory.create(affectedElements.jointElements[j].data); |
---|
| 379 | this.changeBodyElementMesh(affectedElements.jointElements[j], newJointMesh); |
---|
| 380 | } |
---|
| 381 | } |
---|
| 382 | |
---|
| 383 | /** |
---|
| 384 | * Creates Part shape and removes old shape. |
---|
| 385 | * @param {PartMesh} bodyElement part to be applied |
---|
| 386 | */ |
---|
| 387 | applyPartShape(bodyElement) { |
---|
| 388 | let partMeshFactory = new PartMeshFactory(this.partShapes); |
---|
| 389 | let newPartMesh = partMeshFactory.create(bodyElement.data); |
---|
| 390 | this.changeBodyElementMesh(bodyElement, newPartMesh); |
---|
| 391 | } |
---|
| 392 | |
---|
| 393 | /** |
---|
| 394 | * Creates Joint shape and removes old shape. |
---|
| 395 | * @param {JointMesh} bodyElement joint to be applied |
---|
| 396 | */ |
---|
| 397 | applyJointShape(bodyElement) { |
---|
| 398 | let jointMeshFactory = new JointMeshFactory(this.jointShapes); |
---|
| 399 | let newJointMesh = jointMeshFactory.create(bodyElement.data); |
---|
| 400 | this.changeBodyElementMesh(bodyElement, newJointMesh); |
---|
| 401 | } |
---|
| 402 | } |
---|
| 403 | |
---|
| 404 | export default Transformations; |
---|