|
|
@@ -0,0 +1,223 @@
|
|
|
+<!DOCTYPE html>
|
|
|
+<html lang="en">
|
|
|
+ <head>
|
|
|
+ <title>three.js webgl - collada</title>
|
|
|
+ <meta charset="utf-8">
|
|
|
+ <meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
|
|
|
+ <style>
|
|
|
+ body {
|
|
|
+ font-family: Monospace;
|
|
|
+ background-color: #000000;
|
|
|
+ margin: 0px;
|
|
|
+ overflow: hidden;
|
|
|
+ }
|
|
|
+
|
|
|
+ #info {
|
|
|
+ color: #fff;
|
|
|
+ position: absolute;
|
|
|
+ top: 10px;
|
|
|
+ width: 100%;
|
|
|
+ text-align: center;
|
|
|
+ z-index: 100;
|
|
|
+ display:block;
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ a { color: skyblue }
|
|
|
+ </style>
|
|
|
+ </head>
|
|
|
+ <body>
|
|
|
+ <div id="info">
|
|
|
+ <a href="http://threejs.org" target="_blank">three.js</a> -
|
|
|
+ robot from <a href="https://github.com/rdiankov/collada_robots" target="_blank">collada robots</a>
|
|
|
+ </div>
|
|
|
+
|
|
|
+ <script src="../build/three.min.js"></script>
|
|
|
+
|
|
|
+ <script src="js/loaders/ColladaLoader.js"></script>
|
|
|
+
|
|
|
+ <script src="js/Detector.js"></script>
|
|
|
+ <script src="js/libs/stats.min.js"></script>
|
|
|
+
|
|
|
+ <script>
|
|
|
+
|
|
|
+ if ( ! Detector.webgl ) Detector.addGetWebGLMessage();
|
|
|
+
|
|
|
+ var container, stats;
|
|
|
+
|
|
|
+ var camera, scene, renderer, objects;
|
|
|
+ var particleLight;
|
|
|
+ var dae;
|
|
|
+
|
|
|
+ var kinematics;
|
|
|
+ var jointIndex;
|
|
|
+ var joint;
|
|
|
+ var jointValue;
|
|
|
+ var jointStep;
|
|
|
+
|
|
|
+ var loader = new THREE.ColladaLoader();
|
|
|
+ loader.options.convertUpAxis = true;
|
|
|
+ loader.load( './models/collada/kawada-hironx.dae', function ( collada ) {
|
|
|
+
|
|
|
+ dae = collada.scene;
|
|
|
+
|
|
|
+ dae.scale.x = dae.scale.y = dae.scale.z = 10.0;
|
|
|
+ dae.updateMatrix();
|
|
|
+
|
|
|
+ kinematics = collada.kinematics;
|
|
|
+ jointIndex = 0;
|
|
|
+ joint = kinematics.joints[jointIndex];
|
|
|
+ jointValue = joint.limits.min;
|
|
|
+ jointStep = makeJointStep();
|
|
|
+
|
|
|
+ init();
|
|
|
+ animate();
|
|
|
+
|
|
|
+ } );
|
|
|
+
|
|
|
+ function init() {
|
|
|
+
|
|
|
+ container = document.createElement( 'div' );
|
|
|
+ document.body.appendChild( container );
|
|
|
+
|
|
|
+ camera = new THREE.PerspectiveCamera( 45, window.innerWidth / window.innerHeight, 1, 2000 );
|
|
|
+ camera.position.set( 2, 2, 3 );
|
|
|
+
|
|
|
+ scene = new THREE.Scene();
|
|
|
+
|
|
|
+ // Grid
|
|
|
+
|
|
|
+ var size = 14, step = 1;
|
|
|
+
|
|
|
+ var geometry = new THREE.Geometry();
|
|
|
+ var material = new THREE.LineBasicMaterial( { color: 0x303030 } );
|
|
|
+
|
|
|
+ for ( var i = - size; i <= size; i += step ) {
|
|
|
+
|
|
|
+ geometry.vertices.push( new THREE.Vector3( - size, - 0.04, i ) );
|
|
|
+ geometry.vertices.push( new THREE.Vector3( size, - 0.04, i ) );
|
|
|
+
|
|
|
+ geometry.vertices.push( new THREE.Vector3( i, - 0.04, - size ) );
|
|
|
+ geometry.vertices.push( new THREE.Vector3( i, - 0.04, size ) );
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ var line = new THREE.Line( geometry, material, THREE.LinePieces );
|
|
|
+ scene.add( line );
|
|
|
+
|
|
|
+ // Add the COLLADA
|
|
|
+
|
|
|
+ scene.add( dae );
|
|
|
+
|
|
|
+ particleLight = new THREE.Mesh( new THREE.SphereGeometry( 4, 8, 8 ), new THREE.MeshBasicMaterial( { color: 0xffffff } ) );
|
|
|
+ scene.add( particleLight );
|
|
|
+
|
|
|
+ // Lights
|
|
|
+
|
|
|
+ scene.add( new THREE.AmbientLight( 0xcccccc ) );
|
|
|
+
|
|
|
+ var directionalLight = new THREE.DirectionalLight(/*Math.random() * 0xffffff*/0xeeeeee );
|
|
|
+ directionalLight.position.x = Math.random() - 0.5;
|
|
|
+ directionalLight.position.y = Math.random() - 0.5;
|
|
|
+ directionalLight.position.z = Math.random() - 0.5;
|
|
|
+ directionalLight.position.normalize();
|
|
|
+ scene.add( directionalLight );
|
|
|
+
|
|
|
+ var pointLight = new THREE.PointLight( 0xffffff, 1 );
|
|
|
+ particleLight.add( pointLight );
|
|
|
+
|
|
|
+ renderer = new THREE.WebGLRenderer();
|
|
|
+ renderer.setSize( window.innerWidth, window.innerHeight );
|
|
|
+
|
|
|
+ container.appendChild( renderer.domElement );
|
|
|
+
|
|
|
+ stats = new Stats();
|
|
|
+ stats.domElement.style.position = 'absolute';
|
|
|
+ stats.domElement.style.top = '0px';
|
|
|
+ container.appendChild( stats.domElement );
|
|
|
+
|
|
|
+ //
|
|
|
+
|
|
|
+ window.addEventListener( 'resize', onWindowResize, false );
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ function moveJoints() {
|
|
|
+
|
|
|
+ if ( jointValue >= joint.limits.max || joint.static ) {
|
|
|
+
|
|
|
+ if ( !joint.static ) {
|
|
|
+ kinematics.setJointValue( jointIndex, joint.zeroPosition );
|
|
|
+ }
|
|
|
+
|
|
|
+ jointIndex++;
|
|
|
+
|
|
|
+ // go back to the beginning if we're past the number of joints
|
|
|
+ if ( jointIndex >= kinematics.joints.length ) {
|
|
|
+
|
|
|
+ jointIndex = 0;
|
|
|
+
|
|
|
+ } else {
|
|
|
+
|
|
|
+ joint = kinematics.joints[ jointIndex ];
|
|
|
+ jointValue = joint.limits.min;
|
|
|
+ jointStep = makeJointStep();
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ jointValue += jointStep;
|
|
|
+ kinematics.setJointValue( jointIndex, jointValue );
|
|
|
+
|
|
|
+ };
|
|
|
+
|
|
|
+ function makeJointStep() {
|
|
|
+
|
|
|
+ return ( joint.limits.max - joint.limits.min ) / 100.0;
|
|
|
+
|
|
|
+ };
|
|
|
+
|
|
|
+ function onWindowResize() {
|
|
|
+
|
|
|
+ camera.aspect = window.innerWidth / window.innerHeight;
|
|
|
+ camera.updateProjectionMatrix();
|
|
|
+
|
|
|
+ renderer.setSize( window.innerWidth, window.innerHeight );
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ //
|
|
|
+
|
|
|
+ function animate() {
|
|
|
+
|
|
|
+ requestAnimationFrame( animate );
|
|
|
+
|
|
|
+ render();
|
|
|
+ stats.update();
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ function render() {
|
|
|
+
|
|
|
+ var timer = Date.now() * 0.0001;
|
|
|
+
|
|
|
+ camera.position.x = Math.cos( timer ) * 17;
|
|
|
+ camera.position.y = 10;
|
|
|
+ camera.position.z = Math.sin( timer ) * 17;
|
|
|
+
|
|
|
+ camera.lookAt( scene.position );
|
|
|
+
|
|
|
+ particleLight.position.x = Math.sin( timer * 4 ) * 3009;
|
|
|
+ particleLight.position.y = Math.cos( timer * 5 ) * 4000;
|
|
|
+ particleLight.position.z = Math.cos( timer * 4 ) * 3009;
|
|
|
+
|
|
|
+ moveJoints();
|
|
|
+
|
|
|
+ renderer.render( scene, camera );
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ </script>
|
|
|
+ </body>
|
|
|
+</html>
|
Lucas Doyle