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