webgl_loader_collada_kinematics.html 5.2 KB

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234
  1. <!DOCTYPE html>
  2. <html lang="en">
  3. <head>
  4. <title>three.js webgl - collada</title>
  5. <meta charset="utf-8">
  6. <meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
  7. <style>
  8. body {
  9. font-family: Monospace;
  10. background-color: #000000;
  11. margin: 0px;
  12. overflow: hidden;
  13. }
  14. #info {
  15. color: #fff;
  16. position: absolute;
  17. top: 10px;
  18. width: 100%;
  19. text-align: center;
  20. z-index: 100;
  21. display:block;
  22. }
  23. a { color: skyblue }
  24. </style>
  25. </head>
  26. <body>
  27. <div id="info">
  28. <a href="http://threejs.org" target="_blank">three.js</a> -
  29. robot from <a href="https://github.com/rdiankov/collada_robots" target="_blank">collada robots</a>
  30. </div>
  31. <script src="../build/three.min.js"></script>
  32. <script src="js/libs/tween.min.js"></script>
  33. <script src="js/loaders/ColladaLoader.js"></script>
  34. <script src="js/Detector.js"></script>
  35. <script src="js/libs/stats.min.js"></script>
  36. <script>
  37. if ( ! Detector.webgl ) Detector.addGetWebGLMessage();
  38. var container, stats;
  39. var camera, scene, renderer, objects;
  40. var particleLight;
  41. var dae;
  42. var kinematics;
  43. var kinematicsTween;
  44. var tweenParameters = {};
  45. var loader = new THREE.ColladaLoader();
  46. loader.options.convertUpAxis = true;
  47. loader.load( './models/collada/kawada-hironx.dae', function ( collada ) {
  48. dae = collada.scene;
  49. dae.traverse( function ( child ) {
  50. if ( child instanceof THREE.Mesh ) {
  51. child.geometry.computeFaceNormals();
  52. child.material.shading = THREE.FlatShading;
  53. }
  54. } );
  55. dae.scale.x = dae.scale.y = dae.scale.z = 10.0;
  56. dae.updateMatrix();
  57. kinematics = collada.kinematics;
  58. init();
  59. animate();
  60. } );
  61. function init() {
  62. container = document.createElement( 'div' );
  63. document.body.appendChild( container );
  64. camera = new THREE.PerspectiveCamera( 45, window.innerWidth / window.innerHeight, 1, 2000 );
  65. camera.position.set( 2, 2, 3 );
  66. scene = new THREE.Scene();
  67. // Grid
  68. var size = 14, step = 1;
  69. var geometry = new THREE.Geometry();
  70. var material = new THREE.LineBasicMaterial( { color: 0x303030 } );
  71. for ( var i = - size; i <= size; i += step ) {
  72. geometry.vertices.push( new THREE.Vector3( - size, - 0.04, i ) );
  73. geometry.vertices.push( new THREE.Vector3( size, - 0.04, i ) );
  74. geometry.vertices.push( new THREE.Vector3( i, - 0.04, - size ) );
  75. geometry.vertices.push( new THREE.Vector3( i, - 0.04, size ) );
  76. }
  77. var line = new THREE.LineSegments( geometry, material );
  78. scene.add( line );
  79. // Add the COLLADA
  80. scene.add( dae );
  81. particleLight = new THREE.Mesh( new THREE.SphereGeometry( 4, 8, 8 ), new THREE.MeshBasicMaterial( { color: 0xffffff } ) );
  82. scene.add( particleLight );
  83. // Lights
  84. var light = new THREE.HemisphereLight( 0xffeeee, 0x111122 );
  85. scene.add( light );
  86. var pointLight = new THREE.PointLight( 0xffffff, 0.3 );
  87. particleLight.add( pointLight );
  88. renderer = new THREE.WebGLRenderer();
  89. renderer.setPixelRatio( window.devicePixelRatio );
  90. renderer.setSize( window.innerWidth, window.innerHeight );
  91. container.appendChild( renderer.domElement );
  92. stats = new Stats();
  93. setupTween();
  94. stats.domElement.style.position = 'absolute';
  95. stats.domElement.style.top = '0px';
  96. container.appendChild( stats.domElement );
  97. //
  98. window.addEventListener( 'resize', onWindowResize, false );
  99. }
  100. function setupTween() {
  101. var duration = getRandomInt( 1000, 5000 );
  102. var target = {};
  103. for ( var i = 0; i < kinematics.joints.length; i ++ ) {
  104. var joint = kinematics.joints[ i ];
  105. var old = tweenParameters[ i ];
  106. var position = old ? old : joint.zeroPosition;
  107. tweenParameters[ i ] = position;
  108. target[ i ] = getRandomInt( joint.limits.min, joint.limits.max )
  109. }
  110. kinematicsTween = new TWEEN.Tween( tweenParameters ).to( target, duration ).easing( TWEEN.Easing.Quadratic.Out );
  111. kinematicsTween.onUpdate( function() {
  112. for ( var i = 0; i < kinematics.joints.length; i ++ ) {
  113. kinematics.setJointValue( i, this[ i ] );
  114. }
  115. } );
  116. kinematicsTween.start();
  117. setTimeout( setupTween, duration );
  118. }
  119. function onWindowResize() {
  120. camera.aspect = window.innerWidth / window.innerHeight;
  121. camera.updateProjectionMatrix();
  122. renderer.setSize( window.innerWidth, window.innerHeight );
  123. }
  124. //
  125. function animate() {
  126. requestAnimationFrame( animate );
  127. render();
  128. stats.update();
  129. TWEEN.update();
  130. }
  131. function render() {
  132. var timer = Date.now() * 0.0001;
  133. camera.position.x = Math.cos( timer ) * 17;
  134. camera.position.y = 10;
  135. camera.position.z = Math.sin( timer ) * 17;
  136. camera.lookAt( scene.position );
  137. particleLight.position.x = Math.sin( timer * 4 ) * 3009;
  138. particleLight.position.y = Math.cos( timer * 5 ) * 4000;
  139. particleLight.position.z = Math.cos( timer * 4 ) * 3009;
  140. renderer.render( scene, camera );
  141. }
  142. // Returns a random integer between min (inclusive) and max (inclusive)
  143. // Using Math.round() will give you a non-uniform distribution!
  144. function getRandomInt( min, max ) {
  145. return Math.floor( Math.random() * ( max - min + 1 ) ) + min;
  146. }
  147. </script>
  148. </body>
  149. </html>