urdf-loader - npm Package Compare versions

Comparing version 0.10.4 to 0.10.5

package.json

 {
   "name": "urdf-loader",
-  "version": "0.10.4",
+  "version": "0.10.5",
   "description": "URDF Loader for THREE.js and webcomponent viewer",
@@ -5,0 +5,0 @@ "main": "src/URDFLoader.js",

README.md

 # urdf-loader
 
 [![npm version](https://img.shields.io/npm/v/urdf-loader.svg?style=flat-square)](https://www.npmjs.com/package/urdf-loader)
-[![build](https://img.shields.io/github/workflow/status/gkjohnson/urdf-loaders/Node.js%20CI?style=flat-square&label=build)](https://github.com/gkjohnson/urdf-loaders/actions)
-[![lgtm code quality](https://img.shields.io/lgtm/grade/javascript/g/gkjohnson/urdf-loaders.svg?style=flat-square&label=code-quality)](https://lgtm.com/projects/g/gkjohnson/urdf-loaders/)
+[![build](https://img.shields.io/github/actions/workflow/status/gkjohnson/urdf-loaders/node.js.yml?style=flat-square&label=build&branch=master)](https://github.com/gkjohnson/urdf-loaders/actions)
 
@@ -7,0 +6,0 @@ Utilities for loading URDF files into THREE.js and a Web Component that loads and renders the model.

src/urdf-manipulator-element.js

@@ -75,4 +75,9 @@ import * as THREE from 'three';
 
-                        traverse(c.children[i]);
+                        const child = c.children[i];
+                        if (!child.isURDFCollider) {
 
+                            traverse(c.children[i]);
+
+                        }
+
                     }
@@ -79,0 +84,0 @@

src/urdf-viewer-element.js

 import * as THREE from 'three';
+import { MeshPhongMaterial } from 'three';
 import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
@@ -6,2 +7,3 @@ import URDFLoader from './URDFLoader.js';
 const tempVec2 = new THREE.Vector2();
+const emptyRaycast = () => {};
 
@@ -22,3 +24,3 @@ // urdf-viewer element
 
-        return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits'];
+        return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'show-collision'];
 
@@ -51,2 +53,5 @@ }
 
+    get showCollision() { return this.hasAttribute('show-collision') || false; }
+    set showCollision(val) { val ? this.setAttribute('show-collision', true) : this.removeAttribute('show-collision'); }
+
     get jointValues() {
@@ -161,2 +166,13 @@
 
+        this._collisionMaterial = new MeshPhongMaterial({
+            transparent: true,
+            opacity: 0.35,
+            shininess: 2.5,
+            premultipliedAlpha: true,
+            color: 0xffbe38,
+            polygonOffset: true,
+            polygonOffsetFactor: -1,
+            polygonOffsetUnits: -1,
+        });
+
         const _renderLoop = () => {
@@ -232,3 +248,6 @@
 
-        this.recenter();
+        this._updateCollisionVisibility();
+        if (!this.noAutoRecenter) {
+            this.recenter();
+        }
 
@@ -277,5 +296,5 @@ switch (attr) {
         const h = this.clientHeight;
-        const currsize = r.getSize(tempVec2);
+        const currSize = r.getSize(tempVec2);
 
-        if (currsize.width !== w || currsize.height !== h) {
+        if (currSize.width !== w || currSize.height !== h) {
 
@@ -334,3 +353,4 @@ this.recenter();
 
-        if (!this.robot) return;
+        const robot = this.robot;
+        if (!robot) return;
 
@@ -340,3 +360,8 @@ this.world.updateMatrixWorld();
         const bbox = new THREE.Box3();
-        bbox.setFromObject(this.robot);
+        bbox.makeEmpty();
+        robot.traverse(c => {
+            if (c.isURDFVisual) {
+                bbox.expandByObject(c);
+            }
+        });
 
@@ -493,2 +518,3 @@ const center = bbox.getCenter(new THREE.Vector3());
                 this._setIgnoreLimits(this.ignoreLimits);
+                this._updateCollisionVisibility();
 
@@ -512,2 +538,3 @@ this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));
             loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
+            loader.parseCollision = true;
             loader.load(urdf, model => robot = model);
@@ -519,2 +546,40 @@
 
+    _updateCollisionVisibility() {
+
+        const showCollision = this.showCollision;
+        const collisionMaterial = this._collisionMaterial;
+        const robot = this.robot;
+
+        if (robot === null) return;
+
+        const colliders = [];
+        robot.traverse(c => {
+
+            if (c.isURDFCollider) {
+
+                c.visible = showCollision;
+                colliders.push(c);
+
+            }
+
+        });
+
+        colliders.forEach(coll => {
+
+            coll.traverse(c => {
+
+                if (c.isMesh) {
+
+                    c.raycast = emptyRaycast;
+                    c.material = collisionMaterial;
+                    c.castShadow = false;
+
+                }
+
+            });
+
+        });
+
+    }
+
     // Watch the coordinate frame and update the
@@ -521,0 +586,0 @@ // rotation of the scene to match

src/URDFClasses.d.ts

@@ -0,0 +0,0 @@ import { Object3D, Vector3 } from 'three';

src/URDFClasses.js

@@ -269,9 +269,2 @@ import { Object3D, Vector3 } from 'three';
     /* Overrides */
-    setJointValue(...values) {
-
-        console.warn(`URDFMimicJoint: Setting the joint value of mimic joint "${ this.urdfName }" will cause it to be out of sync.`);
-        return super.setJointValue(...values);
-    }
-
-    /* Overrides */
     copy(source, recursive) {
@@ -278,0 +271,0 @@

src/URDFDragControls.js

@@ -0,0 +0,0 @@ import { Raycaster, Vector3, Plane, Vector2 } from 'three';

src/URDFLoader.d.ts

@@ -29,4 +29,4 @@ import { LoadingManager, Object3D } from 'three';
         onLoad: (robot: URDFRobot) => void,
-        onProgress?: () => void,
-        onError?: () => void
+        onProgress?: (progress?: any) => void,
+        onError?: (err?: any) => void
     ): void;
@@ -33,0 +33,0 @@ parse(content: string | Element | Document): URDFRobot;

src/URDFLoader.js

@@ -0,0 +0,0 @@ import * as THREE from 'three';

umd/urdf-manipulator-element.js

@@ -429,4 +429,9 @@ (function (global, factory) {
 
-                            traverse(c.children[i]);
+                            const child = c.children[i];
+                            if (!child.isURDFCollider) {
 
+                                traverse(c.children[i]);
+
+                            }
+
                         }
@@ -433,0 +438,0 @@

umd/urdf-viewer-element.js

@@ -33,2 +33,3 @@ (function (global, factory) {
     const tempVec2 = new THREE__namespace.Vector2();
+    const emptyRaycast = () => {};
 
@@ -48,3 +49,3 @@ // urdf-viewer element
 
-            return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits'];
+            return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'show-collision'];
 
@@ -77,2 +78,5 @@ }
 
+        get showCollision() { return this.hasAttribute('show-collision') || false; }
+        set showCollision(val) { val ? this.setAttribute('show-collision', true) : this.removeAttribute('show-collision'); }
+
         get jointValues() {
@@ -187,2 +191,13 @@
 
+            this._collisionMaterial = new THREE.MeshPhongMaterial({
+                transparent: true,
+                opacity: 0.35,
+                shininess: 2.5,
+                premultipliedAlpha: true,
+                color: 0xffbe38,
+                polygonOffset: true,
+                polygonOffsetFactor: -1,
+                polygonOffsetUnits: -1,
+            });
+
             const _renderLoop = () => {
@@ -258,3 +273,6 @@
 
-            this.recenter();
+            this._updateCollisionVisibility();
+            if (!this.noAutoRecenter) {
+                this.recenter();
+            }
 
@@ -303,5 +321,5 @@ switch (attr) {
             const h = this.clientHeight;
-            const currsize = r.getSize(tempVec2);
+            const currSize = r.getSize(tempVec2);
 
-            if (currsize.width !== w || currsize.height !== h) {
+            if (currSize.width !== w || currSize.height !== h) {
 
@@ -360,3 +378,4 @@ this.recenter();
 
-            if (!this.robot) return;
+            const robot = this.robot;
+            if (!robot) return;
 
@@ -366,3 +385,8 @@ this.world.updateMatrixWorld();
             const bbox = new THREE__namespace.Box3();
-            bbox.setFromObject(this.robot);
+            bbox.makeEmpty();
+            robot.traverse(c => {
+                if (c.isURDFVisual) {
+                    bbox.expandByObject(c);
+                }
+            });
 
@@ -519,2 +543,3 @@ const center = bbox.getCenter(new THREE__namespace.Vector3());
                     this._setIgnoreLimits(this.ignoreLimits);
+                    this._updateCollisionVisibility();
 
@@ -538,2 +563,3 @@ this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));
                 loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
+                loader.parseCollision = true;
                 loader.load(urdf, model => robot = model);
@@ -545,2 +571,40 @@
 
+        _updateCollisionVisibility() {
+
+            const showCollision = this.showCollision;
+            const collisionMaterial = this._collisionMaterial;
+            const robot = this.robot;
+
+            if (robot === null) return;
+
+            const colliders = [];
+            robot.traverse(c => {
+
+                if (c.isURDFCollider) {
+
+                    c.visible = showCollision;
+                    colliders.push(c);
+
+                }
+
+            });
+
+            colliders.forEach(coll => {
+
+                coll.traverse(c => {
+
+                    if (c.isMesh) {
+
+                        c.raycast = emptyRaycast;
+                        c.material = collisionMaterial;
+                        c.castShadow = false;
+
+                    }
+
+                });
+
+            });
+
+        }
+
         // Watch the coordinate frame and update the
@@ -547,0 +611,0 @@ // rotation of the scene to match

umd/URDFLoader.js

@@ -295,9 +295,2 @@ (function (global, factory) {
         /* Overrides */
-        setJointValue(...values) {
-
-            console.warn(`URDFMimicJoint: Setting the joint value of mimic joint "${ this.urdfName }" will cause it to be out of sync.`);
-            return super.setJointValue(...values);
-        }
-
-        /* Overrides */
         copy(source, recursive) {
@@ -304,0 +297,0 @@

New alerts

License Policy Violation

License

This package is not allowed per your license policy. Review the package's license to ensure compliance.

Found 1 instance in 1 package

Fixed alerts

License Policy Violation

License

This package is not allowed per your license policy. Review the package's license to ensure compliance.

Found 1 instance in 1 package

Improved metrics

Lines of code

2924

increased by3.14%

Worsened metrics

Total package byte prevSize

260089

decreased by-0.97%

Number of lines in readme file

579

decreased by-0.17%

No dependency changes