urdf-loader - npm Package Compare versions

Comparing version 0.2.5 to 0.2.6

package.json

 {
   "name": "urdf-loader",
-  "version": "0.2.5",
+  "version": "0.2.6",
   "description": "URDF Loader for THREE.js and webcomponent viewer",
@@ -5,0 +5,0 @@ "scripts": {

urdf-viewer-element.js

@@ -150,3 +150,3 @@ /* globals THREE URDFLoader */
         dirLight.shadow.mapSize.height = 2048;
-        dirLight.shadow.bias = -0.0001;
+        dirLight.shadow.bias = -0.000025;
         dirLight.castShadow = true;
@@ -366,3 +366,3 @@ scene.add(dirLight);
 
-        this.plane.visible = this.displayShadow;
+        this.directionalLight.castShadow = this.displayShadow;
         if (this.robot && this.displayShadow) {
@@ -376,6 +376,15 @@
 
-            const minmax = bbox.getBoundingSphere(new THREE.Sphere()).radius;
+            // Update the shadow camera rendering bounds to encapsulate the
+            // model. We use the bounding sphere of the bounding box for
+            // simplicity -- this could be a tighter fit.
+            const sphere = bbox.getBoundingSphere(new THREE.Sphere());
+            const minmax = sphere.radius;
             const cam = this.directionalLight.shadow.camera;
             cam.left = cam.bottom = -minmax;
             cam.right = cam.top = minmax;
+
+            // TODO: Position the camera about the center of the model
+            // because it's possible that the model will be off center
+            // and extend outside of the shadow camera bounds
+
             cam.updateProjectionMatrix();
@@ -464,3 +473,3 @@
 
-                                                    return new THREE.MeshPhongMaterial();
+                                                    m = new THREE.MeshPhongMaterial();
 
@@ -475,2 +484,4 @@ }
 
+                                                m.shadowSide = THREE.DoubleSide;
+
                                                 return m;
@@ -485,3 +496,2 @@
 
-
                         });
@@ -488,0 +498,0 @@ done(mesh);

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Improved metrics

Total package byte prevSize

2578531

increased by1.28%

Lines of code

6661

increased by1.8%

No dependency changes