urdf-loader - npm Package Compare versions

Comparing version 0.6.2 to 0.6.3

CHANGELOG.md

@@ -7,2 +7,6 @@ # Changelog
 
+## [0.6.3] - 2019-06-28
+### Added
+- Support for parsing collision nodes.
+
 ## [0.6.2] - 2019-04-18
@@ -15,3 +19,3 @@ ### Added
 - Continuous joints not being able to rotate.
-- Always parse joint angles to numbers
+- Always parse joint angles to numbers.
 
@@ -27,3 +31,3 @@ ## [0.6.0] - 2019-02-23
 - The root link is now the same as the URDF Robot object.
-- Moved the `packages` parameter to the options object
+- Moved the `packages` parameter to the options object.
 
@@ -30,0 +34,0 @@ ### Removed

example/index.js

@@ -74,2 +74,3 @@ /* globals viewer THREE */
 
+let originalNoAutoRecenter;
 viewer.addEventListener('manipulate-start', e => {
@@ -83,4 +84,13 @@
 
+    originalNoAutoRecenter = viewer.noAutoRecenter;
+    viewer.noAutoRecenter = true;
+
 });
 
+viewer.addEventListener('manipulate-end', e => {
+
+    viewer.noAutoRecenter = originalNoAutoRecenter;
+
+});
+
 // create the sliders
@@ -87,0 +97,0 @@ viewer.addEventListener('urdf-processed', () => {

package.json

 {
   "name": "urdf-loader",
-  "version": "0.6.2",
+  "version": "0.6.3",
   "description": "URDF Loader for THREE.js and webcomponent viewer",
@@ -5,0 +5,0 @@ "main": "umd/URDFLoader.js",

README.md

@@ -34,3 +34,2 @@ # javascript urdf-loader
 - Only `prismatic`, `continuous`, `revolute`, and `fixed` joints are supported.
-- Collision tags are not parsed.
 
@@ -97,3 +96,3 @@ ## URDFLoader API
 
-##### workingPath : String
+##### options.workingPath : String
 
@@ -104,2 +103,10 @@ The path to load geometry relative to.
 
+##### options.parseVisual : Boolean
+
+An optional value that can be used to enable / disable loading meshes for links from the `visual` nodes. Defaults to true.
+
+##### options.parseCollision : Boolean
+
+An optional value that can be used to enable / disable loading meshes for links from the `collision` nodes. Defaults to false.
+
 ### parse(urdfContent,  options) : THREE.Object3D
@@ -106,0 +113,0 @@

src/urdf-viewer-element.js

@@ -88,3 +88,2 @@ import * as THREE from 'three';
         dirLight.castShadow = true;
-        dirLight.shadow.bias = -0.00001;
         scene.add(dirLight);
@@ -125,3 +124,2 @@ scene.add(dirLight.target);
         controls.enableZoom = true;
-        controls.enablePan = false;
         controls.enableDamping = false;
@@ -318,3 +316,25 @@ controls.maxDistance = 50;
 
-        const bbox = new THREE.Box3().setFromObject(this.robot);
+        const bbox = new THREE.Box3();
+        const temp = new THREE.Box3();
+
+        this.robot.traverse(c => {
+
+            const geometry = c.geometry;
+            if (geometry) {
+
+                if (geometry.boundingBox === null) {
+
+                    geometry.computeBoundingBox();
+
+                }
+
+                temp.copy(geometry.boundingBox);
+                temp.applyMatrix4(c.matrixWorld);
+
+                bbox.union(temp);
+
+            }
+
+        });
+
         const center = bbox.getCenter(new THREE.Vector3());
@@ -420,4 +440,2 @@ this.controls.target.y = center.y;
 
-                                        m.shadowSide = THREE.DoubleSide;
-
                                         return m;
@@ -424,0 +442,0 @@

src/URDFClasses.d.ts

 import { Object3D, Vector3 } from 'three';
 
+export class URDFCollider extends Object3D {
+
+    isURDFCollider: true;
+
+}
+
 export class URDFLink extends Object3D {
@@ -4,0 +10,0 @@

src/URDFClasses.js

 import { Object3D, Quaternion } from 'three';
 
+function URDFColliderClone(...args) {
+
+    const proto = Object.getPrototypeOf(this);
+    const result = proto.clone.call(this, ...args);
+    result.isURDFCollider = true;
+    return result;
+
+};
+
+function makeURDFCollider(object) {
+
+    object.isURDFCollider = true;
+    object.clone = URDFColliderClone;
+
+}
+
 class URDFLink extends Object3D {
@@ -249,2 +265,2 @@
 
-export { URDFRobot, URDFLink, URDFJoint };
+export { URDFRobot, URDFLink, URDFJoint, makeURDFCollider };

src/URDFLoader.js

 import * as THREE from 'three';
 import { STLLoader } from 'three/examples/js/loaders/STLLoader';
 import { ColladaLoader } from 'three/examples/js/loaders/ColladaLoader';
-import { URDFRobot, URDFJoint, URDFLink } from './URDFClasses.js';
+import { URDFRobot, URDFJoint, URDFLink, makeURDFCollider } from './URDFClasses.js';
 
@@ -76,3 +76,5 @@ /*
 
-        options = Object.assign({ workingPath }, options);
+        options = Object.assign({
+            workingPath,
+        }, options);
 
@@ -105,2 +107,4 @@ manager.itemStart(urdfPath);
         const workingPath = options.workingPath || '';
+        const parseVisual = ('parseVisual' in options) ? options.parseVisual : true;
+        const parseCollision = options.parseCollision || false;
         const manager = this.manager;
@@ -284,7 +288,13 @@ const linkMap = {};
             const children = [ ...link.children ];
-            const visualNodes = children.filter(n => n.nodeName.toLowerCase() === 'visual');
             target.name = link.getAttribute('name');
             target.urdfNode = link;
 
-            visualNodes.forEach(vn => processVisualNode(vn, target, materialMap));
+            if (parseVisual) {
+                const visualNodes = children.filter(n => n.nodeName.toLowerCase() === 'visual');
+                visualNodes.forEach(vn => processLinkElement(vn, target, materialMap));
+            }
+            if (parseCollision) {
+                const collisionNodes = children.filter(n => n.nodeName.toLowerCase() === 'collision');
+                collisionNodes.forEach(vn => processLinkElement(vn, target));
+            }
 
@@ -330,5 +340,6 @@ return target;
 
-        // Process the visual nodes into meshes
-        function processVisualNode(vn, linkObj, materialMap) {
+        // Process the visual and collision nodes into meshes
+        function processLinkElement(vn, linkObj, materialMap = {}) {
 
+            const isCollisionNode = vn.nodeName.toLowerCase() === 'collision';
             let xyz = [0, 0, 0];
@@ -409,2 +420,8 @@ let rpy = [0, 0, 0];
 
+                                    if (isCollisionNode) {
+
+                                        makeURDFCollider(obj);
+
+                                    }
+
                                 }
@@ -427,2 +444,8 @@
 
+                        if (isCollisionNode) {
+
+                            makeURDFCollider(primitiveModel);
+
+                        }
+
                     } else if (geoType === 'sphere') {
@@ -439,2 +462,8 @@
 
+                        if (isCollisionNode) {
+
+                            makeURDFCollider(primitiveModel);
+
+                        }
+
                     } else if (geoType === 'cylinder') {
@@ -453,2 +482,8 @@
 
+                        if (isCollisionNode) {
+
+                            makeURDFCollider(primitiveModel);
+
+                        }
+
                     }
@@ -455,0 +490,0 @@

umd/urdf-viewer-element.js

@@ -91,3 +91,2 @@ (function (global, factory) {
             dirLight.castShadow = true;
-            dirLight.shadow.bias = -0.00001;
             scene.add(dirLight);
@@ -128,3 +127,2 @@ scene.add(dirLight.target);
             controls.enableZoom = true;
-            controls.enablePan = false;
             controls.enableDamping = false;
@@ -321,3 +319,25 @@ controls.maxDistance = 50;
 
-            const bbox = new THREE.Box3().setFromObject(this.robot);
+            const bbox = new THREE.Box3();
+            const temp = new THREE.Box3();
+
+            this.robot.traverse(c => {
+
+                const geometry = c.geometry;
+                if (geometry) {
+
+                    if (geometry.boundingBox === null) {
+
+                        geometry.computeBoundingBox();
+
+                    }
+
+                    temp.copy(geometry.boundingBox);
+                    temp.applyMatrix4(c.matrixWorld);
+
+                    bbox.union(temp);
+
+                }
+
+            });
+
             const center = bbox.getCenter(new THREE.Vector3());
@@ -423,4 +443,2 @@ this.controls.target.y = center.y;
 
-                                            m.shadowSide = THREE.DoubleSide;
-
                                             return m;
@@ -427,0 +445,0 @@

umd/URDFLoader.js

@@ -7,2 +7,18 @@ (function (global, factory) {
 
+    function URDFColliderClone(...args) {
+
+        const proto = Object.getPrototypeOf(this);
+        const result = proto.clone.call(this, ...args);
+        result.isURDFCollider = true;
+        return result;
+
+    }
+
+    function makeURDFCollider(object) {
+
+        object.isURDFCollider = true;
+        object.clone = URDFColliderClone;
+
+    }
+
     class URDFLink extends THREE.Object3D {
@@ -323,3 +339,5 @@
 
-            options = Object.assign({ workingPath }, options);
+            options = Object.assign({
+                workingPath,
+            }, options);
 
@@ -352,2 +370,4 @@ manager.itemStart(urdfPath);
             const workingPath = options.workingPath || '';
+            const parseVisual = ('parseVisual' in options) ? options.parseVisual : true;
+            const parseCollision = options.parseCollision || false;
             const manager = this.manager;
@@ -531,7 +551,13 @@ const linkMap = {};
                 const children = [ ...link.children ];
-                const visualNodes = children.filter(n => n.nodeName.toLowerCase() === 'visual');
                 target.name = link.getAttribute('name');
                 target.urdfNode = link;
 
-                visualNodes.forEach(vn => processVisualNode(vn, target, materialMap));
+                if (parseVisual) {
+                    const visualNodes = children.filter(n => n.nodeName.toLowerCase() === 'visual');
+                    visualNodes.forEach(vn => processLinkElement(vn, target, materialMap));
+                }
+                if (parseCollision) {
+                    const collisionNodes = children.filter(n => n.nodeName.toLowerCase() === 'collision');
+                    collisionNodes.forEach(vn => processLinkElement(vn, target));
+                }
 
@@ -577,5 +603,6 @@ return target;
 
-            // Process the visual nodes into meshes
-            function processVisualNode(vn, linkObj, materialMap) {
+            // Process the visual and collision nodes into meshes
+            function processLinkElement(vn, linkObj, materialMap = {}) {
 
+                const isCollisionNode = vn.nodeName.toLowerCase() === 'collision';
                 let xyz = [0, 0, 0];
@@ -656,2 +683,8 @@ let rpy = [0, 0, 0];
 
+                                        if (isCollisionNode) {
+
+                                            makeURDFCollider(obj);
+
+                                        }
+
                                     }
@@ -674,2 +707,8 @@
 
+                            if (isCollisionNode) {
+
+                                makeURDFCollider(primitiveModel);
+
+                            }
+
                         } else if (geoType === 'sphere') {
@@ -686,2 +725,8 @@
 
+                            if (isCollisionNode) {
+
+                                makeURDFCollider(primitiveModel);
+
+                            }
+
                         } else if (geoType === 'cylinder') {
@@ -700,2 +745,8 @@
 
+                            if (isCollisionNode) {
+
+                                makeURDFCollider(primitiveModel);
+
+                            }
+
                         }
@@ -702,0 +753,0 @@

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Found 1 instance in 1 package

Fixed alerts

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Improved metrics

Total package byte prevSize

248320

increased by3.29%

Lines of code

2830

increased by3.4%

Number of lines in readme file

334

increased by2.14%

No dependency changes