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Merge pull request #69 from lmarsbrown/master
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Simulator Bug Fixes
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@cfry
cfry authored Jul 23, 2021
2 parents 2a6a558 + b5bca18 commit 90a3d6f
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Showing 2 changed files with 144 additions and 35 deletions.
135 changes: 122 additions & 13 deletions simulator/simulate.js
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,45 @@ var THREE_Text2D = require('three-text2d')
var THREE_GLTFLoader = require('three-gltf-loader') //using the examples folder like this is depricated three/examples/js/loaders/GLTFLoader.js')



function make_sim_html()
{
return `
<div style="white-space:nowrap;">
<b>Move Dur: </b><span id="sim_pane_move_dur_id"></span> s
<button onclick="SimBuild.init()">Load SimBuild</button>
<span title="Inspect simulator Details."
onclick="SimUtils.inspect_dexter_sim_instance()"
style="margin-left:15px;color:blue;cursor:pointer;font-weight:bold;"> &#9432; </span>
Alignment: <button onclick="align_cam(0)">X-Side</button>
<button onclick="align_cam(1)">Y-Side</button>
<button onclick="align_cam(2)">Z-Top</button>
<button onclick="align_cam(3)">Home</button>
</div>
<b title="X position of end effector in meters.">X: </b><span id="sim_pane_x_id" style="min-width:50px; text-align:left; display:inline-block"></span>
<b title="Y position of end effector in meters."> Y: </b><span id="sim_pane_y_id" style="min-width:50px; text-align:left; display:inline-block"></span>
<b title="Z position of end effector in meters."> Z: </b><span id="sim_pane_z_id" style="min-width:50px; text-align:left; display:inline-block"></span>
<div style="white-space:nowrap;">
<b title="Joint 1 angle in degrees."> J1: </b><span id="sim_pane_j1_id" style="min-width:30px; text-align:left; display:inline-block"></span>
<b title="Joint 2 angle in degrees."> J2: </b><span id="sim_pane_j2_id" style="min-width:30px; text-align:left; display:inline-block"></span>
<b title="Joint 3 angle in degrees."> J3: </b><span id="sim_pane_j3_id" style="min-width:30px; text-align:left; display:inline-block"></span>
<b title="Joint 4 angle in degrees."> J4: </b><span id="sim_pane_j4_id" style="min-width:30px; text-align:left; display:inline-block"></span>
<b title="Joint 5 angle in degrees."> J5: </b><span id="sim_pane_j5_id" style="min-width:30px; text-align:left; display:inline-block"></span>
<b title="Joint 6 angle in degrees."> J6: </b><span id="sim_pane_j6_id" style="min-width:30px; text-align:left; display:inline-block"></span>
<b title="Joint 7 angle in degrees."> J7: </b><span id="sim_pane_j7_id" style="min-width:30px; text-align:left; display:inline-block"></span></div>
<div id="sim_graphics_pane_id"></div>
`;
}

var canSize;
var goalRotation = {x:Math.PI*0.25,y:Math.PI*0.25};
var goalPosition = {x:0,y:0,z:-1};
var pRotation = {x:Math.PI*0.25,y:Math.PI*0.25};
var pPosition = {x:0,y:0,z:-1};

var sim = {} //used to store sim "global" vars
sim.hi_rez = true

Expand All @@ -31,6 +70,12 @@ function init_simulation_maybe(){
}
}
function init_simulation(){
canSize =
{
width: misc_pane_id.clientWidth-50,
height: persistent_get("dde_window_height")-persistent_get("top_right_panel_height") - 220
};

try{
init_mouse()
sim.enable_rendering = false
Expand All @@ -54,15 +99,15 @@ function createCamera(){
//https://discoverthreejs.com/book/first-steps/first-scene/
sim.camera = new THREE.PerspectiveCamera(
75, //field of view in degrees. determines ratio of far clipping region is to near clipping region
window.innerWidth / window.innerHeight, //aspect ratio, If not same as canvas width and height,
canSize.width/canSize.height, //aspect ratio, If not same as canvas width and height,
//the image will be distorted.
0.1, //1, //0.1, //distance between camera and near clipping plane. Must be > 0.
4 //4 // 3 is too small and clips the table. was: 1000 //distance between camera an far clipping plane. Must be > near.
);
sim.camera.name = "camera"
sim.camera.position.x = 0 //to the right of the screen.
sim.camera.position.y = 1 //up is positive
sim.camera.position.z = 2 //2; //toward the viewer (out of the screen) is positive. 2
sim.camera.position.y = 0 //up is positive
sim.camera.position.z = 1 //2; //toward the viewer (out of the screen) is positive. 2
sim.camera.zoom = 1 //1 is the default. 0.79 //has no effect.

//new(75, width/height, 0.1, 4) pos[0, 1, 2]
Expand Down Expand Up @@ -128,7 +173,7 @@ function createLights(){
function createRenderer(){
sim.renderer = new THREE.WebGLRenderer({ antialias:true });//antialias helps with drawing the table lines. //example: https://threejs.org/docs/#Manual/Introduction/Creating_a_scene
sim.renderer.setSize( //sim.container.clientWidth, sim.container.clientHeight) //causes no canvas to appear
window.innerWidth, window.innerHeight );
canSize.width,canSize.height);
//renderer.setPixelRatio( window.devicePixelRatio ); //causes no canvas to appear
//sim_graphics_pane_id.innerHTML = "" //done in video.js
sim.renderer.shadowMap.enabled = true;
Expand All @@ -144,6 +189,8 @@ function createMeshGLTF(){
sim.table_height = 0.01905 //height (thickness of Dexcell surface). This is 3/4 of an inch. was: 0.1)
sim.table = draw_table(sim.scene, sim.table_width, sim.table_length, sim.table_height)



sim.J0 = new THREE.Object3D(); //0,0,0 //does not move w.r.t table.
sim.J0.rotation.y = Math.PI //radians for 180 degrees
sim.J0.name = "J0"
Expand Down Expand Up @@ -418,10 +465,10 @@ var render_demo = function () {
sim.J5.rotation.x += 0.02 //5th axis end effector twist

//rotate table when user clicks down and drags.
if (sim.mouseDown){
/*if (sim.mouseDown){
sim_handle_mouse_move()
}
sim.renderer.render(sim.scene, sim.camera);
}*/
//sim.renderer.render(sim.scene, sim.camera);
}
};

Expand All @@ -434,14 +481,15 @@ function sim_handle_mouse_move(){
sim.camera.zoom = sim.zoom_at_mouseDown + zoom_increment //(spdy * 0.1)
sim.camera.updateProjectionMatrix()
}
else if (sim.altDown){
else if (sim.button == 1){
var panX_inc = mouseX_diff / 100
var panY_inc = mouseY_diff / 100
sim.table.position.x = sim.tableX_at_mouseDown + panX_inc
sim.table.position.y = sim.tableY_at_mouseDown - panY_inc
}
else {
sim.table.rotation.x = sim.rotationX_at_mouseDown + (mouseY_diff / 100)
let newX = sim.rotationX_at_mouseDown + (mouseY_diff / 100);
if(newX<=Math.PI*0.5&&newX>=-Math.PI*0.5)sim.table.rotation.x = newX;
sim.table.rotation.y = sim.rotationY_at_mouseDown + (mouseX_diff / 100)
}
}
Expand All @@ -468,6 +516,7 @@ function init_mouse(){
sim.rotationY_at_mouseDown = 0

sim_graphics_pane_id.addEventListener("mousedown", function(event) {
sim.button = event.button
sim.mouseDown = true
sim.shiftDown = event.shiftKey
sim.altDown = event.altKey
Expand Down Expand Up @@ -502,12 +551,13 @@ function draw_table(parent, table_width, table_length, table_height){
sim.table = new THREE.Mesh(geometryt, materialt)
sim.table.name = "table"
sim.table.receiveShadow = true;
sim.table.position.x = -2.4 //-3.85
sim.table.position.y = 2 //2.47

sim.table.position.x = 0 //-3.85
sim.table.position.y = 0 //2.47
sim.table.position.z = -1 //0

sim.table.rotation.x = 1 //0 //0.53
sim.table.rotation.y = 5 //5 shows table with +x to right, and +y away from camera. 1.8 //0 //-0.44
sim.table.rotation.x = Math.PI*0.25 //0 //0.53
sim.table.rotation.y = Math.PI*0.25 //5 shows table with +x to right, and +y away from camera. 1.8 //0 //-0.44
sim.table.rotation.z = 0
parent.add(sim.table)

Expand Down Expand Up @@ -762,6 +812,8 @@ function gltf_render(){
// if (sim.mouseDown){
// stl_sim_handle_mouse_move()
// }
updateRotation();
updatePosition();
sim.renderer.render(sim.scene, sim.camera);
requestAnimationFrame(gltf_render)
}
Expand Down Expand Up @@ -831,3 +883,60 @@ function stl_sim_handle_mouse_move(){
}


function align_cam(position)
{
switch(position)
{
case(0):
goalRotation.x = 0;
goalRotation.y = Math.PI;
break;

case(1):
goalRotation.x = 0;
goalRotation.y = Math.PI*0.5;
break;

case(2):
goalRotation.x = Math.PI*0.5;
goalRotation.y = Math.PI*0.5;
break;

case(3):
goalRotation.x = Math.PI*0.25;
goalRotation.y = Math.PI*0.25;
goalPosition.x = 0;
goalPosition.y = 0;
goalPosition.z = -1;
break;
}
}

function updateRotation()
{
if(pRotation.x != sim.table.rotation.x||pRotation.y != sim.table.rotation.y)
{
goalRotation.x = sim.table.rotation.x;
goalRotation.y = sim.table.rotation.y;
}
sim.table.rotation.x -= (sim.table.rotation.x-goalRotation.x)*0.04;
sim.table.rotation.y -= (sim.table.rotation.y-goalRotation.y)*0.04;
pRotation.x = sim.table.rotation.x;
pRotation.y = sim.table.rotation.y;
}

function updatePosition()
{
if(pPosition.x != sim.table.position.x||pPosition.y != sim.table.position.y||pPosition.z != sim.table.position.z)
{
goalPosition.x = sim.table.position.x;
goalPosition.y = sim.table.position.y;
goalPosition.z = sim.table.position.z;
}
sim.table.position.x -= (sim.table.position.x-goalPosition.x)*0.04;
sim.table.position.y -= (sim.table.position.y-goalPosition.y)*0.04;
sim.table.position.z -= (sim.table.position.z-goalPosition.z)*0.04;
pPosition.x = sim.table.position.x;
pPosition.y = sim.table.position.y;
pPosition.z = sim.table.position.z;
}
44 changes: 22 additions & 22 deletions video.js
View file
Original file line number Diff line number Diff line change
Expand Up @@ -127,28 +127,28 @@ function show_in_misc_pane(content, arg1 = "", arg2){
try {
if (content === "Simulate Dexter") {
init_sim_in_process = true
sim_pane_content_id.innerHTML =
'<div style="white-space:nowrap;"> ' + //Simulate Job/Robot: <select id="job_or_robot_to_simulate_id">' +
'<b>Move Dur: </b><span id="sim_pane_move_dur_id"></span> s' +
' <button onclick="SimBuild.init()">Load SimBuild</button> ' +
'<span title="Inspect simulator Details." ' +
'onclick="SimUtils.inspect_dexter_sim_instance()" ' +
'style="margin-left:15px;color:blue;cursor:pointer;font-weight:bold;"> &#9432; </span> ' +
'</div>' +

'<b title="X position of end effector in meters.">X: </b><span id="sim_pane_x_id" style="min-width:50px; text-align:left; display:inline-block"></span>' + //"margin-left:5px;
'<b title="Y position of end effector in meters."> Y: </b><span id="sim_pane_y_id" style="min-width:50px; text-align:left; display:inline-block"></span>' + //"margin-left:5px;
'<b title="Z position of end effector in meters."> Z: </b><span id="sim_pane_z_id" style="min-width:50px; text-align:left; display:inline-block"></span>' + //"margin-left:5px;

'<div style="white-space:nowrap;">' +
'<b title="Joint 1 angle in degrees."> J1: </b><span id="sim_pane_j1_id" style="min-width:30px; text-align:left; display:inline-block"></span>' + //"margin-left:5px;
'<b title="Joint 2 angle in degrees."> J2: </b><span id="sim_pane_j2_id" style="min-width:30px; text-align:left; display:inline-block"></span>' +
'<b title="Joint 3 angle in degrees."> J3: </b><span id="sim_pane_j3_id" style="min-width:30px; text-align:left; display:inline-block"></span>' +
'<b title="Joint 4 angle in degrees."> J4: </b><span id="sim_pane_j4_id" style="min-width:30px; text-align:left; display:inline-block"></span>' +
'<b title="Joint 5 angle in degrees."> J5: </b><span id="sim_pane_j5_id" style="min-width:30px; text-align:left; display:inline-block"></span>' +
'<b title="Joint 6 angle in degrees."> J6: </b><span id="sim_pane_j6_id" style="min-width:30px; text-align:left; display:inline-block"></span>' +
'<b title="Joint 7 angle in degrees."> J7: </b><span id="sim_pane_j7_id" style="min-width:30px; text-align:left; display:inline-block"></span></div>' +
'<div id="sim_graphics_pane_id"></div>'
sim_pane_content_id.innerHTML = make_sim_html();
// '<div style="white-space:nowrap;"> ' + //Simulate Job/Robot: <select id="job_or_robot_to_simulate_id">' +
// '<b>Move Dur: </b><span id="sim_pane_move_dur_id"></span> s' +
// ' <button onclick="SimBuild.init()">Load SimBuild</button> ' +
// '<span title="Inspect simulator Details." ' +
// 'onclick="SimUtils.inspect_dexter_sim_instance()" ' +
// 'style="margin-left:15px;color:blue;cursor:pointer;font-weight:bold;"> &#9432; </span> ' +
// '</div>' +

// '<b title="X position of end effector in meters.">X: </b><span id="sim_pane_x_id" style="min-width:50px; text-align:left; display:inline-block"></span>' + //"margin-left:5px;
// '<b title="Y position of end effector in meters."> Y: </b><span id="sim_pane_y_id" style="min-width:50px; text-align:left; display:inline-block"></span>' + //"margin-left:5px;
// '<b title="Z position of end effector in meters."> Z: </b><span id="sim_pane_z_id" style="min-width:50px; text-align:left; display:inline-block"></span>' + //"margin-left:5px;

// '<div style="white-space:nowrap;">' +
// '<b title="Joint 1 angle in degrees."> J1: </b><span id="sim_pane_j1_id" style="min-width:30px; text-align:left; display:inline-block"></span>' + //"margin-left:5px;
// '<b title="Joint 2 angle in degrees."> J2: </b><span id="sim_pane_j2_id" style="min-width:30px; text-align:left; display:inline-block"></span>' +
// '<b title="Joint 3 angle in degrees."> J3: </b><span id="sim_pane_j3_id" style="min-width:30px; text-align:left; display:inline-block"></span>' +
// '<b title="Joint 4 angle in degrees."> J4: </b><span id="sim_pane_j4_id" style="min-width:30px; text-align:left; display:inline-block"></span>' +
// '<b title="Joint 5 angle in degrees."> J5: </b><span id="sim_pane_j5_id" style="min-width:30px; text-align:left; display:inline-block"></span>' +
// '<b title="Joint 6 angle in degrees."> J6: </b><span id="sim_pane_j6_id" style="min-width:30px; text-align:left; display:inline-block"></span>' +
// '<b title="Joint 7 angle in degrees."> J7: </b><span id="sim_pane_j7_id" style="min-width:30px; text-align:left; display:inline-block"></span></div>' +
// '<div id="sim_graphics_pane_id"></div>'
open_doc(simulate_pane_doc_id)
init_simulation()
//sim.renderer.render(sim.scene, sim.camera);
Expand Down

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