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Ball joint slider #5668

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merged 3 commits into from
Dec 15, 2022
Merged

Ball joint slider #5668

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c1ded32
implementation
Dec 14, 2022
1a2ae3f
fix
Dec 15, 2022
7d525d8
even if no parameters
Dec 15, 2022
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57 changes: 46 additions & 11 deletions resources/web/wwi/FloatingProtoParameterWindow.js
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
import FloatingWindow from './FloatingWindow.js';
import {VRML} from './protoVisualizer/vrml_type.js';
import WbBallJoint from './nodes/WbBallJoint.js';
import WbCamera from './nodes/WbCamera.js';
import WbConnector from './nodes/WbConnector.js';
import WbDistanceSensor from './nodes/WbDistanceSensor.js';
Expand All @@ -9,7 +10,7 @@ import WbLidar from './nodes/WbLidar.js';
import WbLightSensor from './nodes/WbLightSensor.js';
import WbPen from './nodes/WbPen.js';
import WbRadar from './nodes/WbRadar.js';
import WbSliderJoint from './nodes/WbSliderJoint.js';
import WbJoint from './nodes/WbJoint.js';
import WbWorld from './nodes/WbWorld.js';
import WbRangeFinder from './nodes/WbRangeFinder.js';
import WbVector3 from './nodes/utils/WbVector3.js';
Expand Down Expand Up @@ -838,8 +839,7 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
let numberOfJoint = 0;
for (const key of keys) {
const joint = nodes.get(key);
// No need to test for WbHinge2Joint as they are descendant of WbHingeJoint
if (joint instanceof WbHingeJoint || joint instanceof WbSliderJoint) {
if (joint instanceof WbJoint) {
numberOfJoint++;

let div = document.createElement('div');
Expand All @@ -848,7 +848,9 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
let nameDiv = document.createElement('div');

const jointName = joint.endPoint ? joint.endPoint.name : numberOfJoint;
if (joint instanceof WbHinge2Joint)
if (joint instanceof WbBallJoint)
nameDiv.innerHTML = 'BallJoint 1: ' + jointName;
else if (joint instanceof WbHinge2Joint)
nameDiv.innerHTML = 'Hinge2joint 1: ' + jointName;
else if (joint instanceof WbHingeJoint)
nameDiv.innerHTML = 'Hingejoint: ' + jointName;
Expand All @@ -859,15 +861,47 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
div.appendChild(nameDiv);
const parameters = joint.jointParameters;
div.appendChild(this.#createSlider(parameters, _ => {
if (parameters) {
if (parameters)
parameters.position = _.target.value;
this.#view.x3dScene.render();
}
else
joint.position = _.target.value;
this.#view.x3dScene.render();
}));

this.joints.appendChild(div);

if (joint instanceof WbHinge2Joint) {
if (joint instanceof WbBallJoint) {
div = document.createElement('div');
div.className = 'proto-joint';

nameDiv = document.createElement('div');
nameDiv.innerHTML = 'BallJoint 2: ' + jointName;
nameDiv.className = 'proto-joint-name';
div.appendChild(nameDiv);
const parameters2 = joint.jointParameters2;
div.appendChild(this.#createSlider(parameters2, _ => {
if (parameters2)
parameters2.position = _.target.value;
else
joint.position2 = _.target.value;
this.#view.x3dScene.render();
}));
this.joints.appendChild(div);

nameDiv = document.createElement('div');
nameDiv.innerHTML = 'BallJoint 3: ' + jointName;
nameDiv.className = 'proto-joint-name';
div.appendChild(nameDiv);
const parameters3 = joint.jointParameters3;
div.appendChild(this.#createSlider(parameters3, _ => {
if (parameters3)
parameters3.position = _.target.value;
else
joint.position3 = _.target.value;
this.#view.x3dScene.render();
}));
this.joints.appendChild(div);
} else if (joint instanceof WbHinge2Joint) {
div = document.createElement('div');
div.className = 'proto-joint';

Expand All @@ -877,10 +911,11 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
div.appendChild(nameDiv);
const parameters2 = joint.jointParameters2;
div.appendChild(this.#createSlider(parameters2, _ => {
if (parameters2) {
if (parameters2)
parameters2.position = _.target.value;
this.#view.x3dScene.render();
}
else
joint.position2 = _.target.value;
this.#view.x3dScene.render();
}));
this.joints.appendChild(div);
}
Expand Down
133 changes: 133 additions & 0 deletions resources/web/wwi/nodes/WbBallJoint.js
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,13 @@
import WbHinge2Joint from './WbHinge2Joint.js';
import WbQuaternion from './utils/WbQuaternion.js';
import WbVector3 from './utils/WbVector3.js';
import WbVector4 from './utils/WbVector4.js';
import {isZeroAngle} from './utils/math_utilities.js';

export default class WbBallJoint extends WbHinge2Joint {
#device3;
#jointParameters3;
#position3;
constructor(id) {
super(id);
this.#device3 = [];
Expand All @@ -24,7 +29,22 @@ export default class WbBallJoint extends WbHinge2Joint {
this.#jointParameters3 = jointParameters;
}

get position3() {
return this.#position3;
}

set position3(newPosition) {
if (this.#position3 === newPosition)
return;

this.#position3 = newPosition;
if (typeof this.jointParameters3 === 'undefined')
this._updatePosition();
}

preFinalize() {
this.#position3 = typeof this.jointParameters3 === 'undefined' ? 0 : this.jointParameters3.position;

super.preFinalize();
this.#device3.forEach(child => child.preFinalize());
this.#jointParameters3?.preFinalize();
Expand All @@ -48,4 +68,117 @@ export default class WbBallJoint extends WbHinge2Joint {

super.delete();
}

axis() {
const p2 = this.jointParameters2;
const p3 = this.jointParameters3;
if (typeof p2 === 'undefined') {
if (typeof p3 === 'undefined')
return new WbVector3(1, 0, 0);
else if (p3.axis().cross(new WbVector3(0, 0, 1)).isNull())
return p3.axis().cross(new WbVector3(1, 0, 0));
else
return p3.axis().cross(new WbVector3(0, 0, 1));
}
return p2.axis();
}

axis2() {
return this.axis3().cross(this.axis());
}

axis3() {
const p2 = this.jointParameters2;
const p3 = this.jointParameters3;
if (typeof p3 === 'undefined') {
if (typeof p2 === 'undefined')
return new WbVector3(0, 0, 1);
else if (p2.axis.cross(new WbVector3(1, 0, 0)).isNull())
return p2.axis.cross(new WbVector3(0, 0, 1));
else
return p2.axis.cross(new WbVector3(1, 0, 0));
}
return p3.axis;
}

_updatePosition() {
if (typeof this.endPoint !== 'undefined') {
const position = typeof this.jointParameters !== 'undefined' ? this.jointParameters.position : this.position;
const position2 = typeof this.jointParameters2 !== 'undefined' ? this.jointParameters2.position : this.position2;
const position3 = typeof this.jointParameters3 !== 'undefined' ? this.jointParameters3.position : this.#position3;

this.#updatePositions(position, position2, position3);
}
}

_updateEndPointZeroTranslationAndRotation() {
if (typeof this.endPoint === 'undefined')
return;

const ir = this.endPoint.rotation;
const it = this.endPoint.translation;

let qp = new WbQuaternion();
if (isZeroAngle(this.position) && isZeroAngle(this.position2) && isZeroAngle(this.#position3))
this._endPointZeroRotation = ir;
else {
const axis = this.axis();
const q = new WbQuaternion();
q.fromAxisAngle(axis.x, axis.y, axis.z, -this.position);

const axis2 = this.axis2();
const q2 = new WbQuaternion();
q2.fromAxisAngle(axis2.x, axis2.y, axis2.z, -this.position2);

const axis3 = this.axis3();
const q3 = new WbQuaternion();
q3.fromAxisAngle(axis3.x, axis3.y, axis3.z, -this.#position3);

qp = q3.mul(q2).mul(q);
const iq = ir.toQuaternion();
const qr = qp * iq;
qr.normalize();
this._endPointZeroRotation = new WbVector4();
this._endPointZeroRotation.fromQuaternion(qr);
}
const a = this.anchor();
const t = it.sub(a);
this._endPointZeroTranslation = qp.mulByVec3(t).add(a);
}

#updatePositions(position, position2, position3) {
this.position = position;
this.position2 = position2;
this.#position3 = position3;
let rotation = new WbVector4();
const translation = this.#computeEndPointSolidPositionFromParameters(rotation);
if (!translation.almostEquals(this.endPoint.translation) || !rotation.almostEquals(this.endPoint.rotation)) {
this.endPoint.translation = translation;
this.endPoint.rotation = rotation;
}
}

#computeEndPointSolidPositionFromParameters(rotation) {
const q = new WbQuaternion();
const axis = this.axis();
q.fromAxisAngle(axis.x, axis.y, axis.z, this.position);

const q2 = new WbQuaternion();
const axis2 = this.axis2();
q2.fromAxisAngle(axis2.x, axis2.y, axis2.z, this.position2);

const q3 = new WbQuaternion();
const axis3 = this.axis3();
q3.fromAxisAngle(axis3.x, axis3.y, axis3.z, this.#position3);

const qi = this._endPointZeroRotation.toQuaternion();
let qp = q.mul(q2).mul(q3);
const a = this.anchor();
const t = this._endPointZeroTranslation.sub(a);
const translation = qp.mulByVec3(t).add(a);
qp = qp.mul(qi);
qp.normalize();
rotation.fromQuaternion(qp);
return translation;
}
}
30 changes: 23 additions & 7 deletions resources/web/wwi/nodes/WbHinge2Joint.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@ import {isZeroAngle} from './utils/math_utilities.js';
export default class WbHinge2Joint extends WbHingeJoint {
#device2;
#jointParameters2;
#position2;
constructor(id) {
super(id);
this.#device2 = [];
Expand All @@ -31,8 +32,21 @@ export default class WbHinge2Joint extends WbHingeJoint {
this.#jointParameters2.onChange = () => this._updatePosition();
}

get position2() {
return this.#position2;
}

set position2(newPosition) {
if (this.#position2 === newPosition)
return;

this.#position2 = newPosition;
if (typeof this.jointParameters2 === 'undefined')
this._updatePosition();
}

preFinalize() {
this.position2 = typeof this.jointParameters2 === 'undefined' ? 0 : this.jointParameters2.position;
this.#position2 = typeof this.jointParameters2 === 'undefined' ? 0 : this.jointParameters2.position;

super.preFinalize();
this.#device2.forEach(child => child.preFinalize());
Expand Down Expand Up @@ -61,7 +75,7 @@ export default class WbHinge2Joint extends WbHingeJoint {
_updatePosition() {
if (typeof this.endPoint !== 'undefined') {
const position = typeof this.jointParameters !== 'undefined' ? this.jointParameters.position : this.position;
const position2 = typeof this.jointParameters2 !== 'undefined' ? this.jointParameters2.position : this.position2;
const position2 = typeof this.jointParameters2 !== 'undefined' ? this.jointParameters2.position : this.#position2;
this.#updatePositions(position, position2);
}
}
Expand All @@ -74,7 +88,7 @@ export default class WbHinge2Joint extends WbHingeJoint {
const it = this.endPoint.translation;

let qp = new WbQuaternion();
if (isZeroAngle(this.position) && isZeroAngle(this.position2))
if (isZeroAngle(this.position) && isZeroAngle(this.#position2))
// Keeps track of the original axis if the angle is zero as it defines the second DoF axis
this._endPointZeroRotation = ir;
else {
Expand All @@ -84,7 +98,7 @@ export default class WbHinge2Joint extends WbHingeJoint {

const axis2 = this.axis2();
const q2 = new WbQuaternion();
q2.fromAxisAngle(axis2.x, axis2.y, axis2.z, -this.position2);
q2.fromAxisAngle(axis2.x, axis2.y, axis2.z, -this.#position2);

qp = q2.mul(q);
const iq = ir.toQuaternion();
Expand All @@ -101,7 +115,7 @@ export default class WbHinge2Joint extends WbHingeJoint {

#updatePositions(position, position2) {
this.position = position;
this.position2 = position2;
this.#position2 = position2;

let rotation = new WbVector4();
const translation = this.#computeEndPointSolidPositionFromParameters(rotation);
Expand All @@ -118,15 +132,17 @@ export default class WbHinge2Joint extends WbHingeJoint {

const q2 = new WbQuaternion();
const axis2 = this.axis2();
q2.fromAxisAngle(axis2.x, axis2.y, axis2.z, this.position2);
q2.fromAxisAngle(axis2.x, axis2.y, axis2.z, this.#position2);

const qi = this._endPointZeroRotation.toQuaternion();
let qp = q.mul(q2);
const a = this.anchor();
const t = this._endPointZeroTranslation.sub(a);
const translation = qp.mulByVec3(t).add(a);
qp = qp.mul(qi);
qp.normalize();
rotation.fromQuaternion(qp);
return qp.mulByVec3(t).add(a);
return translation;
}

axis2() {
Expand Down
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