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Separate out Joint and Link Axis, fix refresh #1014

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merged 1 commit into from
Jun 8, 2023
Merged

Separate out Joint and Link Axis, fix refresh #1014

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152 changes: 101 additions & 51 deletions src/urdfPreview/URDFPreviewPanel.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -17,16 +17,34 @@ let ground : BABYLON.GroundMesh | undefined = undefined;
let camera : BABYLON.ArcRotateCamera | undefined = undefined;
let statusLabel = new GUI.TextBlock();

function clearStatus() {
statusLabel.text = "";
}

let readyToRender : Boolean = false;

let axisList : BABYLON.PositionGizmo[] = [];
let jointAxisList : BABYLON.PositionGizmo[] = [];
let linkAxisList : BABYLON.PositionGizmo[] = [];


function clearAxisGizmos() {
linkAxisList.forEach((a) => {
a.dispose();
});
linkAxisList = [];

jointAxisList.forEach((a) => {
a.dispose();
});
jointAxisList = [];
}

function addAxisToTransform(scene : BABYLON.Scene, layer: BABYLON.UtilityLayerRenderer, transform : BABYLON.TransformNode | undefined) {
function addAxisToTransform(list : BABYLON.PositionGizmo[], scene : BABYLON.Scene, layer: BABYLON.UtilityLayerRenderer, transform : BABYLON.TransformNode | undefined) {
if (transform) {
let axis = new BABYLON.PositionGizmo(layer);
axis.scaleRatio = 0.5
axis.attachedNode = transform;
axisList.push(axis);
list.push(axis);

let drag = () => {
if (transform) {
Expand All @@ -46,33 +64,47 @@ function addAxisToTransform(scene : BABYLON.Scene, layer: BABYLON.UtilityLayerRe
}
}

function toggleAxisOnRobot(scene : BABYLON.Scene, layer: BABYLON.UtilityLayerRenderer, robot : urdf.Robot) {
function toggleAxisOnRobot(jointOrLink : Boolean, scene : BABYLON.Scene, layer: BABYLON.UtilityLayerRenderer, robot : urdf.Robot) {
let whichAxis = jointOrLink ? jointAxisList : linkAxisList;

if (axisList.length == 0) {
robot.joints.forEach((j) => {
addAxisToTransform(scene, layer, j.transform);
});
robot.links.forEach((l) => {
l.visuals.forEach((v) => {
addAxisToTransform(scene, layer, l.transform);
if (whichAxis.length == 0) {
if (jointOrLink) {
robot.joints.forEach((j) => {
addAxisToTransform(whichAxis, scene, layer, j.transform);
});
});
} else {
robot.links.forEach((l) => {
l.visuals.forEach((v) => {
addAxisToTransform(whichAxis, scene, layer, l.transform);
});
});
}
} else {
axisList.forEach((a) => {
a.dispose();
});
axisList = [];
clearAxisGizmos();
clearStatus();
}
}

let rotationGizmos : BABYLON.RotationGizmo[] = [];
let jointRotationGizmos : BABYLON.RotationGizmo[] = [];
let linkRotationGizmos : BABYLON.RotationGizmo[] = [];

function addRotationToTransform(scene : BABYLON.Scene, layer: BABYLON.UtilityLayerRenderer, transform : BABYLON.TransformNode | undefined) {
function clearRotationGizmos() {
jointRotationGizmos.forEach((a) => {
a.dispose();
});
jointRotationGizmos = [];
linkRotationGizmos.forEach((a) => {
a.dispose();
});
linkRotationGizmos = [];
}

function addRotationToTransform(list : BABYLON.RotationGizmo[], scene : BABYLON.Scene, layer: BABYLON.UtilityLayerRenderer, transform : BABYLON.TransformNode | undefined) {
if (transform) {
let rotationGizmo = new BABYLON.RotationGizmo(layer);
rotationGizmo.scaleRatio = 0.5
rotationGizmo.attachedNode = transform;
rotationGizmos.push(rotationGizmo);
list.push(rotationGizmo);

let drag = () => {
if (transform) {
Expand All @@ -92,22 +124,23 @@ function addRotationToTransform(scene : BABYLON.Scene, layer: BABYLON.UtilityLay

}

function toggleAxisRotationOnRobot(ui: GUI.AdvancedDynamicTexture, scene : BABYLON.Scene, layer: BABYLON.UtilityLayerRenderer, robot : urdf.Robot) {
if (rotationGizmos.length == 0) {
robot.joints.forEach((j) => {
addRotationToTransform(scene, layer, j.transform);
});

robot.links.forEach((l) => {
l.visuals.forEach((v) => {
addRotationToTransform(scene, layer, v.transform);
function toggleAxisRotationOnRobot(jointOrLink : Boolean, ui: GUI.AdvancedDynamicTexture, scene : BABYLON.Scene, layer: BABYLON.UtilityLayerRenderer, robot : urdf.Robot) {
let whichList = jointOrLink ? jointRotationGizmos : linkRotationGizmos;
if (whichList.length == 0) {
if (jointOrLink) {
robot.joints.forEach((j) => {
addRotationToTransform(whichList, scene, layer, j.transform);
});
});
} else {
robot.links.forEach((l) => {
l.visuals.forEach((v) => {
addRotationToTransform(whichList, scene, layer, v.transform);
});
});
}
} else {
rotationGizmos.forEach((a) => {
a.dispose();
});
rotationGizmos = [];
clearRotationGizmos();
clearStatus();
}
}

Expand Down Expand Up @@ -159,6 +192,24 @@ var createScene = async function () {
return scene;
};

function resetCamera() {
camera.alpha = - Math.PI / 3;
camera.beta = 5 * Math.PI / 12;
camera.target = new BABYLON.Vector3(0, 0, 0);
}

function createButton(toolbar: GUI.StackPanel, name : string, text : string, scene : BABYLON.Scene, onClick : () => void) {
var button = GUI.Button.CreateSimpleButton(name, text);
button.width = "100px"
button.height = "20px";
button.color = "white";
button.cornerRadius = 5;
button.background = "green";
button.onPointerUpObservable.add(onClick);
toolbar.addControl(button);
return button;
}

function createUI(scene : BABYLON.Scene) {
var advancedTexture = GUI.AdvancedDynamicTexture.CreateFullscreenUI("UI");

Expand All @@ -173,7 +224,7 @@ function createUI(scene : BABYLON.Scene) {
var toolbar = new GUI.StackPanel();
toolbar.paddingTop = "10px";
toolbar.paddingLeft = "10px";
toolbar.width = "300px";
toolbar.width = "500px";
toolbar.height = "50px";
toolbar.fontSize = "14px";
toolbar.horizontalAlignment = GUI.Control.HORIZONTAL_ALIGNMENT_LEFT;
Expand All @@ -187,32 +238,31 @@ function createUI(scene : BABYLON.Scene) {
const gizmoManager = new BABYLON.GizmoManager(scene);
gizmoManager.usePointerToAttachGizmos = false;

var button = GUI.Button.CreateSimpleButton("axisButton", "Axis");
button.width = 0.2;
button.height = "40px";
button.color = "white";
button.background = "green";
button.onPointerClickObservable.add(function() {
createButton(toolbar, "jointAxisButton", "Joint Axis", scene, () => {
toggleAxisOnRobot(true, scene, utilLayer, currentRobot);
});

toggleAxisOnRobot(scene, utilLayer, currentRobot);
createButton(toolbar, "linkAxisButton", "Link Axis", scene, () => {
toggleAxisOnRobot(false, scene, utilLayer, currentRobot);
});
toolbar.addControl(button);

var buttonRotate = GUI.Button.CreateSimpleButton("rotatioButton", "Rotation");
buttonRotate.width = 0.2;
buttonRotate.height = "40px";
buttonRotate.color = "white";
buttonRotate.background = "green";
buttonRotate.onPointerClickObservable.add(function() {
toggleAxisRotationOnRobot(advancedTexture, scene, utilLayer, currentRobot);
});
createButton(toolbar, "jointRotationButton", "Joint Rotation", scene, () => {
toggleAxisRotationOnRobot(true, advancedTexture, scene, utilLayer, currentRobot);
});

toolbar.addControl(buttonRotate);
createButton(toolbar, "linkRotationButton", "Link Rotation", scene, () => {
toggleAxisRotationOnRobot(false, advancedTexture, scene, utilLayer, currentRobot);
});

}

async function applyURDF(urdfText) {
try {
clearAxisGizmos();
clearRotationGizmos();
clearStatus();
resetCamera();

if (currentRobot) {
currentRobot.dispose();
currentRobot = undefined;
Expand Down
7 changes: 0 additions & 7 deletions src/urdfPreview/preview.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -61,13 +61,6 @@ export default class URDFPreview

this._webview.webview.html = this._getWebviewContent(this._webview.webview, context.extensionUri);

this._webview.onDidChangeViewState(e => {
if (e.webviewPanel.active) {
setTimeout(() => this.refresh(), 1000);
}
this._onDidChangeViewStateEmitter.fire(e);
}, this, subscriptions);

vscode.workspace.onDidSaveTextDocument(event => {

if (event && this.isPreviewOf(event.uri)) {
Expand Down