3jsbot_controls.js

//////////////////////////////////////////////////
/////     ROBOT DYNAMICS PLACEHOLDER 
//////////////////////////////////////////////////

// CS148: add kinematics update from controls here
function robot_apply_controls() {
// apply robot controls to robot kinematics transforms and joint angles, then zero controls
// (for now) includes update of camera position based on base movement 


	for (x in robot.joints) {
        robot.joints[x].angle += robot.joints[x].control;
        robot.joints[x].control = 0;
    }
    robot.origin.xyz[0]+=robot.control.xyz[0];
    robot.origin.xyz[1]+=robot.control.xyz[1];
    robot.origin.xyz[2]+=robot.control.xyz[2];

    camera_controls.object.position.x += robot.control.xyz[0];
    camera_controls.object.position.y += robot.control.xyz[1];
    camera_controls.object.position.z += robot.control.xyz[2];

    robot.control.xyz[0] = 0;
    robot.control.xyz[1] = 0;
    robot.control.xyz[2] = 0;

    robot.origin.rpy[0]+=robot.control.rpy[0];
    robot.origin.rpy[1]+=robot.control.rpy[1];
    robot.origin.rpy[2]+=robot.control.rpy[2];

    robot.control.rpy[0] = 0;
    robot.control.rpy[1] = 0;
    robot.control.rpy[2] = 0;


    // move camera with robot base 
    // CS148: do not delete this
    // (need to pull this out and into 3jsbot support, at some point)

}