From 0c4807f3966927a12c51c515f14015efea94ad2e Mon Sep 17 00:00:00 2001
From: Amanda Ghassaei <amandaghassaei@gmail.com>
Date: Thu, 28 May 2015 19:42:26 -0700
Subject: [PATCH] stapler assembler is nearly there
---
index.html | 1 +
js/cam/assemblers/Assembler.js | 95 ++++++++++-----------------
js/cam/assemblers/Component.js | 89 +++++++++++++++++++++++++
js/cam/assemblers/StaplerAssembler.js | 12 ++--
js/cam/cam.js | 4 +-
js/models/AppState.js | 2 -
6 files changed, 133 insertions(+), 70 deletions(-)
create mode 100644 js/cam/assemblers/Component.js
diff --git a/index.html b/index.html
index e14d6ad7..22a70d6f 100644
--- a/index.html
+++ b/index.html
@@ -85,6 +85,7 @@
<script src="js/models/BasePlane.js"></script>
<script src="js/models/extrudeVisualizer.js"></script>
<script src="js/models/AppState.js"></script>
+ <script src="js/cam/assemblers/Component.js"></script>
<script src="js/cam/assemblers/Assembler.js"></script>
<script src="js/cam/MachineOneBit.js"></script>
<script src="js/cam/assemblers/StaplerAssembler.js"></script>
diff --git a/js/cam/assemblers/Assembler.js b/js/cam/assemblers/Assembler.js
index bc88c628..dafd50ed 100644
--- a/js/cam/assemblers/Assembler.js
+++ b/js/cam/assemblers/Assembler.js
@@ -3,7 +3,7 @@
*/
-var assemblerMaterial = new THREE.MeshLambertMaterial({color:0xaaaaaa, shading: THREE.FlatShading, transparent:true, opacity:1});
+var assemblerMaterial = new THREE.MeshLambertMaterial({color:0xaaaaaa, shading: THREE.FlatShading, transparent:true, opacity:0.5});
function Assembler(){
@@ -12,7 +12,7 @@ function Assembler(){
this.object3D = new THREE.Object3D();
globals.three.sceneAdd(this.object3D);
var self = this;
- this._buildAssemblerMeshes(function(){
+ this._buildAssemblerComponents(function(){
self._configureAssemblerMovementDependencies();
globals.three.render();
});
@@ -26,7 +26,7 @@ Assembler.prototype._buildStock = function(){
Assembler.prototype._positionStockRelativeToEndEffector = function(){
};
-Assembler.prototype._buildAssemblerMeshes = function(callback){
+Assembler.prototype._buildAssemblerComponents = function(callback){
var numMeshes = this._getTotalNumMeshes();
if (numMeshes == 0) {
callback();
@@ -40,7 +40,7 @@ Assembler.prototype._buildAssemblerMeshes = function(callback){
var self = this;
function doAdd(geometry, name){
- self[name] = new THREE.Mesh(geometry, assemblerMaterial);
+ self[name] = new Component(geometry, assemblerMaterial);
if (allLoaded()) callback();
}
@@ -56,9 +56,19 @@ Assembler.prototype._configureAssemblerMovementDependencies = function(){
Assembler.prototype.setVisibility = function(visible){
this.object3D.visible = visible;
+ this._setTranslucent();
globals.three.render();
};
+Assembler.prototype._setTranslucent = function(){
+ //todo make stock transparent
+ if (globals.appState.get("currentTab") == "cam"){
+ assemblerMaterial.transparent = true;
+ } else {
+ assemblerMaterial.transparent = false;
+ }
+};
+
@@ -165,29 +175,11 @@ Assembler.prototype._moveTo = function(x, y, z, speed, wcs, callback){
if (totalThreads > 0) return;
callback();
}
- var startingPos = this.stock.getPosition();
+ var startingPos = {x:this.xAxis.getPosition(), y:this.yAxis.getPosition(), z:this.zAxis.getPosition()};
speed = this._normalizeSpeed(startingPos, x, y, this._reorganizeSpeed(speed));
- this._moveXAxis(startingPos.x, x, speed.x, sketchyCallback);
- this._moveYAxis(startingPos.y, y, speed.y, sketchyCallback);
- this._moveZAxis(startingPos.z, z, speed.z, sketchyCallback);
-};
-
-Assembler.prototype._moveXAxis = function(startingPos, target, speed, callback){
- this._moveAxis(startingPos, target, "x", speed, callback);
-};
-Assembler.prototype._moveYAxis = function(startingPos, target, speed, callback){
- this._moveAxis(startingPos, target, "y", speed, callback);
-};
-Assembler.prototype._moveZAxis = function(startingPos, target, speed, callback){
- this._moveAxis(startingPos, target, "z", speed, callback);
-};
-
-Assembler.prototype._moveAxis = function(startingPos, target, axis, speed, callback){
- if (target == null || target === undefined) {
- callback();
- return;
- }
- this._animateObjects([this.stock], axis, speed, startingPos, target, callback);
+ this.xAxis.moveTo(this._makeAxisVector(x, "x"), speed.x, sketchyCallback);
+ this.yAxis.moveTo(this._makeAxisVector(y, "y"), speed.y, sketchyCallback);
+ this.zAxis.moveTo(this._makeAxisVector(z, "z"), speed.z, sketchyCallback);
};
Assembler.prototype._makeAbsPosition = function(target, wcs){
@@ -216,39 +208,20 @@ Assembler.prototype._normalizeSpeed = function(startingPos, x, y, speed){//xy mo
return normSpeed;
};
-Assembler.prototype._animateObjects = function(objects, axis, speed, startingPos, target, callback){
- var increment = speed/25*globals.cam.get("simSpeed");
- if (increment == 0) {
- if (callback) callback();
- return;
+Assembler.prototype._makeAxisVector = function(position, axis){
+ switch (axis){
+ case "x":
+ return {x:position, y:0, z:0};
+ case "y":
+ return {x:0, y:position, z:0};
+ case "z":
+ return {x:0, y:0, z:position};
+ default:
+ console.warn(axis + " axis not recognized");
+ return null;
}
- var direction = 1;
- if (target-startingPos < 0) direction = -1;
- increment = Math.max(increment, 0.00001)*direction;//need to put a min on the increment - other wise this stall out with floating pt tol
- this._incrementalMove(objects, axis, increment, startingPos, target, direction, callback);
-};
-
-Assembler.prototype._incrementalMove = function(objects, axis, increment, currentPos, target, direction, callback){
- var self = this;
- setTimeout(function(){
- if ((target-currentPos)*direction <= 0) {
- if (callback) callback();
- return;
- }
- var nextPos = currentPos + increment;
- if (Math.abs(target-currentPos) < Math.abs(increment)) nextPos = target;//don't overshoot
- self._setPosition(objects, nextPos, axis);
- self._incrementalMove(objects, axis, increment, nextPos, target, direction, callback)
- }, 10);
};
-Assembler.prototype._setPosition = function(objects, nextPos, axis){
- _.each(objects, function(object){
- object.position[axis] = nextPos;
- });
-};
-
-
@@ -256,11 +229,11 @@ Assembler.prototype._setPosition = function(objects, nextPos, axis){
Assembler.prototype.destroy = function(){
this.stock.destroy();
- this.zAxis.parent.remove(this.zAxis);
- this.xAxis.parent.remove(this.xAxis);
- this.yAxis.parent.remove(this.yAxis);
- this.frame.parent.remove(this.frame);
- this.substrate.parent.remove(this.substrate);
+ this.zAxis.destroy();
+ this.xAxis.destroy();
+ this.yAxis.destroy();
+ this.frame.destroy();
+ this.substrate.destroy();
globals.three.sceneRemove(this.object3D);
this.stock = null;
this.zAxis = null;
diff --git a/js/cam/assemblers/Component.js b/js/cam/assemblers/Component.js
new file mode 100644
index 00000000..207f91e0
--- /dev/null
+++ b/js/cam/assemblers/Component.js
@@ -0,0 +1,89 @@
+/**
+ * Created by aghassaei on 5/28/15.
+ */
+
+
+function Component(geometry, material){
+ this.object3D = new THREE.Mesh(geometry, material);
+}
+
+Component.prototype.getPosition = function(){
+ return this.object3D.position.clone();
+};
+
+Component.prototype.getObject3D = function(){
+ return this.object3D;
+};
+
+Component.prototype.addChild = function(child){
+ this.object3D.add(child.getObject3D());
+};
+
+Component.prototype.moveTo = function(target, speed, callback){
+ var currentPosition = this.getPosition();
+ var diff = _.clone(target);
+ _.each(_.keys(target), function(key){
+ diff[key] -= currentPosition[key];
+ });
+
+ var diffLength = this._getLength(diff);
+ var increment = speed/25*globals.cam.get("simSpeed");
+
+ if (increment == 0 || diffLength == 0) {
+ if (callback) callback();
+ return;
+ }
+ increment = Math.max(increment, 0.00001);//need to put a min on the increment - otherwise this stalls out with floating pt tol
+
+ var incrementVector = diff;
+ _.each(_.keys(incrementVector), function(key){
+ incrementVector[key] *= increment/diffLength;
+ });
+
+ this._incrementalMove(incrementVector, target, callback);
+};
+
+Component.prototype._remainingDistanceToTarget = function(target){
+ var position = this.getPosition();
+ var dist = 0;
+ _.each(_.keys(target), function(key){
+ dist += Math.pow(target[key] - position[key], 2);
+ });
+ return dist;
+};
+
+Component.prototype._getLength = function(vector){
+ var length = 0;
+ _.each(_.keys(vector), function(key){
+ length += Math.pow(vector[key], 2);
+ });
+ return length;
+};
+
+Component.prototype._incrementalMove = function(increment, target, callback){
+ var self = this;
+ setTimeout(function(){
+ var remainingDist = Math.abs(self._remainingDistanceToTarget(target));
+ var nextPos;
+ if (remainingDist == 0) {
+ if (callback) callback();
+ return;
+ } else if (remainingDist < self._getLength(increment)){
+ nextPos = target;//don't overshoot
+ } else {
+ nextPos = self.getPosition();
+ _.each(_.keys(nextPos), function(key){
+ nextPos[key] += increment[key];
+ });
+ }
+
+ console.log(nextPos);
+ self.object3D.position.set(nextPos.x, nextPos.y, nextPos.z);
+ self._incrementalMove(increment, target, callback);
+ }, 10);
+};
+
+Component.prototype.destroy = function(){
+ if (this.object3D && this.object3D.parent) this.object3D.parent.remove(this.object3D);
+ this.object3D = null;
+};
\ No newline at end of file
diff --git a/js/cam/assemblers/StaplerAssembler.js b/js/cam/assemblers/StaplerAssembler.js
index b815ec6e..0cecf977 100644
--- a/js/cam/assemblers/StaplerAssembler.js
+++ b/js/cam/assemblers/StaplerAssembler.js
@@ -15,12 +15,12 @@ StaplerAssembler.prototype._positionStockRelativeToEndEffector = function(stock)
};
StaplerAssembler.prototype._configureAssemblerMovementDependencies = function(){
- this.zAxis.add(this.stock.getObject3D());
- this.xAxis.add(this.zAxis);
- this.frame.add(this.xAxis);
- this.frame.add(this.yAxis);
- this.object3D.add(this.frame);
- this.object3D.add(this.substrate);
+ this.zAxis.addChild(this.stock);
+ this.xAxis.addChild(this.zAxis);
+ this.frame.addChild(this.xAxis);
+ this.frame.addChild(this.yAxis);
+ this.object3D.add(this.frame.getObject3D());
+ this.object3D.add(this.substrate.getObject3D());
};
StaplerAssembler.prototype._getTotalNumMeshes = function(){
diff --git a/js/cam/cam.js b/js/cam/cam.js
index 00cd7fb6..c088912d 100644
--- a/js/cam/cam.js
+++ b/js/cam/cam.js
@@ -82,6 +82,7 @@ Cam = Backbone.Model.extend({
if (this.get("assembler")) this.get("assembler").destroy();
this.set("assembler", null);
this._setMachineDefaults(machineName);
+ globals.appState.set("basePlaneIsVisible", false);
if (machineName == "shopbot"){
this.set("assembler", new Shopbot());
} else if (machineName == "handOfGod"){
@@ -145,6 +146,7 @@ Cam = Backbone.Model.extend({
// this.get("stock").visible = visible;
if (visible && !this.get("assembler")) this.selectMachine();
if (this.get("assembler")) this.get("assembler").setVisibility(visible);
+ if (globals.appState.get("currentNav") == "navAssemble") globals.appState.set("basePlaneIsVisible", !visible);
globals.three.render();
},
@@ -166,7 +168,7 @@ Cam = Backbone.Model.extend({
_moveOrigin: function(){
var position = this.get("originPosition");
- this.get("origin").position.set(position.x, position.y, position.z);
+// this.get("origin").position.set(position.x, position.y, position.z);
if (this.get("stockFixed")) this._updateStockPosToOrigin(position, this.previous("originPosition"));
globals.three.render();
if (this.get("assembler") && this.get("assembler").setMachinePosition) this.get("assembler").setMachinePosition();
diff --git a/js/models/AppState.js b/js/models/AppState.js
index 0e42176c..2d620fc5 100644
--- a/js/models/AppState.js
+++ b/js/models/AppState.js
@@ -100,11 +100,9 @@ AppState = Backbone.Model.extend({
}
else if (navSelection == "navSim") {
this.set("currentTab", this.get("lastSimulationTab"));
- this.set("basePlaneIsVisible", false);
}
else if (navSelection == "navAssemble") {
this.set("currentTab", this.get("lastAssembleTab"));
- this.set("basePlaneIsVisible", false);
}
},
--
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