eod

js/cam/assemblers/FixedJoint.js

+/**
+ * Created by aghassaei on 8/25/15.
+ */

js/cam/assemblers/PrismaticJoint.js

+/**
+ * Created by aghassaei on 8/25/15.
+ */

js/cam/assemblers/RevoluteJoint.js

+/**
+ * Created by aghassaei on 8/25/15.
+ */

js/cam/assemblers/URDFJoint.js

+/**
+ * Created by aghassaei on 8/25/15.
+ */
+
+
+define(['underscore', 'three'], function(_, THREE){
+
+    var num = 1;
+
+    function Joint(json){
+
+        this.object3D = new THREE.Object3D();
+
+        this._name = json.name || "Joint " + num++;
+        this._type = json.type || "prismatic";//revolute, continuous, prismatic, fixed, floating, planar
+
+
+
+        this.setParent(json.parent);
+        this._child = json.child;
+
+
+
+        this._origin = json.origin || new THREE.Vector3(0,0,0);//also euler rotation
+        this._axis = json.axis || new THREE.Vector3(1,0,0);
+
+        //this.limit
+
+    }
+
+    Joint.prototype.getName = function(){
+        return this._name;
+    };
+
+    Joint.prototype.setName = function(name){
+        this._name = name;
+    };
+
+    Joint.prototype.getType = function(){
+        return this._type;
+    };
+
+    Joint.prototype.setType = function(type){
+        this._type = type;
+        require([type.charAt(0).toUpperCase() + type.slice(1) + "Joint"], function(SubClass){
+            //init subclass
+        });
+
+    };
+
+    Joint.prototype.getParent = function(){
+        return this._parent;
+    };
+
+    Joint.prototype.setParent = function(parent){
+        if (this._parent === parent) return;
+        if (this._checkDescendants(parent)) {
+            console.warn("parent is already a child");
+            return;
+        }
+
+        this._parent = parent;
+    };
+
+    Joint.prototype._checkDescendants = function(parent){
+        if (this._child){
+            if (this._child === parent) return true;
+            else return this._child._checkDescendants(parent);
+        } else return false;
+    };
+
+    Joint.prototype.getChild = function(){
+        return this._child;
+    };
+
+    Joint.prototype.setChild = function(child){
+        this._child = child;
+    };
+
+    Joint.prototype.getObject3D = function(){
+        return this.object3D;
+    };
+
+
+
+    Joint.prototype.toJSON = function(){
+        return {
+
+        };
+    };
+
+    return Joint;
+});
\ No newline at end of file

js/cam/assemblers/URDFLink.js

+/**
+ * Created by aghassaei on 8/25/15.
+ */
+
+
+define(['underscore', 'three'], function(_, THREE){
+
+    var num = 1;
+
+    function Link(json){
+
+        this._name = json.name || "Link " + num++;
+        this._origin = json.origin || new THREE.Vector3(0,0,0);//also euler rotation
+        this._axis = json.axis || new THREE.Vector3(1,0,0);
+
+        this.object3D = new THREE.Object3D();
+
+    }
+
+    Link.prototype.getName = function(){
+        return this._name;
+    };
+
+    Link.prototype.setName = function(name){
+        this._name = name;
+    };
+
+    Link.prototype.getObject3D = function(){
+        return this.object3D;
+    };
+
+
+
+    Link.prototype.toJSON = function(){
+        return {
+
+        };
+    };
+
+    return Link;
+});
\ No newline at end of file

js/main.js

@@ -193,6 +193,8 @@ require.config({
         assemblerPost: 'cam/assemblers/AssemblerPost',
         component: 'cam/assemblers/Component',
         stockComponent: 'cam/assemblers/StockComponent',
+        urdfJoint: 'cam/assemblers/URDFJoint',
+        urdfLink: 'cam/assemblers/URDfLink',
 
         //processes
         gcode: 'cam/processes/GCodeExporter',

js/plists/CamPList.js

@@ -185,6 +185,15 @@ define(['three'], function(THREE){
             }
         },
 
+        allJointTypes: {
+            revolute: "Revolute",
+            continuous: "Continuous",
+            prismatic: "Prismatic",
+            fixed: "Fixed",
+            floating: "Floating",
+            planar: "Planar"
+        },
+
         allAssemblyStrategies: {
             raster: "Raster"
         },

js/plists/PList.js

@@ -67,7 +67,7 @@ define(['three'], function(THREE){
                 tabs:{
                     assembler:"Assembler",
                     assemblerSetup: "Setup",
-                    cam: "Process",
+                    cam: "Globals",
     //                editCamOutput: "Edit",
                     animate:"Preview"
                 },