From 5fc82bde59a3820b06e8985486371459a9d613ba Mon Sep 17 00:00:00 2001
From: Amanda Ghassaei <amandaghassaei@gmail.com>
Date: Tue, 25 Aug 2015 16:29:18 -0400
Subject: [PATCH] eod
---
js/cam/assemblers/FixedJoint.js | 3 +
js/cam/assemblers/PrismaticJoint.js | 3 +
js/cam/assemblers/RevoluteJoint.js | 3 +
js/cam/assemblers/URDFJoint.js | 93 +++++++++++++++++++++++++++++
js/cam/assemblers/URDFLink.js | 41 +++++++++++++
js/main.js | 2 +
js/plists/CamPList.js | 9 +++
js/plists/PList.js | 2 +-
8 files changed, 155 insertions(+), 1 deletion(-)
create mode 100644 js/cam/assemblers/FixedJoint.js
create mode 100644 js/cam/assemblers/PrismaticJoint.js
create mode 100644 js/cam/assemblers/RevoluteJoint.js
create mode 100644 js/cam/assemblers/URDFJoint.js
create mode 100644 js/cam/assemblers/URDFLink.js
diff --git a/js/cam/assemblers/FixedJoint.js b/js/cam/assemblers/FixedJoint.js
new file mode 100644
index 00000000..d986be6b
--- /dev/null
+++ b/js/cam/assemblers/FixedJoint.js
@@ -0,0 +1,3 @@
+/**
+ * Created by aghassaei on 8/25/15.
+ */
diff --git a/js/cam/assemblers/PrismaticJoint.js b/js/cam/assemblers/PrismaticJoint.js
new file mode 100644
index 00000000..d986be6b
--- /dev/null
+++ b/js/cam/assemblers/PrismaticJoint.js
@@ -0,0 +1,3 @@
+/**
+ * Created by aghassaei on 8/25/15.
+ */
diff --git a/js/cam/assemblers/RevoluteJoint.js b/js/cam/assemblers/RevoluteJoint.js
new file mode 100644
index 00000000..d986be6b
--- /dev/null
+++ b/js/cam/assemblers/RevoluteJoint.js
@@ -0,0 +1,3 @@
+/**
+ * Created by aghassaei on 8/25/15.
+ */
diff --git a/js/cam/assemblers/URDFJoint.js b/js/cam/assemblers/URDFJoint.js
new file mode 100644
index 00000000..8d48f67c
--- /dev/null
+++ b/js/cam/assemblers/URDFJoint.js
@@ -0,0 +1,93 @@
+/**
+ * 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
diff --git a/js/cam/assemblers/URDFLink.js b/js/cam/assemblers/URDFLink.js
new file mode 100644
index 00000000..2c1d418d
--- /dev/null
+++ b/js/cam/assemblers/URDFLink.js
@@ -0,0 +1,41 @@
+/**
+ * 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
diff --git a/js/main.js b/js/main.js
index 6c55137e..b9210064 100644
--- a/js/main.js
+++ b/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',
diff --git a/js/plists/CamPList.js b/js/plists/CamPList.js
index 6d9e5b6a..b65812bc 100644
--- a/js/plists/CamPList.js
+++ b/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"
},
diff --git a/js/plists/PList.js b/js/plists/PList.js
index 58d70c30..6defac6a 100644
--- a/js/plists/PList.js
+++ b/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"
},
--
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