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rndmc
Commit bfa06660 authored by Jake Read's avatar Jake Read
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mvrobot

parent 9322f1a4
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Showing with 801 additions and 99 deletions
README.md
View file @ bfa06660
......@@ -267,8 +267,10 @@ View.assignProgram(program)
## Immediately
- go for generic ui class like remote hardware: subscribes etc
- nice work on generic ui classes / ui.thing.call('function', arg)
- finish robot flow: offsets, ok, 100ms updates, ok
- forward transform object -> three.js canvas
- do key-binding ui for robot jogging, write video
- three robot canvas
- set module display width
......
client/client.js
View file @ bfa06660
......@@ -32,7 +32,7 @@ var wrapper = {}
var nav = {}
var verbose = false
var verboseComs = false
var verboseComs = false
/*
......@@ -98,7 +98,7 @@ function socketSend(type, data) {
type: type,
data: data
}
if(verboseComs) console.log('SEND', msg)
if (verboseComs) console.log('SEND', msg)
sckt.send(JSON.stringify(msg))
}
......@@ -106,7 +106,7 @@ function socketRecv(evt) {
var recv = JSON.parse(evt.data)
var type = recv.type
var data = recv.data
if(verboseComs) console.log('RECV', recv)
if (verboseComs) console.log('RECV', recv)
// tree banger
switch (type) {
case 'console':
......@@ -171,6 +171,9 @@ function heapSendsNewProgram(prgm) {
// whole hearted replace
// hello for bugs when we lay this on top of something else
program = prgm
if (program.description.view != null) {
writeTransformToPage(program.description.view)
}
// 1st we want to git rm old files ...
// when adding links, we'll have to add all and then draw links
if (verbose) console.log('LOAD PROGRAM', program)
......@@ -397,6 +400,21 @@ function getCurrentTransform() {
})
}
function writeTransformToPage(trns) {
// console.log('writing transform', trns)
/* transform is like {
scale: number,
translate: [x, y],
origin: [x, y]
}
*/
document.body.style.transform = `scale(${trns.scale}) translate(${trns.translate[0]}px, ${trns.translate[1]}px)`
document.body.style.transformOrigin = `${trns.origin[0]}px ${trns.origin[1]}px`
// opposite for nav
nav.style.transformOrigin = `${trns.origin[0]}px ${trns.origin[1]}px`
nav.style.transform = `scale(${1/trns.scale}) translate(${-trns.translate[0]*trns.scale}px,${-trns.translate[1]*trns.scale}px)`
}
function elementIsNotModule(element) {
if ((element.tagName == 'HTML') || (element.tagName == 'BODY') || (element.tagName == 'svg')) {
return true
......@@ -420,6 +438,11 @@ onwheel = function(evt) {
var ty = cT.ty + (evt.pageY - cT.oy) * (1 - 1 / cT.s)
// body
writeTransformToPage({
scale: scale,
translate: [tx, ty],
origin: [evt.pageX, evt.pageY]
})
document.body.style.transform = `scale(${scale}) translate(${tx}px,${ty}px)`
document.body.style.transformOrigin = `${evt.pageX}px ${evt.pageY}px`
......
client/divtools.js
View file @ bfa06660
......@@ -3,11 +3,17 @@
function addRepToView(rep) {
// a div to locate it
var domElem = document.createElement('div')
if(rep.description.isBigBlock){
domElem.className = 'bigblock'
} else {
domElem.className = 'block'
}
// dif. color for hardwares ?
domElem.className = 'block'
if (rep.description.isHardware) {
domElem.classList.add('hardware')
}
domElem.style.left = lastPos.x + 'px'
domElem.style.top = lastPos.y + 'px'
......
client/style.css
View file @ bfa06660
......@@ -18,6 +18,14 @@ body {
background-color: #303030;
}
.bigblock {
width: 800px;
position: absolute;
padding: 0px;
padding-bottom: 23px;
background-color: #303030;
}
.hardware {
background-color: #4d4c4c;
}
......
client/ui/libs/three.js
View file @ bfa06660
......@@ -48754,3 +48754,490 @@ Object.defineProperties( THREE.OrbitControls.prototype, {
}
} );
;(function() {
"use strict";
var root = this
var has_require = typeof require !== 'undefined'
var THREE = root.THREE || has_require && require('three')
if( !THREE )
throw new Error( 'MeshLine requires three.js' )
function MeshLine() {
this.positions = [];
this.previous = [];
this.next = [];
this.side = [];
this.width = [];
this.indices_array = [];
this.uvs = [];
this.counters = [];
this.geometry = new THREE.BufferGeometry();
this.widthCallback = null;
}
MeshLine.prototype.setGeometry = function( g, c ) {
this.widthCallback = c;
this.positions = [];
this.counters = [];
if( g instanceof THREE.Geometry ) {
for( var j = 0; j < g.vertices.length; j++ ) {
var v = g.vertices[ j ];
var c = j/g.vertices.length;
this.positions.push( v.x, v.y, v.z );
this.positions.push( v.x, v.y, v.z );
this.counters.push(c);
this.counters.push(c);
}
}
if( g instanceof THREE.BufferGeometry ) {
// read attribute positions ?
}
if( g instanceof Float32Array || g instanceof Array ) {
for( var j = 0; j < g.length; j += 3 ) {
var c = j/g.length;
this.positions.push( g[ j ], g[ j + 1 ], g[ j + 2 ] );
this.positions.push( g[ j ], g[ j + 1 ], g[ j + 2 ] );
this.counters.push(c);
this.counters.push(c);
}
}
this.process();
}
MeshLine.prototype.compareV3 = function( a, b ) {
var aa = a * 6;
var ab = b * 6;
return ( this.positions[ aa ] === this.positions[ ab ] ) && ( this.positions[ aa + 1 ] === this.positions[ ab + 1 ] ) && ( this.positions[ aa + 2 ] === this.positions[ ab + 2 ] );
}
MeshLine.prototype.copyV3 = function( a ) {
var aa = a * 6;
return [ this.positions[ aa ], this.positions[ aa + 1 ], this.positions[ aa + 2 ] ];
}
MeshLine.prototype.process = function() {
var l = this.positions.length / 6;
this.previous = [];
this.next = [];
this.side = [];
this.width = [];
this.indices_array = [];
this.uvs = [];
for( var j = 0; j < l; j++ ) {
this.side.push( 1 );
this.side.push( -1 );
}
var w;
for( var j = 0; j < l; j++ ) {
if( this.widthCallback ) w = this.widthCallback( j / ( l -1 ) );
else w = 1;
this.width.push( w );
this.width.push( w );
}
for( var j = 0; j < l; j++ ) {
this.uvs.push( j / ( l - 1 ), 0 );
this.uvs.push( j / ( l - 1 ), 1 );
}
var v;
if( this.compareV3( 0, l - 1 ) ){
v = this.copyV3( l - 2 );
} else {
v = this.copyV3( 0 );
}
this.previous.push( v[ 0 ], v[ 1 ], v[ 2 ] );
this.previous.push( v[ 0 ], v[ 1 ], v[ 2 ] );
for( var j = 0; j < l - 1; j++ ) {
v = this.copyV3( j );
this.previous.push( v[ 0 ], v[ 1 ], v[ 2 ] );
this.previous.push( v[ 0 ], v[ 1 ], v[ 2 ] );
}
for( var j = 1; j < l; j++ ) {
v = this.copyV3( j );
this.next.push( v[ 0 ], v[ 1 ], v[ 2 ] );
this.next.push( v[ 0 ], v[ 1 ], v[ 2 ] );
}
if( this.compareV3( l - 1, 0 ) ){
v = this.copyV3( 1 );
} else {
v = this.copyV3( l - 1 );
}
this.next.push( v[ 0 ], v[ 1 ], v[ 2 ] );
this.next.push( v[ 0 ], v[ 1 ], v[ 2 ] );
for( var j = 0; j < l - 1; j++ ) {
var n = j * 2;
this.indices_array.push( n, n + 1, n + 2 );
this.indices_array.push( n + 2, n + 1, n + 3 );
}
if (!this.attributes) {
this.attributes = {
position: new THREE.BufferAttribute( new Float32Array( this.positions ), 3 ),
previous: new THREE.BufferAttribute( new Float32Array( this.previous ), 3 ),
next: new THREE.BufferAttribute( new Float32Array( this.next ), 3 ),
side: new THREE.BufferAttribute( new Float32Array( this.side ), 1 ),
width: new THREE.BufferAttribute( new Float32Array( this.width ), 1 ),
uv: new THREE.BufferAttribute( new Float32Array( this.uvs ), 2 ),
index: new THREE.BufferAttribute( new Uint16Array( this.indices_array ), 1 ),
counters: new THREE.BufferAttribute( new Float32Array( this.counters ), 1 )
}
} else {
this.attributes.position.copyArray(new Float32Array(this.positions));
this.attributes.position.needsUpdate = true;
this.attributes.previous.copyArray(new Float32Array(this.previous));
this.attributes.previous.needsUpdate = true;
this.attributes.next.copyArray(new Float32Array(this.next));
this.attributes.next.needsUpdate = true;
this.attributes.side.copyArray(new Float32Array(this.side));
this.attributes.side.needsUpdate = true;
this.attributes.width.copyArray(new Float32Array(this.width));
this.attributes.width.needsUpdate = true;
this.attributes.uv.copyArray(new Float32Array(this.uvs));
this.attributes.uv.needsUpdate = true;
this.attributes.index.copyArray(new Uint16Array(this.indices_array));
this.attributes.index.needsUpdate = true;
}
this.geometry.addAttribute( 'position', this.attributes.position );
this.geometry.addAttribute( 'previous', this.attributes.previous );
this.geometry.addAttribute( 'next', this.attributes.next );
this.geometry.addAttribute( 'side', this.attributes.side );
this.geometry.addAttribute( 'width', this.attributes.width );
this.geometry.addAttribute( 'uv', this.attributes.uv );
this.geometry.addAttribute( 'counters', this.attributes.counters );
this.geometry.setIndex( this.attributes.index );
}
function memcpy (src, srcOffset, dst, dstOffset, length) {
var i
src = src.subarray || src.slice ? src : src.buffer
dst = dst.subarray || dst.slice ? dst : dst.buffer
src = srcOffset ? src.subarray ?
src.subarray(srcOffset, length && srcOffset + length) :
src.slice(srcOffset, length && srcOffset + length) : src
if (dst.set) {
dst.set(src, dstOffset)
} else {
for (i=0; i<src.length; i++) {
dst[i + dstOffset] = src[i]
}
}
return dst
}
/**
* Fast method to advance the line by one position. The oldest position is removed.
* @param position
*/
MeshLine.prototype.advance = function(position) {
var positions = this.attributes.position.array;
var previous = this.attributes.previous.array;
var next = this.attributes.next.array;
var l = positions.length;
// PREVIOUS
memcpy( positions, 0, previous, 0, l );
// POSITIONS
memcpy( positions, 6, positions, 0, l - 6 );
positions[l - 6] = position.x;
positions[l - 5] = position.y;
positions[l - 4] = position.z;
positions[l - 3] = position.x;
positions[l - 2] = position.y;
positions[l - 1] = position.z;
// NEXT
memcpy( positions, 6, next, 0, l - 6 );
next[l - 6] = position.x;
next[l - 5] = position.y;
next[l - 4] = position.z;
next[l - 3] = position.x;
next[l - 2] = position.y;
next[l - 1] = position.z;
this.attributes.position.needsUpdate = true;
this.attributes.previous.needsUpdate = true;
this.attributes.next.needsUpdate = true;
};
function MeshLineMaterial( parameters ) {
var vertexShaderSource = [
'precision highp float;',
'',
'attribute vec3 position;',
'attribute vec3 previous;',
'attribute vec3 next;',
'attribute float side;',
'attribute float width;',
'attribute vec2 uv;',
'attribute float counters;',
'',
'uniform mat4 projectionMatrix;',
'uniform mat4 modelViewMatrix;',
'uniform vec2 resolution;',
'uniform float lineWidth;',
'uniform vec3 color;',
'uniform float opacity;',
'uniform float near;',
'uniform float far;',
'uniform float sizeAttenuation;',
'',
'varying vec2 vUV;',
'varying vec4 vColor;',
'varying float vCounters;',
'',
'vec2 fix( vec4 i, float aspect ) {',
'',
' vec2 res = i.xy / i.w;',
' res.x *= aspect;',
' vCounters = counters;',
' return res;',
'',
'}',
'',
'void main() {',
'',
' float aspect = resolution.x / resolution.y;',
' float pixelWidthRatio = 1. / (resolution.x * projectionMatrix[0][0]);',
'',
' vColor = vec4( color, opacity );',
' vUV = uv;',
'',
' mat4 m = projectionMatrix * modelViewMatrix;',
' vec4 finalPosition = m * vec4( position, 1.0 );',
' vec4 prevPos = m * vec4( previous, 1.0 );',
' vec4 nextPos = m * vec4( next, 1.0 );',
'',
' vec2 currentP = fix( finalPosition, aspect );',
' vec2 prevP = fix( prevPos, aspect );',
' vec2 nextP = fix( nextPos, aspect );',
'',
' float pixelWidth = finalPosition.w * pixelWidthRatio;',
' float w = 1.8 * pixelWidth * lineWidth * width;',
'',
' if( sizeAttenuation == 1. ) {',
' w = 1.8 * lineWidth * width;',
' }',
'',
' vec2 dir;',
' if( nextP == currentP ) dir = normalize( currentP - prevP );',
' else if( prevP == currentP ) dir = normalize( nextP - currentP );',
' else {',
' vec2 dir1 = normalize( currentP - prevP );',
' vec2 dir2 = normalize( nextP - currentP );',
' dir = normalize( dir1 + dir2 );',
'',
' vec2 perp = vec2( -dir1.y, dir1.x );',
' vec2 miter = vec2( -dir.y, dir.x );',
' //w = clamp( w / dot( miter, perp ), 0., 4. * lineWidth * width );',
'',
' }',
'',
' //vec2 normal = ( cross( vec3( dir, 0. ), vec3( 0., 0., 1. ) ) ).xy;',
' vec2 normal = vec2( -dir.y, dir.x );',
' normal.x /= aspect;',
' normal *= .5 * w;',
'',
' vec4 offset = vec4( normal * side, 0.0, 1.0 );',
' finalPosition.xy += offset.xy;',
'',
' gl_Position = finalPosition;',
'',
'}' ];
var fragmentShaderSource = [
'#extension GL_OES_standard_derivatives : enable',
'precision mediump float;',
'',
'uniform sampler2D map;',
'uniform sampler2D alphaMap;',
'uniform float useMap;',
'uniform float useAlphaMap;',
'uniform float useDash;',
'uniform float dashArray;',
'uniform float dashOffset;',
'uniform float dashRatio;',
'uniform float visibility;',
'uniform float alphaTest;',
'uniform vec2 repeat;',
'',
'varying vec2 vUV;',
'varying vec4 vColor;',
'varying float vCounters;',
'',
'void main() {',
'',
' vec4 c = vColor;',
' if( useMap == 1. ) c *= texture2D( map, vUV * repeat );',
' if( useAlphaMap == 1. ) c.a *= texture2D( alphaMap, vUV * repeat ).a;',
' if( c.a < alphaTest ) discard;',
' if( useDash == 1. ){',
' c.a *= ceil(mod(vCounters + dashOffset, dashArray) - (dashArray * dashRatio));',
' }',
' gl_FragColor = c;',
' gl_FragColor.a *= step(vCounters, visibility);',
'}' ];
function check( v, d ) {
if( v === undefined ) return d;
return v;
}
THREE.Material.call( this );
parameters = parameters || {};
this.lineWidth = check( parameters.lineWidth, 1 );
this.map = check( parameters.map, null );
this.useMap = check( parameters.useMap, 0 );
this.alphaMap = check( parameters.alphaMap, null );
this.useAlphaMap = check( parameters.useAlphaMap, 0 );
this.color = check( parameters.color, new THREE.Color( 0xffffff ) );
this.opacity = check( parameters.opacity, 1 );
this.resolution = check( parameters.resolution, new THREE.Vector2( 1, 1 ) );
this.sizeAttenuation = check( parameters.sizeAttenuation, 1 );
this.near = check( parameters.near, 1 );
this.far = check( parameters.far, 1 );
this.dashArray = check( parameters.dashArray, 0 );
this.dashOffset = check( parameters.dashOffset, 0 );
this.dashRatio = check( parameters.dashRatio, 0.5 );
this.useDash = ( this.dashArray !== 0 ) ? 1 : 0;
this.visibility = check( parameters.visibility, 1 );
this.alphaTest = check( parameters.alphaTest, 0 );
this.repeat = check( parameters.repeat, new THREE.Vector2( 1, 1 ) );
var material = new THREE.RawShaderMaterial( {
uniforms:{
lineWidth: { type: 'f', value: this.lineWidth },
map: { type: 't', value: this.map },
useMap: { type: 'f', value: this.useMap },
alphaMap: { type: 't', value: this.alphaMap },
useAlphaMap: { type: 'f', value: this.useAlphaMap },
color: { type: 'c', value: this.color },
opacity: { type: 'f', value: this.opacity },
resolution: { type: 'v2', value: this.resolution },
sizeAttenuation: { type: 'f', value: this.sizeAttenuation },
near: { type: 'f', value: this.near },
far: { type: 'f', value: this.far },
dashArray: { type: 'f', value: this.dashArray },
dashOffset: { type: 'f', value: this.dashOffset },
dashRatio: { type: 'f', value: this.dashRatio },
useDash: { type: 'f', value: this.useDash },
visibility: {type: 'f', value: this.visibility},
alphaTest: {type: 'f', value: this.alphaTest},
repeat: { type: 'v2', value: this.repeat }
},
vertexShader: vertexShaderSource.join( '\r\n' ),
fragmentShader: fragmentShaderSource.join( '\r\n' )
});
delete parameters.lineWidth;
delete parameters.map;
delete parameters.useMap;
delete parameters.alphaMap;
delete parameters.useAlphaMap;
delete parameters.color;
delete parameters.opacity;
delete parameters.resolution;
delete parameters.sizeAttenuation;
delete parameters.near;
delete parameters.far;
delete parameters.dashArray;
delete parameters.dashOffset;
delete parameters.dashRatio;
delete parameters.visibility;
delete parameters.alphaTest;
delete parameters.repeat;
material.type = 'MeshLineMaterial';
material.setValues( parameters );
return material;
};
MeshLineMaterial.prototype = Object.create( THREE.Material.prototype );
MeshLineMaterial.prototype.constructor = MeshLineMaterial;
MeshLineMaterial.prototype.copy = function ( source ) {
THREE.Material.prototype.copy.call( this, source );
this.lineWidth = source.lineWidth;
this.map = source.map;
this.useMap = source.useMap;
this.alphaMap = source.alphaMap;
this.useAlphaMap = source.useAlphaMap;
this.color.copy( source.color );
this.opacity = source.opacity;
this.resolution.copy( source.resolution );
this.sizeAttenuation = source.sizeAttenuation;
this.near = source.near;
this.far = source.far;
this.dashArray.copy( source.dashArray );
this.dashOffset.copy( source.dashOffset );
this.dashRatio.copy( source.dashRatio );
this.useDash = source.useDash;
this.visibility = source.visibility;
this.alphaTest = source.alphaTest;
this.repeat.copy( source.repeat );
return this;
};
if( typeof exports !== 'undefined' ) {
if( typeof module !== 'undefined' && module.exports ) {
exports = module.exports = { MeshLine: MeshLine, MeshLineMaterial: MeshLineMaterial };
}
exports.MeshLine = MeshLine;
exports.MeshLineMaterial = MeshLineMaterial;
}
else {
root.MeshLine = MeshLine;
root.MeshLineMaterial = MeshLineMaterial;
}
}).call(this);
client/ui/robotRepresentation.js 0 → 100644
View file @ bfa06660
(function() {
// generic / example three.js canvas
/* KRITICAL STEP */
// this is our object, that we will later append
// to the .lump position
var threeCanvas = {}
var verbose = false
// now three stuff
var container = document.createElement('div')
var scene = new THREE.Scene()
scene.background = new THREE.Color(0xd6d6d6)
var camera = new THREE.PerspectiveCamera(75, 1, 0.01, 1000)
camera.up.set(0, 0, 1)
var renderer = new THREE.WebGLRenderer()
renderer.setSize(696, 796)
container.appendChild(renderer.domElement)
// axes
var axesHelper = new THREE.AxesHelper(0.1)
scene.add(axesHelper)
// grid
/*
var gridHelper = new THREE.GridHelper(10, 100)
gridHelper.translateOnAxis(new THREE.Vector3(0, 0, 1), -0.01)
gridHelper.rotateX(-Math.PI / 2)
scene.add(gridHelper)
*/
// one line
var material = new THREE.LineBasicMaterial({ color: 0x000000 })
var geometry = new THREE.Geometry()
geometry.vertices.push(new THREE.Vector3(0, 0, 0))
geometry.vertices.push(new THREE.Vector3(0.5, 0, 0.5))
geometry.vertices.push(new THREE.Vector3(1, 0, 0.5))
var meshline = new MeshLine()
meshline.setGeometry(geometry, function(p) { return 3 })
var material = new MeshLineMaterial({
useMap: false,
color: new THREE.Color(0x50514f),
opacity: 1,
sizeAttenuation: true,
lineWidth: 0.01,
near: camera.near,
far: camera.far
})
var mesh = new THREE.Mesh(meshline.geometry, material)
scene.add(mesh)