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Christophe Yamahata
Public
3D (three.js, Sketchfab)
Edited
Aug 23, 2024
Paused
2
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// Initial position of the mechanism: [x,y,θ1A,θ2A,θ1B,θ2B]
initial_position = [331.5,-806.5,54.43,4.75,14.83,-26.28]
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x = Inputs.range([x_Min, x_Max], {value: initial_position[0], step: 0.1, label: htl.html`<b>x</b> [mm]`, disabled: false})
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mutable x_value = 0
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y = Inputs.range([y_Min, y_Max], {value: initial_position[1], step: 0.1, label: htl.html`<b>y</b> [mm]`, disabled: false})
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mutable y_value = 0
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mutable y_value_offset = 0
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theta_1_A = Inputs.range([theta_1_Min, theta_1_Max], {value: initial_position[2], step: 0.01, label: htl.html`<b></b> θ<sub>1A</sub> [°]`, disabled: true})
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theta_1_A.value = theta_1_A_IK[IK_solution_A.indices[0]]
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theta_2_A = Inputs.range([theta_2_Min, theta_2_Max], {value: initial_position[3], step: 0.01, label: htl.html`<b></b> θ<sub>2A</sub> [°]`, disabled: true})
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theta_2_A.value = theta_2_A_IK[IK_solution_A.indices[1]]
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theta_1_B = Inputs.range([theta_1_Min, theta_1_Max], {value: initial_position[4], step: 0.01, label: htl.html`<b></b> θ<sub>1B</sub> [°]`, disabled: true})
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theta_1_B.value = theta_1_B_IK[IK_solution_B.indices[0]]
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theta_2_B = Inputs.range([theta_2_Min, theta_2_Max], {value: initial_position[5], step: 0.01, label: htl.html`<b></b> θ<sub>2B</sub> [°]`, disabled: true})
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theta_2_B.value = theta_2_B_IK[IK_solution_B.indices[1]]
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loadSketchfab(uid, "api-frame");
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load_success = (api) => {
api.start(function () {
api.addEventListener("viewerready", function () {
api.getNodeMap(function (err, nodes) {
// console.log(nodes);
const end_effector = getNodeByName(nodes, end_effector_ID);
const L1A = getNodeByName(nodes, L1A_ID);
const L2A = getNodeByName(nodes, L2A_ID);
const L1B = getNodeByName(nodes, L1B_ID);
const L2B = getNodeByName(nodes, L2B_ID);

// Directly invoke the function with the current value on page load
(function initialize() {
updateMatrix(); // This ensures the initial values are applied immediately
})();

// 3D model is reactive to the slider value changes.
// For IK, we recalculate the transformation on mouse events with a slight delay.
// This ensures the 3D model updates correctly, even if the slider is clicked rather than dragged.
[x, y].forEach(slider => {
slider.addEventListener('input', updateMatrix);
slider.addEventListener("mousedown", () => {
setTimeout(updateMatrix, 100); // Adjust the delay (ms) as needed
});
slider.addEventListener("change", updateMatrix); // Improves the behavior if the slider is changed via text input
});

function updateMatrix() {
mutable x_value = x.value;
mutable y_value = y.value;
mutable y_value_offset = mutable y_value - y_offset - y_offset_model;

// Orientation of the 3D model differs from notebook: (x,y,z) -> (x,z,-y)
translateNode(api, end_effector.instanceID, [mutable x_value, 0, -mutable y_value_offset]);

const angle1A = -degToRad(theta_1_A.value);
const angle1B = -degToRad(theta_1_B.value);
const angle2A = -degToRad(theta_2_A.value - theta_2_offset_model);
const angle2B = -degToRad(theta_2_B.value + theta_2_offset_model);

rotateNode(api, L1A.instanceID, angle1A, 0, 1, 0);
rotateNode(api, L1B.instanceID, angle1B, 0, 1, 0);
rotateNode(api, L2A.instanceID, angle2A, 0, 1, 0);
rotateNode(api, L2B.instanceID, angle2B, 0, 1, 0);

}
});
});
});
};
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