From fc82783845967b7d28b7e3f5a3051cbd17949501 Mon Sep 17 00:00:00 2001 From: Youwen Wu Date: Sun, 25 Feb 2024 21:51:33 -0800 Subject: [PATCH] feat: add robot visualization via threlte --- client/package-lock.json | 190 ++++- client/package.json | 5 +- client/public/static/app-icons/dev-tools.png | Bin 0 -> 14728 bytes client/src/App.svelte | 73 +- client/src/assets/models/license.txt | 11 + client/src/assets/models/scene.bin | Bin 0 -> 432576 bytes client/src/assets/models/scene.gltf | 754 ++++++++++++++++++ client/src/lib/Apps/DevTools/DevTools.svelte | 26 + client/src/lib/Apps/appList.ts | 7 + client/src/lib/Dashboard/Dashboard.svelte | 5 + .../Dashboard/Visualization/Controls.svelte | 178 +++++ .../lib/Dashboard/Visualization/Scene.svelte | 141 ++++ .../Visualization/Visualization.svelte | 8 + .../Visualization/models/Hornet.svelte | 95 +++ .../src/lib/Dashboard/Visualization/utils.ts | 0 15 files changed, 1450 insertions(+), 43 deletions(-) create mode 100644 client/public/static/app-icons/dev-tools.png create mode 100644 client/src/assets/models/license.txt create mode 100644 client/src/assets/models/scene.bin create mode 100644 client/src/assets/models/scene.gltf create mode 100644 client/src/lib/Apps/DevTools/DevTools.svelte create mode 100644 client/src/lib/Dashboard/Visualization/Controls.svelte create mode 100644 client/src/lib/Dashboard/Visualization/Scene.svelte create mode 100644 client/src/lib/Dashboard/Visualization/Visualization.svelte create mode 100644 client/src/lib/Dashboard/Visualization/models/Hornet.svelte create mode 100644 client/src/lib/Dashboard/Visualization/utils.ts diff --git a/client/package-lock.json b/client/package-lock.json index c4cca00..c3afd7d 100644 --- a/client/package-lock.json +++ b/client/package-lock.json @@ -9,13 +9,15 @@ "version": "0.0.0", "dependencies": { "@fontsource/roboto": "^5.0.8", + "@threlte/core": "^7.1.0", + "@threlte/extras": "^8.8.0", "howler": "^2.2.4", "material-icons": "^1.13.12", "material-symbols": "^0.15.0", "overlayscrollbars-svelte": "^0.5.3", "socket.io-client": "^4.7.4", "svelte-french-toast": "^1.2.0", - "svrollbar": "^0.12.0" + "three": "^0.161.0" }, "devDependencies": { "@svelte-plugins/tooltips": "^3.0.0", @@ -24,6 +26,7 @@ "@tauri-apps/cli": "^1.5.10", "@tsconfig/svelte": "^5.0.2", "@types/howler": "^2.2.11", + "@types/three": "^0.161.2", "autoprefixer": "^10.4.17", "postcss": "^8.4.35", "svelte": "^4.2.11", @@ -995,6 +998,37 @@ "node": ">= 10" } }, + "node_modules/@threlte/core": { + "version": "7.1.0", + "resolved": "https://registry.npmjs.org/@threlte/core/-/core-7.1.0.tgz", + "integrity": "sha512-Qshrrt1Bqu8B0rWuNtFqGJpbmxrFUBNYTHOJZ29Tiqy2kpmwYZfzVSPRoGUfJTqUtpfxGCrDU3S2etWnB0KsUA==", + "dependencies": { + "mitt": "^3.0.1" + }, + "peerDependencies": { + "svelte": ">=4", + "three": ">=0.133" + } + }, + "node_modules/@threlte/extras": { + "version": "8.8.0", + "resolved": "https://registry.npmjs.org/@threlte/extras/-/extras-8.8.0.tgz", + 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"peerDependencies": { + "three": ">=0.125.0" + } + }, + "node_modules/three-perf/node_modules/troika-three-utils": { + "version": "0.47.2", + "resolved": "https://registry.npmjs.org/troika-three-utils/-/troika-three-utils-0.47.2.tgz", + "integrity": "sha512-/28plhCxfKtH7MSxEGx8e3b/OXU5A0xlwl+Sbdp0H8FXUHKZDoksduEKmjQayXYtxAyuUiCRunYIv/8Vi7aiyg==", + "peerDependencies": { + "three": ">=0.125.0" + } + }, + "node_modules/three-perf/node_modules/troika-worker-utils": { + "version": "0.47.2", + "resolved": "https://registry.npmjs.org/troika-worker-utils/-/troika-worker-utils-0.47.2.tgz", + "integrity": "sha512-mzss4MeyzUkYBppn4x5cdAqrhBHFEuVmMMgLMTyFV23x6GvQMyo+/R5E5Lsbrt7WSt5RfvewjcwD1DChRTA9lA==" + }, "node_modules/tiny-glob": { "version": "0.2.9", "resolved": "https://registry.npmjs.org/tiny-glob/-/tiny-glob-0.2.9.tgz", @@ -3063,6 +3201,33 @@ "node": ">=6" } }, + "node_modules/troika-three-text": { + "version": "0.49.0", + "resolved": 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+ }, "node_modules/ts-interface-checker": { "version": "0.1.13", "resolved": "https://registry.npmjs.org/ts-interface-checker/-/ts-interface-checker-0.1.13.tgz", @@ -3075,6 +3240,14 @@ "integrity": "sha512-AEYxH93jGFPn/a2iVAwW87VuUIkR1FVUKB77NwMF7nBTDkDrrT/Hpt/IrCJ0QXhW27jTBDcf5ZY7w6RiqTMw2Q==", "dev": true }, + "node_modules/tweakpane": { + "version": "3.1.10", + "resolved": "https://registry.npmjs.org/tweakpane/-/tweakpane-3.1.10.tgz", + "integrity": "sha512-rqwnl/pUa7+inhI2E9ayGTqqP0EPOOn/wVvSWjZsRbZUItzNShny7pzwL3hVlaN4m9t/aZhsP0aFQ9U5VVR2VQ==", + "funding": { + "url": "https://github.com/sponsors/cocopon" + } + }, "node_modules/typescript": { "version": "5.3.3", "resolved": "https://registry.npmjs.org/typescript/-/typescript-5.3.3.tgz", @@ -3193,6 +3366,11 @@ } } }, + "node_modules/webgl-sdf-generator": { + "version": "1.1.1", + "resolved": "https://registry.npmjs.org/webgl-sdf-generator/-/webgl-sdf-generator-1.1.1.tgz", + "integrity": 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main { - font-family: "Roboto", sans-serif; + font-family: 'Roboto', sans-serif; } .infotainment-container { diff --git a/client/src/assets/models/license.txt b/client/src/assets/models/license.txt new file mode 100644 index 0000000..b48fe08 --- /dev/null +++ b/client/src/assets/models/license.txt @@ -0,0 +1,11 @@ +Model Information: +* title: Low Poly F/A-18 Hornet +* source: https://sketchfab.com/3d-models/low-poly-fa-18-hornet-9b48c88e91ba40fc8f518b616f44f714 +* author: cs09736 (https://sketchfab.com/cs09736) + +Model License: +* license type: CC-BY-SA-4.0 (http://creativecommons.org/licenses/by-sa/4.0/) +* requirements: Author must be credited. Modified versions must have the same license. Commercial use is allowed. + +If you use this 3D model in your project be sure to copy paste this credit wherever you share it: +This work is based on "Low Poly F/A-18 Hornet" (https://sketchfab.com/3d-models/low-poly-fa-18-hornet-9b48c88e91ba40fc8f518b616f44f714) by cs09736 (https://sketchfab.com/cs09736) licensed under CC-BY-SA-4.0 (http://creativecommons.org/licenses/by-sa/4.0/) \ No newline at end of file diff --git a/client/src/assets/models/scene.bin b/client/src/assets/models/scene.bin new file mode 100644 index 0000000000000000000000000000000000000000..7e9d3e6a8cbd0ccfec3ee5dace5529bc976afa7f GIT binary patch literal 432576 zcmdSi1CwP70&VLq+qP}nwr$(CZQHhO+qP}H>W=yD?1&rv4_-xlF-NYo_s+_-^3?9` z=#v%uKmYkp9K=N~G(+)tctk)% zw>A6rJ94)OW0|6XHVTV3z}y~et> zy59eLjdg8xz5n+b>)Psi|L--{wbk|h-)pREtLv@(f4_h8^0B^`wfT@A1yInfErh}- zf}(D1F%(A$lyqxLp)|^%tXo?ScDx)Id$Qwiarm4(htK^-v!T z(9o@IgvMxsrfzLBA8XFGaBFo=$6BJ5TdQ+A)*5ZxTAkCewrJ

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"Object_6" + }, + { + "mesh": 3, + "name": "Object_7" + }, + { + "mesh": 4, + "name": "Object_8" + }, + { + "mesh": 5, + "name": "Object_9" + }, + { + "mesh": 6, + "name": "Object_10" + } + ], + "scene": 0, + "scenes": [ + { + "name": "Sketchfab_Scene", + "nodes": [ + 0 + ] + } + ] +} diff --git a/client/src/lib/Apps/DevTools/DevTools.svelte b/client/src/lib/Apps/DevTools/DevTools.svelte new file mode 100644 index 0000000..1f7ff99 --- /dev/null +++ b/client/src/lib/Apps/DevTools/DevTools.svelte @@ -0,0 +1,26 @@ + + + +

+ Developer Tools +

+

+ This is an app where developers can add buttons that trigger code to help + during development. +

+

+ Make sure the entry for this app is commented out in appList.ts before + building for production. +

+ + + + diff --git a/client/src/lib/Apps/appList.ts b/client/src/lib/Apps/appList.ts index ba45208..020a7c4 100644 --- a/client/src/lib/Apps/appList.ts +++ b/client/src/lib/Apps/appList.ts @@ -9,6 +9,7 @@ const resolveIconPath = (slug: keyof typeof appList, format: Format) => { import GBAEmulator from './GBAEmulator/GBAEmulator.svelte' import JsDoom from './JSDoom/JSDoom.svelte' +import DevTools from './DevTools/DevTools.svelte' interface AppList { [key: string]: { @@ -50,4 +51,10 @@ export const appList: AppList = { icon: resolveIconPath('settings', 'png'), external: false, }, + 'dev-tools': { + name: 'DevTools', + component: DevTools, + icon: resolveIconPath('dev-tools', 'png'), + external: false, + }, } diff --git a/client/src/lib/Dashboard/Dashboard.svelte b/client/src/lib/Dashboard/Dashboard.svelte index 56281eb..861e7a3 100644 --- a/client/src/lib/Dashboard/Dashboard.svelte +++ b/client/src/lib/Dashboard/Dashboard.svelte @@ -15,6 +15,7 @@ import Compass from './Compass.svelte' import { telemetryReadonlyStore } from '../stores/telemetryStore' import Bottom from './Bottom.svelte' + import Visualization from './Visualization/Visualization.svelte' $: speedResolved = Math.hypot( $telemetryReadonlyStore['chassis-x-speed'], @@ -36,6 +37,10 @@ +
+ +
+
+ import { createEventDispatcher, onDestroy } from 'svelte' + import { Camera, Vector2, Vector3, Quaternion } from 'three' + import { useThrelte, useParent, useTask } from '@threlte/core' + + export let object: Camera + export let rotateSpeed = 1.0 + + $: if (object) { + // console.log(object) + // object.position.y = 10 + // // Calculate the direction vector towards (0, 0, 0) + // const target = new Vector3(0, 0, 0) + // const direction = target.clone().sub(object.position).normalize() + // // Extract the forward direction from the object's current rotation matrix + // const currentDirection = new Vector3(0, 1, 0) + // currentDirection.applyQuaternion(object.quaternion) + // // Calculate the axis and angle to rotate the object + // const rotationAxis = currentDirection.clone().cross(direction).normalize() + // const rotationAngle = Math.acos(currentDirection.dot(direction)) + // // Rotate the object using rotateOnAxis() + // object.rotateOnAxis(rotationAxis, rotationAngle) + } + + export let idealOffset = { x: -0.5, y: 2, z: -3 } + export let idealLookAt = { x: 0, y: 1, z: 5 } + + const currentPosition = new Vector3() + const currentLookAt = new Vector3() + + let isOrbiting = false + let pointerDown = false + + const rotateStart = new Vector2() + const rotateEnd = new Vector2() + const rotateDelta = new Vector2() + + const axis = new Vector3(0, 1, 0) + const rotationQuat = new Quaternion() + + const { renderer, invalidate } = useThrelte() + + const domElement = renderer.domElement + const camera = useParent() + + const dispatch = createEventDispatcher() + + const isCamera = (p: any): p is Camera => { + return p.isCamera + } + + if (!isCamera($camera)) { + throw new Error( + 'Parent missing: need to be a child of a ' + ) + } + + // domElement.addEventListener('pointerdown', onPointerDown) + // domElement.addEventListener('pointermove', onPointerMove) + // domElement.addEventListener('pointerleave', onPointerLeave) + // domElement.addEventListener('pointerup', onPointerUp) + + onDestroy(() => { + // domElement.removeEventListener('pointerdown', onPointerDown) + // domElement.removeEventListener('pointermove', onPointerMove) + // domElement.removeEventListener('pointerleave', onPointerLeave) + // domElement.removeEventListener('pointerup', onPointerUp) + }) + + // This is basically your update function + useTask(delta => { + // the object's position is bound to the prop + if (!object) return + + // camera is based on character so we rotation character first + // rotationQuat.setFromAxisAngle(axis, -rotateDelta.x * rotateSpeed * delta) + // object.quaternion.multiply(rotationQuat) + + // then we calculate our ideal's + const offset = vectorFromObject(idealOffset) + const lookAt = vectorFromObject(idealLookAt) + + // and how far we should move towards them + const t = 1.0 - Math.pow(0.001, delta) + currentPosition.lerp(offset, t) + currentLookAt.lerp(lookAt, t) + + // then finally set the camera, a bit behind the model + $camera!.position.copy(currentPosition) + const behindOffset = currentPosition + .clone() + .normalize() + .multiplyScalar(8) + .setY(0.5) + + $camera!.position.copy(currentPosition).add(behindOffset) + + $camera!.lookAt(currentLookAt) + }) + + function onPointerMove(event: PointerEvent) { + const { x, y } = event + if (pointerDown && !isOrbiting) { + // calculate distance from init down + const distCheck = + Math.sqrt( + Math.pow(x - rotateStart.x, 2) + Math.pow(y - rotateStart.y, 2) + ) > 10 + if (distCheck) { + isOrbiting = true + } + } + if (!isOrbiting) return + + rotateEnd.set(x, y) + rotateDelta.subVectors(rotateEnd, rotateStart).multiplyScalar(rotateSpeed) + rotateStart.copy(rotateEnd) + + invalidate() + dispatch('change') + } + + function onPointerDown(event: PointerEvent) { + const { x, y } = event + rotateStart.set(x, y) + pointerDown = true + } + + function onPointerUp() { + rotateDelta.set(0, 0) + pointerDown = false + isOrbiting = false + } + + function onPointerLeave() { + rotateDelta.set(0, 0) + pointerDown = false + isOrbiting = false + } + + function vectorFromObject(vec: { x: number; y: number; z: number }) { + const { x, y, z } = vec + const ideal = new Vector3(x, y, z) + ideal.applyQuaternion(object.quaternion) + ideal.add( + new Vector3(object.position.x, object.position.y, object.position.z) + ) + return ideal + } + + function onKeyDown(event: KeyboardEvent) { + switch (event.key) { + case 'a': + rotateDelta.x = -2 * rotateSpeed + break + case 'd': + rotateDelta.x = 2 * rotateSpeed + break + default: + break + } + } + + function onKeyUp(event: KeyboardEvent) { + switch (event.key) { + case 'a': + rotateDelta.x = 0 + break + case 'd': + rotateDelta.x = 0 + break + default: + break + } + } + + + diff --git a/client/src/lib/Dashboard/Visualization/Scene.svelte b/client/src/lib/Dashboard/Visualization/Scene.svelte new file mode 100644 index 0000000..5f2d9ae --- /dev/null +++ b/client/src/lib/Dashboard/Visualization/Scene.svelte @@ -0,0 +1,141 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/client/src/lib/Dashboard/Visualization/Visualization.svelte b/client/src/lib/Dashboard/Visualization/Visualization.svelte new file mode 100644 index 0000000..4ae23fe --- /dev/null +++ b/client/src/lib/Dashboard/Visualization/Visualization.svelte @@ -0,0 +1,8 @@ + + + + + diff --git a/client/src/lib/Dashboard/Visualization/models/Hornet.svelte b/client/src/lib/Dashboard/Visualization/models/Hornet.svelte new file mode 100644 index 0000000..9e04738 --- /dev/null +++ b/client/src/lib/Dashboard/Visualization/models/Hornet.svelte @@ -0,0 +1,95 @@ + + + + + + {#await gltf} + + {:then gltf} + + + + + + + + + + + + {:catch error} + + {/await} + + + diff --git a/client/src/lib/Dashboard/Visualization/utils.ts b/client/src/lib/Dashboard/Visualization/utils.ts new file mode 100644 index 0000000..e69de29