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<script lang="ts">
import type { IUrdfVisual } from "../interfaces/IUrdfVisual";
import { numberArrayToColor } from "../utils/helper";
import DAE from "../mesh/DAE.svelte";
import OBJ from "../mesh/OBJ.svelte";
import STL from "../mesh/STL.svelte";
import { T } from "@threlte/core";
import { DoubleSide, type Side } from "three";
type Props = {
visual: IUrdfVisual;
defaultColor?: string;
position?: [number, number, number];
rotation?: [number, number, number];
castShadow?: boolean;
receiveShadow?: boolean;
opacity?: number;
wireframe?: boolean;
side?: Side;
};
let {
visual,
opacity = 1.0,
defaultColor = "#000000",
position = [0, 0, 0],
rotation = [0, 0, 0],
castShadow = true,
receiveShadow = true,
wireframe = false,
side = DoubleSide,
...restProps
}: Props = $props();
// Use context color only when hovering, otherwise use original logic
const baseColor = visual?.color_rgba
? numberArrayToColor(visual.color_rgba.slice(0, 3) as [number, number, number])
: defaultColor;
</script>
{#if visual.type === "mesh"}
{#if visual.geometry.type === "stl"}
<STL
color={baseColor}
{opacity}
filename={visual.geometry.filename}
scale={visual.geometry.scale}
{position}
{rotation}
{castShadow}
{receiveShadow}
{wireframe}
{side}
{...restProps}
/>
{:else if visual.geometry.type === "obj"}
<OBJ
color={baseColor}
{opacity}
scale={visual.geometry.scale}
filename={visual.geometry.filename}
{position}
{rotation}
{castShadow}
{receiveShadow}
{wireframe}
{side}
{...restProps}
/>
{:else if visual.geometry.type === "dae"}
<DAE
filename={visual.geometry.filename}
color={baseColor}
{opacity}
scale={visual.geometry.scale}
{position}
{rotation}
{castShadow}
{receiveShadow}
{wireframe}
{side}
{...restProps}
/>
{/if}
{:else if visual.type === "cylinder"}
<T.Mesh castShadow receiveShadow rotation={[Math.PI / 2, 0, 0]}>
<T.CylinderGeometry
args={[visual.geometry.radius, visual.geometry.radius, visual.geometry.length]}
/>
<T.MeshBasicMaterial color={baseColor} {opacity} transparent={opacity < 1.0} />
</T.Mesh>
{:else if visual.type === "box"}
<T.Mesh castShadow receiveShadow scale={visual.geometry.size}>
<T.BoxGeometry />
<T.MeshBasicMaterial color={baseColor} {opacity} transparent={opacity < 1.0} />
</T.Mesh>
{/if}
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