src/lib/components/3d/elements/robot/URDF/utils/helper.ts

export function xyzFromString(child: Element): [x: number, y: number, z: number] | undefined {
	const arr = numberStringToArray(child, "xyz");
	if (!arr || arr.length != 3) {
		return;
	}
	return arr as [x: number, y: number, z: number];
}

export function rpyFromString(
	child: Element
): [roll: number, pitch: number, yaw: number] | undefined {
	const arr = numberStringToArray(child, "rpy");
	if (!arr || arr.length != 3) {
		return;
	}
	return arr as [roll: number, pitch: number, yaw: number];
}

export function rgbaFromString(
	child: Element
): [r: number, g: number, b: number, a: number] | undefined {
	const arr = numberStringToArray(child, "rgba");
	if (!arr || arr.length != 4) {
		return;
	}
	return arr as [r: number, g: number, b: number, a: number];
}

export function numberStringToArray(child: Element, name: string = "xyz"): number[] | undefined {
	// parse a list of values from a string
	// (like "1.0 2.2 3.0" into an array like [1, 2.2, 3])
	// used in URDF for position, orientation an color values
	if (child.hasAttribute(name)) {
		const xyzStr = child.getAttribute(name)?.split(" ");
		if (xyzStr) {
			const arr = [];
			for (const nr of xyzStr) {
				arr.push(parseFloat(nr));
			}
			return arr;
		}
	}
}

export function radToEuler(rad: number): number {
	return (rad * 180) / Math.PI;
}

export function numberArrayToColor([r, g, b]: [number, number, number]): string {
	const toHex = (n: number) => Math.round(n).toString(16).padStart(2, "0");
	// 0.06, 0.4, 0.1, 1
	return `#${toHex(r * 255)}${toHex(g * 255)}${toHex(b * 255)}`;
}