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threejs-project
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case-032.html

<!DOCTYPE html>
<html>
	<head>
		<title>Threejs实现机械臂运动，机械臂dae格式模型</title>
		<meta charset="UTF-8">
		<script type="text/javascript" src="libs/statistics.js"></script>
		<script type="text/javascript" src="libs/steak.js"></script>
		<script type="text/javascript" src="libs/three.js"></script>
		<script type="text/javascript" src="libs/OrbitControls.js"></script>
		<script type="text/javascript" src="libs/ColladaLoader.js"></script>
		<script type="text/javascript" src="libs/dat.gui.js"></script>
		<script type="text/javascript" charset="UTF-8" src="libs/Tween.min.js"></script>
		<style>
			body {
				margin: 0;
				overflow: hidden;
			}
		</style>
	</head>
	<body>
		<div id="dom"></div>
		<script type="text/javascript">
			var camera;
			var renderer;
			let dae;

			let kinematics;
			let kinematicsTween;
			const tweenParameters = {};

			function init() {
				var urls = [
					'assets/bgImage/skyBox6/posx.jpg',
					'assets/bgImage/skyBox6/negx.jpg',
					'assets/bgImage/skyBox6/posy.jpg',
					'assets/bgImage/skyBox6/negy.jpg',
					'assets/bgImage/skyBox6/posz.jpg',
					'assets/bgImage/skyBox6/negz.jpg'
				];
				// 创建一个场景，它将包含我们所有的元素，如物体，相机和灯光。
				var scene = new THREE.Scene();
				var cubeLoader = new THREE.CubeTextureLoader();
				// scene.background = cubeLoader.load(urls);
				scene.opacity = 0;

				// 创建一个摄像机，它定义了我们正在看的地方
				camera = new THREE.PerspectiveCamera(45, window.innerWidth / window.innerHeight, 0.1, 100000);
				// 将摄像机对准场景的中心
				camera.position.z = 5;
				camera.lookAt(scene.position);
				var orbit = new THREE.OrbitControls(camera);

				// 创建一个渲染器并设置大小，WebGLRenderer将会使用电脑显卡来渲染场景
				renderer = new THREE.WebGLRenderer({
					antialias: true,
					logarithmicDepthBuffer: true,
				});
				renderer.setSize(window.innerWidth, window.innerHeight);

				var ambientLight = new THREE.AmbientLight("#ffffff", 1);
				scene.add(ambientLight);
				const light = new THREE.HemisphereLight(0xffeeee, 0x111122);
				scene.add(light);

				// 将呈现器的输出添加到HTML元素
				document.getElementById("dom").appendChild(renderer.domElement);

				// 启动动画
				renderScene();
				initFang();

				// 添加坊的模型
				function initFang() {
					var loader = new THREE.ColladaLoader();
					loader.load('assets/models/abb_irb52_7_120.dae', function(collada) {
						dae = collada.scene;
						dae.traverse(function(child) {
							if (child.isMesh) {
								// model does not have normals
								child.material.flatShading = true;
							}
						});
						// dae.scale = 1000;
						dae.updateMatrix();

						kinematics = collada.kinematics;
						console.log(kinematics)
						scene.add(dae);
						setupTween();
					});
				}

				function setupTween() {
					const duration = THREE.Math.randInt(1000, 2000);
					const target = {};
					for (const prop in kinematics.joints) {
						if (kinematics.joints.hasOwnProperty(prop)) {
							if (!kinematics.joints[prop].static) {
								const joint = kinematics.joints[prop];
								const old = tweenParameters[prop];
								const position = old ? old : joint.zeroPosition;
								tweenParameters[prop] = position;
								target[prop] = THREE.Math.randInt(joint.limits.min, joint.limits.max);
							}
						}
					}
					kinematicsTween = new TWEEN.Tween(tweenParameters).to(target, duration).easing(TWEEN.Easing.Quadratic.Out);
					kinematicsTween.onUpdate(function(object) {
						for (const prop in kinematics.joints) {
							if (kinematics.joints.hasOwnProperty(prop)) {
								if (!kinematics.joints[prop].static) {
									kinematics.setJointValue(prop, this[prop]);
								}
							}
						}
					});

					kinematicsTween.start();
					setTimeout(setupTween, duration);
				}

				var clock = new THREE.Clock(); //声明一个时钟对象
				function renderScene() {
					TWEEN.update();
					orbit.update();
					// 使用requestAnimationFrame函数进行渲染
					requestAnimationFrame(renderScene);
					renderer.render(scene, camera);
				}

				// 渲染的场景
				renderer.render(scene, camera);
			}
			window.onload = init;

			// 随着窗体的变化修改场景
			function onResize() {
				camera.aspect = window.innerWidth / window.innerHeight;
				camera.updateProjectionMatrix();
				renderer.setSize(window.innerWidth, window.innerHeight);
			}
			// 监听窗体调整大小事件
			window.addEventListener('resize', onResize, false);
		</script>
	</body>
</html>