From 0ce9deeb2e0963d7624c201ecbf832d3efa3a50a Mon Sep 17 00:00:00 2001
From: Timo Volkmann <timo.tvm@gmail.com>
Date: Sun, 10 Jan 2021 16:45:28 +0100
Subject: [PATCH] missing cubes.js

---
 static/scripts/cubes.js | 140 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 140 insertions(+)
 create mode 100644 static/scripts/cubes.js

diff --git a/static/scripts/cubes.js b/static/scripts/cubes.js
new file mode 100644
index 0000000..46d7494
--- /dev/null
+++ b/static/scripts/cubes.js
@@ -0,0 +1,140 @@
+var width = 600;
+var height = 500;
+
+var renderer = new THREE.WebGLRenderer({ antialias: true });
+renderer.setSize(width, height);
+document.getElementById("viewport").appendChild(renderer.domElement);
+
+var scene = new THREE.Scene();
+
+var cubeGeometry = new THREE.CubeGeometry(100, 100/2, 100*1.5);
+var cubeGeometry2 = new THREE.CubeGeometry(120, 120/2, 120*1.5);
+// var cubeMaterial = new THREE.MeshLambertMaterial({ color: 0xffffff });
+const color = new THREE.Color("rgb(255, 0, 0)");
+var cubeMaterial = new THREE.MeshPhongMaterial({
+    color: color,
+    opacity: 1,
+    transparent: true,
+});
+const color2 = new THREE.Color("rgb(48,117,255)");
+var cubeMaterial2 = new THREE.MeshPhongMaterial({
+    color: color2,
+    opacity: 0.5,
+    transparent: true,
+});
+var cube = new THREE.Mesh(cubeGeometry, cubeMaterial);
+var cube2 = new THREE.Mesh(cubeGeometry2, cubeMaterial2);
+// cube.rotation.y = Math.PI * 45 / 180;
+// cube2.rotation.y = Math.PI * 45 / 180;
+scene.add(cube);
+scene.add(cube2);
+
+var camera = new THREE.PerspectiveCamera(45, width / height, 0.1, 10000);
+camera.position.y = 160;
+camera.position.z = 400;
+camera.lookAt(cube.position);
+
+scene.add(camera);
+
+var skyboxGeometry = new THREE.CubeGeometry(10000, 10000, 10000);
+var skyboxMaterial = new THREE.MeshBasicMaterial({ color: 0x232323, side: THREE.BackSide });
+var skybox = new THREE.Mesh(skyboxGeometry, skyboxMaterial);
+
+scene.add(skybox);
+
+const colorl = 0xFFFFFF;
+const intensity = 1;
+const light = new THREE.DirectionalLight(colorl, intensity);
+
+var pointLight = new THREE.PointLight(0xffffff);
+pointLight.position.set(0, 300, 200);
+light.position.set(0, 300, 200);
+
+scene.add(pointLight);
+
+cube.position.x = 0
+cube2.position.x = 0
+
+let manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' )
+let calibrationRot = new THREE.Quaternion()
+
+function renderTCP(x, y, z) {
+    let calibration = new THREE.Quaternion().setFromEuler(manCalibration)
+    // let calibration = new THREE.Quaternion().setFromEuler(new THREE.Euler( radFromAngle, 0, 0, 'YXZ' ))
+    let eul = new THREE.Euler( x, z, y, 'YXZ' );
+
+    // let eul = new THREE.Euler( x, z, y, 'ZXY' ); // XYZ XZY YZX YXZ ZXY ZYX
+
+    cube2.quaternion.setFromEuler(eul).multiply(calibrationRot)//.multiply(calibration)
+
+    renderer.render(scene, camera);
+}
+
+function renderSerial(x, y, z) {
+    // requestAnimationFrame(renderSerial);
+
+    // let eul = new THREE.Euler( x, y, z, 'YXZ' ); // XYZ XZY YZX YXZ ZXY ZYX
+    // let eul = new THREE.Euler( x, z, y, 'ZXY' ); // XYZ XZY YZX YXZ ZXY ZYX
+    let eul = new THREE.Euler( x, z, y, 'YXZ' );
+
+    cube.quaternion.setFromEuler(eul)
+
+    renderer.render(scene, camera);
+}
+
+renderTCP(0, 0, 0);
+renderSerial(0, 0, 0);
+
+var pitchRange = document.getElementById("pitchRange");
+var yawRange = document.getElementById("yawRange");
+var rollRange = document.getElementById("rollRange");
+
+pitchRange.oninput = () => {
+    manCalibration.x = pitchRange.value * Math.PI / 180
+    // let rot = new THREE.Euler().setFromQuaternion( cube2.quaternion, 'YXZ' );
+    // renderTCP(rot.x, rot.y, rot.z)
+}
+yawRange.oninput = () => {
+    manCalibration.y = yawRange.value * Math.PI / 180
+}
+rollRange.oninput = () => {
+    manCalibration.z = rollRange.value * Math.PI / 180
+}
+
+function delCalibration(evt) {
+    calibrationRot = new THREE.Quaternion()
+    manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' )
+    pitchRange.value = 0
+    yawRange.value = 0
+    rollRange.value = 0
+}
+
+var calState = false;
+function manualCalibration(evt) {
+    let con = document.getElementById("manCalContainer")
+    console.log("mancal", con.style.display)
+    if (calState === false) {
+        calState = !calState
+        console.log("mancal ON")
+        con.style.display = "block"
+        delCalibration()
+    } else {
+        calState = !calState
+        console.log("mancal OFF")
+        con.style.display = "none"
+        manCalibration = new THREE.Euler( 0, 0, 0, 'YXZ' )
+        pitchRange.value = 0
+        yawRange.value = 0
+        rollRange.value = 0
+
+    }
+}
+function calibrate(evt) {
+    let serOrientation = cube.quaternion.clone()
+    let tcpOrientation = cube2.quaternion.clone().multiply(calibrationRot.clone().invert())
+    let diff = tcpOrientation.invert().multiply(serOrientation)
+    calibrationRot = diff
+};
+document.getElementById("deleteCalibration").onclick = delCalibration
+document.getElementById("manualCalibration").onclick = manualCalibration
+document.getElementById("calibrate").onclick = calibrate