diff --git a/01_Code/physical_computing_interface/app.js b/01_Code/physical_computing_interface/app.js
index 167f8762e199a8b12b20b1b81e5ee055fb4c11c2..ade4d4a8414932059b2117b03ba9a431b98ce48c 100644
--- a/01_Code/physical_computing_interface/app.js
+++ b/01_Code/physical_computing_interface/app.js
@@ -10,8 +10,8 @@ var GLOBALS=new globals(utils);
var three=new threejs(GLOBALS,utils,'webgl','threejs');
three.init();
-// var assembler= new Assembler(three,GLOBALS,1,50,[new THREE.Vector3(0,0,0)],[new THREE.Vector3(GLOBALS.gridSize/2.0*GLOBALS.voxelSpacing,0,0)]);
-// assembler.run();
+var assembler= new Assembler(three,GLOBALS,1,50,[new THREE.Vector3(0,0,0)],[new THREE.Vector3(GLOBALS.gridSize/2.0*GLOBALS.voxelSpacing,0,0)]);
+assembler.run();
//TODO ADD GRAPH STUFF AND JSON STUFF HERE
diff --git a/01_Code/physical_computing_interface/assembly/assembly.js b/01_Code/physical_computing_interface/assembly/assembly.js
index 550f5eda214422cfdcc15c2b54611d31fb06fa2e..2130a44342a6e872f6f60a862f213184e0ab487d 100644
--- a/01_Code/physical_computing_interface/assembly/assembly.js
+++ b/01_Code/physical_computing_interface/assembly/assembly.js
@@ -89,7 +89,7 @@ function Assembler(three,GLOBALS,numberOfRobots,speed,robotLocations,depositLoca
this.totalNumberofSteps=[];
this.locations=[]
- this.showPath=true;
+ this.showPath=false;
this.init(); //TODO INIT LATER, CHECK IF i CAN CHANGE THIS
}
@@ -98,7 +98,8 @@ function Assembler(three,GLOBALS,numberOfRobots,speed,robotLocations,depositLoca
Assembler.prototype.run=function(){
for( i=0;i<this.numberOfRobots;i++)
{
- this.assemble(i);
+ // this.assemble(i);
+ this.steps[i].push(this.startLocations[i]);
}
}
@@ -232,6 +233,7 @@ Assembler.prototype.THREERobot=function(robotIndex,V_initial, limits,group) {
this.carriedVoxel[robotIndex].position.x=x+2.5*this.voxelSpacing;
this.carriedVoxel[robotIndex].position.y=y;
this.carriedVoxel[robotIndex].position.z=z ;
+ this.carriedVoxel[robotIndex].visible=false;
linkGeo.add( this.carriedVoxel[robotIndex] );
}
@@ -874,7 +876,7 @@ Assembler.prototype.moveRobot=function(robotIndex,leaveVoxel,voxelLoc){
}
-Assembler.prototype.move=function(robotIndex){
+Assembler.prototype.move=function(robotIndex,forward){
this.guiControls[robotIndex].x=this.path[robotIndex].points[this.path[robotIndex].currentPoint].x;
this.guiControls[robotIndex].y=this.path[robotIndex].points[this.path[robotIndex].currentPoint].y;
this.guiControls[robotIndex].z=this.path[robotIndex].points[this.path[robotIndex].currentPoint].z;
@@ -891,7 +893,12 @@ Assembler.prototype.move=function(robotIndex){
this.target[robotIndex].position.y = this.guiControls[robotIndex].y;
this.target[robotIndex].position.z = this.guiControls[robotIndex].z;
- this.path[robotIndex].currentPoint++;
+ if(forward){
+ this.path[robotIndex].currentPoint++;
+ }else{
+ this.path[robotIndex].currentPoint--;
+ }
+
}
Assembler.prototype.buildShape=function(){
@@ -940,6 +947,29 @@ Assembler.prototype.addPath=function(robotIndex,loc,carry){
this.carry[robotIndex].push(!carry);
this.createPath(robotIndex,this.steps[robotIndex][this.steps[robotIndex].length-2],this.steps[robotIndex][this.steps[robotIndex].length-1]);
+}
+
+Assembler.prototype.stepRobot=function(robotIndex,stepIndex,forward){
+ if(stepIndex>0&&stepIndex<this.steps[robotIndex].length){
+ var robot=this;
+ var voxelLoc=this.steps[robotIndex][stepIndex];
+
+ // if(this.carry[stepIndex]){
+ // setTimeout(function(){ robot.buildVoxelAt(voxelLoc);robot.showTargetPosition(robotIndex,voxelLoc,false) }, this.path[robotIndex].timeout);
+
+
+ // }else{
+ // setTimeout(function(){robot.showTargetPosition(robotIndex,voxelLoc,true) }, this.path[robotIndex].timeout);
+
+ // }
+ for(var i=0;i<=robot.path[robotIndex].number;i++)
+ {
+ setTimeout(function(){ robot.move(robotIndex,forward); }, this.path[robotIndex].timeout+=this.path[robotIndex].delay);
+ }
+
+ }
+
+
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -1220,8 +1250,8 @@ Assembler.prototype.showTargetPosition=function(robotIndex,targetPos,show){
this.targetPositionMesh[robotIndex].position.x=targetPos.x;
this.targetPositionMesh[robotIndex].position.y=targetPos.y;
this.targetPositionMesh[robotIndex].position.z=targetPos.z+this.voxelSpacing/2;
- this.carriedVoxel[robotIndex].visible=true;
- this.targetPositionMesh[robotIndex].visible=true;
+ // this.carriedVoxel[robotIndex].visible=true;//todo change
+ // this.targetPositionMesh[robotIndex].visible=true;//todo change
}else
{
@@ -1236,18 +1266,32 @@ Assembler.prototype.showTargetPosition=function(robotIndex,targetPos,show){
///////////////////////////////////////////////////////////////////////
document.addEventListener('addNode', function (e) {
+ var robotIndex=0;
if(!e.detail.replay){ //first one create path
- // assembler.addPath(0,new THREE.Vector3(e.detail.posX,,),true)
+ assembler.addPath(robotIndex,new THREE.Vector3(e.detail.posX,e.detail.posY,e.detail.posZ),true);
+ assembler.path[robotIndex].currentPoint=2*GLOBALS.timeStep*assembler.path[robotIndex].number;
}else{ //move
+ assembler.path[robotIndex].currentPoint=2*GLOBALS.timeStep*assembler.path[robotIndex].number;
+ assembler.path[robotIndex].timeout=0;
+ assembler.stepRobot(robotIndex,2*GLOBALS.timeStep,true);
+ assembler.stepRobot(robotIndex,2*GLOBALS.timeStep+1,true);
+
}
}, false);
document.addEventListener('removeNode', function (e) {
+ var robotIndex=0;
if(!e.detail.replay){//first one create path
+ assembler.addPath(robotIndex,new THREE.Vector3(e.detail.posX,e.detail.posY,e.detail.posY),false);
+ assembler.path[robotIndex].currentPoint=2*GLOBALS.timeStep*assembler.path[robotIndex].number;
- }else{//first one create path
+ }else{//first one create path
+ assembler.path[robotIndex].currentPoint=2*GLOBALS.timeStep*assembler.path[robotIndex].number;
+ assembler.path[robotIndex].timeout=0;
+ assembler.stepRobot(robotIndex,2*GLOBALS.timeStep,false);
+ assembler.stepRobot(robotIndex,2*GLOBALS.timeStep+1,false);
}
}, false);
diff --git a/01_Code/physical_computing_interface/assembly/replay.js b/01_Code/physical_computing_interface/assembly/replay.js
index 187d33177b8341659b0f8df0fbb1df1637193d00..36ed6e6f237b52d6d688579675b5d46b23162423 100644
--- a/01_Code/physical_computing_interface/assembly/replay.js
+++ b/01_Code/physical_computing_interface/assembly/replay.js
@@ -1,7 +1,4 @@
var slider = document.getElementById("time");
-var totalTimeSteps=0;
-var timeline=[];
-var timeStep=0.;
slider.oninput = function() {
replay(this.value);
@@ -36,17 +33,15 @@ document.addEventListener('removeNode', function (e) {
}, false);
document.addEventListener('adjustTimeStep', function (e) {
- // timeStepOccupancy.push([timeStepOccupancy[totalTimeSteps][0]]);
- totalTimeSteps++;
- // timeStepOccupancy[totalTimeSteps][0][e.detail.x][e.detail.y][e.detail.z]=e.detail.addRemove;
+ GLOBALS.totalTimeSteps++;
GLOBALS.occupancy[e.detail.x][e.detail.y][e.detail.z]=e.detail.addRemove;
- slider.max=totalTimeSteps;
- slider.value=totalTimeSteps;
- timeline.push([e.detail]);
- replay(parseInt(totalTimeSteps-1));
- timeStep=parseInt(totalTimeSteps);
+ slider.max=GLOBALS.totalTimeSteps;
+ slider.value=GLOBALS.totalTimeSteps;
+ GLOBALS.timeline.push([e.detail]);
+ replay(parseInt(GLOBALS.totalTimeSteps-1));
+ GLOBALS.timeStep=parseInt(GLOBALS.totalTimeSteps);
}, false);
@@ -54,30 +49,30 @@ document.addEventListener('adjustTimeStep', function (e) {
//todo enclose to prototype
function replay(currValue){
- if(currValue<timeStep){
- for(var i=timeStep;i>currValue;i--) {
+ if(currValue<GLOBALS.timeStep){
+ for(var i=GLOBALS.timeStep;i>currValue;i--) {
var ii=i-1;
- for(var j=0;j<timeline[ii].length;j++) {
- if(!timeline[ii][j].addRemove){
- GLOBALS.occupancy[timeline[ii][j].x][timeline[ii][j].y][timeline[ii][j].z]=true;
- GLOBALS.addNode(timeline[ii][j].x,timeline[ii][j].y,timeline[ii][j].z,true);
+ for(var j=0;j<GLOBALS.timeline[ii].length;j++) {
+ if(!GLOBALS.timeline[ii][j].addRemove){
+ GLOBALS.occupancy[GLOBALS.timeline[ii][j].x][GLOBALS.timeline[ii][j].y][GLOBALS.timeline[ii][j].z]=true;
+ GLOBALS.addNode(GLOBALS.timeline[ii][j].x,GLOBALS.timeline[ii][j].y,GLOBALS.timeline[ii][j].z,true);
}else{
- GLOBALS.occupancy[timeline[ii][j].x][timeline[ii][j].y][timeline[ii][j].z]=false;
- GLOBALS.removeNode(timeline[ii][j].x,timeline[ii][j].y,timeline[ii][j].z,true);
+ GLOBALS.occupancy[GLOBALS.timeline[ii][j].x][GLOBALS.timeline[ii][j].y][GLOBALS.timeline[ii][j].z]=false;
+ GLOBALS.removeNode(GLOBALS.timeline[ii][j].x,GLOBALS.timeline[ii][j].y,GLOBALS.timeline[ii][j].z,true);
}
}
}
- }else if (currValue>timeStep){
- for(var i=timeStep;i<currValue;i++) {
+ }else if (currValue>GLOBALS.timeStep){
+ for(var i=GLOBALS.timeStep;i<currValue;i++) {
var ii=i-0;
- for(var j=0;j<timeline[ii].length;j++) {
- if(timeline[ii][j].addRemove){
- GLOBALS.occupancy[timeline[ii][j].x][timeline[ii][j].y][timeline[ii][j].z]=true;
- GLOBALS.addNode(timeline[ii][j].x,timeline[ii][j].y,timeline[ii][j].z,true);
+ for(var j=0;j<GLOBALS.timeline[ii].length;j++) {
+ if(GLOBALS.timeline[ii][j].addRemove){
+ GLOBALS.occupancy[GLOBALS.timeline[ii][j].x][GLOBALS.timeline[ii][j].y][GLOBALS.timeline[ii][j].z]=true;
+ GLOBALS.addNode(GLOBALS.timeline[ii][j].x,GLOBALS.timeline[ii][j].y,GLOBALS.timeline[ii][j].z,true);
}else{
- GLOBALS.occupancy[timeline[ii][j].x][timeline[ii][j].y][timeline[ii][j].z]=false;
- GLOBALS.removeNode(timeline[ii][j].x,timeline[ii][j].y,timeline[ii][j].z,true);
+ GLOBALS.occupancy[GLOBALS.timeline[ii][j].x][GLOBALS.timeline[ii][j].y][GLOBALS.timeline[ii][j].z]=false;
+ GLOBALS.removeNode(GLOBALS.timeline[ii][j].x,GLOBALS.timeline[ii][j].y,GLOBALS.timeline[ii][j].z,true);
}
}
@@ -88,7 +83,7 @@ function replay(currValue){
// console.log("No Replay!");
}
- timeStep=parseInt(currValue);
+ GLOBALS.timeStep=parseInt(currValue);
}
\ No newline at end of file
diff --git a/01_Code/physical_computing_interface/globals.js b/01_Code/physical_computing_interface/globals.js
index 6a10425aa9bc2e46102c8b93643de0e0c0002dd5..f5fcdd1c54984465c0c6c112551a07aaad53fcad 100644
--- a/01_Code/physical_computing_interface/globals.js
+++ b/01_Code/physical_computing_interface/globals.js
@@ -232,6 +232,9 @@ function globals(utils){
}
}
}
+ this.timeStep=0;
+ this.totalTimeSteps=0;
+ this.timeline=[];
}
diff --git a/01_Code/physical_computing_interface/index.html b/01_Code/physical_computing_interface/index.html
index 064140a1b927f6f7283fbda30657d5534f7339ae..8b3b3dbdfa71cf323b5ea8c064d752e45beeb21a 100644
--- a/01_Code/physical_computing_interface/index.html
+++ b/01_Code/physical_computing_interface/index.html
@@ -114,10 +114,11 @@
<script src="./globals.js"></script> <!-- event handling and GLOBALS,UTILS -->
<script src="./threejs/grid.js"></script><!-- threejs visualization -->
<script src="./assembly/assembly.js"></script><!-- robot assembly -->
+<script src="./assembly/replay.js"></script><!-- assembly and timestep handling -->
+
<script src="./app.js"></script><!-- threejs visualization -->
-<script src="./assembly/replay.js"></script><!-- assembly and timestep handling -->
<script src="./graph/graph.js"></script><!-- graph flow visualization-->
<script src="./json/json.js"></script><!-- json -->
diff --git a/01_Code/physical_computing_interface/threejs/grid.js b/01_Code/physical_computing_interface/threejs/grid.js
index 90c6181e513c57c5a8bea72b6dcb277c331135b0..131c709f531156d287e2db91f67c5a0d25b696df 100644
--- a/01_Code/physical_computing_interface/threejs/grid.js
+++ b/01_Code/physical_computing_interface/threejs/grid.js
@@ -1,5 +1,3 @@
-
-
function threejs(GLOBALS,utils,containerName,container1Name){
this.camera;
this.scene;