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import { LoadingManager, Object3D } from "three";
import { toast } from "sonner";
import { loadMeshFile } from "./meshLoaders";
import { UrdfViewerElement } from "./urdfAnimationHelpers";
// Extended Urdf Viewer Element with mesh loading capability
export interface ExtendedUrdfViewerElement extends UrdfViewerElement {
loadMeshFunc: (
path: string,
manager: LoadingManager,
done: (result: Object3D | null, err?: Error) => void
) => void;
}
/**
* Creates and configures a Urdf viewer element
*/
export function createUrdfViewer(
container: HTMLDivElement,
isDarkMode: boolean
): ExtendedUrdfViewerElement {
// Clear any existing content
container.innerHTML = "";
// Create the urdf-viewer element
const viewer = document.createElement(
"urdf-viewer"
) as ExtendedUrdfViewerElement;
viewer.classList.add("w-full", "h-full");
// Add the element to the container
container.appendChild(viewer);
// Set initial viewer properties
viewer.setAttribute("up", "Z");
viewer.setAttribute("highlight-color", isDarkMode ? "#5b9aff" : "#3373ff");
viewer.setAttribute("ambient-color", isDarkMode ? "#202a30" : "#cfd8dc");
viewer.setAttribute("auto-redraw", "true");
viewer.setAttribute("display-shadow", ""); // Enable shadows
return viewer;
}
/**
* Setup mesh loading function for Urdf viewer
*/
export function setupMeshLoader(
viewer: ExtendedUrdfViewerElement,
urlModifierFunc: ((url: string) => string) | null
): void {
if ("loadMeshFunc" in viewer) {
viewer.loadMeshFunc = (
path: string,
manager: LoadingManager,
done: (result: Object3D | null, err?: Error) => void
) => {
// Apply URL modifier if available (for custom uploads)
const modifiedPath = urlModifierFunc ? urlModifierFunc(path) : path;
// If loading fails, log the error but continue
try {
loadMeshFile(modifiedPath, manager, (result, err) => {
if (err) {
console.warn(`Error loading mesh ${modifiedPath}:`, err);
// Try to continue with other meshes
done(null);
} else {
done(result);
}
});
} catch (err) {
console.error(`Exception loading mesh ${modifiedPath}:`, err);
done(null, err as Error);
}
};
}
}
/**
* Setup event handlers for joint highlighting
*/
export function setupJointHighlighting(
viewer: UrdfViewerElement,
setHighlightedJoint: (joint: string | null) => void
): () => void {
const onJointMouseover = (e: Event) => {
const customEvent = e as CustomEvent;
setHighlightedJoint(customEvent.detail);
};
const onJointMouseout = () => {
setHighlightedJoint(null);
};
// Add event listeners
viewer.addEventListener("joint-mouseover", onJointMouseover);
viewer.addEventListener("joint-mouseout", onJointMouseout);
// Return cleanup function
return () => {
viewer.removeEventListener("joint-mouseover", onJointMouseover);
viewer.removeEventListener("joint-mouseout", onJointMouseout);
};
}
/**
* Setup model loading and error handling
*/
export function setupModelLoading(
viewer: UrdfViewerElement,
urdfPath: string,
packagePath: string,
setCustomUrdfPath: (path: string) => void,
alternativeUrdfModels: string[] = [] // Add parameter for alternative models
): () => void {
// Add XML content type hint for blob URLs
const loadPath =
urdfPath.startsWith("blob:") && !urdfPath.includes("#.")
? urdfPath + "#.urdf" // Add extension hint if it's a blob URL
: urdfPath;
// Set the Urdf path
viewer.setAttribute("urdf", loadPath);
viewer.setAttribute("package", packagePath);
// Handle error loading
const onLoadError = () => {
toast.error("Failed to load model", {
description: "There was an error loading the Urdf model.",
duration: 3000,
});
// Use the provided alternativeUrdfModels instead of the global window object
if (alternativeUrdfModels.length > 0) {
const nextModel = alternativeUrdfModels[0];
if (nextModel) {
setCustomUrdfPath(nextModel);
toast.info("Trying alternative model...", {
description: `First model failed to load. Trying ${
nextModel.split("/").pop() || "alternative model"
}`,
duration: 2000,
});
}
}
};
viewer.addEventListener("error", onLoadError);
// Return cleanup function
return () => {
viewer.removeEventListener("error", onLoadError);
};
}
// For backward compatibility - to be removed in the future
declare global {
interface Window {
alternativeUrdfModels?: string[];
}
}
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