Vue实现利用Three.js导入URDF机械臂模型并控制其运动记录

<template>
  <div id="app">
    <canvas id="canvas"></canvas>
  </div>
</template>
 
<script>
import * as THREE from 'three';
import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js';
import { DRACOLoader } from 'three/examples/jsm/loaders/DRACOLoader.js';
import { URDFLoader } from 'three-urdf-loader';
 
export default {
  name: 'App',
  data() {
    return {
      scene: null,
      camera: null,
      renderer: null,
      robot: null,
      mixer: null,
      clock: new THREE.Clock(),
      controls: null,
    };
  },
  methods: {
    init() {
      this.scene = new THREE.Scene();
      this.camera = new THREE.PerspectiveCamera(75, window.innerWidth / window.innerHeight, 0.1, 1000);
      this.renderer = new THREE.WebGLRenderer({ antialias: true });
      this.renderer.setSize(window.innerWidth, window.innerHeight);
      document.body.appendChild(this.renderer.domElement);
 
      let loader = new URDFLoader();
      loader.parse('path/to/your/urdf/file.urdf', (robot) => {
        this.robot = robot;
        this.scene.add(robot);
        this.camera.position.z = 5;
      });
 
      let dracoLoader = new DRACOLoader();
      dracoLoader.setDecoderPath('path/to/draco/gltf/decoder/');
      let gltfLoader = new GLTFLoader();
      gltfLoader.setDRACOLoader(dracoLoader);
 
      // 加载动画
      gltfLoader.load('path/to/your/animated/gltf/file.gltf', (animated) => {
        this.mixer = new THREE.AnimationMixer(animated.scene);
        animated.scene.rotation.set(-Math.PI / 2, 0, 0);
        this.scene.add(animated.scene);
        animated.animations.forEach((clip) => {
          this.mixer.clipAction(clip).play();
        });
      });
 
      this.controls = new OrbitControls(this.camera, this.renderer.domElement);
      this.animate();
    },
    animate() {
      requestAnimationFrame(this.animate);
      this.renderer.render(this.scene, this.camera);
      if (this.mixer) {
        this.mixer.update(this.clock.getDelta());
      }
    }
  },
  mounted() {
    this.init();
  }
};
</script>
 
<style>
#canvas {
  width: 100%;
  height: 100%;
}
</style>

这个代码实例展示了如何在Vue应用中使用Three.js和相关加载器来加载URDF格式的机械臂模型，并且控制模型的动画播放。代码中包含了相机设置、场景渲染、动画播放控制等功能。这个实例可以作为开发者学习和实践如何在Web环境中集成和使用Three.js来展示复杂3D模型的一个很好的起点。