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73 lines
2.0 KiB
TypeScript
73 lines
2.0 KiB
TypeScript
import type * as THREE from 'three';
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import type { MjvGeom } from '@mujoco/mujoco';
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/** 更新既有网格展示，不创建/缓存/释放任何 Three.js 或 MuJoCo 资源。 */
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export function updateMeshPresentation(
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mesh: THREE.Mesh,
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g: MjvGeom,
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{ geomId, bodyId, isCollision }: { geomId: number; bodyId: number; isCollision: boolean },
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): void {
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const mat = mesh.material as THREE.MeshStandardMaterial;
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if (isCollision) {
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const worldCollision = bodyId === 0;
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mat.color.setHex(worldCollision ? 0x64748b : 0x22d3ee);
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mat.opacity = worldCollision ? 0.12 : 0.28;
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mat.transparent = true;
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mat.depthTest = worldCollision;
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mat.depthWrite = false;
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mat.roughness = 0.85;
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mat.metalness = 0;
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mesh.renderOrder = worldCollision ? 0 : 60;
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} else {
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mat.color.setRGB(g.rgba[0], g.rgba[1], g.rgba[2]);
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mat.opacity = g.rgba[3];
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mat.transparent = g.rgba[3] < 1;
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mat.depthTest = true;
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mat.depthWrite = true;
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mat.roughness = Math.max(0.05, 1 - g.shininess);
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mat.metalness = g.reflectance;
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mesh.renderOrder = 0;
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}
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mesh.matrix.set(
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g.mat[0],
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g.mat[1],
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g.mat[2],
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g.pos[0],
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g.mat[3],
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g.mat[4],
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g.mat[5],
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g.pos[1],
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g.mat[6],
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g.mat[7],
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g.mat[8],
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g.pos[2],
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0,
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0,
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0,
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1,
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);
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mesh.matrixWorldNeedsUpdate = true;
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mesh.userData.geomId = geomId;
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mesh.userData.bodyId = bodyId;
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mesh.userData.geomType = g.type;
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mesh.userData.isCollision = isCollision;
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}
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export function applyMeshHighlight(
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mesh: THREE.Mesh,
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selected: THREE.Mesh | null,
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highlightedBodyId: number,
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): void {
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const material = mesh.material as THREE.MeshStandardMaterial;
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if (Number(mesh.userData.bodyId) === highlightedBodyId) {
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material.emissive.setHex(0x8a6d00);
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material.emissiveIntensity = 0.85;
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} else if (mesh === selected) {
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material.emissive.setHex(0x14532d);
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material.emissiveIntensity = 1;
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} else {
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material.emissive.setHex(0);
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material.emissiveIntensity = 1;
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}
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}
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