今日嘗試建立夾取物件的夾爪剛體

程式碼

設定夾爪初始位置

let gripperR_init_x = 2
let gripperR_init_y = 4
let gripperR_init_z = 1
let gripperL_init_x = -2
let gripperL_init_y = 4
let gripperL_init_z = 1

建立夾爪剛體

// gripperR 剛體
  let gripperRShape = new CANNON.Box(new CANNON.Vec3(0.6, 0.1, 0.3))
  gripperRCM = new CANNON.Material()
  gripperRBody = new CANNON.Body({
    mass: 0,
    shape: gripperRShape,
    position: new CANNON.Vec3(gripperR_init_x, gripperR_init_y, gripperR_init_z),
    material: gripperRCM
  })
  world.add(gripperRBody)

  // gripperR 網格
  const gripperRGeo = new THREE.BoxGeometry(1.2, 0.2, 0.6);
  const gripperRMat = new THREE.MeshPhongMaterial({
    color: 0x4287f5,
  });
  gripperR = new THREE.Mesh(gripperRGeo, gripperRMat);
  gripperR.castShadow = true
  scene.add(gripperR);

  // gripperRTop 剛體
  let gripperRTopShape = new CANNON.Box(new CANNON.Vec3(0.2, 0.5, 0.25))
  gripperRTopCM = new CANNON.Material()
  gripperRTopBody = new CANNON.Body({
    mass: 5,
    shape: gripperRTopShape,
    position: new CANNON.Vec3(gripperR_init_x+0.4, gripperR_init_y+0.5, gripperR_init_z),
    material: gripperRTopCM
  })
  world.add(gripperRTopBody)

  // gripperRTop 網格
  const gripperRTopGeo = new THREE.BoxGeometry(0.4, 1, 0.5);
  const gripperRTopMat = new THREE.MeshPhongMaterial({
    color: 0x4287f5,
  });
  gripperRTop = new THREE.Mesh(gripperRTopGeo, gripperRTopMat);
  gripperRTop.castShadow = true
  scene.add(gripperRTop)

  // gripperR 網格組裝   
  gripperRBodyJoint = new CANNON.LockConstraint(gripperRBody,gripperRTopBody)
  world.addConstraint(gripperRBodyJoint)

  // gripperL剛體
  let gripperLShape = new CANNON.Box(new CANNON.Vec3(0.6, 0.1, 0.25))
  let gripperLCM = new CANNON.Material()
  gripperLBody = new CANNON.Body({
    mass: 0,
    shape: gripperLShape,
    position: new CANNON.Vec3(gripperL_init_x, gripperL_init_y, gripperL_init_z),
    material: gripperLCM,
  })
  world.add(gripperLBody)

  // gripperL網格
  const gripperLGeo = new THREE.BoxGeometry(1.2, 0.2, 0.5);
  const gripperLMat = new THREE.MeshPhongMaterial({
    color: 0x4287f5,
  });
  gripperL = new THREE.Mesh(gripperLGeo, gripperLMat);
  gripperL.castShadow = true
  scene.add(gripperL);

  // gripperLTop 剛體
  let gripperLTopShape = new CANNON.Box(new CANNON.Vec3(0.2, 0.5, 0.25))
  gripperLTopCM = new CANNON.Material()
  gripperLTopBody = new CANNON.Body({
    mass: 5,
    shape: gripperLTopShape,
    position: new CANNON.Vec3(gripperL_init_x-0.4, gripperL_init_y+0.5, gripperL_init_z),
    material: gripperLTopCM
  })
  world.add(gripperLTopBody)

  // gripperLTop 網格
  const gripperLTopGeo = new THREE.BoxGeometry(0.4, 1, 0.5);
  const gripperLTopMat = new THREE.MeshPhongMaterial({
    color: 0x4287f5,
  });
  gripperLTop = new THREE.Mesh(gripperLTopGeo, gripperLTopMat);
  gripperLTop.castShadow = true
  scene.add(gripperLTop)

  // gripperL 網格組裝
  gripperLBodyJoint = new CANNON.LockConstraint(gripperLBody,gripperLTopBody)
  world.addConstraint(gripperLBodyJoint)

將夾爪剛體位置複製到夾爪網格

function gripper_load(){
  gripperRTop.position.copy(gripperRTopBody.position)
  gripperRTop.quaternion.copy(gripperRTopBody.quaternion)

  gripperR.position.copy(gripperRBody.position)
  gripperR.quaternion.copy(gripperRBody.quaternion)

  gripperLTop.position.copy(gripperLTopBody.position)
  gripperLTop.quaternion.copy(gripperLTopBody.quaternion)

  gripperL.position.copy(gripperLBody.position)
  gripperL.quaternion.copy(gripperLBody.quaternion)
}

成果

Day21 Demo | Github
建立完的夾爪剛體