diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/.gitignore b/GEMstack/onboard/visualization/sr_viz/threeD/.gitignore new file mode 100644 index 000000000..4a7f73a2e --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/.gitignore @@ -0,0 +1,24 @@ +# Nuxt dev/build outputs +.output +.data +.nuxt +.nitro +.cache +dist + +# Node dependencies +node_modules + +# Logs +logs +*.log + +# Misc +.DS_Store +.fleet +.idea + +# Local env files +.env +.env.* +!.env.example diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/README.md b/GEMstack/onboard/visualization/sr_viz/threeD/README.md new file mode 100644 index 000000000..e215bc4cc --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/README.md @@ -0,0 +1,36 @@ +This is a [Next.js](https://nextjs.org) project bootstrapped with [`create-next-app`](https://nextjs.org/docs/app/api-reference/cli/create-next-app). + +## Getting Started + +First, run the development server: + +```bash +npm run dev +# or +yarn dev +# or +pnpm dev +# or +bun dev +``` + +Open [http://localhost:3000](http://localhost:3000) with your browser to see the result. + +You can start editing the page by modifying `app/page.tsx`. The page auto-updates as you edit the file. + +This project uses [`next/font`](https://nextjs.org/docs/app/building-your-application/optimizing/fonts) to automatically optimize and load [Geist](https://vercel.com/font), a new font family for Vercel. + +## Learn More + +To learn more about Next.js, take a look at the following resources: + +- [Next.js Documentation](https://nextjs.org/docs) - learn about Next.js features and API. +- [Learn Next.js](https://nextjs.org/learn) - an interactive Next.js tutorial. + +You can check out [the Next.js GitHub repository](https://github.com/vercel/next.js) - your feedback and contributions are welcome! + +## Deploy on Vercel + +The easiest way to deploy your Next.js app is to use the [Vercel Platform](https://vercel.com/new?utm_medium=default-template&filter=next.js&utm_source=create-next-app&utm_campaign=create-next-app-readme) from the creators of Next.js. + +Check out our [Next.js deployment documentation](https://nextjs.org/docs/app/building-your-application/deploying) for more details. diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/eslint.config.mjs b/GEMstack/onboard/visualization/sr_viz/threeD/eslint.config.mjs new file mode 100644 index 000000000..c85fb67c4 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/eslint.config.mjs @@ -0,0 +1,16 @@ +import { dirname } from "path"; +import { fileURLToPath } from "url"; +import { FlatCompat } from "@eslint/eslintrc"; + +const __filename = fileURLToPath(import.meta.url); +const __dirname = dirname(__filename); + +const compat = new FlatCompat({ + baseDirectory: __dirname, +}); + +const eslintConfig = [ + ...compat.extends("next/core-web-vitals", "next/typescript"), +]; + +export default eslintConfig; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/README.md b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/README.md new file mode 100644 index 000000000..d77b503f4 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/README.md @@ -0,0 +1,77 @@ +# Nuxt Minimal Starter + +Look at the [Nuxt documentation](https://nuxt.com/docs/getting-started/introduction) to learn more. + +## Setup + +You need to have **Node.js** - ```18.x``` or newer. A good way to install different versions of Node.js is using Node Version Manager ([nvm](https://github.com/nvm-sh/nvm)). + +Make sure to install dependencies: + +```bash +# npm +npm install + +# pnpm +pnpm install + +# yarn +yarn install + +# bun +bun install +``` + +## Development Server + +Start the development server on `http://localhost:3000`: + +```bash +# npm +npm run dev + +# pnpm +pnpm dev + +# yarn +yarn dev + +# bun +bun run dev +``` + +## Production + +Build the application for production: + +```bash +# npm +npm run build + +# pnpm +pnpm build + +# yarn +yarn build + +# bun +bun run build +``` + +Locally preview production build: + +```bash +# npm +npm run preview + +# pnpm +pnpm preview + +# yarn +yarn preview + +# bun +bun run preview +``` + +Check out the [deployment documentation](https://nuxt.com/docs/getting-started/deployment) for more information. \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/app.vue b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/app.vue new file mode 100644 index 000000000..2b1be0907 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/app.vue @@ -0,0 +1,5 @@ + diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/AxesReference.vue b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/AxesReference.vue new file mode 100644 index 000000000..693fc97de --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/AxesReference.vue @@ -0,0 +1,88 @@ + + + diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Car.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Car.js new file mode 100644 index 000000000..92496ada6 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Car.js @@ -0,0 +1,149 @@ +import * as THREE from "three"; +import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js"; +import URDFLoader from 'urdf-loader'; +const CAR_X = 19651.6005859375; +const CAR_Y = 14238.344896316528; +const CAR_Z = 47565.92169100046; +const SCALE_RATE = 0.0002; +export const CAR_WIDTH = CAR_X * SCALE_RATE; +export const CAR_HEIGHT = CAR_Y * SCALE_RATE; +export const CAR_LENGTH = CAR_Z * SCALE_RATE; + +export class Car { + constructor(modelPath, position = { x: 0, y: 0, z: 0 }, heading = Math.PI / 2, onLoadCallback) { + this.position = new THREE.Vector3(position.x, position.y, position.z); + this.heading = heading; + this.velocity = 0; + this.wheelBase = CAR_LENGTH * 5 / 8; + this.maxSpeed = 20; + this.acceleration = 0.5; + this.friction = 0.98; + this.steerAngle = 0; + this.maxSteerAngle = Math.PI / 6; + + const loader = new GLTFLoader(); + loader.load( + modelPath, + (gltf) => { + this.group = gltf.scene; + const bodyColor = '#ffffff'; + this.group.traverse((child) => { + if ( + child instanceof THREE.Mesh && + child.material instanceof THREE.MeshStandardMaterial + ) { + child.material = child.material.clone(); + child.material.color.set(bodyColor); + } + }); + this.group.position.set(this.position.x, this.position.y, this.position.z); + // this.group.scale.set(SCALE_RATE, SCALE_RATE, SCALE_RATE); + this.group.rotation.y = this.heading; + + if (onLoadCallback) onLoadCallback(this); + }, + undefined, + (error) => console.error("Error loading car model:", error) + ); + // const loader = new URDFLoader(); + // loader.load( + // modelPath, + // (car) => { + // this.group = car; + // this.group.position.set(this.position.x, this.position.y, this.position.z); + // // this.group.scale.set(SCALE_RATE, SCALE_RATE, SCALE_RATE); + // this.group.rotation.x = -Math.PI / 2; + // this.group.rotation.z = -this.heading; + + // if (onLoadCallback) onLoadCallback(this); + // }, + // undefined, + // (error) => console.error("Error loading car model:", error) + // ); + } + + update(keys, dt) { + if (!this.group) return; + + if (keys.forward) this.velocity = Math.min(this.velocity + this.acceleration, this.maxSpeed); + if (keys.backward) this.velocity = Math.max(this.velocity - this.acceleration, -this.maxSpeed); + this.velocity *= this.friction; + + if (keys.right) this.steerAngle = Math.max(this.steerAngle - 0.02, -this.maxSteerAngle); + if (keys.left) this.steerAngle = Math.min(this.steerAngle + 0.02, this.maxSteerAngle); + if (!keys.left && !keys.right) this.steerAngle *= 0.9; + + const frontWheel = this.position.clone().add(new THREE.Vector3( + Math.sin(this.heading) * (this.wheelBase / 2) - Math.cos(this.heading) * (CAR_WIDTH / 2), + 0, + Math.cos(this.heading) * (this.wheelBase / 2) + Math.sin(this.heading) * (CAR_WIDTH / 2) + )); + const backWheel = this.position.clone().add(new THREE.Vector3( + -Math.sin(this.heading) * (this.wheelBase / 2) - Math.cos(this.heading) * (CAR_WIDTH / 2), + 0, + -Math.cos(this.heading) * (this.wheelBase / 2) + Math.sin(this.heading) * (CAR_WIDTH / 2) + )); + + backWheel.add(new THREE.Vector3( + Math.sin(this.heading) * this.velocity * dt, + 0, + Math.cos(this.heading) * this.velocity * dt + )); + frontWheel.add(new THREE.Vector3( + Math.sin(this.heading + this.steerAngle) * this.velocity * dt, + 0, + Math.cos(this.heading + this.steerAngle) * this.velocity * dt + )); + + this.position = frontWheel.clone().add(backWheel).multiplyScalar(0.5).add(new THREE.Vector3( + Math.cos(this.heading) * (CAR_WIDTH / 2), + 0, + -Math.sin(this.heading) * (CAR_WIDTH / 2) + )); + this.heading = Math.atan2(frontWheel.x - backWheel.x, frontWheel.z - backWheel.z); + + this.group.position.copy(this.position); + this.group.rotation.z = -this.heading; + } + updateFromLog(logData) { + if (!this.group) return; + this.velocity = logData.velocity; + this.acceleration = logData.acceleration; + this.steerAngle = logData.steering_wheel_angle; + this.position.set(logData.position[1], logData.position[2], logData.position[0]); + this.heading = logData.rotation[1]; + this.group.position.copy(this.position); + this.group.rotation.y = this.heading; + } + + + dispose() { + if (!this.group) return; + + this.group.traverse((child) => { + if (child.isMesh) { + child.geometry.dispose(); + + if (child.material) { + if (Array.isArray(child.material)) { + child.material.forEach((material) => { + material.map?.dispose(); + material.normalMap?.dispose(); + material.roughnessMap?.dispose(); + material.dispose(); + }); + } else { + child.material.map?.dispose(); + child.material.normalMap?.dispose(); + child.material.roughnessMap?.dispose(); + child.material.dispose(); + } + } + } + }); + + this.group.removeFromParent(); + this.group = null; + } +} + diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Human.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Human.js new file mode 100644 index 000000000..9ccc6dbd2 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/Human.js @@ -0,0 +1,86 @@ +import * as THREE from "three"; +import { CAR_HEIGHT } from "./Car.js"; +import { HUMAN_BODY_RATIOS, HUMAN_TO_CAR_HEIGHT_RATIO } from "../utils/constants.js"; + +const HUMAN_HEIGHT = CAR_HEIGHT * HUMAN_TO_CAR_HEIGHT_RATIO; +const HUMAN_BODY_LENGTH = HUMAN_HEIGHT * HUMAN_BODY_RATIOS.body; +const HUMAN_HEAD_RADIUS = HUMAN_HEIGHT * HUMAN_BODY_RATIOS.head; +const HUMAN_HEAD_COLOR = 0xffcc99; +const HUMAN_ARM_LENGTH = HUMAN_HEIGHT * HUMAN_BODY_RATIOS.arm; +const HUMAN_LEG_LENGTH = HUMAN_HEIGHT * HUMAN_BODY_RATIOS.leg; +const HUMAN_LEG_COLOR = 0x555555; + +export default class Human { + constructor(color = 0x00aaff, position = { x: 0, y: 0, z: 0 }, rotation = 0) { + this.group = new THREE.Group(); + + const bodyGeometry = new THREE.BoxGeometry(HUMAN_BODY_LENGTH / 1.2, HUMAN_BODY_LENGTH, HUMAN_BODY_LENGTH / 1.6); + const bodyMaterial = new THREE.MeshStandardMaterial({ color }); + this.body = new THREE.Mesh(bodyGeometry, bodyMaterial); + this.body.position.y = HUMAN_LEG_LENGTH + (HUMAN_BODY_LENGTH / 2); + this.group.add(this.body); + + const headGeometry = new THREE.SphereGeometry(HUMAN_HEAD_RADIUS); + const headMaterial = new THREE.MeshStandardMaterial({ color: HUMAN_HEAD_COLOR }); + this.head = new THREE.Mesh(headGeometry, headMaterial); + this.head.position.y = HUMAN_LEG_LENGTH + HUMAN_BODY_LENGTH + HUMAN_HEAD_RADIUS; + this.group.add(this.head); + + const armGeometry = new THREE.CylinderGeometry(HUMAN_ARM_LENGTH / 6, HUMAN_ARM_LENGTH / 6, HUMAN_ARM_LENGTH); + const armMaterial = new THREE.MeshStandardMaterial({ color }); + + this.leftShoulderPivot = new THREE.Group(); + this.leftShoulderPivot.position.set( + (HUMAN_BODY_LENGTH / 1.2) / 2 + HUMAN_ARM_LENGTH / 6, + HUMAN_LEG_LENGTH + HUMAN_BODY_LENGTH - HUMAN_ARM_LENGTH / 1.7, + 0 + ); + this.group.add(this.leftShoulderPivot); + + this.leftArm = new THREE.Mesh(armGeometry, armMaterial); + this.leftShoulderPivot.add(this.leftArm); + + this.rightShoulderPivot = new THREE.Group(); + this.rightShoulderPivot.position.set( + -(HUMAN_BODY_LENGTH / 1.2) / 2 - HUMAN_ARM_LENGTH / 6, + HUMAN_LEG_LENGTH + HUMAN_BODY_LENGTH - HUMAN_ARM_LENGTH / 1.7, + 0 + ); + this.group.add(this.rightShoulderPivot); + + this.rightArm = new THREE.Mesh(armGeometry, armMaterial); + this.rightShoulderPivot.add(this.rightArm); + + const legGeometry = new THREE.CylinderGeometry(HUMAN_LEG_LENGTH / 6, HUMAN_LEG_LENGTH / 6, HUMAN_LEG_LENGTH); + const legMaterial = new THREE.MeshStandardMaterial({ color: HUMAN_LEG_COLOR }); + this.leftLeg = new THREE.Mesh(legGeometry, legMaterial); + this.rightLeg = new THREE.Mesh(legGeometry, legMaterial); + this.leftLeg.position.set(-HUMAN_LEG_LENGTH / 6, HUMAN_LEG_LENGTH / 2, 0); + this.rightLeg.position.set(HUMAN_LEG_LENGTH / 6, HUMAN_LEG_LENGTH / 2, 0); + this.group.add(this.leftLeg, this.rightLeg); + + this.group.position.set(position.x, position.y, position.z); + this.group.rotation.y = rotation; + + this.walkingSpeed = 0; + this.walkingPhase = 0; + } + updateFromLog(logData) { + if (!this.group) return; + this.group.position.set(logData.position[1], logData.position[2], logData.position[0]); + this.group.rotation.y = logData.rotation[1]; + this.walkingSpeed = logData.velocity; + } + + walk() { + this.walkingPhase += this.walkingSpeed; + + const swingAmount = Math.PI / 6; + + this.leftShoulderPivot.rotation.x = Math.sin(this.walkingPhase) * swingAmount; + this.rightShoulderPivot.rotation.x = -Math.sin(this.walkingPhase) * swingAmount; + + this.leftLeg.rotation.x = -Math.sin(this.walkingPhase) * swingAmount; + this.rightLeg.rotation.x = Math.sin(this.walkingPhase) * swingAmount; + } +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/LogReader.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/LogReader.js new file mode 100644 index 000000000..e9f4eede5 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/LogReader.js @@ -0,0 +1,63 @@ +export default class LogReader { + constructor(logData, scene, createFuncs) { + this.framerate = logData.framerate || 60; + this.totalFrames = logData.totalFrames || 0; + this.frames = logData.data || []; + this.scene = scene; + this.currentFrame = 0; + this.playing = true; + this.createFuncs = createFuncs; + this.models = {} + this.car = null; + for (const type of Object.keys(createFuncs)) { + this.models[type] = new Map(); + } + } + + update(dt) { + if (!this.playing) return; + + const frameData = this.frames[this.currentFrame]; + if (!frameData) return; + + frameData.objects.forEach(obj => { + const id = obj.id; + const type = obj.type; + const position = obj.position; + if (this.models[type].has(id)) { + const model = this.models[type].get(id); + if ((type === 'vehicle' && obj.frame === 0) || type !== 'vehicle') { + model.updateFromLog(obj); + } + } else { + const createFunc = this.createFuncs[type]; + if (createFunc) { + const orientation = obj.orientation || obj.misc.orientation; + const model = createFunc(position[1], position[2], position[0], orientation); + if (type === 'vehicle' && id === 0) { + this.car = model; + } + this.models[type].set(id, model); + } + } + }); + + this.currentFrame++; + if (this.currentFrame >= this.frames.length) { + this.playing = false; + } + } + + reset() { + this.currentFrame = 0; + this.playing = true; + } + + pause() { + this.playing = false; + } + + play() { + this.playing = true; + } +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/RoadVehicleViz.vue b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/RoadVehicleViz.vue new file mode 100644 index 000000000..d30159bc3 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/RoadVehicleViz.vue @@ -0,0 +1,328 @@ + + + + + diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/StreetLight.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/StreetLight.js new file mode 100644 index 000000000..8bd998ba8 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/StreetLight.js @@ -0,0 +1,51 @@ +import * as THREE from "three"; +import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js"; +const SCALE_RATE = 1; +const MODEL_MAPS = { + 0: "single-arm", + 1: "double-arm", +}; +const TEXTURE_MAPS = { + "BaseColor": "map", + "Metalness": "metalnessMap", + "Roughness": "roughnessMap", + "Normal": "normalMap", + "Transmission": "transmissionMap", + "Emission": "emissiveMap", +}; + +export default class StreetLight { + constructor(modelPath, position = { x: 0, y: 0, z: 0 }, onLoadCallback) { + this.position = new THREE.Vector3(position.x, position.y, position.z); + + const loader = new GLTFLoader(); + loader.load( + modelPath, + (gltf) => { + this.group = gltf.scene; + for (let i = 0; i < this.group.children.length; i++) { + const model = MODEL_MAPS[i]; + const model_texture_folder_path = `/textures/${model} street light pole/`; + for (const [textureName, textureMap] of Object.entries(TEXTURE_MAPS)) { + const texturePath = model_texture_folder_path + model + '_' + textureName + ".jpg"; + const textureLoader = new THREE.TextureLoader(); + const texture = textureLoader.load(texturePath); + this.group.children[i].material[textureMap] = texture; + } + this.group.children[i].material.transparent = true; + this.group.children[i].material.emissive = new THREE.Color(0xffffff); + this.group.children[i].material.roughness = 0.5; + } + this.group.position.set(this.position.x, this.position.y, this.position.z); + this.group.scale.set(SCALE_RATE, SCALE_RATE, SCALE_RATE); + + if (onLoadCallback) onLoadCallback(this); + console.log(this.group); + }, + (xhr) => { + console.log((xhr.loaded / xhr.total * 100) + '% loaded'); + }, + (error) => console.error("Error loading street light model:", error) + ); + } +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/TrafficLight.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/TrafficLight.js new file mode 100644 index 000000000..4762c2867 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/TrafficLight.js @@ -0,0 +1,94 @@ +// import * as THREE from "three"; + +// const POLE_RADIUS = 0.1; +// const POLE_HEIGHT = 4; +// const POLE_COLOR = 0x555555; +// const BOX_WIDTH = 0.5; +// const BOX_HEIGHT = 1.5; +// const BOX_DEPTH = 0.4; +// const BOX_COLOR = 0x222222; +// const LIGHT_RADIUS = 0.15; +// const LIGHT_OFFSET = 0.2; + +// export default class TrafficLight { +// constructor(position, direction = 0) { +// this.group = new THREE.Group(); +// this.createPole(); +// this.createLightBox(); +// this.createLights(); +// this.group.position.set(position.x, 0, position.z); +// this.group.rotation.y = direction; +// } + +// createPole() { +// const poleGeometry = new THREE.CylinderGeometry(POLE_RADIUS, POLE_RADIUS, POLE_HEIGHT, 8); +// const poleMaterial = new THREE.MeshStandardMaterial({ color: POLE_COLOR }); +// this.pole = new THREE.Mesh(poleGeometry, poleMaterial); +// this.pole.position.y = POLE_HEIGHT / 2; +// this.group.add(this.pole); +// } + +// createLightBox() { +// const boxGeometry = new THREE.BoxGeometry(BOX_WIDTH, BOX_HEIGHT, BOX_DEPTH); +// const boxMaterial = new THREE.MeshStandardMaterial({ color: BOX_COLOR }); +// this.lightBox = new THREE.Mesh(boxGeometry, boxMaterial); +// this.lightBox.position.set(0, POLE_HEIGHT * 7 / 8, 0); +// this.group.add(this.lightBox); +// } + +// createLights() { +// this.lights = { +// red: this.createLight(0xff0000, this.lightBox.position.y + 2 * LIGHT_RADIUS), +// yellow: this.createLight(0xffff00, this.lightBox.position.y), +// green: this.createLight(0x00ff00, this.lightBox.position.y - 2 * LIGHT_RADIUS), +// }; +// Object.values(this.lights).forEach(light => this.group.add(light)); +// this.setLightState("red"); // Default state +// } + +// createLight(color, yPos) { +// const lightGeometry = new THREE.SphereGeometry(LIGHT_RADIUS); +// const lightMaterial = new THREE.MeshStandardMaterial({ color, emissive: color, emissiveIntensity: 0 }); +// const light = new THREE.Mesh(lightGeometry, lightMaterial); +// light.position.set(0, yPos, LIGHT_OFFSET); +// return light; +// } + +// setLightState(state) { +// Object.keys(this.lights).forEach(key => { +// this.lights[key].material.emissiveIntensity = key === state ? 1 : 0; +// }); +// } +// } +import * as THREE from "three"; +import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js"; +const SCALE_RATE = 1; + +export default class TrafficLight { + constructor(modelPath, position = { x: 0, y: 0, z: 0 }, rotation = 0, onLoadCallback) { + this.position = new THREE.Vector3(position.x, position.y, position.z); + // this.durations = { + // red: 5, + // yellow: 2, + // green: 5, + // }; + // this.tick = 0; + + const loader = new GLTFLoader(); + loader.load( + modelPath, + (gltf) => { + this.group = gltf.scene; + + this.group.position.set(this.position.x, this.position.y, this.position.z); + this.group.scale.set(SCALE_RATE, SCALE_RATE, SCALE_RATE); + this.group.rotation.y = rotation; + + if (onLoadCallback) onLoadCallback(this); + }, + undefined, + (error) => console.error("Error loading traffic light model:", error) + ); + } + updateFromLog(logData) { } +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/data.json b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/data.json new file mode 100644 index 000000000..3a2b3178c --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/components/data.json @@ -0,0 +1,41 @@ +{ + "framerate": 60, + "totalFrames": 100, + "data": [ + { + "frame": 0, + "objects": [ + { + "type": "vehicle", + "id": 0 (current), + "position": [x, y, z], + "steering_wheel_angle": 0, + "velocity": 0, + "acceleration": 0, + "rotation": [pitch, yaw, roll], + "misc": [ + ...(rest of the vehicle data) + ] + }, + { + "type": "pedestrian", + "id": 0, + "position": [x, y, z], + "velocity": 0, + "acceleration": 0, + "misc": [ + ...(rotation, etc.) + ] + }, + { + "type": "traffic_light", + "id": 0, + "position": [x, y, z], + "misc": [ + ...(rest of the traffic_light data) + ] + } + ] + } + ] +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/nuxt.config.ts b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/nuxt.config.ts new file mode 100644 index 000000000..e11336ba3 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/nuxt.config.ts @@ -0,0 +1,6 @@ +// https://nuxt.com/docs/api/configuration/nuxt-config +export default defineNuxtConfig({ + compatibilityDate: '2024-11-01', + devtools: { enabled: true }, + modules: ['@unocss/nuxt'], +}) diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/package-lock.json b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/package-lock.json new file mode 100644 index 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100644 index 000000000..5ce7162d9 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/model/plane.off @@ -0,0 +1,8 @@ +OFF +4 2 0 +-5.000000 -5.000000 0.000000 +-5.000000 5.000000 0.000000 +5.000000 -5.000000 0.000000 +5.000000 5.000000 0.000000 +3 0 2 1 +3 1 2 3 diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/roadster.glb b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/roadster.glb new file mode 100644 index 000000000..df678011d Binary files /dev/null and b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/models/roadster.glb differ diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/robots.txt b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/robots.txt new file mode 100644 index 000000000..8b1378917 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/robots.txt @@ -0,0 +1 @@ + diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_diff_1k.jpg b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_diff_1k.jpg new file mode 100644 index 000000000..6901ddd40 Binary files /dev/null and b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_diff_1k.jpg differ diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_nor_gl_1k.jpg b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_nor_gl_1k.jpg new file mode 100644 index 000000000..242b35b8a Binary files /dev/null and b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_nor_gl_1k.jpg differ diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_rough_1k.jpg b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_rough_1k.jpg new file mode 100644 index 000000000..318a6f224 Binary files /dev/null and b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/public/textures/ground_grey_rough_1k.jpg differ diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/server/tsconfig.json b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/server/tsconfig.json new file mode 100644 index 000000000..b9ed69c19 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/server/tsconfig.json @@ -0,0 +1,3 @@ +{ + "extends": "../.nuxt/tsconfig.server.json" +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/test.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/test.js similarity index 100% rename from GEMstack/onboard/visualization/sr_viz/threeD/test.js rename to GEMstack/onboard/visualization/sr_viz/threeD/legacy/test.js diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/tsconfig.json b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/tsconfig.json new file mode 100644 index 000000000..a746f2a70 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/tsconfig.json @@ -0,0 +1,4 @@ +{ + // https://nuxt.com/docs/guide/concepts/typescript + "extends": "./.nuxt/tsconfig.json" +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/uno.config.ts b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/uno.config.ts new file mode 100644 index 000000000..29cf9773a --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/uno.config.ts @@ -0,0 +1,34 @@ +// uno.config.ts +import { + defineConfig, + presetAttributify, + presetIcons, + presetTypography, + presetUno, + presetWebFonts, + transformerDirectives, + transformerVariantGroup, +} from "unocss"; + +export default defineConfig({ + shortcuts: [ + // ... + ], + theme: { + colors: { + // ... + }, + }, + presets: [ + presetUno(), + presetAttributify(), + presetIcons(), + presetTypography(), + presetWebFonts({ + fonts: { + // ... + }, + }), + ], + transformers: [transformerDirectives(), transformerVariantGroup()], +}); diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/utils/constants.js b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/utils/constants.js new file mode 100644 index 000000000..1665a4c5b --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/legacy/utils/constants.js @@ -0,0 +1,14 @@ +export const HUMAN_BODY_RATIOS = { + head: 1 / 8, + body: 3 / 8, + arm: 3 / 8, + leg: 4 / 8, +}; + +export const HUMAN_TO_CAR_HEIGHT_RATIO = 1.2; +// export const CAR_MODEL_PATH = "/models/model/gem_e4.urdf"; +export const CAR_MODEL_PATH = "/models/roadster.glb"; +export const TRAFFIC_LIGHT_MODEL_PATH = "/models/Traffic Light_01.glb"; +export const STREET_LIGHT_MODEL_PATH = "/models/StreetLightPoles.glb"; +export const ENV_MAP_PATH = "/textures/env/"; +export const ENV_MAP_NAME = "Tropical_Ruins.hdr"; \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/legacy/utils/converted_for_threejs.json 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"@types/react": { + "optional": true + }, + "immer": { + "optional": true + }, + "react": { + "optional": true + }, + "use-sync-external-store": { + "optional": true + } + } + } + } +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/package.json b/GEMstack/onboard/visualization/sr_viz/threeD/package.json new file mode 100644 index 000000000..f86ed25a2 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/package.json @@ -0,0 +1,37 @@ +{ + "name": "cs588_vis", + "version": "0.1.0", + "private": true, + "scripts": { + "dev": "next dev --turbopack", + "build": "next build", + "start": "next start", + "lint": "next lint" + }, + "dependencies": { + "@emotion/react": "^11.14.0", + "@emotion/styled": "^11.14.0", + "@mui/icons-material": "^7.0.2", + "@mui/material": "^7.0.2", + "@react-three/drei": "^10.0.6", + "@react-three/fiber": "^9.1.2", + "cs588_vis": "file:", + "next": "15.3.0", + "react": "^19.0.0", + "react-dom": "^19.0.0", + "react-icons": "^5.5.0", + "three": "^0.175.0", + "urdf-loader": "^0.12.4" + }, + "devDependencies": { + "@eslint/eslintrc": "^3", + "@tailwindcss/postcss": "^4", + "@types/node": "^20", + "@types/react": "^19", + "@types/react-dom": "^19", + "eslint": "^9", + "eslint-config-next": "15.3.0", + "tailwindcss": "^4", + "typescript": "^5" + } +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/postcss.config.mjs b/GEMstack/onboard/visualization/sr_viz/threeD/postcss.config.mjs new file mode 100644 index 000000000..c7bcb4b1e --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/postcss.config.mjs @@ -0,0 +1,5 @@ +const config = { + plugins: ["@tailwindcss/postcss"], +}; + +export default config; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/public/models/model/gem_e2.urdf b/GEMstack/onboard/visualization/sr_viz/threeD/public/models/model/gem_e2.urdf new file mode 100644 index 000000000..1989feab6 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/public/models/model/gem_e2.urdf @@ -0,0 +1,1473 @@ + + + + + + + + Gazebo/Red + + + Gazebo/Red + + + 10000 + 100000000 + 1000000 + 1e8 + 0.001 + 100.0 + Gazebo/Blue + + + 10000 + 100000000 + 1000000 + 1e8 + 0.001 + 100.0 + Gazebo/Blue + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + + + Gazebo/White + + + Gazebo/Grey + + + Gazebo/White + + + + Gazebo/Black + + + Gazebo/Black + + + Gazebo/Black + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/White + + + Gazebo/White + + + Gazebo/Orange + + + Gazebo/Orange + + + Gazebo/Orange + + + Gazebo/Orange + + + Gazebo/Blue + + + Gazebo/Blue + + + Gazebo/Grey + + + Gazebo/Grey + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Red + + + Gazebo/Orange + + + Gazebo/Orange + + + Gazebo/Red + + + + true + gazebo_ros_control/DefaultRobotHWSim 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600 + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 0.0 + stereo/camera + image_raw + camera_info + stereo_camera_link + + + 0.5 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff 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-0,0 +1,26 @@ +@import "tailwindcss"; + +:root { + --background: #ffffff; + --foreground: #171717; +} + +@theme inline { + --color-background: var(--background); + --color-foreground: var(--foreground); + --font-sans: var(--font-geist-sans); + --font-mono: var(--font-geist-mono); +} + +@media (prefers-color-scheme: dark) { + :root { + --background: #0a0a0a; + --foreground: #ededed; + } +} + +body { + background: var(--background); + color: var(--foreground); + font-family: Arial, Helvetica, sans-serif; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/layout.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/layout.tsx new file mode 100644 index 000000000..5ec74caf3 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/layout.tsx @@ -0,0 +1,32 @@ +import type { Metadata } from "next"; +import { Geist, Geist_Mono } from "next/font/google"; +import "./globals.css"; + +const geistSans = Geist({ + variable: "--font-geist-sans", + subsets: ["latin"], +}); + +const geistMono = Geist_Mono({ + variable: "--font-geist-mono", + subsets: ["latin"], +}); + +export const metadata: Metadata = { + title: "CS588 Visualizer", + description: "CS588 3D driving UI in Three.js", +}; + +export default function RootLayout({ + children, +}: { + children: React.ReactNode; +}) { + return ( + + + {children} + + + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx new file mode 100644 index 000000000..9cc8d24b5 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx @@ -0,0 +1,18 @@ +"use client"; + +import ControlPanel from "@/components/ControlPanel"; +import CanvasWrapper from "@/components/CanvasWrapper"; +import Scrubber from "@/components/Scrubber"; +import { usePlaybackTime } from "@/hooks/usePlaybackTime"; + +export default function HomePage() { + const { time, reset, restart, play, togglePlay, speed, setPlaybackSpeed, moveToTime, duration, setDuration } = usePlaybackTime(); + + return ( +
+ + + +
+ ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Agent.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Agent.tsx new file mode 100644 index 000000000..2525cc54c --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Agent.tsx @@ -0,0 +1,56 @@ +"use client"; + +import { useRef, useMemo, useEffect } from "react"; +import { useFrame } from "@react-three/fiber"; +import { Mesh, Object3D, MeshStandardMaterial } from "three"; +import { useGLTF } from "@react-three/drei"; +import { FrameData } from "@/types/FrameData"; +import { currentAgent } from "@/config/agentConfig"; + +interface AgentProps { + id: string; + timeline: FrameData[]; + time: number; +} + +export default function Agent({ id, timeline, time }: AgentProps) { + const ref = useRef(null); + + const { modelPath, scale, rotation, offset, bodyColor } = currentAgent; + + const { scene } = useGLTF(modelPath); + const clonedScene = useMemo(() => scene.clone(true), [scene]); + + useEffect(() => { + clonedScene.traverse((child) => { + if ( + child instanceof Mesh && + child.material instanceof MeshStandardMaterial + ) { + child.material = child.material.clone(); + child.material.color.set(bodyColor); + } + }); + }, [clonedScene, bodyColor]); + + useFrame(() => { + const frame = timeline.find((f) => f.time >= time); + if (frame && ref.current) { + ref.current.position.set(frame.x, 0, frame.y); + ref.current.rotation.y = -frame.yaw; + } + }); + + const hasSpawned = timeline.length > 0 && timeline[0].time <= time; + if (!hasSpawned) return null; + + return ( + } + object={clonedScene} + scale={scale} + rotation={rotation} + position={offset} + /> + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/CanvasWrapper.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/CanvasWrapper.tsx new file mode 100644 index 000000000..91d8d2803 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/CanvasWrapper.tsx @@ -0,0 +1,52 @@ +"use client"; + +import { Canvas } from "@react-three/fiber"; +import React, { useEffect } from "react"; +import { Environment } from "@react-three/drei"; +import { useTimelineStore } from "@/hooks/useTimelineStore"; +import Vehicle from "./Vehicle"; +import Agent from "./Agent"; +import Ground from "./Ground"; + +export default function CanvasWrapper({ + time, + setDuration, +}: { + time: number; + setDuration: (duration: number) => void; +}) { + const { vehicle, agents } = useTimelineStore(); + useEffect(() => { + if (vehicle.length > 0) { + setDuration(vehicle[vehicle.length - 1].time - vehicle[0].time); + } + }, [vehicle]); + const startTime = vehicle.length > 0 ? vehicle[0].time : 0; + const syncedTime = startTime + time; + + return ( + + + + + + {Object.entries(agents).map(([id, timeline]) => ( + + ))} + + + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ControlPanel.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ControlPanel.tsx new file mode 100644 index 000000000..c2b62df99 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ControlPanel.tsx @@ -0,0 +1,89 @@ +"use client"; + +import React, { useState } from "react"; +import { TiUpload } from "react-icons/ti"; +import { RxCross2 } from "react-icons/rx"; +import { buildTimeline } from "@/utils/buildTimeline"; +import { parseLogFile } from "@/utils/parseLogFile"; +import { useTimelineStore } from "@/hooks/useTimelineStore"; +import { TimelineData } from "@/types/TimelineData"; + +export default function ControlPanel({ reset }: { reset: () => void }) { + const [isOpen, setIsOpen] = useState(false); + const [fileName, setFileName] = useState(null); + const setTimeline = useTimelineStore((state) => state.setTimeline); + + const handleFileUpload = async ( + event: React.ChangeEvent + ) => { + const file = event.target.files?.[0]; + if (!file) return; + + setFileName(file.name); + + try { + const entries = await parseLogFile(file); + const timeline: TimelineData = buildTimeline(entries); + setTimeline(timeline); + reset(); // ⏪ Restart animation time + console.log("✅ timeline loaded:", timeline); + } catch (err) { + console.error("❌ Failed to parse log file:", err); + } + }; + + return ( + <> +
+ {isOpen && ( + <> +
+

Control Panel

+ +
+ +
+ +

+ {fileName ? `✅ ${fileName}` : "No file loaded"} +

+
+ +
+

🚧 Feature toggles coming soon...

+
+ + )} +
+ + {!isOpen && ( + + )} + + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Ground.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Ground.tsx new file mode 100644 index 000000000..010a80a8e --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Ground.tsx @@ -0,0 +1,24 @@ +"use client"; + +import React from "react"; +import { groundConfig } from "@/config/groundConfig"; +import { Grid } from "@react-three/drei"; + +export default function Ground() { + return ( + + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Scrubber.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Scrubber.tsx new file mode 100644 index 000000000..459984bf2 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Scrubber.tsx @@ -0,0 +1,98 @@ +"use client"; +import React, { useState, useRef } from "react"; +import { IconButton, Slider, Menu, MenuItem } from "@mui/material"; +import PlayArrowIcon from "@mui/icons-material/PlayArrow"; +import PauseIcon from "@mui/icons-material/Pause"; +import SpeedIcon from "@mui/icons-material/Speed"; +import RefreshIcon from "@mui/icons-material/Refresh"; + +export default function Scrubber({ + time, + play, + togglePlay, + restart, + setPlaybackSpeed, + moveToTime, + duration +}: { + time: number; + play: boolean; + togglePlay: () => void; + restart: () => void; + setPlaybackSpeed: (speed: number) => void; + moveToTime: (time: number) => void; + duration: number; +}) { + const [anchorEl, setAnchorEl] = useState(null); + const [selectedSpeed, setSelectedSpeed] = useState(1); + const speedOptions = [0.5, 1, 1.5, 2, 3]; + const open = Boolean(anchorEl); + const handleClick = (event: React.MouseEvent) => { + setAnchorEl(event.currentTarget); + }; + const handleClose = () => { + setAnchorEl(null); + }; + const handleMenuItemClick = (speed: number) => { + setSelectedSpeed(speed); + setPlaybackSpeed(speed); + handleClose(); + }; + const handleSliderChange = (_: Event, newValue: number | number[]) => { + if (typeof newValue === "number") { + moveToTime(newValue); + } + }; + const formatDuration = (time: number) => { + const minutes = Math.floor(time / 60); + const seconds = Math.floor(time % 60); + return `${minutes < 10 ? "0" : ""}${minutes}:${seconds < 10 ? "0" : ""}${seconds}`; + } + return ( +
+ + {play ? ( + + ) : ( + + )} + +
+
{time < duration ? formatDuration(time) : formatDuration(duration)}
+ +
{formatDuration(duration)}
+
+
+ + + + + {speedOptions.map((speed) => ( + handleMenuItemClick(speed)} + > + {speed}x + + ))} + + + + +
+
+ ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Vehicle.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Vehicle.tsx new file mode 100644 index 000000000..22d55138b --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/Vehicle.tsx @@ -0,0 +1,75 @@ +import React, { useRef, useMemo, useEffect } from "react"; +import * as THREE from "three"; +import { useFrame } from "@react-three/fiber"; +import { useCameraController } from "@/hooks/useCameraController"; +import { currentVehicle } from "@/config/vehicleConfig"; +import { FrameData } from "@/types/FrameData"; +import { OrbitControls } from "@react-three/drei"; +import URDFLoader from "urdf-loader"; + +interface VehicleProps { + timeline: FrameData[]; + time: number; +} + +export default function Vehicle({ timeline, time }: VehicleProps) { + const ref = useRef(null); + const vehicleGroup = useRef(new THREE.Group()); // ← create empty group for the robot + const mode = useCameraController(ref, timeline, time); + + const targetPosition = useMemo(() => new THREE.Vector3(), []); + const targetQuaternion = useMemo(() => new THREE.Quaternion(), []); + + const { modelPath, scale, rotation, offset, bodyColor } = currentVehicle; + + useEffect(() => { + const loader = new URDFLoader(); + + loader.load( + modelPath, + (robot) => { + robot.scale.set(scale[0], scale[1], scale[2]); + robot.rotation.set(rotation[0], rotation[1], rotation[2]); + robot.position.set(offset[0], offset[1], offset[2]); + + robot.traverse((child) => { + if (child instanceof THREE.Mesh && + child.material instanceof THREE.MeshStandardMaterial) { + child.material = child.material.clone(); + child.material.color.set(bodyColor); + } + }); + + if (vehicleGroup.current) { + vehicleGroup.current.add(robot); + } + }, + undefined, + (error) => { + console.error("URDF loading failed", error); + } + ); + }, [modelPath, scale, rotation, offset, bodyColor]); + + useFrame(() => { + if (!ref.current || timeline.length === 0) return; + + const frame = timeline.find((f) => f.time >= time) ?? timeline.at(-1); + if (!frame) return; + + targetPosition.set(frame.x, 0, frame.y); + ref.current.position.lerp(targetPosition, 0.2); + + targetQuaternion.setFromEuler(new THREE.Euler(0, -frame.yaw, 0)); + ref.current.quaternion.slerp(targetQuaternion, 0.2); + }); + + return ( + <> + + + + {mode === "free" && } + + ); +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/agentConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/agentConfig.ts new file mode 100644 index 000000000..8a95fca53 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/agentConfig.ts @@ -0,0 +1,30 @@ +const agentConfig = { + pedestrian: { + name: "Pedestrian", + modelPath: "/models/pedestrian.glb", + scale: [0.2, 0.2, 0.2], + rotation: [0, Math.PI, 0], + offset: [0, 0, 0], + bodyColor: "#808080", + }, + cyclist: { + name: "Cyclist", + modelPath: "/models/cyclist.glb", + scale: [1, 1, 1], + rotation: [0, Math.PI, 0], + offset: [0, 0.1, 0], + bodyColor: "#808080", + }, + vehicle: { + name: "Vehicle", + modelPath: "/models/vehicle.glb", + scale: [1, 1, 1], + rotation: [0, Math.PI, 0], + offset: [0, 0.25, 0], + bodyColor: "#808080", + }, +}; + +const currentAgent = agentConfig.pedestrian; + +export { agentConfig, currentAgent }; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/cameraConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/cameraConfig.ts new file mode 100644 index 000000000..6de374087 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/cameraConfig.ts @@ -0,0 +1,35 @@ +type CameraConfig = { + position: [number, number, number]; + lookAt: [number, number, number]; + damping?: number; +}; + +type CameraConfigMap = { + [key in 'first' | 'chase' | 'top' | 'side' | 'free']: Partial; +}; + +const cameraConfig: CameraConfigMap = { + first: { + position: [0, 1.5, -0.3], // on top of vehicle + lookAt: [2, 1.5, 0], // looking forward (+Z) + damping: 0.1, + }, + chase: { + position: [-6, 3, 0], // behind vehicle + lookAt: [0, 0, 0], // looking at the rear + damping: 0.1, + }, + top: { + position: [0, 10, 0], // overhead + lookAt: [0, 0, 0], // looking forward + damping: 0.1, + }, + side: { + position: [0, 2, 5], // from the right + lookAt: [0, 0, -10], // looking at vehicle side + damping: 0.1, + }, + free: {}, +}; + +export { cameraConfig }; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/groundConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/groundConfig.ts new file mode 100644 index 000000000..d3c653c9f --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/groundConfig.ts @@ -0,0 +1,32 @@ +export interface GroundConfig { + size: [number, number]; + position: [number, number, number]; + rotation: [number, number, number]; + cellSize: number; + cellThickness: number; + cellColor: string; + sectionSize: number; + sectionThickness: number; + sectionColor: string; + fadeDistance: number; + fadeStrength: number; + infiniteGrid: boolean; +} + +const groundConfig: GroundConfig = { + size: [20000, 20000], + position: [0, 0, 0], + rotation: [0, 0, 0], + cellSize: 1, + cellThickness: 0.5, + cellColor: "#000000", + sectionSize: 10, + sectionThickness: 1, + sectionColor: "#000000", + fadeDistance: 100, + fadeStrength: 1, + infiniteGrid: false, +}; + + +export { groundConfig }; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/vehicleConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/vehicleConfig.ts new file mode 100644 index 000000000..f51360701 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/vehicleConfig.ts @@ -0,0 +1,36 @@ +const vehicles = { + gemE4: { + name: "Gem E4", + modelPath: "/models/model/gem_e4.urdf", + scale: [1, 1, 1], + rotation: [-Math.PI / 2, 0, 0], + offset: [0, 0, 0], + bodyColor: "#808080", + }, + roadster: { + name: "Roadster", + modelPath: "/models/roadster.glb", + scale: [1, 1, 1], + rotation: [0, Math.PI / 2, 0], + offset: [0, 0, 0], + bodyColor: "#808080", + }, + suv: { + name: "SUV", + modelPath: "/models/roadster.glb", + scale: [1, 1, 1], + rotation: [0, Math.PI / 2, 0], + bodyColor: "#808080", + }, + truck: { + name: "Truck", + modelPath: "/models/roadster.glb", + scale: [1, 1, 1], + rotation: [0, Math.PI, 0], + bodyColor: "#808080", + }, +}; + +const currentVehicle = vehicles.gemE4; + +export { vehicles, currentVehicle }; diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useCameraController.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useCameraController.ts new file mode 100644 index 000000000..01649c9d3 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useCameraController.ts @@ -0,0 +1,118 @@ +import { useEffect, useState, useRef } from "react"; +import { useThree, useFrame } from "@react-three/fiber"; +import * as THREE from "three"; +import { FrameData } from "@/types/FrameData"; +import { cameraConfig } from "@/config/cameraConfig"; + +type CameraModeKey = "chase" | "top" | "side" | "free" | "first"; + +export function useCameraController( + carRef: React.RefObject, + timeline: FrameData[] = [], + time: number +): CameraModeKey { + const { camera, gl } = useThree(); + const [mode, setMode] = useState("chase"); + const lastMode = useRef("chase"); + const modeRef = useRef("chase"); + + const smoothedPos = useRef(new THREE.Vector3()); + const smoothedLookAt = useRef(new THREE.Vector3()); + + useEffect(() => { + modeRef.current = mode; + }, [mode]); + + // Allow switching between all modes at any time + useEffect(() => { + const handleKey = (e: KeyboardEvent) => { + switch (e.key) { + case "1": + setMode("first"); + break; + case "2": + setMode("chase"); + break; + case "3": + setMode("top"); + break; + case "4": + setMode("side"); + break; + case "5": + lastMode.current = modeRef.current; + setMode("free"); + break; + case "0": + if (lastMode.current !== "free") { + setMode(lastMode.current); + } + break; + } + }; + + window.addEventListener("keydown", handleKey); + return () => window.removeEventListener("keydown", handleKey); + }, []); + + // Switch to free mode on scroll or click + useEffect(() => { + const dom = gl.domElement; + + const activateFreeMode = () => { + if (modeRef.current !== "free") { + lastMode.current = modeRef.current; + setMode("free"); + } + }; + + const onMouseDown = (e: MouseEvent) => { + if (e.button === 0) activateFreeMode(); // Left click + }; + + const onWheel = () => { + activateFreeMode(); // Scroll + }; + + dom.addEventListener("mousedown", onMouseDown); + dom.addEventListener("wheel", onWheel); + + return () => { + dom.removeEventListener("mousedown", onMouseDown); + dom.removeEventListener("wheel", onWheel); + }; + }, [gl.domElement]); + + useFrame(() => { + if (modeRef.current === "free") return; + if (!carRef.current) return; + + // Always fallback to a stable frame if timeline is empty + const frame = + timeline.find((f) => f.time >= time) ?? + timeline.at(-1) ?? + { x: 0, y: 0, yaw: 0 }; + + const config = cameraConfig[modeRef.current]; + if (!config?.position || !config?.lookAt) return; + + const carPos = new THREE.Vector3(frame.x, 0, frame.y); + const carQuat = new THREE.Quaternion().setFromEuler(new THREE.Euler(0, -frame.yaw, 0)); + + const damping = config.damping ?? 0.1; + + // camera offset (relative to vehicle) and final position + const offset = new THREE.Vector3(...config.position).applyQuaternion(carQuat); + const camTargetPos = carPos.clone().add(offset); + smoothedPos.current.lerp(camTargetPos, damping); + camera.position.copy(smoothedPos.current); + + // look at offset + const lookAtOffset = new THREE.Vector3(...config.lookAt).applyQuaternion(carQuat); + const camLookAt = carPos.clone().add(lookAtOffset); + smoothedLookAt.current.lerp(camLookAt, damping); + camera.lookAt(smoothedLookAt.current); + }); + + return mode; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/usePlaybackTime.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/usePlaybackTime.ts new file mode 100644 index 000000000..fda840914 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/usePlaybackTime.ts @@ -0,0 +1,61 @@ +import { useEffect, useRef, useState } from "react"; + +export function usePlaybackTime() { + const [time, setTime] = useState(0); + const [play, setPlay] = useState(true); + const [speed, setSpeed] = useState(1); + const [duration, setDuration] = useState(0); + + const lastFrame = useRef(performance.now()); + + const reset = () => { + lastFrame.current = performance.now(); + setTime(0); + setDuration(0); + setPlay(true); + }; + + const restart = () => { + lastFrame.current = performance.now(); + setTime(0); + setPlay(true); + } + + const togglePlay = () => { + setPlay((prev) => { + if (!prev) lastFrame.current = performance.now(); + return !prev; + }); + }; + + const setPlaybackSpeed = (newSpeed: number) => { + if (newSpeed <= 0) return; + setSpeed(newSpeed); + }; + + const moveToTime = (targetTime: number) => { + setTime(targetTime); + lastFrame.current = performance.now(); + } + + useEffect(() => { + let rafId: number; + + const loop = () => { + rafId = requestAnimationFrame(loop); + + if (!play) return; + + const now = performance.now(); + const delta = (now - lastFrame.current) / 1000; + lastFrame.current = now; + + setTime((t) => t + delta * speed); + }; + + rafId = requestAnimationFrame(loop); + return () => cancelAnimationFrame(rafId); + }, [play, speed]); + + return { time, reset, restart, play, togglePlay, speed, setPlaybackSpeed, moveToTime, duration, setDuration }; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useTimelineStore.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useTimelineStore.ts new file mode 100644 index 000000000..2dd500e93 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useTimelineStore.ts @@ -0,0 +1,8 @@ +import { TimelineStore } from '@/types/TimelineStore'; +import { create } from 'zustand'; + +export const useTimelineStore = create((set) => ({ + vehicle: [], + agents: {}, + setTimeline: (timeline) => set(timeline), +})); diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useVehicleControls.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useVehicleControls.ts new file mode 100644 index 000000000..0dbe955a9 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useVehicleControls.ts @@ -0,0 +1,67 @@ +import { useEffect, useState, useRef } from 'react'; +import { Group, Vector3, Euler } from 'three'; +import { useFrame } from '@react-three/fiber'; + +export function useVehicleControls( + groupRef: React.RefObject, + getSpeed: () => number = () => 1 +) { + const [keys, setKeys] = useState<{ [key: string]: boolean }>({}); + const targetPosition = useRef(new Vector3()); + const targetRotation = useRef(new Euler()); + + useEffect(() => { + const handleKeyDown = (e: KeyboardEvent) => + setKeys((k) => ({ ...k, [e.key.toLowerCase()]: true })); + const handleKeyUp = (e: KeyboardEvent) => + setKeys((k) => ({ ...k, [e.key.toLowerCase()]: false })); + + window.addEventListener('keydown', handleKeyDown); + window.addEventListener('keyup', handleKeyUp); + return () => { + window.removeEventListener('keydown', handleKeyDown); + window.removeEventListener('keyup', handleKeyUp); + }; + }, []); + + const state = { moving: false, direction: 0 }; + + useFrame((_, delta) => { + if (!groupRef.current) return; + + const group = groupRef.current; + const speed = getSpeed(); + const moveDir = new Vector3(); + const currentRotation = group.rotation.clone(); + + state.moving = false; + + const forward = new Vector3(0, 0, 1).applyEuler(currentRotation); + + if (keys['w']) { + moveDir.add(forward); + state.moving = true; + state.direction = 1; + } + if (keys['s']) { + moveDir.sub(forward); + state.moving = true; + state.direction = -1; + } + + moveDir.normalize().multiplyScalar(speed * delta); + targetPosition.current.add(moveDir); + + const steerAmount = 1.5 * delta * (keys['s'] ? -1 : 1); + if (keys['a']) targetRotation.current.y += steerAmount; + if (keys['d']) targetRotation.current.y -= steerAmount; + + // Smooth rotation + group.rotation.y += (targetRotation.current.y - group.rotation.y) * 0.2; + + // Smooth position + group.position.lerp(targetPosition.current, 0.2); + }); + + return state; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/types/FrameData.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/FrameData.ts new file mode 100644 index 000000000..78ea540cd --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/FrameData.ts @@ -0,0 +1,9 @@ +export interface FrameData { + time: number; + x: number; + y: number; + z: number; + yaw: number; + pitch: number; + roll: number; +} \ No newline at end of file diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/types/LogEntry.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/LogEntry.ts new file mode 100644 index 000000000..15b88b363 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/LogEntry.ts @@ -0,0 +1,7 @@ +export interface LogEntry { + key: string; // Top-level key (e.g., "vehicle", "agents", etc.) + type: string; // Inner type (e.g., "VehicleState") + time: number; // Timestamp of the event + data: T; // Full data object (includes pose, velocity, etc.) +} + diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineData.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineData.ts new file mode 100644 index 000000000..81de7652c --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineData.ts @@ -0,0 +1,6 @@ +import { FrameData } from './FrameData'; + +export interface TimelineData { + vehicle: FrameData[]; + agents: Record; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineStore.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineStore.ts new file mode 100644 index 000000000..ed2341de9 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineStore.ts @@ -0,0 +1,5 @@ +import { TimelineData } from './TimelineData'; + +export interface TimelineStore extends TimelineData { + setTimeline: (timeline: TimelineData) => void; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/buildTimeline.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/buildTimeline.ts new file mode 100644 index 000000000..a0a138002 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/buildTimeline.ts @@ -0,0 +1,33 @@ +import { LogEntry } from '@/types/LogEntry'; +import { FrameData } from '@/types/FrameData'; +import { TimelineData } from '@/types/TimelineData'; + +export function buildTimeline(entries: LogEntry[]): TimelineData { + const vehicle: FrameData[] = []; + const agents: Record = {}; + + for (const entry of entries) { + const pose = entry.data?.pose; + if (!pose || typeof pose.x !== 'number' || typeof pose.y !== 'number') continue; + + const frame: FrameData = { + time: entry.time, + x: pose.x, + y: pose.y, + z: pose.z ?? 0, + yaw: pose.yaw ?? 0, + pitch: pose.pitch ?? 0, + roll: pose.roll ?? 0 + }; + + if (entry.key === 'vehicle') { + vehicle.push(frame); + } else { + const key = entry.key.trim(); + if (!agents[key]) agents[key] = []; + agents[key].push(frame); + } + } + + return { vehicle, agents }; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/parseLogFile.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/parseLogFile.ts new file mode 100644 index 000000000..6d879c0aa --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/parseLogFile.ts @@ -0,0 +1,54 @@ +import { LogEntry } from '../types/LogEntry'; +import { streamLogLines } from './streamLogLines'; + +export async function parseLogFile(file: File): Promise { + const entries: LogEntry[] = []; + + for await (const line of streamLogLines(file)) { + try { + const parsed = JSON.parse(line); + const time = parsed.time; + + for (const [key, value] of Object.entries(parsed)) { + if (key === 'time' || typeof value !== 'object' || value === null) continue; + + if ( + key === 'vehicle' && + 'type' in value && + 'data' in value && + (value as any).data?.pose?.frame === 3 + ) { + entries.push({ + key, + type: (value as any).type, + time, + data: (value as any).data, + }); + continue; + } + + if (key === 'agents') { + for (const [agentId, agentValue] of Object.entries(value)) { + if ( + typeof agentValue === 'object' && + agentValue !== null && + 'data' in agentValue && + (agentValue as any).data?.pose?.frame === 1 + ) { + entries.push({ + key: agentId, + type: (agentValue as any).type ?? 'AgentState', + time, + data: (agentValue as any).data, + }); + } + } + } + } + } catch (err) { + console.warn('Failed to parse log line:', err); + } + } + + return entries; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/streamLogLines.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/streamLogLines.ts new file mode 100644 index 000000000..d4c0c5ba8 --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/streamLogLines.ts @@ -0,0 +1,20 @@ +export async function* streamLogLines(file: File): AsyncGenerator { + const reader = file.stream().getReader(); + const decoder = new TextDecoder('utf-8'); + let partial = ''; + + while (true) { + const { value, done } = await reader.read(); + if (done) break; + + partial += decoder.decode(value, { stream: true }); + const lines = partial.split('\n'); + partial = lines.pop() || ''; + + for (const line of lines) { + if (line.trim()) yield line; + } + } + + if (partial.trim()) yield partial; +} diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/tsconfig.json b/GEMstack/onboard/visualization/sr_viz/threeD/tsconfig.json new file mode 100644 index 000000000..c1334095f --- /dev/null +++ b/GEMstack/onboard/visualization/sr_viz/threeD/tsconfig.json @@ -0,0 +1,27 @@ +{ + "compilerOptions": { + "target": "ES2017", + "lib": ["dom", "dom.iterable", "esnext"], + "allowJs": true, + "skipLibCheck": true, + "strict": true, + "noEmit": true, + "esModuleInterop": true, + "module": "esnext", + "moduleResolution": "bundler", + "resolveJsonModule": true, + "isolatedModules": true, + "jsx": "preserve", + "incremental": true, + "plugins": [ + { + "name": "next" + } + ], + "paths": { + "@/*": ["./src/*"] + } + }, + "include": ["next-env.d.ts", "**/*.ts", "**/*.tsx", ".next/types/**/*.ts"], + "exclude": ["node_modules"] +}