Support for more mathematical expressions

Author: MorningFrog

CHANGELOG.md

@@ -1,5 +1,23 @@
 # Change Log
 
+## [4.5.0]
+
+增加:
+
+Added:
+
+- 支持更多数学表达式
+
+  Support for more mathematical expressions
+
+优化:
+
+Improved:
+
+- 找不到包时的提示更友好
+
+  More user-friendly prompts when packages are not found
+
 ## [4.4.0]
 
 增加:

README.md

@@ -121,7 +121,17 @@ There are three installation methods:
 
 ## Release Notes
 
-### 4.4.0
+### 4.5.0
+
+Added:
+
+- Support for more mathematical expressions
+
+Improved:
+
+- More user-friendly prompts when packages are not found
+
+### 4.4.x
 
 Added:
 

README_zh-CN.md

@@ -122,7 +122,17 @@ A VSCode extension for visualizing URDF files and xacro files.
 
 ## Release Notes
 
-### 4.4.0
+### 4.5.0
+
+增加:
+
+- 支持更多数学表达式
+
+优化:
+
+- 找不到包时的提示更友好
+
+### 4.4.x
 
 增加:
 

eslint.config.mjs

@@ -10,7 +10,7 @@ export default [{
 
     languageOptions: {
         parser: tsParser,
-        ecmaVersion: 2020,
+        ecmaVersion: 2022,
         sourceType: "module",
     },
 

package.json

@@ -6,7 +6,7 @@
     "type": "git",
     "url": "https://github.com/MorningFrog/urdf-visualizer"
   },
-  "version": "4.4.0",
+  "version": "4.5.0",
   "publisher": "morningfrog",
   "engines": {
     "vscode": "^1.70.0"

src/extension.ts

@@ -9,11 +9,8 @@ import {
     isUrdfOrXacroFile,
     isXacroFile,
 } from "./extension_utils";
-const { XacroParser } = require("xacro-parser");
-const { JSDOM } = require("jsdom");
 const { XMLSerializer, XMLDocument } = require("xmldom");
-
-global.DOMParser = new JSDOM().window.DOMParser;
+import { xacroParser } from "./xacro_parser_instance";
 
 // This method is called when your extension is activated
 // Your extension is activated the very first time the command is executed
@@ -31,20 +28,15 @@ export function activate(context: vscode.ExtensionContext) {
 
     let uriPrefix: string | null = null; // 保存当前文件的 URI 前缀
 
-    const xacroParser = new XacroParser(); // xacro 解析器
     const serializer = new XMLSerializer(); // XML 序列化器
 
-    // 在 xacroParser 中使用 fs 读取文件内容
-    xacroParser.getFileContents = (filePath: string) => {
-        return fs.readFileSync(filePath, { encoding: "utf8" });
-    };
     // 设置 ROS 功能包路径
     xacroParser.rospackCommands = {
         find: function (pkg: string) {
             if (packagesResolved && packagesResolved[pkg]) {
                 return packagesResolved[pkg];
             } else {
-                return "";
+                throw new Error(`Package "${pkg}" not found`);
             }
         },
     };
@@ -70,6 +62,7 @@ export function activate(context: vscode.ExtensionContext) {
                 .catch((error: { message: string }) => {
                     vscode.window.showErrorMessage(error.message);
                 })
+                // @ts-ignore
                 .then((data: XMLDocument) => {
                     sendURDF(serializer.serializeToString(data), workingPath);
                 });

src/webview/module_urdf.ts

@@ -156,17 +156,17 @@ export class ModuleURDF {
         this.loaderURDF.parseVisual = true;
 
         // 设置 manager 报错时的处理
-        this.manager.onError = (url: string) => {
-            // 删除 url 中 `vscode-cdn.net` 及其之前的部分
-            const url_parts = url.split("vscode-cdn.net");
-            if (url_parts.length > 1) {
-                url = url_parts[1];
-            }
-            vscode.postMessage({
-                type: "error",
-                message: `Failed to load ${url}`,
-            });
-        };
+        // this.manager.onError = (url: string) => {
+        //     // 删除 url 中 `vscode-cdn.net` 及其之前的部分
+        //     const url_parts = url.split(this.uriPrefix);
+        //     if (url_parts.length > 1) {
+        //         url = url_parts[1];
+        //     }
+        //     vscode.postMessage({
+        //         type: "error",
+        //         message: `Failed to load ${url}`,
+        //     });
+        // };
 
         // 设置资源处理函数
         this.manager.setURLModifier((url: string): string => {
@@ -695,6 +695,10 @@ export class ModuleURDF {
     }
 
     set packages(packages: { [key: string]: string }) {
+        // 去除末尾的 `/` 或 `\` 后导入 packages
+        for (const key in packages) {
+            packages[key] = packages[key].trimEnd().replace(/[\\/]+$/, "");
+        }
         this.loaderURDF.packages = packages;
     }
 

src/webview/preview.ts

@@ -35,7 +35,7 @@ class Main {
     camera: THREE.PerspectiveCamera;
     renderer: THREE.WebGLRenderer;
     dirLight: THREE.DirectionalLight;
-    ambientLight: THREE.HemisphereLight;
+    ambientLight: THREE.AmbientLight;
     controls: OrbitControls;
 
     // 资源路径前缀

src/webview/threejs_tools.ts

@@ -29,17 +29,11 @@ export function createScene() {
 
     const dirLight = new THREE.DirectionalLight(0xffffff, Math.PI);
     dirLight.position.set(4, 10, 10);
-    dirLight.shadow.mapSize.width = 2048;
-    dirLight.shadow.mapSize.height = 2048;
-    dirLight.shadow.normalBias = 0.001;
     dirLight.castShadow = true;
     scene.add(dirLight);
     scene.add(dirLight.target);
 
-    const ambientLight = new THREE.HemisphereLight("#fff", "#000");
-    ambientLight.groundColor.lerp(ambientLight.color, 0.5 * Math.PI);
-    ambientLight.intensity = 0.5;
-    ambientLight.position.set(0, 0, 1);
+    const ambientLight = new THREE.AmbientLight("#fff", 1.0);
     scene.add(ambientLight);
 
     const controls = new OrbitControls(camera, renderer.domElement);