build

javascript/example/bundle/index.js

@@ -60363,10 +60363,13 @@
 
 	        if (this.jointType === v) return;
 	        this._jointType = v;
-
+	        this.matrixWorldNeedsUpdate = true;
 	        switch (v) {
 
 	            case 'fixed':
+	                this.jointValue = [];
+	                break;
+
 	            case 'continuous':
 	            case 'revolute':
 	            case 'prismatic':
@@ -60392,6 +60395,7 @@
 	    }
 
 	    constructor(...args) {
+
 	        super(...args);
 
 	        this.isURDFJoint = true;
@@ -60406,6 +60410,7 @@
 
 	        this.origPosition = null;
 	        this.origQuaternion = null;
+
 	    }
 
 	    /* Overrides */
@@ -60426,6 +60431,7 @@
 	        this.origQuaternion = source.origQuaternion ? source.origQuaternion.clone() : null;
 
 	        return this;
+
 	    }
 
 	    /* Public Functions */
@@ -60452,7 +60458,7 @@
 
 	                let angle = values[0];
 	                if (angle == null) return false;
-	                if (angle === this.jointValue) return false;
+	                if (angle === this.angle) return false;
 
 	                if (!this.ignoreLimits && this.jointType === 'revolute') {
 
@@ -60484,7 +60490,7 @@
 
 	                let pos = values[0];
 	                if (pos == null) return false;
-	                if (pos === this.jointValue) return false;
+	                if (pos === this.angle) return false;
 
 	                if (!this.ignoreLimits) {
 
@@ -60695,11 +60701,21 @@
 	        this.parseCollision = false;
 	        this.packages = '';
 	        this.workingPath = '';
-	        this.fetchOptions = null;
+	        this.fetchOptions = {};
 
 	    }
 
 	    /* Public API */
+	    loadAsync(urdf) {
+
+	        return new Promise((resolve, reject) => {
+
+	            this.load(urdf, resolve, null, reject);
+
+	        });
+
+	    }
+
 	    // urdf:    The path to the URDF within the package OR absolute
 	    // onComplete:      Callback that is passed the model once loaded
 	    load(urdf, onComplete, onProgress, onError) {
@@ -60711,12 +60727,17 @@
 	        const urdfPath = this.manager.resolveURL(urdf);
 
 	        manager.itemStart(urdfPath);
+
 	        fetch(urdfPath, this.fetchOptions)
 	            .then(res => {
+
 	                if (onProgress) {
+
 	                    onProgress(null);
+
 	                }
 	                return res.text();
+
 	            })
 	            .then(data => {
 
@@ -60734,9 +60755,13 @@
 	            .catch(e => {
 
 	                if (onError) {
+
 	                    onError(e);
+
 	                } else {
+
 	                    console.error('URDFLoader: Error loading file.', e);
+
 	                }
 	                manager.itemError(urdfPath);
 	                manager.itemEnd(urdfPath);

javascript/example/bundle/simple.js

@@ -59489,10 +59489,13 @@
 
 	        if (this.jointType === v) return;
 	        this._jointType = v;
-
+	        this.matrixWorldNeedsUpdate = true;
 	        switch (v) {
 
 	            case 'fixed':
+	                this.jointValue = [];
+	                break;
+
 	            case 'continuous':
 	            case 'revolute':
 	            case 'prismatic':
@@ -59518,6 +59521,7 @@
 	    }
 
 	    constructor(...args) {
+
 	        super(...args);
 
 	        this.isURDFJoint = true;
@@ -59532,6 +59536,7 @@
 
 	        this.origPosition = null;
 	        this.origQuaternion = null;
+
 	    }
 
 	    /* Overrides */
@@ -59552,6 +59557,7 @@
 	        this.origQuaternion = source.origQuaternion ? source.origQuaternion.clone() : null;
 
 	        return this;
+
 	    }
 
 	    /* Public Functions */
@@ -59578,7 +59584,7 @@
 
 	                let angle = values[0];
 	                if (angle == null) return false;
-	                if (angle === this.jointValue) return false;
+	                if (angle === this.angle) return false;
 
 	                if (!this.ignoreLimits && this.jointType === 'revolute') {
 
@@ -59610,7 +59616,7 @@
 
 	                let pos = values[0];
 	                if (pos == null) return false;
-	                if (pos === this.jointValue) return false;
+	                if (pos === this.angle) return false;
 
 	                if (!this.ignoreLimits) {
 
@@ -59821,11 +59827,21 @@
 	        this.parseCollision = false;
 	        this.packages = '';
 	        this.workingPath = '';
-	        this.fetchOptions = null;
+	        this.fetchOptions = {};
 
 	    }
 
 	    /* Public API */
+	    loadAsync(urdf) {
+
+	        return new Promise((resolve, reject) => {
+
+	            this.load(urdf, resolve, null, reject);
+
+	        });
+
+	    }
+
 	    // urdf:    The path to the URDF within the package OR absolute
 	    // onComplete:      Callback that is passed the model once loaded
 	    load(urdf, onComplete, onProgress, onError) {
@@ -59837,12 +59853,17 @@
 	        const urdfPath = this.manager.resolveURL(urdf);
 
 	        manager.itemStart(urdfPath);
+
 	        fetch(urdfPath, this.fetchOptions)
 	            .then(res => {
+
 	                if (onProgress) {
+
 	                    onProgress(null);
+
 	                }
 	                return res.text();
+
 	            })
 	            .then(data => {
 
@@ -59860,9 +59881,13 @@
 	            .catch(e => {
 
 	                if (onError) {
+
 	                    onError(e);
+
 	                } else {
+
 	                    console.error('URDFLoader: Error loading file.', e);
+
 	                }
 	                manager.itemError(urdfPath);
 	                manager.itemEnd(urdfPath);