3jsbot_forward_kinematics.js

//////////////////////////////////////////////////
/////     FORWARD KINEMATICS
//////////////////////////////////////////////////

// CS148: compute and draw robot kinematics (.xform matrix for each link)
// CS148: compute and draw robot heading and lateral vectors for base movement in plane
// matrix_2Darray_to_threejs converts a 2D JavaScript array to a threejs matrix
//   for example: var tempmat = matrix_2Darray_to_threejs(link.xform);
// simpleApplyMatrix transforms a threejs object by a matrix
//   for example: simpleApplyMatrix(link.geom,tempmat);

/*
CS148: reference code has functions for:

robot_forward_kinematics
traverse_forward_kinematics_link
traverse_forward_kinematics_joint
compute_and_draw_heading
*/