Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Update codebase to use Three.js version r88 #202

Merged
merged 32 commits into from
Dec 15, 2017
Merged

Update codebase to use Three.js version r88 #202

Show file tree
Hide file tree
Changes from 12 commits
Commits
Show all changes
32 commits
Select commit Hold shift + click to select a range
8e09982
fix dependencies. and bump patch
jihoonl Dec 6, 2017
03bf58c
fix threejs
jihoonl Dec 6, 2017
fde6a14
Use three@0.88.0
Dec 8, 2017
e3cf789
Use object assign instead of apply. See mrdoob/three.js#8775
Dec 8, 2017
ff8698d
Rename CubeGeometry to BoxGeometry. Changed r65->r66
Dec 8, 2017
26f0cd8
Apply r66->r67
Dec 8, 2017
b261c28
r71->r72 Moved all shadowMap* properties in WebGLRenderer to shadowMa…
Dec 8, 2017
2c1270a
Apply mrdoob/three.js#8775, and use unproject from vector
Dec 8, 2017
7c78133
use project and unproject from vector object
Dec 8, 2017
7a35e01
deal with immutable objects r67->r68
Dec 8, 2017
58bb737
Update highlighting logic
Dec 8, 2017
d35a129
Update built modules
Dec 8, 2017
5adaece
Remove unused projector
Dec 8, 2017
5b6c1d6
update built module
Dec 8, 2017
49de6cf
Fix color material. But please check if #187 break
Dec 8, 2017
c4d1b86
update built module
Dec 11, 2017
b6341f2
Use copy in proper way
Dec 11, 2017
e5d99c2
Remove commented out old code
Dec 11, 2017
87df418
update built module
Dec 11, 2017
1439efb
bump bower version
Dec 12, 2017
44f5e34
Renameing variables in Highlighter
Dec 13, 2017
400c2e8
update built module
Dec 13, 2017
c727ac9
Add the forked verison of collada loader. See comments in the code wh…
Dec 14, 2017
6d4e87f
Assine material only if it is undefined
Dec 14, 2017
7e0c1a7
fix cdn to static
Dec 15, 2017
3d71d5d
set revision as develop
Dec 15, 2017
1d082a4
let Meshresource to use the forked collada loader
Dec 15, 2017
49b82d3
update built module
Dec 15, 2017
587c9ca
Add fixit comment
Dec 15, 2017
3a48e09
update built module
Dec 15, 2017
0ca58f6
Completely remove ColladaLoader2 from ROS3D. ColladaLoader2 no longer…
Dec 15, 2017
2f93d40
remove loader option
Dec 15, 2017
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
171 changes: 76 additions & 95 deletions build/ros3d.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -145,13 +145,11 @@ ROS3D.findClosestPoint = function(targetRay, mouseRay) {
* @returns the closest axis point
*/
ROS3D.closestAxisPoint = function(axisRay, camera, mousePos) {
var projector = new THREE.Projector();

// project axis onto screen
var o = axisRay.origin.clone();
projector.projectVector(o, camera);
o.project(camera);
var o2 = axisRay.direction.clone().add(axisRay.origin);
projector.projectVector(o2, camera);
o2.project(camera);

// d is the axis vector in screen space (d = o2-o)
var d = o2.clone().sub(o);
Expand All @@ -167,7 +165,7 @@ ROS3D.closestAxisPoint = function(axisRay, camera, mousePos) {

// go back to 3d by shooting a ray
var vector = new THREE.Vector3(mp.x, mp.y, 0.5);
projector.unprojectVector(vector, camera);
vector.unproject(camera);
var mpRay = new THREE.Ray(camera.position, vector.sub(camera.position).normalize());

return ROS3D.findClosestPoint(axisRay, mpRay);
Expand Down Expand Up @@ -599,6 +597,7 @@ ROS3D.InteractiveMarker.prototype.moveAxis = function(control, origAxis, event3d
.multiplyScalar(t));
this.setPosition(control, p);


event3d.stopPropagation();
}
};
Expand Down Expand Up @@ -758,7 +757,7 @@ ROS3D.InteractiveMarker.prototype.buttonClick = function(control, event3d) {
* @param event3d - the event that caused this
*/
ROS3D.InteractiveMarker.prototype.setPosition = function(control, position) {
this.position = position;
this.position.copy(position);
this.feedbackEvent('user-pose-change', control);
};

Expand All @@ -770,7 +769,7 @@ ROS3D.InteractiveMarker.prototype.setPosition = function(control, position) {
*/
ROS3D.InteractiveMarker.prototype.setOrientation = function(control, orientation) {
orientation.normalize();
this.quaternion = orientation;
this.quaternion.copy(orientation);
this.feedbackEvent('user-pose-change', control);
};

Expand All @@ -791,8 +790,8 @@ ROS3D.InteractiveMarker.prototype.onServerSetPose = function(event) {
this.position.y = pose.position.y;
this.position.z = pose.position.z;

this.quaternion = new THREE.Quaternion(pose.orientation.x, pose.orientation.y,
pose.orientation.z, pose.orientation.w);
this.quaternion.copy(new THREE.Quaternion(pose.orientation.x, pose.orientation.y,
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

you could probably use set() here, as you did with the other quaternions further down

pose.orientation.z, pose.orientation.w));

this.updateMatrixWorld(true);
}
Expand All @@ -813,7 +812,8 @@ ROS3D.InteractiveMarker.prototype.dispose = function() {
});
};

THREE.EventDispatcher.prototype.apply( ROS3D.InteractiveMarker.prototype );
// THREE.EventDispatcher.prototype.apply( ROS3D.InteractiveMarker.prototype );
Object.assign(ROS3D.InteractiveMarker.prototype, THREE.EventDispatcher.prototype);

/**
* @author David Gossow - dgossow@willowgarage.com
Expand Down Expand Up @@ -1154,7 +1154,7 @@ ROS3D.InteractiveMarkerControl = function(options) {
break;
case ROS3D.INTERACTIVE_MARKER_FIXED:
this.updateMatrixWorld = function(force) {
that.quaternion = that.parent.quaternion.clone().inverse();
that.quaternion.copy(that.parent.quaternion.clone().inverse());
that.updateMatrix();
that.matrixWorldNeedsUpdate = true;
ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call(that, force);
Expand Down Expand Up @@ -1638,7 +1638,8 @@ ROS3D.InteractiveMarkerMenu.prototype.hide = function(event) {
document.body.removeChild(this.menuDomElem);
};

THREE.EventDispatcher.prototype.apply( ROS3D.InteractiveMarkerMenu.prototype );
// THREE.EventDispatcher.prototype.apply( ROS3D.InteractiveMarkerMenu.prototype );
Object.assign(ROS3D.InteractiveMarkerMenu.prototype, THREE.EventDispatcher.prototype);

/**
* @author David Gossow - dgossow@willowgarage.com
Expand Down Expand Up @@ -1721,7 +1722,7 @@ ROS3D.Marker = function(options) {
break;
case ROS3D.MARKER_CUBE:
// set the cube dimensions
var cubeGeom = new THREE.CubeGeometry(message.scale.x, message.scale.y, message.scale.z);
var cubeGeom = new THREE.BoxGeometry(message.scale.x, message.scale.y, message.scale.z);
this.add(new THREE.Mesh(cubeGeom, colorMaterial));
break;
case ROS3D.MARKER_SPHERE:
Expand All @@ -1738,7 +1739,7 @@ ROS3D.Marker = function(options) {
var cylinderGeom = new THREE.CylinderGeometry(0.5, 0.5, 1, 16, 1, false);
var cylinderMesh = new THREE.Mesh(cylinderGeom, colorMaterial);
cylinderMesh.quaternion.setFromAxisAngle(new THREE.Vector3(1, 0, 0), Math.PI * 0.5);
cylinderMesh.scale = new THREE.Vector3(message.scale.x, message.scale.z, message.scale.y);
cylinderMesh.scale.set(message.scale.x, message.scale.z, message.scale.y);
this.add(cylinderMesh);
break;
case ROS3D.MARKER_LINE_STRIP:
Expand Down Expand Up @@ -1816,7 +1817,7 @@ ROS3D.Marker = function(options) {
// add the points
var p, cube, curColor, newMesh;
for (p = 0; p < numPoints; p+=stepSize) {
cube = new THREE.CubeGeometry(message.scale.x, message.scale.y, message.scale.z);
cube = new THREE.BoxGeometry(message.scale.x, message.scale.y, message.scale.z);

// check the color
if(createColors) {
Expand Down Expand Up @@ -1966,7 +1967,7 @@ ROS3D.Marker = function(options) {
vertices : message.points,
colors : message.colors
});
tri.scale = new THREE.Vector3(message.scale.x, message.scale.y, message.scale.z);
tri.scale.set(message.scale.x, message.scale.y, message.scale.z);
this.add(tri);
break;
default:
Expand All @@ -1988,7 +1989,7 @@ ROS3D.Marker.prototype.setPose = function(pose) {
this.position.z = pose.position.z;

// set the rotation
this.quaternion = new THREE.Quaternion(pose.orientation.x, pose.orientation.y,
this.quaternion.set(pose.orientation.x, pose.orientation.y,
pose.orientation.z, pose.orientation.w);
this.quaternion.normalize();

Expand Down Expand Up @@ -2366,11 +2367,12 @@ ROS3D.Arrow = function(options) {
coneGeometry.applyMatrix(m);

// put the arrow together
THREE.GeometryUtils.merge(geometry, coneGeometry);
// DEPRECATED: THREE.GeometryUtils.merge(geometry, coneGeometry);
geometry.merge(coneGeometry);

THREE.Mesh.call(this, geometry, material);

this.position = origin;
this.position.copy(origin);
this.setDirection(direction);
};
ROS3D.Arrow.prototype.__proto__ = THREE.Mesh.prototype;
Expand Down Expand Up @@ -2532,17 +2534,17 @@ ROS3D.Axes = function(options) {

// create the arrow
var arrow = new THREE.Mesh(that.headGeom, material);
arrow.position = axis.clone();
arrow.position.copy(axis);
arrow.position.multiplyScalar(0.95);
arrow.quaternion = rot;
arrow.quaternion.copy(rot);
arrow.updateMatrix();
that.add(arrow);

// create the line
var line = new THREE.Mesh(that.lineGeom, material);
line.position = axis.clone();
line.position.copy(axis);
line.position.multiplyScalar(0.45);
line.quaternion = rot;
line.quaternion.copy(rot);
line.updateMatrix();
that.add(line);
}
Expand Down Expand Up @@ -2658,7 +2660,7 @@ ROS3D.MeshResource = function(options) {
// check for a scale factor in ColladaLoader2
if(loaderType === ROS3D.COLLADA_LOADER_2 && collada.dae.asset.unit) {
var scale = collada.dae.asset.unit;
collada.scene.scale = new THREE.Vector3(scale, scale, scale);
collada.scene.scale.set(scale, scale, scale);
}

// add a texture to anything that is missing one
Expand Down Expand Up @@ -2758,7 +2760,6 @@ ROS3D.TriangleList = function(options) {

geometry.computeBoundingBox();
geometry.computeBoundingSphere();
geometry.computeCentroids();
geometry.computeFaceNormals();

this.add(new THREE.Mesh(geometry, material));
Expand Down Expand Up @@ -3909,11 +3910,7 @@ ROS3D.Urdf = function(options) {

// check for a scale
if(link.visuals[i].geometry.scale) {
mesh.scale = new THREE.Vector3(
visual.geometry.scale.x,
visual.geometry.scale.y,
visual.geometry.scale.z
);
mesh.scale.copy(visual.geometry.scale);
}

// create a scene node with the model
Expand All @@ -3936,7 +3933,7 @@ ROS3D.Urdf = function(options) {
switch (visual.geometry.type) {
case ROSLIB.URDF_BOX:
var dimension = visual.geometry.dimension;
var cube = new THREE.CubeGeometry(dimension.x, dimension.y, dimension.z);
var cube = new THREE.BoxGeometry(dimension.x, dimension.y, dimension.z);
shapeMesh = new THREE.Mesh(cube, colorMaterial);
break;
case ROSLIB.URDF_CYLINDER:
Expand Down Expand Up @@ -4059,7 +4056,8 @@ ROS3D.Highlighter = function(options) {
* @param event - the event that contains the target of the mouseover
*/
ROS3D.Highlighter.prototype.onMouseOver = function(event) {
this.hoverObjs.push(event.currentTarget);
// this.hoverObjs.push(event.currentTarget);
this.highlightObject(event.currentTarget, true);
};

/**
Expand All @@ -4068,64 +4066,45 @@ ROS3D.Highlighter.prototype.onMouseOver = function(event) {
* @param event - the event that contains the target of the mouseout
*/
ROS3D.Highlighter.prototype.onMouseOut = function(event) {
this.hoverObjs.splice(this.hoverObjs.indexOf(event.currentTarget), 1);
// this.hoverObjs.splice(this.hoverObjs.indexOf(event.currentTarget), 1);
this.highlightObject(event.currentTarget, false);
};


/**
* Add all corresponding webgl objects in the given scene and add them to the given render list.
* Highlight and unhighlight the given object
*
* @param scene - the scene to check for webgl objects
* @param objects - the objects list to check
* @param renderList - the list to add to
*/
ROS3D.Highlighter.prototype.getWebglObjects = function(scene, objects, renderList) {
var objlist = scene.__webglObjects;
// get corresponding webgl objects
for ( var c = 0; c < objects.length; c++) {
if (objects[c]) {
for ( var o = objlist.length - 1; o >= 0; o--) {
if (objlist[o].object === objects[c]) {
renderList.push(objlist[o]);
break;
}
* @param object - the target object to (un)highlight
* @param flag - whether to highlight or unhighlight
*/
ROS3D.Highlighter.prototype.highlightObject = function (object, flag) {
if(object.material === undefined) {
if(object.children === undefined) {
return;
}
else {
for(var c = 0 ; c < object.children.length; c++) {
this.highlightObject(object.children[c], flag);
}
// recurse into children
this.getWebglObjects(scene, objects[c].children, renderList);
}
}
};

/**
* Render highlighted objects in the scene.
*
* @param renderer - the renderer to use
* @param scene - the scene to use
* @param camera - the camera to use
*/
ROS3D.Highlighter.prototype.renderHighlight = function(renderer, scene, camera) {
// get webgl objects
var renderList = [];
this.getWebglObjects(scene, this.hoverObjs, renderList);

// define highlight material
scene.overrideMaterial = new THREE.MeshBasicMaterial({
fog : false,
opacity : 0.5,
depthTest : true,
depthWrite : false,
polygonOffset : true,
polygonOffsetUnits : -1,
side : THREE.DoubleSide
});

// swap render lists, render, undo
var oldWebglObjects = scene.__webglObjects;
scene.__webglObjects = renderList;

renderer.render(scene, camera);

scene.__webglObjects = oldWebglObjects;
scene.overrideMaterial = null;
else {
if(flag) {
object.currentMaterial = object.material;
object.material = new THREE.MeshBasicMaterial({
fog : false,
opacity : 0.5,
depthTest : true,
depthWrite : false,
polygonOffset : true,
polygonOffsetUnits : -1,
side : THREE.DoubleSide
});
}
else {
object.material = object.currentMaterial;
}
}
};

/**
Expand Down Expand Up @@ -4199,7 +4178,8 @@ ROS3D.MouseHandler.prototype.processDomEvent = function(domEvent) {
var deviceX = left / target.clientWidth * 2 - 1;
var deviceY = -top / target.clientHeight * 2 + 1;
var vector = new THREE.Vector3(deviceX, deviceY, 0.5);
this.projector.unprojectVector(vector, this.camera);
// DEPRECATED: this.projector.unprojectVector(vector, this.camera);
vector.unproject(this.camera);
// use the THREE raycaster
var mouseRaycaster = new THREE.Raycaster(this.camera.position.clone(), vector.sub(
this.camera.position).normalize());
Expand Down Expand Up @@ -4351,7 +4331,8 @@ ROS3D.MouseHandler.prototype.notify = function(target, type, event3D) {
return 1; // Event Failed
};

THREE.EventDispatcher.prototype.apply( ROS3D.MouseHandler.prototype );
// THREE.EventDispatcher.prototype.apply( ROS3D.MouseHandler.prototype );
Object.assign(ROS3D.MouseHandler.prototype, THREE.EventDispatcher.prototype);

/**
* @author David Gossow - dgossow@willowgarage.com
Expand Down Expand Up @@ -4830,18 +4811,20 @@ ROS3D.OrbitControls.prototype.update = function() {
phi = Math.max(eps, Math.min(Math.PI - eps, phi));

var radius = offset.length();
offset.y = radius * Math.sin(phi) * Math.sin(theta);
offset.z = radius * Math.cos(phi);
offset.x = radius * Math.sin(phi) * Math.cos(theta);
offset.set(
radius * Math.sin(phi) * Math.cos(theta),
radius * Math.sin(phi) * Math.sin(theta),
radius * Math.cos(phi)
);
offset.multiplyScalar(this.scale);

position.copy(this.center).add(offset);

this.camera.lookAt(this.center);

radius = offset.length();
this.axes.position = this.center.clone();
this.axes.scale.x = this.axes.scale.y = this.axes.scale.z = radius * 0.05;
this.axes.position.copy(this.center);
this.axes.scale.set(radius * 0.05, radius * 0.05, radius * 0.05);
this.axes.updateMatrixWorld(true);

this.thetaDelta = 0;
Expand All @@ -4856,7 +4839,8 @@ ROS3D.OrbitControls.prototype.update = function() {
}
};

THREE.EventDispatcher.prototype.apply( ROS3D.OrbitControls.prototype );
// THREE.EventDispatcher.prototype.apply( ROS3D.OrbitControls.prototype );
Object.assign(ROS3D.OrbitControls.prototype, THREE.EventDispatcher.prototype);

/**
* @author Jihoon Lee - jihoonlee.in@gmail.com
Expand Down Expand Up @@ -4973,7 +4957,7 @@ ROS3D.Viewer = function(options) {
this.renderer.setClearColor(parseInt(background.replace('#', '0x'), 16), alpha);
this.renderer.sortObjects = false;
this.renderer.setSize(width, height);
this.renderer.shadowMapEnabled = false;
this.renderer.shadowMap.enabled = false;
this.renderer.autoClear = false;

// create the global scene
Expand Down Expand Up @@ -5049,9 +5033,6 @@ ROS3D.Viewer.prototype.draw = function(){
this.renderer.clear(true, true, true);
this.renderer.render(this.scene, this.camera);

// render any mouseovers
this.highlighter.renderHighlight(this.renderer, this.scene, this.camera);

// draw the frame
this.animationRequestId = requestAnimationFrame(this.draw.bind(this));
};
Expand Down
6 changes: 3 additions & 3 deletions build/ros3d.min.js
View file
Open in desktop

Large diffs are not rendered by default.

Loading