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Custom frame axes options: scale, dashed lines and no pan&zoom frame #208

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merged 3 commits into from
Feb 2, 2019
Merged

Custom frame axes options: scale, dashed lines and no pan&zoom frame #208

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c125a37
Make configurable scale, and dashed line type; optionally omit pan/zo…
Jan 15, 2018
4469df1
build
Jan 15, 2018
038b972
merge develop
Feb 2, 2019
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80 changes: 64 additions & 16 deletions build/ros3d.js
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Original file line number Diff line number Diff line change
Expand Up @@ -2473,16 +2473,28 @@ ROS3D.Arrow2.prototype.setLength = function ( length, headLength, headWidth ) {
* * shaftRadius (optional) - the radius of the shaft to render
* * headRadius (optional) - the radius of the head to render
* * headLength (optional) - the length of the head to render
* * scale (optional) - the scale of the frame (defaults to 1.0)
* * lineType (optional) - the line type for the axes. Supported line types:
* 'dashed' and 'full'.
* * lineDashLength (optional) - the length of the dashes, relative to the length of the axis.
* Maximum value is 1, which means the dash length is
* equal to the length of the axis. Parameter only applies when
* lineType is set to dashed.
*/
ROS3D.Axes = function(options) {
var that = this;
options = options || {};
var shaftRadius = options.shaftRadius || 0.008;
var headRadius = options.headRadius || 0.023;
var headLength = options.headLength || 0.1;
var scaleArg = options.scale || 1.0;
var lineType = options.lineType || 'full';
var lineDashLength = options.lineDashLength || 0.1;

THREE.Object3D.call(this);

this.scale = new THREE.Vector3(scaleArg, scaleArg, scaleArg);

// create the cylinders for the objects
this.lineGeom = new THREE.CylinderGeometry(shaftRadius, shaftRadius, 1.0 - headLength);
this.headGeom = new THREE.CylinderGeometry(0, headRadius, headLength);
Expand Down Expand Up @@ -2515,12 +2527,29 @@ ROS3D.Axes = function(options) {
that.add(arrow);

// create the line
var line = new THREE.Mesh(that.lineGeom, material);
line.position.copy(axis);
line.position.multiplyScalar(0.45);
line.quaternion.copy(rot);
line.updateMatrix();
that.add(line);
var line;
if (lineType === 'dashed') {
var l = lineDashLength;
for (var i = 0; (l / 2 + 3 * l * i + l / 2) <= 1; ++i) {
var geom = new THREE.CylinderGeometry(shaftRadius, shaftRadius, l);
line = new THREE.Mesh(geom, material);
line.position.copy(axis);
// Make spacing between dashes equal to 1.5 times the dash length.
line.position.multiplyScalar(l / 2 + 3 * l * i);
line.quaternion.copy(rot);
line.updateMatrix();
that.add(line);
}
} else if (lineType === 'full') {
line = new THREE.Mesh(that.lineGeom, material);
line.position.copy(axis);
line.position.multiplyScalar(0.45);
line.quaternion.copy(rot);
line.updateMatrix();
that.add(line);
} else {
console.warn('[ROS3D.Axes]: Unsupported line type. Not drawing any axes.');
}
}

// add the three markers to the axes
Expand Down Expand Up @@ -4367,7 +4396,12 @@ Object.assign(ROS3D.MouseHandler.prototype, THREE.EventDispatcher.prototype);
* @param userZoomSpeed (optional) - the speed for zooming
* @param userRotateSpeed (optional) - the speed for rotating
* @param autoRotate (optional) - if the orbit should auto rotate
* @param autoRotate (optional) - the speed for auto rotating
* @param autoRotateSpeed (optional) - the speed for auto rotating
* @param displayPanAndZoomFrame - whether to display a frame when panning/zooming
* (defaults to true)
* @param lineTypePanAndZoomFrame - line type for the frame that is displayed when
* panning/zooming. Only has effect when
* displayPanAndZoomFrame is set to true.
*/
ROS3D.OrbitControls = function(options) {
THREE.EventDispatcher.call(this);
Expand All @@ -4382,7 +4416,10 @@ ROS3D.OrbitControls = function(options) {
this.userRotateSpeed = options.userRotateSpeed || 1.0;
this.autoRotate = options.autoRotate;
this.autoRotateSpeed = options.autoRotateSpeed || 2.0;

this.displayPanAndZoomFrame = (options.displayPanAndZoomFrame === undefined) ?
true :
!!options.displayPanAndZoomFrame;
this.lineTypePanAndZoomFrame = options.dashedPanAndZoomFrame || 'full';
// In ROS, z is pointing upwards
this.camera.up = new THREE.Vector3(0, 0, 1);

Expand Down Expand Up @@ -4414,17 +4451,19 @@ ROS3D.OrbitControls = function(options) {
};
var state = STATE.NONE;

// add the axes for the main coordinate frame
this.axes = new ROS3D.Axes({
shaftRadius : 0.025,
headRadius : 0.07,
headLength : 0.2
});
// initially not visible
scene.add(this.axes);
this.axes.traverse(function(obj) {
obj.visible = false;
headLength : 0.2,
lineType: this.lineTypePanAndZoomFrame
});
if (this.displayPanAndZoomFrame) {
// initially not visible
scene.add(this.axes);
this.axes.traverse(function(obj) {
obj.visible = false;
});
}

/**
* Handle the mousedown 3D event.
Expand Down Expand Up @@ -4946,6 +4985,11 @@ ROS3D.SceneNode.prototype.unsubscribeTf = function() {
* * antialias (optional) - if antialiasing should be used
* * intensity (optional) - the lighting intensity setting to use
* * cameraPosition (optional) - the starting position of the camera
* * displayPanAndZoomFrame (optional) - whether to display a frame when
* * panning/zooming. Defaults to true.
* * lineTypePanAndZoomFrame - line type for the frame that is displayed when
* * panning/zooming. Only has effect when
* * displayPanAndZoomFrame is set to true.
*/
ROS3D.Viewer = function(options) {
options = options || {};
Expand All @@ -4964,6 +5008,8 @@ ROS3D.Viewer = function(options) {
z : 3
};
var cameraZoomSpeed = options.cameraZoomSpeed || 0.5;
var displayPanAndZoomFrame = (options.displayPanAndZoomFrame === undefined) ? true : !!options.displayPanAndZoomFrame;
var lineTypePanAndZoomFrame = options.lineTypePanAndZoomFrame || 'full';

// create the canvas to render to
this.renderer = new THREE.WebGLRenderer({
Expand All @@ -4987,7 +5033,9 @@ ROS3D.Viewer = function(options) {
// add controls to the camera
this.cameraControls = new ROS3D.OrbitControls({
scene : this.scene,
camera : this.camera
camera : this.camera,
displayPanAndZoomFrame : displayPanAndZoomFrame,
lineTypePanAndZoomFrame: lineTypePanAndZoomFrame
});
this.cameraControls.userZoomSpeed = cameraZoomSpeed;

Expand Down
6 changes: 3 additions & 3 deletions build/ros3d.min.js
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Large diffs are not rendered by default.

41 changes: 35 additions & 6 deletions src/models/Axes.js
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Original file line number Diff line number Diff line change
Expand Up @@ -11,16 +11,28 @@
* * shaftRadius (optional) - the radius of the shaft to render
* * headRadius (optional) - the radius of the head to render
* * headLength (optional) - the length of the head to render
* * scale (optional) - the scale of the frame (defaults to 1.0)
* * lineType (optional) - the line type for the axes. Supported line types:
* 'dashed' and 'full'.
* * lineDashLength (optional) - the length of the dashes, relative to the length of the axis.
* Maximum value is 1, which means the dash length is
* equal to the length of the axis. Parameter only applies when
* lineType is set to dashed.
*/
ROS3D.Axes = function(options) {
var that = this;
options = options || {};
var shaftRadius = options.shaftRadius || 0.008;
var headRadius = options.headRadius || 0.023;
var headLength = options.headLength || 0.1;
var scaleArg = options.scale || 1.0;
var lineType = options.lineType || 'full';
var lineDashLength = options.lineDashLength || 0.1;

THREE.Object3D.call(this);

this.scale = new THREE.Vector3(scaleArg, scaleArg, scaleArg);

// create the cylinders for the objects
this.lineGeom = new THREE.CylinderGeometry(shaftRadius, shaftRadius, 1.0 - headLength);
this.headGeom = new THREE.CylinderGeometry(0, headRadius, headLength);
Expand Down Expand Up @@ -53,12 +65,29 @@ ROS3D.Axes = function(options) {
that.add(arrow);

// create the line
var line = new THREE.Mesh(that.lineGeom, material);
line.position.copy(axis);
line.position.multiplyScalar(0.45);
line.quaternion.copy(rot);
line.updateMatrix();
that.add(line);
var line;
if (lineType === 'dashed') {
var l = lineDashLength;
for (var i = 0; (l / 2 + 3 * l * i + l / 2) <= 1; ++i) {
var geom = new THREE.CylinderGeometry(shaftRadius, shaftRadius, l);
line = new THREE.Mesh(geom, material);
line.position.copy(axis);
// Make spacing between dashes equal to 1.5 times the dash length.
line.position.multiplyScalar(l / 2 + 3 * l * i);
line.quaternion.copy(rot);
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There's a few duplicated lines here - can you refactor the code to move them outside the if-else?

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They are not duplicated, but inside a for loop. The de-duplication would make reasoning about this harder.

line.updateMatrix();
that.add(line);
}
} else if (lineType === 'full') {
line = new THREE.Mesh(that.lineGeom, material);
line.position.copy(axis);
line.position.multiplyScalar(0.45);
line.quaternion.copy(rot);
line.updateMatrix();
that.add(line);
} else {
console.warn('[ROS3D.Axes]: Unsupported line type. Not drawing any axes.');
}
}

// add the three markers to the axes
Expand Down
11 changes: 10 additions & 1 deletion src/visualization/Viewer.js
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,11 @@
* * antialias (optional) - if antialiasing should be used
* * intensity (optional) - the lighting intensity setting to use
* * cameraPosition (optional) - the starting position of the camera
* * displayPanAndZoomFrame (optional) - whether to display a frame when
* * panning/zooming. Defaults to true.
* * lineTypePanAndZoomFrame - line type for the frame that is displayed when
* * panning/zooming. Only has effect when
* * displayPanAndZoomFrame is set to true.
*/
ROS3D.Viewer = function(options) {
options = options || {};
Expand All @@ -36,6 +41,8 @@ ROS3D.Viewer = function(options) {
z : 3
};
var cameraZoomSpeed = options.cameraZoomSpeed || 0.5;
var displayPanAndZoomFrame = (options.displayPanAndZoomFrame === undefined) ? true : !!options.displayPanAndZoomFrame;
var lineTypePanAndZoomFrame = options.lineTypePanAndZoomFrame || 'full';

// create the canvas to render to
this.renderer = new THREE.WebGLRenderer({
Expand All @@ -59,7 +66,9 @@ ROS3D.Viewer = function(options) {
// add controls to the camera
this.cameraControls = new ROS3D.OrbitControls({
scene : this.scene,
camera : this.camera
camera : this.camera,
displayPanAndZoomFrame : displayPanAndZoomFrame,
lineTypePanAndZoomFrame: lineTypePanAndZoomFrame
});
this.cameraControls.userZoomSpeed = cameraZoomSpeed;

Expand Down
28 changes: 19 additions & 9 deletions src/visualization/interaction/OrbitControls.js
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,12 @@
* @param userZoomSpeed (optional) - the speed for zooming
* @param userRotateSpeed (optional) - the speed for rotating
* @param autoRotate (optional) - if the orbit should auto rotate
* @param autoRotate (optional) - the speed for auto rotating
* @param autoRotateSpeed (optional) - the speed for auto rotating
* @param displayPanAndZoomFrame - whether to display a frame when panning/zooming
* (defaults to true)
* @param lineTypePanAndZoomFrame - line type for the frame that is displayed when
* panning/zooming. Only has effect when
* displayPanAndZoomFrame is set to true.
*/
ROS3D.OrbitControls = function(options) {
THREE.EventDispatcher.call(this);
Expand All @@ -29,7 +34,10 @@ ROS3D.OrbitControls = function(options) {
this.userRotateSpeed = options.userRotateSpeed || 1.0;
this.autoRotate = options.autoRotate;
this.autoRotateSpeed = options.autoRotateSpeed || 2.0;

this.displayPanAndZoomFrame = (options.displayPanAndZoomFrame === undefined) ?
true :
!!options.displayPanAndZoomFrame;
this.lineTypePanAndZoomFrame = options.dashedPanAndZoomFrame || 'full';
// In ROS, z is pointing upwards
this.camera.up = new THREE.Vector3(0, 0, 1);

Expand Down Expand Up @@ -61,17 +69,19 @@ ROS3D.OrbitControls = function(options) {
};
var state = STATE.NONE;

// add the axes for the main coordinate frame
this.axes = new ROS3D.Axes({
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this.axes isn't used if displayPanAndZoomFrame is false. Could you move this under if statement? And update showAxes() something like

 if(this.displayPanAndZoomFrame){
 var that = this;                                                                                                                                                                                                                                                           
  this.axes.traverse(function(obj) {                                                                                                   
    obj.visible = true;                                                                                                                
  });                                                                                                                                  
  if (this.hideTimeout) {                                                                                                              
    clearTimeout(this.hideTimeout);                                                                                                    
  }                                                                                                                                    
  this.hideTimeout = setTimeout(function() {                                                                                           
    that.axes.traverse(function(obj) {                                                                                                 
      obj.visible = false;                                                                                                             
    });                                                                                                                                
    that.hideTimeout = false;                                                                                                          
  }, 1000);                                                                                                                            
}

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And line490-492

shaftRadius : 0.025,
headRadius : 0.07,
headLength : 0.2
});
// initially not visible
scene.add(this.axes);
this.axes.traverse(function(obj) {
obj.visible = false;
headLength : 0.2,
lineType: this.lineTypePanAndZoomFrame
});
if (this.displayPanAndZoomFrame) {
// initially not visible
scene.add(this.axes);
this.axes.traverse(function(obj) {
obj.visible = false;
});
}

/**
* Handle the mousedown 3D event.
Expand Down