add initial support for 3d markers with plane movement

src/Ros3D.js

@@ -37,6 +37,9 @@ ROS3D.INTERACTIVE_MARKER_MOVE_AXIS = 3;
 ROS3D.INTERACTIVE_MARKER_MOVE_PLANE = 4;
 ROS3D.INTERACTIVE_MARKER_ROTATE_AXIS = 5;
 ROS3D.INTERACTIVE_MARKER_MOVE_ROTATE = 6;
+ROS3D.INTERACTIVE_MARKER_MOVE_3D = 7;
+ROS3D.INTERACTIVE_MARKER_ROTATE_3D = 8;
+ROS3D.INTERACTIVE_MARKER_MOVE_ROTATE_3D = 9;
 
 // Interactive marker rotation behavior
 ROS3D.INTERACTIVE_MARKER_INHERIT = 0;

src/interactivemarkers/InteractiveMarker.js

@@ -109,6 +109,54 @@ ROS3D.InteractiveMarker.prototype.moveAxis = function(control, origAxis, event3d
   }
 };
 
+
+/**
+ * Move with respect to the plane based on the contorl and event.
+ *
+ * @param control - the control to use
+ * @param origNormal - the normal of the origin
+ * @param event3d - the event that caused this
+ */
+ROS3D.InteractiveMarker.prototype.move3d = function(control, origNormal, event3d) {
+  // by default, move in a plane
+  if (this.dragging) {
+
+    if(control.isShift){
+      // this doesn't work
+      // // use the camera position and the marker position to determine the axis
+      // var newAxis = control.camera.position.clone();
+      // newAxis.sub(this.position);
+      // // now mimic same steps constructor uses to create origAxis
+      // var controlOri = new THREE.Quaternion(newAxis.x, newAxis.y,
+      //     newAxis.z, 1);
+      // controlOri.normalize();
+      // var controlAxis = new THREE.Vector3(1, 0, 0);
+      // controlAxis.applyQuaternion(controlOri);
+      // origAxis = controlAxis;
+    }else{
+      // we want to use the origin plane that is closest to the camera
+      var cameraVector = control.camera.getWorldDirection();
+      var x = Math.abs(cameraVector.x);
+      var y = Math.abs(cameraVector.y);
+      var z = Math.abs(cameraVector.z);
+      var controlOri = new THREE.Quaternion(1, 0, 0, 1);
+      if(y > x && y > z){
+        // orientation for the control
+        controlOri = new THREE.Quaternion(0, 0, 1, 1);
+      }else if(z > x && z > y){
+        // orientation for the control
+        controlOri = new THREE.Quaternion(0, 1, 0, 1);
+      }
+      controlOri.normalize();
+
+      // transform x axis into local frame
+      origNormal = new THREE.Vector3(1, 0, 0);
+      origNormal.applyQuaternion(controlOri);
+      this.movePlane(control, origNormal, event3d);
+    }
+  }
+};
+
 /**
  * Move with respect to the plane based on the contorl and event.
  *

src/interactivemarkers/InteractiveMarkerControl.js

@@ -29,6 +29,8 @@ ROS3D.InteractiveMarkerControl = function(options) {
   this.loader = options.loader;
   this.dragging = false;
   this.startMousePos = new THREE.Vector2();
+  this.isShift = false;
+
 
   // orientation for the control
   var controlOri = new THREE.Quaternion(message.orientation.x, message.orientation.y,
@@ -43,6 +45,9 @@ ROS3D.InteractiveMarkerControl = function(options) {
 
   // determine mouse interaction
   switch (message.interaction_mode) {
+    case ROS3D.INTERACTIVE_MARKER_MOVE_ROTATE_3D:
+    case ROS3D.INTERACTIVE_MARKER_MOVE_3D:
+      this.addEventListener('mousemove', this.parent.move3d.bind(this.parent, this, controlAxis));
     case ROS3D.INTERACTIVE_MARKER_MOVE_AXIS:
       this.addEventListener('mousemove', this.parent.moveAxis.bind(this.parent, this, controlAxis));
       this.addEventListener('touchmove', this.parent.moveAxis.bind(this.parent, this, controlAxis));
@@ -113,6 +118,17 @@ ROS3D.InteractiveMarkerControl = function(options) {
         that.dispatchEvent(event3d);
       }
     });
+
+    window.addEventListener('keydown', function(event){
+      if(event.keyCode === 16){
+        that.isShift = true;
+      }
+    });
+    window.addEventListener('keyup', function(event){
+      if(event.keyCode === 16){
+        that.isShift = false;
+      }
+    });
   }
 
   // rotation behavior