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@MatthijsBurgh
MatthijsBurgh committed Jun 11, 2024
1 parent 21314e9 commit 1bef771
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Showing 4 changed files with 47 additions and 41 deletions.
14 changes: 7 additions & 7 deletions package-lock.json
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2 changes: 1 addition & 1 deletion package.json
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
"dependencies": {
"eventemitter2": "^6.4.0",
"roslib": "^1.0.0",
"three": "~0.120.0"
"three": "~0.125.0"
},
"devDependencies": {
"@rollup/plugin-buble": "^1.0.0",
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12 changes: 6 additions & 6 deletions rollup.config.js
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Original file line number Diff line number Diff line change
Expand Up @@ -46,8 +46,8 @@ export default [
],
plugins: [
nodeResolve({ browser: true }),
commonjs(),
buble(),
commonjs({ strictRequires: true }),
buble({ transforms: { asyncAwait: false, forOf: false } }),
filesize(),
],
},
Expand All @@ -67,8 +67,8 @@ export default [
],
plugins: [
nodeResolve({ browser: true }),
commonjs(),
buble(),
commonjs({ strictRequires: true }),
buble({ transforms: { asyncAwait: false, forOf: false } }),
filesize(),
],
},
Expand All @@ -90,7 +90,7 @@ export default [
],
plugins: [
nodeResolve({ browser: true }),
commonjs(),
commonjs({ strictRequires: true }),
filesize(),
],
},
Expand All @@ -112,7 +112,7 @@ export default [
],
plugins: [
nodeResolve({ browser: true }),
commonjs(),
commonjs({ strictRequires: true }),
filesize(),
terser(),
],
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60 changes: 33 additions & 27 deletions src/markers/Marker.js
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Original file line number Diff line number Diff line change
Expand Up @@ -98,29 +98,31 @@ ROS3D.Marker = function(options) {
this.add(cylinderMesh);
break;
case ROS3D.MARKER_LINE_STRIP:
var lineStripGeom = new THREE.Geometry();
var lineStripGeom = new THREE.BufferGeometry();
var lineStripMaterial = new THREE.LineBasicMaterial({
linewidth : message.scale.x
});

// add the points
var vertices = [];
var j;
for ( j = 0; j < message.points.length; j++) {
var pt = new THREE.Vector3();
pt.x = message.points[j].x;
pt.y = message.points[j].y;
pt.z = message.points[j].z;
lineStripGeom.vertices.push(pt);
vertices.push(message.points[j].x);
vertices.push(message.points[j].y);
vertices.push(message.points[j].z);
}
lineStripGeom.setAttribute('position', new THREE.BufferAttribute(vertices, 3));

// determine the colors for each
if (message.colors.length === message.points.length) {
lineStripMaterial.vertexColors = true;
var colors = [];
for ( j = 0; j < message.points.length; j++) {
var clr = new THREE.Color();
clr.setRGB(message.colors[j].r, message.colors[j].g, message.colors[j].b);
lineStripGeom.colors.push(clr);
colors.push(message.colors[j].r);
colors.push(message.colors[j].g);
colors.push(message.colors[j].b);
}
lineStripGeom.setAttribute('colors', new THREE.BufferAttribute(colors, 3));
} else {
lineStripMaterial.color.setRGB(message.color.r, message.color.g, message.color.b);
}
Expand All @@ -129,29 +131,31 @@ ROS3D.Marker = function(options) {
this.add(new THREE.Line(lineStripGeom, lineStripMaterial));
break;
case ROS3D.MARKER_LINE_LIST:
var lineListGeom = new THREE.Geometry();
var lineListGeom = new THREE.BufferGeometry();
var lineListMaterial = new THREE.LineBasicMaterial({
linewidth : message.scale.x
});

// add the points
var vertices = [];
var k;
for ( k = 0; k < message.points.length; k++) {
var v = new THREE.Vector3();
v.x = message.points[k].x;
v.y = message.points[k].y;
v.z = message.points[k].z;
lineListGeom.vertices.push(v);
vertices.push(message.points[k].x);
vertices.push(message.points[k].y);
vertices.push(message.points[k].z);
}
lineListGeom.setAttribute('position', new THREE.BufferAttribute(vertices, 3));

// determine the colors for each
if (message.colors.length === message.points.length) {
lineListMaterial.vertexColors = true;
var colors = [];
for ( k = 0; k < message.points.length; k++) {
var c = new THREE.Color();
c.setRGB(message.colors[k].r, message.colors[k].g, message.colors[k].b);
lineListGeom.colors.push(c);
colors.push(message.colors[k].r);
colors.push(message.colors[k].g);
colors.push(message.colors[k].b);
}
lineStripGeom.setAttribute('colors', new THREE.BufferAttribute(colors, 3));
} else {
lineListMaterial.color.setRGB(message.color.r, message.color.g, message.color.b);
}
Expand Down Expand Up @@ -225,29 +229,31 @@ ROS3D.Marker = function(options) {
break;
case ROS3D.MARKER_POINTS:
// for now, use a particle system for the lists
var geometry = new THREE.Geometry();
var geometry = new THREE.BufferGeometry();
var material = new THREE.PointsMaterial({
size : message.scale.x
});

// add the points
var vertices = [];
var i;
for ( i = 0; i < message.points.length; i++) {
var vertex = new THREE.Vector3();
vertex.x = message.points[i].x;
vertex.y = message.points[i].y;
vertex.z = message.points[i].z;
geometry.vertices.push(vertex);
vertices.push(message.points[i].x);
vertices.push(message.points[i].y);
vertices.push(message.points[i].z);
}
geometry.setAttribute('position', new THREE.BufferAttribute(vertices, 3));

// determine the colors for each
if (message.colors.length === message.points.length) {
material.vertexColors = true;
var colors = [];
for ( i = 0; i < message.points.length; i++) {
var color = new THREE.Color();
color.setRGB(message.colors[i].r, message.colors[i].g, message.colors[i].b);
geometry.colors.push(color);
colors.push(message.colors[i].r);
colors.push(message.colors[i].g);
colors.push(message.colors[i].b);
}
geometry.setAttribute('colors', new THREE.BufferAttribute(colors, 3));
} else {
material.color.setRGB(message.color.r, message.color.g, message.color.b);
}
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