diff --git a/examples/continuousmap.html b/examples/continuousmap.html
index bc81d8d5..e48612d4 100644
--- a/examples/continuousmap.html
+++ b/examples/continuousmap.html
@@ -3,7 +3,7 @@
-
+
diff --git a/examples/depthcloud.html b/examples/depthcloud.html
index 7764c021..95e8a1ba 100644
--- a/examples/depthcloud.html
+++ b/examples/depthcloud.html
@@ -3,7 +3,7 @@
-
+
diff --git a/examples/interactivemarkers.html b/examples/interactivemarkers.html
index d3aa7983..e3071b4a 100644
--- a/examples/interactivemarkers.html
+++ b/examples/interactivemarkers.html
@@ -3,7 +3,7 @@
-
+
diff --git a/examples/kitti.html b/examples/kitti.html
index 0ed42ab9..6deeddc2 100644
--- a/examples/kitti.html
+++ b/examples/kitti.html
@@ -3,7 +3,7 @@
-
+
diff --git a/examples/map.html b/examples/map.html
index 87a3cf8c..6bc5a8d5 100644
--- a/examples/map.html
+++ b/examples/map.html
@@ -3,7 +3,7 @@
-
+
diff --git a/examples/markers.html b/examples/markers.html
index 6f63852e..b2c67b87 100644
--- a/examples/markers.html
+++ b/examples/markers.html
@@ -3,7 +3,7 @@
-
+
diff --git a/examples/navsatfix.html b/examples/navsatfix.html
index 7ca885e1..0e4648ce 100644
--- a/examples/navsatfix.html
+++ b/examples/navsatfix.html
@@ -3,7 +3,7 @@
-
+
diff --git a/examples/octree.html b/examples/octree.html
index da931234..53016c13 100644
--- a/examples/octree.html
+++ b/examples/octree.html
@@ -3,7 +3,7 @@
-
+
diff --git a/examples/pointcloud2.html b/examples/pointcloud2.html
index ed0caa46..b4caf8e3 100644
--- a/examples/pointcloud2.html
+++ b/examples/pointcloud2.html
@@ -3,7 +3,7 @@
-
+
diff --git a/examples/urdf.html b/examples/urdf.html
index 18c3167f..abb03813 100644
--- a/examples/urdf.html
+++ b/examples/urdf.html
@@ -3,7 +3,7 @@
-
+
diff --git a/package-lock.json b/package-lock.json
index 485f8eca..d373b848 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -11,7 +11,7 @@
"dependencies": {
"eventemitter2": "^6.4.0",
"roslib": "^1.0.0",
- "three": "^0.89.0"
+ "three": "~0.120.0"
},
"devDependencies": {
"@rollup/plugin-buble": "^1.0.0",
@@ -7403,9 +7403,9 @@
"dev": true
},
"node_modules/three": {
- "version": "0.89.0",
- "resolved": "https://registry.npmjs.org/three/-/three-0.89.0.tgz",
- "integrity": "sha1-RELYGaYWiHG40ss3rRKiQxDBcPU="
+ "version": "0.120.1",
+ "resolved": "https://registry.npmjs.org/three/-/three-0.120.1.tgz",
+ "integrity": "sha512-ktaCRFUR7JUZcKec+cBRz+oBex5pOVaJhrtxvFF2T7on53o9UkEux+/Nh1g/4zeb4t/pbxIFcADbn/ACu3LC1g=="
},
"node_modules/through": {
"version": "2.3.8",
@@ -14009,9 +14009,9 @@
"dev": true
},
"three": {
- "version": "0.89.0",
- "resolved": "https://registry.npmjs.org/three/-/three-0.89.0.tgz",
- "integrity": "sha1-RELYGaYWiHG40ss3rRKiQxDBcPU="
+ "version": "0.120.1",
+ "resolved": "https://registry.npmjs.org/three/-/three-0.120.1.tgz",
+ "integrity": "sha512-ktaCRFUR7JUZcKec+cBRz+oBex5pOVaJhrtxvFF2T7on53o9UkEux+/Nh1g/4zeb4t/pbxIFcADbn/ACu3LC1g=="
},
"through": {
"version": "2.3.8",
diff --git a/package.json b/package.json
index 6a79c284..6c69c263 100644
--- a/package.json
+++ b/package.json
@@ -9,7 +9,7 @@
"dependencies": {
"eventemitter2": "^6.4.0",
"roslib": "^1.0.0",
- "three": "^0.89.0"
+ "three": "~0.120.0"
},
"devDependencies": {
"@rollup/plugin-buble": "^1.0.0",
diff --git a/src/interactivemarkers/InteractiveMarker.js b/src/interactivemarkers/InteractiveMarker.js
index f4e4f821..d4f3ba95 100644
--- a/src/interactivemarkers/InteractiveMarker.js
+++ b/src/interactivemarkers/InteractiveMarker.js
@@ -212,7 +212,7 @@ ROS3D.InteractiveMarker.prototype.rotateAxis = function(control, origOrientation
// rotates from world to plane coords
var orientationWorld = this.dragStart.orientationWorld.clone().multiply(orientation);
- var orientationWorldInv = orientationWorld.clone().inverse();
+ var orientationWorldInv = orientationWorld.clone().invert();
// rotate original and current intersection into local coords
intersection.sub(rotOrigin);
diff --git a/src/interactivemarkers/InteractiveMarkerControl.js b/src/interactivemarkers/InteractiveMarkerControl.js
index 2af0daea..7f467694 100644
--- a/src/interactivemarkers/InteractiveMarkerControl.js
+++ b/src/interactivemarkers/InteractiveMarkerControl.js
@@ -138,7 +138,7 @@ ROS3D.InteractiveMarkerControl = function(options) {
var posInv = this.parent.position.clone().multiplyScalar(-1);
switch (message.orientation_mode) {
case ROS3D.INTERACTIVE_MARKER_INHERIT:
- rotInv = this.parent.quaternion.clone().inverse();
+ rotInv = this.parent.quaternion.clone().invert();
break;
case ROS3D.INTERACTIVE_MARKER_FIXED:
break;
@@ -231,7 +231,7 @@ ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld = function (force) {
that.currentControlOri.normalize();
break;
case ROS3D.INTERACTIVE_MARKER_FIXED:
- that.quaternion.copy(that.parent.quaternion.clone().inverse());
+ that.quaternion.copy(that.parent.quaternion.clone().invert());
that.updateMatrix();
that.matrixWorldNeedsUpdate = true;
ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call(that, force);
@@ -247,7 +247,7 @@ ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld = function (force) {
ros2Gl.makeRotationFromEuler(rv);
var worldToLocal = new THREE.Matrix4();
- worldToLocal.getInverse(that.parent.matrixWorld);
+ worldToLocal.copy(that.parent.matrixWorld).invert();
cameraRot.multiplyMatrices(cameraRot, ros2Gl);
cameraRot.multiplyMatrices(worldToLocal, cameraRot);
diff --git a/src/models/Arrow.js b/src/models/Arrow.js
index 9714ca0a..f12e2004 100644
--- a/src/models/Arrow.js
+++ b/src/models/Arrow.js
@@ -34,12 +34,12 @@ ROS3D.Arrow = function(options) {
12, 1);
var m = new THREE.Matrix4();
m.setPosition(new THREE.Vector3(0, shaftLength * 0.5, 0));
- geometry.applyMatrix(m);
+ geometry.applyMatrix4(m);
// create the head
var coneGeometry = new THREE.CylinderGeometry(0, headDiameter * 0.5, headLength, 12, 1);
m.setPosition(new THREE.Vector3(0, shaftLength + (headLength * 0.5), 0));
- coneGeometry.applyMatrix(m);
+ coneGeometry.applyMatrix4(m);
// put the arrow together
geometry.merge(coneGeometry);
diff --git a/src/models/TriangleList.js b/src/models/TriangleList.js
index c2138f88..557e0569 100644
--- a/src/models/TriangleList.js
+++ b/src/models/TriangleList.js
@@ -43,7 +43,7 @@ ROS3D.TriangleList = function(options) {
}
geometry.faces.push(faceVert);
}
- material.vertexColors = THREE.VertexColors;
+ material.vertexColors = true;
} else if (colors.length === vertices.length / 3) {
// use per-triangle color
for (i = 0; i < vertices.length; i += 3) {
@@ -51,7 +51,7 @@ ROS3D.TriangleList = function(options) {
faceTri.color.setRGB(colors[i / 3].r, colors[i / 3].g, colors[i / 3].b);
geometry.faces.push(faceTri);
}
- material.vertexColors = THREE.FaceColors;
+ material.vertexColors = true;
} else {
// use marker color
for (i = 0; i < vertices.length; i += 3) {
diff --git a/src/navigation/OcTreeBase.js b/src/navigation/OcTreeBase.js
index ac4c77cf..2a77d388 100644
--- a/src/navigation/OcTreeBase.js
+++ b/src/navigation/OcTreeBase.js
@@ -403,14 +403,14 @@ ROS3D.OcTreeBase.prototype.buildGeometry = function () {
const material = new THREE.MeshBasicMaterial({
color: 'white',
flatShading: true,
- vertexColors: THREE.VertexColors,
+ vertexColors: true,
transparent: this.opacity < 1.0,
opacity: this.opacity
});
- geometry.addAttribute('position', new THREE.BufferAttribute(new Float32Array(vertices), 3));
- geometry.addAttribute('normal', new THREE.BufferAttribute(new Float32Array(normals), 3));
- geometry.addAttribute('color', new THREE.BufferAttribute(new Float32Array(colors), 3));
+ geometry.setAttribute('position', new THREE.BufferAttribute(new Float32Array(vertices), 3));
+ geometry.setAttribute('normal', new THREE.BufferAttribute(new Float32Array(normals), 3));
+ geometry.setAttribute('color', new THREE.BufferAttribute(new Float32Array(colors), 3));
geometry.setIndex(indices);
diff --git a/src/navigation/Path.js b/src/navigation/Path.js
index 2b26d0d0..29c535a1 100644
--- a/src/navigation/Path.js
+++ b/src/navigation/Path.js
@@ -66,9 +66,9 @@ ROS3D.Path.prototype.processMessage = function(message){
lineGeometry.vertices.push(v3);
}
- lineGeometry.computeLineDistances();
var lineMaterial = new THREE.LineBasicMaterial( { color: this.color } );
var line = new THREE.Line( lineGeometry, lineMaterial );
+ // line.computeLineDistances(); // Only needed for LineDashedMaterial
this.sn = new ROS3D.SceneNode({
frameID : message.header.frame_id,
diff --git a/src/navigation/Polygon.js b/src/navigation/Polygon.js
index 9c36edb1..6cdf8225 100644
--- a/src/navigation/Polygon.js
+++ b/src/navigation/Polygon.js
@@ -69,9 +69,11 @@ ROS3D.Polygon.prototype.processMessage = function(message){
v3 = new THREE.Vector3( message.polygon.points[0].x, message.polygon.points[0].y,
message.polygon.points[0].z);
lineGeometry.vertices.push(v3);
- lineGeometry.computeLineDistances();
+
var lineMaterial = new THREE.LineBasicMaterial( { color: this.color } );
var line = new THREE.Line( lineGeometry, lineMaterial );
+ line.computeLineDistances();
+ // line.computeLineDistances(); // Only needed for LineDashedMaterial
this.sn = new ROS3D.SceneNode({
frameID : message.header.frame_id,
diff --git a/src/navigation/PoseArray.js b/src/navigation/PoseArray.js
index 1f5e7c47..952eca81 100644
--- a/src/navigation/PoseArray.js
+++ b/src/navigation/PoseArray.js
@@ -84,10 +84,9 @@ ROS3D.PoseArray.prototype.processMessage = function(message){
lineGeometry.vertices.push(side1.add(v3));
lineGeometry.vertices.push(side2.add(v3));
lineGeometry.vertices.push(tip);
-
- lineGeometry.computeLineDistances();
var lineMaterial = new THREE.LineBasicMaterial( { color: this.color } );
line = new THREE.Line( lineGeometry, lineMaterial );
+ // line.computeLineDistances(); // Only needed for LineDashedMaterial
group.add(line);
}
diff --git a/src/sensors/NavSatFix.js b/src/sensors/NavSatFix.js
index 97be4741..ddb8f42d 100644
--- a/src/sensors/NavSatFix.js
+++ b/src/sensors/NavSatFix.js
@@ -37,7 +37,7 @@ ROS3D.NavSatFix = function(options) {
this.geom = new THREE.BufferGeometry();
this.vertices = new THREE.BufferAttribute(new Float32Array( 6 * this.keep ), 3 );
- this.geom.addAttribute( 'position', this.vertices);
+ this.geom.setAttribute('position', this.vertices);
this.material = material.isMaterial ? material : new THREE.LineBasicMaterial( material );
this.line = new THREE.Line( this.geom, this.material );
this.rootObject.add(this.object3d);
diff --git a/src/sensors/Points.js b/src/sensors/Points.js
index 36648c6e..eae70a89 100644
--- a/src/sensors/Points.js
+++ b/src/sensors/Points.js
@@ -57,7 +57,7 @@ ROS3D.Points.prototype.setup = function(frame, point_step, fields)
this.geom = new THREE.BufferGeometry();
this.positions = new THREE.BufferAttribute( new Float32Array( this.max_pts * 3), 3, false );
- this.geom.addAttribute( 'position', this.positions.setDynamic(true) );
+ this.geom.setAttribute('position', this.positions.setDynamic(true) );
if(!this.colorsrc && this.fields.rgb) {
this.colorsrc = 'rgb';
@@ -66,7 +66,7 @@ ROS3D.Points.prototype.setup = function(frame, point_step, fields)
var field = this.fields[this.colorsrc];
if (field) {
this.colors = new THREE.BufferAttribute( new Float32Array( this.max_pts * 3), 3, false );
- this.geom.addAttribute( 'color', this.colors.setDynamic(true) );
+ this.geom.setAttribute('color', this.colors.setDynamic(true) );
var offset = field.offset;
this.getColor = [
function(dv,base,le){return dv.getInt8(base+offset,le);},
@@ -86,7 +86,7 @@ ROS3D.Points.prototype.setup = function(frame, point_step, fields)
if(!this.material.isMaterial) { // if it is an option, apply defaults and pass it to a PointsMaterial
if(this.colors && this.material.vertexColors === undefined) {
- this.material.vertexColors = THREE.VertexColors;
+ this.material.vertexColors = true;
}
this.material = new THREE.PointsMaterial(this.material);
}
diff --git a/src/visualization/SceneNode.js b/src/visualization/SceneNode.js
index 253e5f38..ac5d9937 100644
--- a/src/visualization/SceneNode.js
+++ b/src/visualization/SceneNode.js
@@ -25,6 +25,7 @@ ROS3D.SceneNode = function(options) {
// Do not render this object until we receive a TF update
this.visible = false;
+ this.layers.disable(0);
// add the model
this.add(object);
@@ -43,6 +44,7 @@ ROS3D.SceneNode = function(options) {
// update the world
this.updatePose(poseTransformed);
this.visible = true;
+ this.layers.enable(0);
};
// listen for TF updates
diff --git a/src/visualization/interaction/Highlighter.js b/src/visualization/interaction/Highlighter.js
index 44541529..781f14f8 100644
--- a/src/visualization/interaction/Highlighter.js
+++ b/src/visualization/interaction/Highlighter.js
@@ -97,6 +97,7 @@ ROS3D.Highlighter.prototype.makeEverythingInvisible = function (scene) {
|| currentObject instanceof THREE.Sprite ) {
currentObject.previousVisibility = currentObject.visible;
currentObject.visible = false;
+ currentObject.layers.disable(0); // Invisible
}
});
};
@@ -113,6 +114,7 @@ ROS3D.Highlighter.prototype.makeHighlightedVisible = function (scene) {
if ( currentObject instanceof THREE.Mesh || currentObject instanceof THREE.Line
|| currentObject instanceof THREE.Sprite ) {
currentObject.visible = true;
+ currentObject.layers.enable(0); // Visible
}
};
@@ -120,6 +122,7 @@ ROS3D.Highlighter.prototype.makeHighlightedVisible = function (scene) {
var selectedObject = this.hoverObjs[uuid];
// Make each selected object and all of its children visible
selectedObject.visible = true;
+ selectedObject.layers.enable(0); // Visible
selectedObject.traverse(makeVisible);
}
};
@@ -134,6 +137,11 @@ ROS3D.Highlighter.prototype.restoreVisibility = function (scene) {
scene.traverse(function(currentObject) {
if (currentObject.hasOwnProperty('previousVisibility')) {
currentObject.visible = currentObject.previousVisibility;
+ if (currentObject.visible) {
+ currentObject.layers.enable(0); // Visible
+ } else {
+ currentObject.layers.disable(0); // Invisible
+ }
}
}.bind(this));
};
diff --git a/src/visualization/interaction/MouseHandler.js b/src/visualization/interaction/MouseHandler.js
index 94a85e81..e5f3c729 100644
--- a/src/visualization/interaction/MouseHandler.js
+++ b/src/visualization/interaction/MouseHandler.js
@@ -71,7 +71,7 @@ ROS3D.MouseHandler.prototype.processDomEvent = function(domEvent) {
var mousePos = new THREE.Vector2(deviceX, deviceY);
var mouseRaycaster = new THREE.Raycaster();
- mouseRaycaster.linePrecision = 0.001;
+ mouseRaycaster.params.Line.threshold = 0.001;
mouseRaycaster.setFromCamera(mousePos, this.camera);
var mouseRay = mouseRaycaster.ray;
diff --git a/src/visualization/interaction/OrbitControls.js b/src/visualization/interaction/OrbitControls.js
index 1c8e0720..d1b11300 100644
--- a/src/visualization/interaction/OrbitControls.js
+++ b/src/visualization/interaction/OrbitControls.js
@@ -81,6 +81,7 @@ ROS3D.OrbitControls = function(options) {
scene.add(this.axes);
this.axes.traverse(function(obj) {
obj.visible = false;
+ obj.layers.disable(0); // Invisible
});
}
@@ -376,6 +377,7 @@ ROS3D.OrbitControls.prototype.showAxes = function() {
this.axes.traverse(function(obj) {
obj.visible = true;
+ obj.layers.enable(0); // Visible
});
if (this.hideTimeout) {
clearTimeout(this.hideTimeout);
@@ -383,6 +385,7 @@ ROS3D.OrbitControls.prototype.showAxes = function() {
this.hideTimeout = setTimeout(function() {
that.axes.traverse(function(obj) {
obj.visible = false;
+ obj.layers.disable(0); // Invisible
});
that.hideTimeout = false;
}, 1000);