WorldModel3DPluginBase

Declared in world-model-plugin-base.js

Extend this class to implement a custom plugin for the World Model 3D widget as outlined in the code snippet below. A working example - overlay displaying Battery messages as virtual LEDs on the robot - can be found in the Extras repository and also live in our demos.

Static Attributes

static SOURCE_DEFAULT_TOPIC	String | Null	Default topic to select or null (default)
static SOURCE_DESCRIPTION	String (required)	Source description to show in the overlay selector
static SOURCE_MAX_NUM	Number	The maximum number of topics this plugin can handle, -1=unlimited (default)
static SOURCE_TOPIC_TYPE	String (required)	Source topic message type

Instance Attributes

client	BrowserClient	Reference to Browser client
overlays	{ ‘topic’: custom_topic_data }	Custom overlay data by topic
panel	Panel	Reference to widget panel
ui	PanelUI	Reference to the UI
world_model	WorldModel3DWidget	Reference to World Model 3D widget

Methods

constructor( WorldModel3DWidget world_model )
addTopic( String topic )	Add topic to this plugin, called when the user selects a new topic as overlay input
clearAllTopics()	Clear all topics.
clearTopic( String topic )	Clear one topic and all its visuals
clearVisuals( String topic )	Remove all visuals for the topic here
onModelRemoved()	Called when robot’s URDF model is removed of updated
onTopicData( String topic, MsgType msg )	Called when data for the topic is received
onRender()	Called from the widget’s rendering loop
onResize()	Called on panel/window resize
setupMenu( jQuery menu_els )	Setup menu items by adding new lines into the provided menu_els container

Example

custom-world-model-3d-plugin.js

import { WorldModel3DPluginBase } from 'https://bridge.phntm.io/static/widgets/world-model-3d/world-model-plugin-base.js'

export class CustomWorldModel3DPlugin extends WorldModel3DPluginBase {

     static SOURCE_TOPIC_TYPE = 'some_msgs/msg/TopicMsgType'; // set your message type
     static SOURCE_DESCRIPTION = 'Source description'; // show in the overlay selection
     static SOURCE_DEFAULT_TOPIC = null; // default topic id to select or null
     static SOURCE_MAX_NUM = -1; // number of allowed topics, -1=unlimited

     constructor(world_model) {
         super(world_model);
     }

     addTopic(topic) {
         super.addTopic(topic);
         // handle topic add
     }

     setupMenu(menu_els) {
         // add custom menu items to menu_els (jQuery List)
     }

     onTopicData(topic, msg) {
         // process received topic data
     }

     onRender() {
         // called from the widget's rendering loop
     }

     clearVisuals(topic) {
         // clear all topic visuals
     }

     clearTopic(topic) {
         // handle your own topic cleanup
         super.clearTopic(topic);
     }
 }