Merge pull request #9 from johnwason/pr/TesseractViewerFirefox

Fix tesseract_viewer_python on Firefox

Author: johnwason

tesseract_viewer_python/tesseract_viewer/resources/static/tesseract_viewer.js

@@ -45,7 +45,7 @@ class TesseractViewer {
             this._camera.setPosition(new BABYLON.Vector3(2.5, 1.5, -1));
             // Add lights to the scene
             this._light = new BABYLON.HemisphericLight("light1", new BABYLON.Vector3(0, -1, 0), this._scene);
-            this._light.intensity = 0.5
+            this._light.intensity = 0.5;
             this._root = new BABYLON.TransformNode("root0");
             this._root.rotation.x = -1.5707963267948966;
             yield this.updateScene();
@@ -112,10 +112,12 @@ class TesseractViewer {
             // Enable VR
             var ground = BABYLON.MeshBuilder.CreateGround("ground", { width: 10, height: 10 }, this._scene);
             ground.material = new BABYLON.GridMaterial("mat", this._scene);
-            const xrHelper = yield this._scene.createDefaultXRExperienceAsync({
-                // define floor meshes
-                floorMeshes: [ground]
-            });
+            if (navigator.xr !== undefined) {
+                const xrHelper = yield this._scene.createDefaultXRExperienceAsync({
+                    // define floor meshes
+                    floorMeshes: [ground]
+                });
+            }
             ground.visibility = 0.1;
             //vrHelper.enableTeleportation({floorMeshes: [environment.ground]});
         });
@@ -317,7 +319,7 @@ class JointTrajectoryAnimation {
         }
         this._t0 = new Date().getTime() / 1000;
         var _this = this;
-        this._timerid = setInterval(() => _this.intervalCallback(), 100);
+        this._timerid = setInterval(() => _this.intervalCallback(), 50);
     }
     stop() {
         if (this._timerid == 0) {

tesseract_viewer_python/tesseract_viewer/resources/static/tesseract_viewer.ts

@@ -139,10 +139,13 @@ class TesseractViewer {
         // Enable VR
         var ground = BABYLON.MeshBuilder.CreateGround("ground", { width: 10, height: 10 }, this._scene);
         ground.material = new BABYLON.GridMaterial("mat", this._scene);
-        const xrHelper = await this._scene.createDefaultXRExperienceAsync({
-            // define floor meshes
-            floorMeshes: [ground]
-        });
+        if ((navigator as any).xr !== undefined)
+        {
+            const xrHelper = await this._scene.createDefaultXRExperienceAsync({
+                // define floor meshes
+                floorMeshes: [ground]
+            });
+        }
         ground.visibility = 0.1;
         //vrHelper.enableTeleportation({floorMeshes: [environment.ground]});