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Initialize Rapier3D Physics Engine const engine = new SimulationPhysicsEngine(); await engine.init(); // 2. Initialize Three.js WebGL Viewport const viewport = new Viewport3D(viewportContainer); // 3. Initialize Sensor Manager & Hook to Competition Mat const sensors = new VirtualSensorManager(engine.robot); sensors.setMatSampler(viewport.matTexture); // 4. Initialize 3D Robot Visual Representation const robotRenderer = new Robot3DRenderer(); robotRenderer.setSensorManager(sensors); viewport.scene.add(robotRenderer.rootGroup); viewport.setRobotVisualRoot(robotRenderer.rootGroup); // 5. Initialize Mission Elements Manager & Interactive Sandbox Tool (starts with clean field) const missionManager = new MissionManager(); missionManager.init(engine.world, viewport.scene, { loadSampleMechanisms: false, autoLoadSeasonMissions: false, }); const interactionTool = new SandboxInteractionTool(); interactionTool.init(engine.world, viewport.scene); interactionTool.setActive(false); // Inactive until sandbox mode viewport.setInteractionTool(interactionTool); viewport.setMissionManager(missionManager); // Helper to synchronize all mission elements to HUD Asset Drawer const syncHudMissionElements = () => { const allElems = missionManager.getAllElements().map((elem) => ({ id: elem.id, name: elem.name, description: elem.description, sourceFile: elem.sourceFile, isPlacedOnField: elem.isPlacedOnField !== false, position: elem.getPosition(), yawDegrees: elem.getYawDegrees ? elem.getYawDegrees() : 0, isCustom: elem instanceof CustomImportedMissionElement, isDualLocked: elem.isDualLocked ?? (elem instanceof CustomImportedMissionElement ? elem.getIsBaseFixed() : true), })); hud.setMissionElements(allElems, missionManager.getSeasonMissionsStatus()); }; missionManager.onMissionListChanged = syncHudMissionElements; // 6. Initialize Virtual SPIKE Prime API & Python Runner let api = new VirtualSpikeApi(engine, sensors); let runner = new PythonScriptRunner(api); // Setup automatic safety sanity recovery handler engine.onSanityReset = (reason: string) => { runner.abort(); engine.robot.stopAllMotors(); hud.stopAllManualDriving(); sensors.resetYaw(); hud.setExecutionState('ERROR'); hud.logConsole(`⚠️ [Safety Sanity System] Robot reset to Launch Area: ${reason}`); }; // 6. Initialize Simulator HUD & Controls let cadInspector: CadModelInspector; let hud: SimulatorHud; hud = new SimulatorHud(document.body, { onRunScript: async (code: string) => { hud.stopAllManualDriving(); hud.logConsole('Executing SPIKE Python script...'); runner.stepDelayMs = 40; try { await runner.execute( code, (msg) => { hud.logConsole(msg); hud.logCommand('PROGRAM', 'print()', msg); }, (lineNum) => { hud.setExecutingLine(lineNum); }, false ); hud.setExecutionState('IDLE'); hud.clearExecutingLine(); hud.logConsole('Script completed successfully.'); } catch (err: any) { hud.setExecutionState('ERROR'); hud.clearExecutingLine(); hud.logConsole(`Runtime Error: ${err.message || err}`); } finally { engine.robot.stopAllMotors(); } }, onPauseScript: () => { runner.pause(); hud.setExecutionState('PAUSED'); hud.logConsole('⏸ Script execution paused.'); }, onResumeScript: () => { runner.resume(); hud.setExecutionState('RUNNING'); hud.logConsole('▶ Script execution resumed.'); }, onStepScript: async (code?: string) => { if (runner.isPaused) { runner.step(); } else { hud.stopAllManualDriving(); const codeToRun = code || hud.getActiveCode(); runner.stepDelayMs = 0; try { await runner.execute( codeToRun, (msg) => { hud.logConsole(msg); hud.logCommand('PROGRAM', 'print()', msg); }, (lineNum) => { hud.setExecutingLine(lineNum); }, true ); hud.setExecutionState('IDLE'); hud.clearExecutingLine(); hud.logConsole('Script completed successfully.'); } catch (err: any) { hud.setExecutionState('ERROR'); hud.clearExecutingLine(); hud.logConsole(`Runtime Error: ${err.message || err}`); } finally { engine.robot.stopAllMotors(); } } }, onStopScript: () => { runner.abort(); engine.robot.stopAllMotors(); hud.stopAllManualDriving(); hud.clearExecutingLine(); hud.setExecutionState('IDLE'); }, onResetRobot: () => { runner.abort(); engine.robot.stopAllMotors(); hud.stopAllManualDriving(); hud.clearExecutingLine(); const spawnPose = hud.getSpawnPose(); engine.resetRobot(spawnPose); viewport.setRobotYaw(spawnPose.yawDegrees); sensors.resetYaw(); const mappings = hud.getPortMappings(); const isPort = (p: string): p is MotorPort => ['A', 'B', 'C', 'D', 'E', 'F'].includes(p); const left = isPort(mappings.driveLeft) ? mappings.driveLeft : 'A'; const right = isPort(mappings.driveRight) ? mappings.driveRight : 'B'; engine.robot.setDrivePorts?.(left, right); missionManager.resetAll(); hud.setExecutionState('IDLE'); }, onSpawnPoseChange: (pose) => { engine.setDefaultPose(pose); viewport.setRobotYaw(pose.yawDegrees); }, onMoveRobotToPose: (pose, label) => { runner.abort(); engine.robot.stopAllMotors(); hud.stopAllManualDriving(); engine.resetRobot(pose); engine.setDefaultPose(pose); viewport.setRobotYaw(pose.yawDegrees); sensors.resetYaw(); const mappings = hud.getPortMappings(); const isPort = (p: string): p is MotorPort => ['A', 'B', 'C', 'D', 'E', 'F'].includes(p); const left = isPort(mappings.driveLeft) ? mappings.driveLeft : 'A'; const right = isPort(mappings.driveRight) ? mappings.driveRight : 'B'; engine.robot.setDrivePorts?.(left, right); hud.setExecutionState('IDLE'); hud.setSpawnPose(pose); const targetName = label || `(X=${pose.x.toFixed(2)}m, Z=${pose.z.toFixed(2)}m, Yaw=${pose.yawDegrees.toFixed(1)}°)`; hud.logConsole(`⏹ Stopped run and relocated robot to: ${targetName}`); }, onCaptureCurrentPose: () => { const pos = engine.robot.getPosition(); const yaw = engine.robot.getYawDegrees(); const pose = { x: Number(pos.x.toFixed(2)), y: 0.035, z: Number(pos.z.toFixed(2)), yawDegrees: Number(yaw.toFixed(1)), }; hud.setSpawnPose(pose); engine.setDefaultPose(pose); viewport.setRobotYaw(pose.yawDegrees); hud.logConsole(`📌 Captured current pose: X=${pose.x}m, Z=${pose.z}m, Yaw=${pose.yawDegrees}°`); }, onCameraChange: (preset) => { viewport.setCameraPreset(preset); }, onMapChange: async (mapType) => { hud.logConsole(`Loading map "${mapType}"...`); await viewport.matTexture.loadMap(mapType); hud.logConsole(`Map updated.`); }, onImportFile: async (file: File) => { hud.logConsole(`Loading robot model "${file.name}"...`); try { let spec; if (file.name.endsWith('.io')) { const buffer = await file.arrayBuffer(); spec = await LDrawImporter.parseStudioIo(buffer); } else { const text = await file.text(); const parsed = LDrawImporter.parseLDrawText(text, file.name); const { CadClusteringPreSolver } = await import('./cad/clustering-solver'); spec = CadClusteringPreSolver.solve(parsed); } // Re-spawn robot with imported CAD specification await engine.init(spec); hud.logConsole(`Imported robot "${file.name}" successfully! Clustered into ${spec.clusters.length} rigid bodies.`); } catch (err: any) { hud.logConsole(`Robot CAD Import Failed: ${err.message || err}`); } }, onImportMissionElement: async (file: File) => { hud.logConsole(`Importing mission model "${file.name}" into asset library...`); try { let spec; if (file.name.endsWith('.io')) { const buffer = await file.arrayBuffer(); spec = await LDrawImporter.parseStudioIo(buffer); } else { const text = await file.text(); const parsed = LDrawImporter.parseLDrawText(text, file.name); const { CadClusteringPreSolver } = await import('./cad/clustering-solver'); spec = CadClusteringPreSolver.solve(parsed); } const customElem = new CustomImportedMissionElement(spec, { id: `custom_${Date.now()}`, name: file.name.replace(/\.[^/.]+$/, ''), description: `Imported Studio/LDraw model (${file.name})`, sourceFile: file.name, isBaseFixed: spec.clusters.length > 1, }); // Place on field mat customElem.init(missionManager.getWorld(), { x: 0.10, y: 0.002, z: 0.20 }, 0); missionManager.registerCustomElement(customElem); syncHudMissionElements(); viewport.selectMissionElement(customElem.id); hud.logConsole(`✅ Imported mission model "${file.name}"! Added to field and asset library.`); } catch (err: any) { hud.logConsole(`Mission Model Import Failed: ${err.message || err}`); } }, onImportSpikeScratch: async (file: File) => { hud.logConsole(`🎯 Loaded SPIKE program "${file.name}" into Word Blocks editor.`); }, onResetAllMissions: () => { missionManager.resetAll(); interactionTool.resetAll(); syncHudMissionElements(); hud.logConsole('🔄 Reset all mission elements back to starting idle state.'); }, onElementTransformChange: (id, x, z, yaw) => { missionManager.setElementTransform(id, { x, y: 0.002, z }, yaw); viewport.updateElementTransform(id, { x, y: 0.002, z }, yaw); }, onElementTogglePlaced: (id, placed) => { missionManager.setElementPlaced(id, placed); if (placed) { viewport.selectMissionElement(id); } syncHudMissionElements(); hud.logConsole(`${placed ? 'Deployed' : 'Stowed'} element "${id}" ${placed ? 'on field' : 'in drawer'}.`); }, onElementDelete: (id) => { missionManager.removeElement(id); syncHudMissionElements(); viewport.selectMissionElement(null); hud.logConsole(`Removed mission element "${id}".`); }, onElementFocus: (id) => { const elem = missionManager.getElement(id); if (elem) { viewport.selectMissionElement(id); viewport.focusOnElement(elem.getPosition()); } }, onFocusTarget: (target) => { if (target === 'robot') { viewport.selectMissionElement(null); viewport.focusOnElement(engine.robot.getPosition()); } else if (target === 'center') { viewport.selectMissionElement(null); viewport.focusOnElement({ x: 0, y: 0.05, z: 0 }); } else { const elem = missionManager.getElement(target); if (elem) { viewport.selectMissionElement(target); viewport.focusOnElement(elem.getPosition()); } } }, onToggleSeasonMission: async (id, enable) => { hud.logConsole(`${enable ? 'Loading' : 'Unloading'} season mission ${id}...`); try { await missionManager.toggleSeasonMission(id, enable); syncHudMissionElements(); hud.logConsole(`✅ Season mission ${id} ${enable ? 'loaded onto mat' : 'unloaded'}.`); } catch (err: any) { hud.logConsole(`Failed to toggle season mission ${id}: ${err.message || err}`); } }, onApplyMissionPreset: async (presetKey) => { hud.logConsole(`Applying mission preset "${presetKey}"...`); try { const loadedIds = await missionManager.applyMissionPreset(presetKey); syncHudMissionElements(); hud.logConsole(`✅ Applied preset "${presetKey}": ${loadedIds.length > 0 ? loadedIds.join(', ') : 'None (cleared)'} active on mat.`); } catch (err: any) { hud.logConsole(`Failed to apply mission preset: ${err.message || err}`); } }, onOpenInspector: (missionId?: string) => { const activePreset = hud ? hud.getActiveRobotPreset() : 'advanced'; const targetId = missionId || (activePreset === 'compact' ? 'ROBOT_COMPACT' : 'ROBOT_DROIDBOT'); if (targetId === 'ROBOT_DROIDBOT') { cadInspector.open('ROBOT_DROIDBOT'); cadInspector.inspectSpec(getFllAdvanceDrivingBaseSpec(), 'DroidBot-E Advance Driving Base', 'ROBOT_DROIDBOT'); } else if (targetId === 'ROBOT_COMPACT') { cadInspector.open('ROBOT_COMPACT'); cadInspector.inspectSpec(getFllCompactDrivingBaseSpec(), 'Compact SPIKE Prime Base', 'ROBOT_COMPACT'); } else { const elem = missionManager.getElement(targetId); if (elem && (elem as any).spec) { cadInspector.open(targetId); cadInspector.inspectSpec((elem as any).spec, elem.name, elem.id); } else { cadInspector.open(targetId); } } }, onModeChange: (mode) => { missionManager.setMode(mode); viewport.setMode(mode); syncHudMissionElements(); if (mode === 'ARENA') { interactionTool.setActive(false); viewport.setCameraPreset('ISO'); engine.setRobotStationary(false); const spawnPose = hud.getSpawnPose(); engine.resetRobot(spawnPose); viewport.setRobotYaw(spawnPose.yawDegrees); hud.logConsole('Switched to Competition Arena (4x8 ft mat).'); } else { interactionTool.setActive(true); hud.setPusherActive(true); if (mode === 'SANDBOX_RISER') { interactionTool.setPusherInitialPose({ x: -0.22, y: 0.02, z: 0.0 }); } else if (mode === 'SANDBOX_DIAL') { interactionTool.setPusherInitialPose({ x: 0.12, y: 0.02, z: 0.08 }); } else if (mode === 'SANDBOX_CASCADE') { interactionTool.setPusherInitialPose({ x: -0.045, y: 0.02, z: 0.08 }); } viewport.focusOnElement({ x: 0, y: 0.05, z: 0 }); if (hud.isDynoModeActive()) { engine.setRobotStationary(true); engine.resetRobot({ x: 0.30, y: 0.035, z: 0.0, yawDegrees: -90 }); viewport.setRobotYaw(-90); } else { engine.resetRobot({ x: 0, y: -20, z: 0, yawDegrees: 0 }); } hud.logConsole(`Switched to Sandbox Mode. Mouse pusher tool active.`); } }, onTogglePusherTool: (active) => { interactionTool.setActive(active); }, onSpawnTestBlock: () => { interactionTool.spawnTestBlock(); }, onToggleDynoMode: (active) => { engine.setRobotStationary(active); if (missionManager.currentMode !== 'ARENA') { if (active) { engine.resetRobot({ x: 0.30, y: 0.035, z: 0.0, yawDegrees: -90 }); viewport.setRobotYaw(-90); hud.logConsole('Robot mounted on Workbench Dyno Jig (facing mechanism, pinned in place).'); } else { engine.resetRobot({ x: 0, y: -20, z: 0, yawDegrees: 0 }); hud.logConsole('Robot parked off-stage (workbench cleared).'); } } }, onResetMission: () => { missionManager.resetCurrent(); interactionTool.resetAll(); syncHudMissionElements(); if (missionManager.currentMode === 'SANDBOX_RISER') { interactionTool.setPusherInitialPose({ x: -0.22, y: 0.02, z: 0.0 }); } else if (missionManager.currentMode === 'SANDBOX_DIAL') { interactionTool.setPusherInitialPose({ x: 0.12, y: 0.02, z: 0.08 }); } else if (missionManager.currentMode === 'SANDBOX_CASCADE') { interactionTool.setPusherInitialPose({ x: -0.15, y: 0.02, z: 0.15 }); } if (missionManager.currentMode !== 'ARENA' && hud.isDynoModeActive()) { engine.resetRobot({ x: 0.30, y: 0.035, z: 0.0, yawDegrees: -90 }); viewport.setRobotYaw(-90); } }, onToggleDualLockTool: (active, eraseMode) => { viewport.setDualLockToolActive(active, eraseMode); }, onToggleDualLockSelected: () => { const selected = viewport.getSelectedElement(); if (selected) { const willLock = !selected.isDualLocked; if (selected.setDualLocked) { selected.setDualLocked(willLock); } hud.setSelectedElement(selected.id, willLock, selected.name); hud.showFastenerStatus(`${willLock ? '🔒 Dual-Locked' : '🔓 Unfastened'}: "${selected.name}"`); hud.logConsole(`${willLock ? '🔒 [Dual Lock] Fastened' : '🔓 [Dual Lock] Unfastened'} "${selected.name}".`); syncHudMissionElements(); } }, onToggleDualLockElement: (id) => { const elem = missionManager.getElement(id); if (elem) { const willLock = !elem.isDualLocked; if (elem.setDualLocked) { elem.setDualLocked(willLock); } if (viewport.getSelectedElement()?.id === id) { hud.setSelectedElement(id, willLock, elem.name); } hud.showFastenerStatus(`${willLock ? '🔒 Dual-Locked' : '🔓 Unfastened'}: "${elem.name}"`); hud.logConsole(`${willLock ? '🔒 [Dual Lock] Fastened' : '🔓 [Dual Lock] Unfastened'} "${elem.name}".`); syncHudMissionElements(); } }, onSaveFieldLayout: () => { const layout = FieldLayoutManager.saveCurrentLayout(missionManager.getAllElements()); const lockedCount = layout.elements.filter((e) => e.isDualLocked).length; hud.showFastenerStatus(`💾 Layout saved (${layout.elements.length} objects, ${lockedCount} Dual-Locked)`); hud.logConsole(`💾 [Layout] Saved custom field layout (${layout.elements.length} objects, ${lockedCount} Dual-Locked) to browser storage.`); }, onLoadFieldLayout: async () => { const saved = FieldLayoutManager.loadSavedLayout(); if (!saved) { hud.showFastenerStatus('⚠️ No saved layout found in browser storage'); hud.logConsole('⚠️ [Layout] No saved field layout found in local storage.'); return; } const { restoredCount, dualLockedCount } = await FieldLayoutManager.applyLayout(saved, missionManager); syncHudMissionElements(); hud.showFastenerStatus(`📂 Restored layout (${restoredCount} objects, ${dualLockedCount} Dual-Locked)`); hud.logConsole(`📂 [Layout] Restored field layout (${restoredCount} objects, ${dualLockedCount} Dual-Locked).`); }, onExportFieldLayout: () => { const layout = FieldLayoutManager.saveCurrentLayout(missionManager.getAllElements()); FieldLayoutManager.exportLayoutToFile(layout); hud.logConsole(`📥 [Layout] Exported layout file "fll-competition-layout.json".`); }, onImportFieldLayout: async (file) => { try { const data = await FieldLayoutManager.importLayoutFromFile(file); const { restoredCount, dualLockedCount } = await FieldLayoutManager.applyLayout(data, missionManager); syncHudMissionElements(); hud.showFastenerStatus(`📤 Imported layout "${file.name}"`); hud.logConsole(`📤 [Layout] Successfully imported layout "${file.name}" (${restoredCount} objects, ${dualLockedCount} Dual-Locked).`); } catch (err: any) { hud.logConsole(`❌ [Layout] Import failed: ${err.message || err}`); } }, onDualLockAllBases: () => { let count = 0; for (const elem of missionManager.getAllElements()) { if (elem.setDualLocked) { elem.setDualLocked(true); count++; } } syncHudMissionElements(); hud.showFastenerStatus(`🔒 Dual-Locked all ${count} objects`); hud.logConsole(`🔒 [Dual Lock] Fastened all ${count} objects to the field mat.`); }, onUnlockAllElements: () => { let count = 0; for (const elem of missionManager.getAllElements()) { if (elem.setDualLocked) { elem.setDualLocked(false); count++; } } syncHudMissionElements(); hud.showFastenerStatus(`🔓 Released all ${count} objects (Dynamic)`); hud.logConsole(`🔓 [Dual Lock] Released all ${count} objects to dynamic physics.`); }, onManualDriveBase: (leftSpeed: number, rightSpeed: number) => { engine.robot.setDriveSpeeds(leftSpeed, rightSpeed); hud.logCommand( 'DRIVE', 'WASD Keys', `DriveBase commanded: Left=${leftSpeed > 0 ? '+' : ''}${leftSpeed.toFixed(0)}%, Right=${rightSpeed > 0 ? '+' : ''}${rightSpeed.toFixed(0)}%` ); }, onManualDriveBaseStop: () => { engine.robot.setDriveSpeeds(0, 0); hud.logCommand('STOP', 'WASD Release', 'DriveBase stopped: Electromagnetic brake engaged (Left=0%, Right=0%)'); }, onManualMotorSpeed: (port, speed) => { engine.robot.setMotorSpeed(port, speed); hud.logCommand('MOTOR', `Port ${port}`, `Speed commanded: ${speed > 0 ? '+' : ''}${speed.toFixed(0)}%`); }, onManualMotorStop: (port) => { engine.robot.stopMotor(port); hud.logCommand('STOP', `Port ${port}`, `Motor stopped: Brake engaged`); }, onResetEncoders: () => { for (const m of engine.robot.motors.values()) { m.resetDegrees(); } hud?.logConsole?.('🔄 Zeroed all virtual motor encoders.'); hud?.logCommand?.('CMD', 'UI Button', 'Zeroed all motor encoders to 0.0°'); }, onResetGyro: () => { sensors.resetYaw(); hud?.logConsole?.('🧭 Zeroed Gyro heading to 0.0°.'); hud?.logCommand?.('CMD', 'UI Button', 'Calibrated and zeroed Gyro IMU heading to 0.0°'); }, onRobotPresetChange: (preset) => { robotRenderer.setRobotPreset(preset); hud?.logConsole?.( `🤖 Field robot visual model updated to: ${ preset === 'advanced' ? 'DroidBot-E (Dual Color Sensors + Ultrasonic + Articulated Motor Arms)' : 'Compact SPIKE Base (Single Color Sensor)' }` ); }, onPortMappingChange: (mappings) => { const isPort = (p: string): p is MotorPort => ['A', 'B', 'C', 'D', 'E', 'F'].includes(p); const left = isPort(mappings.driveLeft) ? mappings.driveLeft : 'A'; const right = isPort(mappings.driveRight) ? mappings.driveRight : 'B'; engine.robot.setDrivePorts?.(left, right); hud?.logConsole?.(`⚙️ Updated drive wheel ports: Left=[${left}], Right=[${right}]`); }, }); // Sync initial robot visual preset and port mappings with HUD saved state robotRenderer.setRobotPreset(hud.getActiveRobotPreset()); const initialPortMappings = hud.getPortMappings(); const isPort = (p: string): p is MotorPort => ['A', 'B', 'C', 'D', 'E', 'F'].includes(p); const initLeft = isPort(initialPortMappings.driveLeft) ? initialPortMappings.driveLeft : 'A'; const initRight = isPort(initialPortMappings.driveRight) ? initialPortMappings.driveRight : 'B'; engine.robot.setDrivePorts?.(initLeft, initRight); engine.robot.onBrakeEngaged = () => { hud.logCommand('BRAKE', 'Physics Engine', 'Active electromagnetic brake: Chassis & wheels clamped (0.00 Nm torque)'); }; // 7. Initialize CAD Model Inspector & Diagnostic Validator cadInspector = new CadModelInspector({ onDeployToField: async (missionId: string, customSpec?: RobotAssemblySpec) => { await missionManager.toggleSeasonMission(missionId, true, customSpec); syncHudMissionElements(); viewport.selectMissionElement(missionId); const elem = missionManager.getElement(missionId); if (elem) { viewport.focusOnElement(elem.getPosition()); } hud.logConsole(`🚀 Deployed inspected mission "${missionId}" to field mat.`); }, onToggleSolidMode: (missionId: string, solid: boolean) => { const elem = missionManager.getElement(missionId); if (elem && elem instanceof CustomImportedMissionElement) { elem.setSolidRigidMode(solid); hud.logConsole(`⚙️ Set mission "${missionId}" physics mode: ${solid ? 'Solid Anchor' : 'Articulated Physics'}`); } }, }); // Initialize HUD spawn inputs with default pose const defaultPose = engine.getDefaultPose(); hud.setSpawnPose(defaultPose); viewport.setRobotYaw(defaultPose.yawDegrees); syncHudMissionElements(); // Hook 3D Viewport Interactive Drag-and-Drop Placement & Rotation viewport.onRobotDragStart = () => { runner.abort(); engine.robot.stopAllMotors(); hud.setExecutionState('IDLE'); }; viewport.onRobotRotate = (yawDegrees: number) => { const currentPose = hud.getSpawnPose(); const updatedPose = { ...currentPose, yawDegrees }; engine.resetRobot(updatedPose); engine.setDefaultPose(updatedPose); hud.setSpawnPose(updatedPose); }; viewport.onRobotDragMove = (x: number, z: number, yawDegrees?: number) => { const currentPose = hud.getSpawnPose(); const liveYaw = yawDegrees !== undefined ? yawDegrees : currentPose.yawDegrees; const livePose = { x: Number(x.toFixed(2)), y: 0.035, z: Number(z.toFixed(2)), yawDegrees: liveYaw, }; engine.resetRobot(livePose); viewport.updateReticleYaw(liveYaw); hud.setSpawnPose(livePose); }; viewport.onRobotDrop = (x: number, z: number, yawDegrees?: number) => { runner.abort(); engine.robot.stopAllMotors(); hud.setExecutionState('IDLE'); const currentPose = hud.getSpawnPose(); const finalYaw = yawDegrees !== undefined ? yawDegrees : currentPose.yawDegrees; const newPose = { x: Number(x.toFixed(2)), y: 0.035, z: Number(z.toFixed(2)), yawDegrees: finalYaw, }; engine.resetRobot(newPose); engine.setDefaultPose(newPose); hud.setSpawnPose(newPose); viewport.setRobotYaw(finalYaw); sensors.resetYaw(); hud.logConsole(`📍 Robot placed at (X: ${newPose.x}m, Z: ${newPose.z}m) Heading: ${newPose.yawDegrees}°.`); }; // Hook Mission Element 3D Drag & Drop Placement viewport.onElementDragMove = (_id: string, _x: number, _z: number, _yaw: number) => { syncHudMissionElements(); }; viewport.onElementDrop = (id: string, x: number, z: number, yaw: number) => { syncHudMissionElements(); hud.logConsole(`📍 Placed mission element "${id}" at (X: ${x.toFixed(2)}m, Z: ${z.toFixed(2)}m) Yaw: ${yaw.toFixed(0)}°`); }; viewport.onElementSelected = (id: string | null) => { if (id) { const elem = missionManager.getElement(id); const isLocked = elem?.isDualLocked ?? (elem instanceof CustomImportedMissionElement ? elem.getIsBaseFixed() : true); hud.setSelectedElement(id, isLocked, elem?.name); hud.logConsole(`Selected mission element "${elem?.name || id}". Use mouse wheel or R key to rotate.`); } else { hud.setSelectedElement(null); } }; viewport.onDualLockToggle = (elementId: string, locked: boolean) => { const elem = missionManager.getElement(elementId); hud.setSelectedElement(elementId, locked, elem?.name); hud.showFastenerStatus(`${locked ? '🔒 Dual-Locked' : '✂️ Unfastened'}: "${elem?.name || elementId}"`); hud.logConsole(`${locked ? '🔒 [Dual Lock] Fastened' : '✂️ [Dual Lock] Unfastened'} "${elem?.name || elementId}".`); syncHudMissionElements(); }; viewport.onHoverFastenerChange = (info) => { hud.setPointerToolInfo(info); }; // 7. Main Animation & Physics Loop let lastTime = performance.now(); function animate(now: number) { requestAnimationFrame(animate); const deltaSeconds = Math.min((now - lastTime) / 1000, 0.05); lastTime = now; profiler.startFrame(now); // Physics step const t0 = performance.now(); engine.update(deltaSeconds); const t1 = performance.now(); profiler.recordPhysicsTime(t1 - t0); // Sync visual meshes with physics bodies robotRenderer.syncWithPhysics(engine.robot); missionManager.update(deltaSeconds); interactionTool.syncVisuals(); const t2 = performance.now(); profiler.recordSyncTime(t2 - t1); // Update active mission element score chip in HUD const activeElem = missionManager.getActiveElement(); if (activeElem) { hud.updateMissionScore(activeElem.getScore(), activeElem.isSolved()); } // Camera follow update and live hit proxy synchronization const robotPos = engine.robot.getPosition(); const robotYaw = engine.robot.getYawDegrees(); viewport.updateCameraFollow(robotPos.x, robotPos.y, robotPos.z, robotYaw); viewport.updateRobotHitProxy(robotPos.x, robotPos.y, robotPos.z); // Render viewport viewport.render(); const t3 = performance.now(); profiler.recordRenderTime(t3 - t2); // Feed real-time render stats to profiler profiler.setRenderStats(viewport.getRenderStats()); // Feed physics body counts to profiler let dynamicBodies = 0; let fixedBodies = 0; let totalBodies = 0; if (engine.world) { engine.world.forEachRigidBody((b) => { totalBodies++; if (b.isDynamic()) dynamicBodies++; else if (b.isFixed()) fixedBodies++; }); profiler.setPhysicsStats({ totalBodies, dynamicBodies, fixedBodies, colliders: engine.world.colliders.len(), }); } // Sensors & telemetry const driveLeftPort = (engine.robot as any).driveLeftPort || 'A'; const driveRightPort = (engine.robot as any).driveRightPort || 'B'; const motorLeft = engine.robot.motors.get(driveLeftPort); const motorRight = engine.robot.motors.get(driveRightPort); const colorC = sensors.sampleColorSensor('C'); const colorD = sensors.sampleColorSensor('D'); const distCm = sensors.sampleDistanceSensor(); const gyroYaw = sensors.getYaw(); const t4 = performance.now(); profiler.recordSensorsTime(t4 - t3); const allMotorsState: Record< string, { port: MotorPort; degrees: number; speed: number; targetPercent: number; status: 'IDLE' | 'RUNNING' | 'BRAKING'; } > = {}; for (const [port, m] of engine.robot.motors.entries()) { const isTargetActive = Math.abs(m.targetSpeedDegPerSec) > 0.1; const targetPct = Math.round((m.targetSpeedDegPerSec / m.maxSpeedDegPerSec) * 100); const measuredSpeed = Math.round(m.velocityDegPerSec || 0); const status: 'IDLE' | 'RUNNING' | 'BRAKING' = isTargetActive ? 'RUNNING' : Math.abs(measuredSpeed) > 1 ? 'BRAKING' : 'IDLE'; allMotorsState[port] = { port, degrees: Math.round(m.degrees || 0), speed: measuredSpeed, targetPercent: targetPct, status, }; } const leftTargetPct = Math.round(((motorLeft?.targetSpeedDegPerSec || 0) / (motorLeft?.maxSpeedDegPerSec || 1000)) * 100); const rightTargetPct = Math.round(((motorRight?.targetSpeedDegPerSec || 0) / (motorRight?.maxSpeedDegPerSec || 1000)) * 100); hud.updateTelemetry({ timeSeconds: now / 1000, matchTimerSeconds: 150, fps: profiler.getCurrentFps(), physicsHz: 60, robot: { x: robotPos.x, y: robotPos.y, z: robotPos.z, yawDegrees: robotYaw, }, motors: { left: { port: driveLeftPort, degrees: Math.round(motorLeft?.degrees || 0), speed: Math.round(motorLeft?.velocityDegPerSec || 0), targetPercent: leftTargetPct, status: Math.abs(motorLeft?.targetSpeedDegPerSec || 0) > 0.1 ? 'RUNNING' : (Math.abs(motorLeft?.velocityDegPerSec || 0) > 1 ? 'BRAKING' : 'IDLE'), }, right: { port: driveRightPort, degrees: Math.round(motorRight?.degrees || 0), speed: Math.round(motorRight?.velocityDegPerSec || 0), targetPercent: rightTargetPct, status: Math.abs(motorRight?.targetSpeedDegPerSec || 0) > 0.1 ? 'RUNNING' : (Math.abs(motorRight?.velocityDegPerSec || 0) > 1 ? 'BRAKING' : 'IDLE'), }, all: allMotorsState, }, sensors: { colorC: { reflectedLight: colorC.reflectedLight, color: colorC.color, rgb: colorC.rgb, }, colorD: { reflectedLight: colorD.reflectedLight, color: colorD.color, rgb: colorD.rgb, }, distanceCm: distCm, gyroYaw, }, }); } requestAnimationFrame(animate); hud.logConsole('FLL Simulator ready! Ready to run SPIKE Prime code.'); } bootstrapSimulator().catch((err) => { console.error('Fatal initialization error:', err); }); |