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4x 4x 4x 4x 4x 22x 6x 6x 6x 6x 6x 6x 22x 1x 1x 1x 3x 3x 3x 3x 2x 13x 11x 11x 2x 2x 3x 1x 1x 22x 1x 3x 2x 2x 2x 2x 2x 1x 22x 3x 3x 3x 3x 3x 3x 3x 1x 1x 1x 1x 3x 3x 3x 3x 5x 5x 3x 3x 3x 22x | import * as THREE from 'three';
import RAPIER from '@dimforge/rapier3d-compat';
import { MissionElement } from './types';
import { RobotAssemblySpec } from '../cad/types';
import type { FllPhysicsSpec, FllJointDef } from '../cad/physics-spec';
import { LEGO_COLORS, getLegoMaterial } from '../view/lego-visuals';
import { legoAssetManager } from '../cad/lego-asset-manager';
import { DualLockMarker } from './dual-lock-marker';
import { consolidateGroupMeshes } from '../cad/mesh-consolidator';
export interface CustomElementOptions {
id: string;
name: string;
description?: string;
sourceFile?: string;
isBaseFixed?: boolean;
isSolidRigidMode?: boolean;
parentMissionId?: string;
}
/**
* Custom Imported Mission Element
*
* Instantiates any Studio 2.0 (.io) or LDraw (.ldr/.mpd/.dat) assembly as a
* fully interactive physical mission model with accurate Rapier colliders,
* joints, and authentic LEGO visual materials.
*/
export class CustomImportedMissionElement implements MissionElement {
public readonly id: string;
public readonly name: string;
public readonly description: string;
public readonly sourceFile?: string;
public parentMissionId?: string;
public isDualLocked: boolean = true;
public isPlacedOnField: boolean = true;
public readonly rootGroup: THREE.Group;
private world!: RAPIER.World;
private spec: RobotAssemblySpec;
private basePos: { x: number; y: number; z: number } = { x: 0, y: 0.002, z: 0 };
private yawDegrees: number = 0;
private isBaseFixed: boolean;
private isSolidRigidMode: boolean;
private groundCorrectionY: number = 0;
private dualLockMarker: DualLockMarker | null = null;
private dualLockLocalOffset: { x: number; z: number } | null = null;
private anchoredClusterId: string | null = null;
private dualLockJoint: RAPIER.ImpulseJoint | null = null;
private dualLockAnchorBody: RAPIER.RigidBody | null = null;
// Physics Bodies
private bodies: Map<string, RAPIER.RigidBody> = new Map();
private initialBodyPoses: Map<string, { translation: { x: number; y: number; z: number }; rotation: { x: number; y: number; z: number; w: number } }> = new Map();
private joints: RAPIER.ImpulseJoint[] = [];
private physicsJointMap: Map<string, { joint: RAPIER.ImpulseJoint; def: FllJointDef }> = new Map();
private jointInitialRelativeRot: Map<string, THREE.Quaternion> = new Map();
// Visual Groups
public readonly clusterMeshes: Map<string, THREE.Group> = new Map();
private interactiveMeshes: THREE.Object3D[] = [];
// Scored state
private hasMovedFromInitial = false;
constructor(spec: RobotAssemblySpec, options: CustomElementOptions) {
this.spec = spec;
this.id = options.id;
this.name = options.name;
this.description = options.description || `Imported mission model: ${options.name}`;
this.sourceFile = options.sourceFile;
this.parentMissionId = options.parentMissionId;
this.isBaseFixed = options.isBaseFixed ?? true;
this.isDualLocked = this.isBaseFixed;
this.isSolidRigidMode = options.isSolidRigidMode ?? false;
this.rootGroup = new THREE.Group();
}
public setSolidRigidMode(enabled: boolean): void {
if (this.isSolidRigidMode === enabled) return;
this.isSolidRigidMode = enabled;
if (this.world) {
this.destroy();
this.createPhysicsAndVisuals();
this.reset();
}
}
public getSolidRigidMode(): boolean {
return this.isSolidRigidMode;
}
public setIsBaseFixed(fixed: boolean): void {
if (this.isBaseFixed === fixed) return;
this.isBaseFixed = fixed;
this.isDualLocked = fixed;
if (this.world) {
this.destroy();
this.createPhysicsAndVisuals();
this.reset();
}
}
public getIsBaseFixed(): boolean {
return this.isDualLocked;
}
/**
* Resolves the primary base cluster ID that rests on the field mat and holds Dual Lock fasteners
*/
public getBaseClusterId(): string {
if (this.spec.physicsSpec?.dualLockAnchors && this.spec.physicsSpec.dualLockAnchors.length > 0) {
const anchorClusterId = this.spec.physicsSpec.dualLockAnchors[0].clusterId;
if (this.spec.clusters.some((c) => c.clusterId === anchorClusterId)) {
return anchorClusterId;
}
}
if (this.anchoredClusterId && this.spec.clusters.some((c) => c.clusterId === this.anchoredClusterId)) {
return this.anchoredClusterId;
}
const root = this.spec.clusters.find((c) => c.isRootChassis || c.clusterId === 'chassis_root');
if (root) return root.clusterId;
// Pick the cluster with the lowest bottom-Y (resting closest to the mat)
let lowestClusterId = this.spec.clusters[0]?.clusterId || 'base';
let lowestY = Infinity;
for (const c of this.spec.clusters) {
let cMinY = Infinity;
if (c.parts && c.parts.length > 0) {
for (const p of c.parts) {
if (p.position[1] / 1000 < cMinY) cMinY = p.position[1] / 1000;
}
} else {
for (const col of c.colliders) {
const hy = col.halfExtents ? col.halfExtents[1] : 0.015;
const bottom = col.offset[1] - hy;
if (bottom < cMinY) cMinY = bottom;
}
}
if (cMinY < lowestY) {
lowestY = cMinY;
lowestClusterId = c.clusterId;
}
}
return lowestClusterId;
}
public isClusterDualLockAnchored(clusterId: string): boolean {
if (this.spec.physicsSpec?.dualLockAnchors && this.spec.physicsSpec.dualLockAnchors.length > 0) {
return this.spec.physicsSpec.dualLockAnchors.some((a) => a.clusterId === clusterId);
}
return clusterId === this.getBaseClusterId();
}
public getAnchoredClusterId(): string | null {
return this.isDualLocked ? (this.anchoredClusterId || this.getBaseClusterId()) : null;
}
/**
* Sets Dual-Lock fastening status (base cluster fixed to field, mechanisms stay dynamic)
*/
public setDualLocked(locked: boolean, anchorPoint?: { x: number; z: number }, targetClusterId?: string): void {
this.isDualLocked = locked;
this.isBaseFixed = locked;
if (locked) {
if (targetClusterId && this.spec.clusters.some((c) => c.clusterId === targetClusterId)) {
this.anchoredClusterId = targetClusterId;
}
} else {
this.anchoredClusterId = null;
this.dualLockLocalOffset = null;
}
if (anchorPoint && locked) {
const radYaw = (this.yawDegrees * Math.PI) / 180;
const cosY = Math.cos(radYaw);
const sinY = Math.sin(radYaw);
const dx = anchorPoint.x - this.basePos.x;
const dz = anchorPoint.z - this.basePos.z;
this.dualLockLocalOffset = {
x: dx * cosY - dz * sinY,
z: dx * sinY + dz * cosY,
};
} else if (locked && !this.dualLockLocalOffset) {
if (this.spec.physicsSpec?.dualLockAnchors?.[0]) {
const anchor = this.spec.physicsSpec.dualLockAnchors[0];
const rawX = anchor.localStudCoordinates[0];
const rawZ = anchor.localStudCoordinates[2];
const offX = Math.abs(rawX) > 2 ? rawX / 1000 : rawX;
const offZ = Math.abs(rawZ) > 2 ? rawZ / 1000 : rawZ;
this.dualLockLocalOffset = { x: offX, z: offZ };
} else if (targetClusterId) {
const targetCluster = this.spec.clusters.find((c) => c.clusterId === targetClusterId);
if (targetCluster) {
let avgX = 0;
let avgZ = 0;
let count = 0;
if (targetCluster.parts && targetCluster.parts.length > 0) {
for (const p of targetCluster.parts) {
avgX += p.position[0] / 1000;
avgZ += p.position[2] / 1000;
count++;
}
} else if (targetCluster.colliders && targetCluster.colliders.length > 0) {
for (const col of targetCluster.colliders) {
avgX += col.offset[0];
avgZ += col.offset[2];
count++;
}
}
if (count > 0) {
this.dualLockLocalOffset = { x: avgX / count, z: avgZ / count };
}
}
}
if (!this.dualLockLocalOffset) {
this.dualLockLocalOffset = { x: 0, z: 0 };
}
}
// Clean up any existing physical Dual Lock joint
if (this.dualLockJoint && this.world) {
try {
this.world.removeImpulseJoint(this.dualLockJoint, true);
} catch {
// ignore
}
this.dualLockJoint = null;
}
if (this.dualLockAnchorBody && this.world) {
try {
this.world.removeRigidBody(this.dualLockAnchorBody);
} catch {
// ignore
}
this.dualLockAnchorBody = null;
}
// Determine the base cluster ID (root frame where Dual Lock is attached to the field)
const baseClusterId = this.getBaseClusterId();
// Update Rapier bodies:
// Only the base cluster where Dual Lock is applied is fixed to the field mat.
// All mechanism clusters, levers, dials, and dynamic parts REMAIN DYNAMIC!
for (const [cid, body] of this.bodies.entries()) {
const isBase = this.isClusterDualLockAnchored(cid) || cid === baseClusterId;
const shouldBeFixed = this.isSolidRigidMode || (locked && isBase);
body.setBodyType(
shouldBeFixed ? RAPIER.RigidBodyType.Fixed : RAPIER.RigidBodyType.Dynamic,
true
);
if (!shouldBeFixed) {
body.setLinearDamping(1.5);
body.setAngularDamping(2.0);
body.wakeUp();
}
}
// Keep cluster specs synchronized
for (const cluster of this.spec.clusters) {
const isBase = this.isClusterDualLockAnchored(cluster.clusterId) || cluster.clusterId === baseClusterId;
cluster.isFixed = this.isSolidRigidMode || (locked && isBase);
}
this.updateDualLockVisualMesh();
}
public getDualLockPosition(): { x: number; z: number } | null {
if (!this.isDualLocked) return null;
const offset = this.dualLockLocalOffset || { x: 0, z: 0 };
const radYaw = (this.yawDegrees * Math.PI) / 180;
const cosY = Math.cos(radYaw);
const sinY = Math.sin(radYaw);
return {
x: this.basePos.x + (offset.x * cosY + offset.z * sinY),
z: this.basePos.z + (-offset.x * sinY + offset.z * cosY),
};
}
private updateDualLockVisualMesh(): void {
if (!this.dualLockMarker) {
this.dualLockMarker = new DualLockMarker(this.id);
this.rootGroup.add(this.dualLockMarker.group);
}
this.dualLockMarker.setVisible(this.isDualLocked);
if (this.isDualLocked) {
const pos = this.getDualLockPosition() || this.basePos;
this.dualLockMarker.setPosition(pos.x, 0.002, pos.z);
}
}
public getDualLockMarker(): DualLockMarker | null {
return this.dualLockMarker;
}
public setDualLockHoverHighlight(isHovered: boolean, isEraseMode: boolean = false): void {
this.dualLockMarker?.setHoverHighlight(isHovered, isEraseMode);
}
public getSpec(): RobotAssemblySpec {
return this.spec;
}
public getPhysicsSpec(): FllPhysicsSpec | undefined {
return this.spec.physicsSpec;
}
public init(world: RAPIER.World, basePosition: { x: number; y: number; z: number }, yawDegrees = 0): void {
this.world = world;
this.basePos = { ...basePosition };
this.yawDegrees = yawDegrees;
if (!this.dualLockLocalOffset && this.spec.physicsSpec?.dualLockAnchors?.[0]) {
const firstAnchor = this.spec.physicsSpec.dualLockAnchors[0];
const rawX = firstAnchor.localStudCoordinates[0];
const rawZ = firstAnchor.localStudCoordinates[2];
const offX = Math.abs(rawX) > 2 ? rawX / 1000 : rawX;
const offZ = Math.abs(rawZ) > 2 ? rawZ / 1000 : rawZ;
this.dualLockLocalOffset = { x: offX, z: offZ };
}
this.createPhysicsAndVisuals();
this.reset();
this.updateDualLockVisualMesh();
}
private createPhysicsAndVisuals(): void {
const yawRad = (this.yawDegrees * Math.PI) / 180;
const halfYaw = yawRad / 2;
const qy = Math.sin(halfYaw);
const qw = Math.cos(halfYaw);
// Calculate vertical normalization offset so lowest part rests exactly at ground level (this.basePos.y)
let lowestPartY = Infinity;
for (const cluster of this.spec.clusters) {
if (cluster.parts && cluster.parts.length > 0) {
for (const p of cluster.parts) {
const py = p.position[1] / 1000;
if (py < lowestPartY) lowestPartY = py;
}
} else {
for (const col of cluster.colliders) {
const cy = col.offset[1];
const hy = col.halfExtents ? col.halfExtents[1] : 0.015;
const bottomY = cy - hy;
if (bottomY < lowestPartY) lowestPartY = bottomY;
}
}
}
this.groundCorrectionY = lowestPartY !== Infinity ? -lowestPartY : 0;
const initialY = this.basePos.y + this.groundCorrectionY;
// Color palette cycling for imported clusters
const clusterPalette = [
LEGO_COLORS.DARK_BLUE,
LEGO_COLORS.RED,
LEGO_COLORS.YELLOW,
LEGO_COLORS.DARK_GRAY,
LEGO_COLORS.LIGHT_GRAY,
LEGO_COLORS.AZURE,
LEGO_COLORS.ORANGE,
];
let colorIdx = 0;
const baseClusterId = this.getBaseClusterId();
for (const cluster of this.spec.clusters) {
const isBase = this.isClusterDualLockAnchored(cluster.clusterId) || cluster.clusterId === baseClusterId;
const isFixedCluster = this.isSolidRigidMode || (this.isDualLocked && isBase);
cluster.isFixed = isFixedCluster;
const clusterColor = clusterPalette[colorIdx % clusterPalette.length];
colorIdx++;
// Create Rapier RigidBody:
// Fixed if in solid rigid mode, or if tagged fixed (anchored to field mat).
// Dynamic clusters react to robot pushes, tools, and collisions!
let bodyDesc: RAPIER.RigidBodyDesc;
if (this.isSolidRigidMode || isFixedCluster) {
bodyDesc = RAPIER.RigidBodyDesc.fixed()
.setTranslation(this.basePos.x, initialY, this.basePos.z)
.setRotation({ x: 0, y: qy, z: 0, w: qw });
} else {
bodyDesc = RAPIER.RigidBodyDesc.dynamic()
.setTranslation(this.basePos.x, initialY, this.basePos.z)
.setRotation({ x: 0, y: qy, z: 0, w: qw })
.setLinearDamping(2.0)
.setAngularDamping(3.0)
.setAdditionalMass(Math.max(0.05, cluster.totalMassKg));
}
const body = this.world.createRigidBody(bodyDesc);
this.bodies.set(cluster.clusterId, body);
// Create Visual Group for this cluster
const clusterGroup = new THREE.Group();
this.rootGroup.add(clusterGroup);
this.clusterMeshes.set(cluster.clusterId, clusterGroup);
// Create physical colliders in Rapier
for (const col of cluster.colliders) {
let colDesc: RAPIER.ColliderDesc;
if (col.shape === 'sphere') {
const r = col.radius || 0.015;
colDesc = RAPIER.ColliderDesc.ball(r);
} else if (col.shape === 'cylinder') {
const r = col.radius || 0.015;
const hh = col.halfHeight || 0.02;
colDesc = RAPIER.ColliderDesc.cylinder(hh, r);
} else {
// Default: Box collider
const hx = col.halfExtents ? col.halfExtents[0] : 0.03;
const hy = col.halfExtents ? col.halfExtents[1] : 0.015;
const hz = col.halfExtents ? col.halfExtents[2] : 0.03;
colDesc = RAPIER.ColliderDesc.cuboid(hx, hy, hz);
}
// Collision filtering:
// Group 3 (0x0008): Fixed base clusters
// Group 4 (0x0010): Dynamic mechanism clusters
// Both fixed and dynamic clusters collide with everything (filter 0xFFFF).
// (Jointed pairs already have mutual contact disabled via rapierJoint.setContactsEnabled(false)).
const membership = isFixedCluster ? 0x0008 : 0x0010;
const filter = 0xFFFF;
colDesc.setCollisionGroups((membership << 16) | filter);
colDesc
.setTranslation(col.offset[0], col.offset[1], col.offset[2])
.setFriction(col.friction || 0.6)
.setRestitution(col.restitution || 0.0);
this.world.createCollider(colDesc, body);
}
// Render authentic LEGO bricks, plates, beams, pins, axles!
const hasDetailedParts = cluster.parts && cluster.parts.length > 0;
if (hasDetailedParts) {
for (const part of cluster.parts!) {
const partColor = part.colorHex ?? clusterColor;
const partMesh = legoAssetManager.loadPartMeshSync(part.partNumber, partColor, part.role);
partMesh.position.set(part.position[0] / 1000, part.position[1] / 1000, part.position[2] / 1000);
partMesh.quaternion.set(part.rotation[0], part.rotation[1], part.rotation[2], part.rotation[3]);
clusterGroup.add(partMesh);
}
// Consolidate cluster geometries to reduce draw calls from thousands down to 1-3
if (cluster.parts!.length > 2) {
consolidateGroupMeshes(clusterGroup, { clusterId: cluster.clusterId });
}
if (!isFixedCluster) {
for (const child of clusterGroup.children) {
this.interactiveMeshes.push(child);
}
}
// Asynchronously upgrade to Draco GLB mesh when ready
if (legoAssetManager.getRenderMode() === 'draco_glb') {
Promise.all(
cluster.parts!.map(async (part) => {
const partColor = part.colorHex ?? clusterColor;
const loadedMesh = await legoAssetManager.loadPartMesh(part.partNumber, partColor, part.role);
loadedMesh.position.set(part.position[0] / 1000, part.position[1] / 1000, part.position[2] / 1000);
loadedMesh.quaternion.set(part.rotation[0], part.rotation[1], part.rotation[2], part.rotation[3]);
return loadedMesh;
})
).then((upgradedMeshes) => {
clusterGroup.clear();
for (const m of upgradedMeshes) {
clusterGroup.add(m);
}
if (cluster.parts!.length > 2) {
consolidateGroupMeshes(clusterGroup, { clusterId: cluster.clusterId });
}
if (!isFixedCluster) {
this.interactiveMeshes = this.interactiveMeshes.filter((m) => !clusterGroup.children.includes(m));
for (const child of clusterGroup.children) {
this.interactiveMeshes.push(child);
}
}
});
}
} else {
// Fallback: render collider bounding box if parts list is empty
for (const col of cluster.colliders) {
const hx = col.halfExtents ? col.halfExtents[0] : 0.03;
const hy = col.halfExtents ? col.halfExtents[1] : 0.015;
const hz = col.halfExtents ? col.halfExtents[2] : 0.03;
const meshGeom = new THREE.BoxGeometry(hx * 2, hy * 2, hz * 2);
const meshMat = getLegoMaterial(clusterColor, 0.35, 0.05);
const colMesh = new THREE.Mesh(meshGeom, meshMat);
colMesh.position.set(col.offset[0], col.offset[1], col.offset[2]);
colMesh.castShadow = true;
colMesh.receiveShadow = true;
clusterGroup.add(colMesh);
if (!isFixedCluster) {
this.interactiveMeshes.push(colMesh);
}
}
}
}
// Connect joints between clusters
this.physicsJointMap.clear();
this.jointInitialRelativeRot.clear();
if (this.spec.physicsSpec?.joints && this.spec.physicsSpec.joints.length > 0) {
for (const jointDef of this.spec.physicsSpec.joints) {
const parentBody = this.bodies.get(jointDef.parentClusterId);
const childBody = this.bodies.get(jointDef.childClusterId);
if (!parentBody || !childBody) continue;
const anchor = {
x: jointDef.anchor[0],
y: jointDef.anchor[1],
z: jointDef.anchor[2],
};
const axis = {
x: jointDef.axis[0],
y: jointDef.axis[1],
z: jointDef.axis[2],
};
let jointData: RAPIER.JointData;
if (jointDef.type === 'prismatic') {
jointData = RAPIER.JointData.prismatic(anchor, anchor, axis);
} else if (jointDef.type === 'spherical') {
jointData = RAPIER.JointData.spherical(anchor, anchor);
} else if (jointDef.type === 'fixed') {
jointData = RAPIER.JointData.fixed(
anchor,
{ x: 0, y: 0, z: 0, w: 1 },
anchor,
{ x: 0, y: 0, z: 0, w: 1 }
);
} else {
// Default: revolute
jointData = RAPIER.JointData.revolute(anchor, anchor, axis);
}
const rapierJoint = this.world.createImpulseJoint(jointData, parentBody, childBody, true);
rapierJoint.setContactsEnabled(false);
if (jointDef.type === 'revolute') {
const revJoint = rapierJoint as RAPIER.RevoluteImpulseJoint;
if (jointDef.limits) {
const minRad =
jointDef.limits.minDegrees !== undefined
? (jointDef.limits.minDegrees * Math.PI) / 180
: -Math.PI;
const maxRad =
jointDef.limits.maxDegrees !== undefined
? (jointDef.limits.maxDegrees * Math.PI) / 180
: Math.PI;
revJoint.setLimits(minRad, maxRad);
}
const damping =
jointDef.dynamics?.viscousDamping !== undefined
? jointDef.dynamics.viscousDamping
: 0.6;
const holdingTorque =
jointDef.dynamics?.holdingTorqueNm !== undefined
? jointDef.dynamics.holdingTorqueNm
: 0.065;
revJoint.configureMotorVelocity(0.0, damping);
revJoint.setMotorMaxForce(holdingTorque);
} else if (jointDef.type === 'prismatic') {
const prismJoint = rapierJoint as RAPIER.PrismaticImpulseJoint;
if (
jointDef.limits?.minMeters !== undefined &&
jointDef.limits?.maxMeters !== undefined
) {
prismJoint.setLimits(jointDef.limits.minMeters, jointDef.limits.maxMeters);
}
const damping = jointDef.dynamics?.viscousDamping ?? 0.6;
const maxForce = jointDef.dynamics?.holdingTorqueNm ?? 5.0;
prismJoint.configureMotorVelocity(0.0, damping);
prismJoint.setMotorMaxForce(maxForce);
}
this.joints.push(rapierJoint);
this.physicsJointMap.set(jointDef.id, { joint: rapierJoint, def: jointDef });
// Record initial relative orientation at rest (0-degree reference)
const pRot = parentBody.rotation();
const cRot = childBody.rotation();
const qP = new THREE.Quaternion(pRot.x, pRot.y, pRot.z, pRot.w);
const qC = new THREE.Quaternion(cRot.x, cRot.y, cRot.z, cRot.w);
const qRel0 = qP.clone().invert().multiply(qC);
this.jointInitialRelativeRot.set(jointDef.id, qRel0);
}
} else {
// Connect heuristic joints between clusters
for (const jointSpec of this.spec.joints) {
const parentBody = this.bodies.get(jointSpec.parentClusterId);
const childBody = this.bodies.get(jointSpec.childClusterId);
if (parentBody && childBody) {
const jointData =
jointSpec.type === 'SPHERICAL'
? RAPIER.JointData.spherical(
{ x: jointSpec.anchorParent[0], y: jointSpec.anchorParent[1], z: jointSpec.anchorParent[2] },
{ x: jointSpec.anchorChild[0], y: jointSpec.anchorChild[1], z: jointSpec.anchorChild[2] }
)
: RAPIER.JointData.revolute(
{ x: jointSpec.anchorParent[0], y: jointSpec.anchorParent[1], z: jointSpec.anchorParent[2] },
{ x: jointSpec.anchorChild[0], y: jointSpec.anchorChild[1], z: jointSpec.anchorChild[2] },
{ x: jointSpec.axis[0], y: jointSpec.axis[1], z: jointSpec.axis[2] }
);
const rapierJoint = this.world.createImpulseJoint(jointData, parentBody, childBody, true);
rapierJoint.setContactsEnabled(false);
if (jointSpec.type === 'REVOLUTE') {
(rapierJoint as RAPIER.RevoluteImpulseJoint).configureMotorVelocity(0.0, 0.5);
(rapierJoint as RAPIER.RevoluteImpulseJoint).setMotorMaxForce(0.01);
}
this.joints.push(rapierJoint);
}
}
}
this.applyInitialPose();
this.recordInitialPoses();
}
private applyInitialPose(): void {
const initPose = this.spec.physicsSpec?.states?.initialPose;
if (!initPose || !initPose.jointPositions) return;
for (const [jointId, posValue] of Object.entries(initPose.jointPositions)) {
const entry = this.physicsJointMap.get(jointId);
if (!entry) continue;
const { def } = entry;
const parentBody = this.bodies.get(def.parentClusterId);
const childBody = this.bodies.get(def.childClusterId);
if (!parentBody || !childBody) continue;
const pPos = parentBody.translation();
const pRot = parentBody.rotation();
const parentP = new THREE.Vector3(pPos.x, pPos.y, pPos.z);
const parentQ = new THREE.Quaternion(pRot.x, pRot.y, pRot.z, pRot.w);
if (def.type === 'revolute') {
const anchorLocal = new THREE.Vector3(def.anchor[0], def.anchor[1], def.anchor[2]);
const axisLocal = new THREE.Vector3(def.axis[0], def.axis[1], def.axis[2]).normalize();
const angleRad = (posValue * Math.PI) / 180;
const rLocal = new THREE.Quaternion().setFromAxisAngle(axisLocal, angleRad);
const childQ = parentQ.clone().multiply(rLocal);
// Child position in world: parentP + parentQ * (anchorLocal - rLocal * anchorLocal)
const rotatedAnchor = anchorLocal.clone().applyQuaternion(rLocal);
const offsetLocal = anchorLocal.clone().sub(rotatedAnchor);
const offsetWorld = offsetLocal.clone().applyQuaternion(parentQ);
const childP = parentP.clone().add(offsetWorld);
childBody.setTranslation({ x: childP.x, y: childP.y, z: childP.z }, true);
childBody.setRotation({ x: childQ.x, y: childQ.y, z: childQ.z, w: childQ.w }, true);
childBody.setLinvel({ x: 0, y: 0, z: 0 }, true);
childBody.setAngvel({ x: 0, y: 0, z: 0 }, true);
} else if (def.type === 'prismatic') {
const axisLocal = new THREE.Vector3(def.axis[0], def.axis[1], def.axis[2]).normalize();
const offsetLocal = axisLocal.clone().multiplyScalar(posValue);
const offsetWorld = offsetLocal.clone().applyQuaternion(parentQ);
const childP = parentP.clone().add(offsetWorld);
childBody.setTranslation({ x: childP.x, y: childP.y, z: childP.z }, true);
childBody.setRotation({ x: parentQ.x, y: parentQ.y, z: parentQ.z, w: parentQ.w }, true);
childBody.setLinvel({ x: 0, y: 0, z: 0 }, true);
childBody.setAngvel({ x: 0, y: 0, z: 0 }, true);
}
}
}
private recordInitialPoses(): void {
this.initialBodyPoses.clear();
for (const [id, body] of this.bodies.entries()) {
const trans = body.translation();
const rot = body.rotation();
this.initialBodyPoses.set(id, {
translation: { x: trans.x, y: trans.y, z: trans.z },
rotation: { x: rot.x, y: rot.y, z: rot.z, w: rot.w },
});
}
}
public update(_dt: number): void {
if (!this.bodies.size) return;
// Check if any non-fixed cluster has moved from its resting position
for (const [id, body] of this.bodies.entries()) {
const initPose = this.initialBodyPoses.get(id);
if (!initPose) continue;
const curTrans = body.translation();
const dx = curTrans.x - initPose.translation.x;
const dy = curTrans.y - initPose.translation.y;
const dz = curTrans.z - initPose.translation.z;
if (dx * dx + dy * dy + dz * dz > 0.001) {
this.hasMovedFromInitial = true;
break;
}
}
}
public syncVisuals(): void {
const baseClusterId = this.getBaseClusterId();
for (const [id, body] of this.bodies.entries()) {
const group = this.clusterMeshes.get(id);
if (!group) continue;
const t = body.translation();
const r = body.rotation();
group.position.set(t.x, t.y, t.z);
group.quaternion.set(r.x, r.y, r.z, r.w);
if (id === baseClusterId) {
this.basePos.x = t.x;
this.basePos.z = t.z;
}
}
}
public reset(): void {
const yawRad = (this.yawDegrees * Math.PI) / 180;
const halfYaw = yawRad / 2;
const qy = Math.sin(halfYaw);
const qw = Math.cos(halfYaw);
const zeroVel = { x: 0, y: 0, z: 0 };
const initialY = this.basePos.y + this.groundCorrectionY;
for (const body of this.bodies.values()) {
body.setTranslation({ x: this.basePos.x, y: initialY, z: this.basePos.z }, true);
body.setRotation({ x: 0, y: qy, z: 0, w: qw }, true);
body.setLinvel(zeroVel, true);
body.setAngvel(zeroVel, true);
}
this.applyInitialPose();
this.hasMovedFromInitial = false;
this.recordInitialPoses();
this.syncVisuals();
}
public setPosition(pos: { x: number; y: number; z: number }, yawDegrees?: number): void {
this.basePos = { ...pos };
if (yawDegrees !== undefined) {
this.yawDegrees = yawDegrees;
}
this.reset();
this.updateDualLockVisualMesh();
}
public setRotation(yawDegrees: number): void {
if (this.isDualLocked) {
const fixedPoint = this.getDualLockPosition();
if (fixedPoint) {
const offset = this.dualLockLocalOffset || { x: 0, z: 0 };
const radNew = (yawDegrees * Math.PI) / 180;
const cosN = Math.cos(radNew);
const sinN = Math.sin(radNew);
this.basePos.x = fixedPoint.x - (offset.x * cosN + offset.z * sinN);
this.basePos.z = fixedPoint.z - (-offset.x * sinN + offset.z * cosN);
}
}
this.yawDegrees = yawDegrees;
this.reset();
this.updateDualLockVisualMesh();
}
public getYawDegrees(): number {
return this.yawDegrees;
}
public getPosition(): { x: number; y: number; z: number } {
return { ...this.basePos };
}
/**
* Returns current joint angle in degrees for revolute joints, relative to initial rest orientation
*/
public getJointAngleDegrees(jointId: string): number | null {
const entry = this.physicsJointMap.get(jointId);
if (!entry) return null;
const { def } = entry;
const parentBody = this.bodies.get(def.parentClusterId);
const childBody = this.bodies.get(def.childClusterId);
if (!parentBody || !childBody) return null;
const pRot = parentBody.rotation();
const cRot = childBody.rotation();
const qP = new THREE.Quaternion(pRot.x, pRot.y, pRot.z, pRot.w);
const qC = new THREE.Quaternion(cRot.x, cRot.y, cRot.z, cRot.w);
const qRel = qP.clone().invert().multiply(qC);
const qRel0 = this.jointInitialRelativeRot.get(jointId) || new THREE.Quaternion();
const qDisp = qRel0.clone().invert().multiply(qRel);
const axisVec = new THREE.Vector3(def.axis[0], def.axis[1], def.axis[2]).normalize();
let w = qDisp.w;
let dot = new THREE.Vector3(qDisp.x, qDisp.y, qDisp.z).dot(axisVec);
if (w < 0) {
w = -w;
dot = -dot;
}
return (2 * Math.atan2(dot, w) * 180) / Math.PI;
}
/**
* Evaluates scored pose definitions defined in physicsSpec.states.scoredPoses
*/
public evaluateScoreState(): { isScored: boolean; points: number; label: string } | null {
const scoredPoses = this.spec.physicsSpec?.states?.scoredPoses;
if (!scoredPoses || scoredPoses.length === 0) {
return null;
}
const sortedPoses = [...scoredPoses].sort((a, b) => b.points - a.points);
for (const pose of sortedPoses) {
const ev = pose.evaluator;
let isMet = false;
if (ev.type === 'joint_threshold') {
if (ev.jointId) {
const currentAngle = this.getJointAngleDegrees(ev.jointId);
if (currentAngle !== null) {
const minOk = ev.targetAngleMin === undefined || currentAngle >= ev.targetAngleMin;
const maxOk = ev.targetAngleMax === undefined || currentAngle <= ev.targetAngleMax;
isMet = minOk && maxOk;
}
}
} else if (ev.type === 'cluster_zone') {
if (ev.targetClusterId) {
const body = this.bodies.get(ev.targetClusterId);
const initPose = this.initialBodyPoses.get(ev.targetClusterId);
if (body && initPose) {
const cur = body.translation();
const dx = cur.x - initPose.translation.x;
const dy = cur.y - initPose.translation.y;
const dz = cur.z - initPose.translation.z;
isMet = Math.sqrt(dx * dx + dy * dy + dz * dz) > 0.02;
}
}
} else if (ev.type === 'payload_transfer') {
if (ev.targetClusterId) {
const body = this.bodies.get(ev.targetClusterId);
const baseClusterId = this.getBaseClusterId();
const baseBody = this.bodies.get(baseClusterId);
if (body && baseBody) {
const cur = body.translation();
const bPos = baseBody.translation();
const dist = Math.hypot(cur.x - bPos.x, cur.z - bPos.z);
isMet = dist > 0.05;
}
}
}
if (isMet) {
return {
isScored: true,
points: pose.points,
label: pose.label,
};
}
}
return {
isScored: false,
points: 0,
label: 'Not Scored',
};
}
public isSolved(): boolean {
const scoreState = this.evaluateScoreState();
if (scoreState !== null) {
return scoreState.isScored;
}
return this.hasMovedFromInitial;
}
public getScore(): number {
const scoreState = this.evaluateScoreState();
if (scoreState !== null) {
return scoreState.isScored ? scoreState.points : 0;
}
return this.hasMovedFromInitial ? 100 : 0;
}
public getInteractiveMeshes(): THREE.Object3D[] {
const baseClusterId = this.getBaseClusterId();
const meshes: THREE.Object3D[] = [];
for (const [cid, group] of this.clusterMeshes.entries()) {
const isFixed =
this.isSolidRigidMode ||
(this.isDualLocked && (this.isClusterDualLockAnchored(cid) || cid === baseClusterId));
if (!isFixed) {
group.traverse((obj) => {
if ((obj as THREE.Mesh).isMesh) {
meshes.push(obj);
}
});
}
}
return meshes;
}
public applyUserDrag(groundTarget: THREE.Vector3): void {
// Apply dynamic impulse only to non-fixed bodies
for (const body of this.bodies.values()) {
if (body.bodyType() === RAPIER.RigidBodyType.Fixed) continue;
const curTrans = body.translation();
const vx = Math.min(2.5, Math.max(-2.5, (groundTarget.x - curTrans.x) * 6.0));
const vz = Math.min(2.5, Math.max(-2.5, (groundTarget.z - curTrans.z) * 6.0));
body.setLinvel({ x: vx, y: 0, z: vz }, true);
}
}
public destroy(): void {
if (this.dualLockMarker) {
this.rootGroup.remove(this.dualLockMarker.group);
this.dualLockMarker = null;
}
if (this.dualLockJoint && this.world) {
try {
this.world.removeImpulseJoint(this.dualLockJoint, true);
} catch {
// ignore
}
this.dualLockJoint = null;
}
if (this.dualLockAnchorBody && this.world) {
try {
this.world.removeRigidBody(this.dualLockAnchorBody);
} catch {
// ignore
}
this.dualLockAnchorBody = null;
}
for (const joint of this.joints) {
try {
this.world.removeImpulseJoint(joint, true);
} catch {
// ignore
}
}
this.joints = [];
this.physicsJointMap.clear();
this.jointInitialRelativeRot.clear();
for (const body of this.bodies.values()) {
this.world.removeRigidBody(body);
}
this.bodies.clear();
this.rootGroup.clear();
}
}
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