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import RAPIER from '@dimforge/rapier3d-compat';
import { MissionElement } from './types';
import {
LEGO_COLORS,
getLegoMaterial,
createTechnicBeamGroup,
createLegoPlateGroup,
createTechnicGearGroup,
} from '../view/lego-visuals';
import { DualLockMarker } from './dual-lock-marker';
/**
* Multi-Gear Cascading Dial Mission Mechanism
*
* Implements an authentic FIRST LEGO League cascading gear train consisting of 4
* sequential meshed gears (24T driver -> 16T idler 1 -> 16T idler 2 -> 12T driven gear).
* Driving the robot into the paddle arms turns the first gear, causing the entire
* 4-gear cascade to counter-rotate with authentic mechanical gear ratios and driving
* a high-speed dial indicator needle and mission completion flag.
*/
export class CascadeGearDialMission implements MissionElement {
public readonly id = 'gear-cascade';
public readonly name = 'Mission 3: Multi-Gear Cascade';
public readonly description = 'Drive into the paddle arms to actuate a 4-gear cascading train driving a high-speed dial indicator.';
public readonly rootGroup: THREE.Group;
private world!: RAPIER.World;
private basePos: { x: number; y: number; z: number } = { x: 0, y: 0, z: 0 };
private yawDegrees: number = 0;
public isPlacedOnField: boolean = true;
public isDualLocked: boolean = true;
private dualLockMarker: DualLockMarker | null = null;
private dualLockLocalOffset: { x: number; z: number } | null = null;
private pedestalBody!: RAPIER.RigidBody;
private rotorBody!: RAPIER.RigidBody;
// Visual Groups
private baseplateGroup!: THREE.Group;
private rotorMesh!: THREE.Group;
private gearCascadeGroup!: THREE.Group;
// Individual Visual Gears in the Cascade
private gear1Mesh!: THREE.Group; // 24T Driver Gear (Azure/Gray) on Axle 1
private gear2Mesh!: THREE.Group; // 16T Idler Gear (Bright Yellow) on Axle 2
private gear3Mesh!: THREE.Group; // 16T Intermediate Gear (Dark Gray) on Axle 3
private gear4Mesh!: THREE.Group; // 12T Driven Gear (Bright Red) on Axle 4
// Output Dial & Flag
private dialNeedleMesh!: THREE.Mesh;
private flagMesh!: THREE.Mesh;
// Gear Specifications & Axle Offsets (meters along local X axis)
// R1 = 0.024m (24T), R2 = 0.016m (16T), R3 = 0.016m (16T), R4 = 0.012m (12T)
private readonly axle1X = -0.045; // Driver Axle (with input paddles)
private readonly axle2X = -0.005; // Idler 1 (R1 + R2 = 0.040m)
private readonly axle3X = 0.027; // Idler 2 (R2 + R3 = 0.032m)
private readonly axle4X = 0.055; // Driven Output (R3 + R4 = 0.028m)
// Gear Ratios relative to Gear 1
// Gear 1: ratio = 1.0
// Gear 2: ratio = -(24 / 16) = -1.50
// Gear 3: ratio = -(-1.50 * 16 / 16) = +1.50
// Gear 4: ratio = -(+1.50 * 16 / 12) = -2.00 (Speed multiplier 2x)
private readonly ratioG2 = -1.5;
private readonly ratioG3 = 1.5;
private readonly ratioG4 = -2.0;
private continuousAngle = 0;
private lastRawAngle = 0;
constructor() {
this.rootGroup = new THREE.Group();
}
public init(world: RAPIER.World, basePosition: { x: number; y: number; z: number }): void {
this.world = world;
this.basePos = { ...basePosition };
this.createPhysicsBodies();
this.createLegoVisuals();
this.syncVisuals();
this.updateDualLockVisualMesh();
}
private createPhysicsBodies(): void {
const { x, y, z } = this.basePos;
const radYaw = (this.yawDegrees * Math.PI) / 180;
const cosY = Math.cos(radYaw);
const sinY = Math.sin(radYaw);
// 1. Fixed Baseplate Anchor Body (low profile, wide footprint)
const baseDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(x, y + 0.008, z);
this.pedestalBody = this.world.createRigidBody(baseDesc);
this.world.createCollider(
RAPIER.ColliderDesc.cuboid(0.090, 0.008, 0.055).setFriction(0.8),
this.pedestalBody
);
// 2. Dynamic Input Rotor Body centered on Axle 1
// Local Axle 1 offset rotated by yaw
const worldAxle1X = x + this.axle1X * cosY;
const worldAxle1Z = z - this.axle1X * sinY;
const rotorDesc = RAPIER.RigidBodyDesc.dynamic()
.setTranslation(worldAxle1X, y + 0.035, worldAxle1Z)
.setAngularDamping(6.0)
.setLinearDamping(10.0)
.lockTranslations();
this.rotorBody = this.world.createRigidBody(rotorDesc);
// Authentic rigid pin fit: strictly lock X (pitch) and Z (roll) rotations
this.rotorBody.setEnabledRotations(false, true, false, true);
// 4 Cross-Paddle Colliders on Driver Shaft at bumper height
const arm1 = RAPIER.ColliderDesc.cuboid(0.075, 0.014, 0.008)
.setDensity(1.8)
.setFriction(0.6)
.setRestitution(0.0);
const arm2 = RAPIER.ColliderDesc.cuboid(0.008, 0.014, 0.075)
.setDensity(1.8)
.setFriction(0.6)
.setRestitution(0.0);
this.world.createCollider(arm1, this.rotorBody);
this.world.createCollider(arm2, this.rotorBody);
this.lastRawAngle = this.getRotationAngle();
this.continuousAngle = 0;
}
private createLegoVisuals(): void {
// 1. Baseplate: Authentic LEGO Dark Bluish Gray 20 x 12 Studded Plate
this.baseplateGroup = createLegoPlateGroup(20, 12, LEGO_COLORS.DARK_GRAY, 1);
this.rootGroup.add(this.baseplateGroup);
// 2. Structural Technic Support Frame & Axle Bushings
this.gearCascadeGroup = new THREE.Group();
// Twin Technic 15L Liftarm Rails along base
const bottomRail1 = createTechnicBeamGroup(15, LEGO_COLORS.BLACK, {
width: 0.008,
thickness: 0.008,
withPinsAt: [1, 6, 10, 14],
});
bottomRail1.position.set(0.005, 0.007, 0.024);
this.gearCascadeGroup.add(bottomRail1);
const bottomRail2 = createTechnicBeamGroup(15, LEGO_COLORS.BLACK, {
width: 0.008,
thickness: 0.008,
withPinsAt: [1, 6, 10, 14],
});
bottomRail2.position.set(0.005, 0.007, -0.024);
this.gearCascadeGroup.add(bottomRail2);
// Top Cross-Brace Technic Beam holding top of axles
const topBrace = createTechnicBeamGroup(15, LEGO_COLORS.DARK_GRAY, {
width: 0.008,
thickness: 0.008,
});
topBrace.position.set(0.005, 0.026, 0);
this.gearCascadeGroup.add(topBrace);
// 4 Vertical Axle Shafts & Bushing Collars
const axleGeom = new THREE.CylinderGeometry(0.0024, 0.0024, 0.032, 12);
const axleMat = getLegoMaterial(LEGO_COLORS.BLACK, 0.3);
const bushGeom = new THREE.CylinderGeometry(0.0042, 0.0042, 0.006, 16);
const bushMat = getLegoMaterial(LEGO_COLORS.LIGHT_GRAY, 0.3);
for (const ax of [this.axle1X, this.axle2X, this.axle3X, this.axle4X]) {
const axleMesh = new THREE.Mesh(axleGeom, axleMat);
axleMesh.position.set(ax, 0.016, 0);
axleMesh.castShadow = true;
this.gearCascadeGroup.add(axleMesh);
// Bottom bushing
const bushBottom = new THREE.Mesh(bushGeom, bushMat);
bushBottom.position.set(ax, 0.008, 0);
bushBottom.castShadow = true;
this.gearCascadeGroup.add(bushBottom);
// Top bushing
const bushTop = new THREE.Mesh(bushGeom, bushMat);
bushTop.position.set(ax, 0.024, 0);
bushTop.castShadow = true;
this.gearCascadeGroup.add(bushTop);
}
// 3. Four Intermeshed Gears in Cascade
const gearY = 0.016;
// Gear 1 (Axle 1): 24-Tooth Driver Spur Gear (Azure / Gray)
this.gear1Mesh = createTechnicGearGroup(24, 0.024, LEGO_COLORS.AZURE, 0.006);
this.gear1Mesh.position.set(this.axle1X, gearY, 0);
this.gearCascadeGroup.add(this.gear1Mesh);
// Gear 2 (Axle 2): 16-Tooth Idler Gear (Bright Yellow)
this.gear2Mesh = createTechnicGearGroup(16, 0.016, LEGO_COLORS.YELLOW, 0.006);
this.gear2Mesh.position.set(this.axle2X, gearY, 0);
this.gearCascadeGroup.add(this.gear2Mesh);
// Gear 3 (Axle 3): 16-Tooth Idler Gear (Dark Bluish Gray)
this.gear3Mesh = createTechnicGearGroup(16, 0.016, LEGO_COLORS.DARK_GRAY, 0.006);
this.gear3Mesh.position.set(this.axle3X, gearY, 0);
this.gearCascadeGroup.add(this.gear3Mesh);
// Gear 4 (Axle 4): 12-Tooth Driven Gear (Bright Red)
this.gear4Mesh = createTechnicGearGroup(12, 0.012, LEGO_COLORS.RED, 0.006);
this.gear4Mesh.position.set(this.axle4X, gearY, 0);
this.gearCascadeGroup.add(this.gear4Mesh);
// 4. Output Dial Face & High-Speed Needle on Axle 4
const dialFaceGeom = new THREE.CylinderGeometry(0.020, 0.020, 0.003, 32);
const dialFaceMat = getLegoMaterial(LEGO_COLORS.WHITE, 0.25);
const dialFace = new THREE.Mesh(dialFaceGeom, dialFaceMat);
dialFace.position.set(this.axle4X, 0.030, 0);
dialFace.castShadow = true;
this.gearCascadeGroup.add(dialFace);
// Radial degree markings on dial face (0°, 90°, 180°, 270°)
for (let d = 0; d < 4; d++) {
const tick = new THREE.Mesh(
new THREE.BoxGeometry(0.004, 0.0006, 0.0012),
getLegoMaterial(d === 0 ? LEGO_COLORS.RED : LEGO_COLORS.BLACK)
);
const tickAngle = (d * Math.PI) / 2;
tick.position.set(
this.axle4X + Math.sin(tickAngle) * 0.015,
0.032,
Math.cos(tickAngle) * 0.015
);
tick.rotation.y = tickAngle;
this.gearCascadeGroup.add(tick);
}
// High-contrast Needle Pointer
const needleGeom = new THREE.BoxGeometry(0.016, 0.0016, 0.003);
needleGeom.translate(0.007, 0, 0);
this.dialNeedleMesh = new THREE.Mesh(needleGeom, getLegoMaterial(LEGO_COLORS.RED, 0.2));
this.dialNeedleMesh.position.set(this.axle4X, 0.033, 0);
this.gearCascadeGroup.add(this.dialNeedleMesh);
// Mission Completion Indicator Flag on Axle 4
const flagPole = new THREE.Mesh(
new THREE.CylinderGeometry(0.002, 0.002, 0.032, 12),
getLegoMaterial(LEGO_COLORS.LIGHT_GRAY)
);
flagPole.position.set(this.axle4X, 0.046, 0);
this.gearCascadeGroup.add(flagPole);
this.flagMesh = new THREE.Mesh(
new THREE.BoxGeometry(0.024, 0.015, 0.002),
getLegoMaterial(LEGO_COLORS.GREEN, 0.2)
);
this.flagMesh.position.set(this.axle4X + 0.012, 0.052, 0);
this.flagMesh.castShadow = true;
this.gearCascadeGroup.add(this.flagMesh);
this.rootGroup.add(this.gearCascadeGroup);
// 5. Input Paddle Assembly on Axle 1
this.rotorMesh = new THREE.Group();
// Central LEGO Technic Hub
const hubGeom = new THREE.CylinderGeometry(0.012, 0.012, 0.032, 24);
const hubMat = getLegoMaterial(LEGO_COLORS.BLACK, 0.4);
const hubMesh = new THREE.Mesh(hubGeom, hubMat);
hubMesh.castShadow = true;
this.rotorMesh.add(hubMesh);
// 4 Cross-Paddle Arms built from Medium Azure Technic Liftarms
const blade1 = createTechnicBeamGroup(9, LEGO_COLORS.AZURE, {
width: 0.008,
thickness: 0.020,
withPinsAt: [0, 4, 8],
});
this.rotorMesh.add(blade1);
const blade2 = createTechnicBeamGroup(9, LEGO_COLORS.AZURE, {
width: 0.008,
thickness: 0.020,
withPinsAt: [0, 4, 8],
});
blade2.rotation.y = Math.PI / 2;
this.rotorMesh.add(blade2);
// Target Strips on each blade tip (Bright Yellow)
for (const [bx, bz, rotY] of [
[0.032, 0, 0],
[-0.032, 0, 0],
[0, 0.032, Math.PI / 2],
[0, -0.032, Math.PI / 2],
] as const) {
const tipMesh = new THREE.Mesh(
new THREE.BoxGeometry(0.012, 0.020, 0.009),
getLegoMaterial(LEGO_COLORS.YELLOW, 0.3)
);
tipMesh.position.set(bx, 0, bz);
tipMesh.rotation.y = rotY;
tipMesh.castShadow = true;
this.rotorMesh.add(tipMesh);
}
this.rootGroup.add(this.rotorMesh);
}
public update(_dt: number): void {
if (!this.rotorBody) return;
// 1. Keep driver rotor body centered at world Axle 1 location
const radYaw = (this.yawDegrees * Math.PI) / 180;
const cosY = Math.cos(radYaw);
const sinY = Math.sin(radYaw);
const worldAxle1X = this.basePos.x + this.axle1X * cosY;
const worldAxle1Z = this.basePos.z - this.axle1X * sinY;
const targetY = this.basePos.y + 0.035;
const p = this.rotorBody.translation();
if (Math.abs(p.x - worldAxle1X) > 0.001 || Math.abs(p.z - worldAxle1Z) > 0.001) {
this.rotorBody.setTranslation({ x: worldAxle1X, y: targetY, z: worldAxle1Z }, true);
this.rotorBody.setLinvel({ x: 0, y: 0, z: 0 }, true);
}
// 2. Sample Angle with continuous unwrap tracking (no wrap-around jumps at +/- PI)
const raw = this.getRotationAngle();
let diff = raw - this.lastRawAngle;
while (diff > Math.PI) diff -= 2 * Math.PI;
while (diff < -Math.PI) diff += 2 * Math.PI;
this.continuousAngle += diff;
this.lastRawAngle = raw;
// 3. Authentic LEGO Multi-Gear Mechanical Friction
// In real LEGO assemblies, 4 meshed gears and 4 axle bushings generate significant
// rotational resistance. When not actively driven by a robot or user, the train
// arrests smoothly and comes to a complete rest rather than spinning indefinitely.
const angVel = this.rotorBody.angvel();
if (Math.abs(angVel.y) > 0.0005) {
if (Math.abs(angVel.y) < 1.2) {
// Smooth exponential damping to bring spinning gears to a clean stop
this.rotorBody.setAngvel({ x: 0, y: angVel.y * 0.82, z: 0 }, true);
}
if (Math.abs(angVel.y) < 0.04) {
// Snap to dead stop when below threshold
this.rotorBody.setAngvel({ x: 0, y: 0, z: 0 }, true);
}
}
}
public syncVisuals(): void {
if (!this.isDualLocked && this.pedestalBody) {
const p = this.pedestalBody.translation();
this.basePos.x = p.x;
this.basePos.z = p.z;
}
const { x, y, z } = this.basePos;
const radYaw = (this.yawDegrees * Math.PI) / 180;
// Baseplate and gear support frame transforms
this.baseplateGroup.position.set(x, y + 0.002, z);
this.baseplateGroup.rotation.y = radYaw;
this.gearCascadeGroup.position.set(x, y + 0.002, z);
this.gearCascadeGroup.rotation.y = radYaw;
// Rotor transform (Axle 1)
const rP = this.rotorBody.translation();
const rR = this.rotorBody.rotation();
this.rotorMesh.position.set(rP.x, rP.y, rP.z);
this.rotorMesh.quaternion.set(rR.x, rR.y, rR.z, rR.w);
// Continuous delta rotation of Gear 1 from initial state (smooth, never flips)
const deltaTheta = this.continuousAngle;
// Sync all 4 cascading gears with exact mechanical gear ratios and counter-rotations
this.gear1Mesh.rotation.y = deltaTheta;
this.gear2Mesh.rotation.y = deltaTheta * this.ratioG2 + Math.PI / 16; // Interlocking tooth offset
this.gear3Mesh.rotation.y = deltaTheta * this.ratioG3 + Math.PI / 16;
this.gear4Mesh.rotation.y = deltaTheta * this.ratioG4 + Math.PI / 12;
// Output dial needle turns at 2x gear ratio
this.dialNeedleMesh.rotation.y = deltaTheta * this.ratioG4;
// Flag elevation glow on solve
if (this.isSolved()) {
this.flagMesh.position.y = 0.056;
} else {
this.flagMesh.position.y = 0.050;
}
}
private getRotationAngle(): number {
if (!this.rotorBody) return 0;
const rot = this.rotorBody.rotation();
const siny_cosp = 2 * (rot.w * rot.y - rot.z * rot.x);
const cosy_cosp = 1 - 2 * (rot.y * rot.y + rot.x * rot.x);
return Math.atan2(siny_cosp, cosy_cosp);
}
public reset(): void {
const { x, y, z } = this.basePos;
const zeroVel = { x: 0, y: 0, z: 0 };
const radYaw = (this.yawDegrees * Math.PI) / 180;
const cosY = Math.cos(radYaw);
const sinY = Math.sin(radYaw);
const qy = Math.sin(radYaw / 2);
const qw = Math.cos(radYaw / 2);
const yawQuat = { x: 0, y: qy, z: 0, w: qw };
this.pedestalBody.setTranslation({ x, y: y + 0.008, z }, true);
this.pedestalBody.setRotation(yawQuat, true);
const worldAxle1X = x + this.axle1X * cosY;
const worldAxle1Z = z - this.axle1X * sinY;
this.rotorBody.setTranslation({ x: worldAxle1X, y: y + 0.035, z: worldAxle1Z }, true);
this.rotorBody.setRotation(yawQuat, true);
this.rotorBody.setLinvel(zeroVel, true);
this.rotorBody.setAngvel(zeroVel, true);
this.rotorBody.setEnabledRotations(false, true, false, true);
this.lastRawAngle = this.getRotationAngle();
this.continuousAngle = 0;
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 setDualLocked(locked: boolean, anchorPoint?: { x: number; z: number }): void {
this.isDualLocked = locked;
if (locked) {
if (anchorPoint) {
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 (!this.dualLockLocalOffset) {
this.dualLockLocalOffset = { x: 0, z: 0 };
}
} else {
this.dualLockLocalOffset = null;
}
if (this.pedestalBody) {
this.pedestalBody.setBodyType(
locked ? RAPIER.RigidBodyType.Fixed : RAPIER.RigidBodyType.Dynamic,
true
);
if (!locked) {
this.pedestalBody.setLinearDamping(2.5);
this.pedestalBody.setAngularDamping(3.5);
this.pedestalBody.wakeUp();
}
}
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 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 };
}
public isSolved(): boolean {
const angleDeltaDeg = (Math.abs(this.continuousAngle) * 180) / Math.PI;
return angleDeltaDeg >= 65; // Solved when turned past 65 degrees
}
public getScore(): number {
const angleDeltaDeg = (Math.abs(this.continuousAngle) * 180) / Math.PI;
return Math.min(100, Math.max(0, Math.round((angleDeltaDeg / 90) * 100)));
}
public getInteractiveMeshes(): THREE.Object3D[] {
return this.rotorMesh ? [this.rotorMesh, this.gearCascadeGroup] : [];
}
public applyUserDrag(groundTarget: THREE.Vector3): void {
if (!this.rotorBody) return;
const radYaw = (this.yawDegrees * Math.PI) / 180;
const worldAxle1X = this.basePos.x + this.axle1X * Math.cos(radYaw);
const worldAxle1Z = this.basePos.z - this.axle1X * Math.sin(radYaw);
const dx = groundTarget.x - worldAxle1X;
const dz = groundTarget.z - worldAxle1Z;
const targetAngle = Math.atan2(dx, dz);
let diff = targetAngle - this.lastRawAngle;
while (diff > Math.PI) diff -= 2 * Math.PI;
while (diff < -Math.PI) diff += 2 * Math.PI;
this.rotorBody.setAngvel({ x: 0, y: diff * 8.0, z: 0 }, true);
}
public stopUserDrag(): void {
if (this.rotorBody) {
this.rotorBody.setAngvel({ x: 0, y: 0, z: 0 }, true);
}
}
public destroy(): void {
if (this.pedestalBody) this.world.removeRigidBody(this.pedestalBody);
if (this.rotorBody) this.world.removeRigidBody(this.rotorBody);
this.dualLockMarker?.destroy();
this.rootGroup.clear();
}
}
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