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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';
/**
* Rotary Gear Turnstile Mission Mechanism
*
* Implements an authentic FIRST LEGO League gear turnstile built from
* official LEGO Technic 24T and 12T gears, 9L liftarms, axle shafts, and a dial face.
*
* Driving the robot into any of the 4 cross paddle blades rotates the vertical shaft.
* The 24T gear drives a 12T gear, rotating a dial indicator needle.
* An authentic LEGO spring-loaded friction detent latches the dial into the 90-degree scored position.
*/
export class GearDialMission implements MissionElement {
public readonly id = 'gear-dial';
public readonly name = 'Mission 2: Rotary Gear Turnstile';
public readonly description = 'Drive into the paddle arms to rotate the turnstile 90 degrees and activate the green 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 gearTrainGroup!: THREE.Group;
private dialNeedleMesh!: THREE.Mesh;
private flagMesh!: THREE.Mesh;
private currentAngle = 0;
private initialAngle = 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;
// 1. Fixed Low-Profile Baseplate Anchor Body (Firmly anchored, low clearance)
const baseDesc = RAPIER.RigidBodyDesc.fixed().setTranslation(x, y + 0.008, z);
this.pedestalBody = this.world.createRigidBody(baseDesc);
this.world.createCollider(
RAPIER.ColliderDesc.cuboid(0.065, 0.008, 0.065).setFriction(0.8),
this.pedestalBody
);
// 2. Dynamic 4-Spoke Turnstile Rotor (Revolves strictly around Y axis, zero pitch/roll wobble)
// Centered at robot bumper height: Y = 0.035m (Spans Y = 0.021m to 0.049m)
const rotorDesc = RAPIER.RigidBodyDesc.dynamic()
.setTranslation(x, y + 0.035, z)
.setAngularDamping(2.8)
.setLinearDamping(10.0) // Resist translation; shaft holds it in place
.lockTranslations(); // Rotate only around Y
this.rotorBody = this.world.createRigidBody(rotorDesc);
// Authentically rigid Technic pin fit: strictly lock X (pitch) and Z (roll) rotations
this.rotorBody.setEnabledRotations(false, true, false, true);
// 4 Cross-Paddle Colliders (Arm 1 along X, Arm 2 along Z, 160mm total span)
const arm1 = RAPIER.ColliderDesc.cuboid(0.080, 0.014, 0.008)
.setDensity(1.8)
.setFriction(0.6)
.setRestitution(0.0);
const arm2 = RAPIER.ColliderDesc.cuboid(0.008, 0.014, 0.080)
.setDensity(1.8)
.setFriction(0.6)
.setRestitution(0.0);
this.world.createCollider(arm1, this.rotorBody);
this.world.createCollider(arm2, this.rotorBody);
this.initialAngle = this.getRotationAngle();
this.currentAngle = this.initialAngle;
}
private createLegoVisuals(): void {
// 1. LEGO Dark Bluish Gray Baseplate (14 x 14 studs with authentic studs on top)
this.baseplateGroup = createLegoPlateGroup(14, 14, LEGO_COLORS.DARK_GRAY, 1);
this.rootGroup.add(this.baseplateGroup);
// 2. Center Technic Turntable Base & Shaft Tower
const towerGeom = new THREE.CylinderGeometry(0.018, 0.022, 0.028, 24);
const towerMat = getLegoMaterial(LEGO_COLORS.DARK_GRAY, 0.4);
const towerMesh = new THREE.Mesh(towerGeom, towerMat);
towerMesh.position.set(0, 0.014, 0);
towerMesh.castShadow = true;
this.rootGroup.add(towerMesh);
// 3. Rotating 4-Spoke Turnstile Assembly
this.rotorMesh = new THREE.Group();
// Central LEGO Technic Hub Bushing
const hubGeom = new THREE.CylinderGeometry(0.014, 0.014, 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 9L Technic Liftarms with holes
const blade1 = createTechnicBeamGroup(9, LEGO_COLORS.AZURE, {
width: 0.008,
thickness: 0.022,
withPinsAt: [0, 4, 8],
});
blade1.position.set(0, 0, 0);
this.rotorMesh.add(blade1);
const blade2 = createTechnicBeamGroup(9, LEGO_COLORS.AZURE, {
width: 0.008,
thickness: 0.022,
withPinsAt: [0, 4, 8],
});
blade2.rotation.y = Math.PI / 2;
this.rotorMesh.add(blade2);
// Contact Target Strips on each blade tip (Bright Yellow LEGO accents)
for (const [bx, bz, rotY] of [
[0.034, 0, 0],
[-0.034, 0, 0],
[0, 0.034, Math.PI / 2],
[0, -0.034, 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);
}
// 4. Authentic LEGO Technic 24-Tooth Spur Gear mounted on the central shaft
const gear24 = createTechnicGearGroup(24, 0.024, LEGO_COLORS.LIGHT_GRAY, 0.007);
gear24.position.set(0, 0.018, 0);
this.rotorMesh.add(gear24);
this.rootGroup.add(this.rotorMesh);
// 5. Gear Train & Dial Indicator Assembly on Base
this.gearTrainGroup = new THREE.Group();
// Meshing 12-Tooth Bevel Gear (2:1 gear ratio driving the dial)
const gear12 = createTechnicGearGroup(12, 0.012, LEGO_COLORS.DARK_GRAY, 0.005);
gear12.position.set(0.032, 0.018, 0);
this.gearTrainGroup.add(gear12);
// Circular Printed Dial Face Tile
const dialFaceGeom = new THREE.CylinderGeometry(0.018, 0.018, 0.003, 32);
const dialFaceMat = getLegoMaterial(LEGO_COLORS.WHITE, 0.3);
const dialFace = new THREE.Mesh(dialFaceGeom, dialFaceMat);
dialFace.position.set(0.032, 0.023, 0);
dialFace.castShadow = true;
this.gearTrainGroup.add(dialFace);
// Red Needle Pointer on Dial Face
const needleGeom = new THREE.BoxGeometry(0.015, 0.0015, 0.003);
needleGeom.translate(0.007, 0, 0); // Pivot at center
const needleMat = getLegoMaterial(LEGO_COLORS.RED, 0.2);
this.dialNeedleMesh = new THREE.Mesh(needleGeom, needleMat);
this.dialNeedleMesh.position.set(0.032, 0.025, 0);
this.gearTrainGroup.add(this.dialNeedleMesh);
// Green Indicator Flag that pops up upon completing 90 degrees
const flagPole = new THREE.Mesh(
new THREE.CylinderGeometry(0.002, 0.002, 0.030, 12),
getLegoMaterial(LEGO_COLORS.LIGHT_GRAY)
);
flagPole.position.set(0, 0.032, 0);
this.rotorMesh.add(flagPole);
this.flagMesh = new THREE.Mesh(
new THREE.BoxGeometry(0.022, 0.014, 0.002),
getLegoMaterial(LEGO_COLORS.GREEN, 0.2)
);
this.flagMesh.position.set(0.011, 0.040, 0);
this.flagMesh.castShadow = true;
this.rotorMesh.add(this.flagMesh);
this.rootGroup.add(this.gearTrainGroup);
}
public update(_dt: number): void {
if (!this.rotorBody) return;
// 1. Keep rotor body firmly centered at base
const p = this.rotorBody.translation();
const targetY = this.basePos.y + 0.035;
if (Math.abs(p.x - this.basePos.x) > 0.001 || Math.abs(p.z - this.basePos.z) > 0.001) {
this.rotorBody.setTranslation({ x: this.basePos.x, y: targetY, z: this.basePos.z }, true);
this.rotorBody.setLinvel({ x: 0, y: 0, z: 0 }, true);
}
// 2. Sample Angle
this.currentAngle = this.getRotationAngle();
let angleDelta = Math.abs(this.currentAngle - this.initialAngle);
if (angleDelta > Math.PI) angleDelta = 2 * Math.PI - angleDelta;
// 3. LEGO Spring-Loaded Ratchet Detent Torque (Snap to 90-degree quadrant)
const angVel = this.rotorBody.angvel();
if (Math.abs(angVel.y) < 1.5) {
// Gentle spring detent torque at every 90 degrees
const targetQuadrant = Math.round(this.currentAngle / (Math.PI / 2)) * (Math.PI / 2);
const err = targetQuadrant - this.currentAngle;
if (Math.abs(err) < 0.25) {
this.rotorBody.applyTorqueImpulse({ x: 0, y: err * 0.0006 - angVel.y * 0.0012, z: 0 }, true);
}
if (Math.abs(err) < 0.02 && Math.abs(angVel.y) < 0.05) {
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;
this.baseplateGroup.position.set(x, y + 0.002, z);
this.baseplateGroup.rotation.y = radYaw;
this.gearTrainGroup.position.set(x, y + 0.002, z);
this.gearTrainGroup.rotation.y = radYaw;
// Rotor transform
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);
// 2:1 Gear Ratio Needle Pointer Rotation
const angleDelta = this.currentAngle - this.initialAngle;
this.dialNeedleMesh.rotation.y = -angleDelta * 2.0;
// Flag elevation glow on solve
if (this.isSolved()) {
this.flagMesh.position.y = 0.044;
} else {
this.flagMesh.position.y = 0.038;
}
}
private getRotationAngle(): number {
if (!this.rotorBody) return 0;
const rot = this.rotorBody.rotation();
// Yaw angle around Y
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 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);
this.rotorBody.setTranslation({ x, y: y + 0.035, z }, true);
this.rotorBody.setRotation(yawQuat, true);
this.rotorBody.setLinvel(zeroVel, true);
this.rotorBody.setAngvel(zeroVel, true);
this.rotorBody.setEnabledRotations(false, true, false, true);
this.initialAngle = this.getRotationAngle();
this.currentAngle = this.initialAngle;
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 {
this.currentAngle = this.getRotationAngle();
let angleDeltaDeg = (Math.abs(this.currentAngle - this.initialAngle) * 180) / Math.PI;
if (angleDeltaDeg > 180) angleDeltaDeg = 360 - angleDeltaDeg;
return angleDeltaDeg >= 70; // Rotated past 70 degrees
}
public getScore(): number {
this.currentAngle = this.getRotationAngle();
let angleDeltaDeg = (Math.abs(this.currentAngle - this.initialAngle) * 180) / Math.PI;
if (angleDeltaDeg > 180) angleDeltaDeg = 360 - angleDeltaDeg;
return Math.min(100, Math.max(0, Math.round((angleDeltaDeg / 90) * 100)));
}
public getInteractiveMeshes(): THREE.Object3D[] {
return this.rotorMesh ? [this.rotorMesh] : [];
}
public applyUserDrag(groundTarget: THREE.Vector3): void {
if (!this.rotorBody) return;
const dx = groundTarget.x - this.basePos.x;
const dz = groundTarget.z - this.basePos.z;
const targetAngle = Math.atan2(dx, dz);
let diff = targetAngle - this.currentAngle;
while (diff > Math.PI) diff -= 2 * Math.PI;
while (diff < -Math.PI) diff += 2 * Math.PI;
this.rotorBody.setAngvel({ x: 0, y: diff * 12.0, 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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