Press n or j to go to the next uncovered block, b, p or k for the previous block.
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export interface DecomposedMissionObject {
id: string;
name: string;
spec: RobotAssemblySpec;
initialPos: { x: number; y: number; z: number };
yawDegrees: number;
isBaseFixed: boolean;
parentMissionId: string;
}
/**
* Decomposes a multi-cluster LEGO assembly into distinct, independently movable
* mission elements (e.g. separates fixed base stations, rolling carts, and loose game pieces).
*/
export function decomposeMissionAssembly(
spec: RobotAssemblySpec,
parentMissionId: string,
basePosition: { x: number; y: number; z: number },
yawDegrees: number = 0
): DecomposedMissionObject[] {
// If only 1 cluster, return single object directly
if (spec.clusters.length <= 1) {
const isFixed = spec.clusters[0]?.isFixed !== undefined ? spec.clusters[0].isFixed : true;
return [
{
id: parentMissionId,
name: spec.name,
spec,
initialPos: { ...basePosition },
yawDegrees,
isBaseFixed: isFixed,
parentMissionId,
},
];
}
// 1. Group clusters into connected components via mechanical joints
const clusterMap = new Map<string, ClusteredCompoundBody>();
const adj = new Map<string, Set<string>>();
for (const c of spec.clusters) {
clusterMap.set(c.clusterId, c);
adj.set(c.clusterId, new Set<string>());
}
for (const j of spec.joints) {
if (adj.has(j.parentClusterId) && adj.has(j.childClusterId)) {
adj.get(j.parentClusterId)!.add(j.childClusterId);
adj.get(j.childClusterId)!.add(j.parentClusterId);
}
}
const visited = new Set<string>();
const components: ClusteredCompoundBody[][] = [];
for (const c of spec.clusters) {
if (visited.has(c.clusterId)) continue;
const queue = [c.clusterId];
visited.add(c.clusterId);
const comp: ClusteredCompoundBody[] = [];
while (queue.length > 0) {
const currId = queue.shift()!;
const clusterObj = clusterMap.get(currId);
if (clusterObj) comp.push(clusterObj);
const neighbors = adj.get(currId);
if (neighbors) {
for (const n of neighbors) {
if (!visited.has(n)) {
visited.add(n);
queue.push(n);
}
}
}
}
components.push(comp);
}
// Sort components so the main stationary frame / root is first (index 0)
components.sort((a, b) => {
const aHasRoot = a.some((c) => c.isRootChassis || c.clusterId === 'chassis_root');
const bHasRoot = b.some((c) => c.isRootChassis || c.clusterId === 'chassis_root');
if (aHasRoot && !bHasRoot) return -1;
if (!aHasRoot && bHasRoot) return 1;
const aParts = a.reduce((sum, c) => sum + (c.parts?.length || c.partIds.length), 0);
const bParts = b.reduce((sum, c) => sum + (c.parts?.length || c.partIds.length), 0);
return bParts - aParts;
});
const yawRad = (yawDegrees * Math.PI) / 180;
const cosYaw = Math.cos(yawRad);
const sinYaw = Math.sin(yawRad);
const decomposed: DecomposedMissionObject[] = [];
for (let idx = 0; idx < components.length; idx++) {
const compClusters = components[idx];
const isMainBase = idx === 0;
// Calculate bounding box of this component in Studio mm
let minX = Infinity, maxX = -Infinity;
let minZ = Infinity, maxZ = -Infinity;
for (const cl of compClusters) {
if (cl.parts && cl.parts.length > 0) {
for (const p of cl.parts) {
if (p.position[0] < minX) minX = p.position[0];
if (p.position[0] > maxX) maxX = p.position[0];
if (p.position[2] < minZ) minZ = p.position[2];
if (p.position[2] > maxZ) maxZ = p.position[2];
}
} else {
for (const col of cl.colliders) {
const cxMm = col.offset[0] * 1000;
const czMm = col.offset[2] * 1000;
const hxMm = (col.halfExtents ? col.halfExtents[0] : 0.03) * 1000;
const hzMm = (col.halfExtents ? col.halfExtents[2] : 0.03) * 1000;
if (cxMm - hxMm < minX) minX = cxMm - hxMm;
if (cxMm + hxMm > maxX) maxX = cxMm + hxMm;
if (czMm - hzMm < minZ) minZ = czMm - hzMm;
if (czMm + hzMm > maxZ) maxZ = czMm + hzMm;
}
}
}
// Compute center in mm (default to 0 if empty)
const centerX_mm = (minX !== Infinity && maxX !== -Infinity) ? (minX + maxX) / 2 : 0;
const centerZ_mm = (minZ !== Infinity && maxZ !== -Infinity) ? (minZ + maxZ) / 2 : 0;
const deltaM_x = centerX_mm / 1000;
const deltaM_z = centerZ_mm / 1000;
// For secondary loose objects, center them around (0,0) locally and shift world position.
// For main base, keeping anchor at (0,0) or center allows consistent field anchoring.
const shouldShift = !isMainBase || (Math.abs(deltaM_x) > 0.001 || Math.abs(deltaM_z) > 0.001);
const shiftX_mm = shouldShift ? centerX_mm : 0;
const shiftZ_mm = shouldShift ? centerZ_mm : 0;
const shiftM_x = shiftX_mm / 1000;
const shiftM_z = shiftZ_mm / 1000;
// Calculate rotated world position offset in Three.js / Rapier coordinates
const worldOffsetX = shiftM_x * cosYaw + shiftM_z * sinYaw;
const worldOffsetZ = -shiftM_x * sinYaw + shiftM_z * cosYaw;
const objWorldPos = {
x: basePosition.x + worldOffsetX,
y: basePosition.y,
z: basePosition.z + worldOffsetZ,
};
// Deep clone clusters and shift local coordinates by -shift
const shiftedClusters: ClusteredCompoundBody[] = compClusters.map((cl) => {
const clonedCl: ClusteredCompoundBody = {
...cl,
fieldPositionOffset: cl.fieldPositionOffset
? [
cl.fieldPositionOffset[0] - shiftM_x,
cl.fieldPositionOffset[1],
cl.fieldPositionOffset[2] - shiftM_z,
]
: undefined,
colliders: cl.colliders.map((col) => ({
...col,
offset: [
col.offset[0] - shiftM_x,
col.offset[1],
col.offset[2] - shiftM_z,
],
})),
parts: cl.parts?.map((p) => ({
...p,
position: [
p.position[0] - shiftX_mm,
p.position[1],
p.position[2] - shiftZ_mm,
],
})),
};
return clonedCl;
});
const clusterIdSet = new Set(compClusters.map((c) => c.clusterId));
const compJoints: ExtractedJoint[] = spec.joints
.filter((j) => clusterIdSet.has(j.parentClusterId) && clusterIdSet.has(j.childClusterId))
.map((j) => ({
...j,
anchorParent: [
j.anchorParent[0] - shiftM_x,
j.anchorParent[1],
j.anchorParent[2] - shiftM_z,
],
anchorChild: [
j.anchorChild[0] - shiftM_x,
j.anchorChild[1],
j.anchorChild[2] - shiftM_z,
],
}));
// Default Dual Lock fixed state:
// Main base is fixed (anchored to field mat by default).
// Secondary pieces (carts, boulders, loose blocks) are dynamic (slide on mat).
const defaultFixed = isMainBase
? (shiftedClusters[0]?.isFixed !== undefined ? shiftedClusters[0].isFixed : true)
: false;
// Name formatting
const objName = isMainBase
? spec.name
: `${spec.name} - ${compClusters[0].name || `Piece ${idx + 1}`}`;
const objId = isMainBase ? parentMissionId : `${parentMissionId}_obj_${idx}`;
const subSpec: RobotAssemblySpec = {
name: objName,
clusters: shiftedClusters,
joints: compJoints,
sensors: spec.sensors || [],
physicsSpec: spec.physicsSpec,
bom: spec.bom,
};
decomposed.push({
id: objId,
name: objName,
spec: subSpec,
initialPos: objWorldPos,
yawDegrees,
isBaseFixed: defaultFixed,
parentMissionId,
});
}
return decomposed;
}
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