Press n or j to go to the next uncovered block, b, p or k for the previous block.
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import { RobotPhysicsBody } from '../physics/robot-body';
import { VirtualSensorManager } from '../sensors/sensor-manager';
import {
LEGO_COLORS,
getLegoMaterial,
createTechnicBeamGroup,
} from './lego-visuals';
import { consolidateGroupMeshes } from '../cad/mesh-consolidator';
/**
* High-Fidelity LEGO SPIKE Prime Advance Driving Base 3D Visualizer.
* Renders an authentic FLL competition robot with real LEGO Technic beams,
* hole pitch, studs, 5x5 LED light matrix, angular motors, front bumper, and wheels.
*/
export class Robot3DRenderer {
public rootGroup: THREE.Group;
public chassisMesh: THREE.Group;
public leftWheelMesh: THREE.Group;
public rightWheelMesh: THREE.Group;
// DroidBot-E Articulated Attachments & Preset System
public attachmentRoot: THREE.Group;
public leftAttachmentArm?: THREE.Group;
public rightAttachmentArm?: THREE.Group;
public leftAuxMotor?: THREE.Group;
public rightAuxMotor?: THREE.Group;
public ultrasonicSensorGroup?: THREE.Group;
public colorSensorRightGroup?: THREE.Group;
public activePreset: 'advanced' | 'compact' = 'advanced';
// Sensor ground spots
public sensorSpotC: THREE.Mesh;
public sensorSpotD: THREE.Mesh;
private sensorManager?: VirtualSensorManager;
constructor() {
this.rootGroup = new THREE.Group();
this.chassisMesh = new THREE.Group();
this.leftWheelMesh = new THREE.Group();
this.rightWheelMesh = new THREE.Group();
this.attachmentRoot = new THREE.Group();
this.buildLegoChassisVisuals();
this.buildLegoWheelVisuals(this.leftWheelMesh, 'left');
this.buildLegoWheelVisuals(this.rightWheelMesh, 'right');
// Consolidate chassis and wheels into material-merged meshes to reduce draw calls from ~120 to ~22
consolidateGroupMeshes(this.chassisMesh);
consolidateGroupMeshes(this.leftWheelMesh);
consolidateGroupMeshes(this.rightWheelMesh);
// Build authentic DroidBot-E attachments and articulated motor arms
this.buildDroidBotEAttachments();
this.rootGroup.add(this.chassisMesh);
this.rootGroup.add(this.leftWheelMesh);
this.rootGroup.add(this.rightWheelMesh);
this.rootGroup.add(this.attachmentRoot);
// Ground projection spots for color sensors
const spotGeom = new THREE.CircleGeometry(0.008, 16);
spotGeom.rotateX(-Math.PI / 2); // Lay flat on the ground
const spotMatC = new THREE.MeshBasicMaterial({ color: 0xffffff, depthWrite: false });
const spotMatD = new THREE.MeshBasicMaterial({ color: 0xffffff, depthWrite: false });
this.sensorSpotC = new THREE.Mesh(spotGeom, spotMatC);
this.sensorSpotD = new THREE.Mesh(spotGeom.clone(), spotMatD);
this.rootGroup.add(this.sensorSpotC);
this.rootGroup.add(this.sensorSpotD);
}
public setRobotPreset(preset: 'advanced' | 'compact'): void {
this.activePreset = preset;
const isAdv = preset === 'advanced';
this.attachmentRoot.visible = isAdv;
this.sensorSpotD.visible = isAdv;
}
public setSensorManager(sm: VirtualSensorManager): void {
this.sensorManager = sm;
}
private buildLegoChassisVisuals(): void {
// -------------------------------------------------------------------------
// 1. LEGO SPIKE Prime Large Hub (Part 45601)
// -------------------------------------------------------------------------
const hubGroup = new THREE.Group();
const hubMat = getLegoMaterial(LEGO_COLORS.YELLOW, 0.3, 0.05);
const whiteMat = getLegoMaterial(LEGO_COLORS.WHITE, 0.25, 0.0);
const blackMat = getLegoMaterial(LEGO_COLORS.BLACK, 0.5, 0.0);
const cyanMat = getLegoMaterial(LEGO_COLORS.AZURE, 0.3, 0.0);
// Main Yellow Enclosure: 112mm long x 40mm high x 64mm wide
const hubBodyGeom = new THREE.BoxGeometry(0.064, 0.040, 0.112);
const hubBodyMesh = new THREE.Mesh(hubBodyGeom, hubMat);
hubBodyMesh.castShadow = true;
hubBodyMesh.receiveShadow = true;
hubGroup.add(hubBodyMesh);
// White Top Faceplate Panel
const faceGeom = new THREE.BoxGeometry(0.056, 0.003, 0.096);
const faceMesh = new THREE.Mesh(faceGeom, whiteMat);
faceMesh.position.set(0, 0.0205, 0);
faceMesh.castShadow = true;
hubGroup.add(faceMesh);
// 5x5 LED Light Matrix (25 distinct circular white LED lens emitters)
const ledGeom = new THREE.CircleGeometry(0.0022, 12);
ledGeom.rotateX(-Math.PI / 2);
const ledMat = new THREE.MeshBasicMaterial({ color: 0x38bdf8 }); // Subtle light blue glow
const ledPitch = 0.0065;
for (let r = 0; r < 5; r++) {
for (let c = 0; c < 5; c++) {
const led = new THREE.Mesh(ledGeom, ledMat);
led.position.set((c - 2) * ledPitch, 0.0222, -0.015 + (r - 2) * ledPitch);
hubGroup.add(led);
}
}
// Large Center Power Button (White circle with teal ring)
const buttonRingGeom = new THREE.CylinderGeometry(0.008, 0.008, 0.002, 24);
const buttonRing = new THREE.Mesh(buttonRingGeom, cyanMat);
buttonRing.position.set(0, 0.0221, 0.024);
hubGroup.add(buttonRing);
const buttonCenterGeom = new THREE.CylinderGeometry(0.006, 0.006, 0.0025, 24);
const buttonCenter = new THREE.Mesh(buttonCenterGeom, whiteMat);
buttonCenter.position.set(0, 0.0223, 0.024);
hubGroup.add(buttonCenter);
// Bluetooth Pill Button
const btGeom = new THREE.CylinderGeometry(0.003, 0.003, 0.002, 16);
const btMesh = new THREE.Mesh(btGeom, cyanMat);
btMesh.position.set(0.016, 0.0221, 0.038);
hubGroup.add(btMesh);
// Side Port Sockets (A, B on Left, C, D on Right)
for (const side of [-0.0322, 0.0322]) {
for (const posZ of [-0.035, -0.010, 0.015]) {
const portGeom = new THREE.BoxGeometry(0.001, 0.010, 0.014);
const portMesh = new THREE.Mesh(portGeom, blackMat);
portMesh.position.set(side, 0.005, posZ);
hubGroup.add(portMesh);
}
}
hubGroup.position.set(0, 0.022, -0.010);
this.chassisMesh.add(hubGroup);
// -------------------------------------------------------------------------
// 2. Technic Structural Chassis Beams & Frames
// -------------------------------------------------------------------------
// Left & Right Long Chassis Beams (15L Technic liftarms with 15 holes)
const beamLeft = createTechnicBeamGroup(15, LEGO_COLORS.DARK_GRAY, { withPinsAt: [0, 4, 7, 10, 14] });
beamLeft.rotation.y = Math.PI / 2;
beamLeft.position.set(-0.048, 0.002, -0.005);
this.chassisMesh.add(beamLeft);
const beamRight = createTechnicBeamGroup(15, LEGO_COLORS.DARK_GRAY, { withPinsAt: [0, 4, 7, 10, 14] });
beamRight.rotation.y = Math.PI / 2;
beamRight.position.set(0.048, 0.002, -0.005);
this.chassisMesh.add(beamRight);
// Front & Rear Cross Beams (11L Technic liftarms)
const beamCrossRear = createTechnicBeamGroup(11, LEGO_COLORS.DARK_GRAY, { withPinsAt: [1, 5, 9] });
beamCrossRear.position.set(0, 0.002, -0.065);
this.chassisMesh.add(beamCrossRear);
const beamCrossFront = createTechnicBeamGroup(11, LEGO_COLORS.DARK_GRAY, { withPinsAt: [1, 5, 9] });
beamCrossFront.position.set(0, 0.002, 0.055);
this.chassisMesh.add(beamCrossFront);
// -------------------------------------------------------------------------
// 3. Front LEGO Bumper / Pusher Attachment Frame (High-vis Azure & Red)
// Extends forward at Z = 0.080m, height Y = 0.025m (strikes mission models solidly!)
// -------------------------------------------------------------------------
const bumperGroup = new THREE.Group();
// 13L Wide Front Technic Pusher Beam across front
const bumperBeam = createTechnicBeamGroup(13, LEGO_COLORS.AZURE, {
width: 0.009,
thickness: 0.014,
withPinsAt: [1, 3, 6, 9, 11],
});
bumperBeam.position.set(0, 0.005, 0.078);
bumperGroup.add(bumperBeam);
// Red Front Push Contact Plates / Target Tiles
const pushPlateGeom = new THREE.BoxGeometry(0.088, 0.016, 0.006);
const pushPlateMat = getLegoMaterial(LEGO_COLORS.RED, 0.3);
const pushPlate = new THREE.Mesh(pushPlateGeom, pushPlateMat);
pushPlate.position.set(0, 0.005, 0.084);
pushPlate.castShadow = true;
bumperGroup.add(pushPlate);
// White Center Target Chevron on Bumper
const targetGeom = new THREE.BoxGeometry(0.024, 0.010, 0.002);
const targetMesh = new THREE.Mesh(targetGeom, whiteMat);
targetMesh.position.set(0, 0.005, 0.088);
bumperGroup.add(targetMesh);
this.chassisMesh.add(bumperGroup);
// -------------------------------------------------------------------------
// 4. SPIKE Prime Angular Motors (Left Port A, Right Port B in Medium Azure)
// -------------------------------------------------------------------------
for (const [side, xPos] of [['left', -0.046], ['right', 0.046]] as const) {
const motorGroup = new THREE.Group();
const motorMat = getLegoMaterial(LEGO_COLORS.AZURE, 0.3);
// Motor rounded body
const motorBody = new THREE.Mesh(new THREE.BoxGeometry(0.022, 0.034, 0.050), motorMat);
motorBody.castShadow = true;
motorGroup.add(motorBody);
// White Rotating Output Hub Disc with cross-axle hole
const discGeom = new THREE.CylinderGeometry(0.014, 0.014, 0.004, 24);
discGeom.rotateZ(Math.PI / 2);
const discMesh = new THREE.Mesh(discGeom, whiteMat);
discMesh.position.set(side === 'left' ? -0.012 : 0.012, 0, 0);
discMesh.castShadow = true;
motorGroup.add(discMesh);
// Center cross-axle hole (+) on disc
const axleHole = new THREE.Mesh(new THREE.BoxGeometry(0.005, 0.003, 0.003), blackMat);
axleHole.position.set(side === 'left' ? -0.0145 : 0.0145, 0, 0);
motorGroup.add(axleHole);
motorGroup.position.set(xPos, 0.002, 0);
this.chassisMesh.add(motorGroup);
}
// -------------------------------------------------------------------------
// 5. Left Color Sensor (Port C) facing downward at the mat
// -------------------------------------------------------------------------
{
const sensorGroup = new THREE.Group();
// Sensor Body (Black casing)
const sensorGeom = new THREE.BoxGeometry(0.016, 0.018, 0.024);
const sensorMesh = new THREE.Mesh(sensorGeom, blackMat);
sensorMesh.castShadow = true;
sensorGroup.add(sensorMesh);
// Azure Top Bracket clip
const clipGeom = new THREE.BoxGeometry(0.018, 0.004, 0.014);
const clipMesh = new THREE.Mesh(clipGeom, getLegoMaterial(LEGO_COLORS.AZURE));
clipMesh.position.set(0, 0.010, 0);
sensorGroup.add(clipMesh);
// Optical Lens with White LED emitter ring
const lensGeom = new THREE.CircleGeometry(0.004, 12);
lensGeom.rotateX(Math.PI / 2); // Facing mat
const lensMesh = new THREE.Mesh(lensGeom, new THREE.MeshBasicMaterial({ color: 0xffffff }));
lensMesh.position.set(0, -0.0095, 0.004);
sensorGroup.add(lensMesh);
sensorGroup.position.set(-0.024, -0.008, 0.068);
this.chassisMesh.add(sensorGroup);
}
// -------------------------------------------------------------------------
// 6. Rear Caster Skid Housing & Steel Ball (Part 49283)
// -------------------------------------------------------------------------
const casterHousingMat = getLegoMaterial(LEGO_COLORS.BLACK, 0.4);
const casterHousing = new THREE.Mesh(
new THREE.CylinderGeometry(0.011, 0.014, 0.016, 16),
casterHousingMat
);
casterHousing.position.set(0, -0.015, -0.065);
this.chassisMesh.add(casterHousing);
const ballMat = new THREE.MeshStandardMaterial({ color: 0xe5e7eb, metalness: 0.95, roughness: 0.08 });
const ballMesh = new THREE.Mesh(new THREE.SphereGeometry(0.010, 20, 20), ballMat);
ballMesh.position.set(0, -0.0245, -0.065);
ballMesh.castShadow = true;
this.chassisMesh.add(ballMesh);
}
private buildLegoWheelVisuals(wheelGroup: THREE.Group, _side: 'left' | 'right'): void {
// -------------------------------------------------------------------------
// 56mm x 26mm Technic Racing Wheel (Part 56145 / 44771)
// -------------------------------------------------------------------------
const tireMat = getLegoMaterial(LEGO_COLORS.BLACK, 0.88, 0.02);
const rimMat = getLegoMaterial(LEGO_COLORS.YELLOW, 0.32, 0.05);
// 1. Rubber Tire Outer Cylinder (Radius 28mm, width 24mm)
const tireGeom = new THREE.CylinderGeometry(0.028, 0.028, 0.024, 32);
tireGeom.rotateZ(Math.PI / 2); // Oriented along X axis
const tireMesh = new THREE.Mesh(tireGeom, tireMat);
tireMesh.castShadow = true;
tireMesh.receiveShadow = true;
wheelGroup.add(tireMesh);
// 2. Deep Radial Tire Tread Grooves
const treadGeom = new THREE.BoxGeometry(0.025, 0.0018, 0.0035);
const numTreads = 18;
for (let i = 0; i < numTreads; i++) {
const ang = (i * 2 * Math.PI) / numTreads;
const tread = new THREE.Mesh(treadGeom, getLegoMaterial(0x0a0a0c, 0.95));
tread.position.set(0, Math.sin(ang) * 0.0281, Math.cos(ang) * 0.0281);
tread.rotation.x = ang;
wheelGroup.add(tread);
}
// 3. Yellow Technic Rim Hub (Radius 16mm, width 25mm)
const rimGeom = new THREE.CylinderGeometry(0.0165, 0.0165, 0.0252, 24);
rimGeom.rotateZ(Math.PI / 2);
const rimMesh = new THREE.Mesh(rimGeom, rimMat);
wheelGroup.add(rimMesh);
// 4. Technic Spoke Recesses & Cutouts
const spokeHoleGeom = new THREE.CylinderGeometry(0.0035, 0.0035, 0.026, 12);
spokeHoleGeom.rotateZ(Math.PI / 2);
const holeMat = getLegoMaterial(LEGO_COLORS.BLACK, 0.8);
for (let s = 0; s < 4; s++) {
const ang = (s * Math.PI) / 2 + Math.PI / 4;
const dist = 0.010;
const spokeHole = new THREE.Mesh(spokeHoleGeom, holeMat);
spokeHole.position.set(0, Math.sin(ang) * dist, Math.cos(ang) * dist);
wheelGroup.add(spokeHole);
}
// 5. Center Cross-Axle Bushing Collar (+)
const bushingMat = getLegoMaterial(LEGO_COLORS.LIGHT_GRAY, 0.4);
const bushingGeom = new THREE.CylinderGeometry(0.005, 0.005, 0.027, 16);
bushingGeom.rotateZ(Math.PI / 2);
const bushing = new THREE.Mesh(bushingGeom, bushingMat);
wheelGroup.add(bushing);
// Cross-Axle Slot Hole
const crossSlot = new THREE.Mesh(
new THREE.BoxGeometry(0.0275, 0.0048, 0.0016),
holeMat
);
wheelGroup.add(crossSlot);
}
/**
* Build authentic DroidBot-E attachments:
* - Left & Right Aux Medium Angular Motors (Ports E & F)
* - Articulated Left & Right Technic Attachment Liftarms / Pusher Forks
* - Front Ultrasonic Distance Sensor (Port E)
* - Right Color Sensor (Port D)
*/
private buildDroidBotEAttachments(): void {
const motorMat = getLegoMaterial(LEGO_COLORS.AZURE, 0.3);
const whiteMat = getLegoMaterial(LEGO_COLORS.WHITE, 0.25, 0.0);
const blackMat = getLegoMaterial(LEGO_COLORS.BLACK, 0.5, 0.0);
// 1. Left Aux Attachment Motor (Port E) & Left Articulated Liftarm
this.leftAuxMotor = new THREE.Group();
const motorBodyL = new THREE.Mesh(new THREE.BoxGeometry(0.022, 0.034, 0.046), motorMat);
motorBodyL.castShadow = true;
this.leftAuxMotor.add(motorBodyL);
const hubFaceL = new THREE.Mesh(new THREE.CylinderGeometry(0.012, 0.012, 0.003, 16), whiteMat);
hubFaceL.rotation.z = Math.PI / 2;
hubFaceL.position.set(-0.012, 0, 0);
this.leftAuxMotor.add(hubFaceL);
this.leftAuxMotor.position.set(-0.052, 0.032, 0.005);
this.attachmentRoot.add(this.leftAuxMotor);
// Left Articulated Attachment Liftarm (pivots around motor axle X axis)
this.leftAttachmentArm = new THREE.Group();
this.leftAttachmentArm.position.set(-0.066, 0.032, 0.005);
const collarL = new THREE.Mesh(
new THREE.CylinderGeometry(0.005, 0.005, 0.006, 12),
getLegoMaterial(LEGO_COLORS.LIGHT_GRAY)
);
collarL.rotation.z = Math.PI / 2;
this.leftAttachmentArm.add(collarL);
// 9L Technic Liftarm (Red) extending forward
const armBeamL = createTechnicBeamGroup(9, LEGO_COLORS.RED, {
width: 0.008,
thickness: 0.008,
withPinsAt: [0, 4, 8],
});
armBeamL.position.set(0, 0, 0.036);
this.leftAttachmentArm.add(armBeamL);
// Front pusher prong (Azure)
const prongL = createTechnicBeamGroup(5, LEGO_COLORS.AZURE, {
width: 0.008,
thickness: 0.008,
});
prongL.rotation.y = Math.PI / 2;
prongL.position.set(0.016, 0, 0.072);
this.leftAttachmentArm.add(prongL);
this.attachmentRoot.add(this.leftAttachmentArm);
// 2. Right Aux Attachment Motor (Port F) & Right Articulated Liftarm
this.rightAuxMotor = new THREE.Group();
const motorBodyR = new THREE.Mesh(new THREE.BoxGeometry(0.022, 0.034, 0.046), motorMat);
motorBodyR.castShadow = true;
this.rightAuxMotor.add(motorBodyR);
const hubFaceR = new THREE.Mesh(new THREE.CylinderGeometry(0.012, 0.012, 0.003, 16), whiteMat);
hubFaceR.rotation.z = Math.PI / 2;
hubFaceR.position.set(0.012, 0, 0);
this.rightAuxMotor.add(hubFaceR);
this.rightAuxMotor.position.set(0.052, 0.032, 0.005);
this.attachmentRoot.add(this.rightAuxMotor);
// Right Articulated Attachment Liftarm (pivots around motor axle X axis)
this.rightAttachmentArm = new THREE.Group();
this.rightAttachmentArm.position.set(0.066, 0.032, 0.005);
const collarR = new THREE.Mesh(
new THREE.CylinderGeometry(0.005, 0.005, 0.006, 12),
getLegoMaterial(LEGO_COLORS.LIGHT_GRAY)
);
collarR.rotation.z = Math.PI / 2;
this.rightAttachmentArm.add(collarR);
// 9L Technic Liftarm (Red) extending forward
const armBeamR = createTechnicBeamGroup(9, LEGO_COLORS.RED, {
width: 0.008,
thickness: 0.008,
withPinsAt: [0, 4, 8],
});
armBeamR.position.set(0, 0, 0.036);
this.rightAttachmentArm.add(armBeamR);
// Front pusher prong (Azure)
const prongR = createTechnicBeamGroup(5, LEGO_COLORS.AZURE, {
width: 0.008,
thickness: 0.008,
});
prongR.rotation.y = -Math.PI / 2;
prongR.position.set(-0.016, 0, 0.072);
this.rightAttachmentArm.add(prongR);
this.attachmentRoot.add(this.rightAttachmentArm);
// 3. Front Ultrasonic Distance Sensor (Port E)
this.ultrasonicSensorGroup = new THREE.Group();
const ultraBody = new THREE.Mesh(
new THREE.BoxGeometry(0.034, 0.016, 0.014),
blackMat
);
ultraBody.castShadow = true;
this.ultrasonicSensorGroup.add(ultraBody);
for (const eyeX of [-0.009, 0.009]) {
const eyeRing = new THREE.Mesh(
new THREE.CylinderGeometry(0.0055, 0.0055, 0.002, 16),
getLegoMaterial(LEGO_COLORS.LIGHT_GRAY, 0.2, 0.5)
);
eyeRing.rotation.x = Math.PI / 2;
eyeRing.position.set(eyeX, 0, 0.008);
this.ultrasonicSensorGroup.add(eyeRing);
const eyePupil = new THREE.Mesh(
new THREE.CircleGeometry(0.0035, 12),
new THREE.MeshBasicMaterial({ color: 0x050505 })
);
eyePupil.position.set(eyeX, 0, 0.0091);
this.ultrasonicSensorGroup.add(eyePupil);
}
const ultraClip = new THREE.Mesh(
new THREE.BoxGeometry(0.036, 0.004, 0.010),
getLegoMaterial(LEGO_COLORS.AZURE)
);
ultraClip.position.set(0, -0.009, 0);
this.ultrasonicSensorGroup.add(ultraClip);
this.ultrasonicSensorGroup.position.set(0, 0.024, 0.076);
this.attachmentRoot.add(this.ultrasonicSensorGroup);
// 4. Right Color Sensor (Port D) facing downward at the mat
this.colorSensorRightGroup = new THREE.Group();
const sensorGeomD = new THREE.BoxGeometry(0.016, 0.018, 0.024);
const sensorMeshD = new THREE.Mesh(sensorGeomD, blackMat);
sensorMeshD.castShadow = true;
this.colorSensorRightGroup.add(sensorMeshD);
const clipGeomD = new THREE.BoxGeometry(0.018, 0.004, 0.014);
const clipMeshD = new THREE.Mesh(clipGeomD, getLegoMaterial(LEGO_COLORS.AZURE));
clipMeshD.position.set(0, 0.010, 0);
this.colorSensorRightGroup.add(clipMeshD);
const lensGeomD = new THREE.CircleGeometry(0.004, 12);
lensGeomD.rotateX(Math.PI / 2);
const lensMeshD = new THREE.Mesh(lensGeomD, new THREE.MeshBasicMaterial({ color: 0xffffff }));
lensMeshD.position.set(0, -0.0095, 0.004);
this.colorSensorRightGroup.add(lensMeshD);
this.colorSensorRightGroup.position.set(0.024, -0.008, 0.068);
this.attachmentRoot.add(this.colorSensorRightGroup);
}
/**
* Synchronize visual Three.js transforms with Rapier3D physics state
*/
public syncWithPhysics(robotPhysics: RobotPhysicsBody): void {
// 1. Chassis Pose
const chassisPos = robotPhysics.chassisBody.translation();
const chassisRot = robotPhysics.chassisBody.rotation();
this.chassisMesh.position.set(chassisPos.x, chassisPos.y, chassisPos.z);
this.chassisMesh.quaternion.set(chassisRot.x, chassisRot.y, chassisRot.z, chassisRot.w);
// Sync DroidBot-E attachments group transform with chassis
this.attachmentRoot.position.set(chassisPos.x, chassisPos.y, chassisPos.z);
this.attachmentRoot.quaternion.set(chassisRot.x, chassisRot.y, chassisRot.z, chassisRot.w);
// 2. Articulate Motorized Attachment Arms based on physics motor encoder degrees
if (this.activePreset === 'advanced') {
const motorE = robotPhysics.motors.get('E');
const motorF = robotPhysics.motors.get('F');
if (this.leftAttachmentArm && motorE) {
this.leftAttachmentArm.rotation.x = (motorE.degrees * Math.PI) / 180;
}
if (this.rightAttachmentArm && motorF) {
this.rightAttachmentArm.rotation.x = (motorF.degrees * Math.PI) / 180;
}
}
// 3. Wheels Poses
let wheelIndex = 0;
for (const body of robotPhysics.wheelBodies.values()) {
const pos = body.translation();
const rot = body.rotation();
const targetGroup = wheelIndex === 0 ? this.leftWheelMesh : this.rightWheelMesh;
targetGroup.position.set(pos.x, pos.y, pos.z);
targetGroup.quaternion.set(rot.x, rot.y, rot.z, rot.w);
wheelIndex++;
}
// 4. Sensor Ground Projection Spots
if (this.sensorManager) {
const readingC = this.sensorManager.sampleColorSensor('C');
this.sensorSpotC.position.set(readingC.worldPosition[0], 0.003, readingC.worldPosition[2]);
(this.sensorSpotC.material as THREE.MeshBasicMaterial).color.setRGB(
readingC.rgb[0] / 255,
readingC.rgb[1] / 255,
readingC.rgb[2] / 255
);
if (this.activePreset === 'advanced') {
this.sensorSpotD.visible = true;
const readingD = this.sensorManager.sampleColorSensor('D');
this.sensorSpotD.position.set(readingD.worldPosition[0], 0.003, readingD.worldPosition[2]);
(this.sensorSpotD.material as THREE.MeshBasicMaterial).color.setRGB(
readingD.rgb[0] / 255,
readingD.rgb[1] / 255,
readingD.rgb[2] / 255
);
} else {
this.sensorSpotD.visible = false;
}
}
}
}
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