fix: Move assemblies into the center of the field.

Also finally moved the ground up as well.
Autodesk · Sep 22, 2024 · 269d333 · 269d333
1 parent ceaf33f
commit 269d333
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Showing 3 changed files with 35 additions and 7 deletions.
diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -4,7 +4,7 @@ import MirabufInstance from "./MirabufInstance"
 import MirabufParser, { ParseErrorSeverity, RigidNodeId, RigidNodeReadOnly } from "./MirabufParser"
 import World from "@/systems/World"
 import Jolt from "@barclah/jolt-physics"
-import { JoltMat44_ThreeMatrix4 } from "@/util/TypeConversions"
+import { JoltMat44_ThreeMatrix4, JoltVec3_ThreeVector3 } from "@/util/TypeConversions"
 import * as THREE from "three"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { BodyAssociate, LayerReserve } from "@/systems/physics/PhysicsSystem"
@@ -177,6 +177,27 @@ class MirabufSceneObject extends SceneObject {
         setSpotlightAssembly(this)
 
         this.UpdateBatches()
+
+        const bounds = this.ComputeBoundingBox()
+        if (!Number.isFinite(bounds.min.y)) return
+
+        const offset = new JOLT.Vec3(
+            -(bounds.min.x + bounds.max.x) / 2.0,
+            0.1 + ((bounds.max.y - bounds.min.y) / 2.0) - ((bounds.min.y + bounds.max.y) / 2.0),
+            -(bounds.min.z + bounds.max.z) / 2.0
+        )
+
+        this._mirabufInstance.parser.rigidNodes.forEach(rn => {
+            const jBodyId = this._mechanism.GetBodyByNodeId(rn.id)
+            if (!jBodyId) return
+
+            const newPos = World.PhysicsSystem.GetBody(jBodyId).GetPosition().Add(offset)
+            World.PhysicsSystem.SetBodyPosition(jBodyId, newPos)
+
+            JOLT.destroy(newPos)
+        })
+
+        this.UpdateMeshTransforms()
     }
 
     public Update(): void {
@@ -410,8 +431,15 @@ class MirabufSceneObject extends SceneObject {
         }
 
         const jBody = World.PhysicsSystem.GetBody(jRootId)
-        const comTransform = JoltMat44_ThreeMatrix4(jBody.GetCenterOfMassTransform())
-        gizmo.SetTransform(comTransform)
+        if (jBody.IsStatic()) {
+            const aaBox = jBody.GetWorldSpaceBounds()
+            const mat = new THREE.Matrix4(1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1)
+            const center = aaBox.mMin.Add(aaBox.mMax).Div(2.0)
+            mat.compose(JoltVec3_ThreeVector3(center), new THREE.Quaternion(0,0,0,1), new THREE.Vector3(1,1,1))
+            gizmo.SetTransform(mat)
+        } else {
+            gizmo.SetTransform(JoltMat44_ThreeMatrix4(jBody.GetCenterOfMassTransform()))
+        }
     }
 
     private getPreferences(): void {

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
@@ -115,7 +115,7 @@ class PhysicsSystem extends WorldSystem {
         const ground = this.CreateBox(
             new THREE.Vector3(5.0, 0.5, 5.0),
             undefined,
-            new THREE.Vector3(0.0, -2.0, 0.0),
+            new THREE.Vector3(0.0, -0.5, 0.0),
             undefined
         )
         ground.SetFriction(FLOOR_FRICTION)
@@ -1056,7 +1056,7 @@ class PhysicsSystem extends WorldSystem {
      * @param id The id of the body
      * @param position The new position of the body
      */
-    public SetBodyPosition(id: Jolt.BodyID, position: Jolt.Vec3, activate: boolean = true): void {
+    public SetBodyPosition(id: Jolt.BodyID, position: Jolt.RVec3, activate: boolean = true): void {
         if (!this.IsBodyAdded(id)) {
             return
         }
@@ -1080,7 +1080,7 @@ class PhysicsSystem extends WorldSystem {
         )
     }
 
-    public SetBodyPositionAndRotation(id: Jolt.BodyID, position: Jolt.Vec3, rotation: Jolt.Quat, activate: boolean = true): void {
+    public SetBodyPositionAndRotation(id: Jolt.BodyID, position: Jolt.RVec3, rotation: Jolt.Quat, activate: boolean = true): void {
         if (!this.IsBodyAdded(id)) {
             return
         }

diff --git a/fission/src/systems/scene/SceneRenderer.ts b/fission/src/systems/scene/SceneRenderer.ts
@@ -88,7 +88,7 @@ class SceneRenderer extends WorldSystem {
         this._scene.add(ambientLight)
 
         const ground = new THREE.Mesh(new THREE.BoxGeometry(10, 1, 10), this.CreateToonMaterial(GROUND_COLOR))
-        ground.position.set(0.0, -2.0, 0.0)
+        ground.position.set(0.0, -0.5, 0.0)
         ground.receiveShadow = true
         ground.castShadow = true
         this._scene.add(ground)