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Intake and Ejector Configurator (#1017)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,112 @@ | ||
| import SceneObject from "@/systems/scene/SceneObject" | ||
| import MirabufSceneObject from "./MirabufSceneObject" | ||
| import Jolt from "@barclah/jolt-physics" | ||
| import World from "@/systems/World" | ||
| import { | ||
| Array_ThreeMatrix4, | ||
| JoltMat44_ThreeMatrix4, | ||
| JoltQuat_ThreeQuaternion, | ||
| ThreeQuaternion_JoltQuat, | ||
| ThreeVector3_JoltVec3, | ||
| } from "@/util/TypeConversions" | ||
| import * as THREE from "three" | ||
|
|
||
| class EjectableSceneObject extends SceneObject { | ||
| private _parentAssembly: MirabufSceneObject | ||
| private _gamePieceBodyId?: Jolt.BodyID | ||
|
|
||
| private _parentBodyId?: Jolt.BodyID | ||
| private _deltaTransformation?: THREE.Matrix4 | ||
| private _ejectVelocity?: number | ||
|
|
||
| public get gamePieceBodyId() { | ||
| return this._gamePieceBodyId | ||
| } | ||
|
|
||
| public constructor(parentAssembly: MirabufSceneObject, gamePieceBody: Jolt.BodyID) { | ||
| super() | ||
|
|
||
| console.debug("Trying to create ejectable...") | ||
|
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| this._parentAssembly = parentAssembly | ||
| this._gamePieceBodyId = gamePieceBody | ||
| } | ||
|
|
||
| public Setup(): void { | ||
| if (this._parentAssembly.ejectorPreferences && this._gamePieceBodyId) { | ||
| this._parentBodyId = this._parentAssembly.mechanism.nodeToBody.get( | ||
| this._parentAssembly.ejectorPreferences.parentNode ?? this._parentAssembly.rootNodeId | ||
| ) | ||
|
|
||
| this._deltaTransformation = Array_ThreeMatrix4(this._parentAssembly.ejectorPreferences.deltaTransformation) | ||
| this._ejectVelocity = this._parentAssembly.ejectorPreferences.ejectorVelocity | ||
|
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||
| World.PhysicsSystem.DisablePhysicsForBody(this._gamePieceBodyId) | ||
|
|
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| console.debug("Ejectable created successfully!") | ||
| } | ||
| } | ||
|
|
||
| public Update(): void { | ||
| if (this._parentBodyId && this._deltaTransformation && this._gamePieceBodyId) { | ||
| if (!World.PhysicsSystem.IsBodyAdded(this._gamePieceBodyId)) { | ||
| this._gamePieceBodyId = undefined | ||
| return | ||
| } | ||
|
|
||
| // I had a think and free wrote this matrix math on a whim. It worked first try and I honestly can't quite remember how it works... -Hunter | ||
| const gpBody = World.PhysicsSystem.GetBody(this._gamePieceBodyId) | ||
| const posToCOM = JoltMat44_ThreeMatrix4(gpBody.GetCenterOfMassTransform()).premultiply( | ||
| JoltMat44_ThreeMatrix4(gpBody.GetWorldTransform()).invert() | ||
| ) | ||
|
|
||
| const body = World.PhysicsSystem.GetBody(this._parentBodyId) | ||
| const bodyTransform = posToCOM | ||
| .invert() | ||
| .premultiply( | ||
| this._deltaTransformation.clone().premultiply(JoltMat44_ThreeMatrix4(body.GetWorldTransform())) | ||
| ) | ||
| const position = new THREE.Vector3(0, 0, 0) | ||
| const rotation = new THREE.Quaternion(0, 0, 0, 1) | ||
| bodyTransform.decompose(position, rotation, new THREE.Vector3(1, 1, 1)) | ||
|
|
||
| World.PhysicsSystem.SetBodyPosition(this._gamePieceBodyId, ThreeVector3_JoltVec3(position), false) | ||
| World.PhysicsSystem.SetBodyRotation(this._gamePieceBodyId, ThreeQuaternion_JoltQuat(rotation), false) | ||
| } | ||
| } | ||
|
|
||
| public Eject() { | ||
| if (!this._parentBodyId || !this._ejectVelocity || !this._gamePieceBodyId) { | ||
| return | ||
| } | ||
|
|
||
| if (!World.PhysicsSystem.IsBodyAdded(this._gamePieceBodyId)) { | ||
| this._gamePieceBodyId = undefined | ||
| return | ||
| } | ||
|
|
||
| const parentBody = World.PhysicsSystem.GetBody(this._parentBodyId) | ||
| const gpBody = World.PhysicsSystem.GetBody(this._gamePieceBodyId) | ||
| const ejectDir = new THREE.Vector3(0, 0, 1) | ||
| .applyQuaternion(JoltQuat_ThreeQuaternion(gpBody.GetRotation())) | ||
| .normalize() | ||
|
|
||
| World.PhysicsSystem.EnablePhysicsForBody(this._gamePieceBodyId) | ||
| gpBody.SetLinearVelocity( | ||
| parentBody.GetLinearVelocity().Add(ThreeVector3_JoltVec3(ejectDir.multiplyScalar(this._ejectVelocity))) | ||
| ) | ||
| gpBody.SetAngularVelocity(parentBody.GetAngularVelocity()) | ||
|
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| this._parentBodyId = undefined | ||
| } | ||
|
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| public Dispose(): void { | ||
| console.debug("Destroying ejectable") | ||
|
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||
| if (this._gamePieceBodyId) { | ||
| World.PhysicsSystem.EnablePhysicsForBody(this._gamePieceBodyId) | ||
| } | ||
| } | ||
| } | ||
|
|
||
| export default EjectableSceneObject |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,104 @@ | ||
| import SceneObject from "@/systems/scene/SceneObject" | ||
| import MirabufSceneObject, { RigidNodeAssociate } from "./MirabufSceneObject" | ||
| import Jolt from "@barclah/jolt-physics" | ||
| import * as THREE from "three" | ||
| import World from "@/systems/World" | ||
| import JOLT from "@/util/loading/JoltSyncLoader" | ||
| import { | ||
| Array_ThreeMatrix4, | ||
| JoltMat44_ThreeMatrix4, | ||
| ThreeQuaternion_JoltQuat, | ||
| ThreeVector3_JoltVec3, | ||
| } from "@/util/TypeConversions" | ||
|
|
||
| class IntakeSensorSceneObject extends SceneObject { | ||
| private _parentAssembly: MirabufSceneObject | ||
| private _parentBodyId?: Jolt.BodyID | ||
| private _deltaTransformation?: THREE.Matrix4 | ||
|
|
||
| private _joltBodyId?: Jolt.BodyID | ||
| private _mesh?: THREE.Mesh | ||
|
|
||
| public constructor(parentAssembly: MirabufSceneObject) { | ||
| super() | ||
|
|
||
| console.debug("Trying to create intake sensor...") | ||
|
|
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| this._parentAssembly = parentAssembly | ||
| } | ||
|
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| public Setup(): void { | ||
| if (this._parentAssembly.intakePreferences) { | ||
| this._parentBodyId = this._parentAssembly.mechanism.nodeToBody.get( | ||
| this._parentAssembly.intakePreferences.parentNode ?? this._parentAssembly.rootNodeId | ||
| ) | ||
|
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| this._deltaTransformation = Array_ThreeMatrix4(this._parentAssembly.intakePreferences.deltaTransformation) | ||
|
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| this._joltBodyId = World.PhysicsSystem.CreateSensor( | ||
| new JOLT.SphereShapeSettings(this._parentAssembly.intakePreferences.zoneDiameter / 2.0) | ||
| ) | ||
| if (!this._joltBodyId) { | ||
| console.error("Failed to create intake. No Jolt Body") | ||
| return | ||
| } | ||
|
|
||
| this._mesh = World.SceneRenderer.CreateSphere( | ||
| this._parentAssembly.intakePreferences.zoneDiameter / 2.0, | ||
| World.SceneRenderer.CreateToonMaterial(0x5eeb67) | ||
| ) | ||
| World.SceneRenderer.scene.add(this._mesh) | ||
|
|
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| console.debug("Intake sensor created successfully!") | ||
| } | ||
| } | ||
|
|
||
| public Update(): void { | ||
| if (this._joltBodyId && this._parentBodyId && this._deltaTransformation) { | ||
| const parentBody = World.PhysicsSystem.GetBody(this._parentBodyId) | ||
| const bodyTransform = this._deltaTransformation | ||
| .clone() | ||
| .premultiply(JoltMat44_ThreeMatrix4(parentBody.GetWorldTransform())) | ||
| const position = new THREE.Vector3(0, 0, 0) | ||
| const rotation = new THREE.Quaternion(0, 0, 0, 1) | ||
| bodyTransform.decompose(position, rotation, new THREE.Vector3(1, 1, 1)) | ||
|
|
||
| World.PhysicsSystem.SetBodyPosition(this._joltBodyId, ThreeVector3_JoltVec3(position)) | ||
| World.PhysicsSystem.SetBodyRotation(this._joltBodyId, ThreeQuaternion_JoltQuat(rotation)) | ||
|
|
||
| if (this._mesh) { | ||
| this._mesh.position.setFromMatrixPosition(bodyTransform) | ||
| this._mesh.rotation.setFromRotationMatrix(bodyTransform) | ||
| } | ||
|
|
||
| if (!World.PhysicsSystem.isPaused) { | ||
| // TEMPORARY GAME PIECE DETECTION | ||
| const hitRes = World.PhysicsSystem.RayCast(ThreeVector3_JoltVec3(position), new JOLT.Vec3(0, 0, 3)) | ||
| if (hitRes) { | ||
| const gpAssoc = <RigidNodeAssociate>World.PhysicsSystem.GetBodyAssociation(hitRes.data.mBodyID) | ||
| // This works, however the check for game piece is doing two checks. | ||
| if (gpAssoc?.isGamePiece) { | ||
| console.debug("Found game piece!") | ||
| this._parentAssembly.SetEjectable(hitRes.data.mBodyID, false) | ||
| } | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
||
| public Dispose(): void { | ||
| console.debug("Destroying intake sensor") | ||
|
|
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| if (this._joltBodyId) { | ||
| World.PhysicsSystem.DestroyBodyIds(this._joltBodyId) | ||
|
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| if (this._mesh) { | ||
| this._mesh.geometry.dispose() | ||
| ;(this._mesh.material as THREE.Material).dispose() | ||
| World.SceneRenderer.scene.remove(this._mesh) | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
||
| export default IntakeSensorSceneObject |
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