Basic Passive Constraints (#970)

Autodesk · Mar 23, 2024 · e4e1e00 · e4e1e00
2 parents a4f9195 + 261c82d
commit e4e1e00
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Showing 8 changed files with 320 additions and 28 deletions.
diff --git a/fission/public/test_mira/HingeTestFission_v1.mira b/fission/public/test_mira/HingeTestFission_v1.mira
diff --git a/fission/public/test_mira/SliderTestFission_v2.mira b/fission/public/test_mira/SliderTestFission_v2.mira
diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
@@ -57,6 +57,9 @@ import World from './systems/World.ts';
 
 const DEFAULT_MIRA_PATH = 'test_mira/Team_2471_(2018)_v7.mira';
 // const DEFAULT_MIRA_PATH = 'test_mira/Dozer_v2.mira';
+// const DEFAULT_MIRA_PATH = 'test_mira/PhysicsSpikeTest_v1.mira';
+// const DEFAULT_MIRA_PATH = 'test_mira/SliderTestFission_v2.mira';
+// const DEFAULT_MIRA_PATH = 'test_mira/HingeTestFission_v1.mira';
 
 function Synthesis() {
     const { openModal, closeModal, getActiveModalElement } =

diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
@@ -9,7 +9,8 @@ export enum ParseErrorSeverity {
     JustAWarning = 2
 }
 
-const GROUNDED_JOINT_ID = 'grounded';
+export const GROUNDED_JOINT_ID = 'grounded';
+export const GAMEPIECE_SUFFIX = '_gp';
 
 export type ParseError = [severity: ParseErrorSeverity, message: string];
 
@@ -95,7 +96,7 @@ class MirabufParser {
                 if (gamepieceDefinitions.has(inst.partDefinitionReference!)) {
                     const instNode = this.BinarySearchDesignTree(inst.info!.GUID!);
                     if (instNode) {
-                        const gpRn = this.NewRigidNode('gp');
+                        const gpRn = this.NewRigidNode(GAMEPIECE_SUFFIX);
                         this.MovePartToRigidNode(instNode!.value!, gpRn);
                         instNode.children && traverseTree(instNode.children, x => this.MovePartToRigidNode(x.value!, gpRn));
                     } else {
@@ -155,7 +156,7 @@ class MirabufParser {
     }
 
     private NewRigidNode(suffix?: string): RigidNode {
-        const node = new RigidNode((this._nodeNameCounter++).toString() + (suffix ? `_${suffix}` : ''));
+        const node = new RigidNode(`${this._nodeNameCounter++}${suffix ? suffix : ''}`);
         this._rigidNodes.push(node);
         return node;
     }

diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -8,6 +8,7 @@ import Jolt from '@barclah/jolt-physics';
 import { JoltMat44_ThreeMatrix4 } from "@/util/TypeConversions";
 import * as THREE from 'three';
 import JOLT from "@/util/loading/JoltSyncLoader";
+import { LayerReserve } from "@/systems/physics/PhysicsSystem";
 
 const DEBUG_BODIES = true;
 
@@ -21,12 +22,19 @@ class MirabufSceneObject extends SceneObject {
     private _mirabufInstance: MirabufInstance;
     private _bodies: Map<string, Jolt.BodyID>;
     private _debugBodies: Map<string, RnDebugMeshes> | null;
+    private _physicsLayerReserve: LayerReserve | undefined = undefined;
 
     public constructor(mirabufInstance: MirabufInstance) {
         super();
 
         this._mirabufInstance = mirabufInstance;
-        this._bodies = World.PhysicsSystem.CreateBodiesFromParser(mirabufInstance.parser);
+
+        if (this._mirabufInstance.parser.assembly.dynamic) {
+            this._physicsLayerReserve = new LayerReserve();
+        }
+        this._bodies = World.PhysicsSystem.CreateBodiesFromParser(mirabufInstance.parser, this._physicsLayerReserve);
+        World.PhysicsSystem.CreateJointsFromParser(mirabufInstance.parser, this._bodies);
+
         this._debugBodies = null;
     }
 
@@ -91,6 +99,7 @@ class MirabufSceneObject extends SceneObject {
             (x.comMesh.material as THREE.Material).dispose();
         });
         this._debugBodies?.clear();
+        this._physicsLayerReserve?.Release();
     }
 
     private CreateMeshForShape(shape: Jolt.Shape): THREE.Mesh {