From a09bfc88bb00de278e1c5279a1786022e65ece06 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 15 Aug 2024 10:44:31 -0700
Subject: [PATCH 01/29] some minor parser refactors

---
 fission/src/mirabuf/MirabufInstance.ts |   2 +-
 fission/src/mirabuf/MirabufParser.ts   | 149 +++++++++++--------------
 2 files changed, 67 insertions(+), 84 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 700395611c..8c2cdc7c05 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -134,7 +134,7 @@ class MirabufInstance {
                 let hex = 0xe32b50
                 let opacity = 1.0
                 if (appearance.albedo) {
-                    const { A, B, G, R } = appearance.albedo
+                    const { A, B, G, R } = appearance?.albedo
                     if (A && B && G && R) {
                         hex = (A << 24) | (R << 16) | (G << 8) | B
                         opacity = A / 255.0
diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index 7dab72156b..948909c6c7 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -83,57 +83,54 @@ class MirabufParser {
         this.GenerateTreeValues()
         this.LoadGlobalTransforms()
 
-        // eslint-disable-next-line @typescript-eslint/no-this-alias
-        const that = this
-
         function traverseTree(nodes: mirabuf.INode[], op: (node: mirabuf.INode) => void) {
             nodes.forEach(x => {
-                if (x.children) {
-                    traverseTree(x.children, op)
-                }
+                if (x.children) traverseTree(x.children, op)
                 op(x)
             })
         }
 
-        // 1: Initial Rigidgroups from ancestorial breaks in joints
+        // const materials = assembly.data?.materials?.physicalMaterials
+
+        // 1: Initial RigidGroups from ancestral breaks in joints
         const jointInstanceKeys = Object.keys(assembly.data!.joints!.jointInstances!) as string[]
         jointInstanceKeys.forEach(key => {
-            if (key != GROUNDED_JOINT_ID) {
-                const jInst = assembly.data!.joints!.jointInstances![key]
-                const [ancestorA, ancestorB] = this.FindAncestorialBreak(jInst.parentPart!, jInst.childPart!)
-                const parentRN = this.NewRigidNode()
-                this.MovePartToRigidNode(ancestorA, parentRN)
-                this.MovePartToRigidNode(ancestorB, this.NewRigidNode())
-                if (jInst.parts && jInst.parts.nodes)
-                    traverseTree(jInst.parts.nodes, x => this.MovePartToRigidNode(x.value!, parentRN))
-            }
-        })
+            if (key == GROUNDED_JOINT_ID) return
 
-        // this.DebugPrintHierarchy(1, ...this._designHierarchyRoot.children!);
+            const jInst = assembly.data!.joints!.jointInstances![key]
+            const [ancestorA, ancestorB] = this.FindAncestorialBreak(jInst.parentPart!, jInst.childPart!)
+            const parentRN = this.NewRigidNode()
+
+            this.MovePartToRigidNode(ancestorA, parentRN)
+            this.MovePartToRigidNode(ancestorB, this.NewRigidNode())
+
+            if (jInst.parts && jInst.parts.nodes)
+                traverseTree(jInst.parts.nodes, x => this.MovePartToRigidNode(x.value!, parentRN))
+        })
 
         // Fields Only: Assign Game Piece rigid nodes
         if (!assembly.dynamic) {
-            // Collect all definitions labelled as gamepieces (dynamic = true)
+            // Collect all definitions labeled as gamepieces (dynamic = true)
             const gamepieceDefinitions: Set<string> = new Set<string>()
 
             Object.values(assembly.data!.parts!.partDefinitions!).forEach((def: mirabuf.IPartDefinition) => {
                 if (def.dynamic) gamepieceDefinitions.add(def.info!.GUID!)
             })
 
-            // Create gamepiece rigid nodes from partinstances with corresponding definitions
+            // Create gamepiece rigid nodes from PartInstances with corresponding definitions
             Object.values(assembly.data!.parts!.partInstances!).forEach((inst: mirabuf.IPartInstance) => {
-                if (gamepieceDefinitions.has(inst.partDefinitionReference!)) {
-                    const instNode = this.BinarySearchDesignTree(inst.info!.GUID!)
-                    if (instNode) {
-                        const gpRn = this.NewRigidNode(GAMEPIECE_SUFFIX)
-                        gpRn.isGamePiece = true
-                        this.MovePartToRigidNode(instNode!.value!, gpRn)
-                        instNode.children &&
-                            traverseTree(instNode.children, x => this.MovePartToRigidNode(x.value!, gpRn))
-                    } else {
-                        this._errors.push([ParseErrorSeverity.LikelyIssues, "Failed to find Game piece in Design Tree"])
-                    }
+                if (!gamepieceDefinitions.has(inst.partDefinitionReference!)) return
+
+                const instNode = this.BinarySearchDesignTree(inst.info!.GUID!)
+                if (!instNode) {
+                    this._errors.push([ParseErrorSeverity.LikelyIssues, "Failed to find Game piece in Design Tree"])
+                    return
                 }
+
+                const gpRn = this.NewRigidNode(GAMEPIECE_SUFFIX)
+                gpRn.isGamePiece = true
+                this.MovePartToRigidNode(instNode!.value!, gpRn)
+                instNode.children && traverseTree(instNode.children, x => this.MovePartToRigidNode(x.value!, gpRn))
             })
         }
 
@@ -142,26 +139,19 @@ class MirabufParser {
         const gNode = this.NewRigidNode()
         this.MovePartToRigidNode(gInst.parts!.nodes!.at(0)!.value!, gNode)
 
-        // traverseTree(gInst.parts!.nodes!, x => (!this._partToNodeMap.has(x.value!)) && this.MovePartToRigidNode(x.value!, gNode));
-
         // this.DebugPrintHierarchy(1, ...this._designHierarchyRoot.children!);
 
         // 3: Traverse and round up
         const traverseNodeRoundup = (node: mirabuf.INode, parentNode: RigidNode) => {
-            const currentNode = that._partToNodeMap.get(node.value!)
-            if (!currentNode) {
-                that.MovePartToRigidNode(node.value!, parentNode)
-            }
-
-            if (node.children) {
-                node.children!.forEach(x => traverseNodeRoundup(x, currentNode ? currentNode : parentNode))
-            }
+            const currentNode = this._partToNodeMap.get(node.value!)
+            if (!currentNode) this.MovePartToRigidNode(node.value!, parentNode)
+            ;(node.children ?? []).forEach(x => traverseNodeRoundup(x, currentNode ?? parentNode))
         }
         this._designHierarchyRoot.children?.forEach(x => traverseNodeRoundup(x, gNode))
 
         // this.DebugPrintHierarchy(1, ...this._designHierarchyRoot.children!);
 
-        // 4: Bandage via rigidgroups
+        // 4: Bandage via RigidGroups
         assembly.data!.joints!.rigidGroups!.forEach(rg => {
             let rn: RigidNode | null = null
             rg.occurrences!.forEach(y => {
@@ -203,11 +193,10 @@ class MirabufParser {
             const rA = this._partToNodeMap.get(x.parentPart)
             const rB = this._partToNodeMap.get(x.childPart)
 
-            if (rA && rB && rA.id != rB.id) {
-                graph.AddNode(rA.id)
-                graph.AddNode(rB.id)
-                graph.AddEdgeUndirected(rA.id, rB.id)
-            }
+            if (!rA || !rB || rA.id == rB.id) return
+            graph.AddNode(rA.id)
+            graph.AddNode(rB.id)
+            graph.AddEdgeUndirected(rA.id, rB.id)
         })
         const directedGraph = new Graph()
         const whiteGreyBlackMap = new Map<string, boolean>()
@@ -215,22 +204,22 @@ class MirabufParser {
             whiteGreyBlackMap.set(x.id, false)
             directedGraph.AddNode(x.id)
         })
+
         function directedRecursive(node: string) {
             graph.GetAdjacencyList(node).forEach(x => {
-                if (whiteGreyBlackMap.has(x)) {
-                    directedGraph.AddEdgeDirected(node, x)
-                    whiteGreyBlackMap.delete(x)
-                    directedRecursive(x)
-                }
+                if (!whiteGreyBlackMap.has(x)) return
+
+                directedGraph.AddEdgeDirected(node, x)
+                whiteGreyBlackMap.delete(x)
+                directedRecursive(x)
             })
         }
-        if (rootNode) {
-            whiteGreyBlackMap.delete(rootNode.id)
-            directedRecursive(rootNode.id)
-        } else {
-            whiteGreyBlackMap.delete(this._rigidNodes[0].id)
-            directedRecursive(this._rigidNodes[0].id)
-        }
+
+        const node = rootNode?.id ?? this._rigidNodes[0].id
+
+        whiteGreyBlackMap.delete(node)
+        directedRecursive(node)
+
         this._directedGraph = directedGraph
 
         // Transition: GH-1014
@@ -243,7 +232,7 @@ class MirabufParser {
     }
 
     private NewRigidNode(suffix?: string): RigidNode {
-        const node = new RigidNode(`${this._nodeNameCounter++}${suffix ? suffix : ""}`)
+        const node = new RigidNode(`${this._nodeNameCounter++}${suffix ?? ""}`)
         this._rigidNodes.push(node)
         return node
     }
@@ -283,41 +272,35 @@ class MirabufParser {
         this._globalTransforms.clear()
 
         const getTransforms = (node: mirabuf.INode, parent: THREE.Matrix4) => {
-            for (const child of node.children!) {
-                if (!partInstances.has(child.value!)) {
-                    continue
-                }
-                const partInstance = partInstances.get(child.value!)!
+            node.children!.forEach(child => {
+                const partInstance: mirabuf.IPartInstance | undefined = partInstances.get(child.value!)
 
-                if (this._globalTransforms.has(child.value!)) continue
+                if (!partInstance || this.globalTransforms.has(child.value!)) return
                 const mat = MirabufTransform_ThreeMatrix4(partInstance.transform!)!
 
                 // console.log(`[${partInstance.info!.name!}] -> ${matToString(mat)}`);
 
                 this._globalTransforms.set(child.value!, mat.premultiply(parent))
                 getTransforms(child, mat)
-            }
+            })
         }
 
-        for (const child of root.children!) {
+        root.children?.forEach(child => {
             const partInstance = partInstances.get(child.value!)!
-            let mat
-            if (!partInstance.transform) {
-                const def = partDefinitions[partInstances.get(child.value!)!.partDefinitionReference!]
-                if (!def.baseTransform) {
-                    mat = new THREE.Matrix4().identity()
-                } else {
-                    mat = MirabufTransform_ThreeMatrix4(def.baseTransform)
-                }
-            } else {
-                mat = MirabufTransform_ThreeMatrix4(partInstance.transform)
-            }
+            // TODO: guarantee that these assertions won't fail
+            const def = partDefinitions[partInstance.partDefinitionReference!]
+
+            const mat = partInstance.transform
+                ? MirabufTransform_ThreeMatrix4(partInstance.transform)
+                : def.baseTransform
+                  ? MirabufTransform_ThreeMatrix4(def.baseTransform)
+                  : new THREE.Matrix4().identity()
 
             // console.log(`[${partInstance.info!.name!}] -> ${matToString(mat!)}`);
 
-            this._globalTransforms.set(partInstance.info!.GUID!, mat!)
-            getTransforms(child, mat!)
-        }
+            this._globalTransforms.set(partInstance.info!.GUID!, mat)
+            getTransforms(child, mat)
+        })
     }
 
     private FindAncestorialBreak(partA: string, partB: string): [string, string] {
@@ -480,7 +463,7 @@ export class Graph {
     public AddEdgeDirected(nodeA: string, nodeB: string) {
         if (!this._adjacencyMap.has(nodeA) || !this._adjacencyMap.has(nodeB)) throw new Error("Nodes aren't in graph")
 
-        this._adjacencyMap.get(nodeA)!.push(nodeB)
+        this._adjacencyMap.get(nodeA).push(nodeB)
     }
 
     public GetAdjacencyList(node: string) {

From 1b1ad678043dae57e1861ab76d9e46a7e6058c0f Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 16 Aug 2024 10:01:26 -0700
Subject: [PATCH 02/29] some declarative-style refactors of instance and
 parsing

---
 fission/src/mirabuf/MirabufInstance.ts    | 148 ++++++++++------------
 fission/src/mirabuf/MirabufParser.ts      |   4 +-
 fission/src/mirabuf/MirabufSceneObject.ts |  46 +++----
 3 files changed, 85 insertions(+), 113 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 8c2cdc7c05..fd54564623 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -109,9 +109,8 @@ class MirabufInstance {
     }
 
     public constructor(parser: MirabufParser, materialStyle?: MaterialStyle, progressHandle?: ProgressHandle) {
-        if (parser.errors.some(x => x[0] >= ParseErrorSeverity.Unimportable)) {
+        if (parser.errors.some(x => x[0] >= ParseErrorSeverity.Unimportable))
             throw new Error("Parser has significant errors...")
-        }
 
         this._mirabufParser = parser
         this._materials = new Map()
@@ -126,39 +125,30 @@ class MirabufInstance {
     }
 
     /**
-     * Parses all mirabuf appearances into ThreeJs materials.
+     * Parses all mirabuf appearances into ThreeJS materials.
      */
     private LoadMaterials(materialStyle: MaterialStyle) {
         Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!).forEach(
             ([appearanceId, appearance]) => {
-                let hex = 0xe32b50
-                let opacity = 1.0
-                if (appearance.albedo) {
-                    const { A, B, G, R } = appearance?.albedo
-                    if (A && B && G && R) {
-                        hex = (A << 24) | (R << 16) | (G << 8) | B
-                        opacity = A / 255.0
-                    }
-                }
-
-                let material: THREE.Material
-                if (materialStyle == MaterialStyle.Regular) {
-                    material = new THREE.MeshPhongMaterial({
-                        color: hex,
-                        shininess: 0.0,
-                        shadowSide: THREE.DoubleSide,
-                        opacity: opacity,
-                        transparent: opacity < 1.0,
-                    })
-                } else if (materialStyle == MaterialStyle.Normals) {
-                    material = new THREE.MeshNormalMaterial()
-                } else if (materialStyle == MaterialStyle.Toon) {
-                    material = World.SceneRenderer.CreateToonMaterial(hex, 5)
-                    console.debug("Toon Material")
-                }
-
-                World.SceneRenderer.SetupMaterial(material!)
-                this._materials.set(appearanceId, material!)
+                const { A, B, G, R } = appearance.albedo ?? {}
+                const [hex, opacity] =
+                    A && B && G && R ? [(A << 24) | (R << 16) | (G << 8) | B, A / 255.0] : [0xe32b50, 1.0]
+
+                const material =
+                    materialStyle === MaterialStyle.Regular
+                        ? new THREE.MeshPhongMaterial({
+                              color: hex,
+                              shininess: 0.0,
+                              shadowSide: THREE.DoubleSide,
+                              opacity: opacity,
+                              transparent: opacity < 1.0,
+                          })
+                        : materialStyle === MaterialStyle.Normals
+                          ? new THREE.MeshNormalMaterial()
+                          : World.SceneRenderer.CreateToonMaterial(hex, 5)
+
+                World.SceneRenderer.SetupMaterial(material)
+                this._materials.set(appearanceId, material)
             }
         )
     }
@@ -178,61 +168,51 @@ class MirabufInstance {
 
         const batchMap = new Map<THREE.Material, Map<string, [mirabuf.IBody, Array<mirabuf.IPartInstance>]>>()
         const countMap = new Map<THREE.Material, BatchCounts>()
-
         // Filter all instances by first material, then body
-        for (const instance of Object.values(instances)) {
-            const definition = assembly.data!.parts!.partDefinitions![instance.partDefinitionReference!]!
-            const bodies = definition.bodies
-            if (bodies) {
-                for (const body of bodies) {
-                    if (!body) continue
-                    const mesh = body.triangleMesh
-                    if (
-                        mesh &&
-                        mesh.mesh &&
-                        mesh.mesh.verts &&
-                        mesh.mesh.normals &&
-                        mesh.mesh.uv &&
-                        mesh.mesh.indices
-                    ) {
-                        const appearanceOverride = body.appearanceOverride
-                        const material: THREE.Material = WIREFRAME
-                            ? new THREE.MeshStandardMaterial({ wireframe: true, color: 0x000000 })
-                            : appearanceOverride && this._materials.has(appearanceOverride)
-                              ? this._materials.get(appearanceOverride)!
-                              : fillerMaterials[nextFillerMaterial++ % fillerMaterials.length]
-
-                        let materialBodyMap = batchMap.get(material)
-                        if (!materialBodyMap) {
-                            materialBodyMap = new Map<string, [mirabuf.IBody, Array<mirabuf.IPartInstance>]>()
-                            batchMap.set(material, materialBodyMap)
-                        }
-
-                        const partBodyGuid = this.GetPartBodyGuid(definition, body)
-                        let bodyInstances = materialBodyMap.get(partBodyGuid)
-                        if (!bodyInstances) {
-                            bodyInstances = [body, new Array<mirabuf.IPartInstance>()]
-                            materialBodyMap.set(partBodyGuid, bodyInstances)
-                        }
-                        bodyInstances[1].push(instance)
-
-                        if (countMap.has(material)) {
-                            const count = countMap.get(material)!
-                            count.maxInstances += 1
-                            count.maxVertices += mesh.mesh.verts.length / 3
-                            count.maxIndices += mesh.mesh.indices.length
-                        } else {
-                            const count: BatchCounts = {
-                                maxInstances: 1,
-                                maxVertices: mesh.mesh.verts.length / 3,
-                                maxIndices: mesh.mesh.indices.length,
-                            }
-                            countMap.set(material, count)
-                        }
-                    }
+        Object.values(instances).forEach(instance => {
+            const definition = assembly.data!.parts!.partDefinitions![instance.partDefinitionReference!]
+            const bodies = definition?.bodies ?? []
+            bodies.forEach(body => {
+                const mesh = body?.triangleMesh?.mesh
+                if (!mesh?.verts || !mesh.normals || !mesh.uv || !mesh.indices) return
+
+                const appearanceOverride = body.appearanceOverride
+                const material: THREE.Material = WIREFRAME
+                    ? new THREE.MeshStandardMaterial({ wireframe: true, color: 0x000000 })
+                    : appearanceOverride && this._materials.has(appearanceOverride)
+                      ? this._materials.get(appearanceOverride)!
+                      : fillerMaterials[nextFillerMaterial++ % fillerMaterials.length]
+
+                let materialBodyMap = batchMap.get(material)
+                if (!materialBodyMap) {
+                    materialBodyMap = new Map<string, [mirabuf.IBody, Array<mirabuf.IPartInstance>]>()
+                    batchMap.set(material, materialBodyMap)
                 }
-            }
-        }
+
+                const partBodyGuid = this.GetPartBodyGuid(definition, body)
+                let bodyInstances = materialBodyMap.get(partBodyGuid)
+                if (!bodyInstances) {
+                    bodyInstances = [body, new Array<mirabuf.IPartInstance>()]
+                    materialBodyMap.set(partBodyGuid, bodyInstances)
+                }
+                bodyInstances[1].push(instance)
+
+                if (countMap.has(material)) {
+                    const count = countMap.get(material)!
+                    count.maxInstances += 1
+                    count.maxVertices += mesh.verts.length / 3
+                    count.maxIndices += mesh.indices.length
+                    return
+                }
+
+                const count: BatchCounts = {
+                    maxInstances: 1,
+                    maxVertices: mesh.verts.length / 3,
+                    maxIndices: mesh.indices.length,
+                }
+                countMap.set(material, count)
+            })
+        })
 
         console.debug(batchMap)
 
diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index 948909c6c7..610e58f0d0 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -461,9 +461,9 @@ export class Graph {
     }
 
     public AddEdgeDirected(nodeA: string, nodeB: string) {
-        if (!this._adjacencyMap.has(nodeA) || !this._adjacencyMap.has(nodeB)) throw new Error("Nodes aren't in graph")
+        if (!this._adjacencyMap.has(nodeA) || !this._adjacencyMap?.has(nodeB)) throw new Error("Nodes aren't in graph")
 
-        this._adjacencyMap.get(nodeA).push(nodeB)
+        this._adjacencyMap.get(nodeA)!.push(nodeB)
     }
 
     public GetAdjacencyList(node: string) {
diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
index 2804f3ae1b..f36415bc71 100644
--- a/fission/src/mirabuf/MirabufSceneObject.ts
+++ b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -100,9 +100,7 @@ class MirabufSceneObject extends SceneObject {
         progressHandle?.Update("Creating mechanism...", 0.9)
 
         this._mechanism = World.PhysicsSystem.CreateMechanismFromParser(this._mirabufInstance.parser)
-        if (this._mechanism.layerReserve) {
-            this._physicsLayerReserve = this._mechanism.layerReserve
-        }
+        if (this._mechanism.layerReserve) this._physicsLayerReserve = this._mechanism.layerReserve
 
         this._debugBodies = null
 
@@ -111,11 +109,11 @@ class MirabufSceneObject extends SceneObject {
         this.getPreferences()
 
         // creating nametag for robots
-        if (this.miraType === MiraType.ROBOT) {
-            this._nameTag = new SceneOverlayTag(() =>
-                this._brain instanceof SynthesisBrain ? this._brain.inputSchemeName : "Not Configured"
-            )
-        }
+        if (this.miraType !== MiraType.ROBOT) return
+
+        this._nameTag = new SceneOverlayTag(() =>
+            this._brain instanceof SynthesisBrain ? this._brain.inputSchemeName : "Not Configured"
+        )
     }
 
     public Setup(): void {
@@ -163,9 +161,7 @@ class MirabufSceneObject extends SceneObject {
 
     public Update(): void {
         const brainIndex = this._brain instanceof SynthesisBrain ? this._brain.brainIndex ?? -1 : -1
-        if (InputSystem.getInput("eject", brainIndex)) {
-            this.Eject()
-        }
+        if (InputSystem.getInput("eject", brainIndex)) this.Eject()
 
         this._mirabufInstance.parser.rigidNodes.forEach(rn => {
             if (!this._mirabufInstance.meshes.size) return // if this.dispose() has been ran then return
@@ -191,7 +187,7 @@ class MirabufSceneObject extends SceneObject {
                     this.DisableTransformControls()
                     return
                 } else if (InputSystem.isKeyPressed("Escape")) {
-                    // cancelling the creation of the mirabuf scene object
+                    // canceling the creation of the mirabuf scene object
                     World.SceneRenderer.RemoveSceneObject(this.id)
                     return
                 }
@@ -230,16 +226,16 @@ class MirabufSceneObject extends SceneObject {
         })
 
         /* Updating the position of the name tag according to the robots position on screen */
-        if (this._nameTag && PreferencesSystem.getGlobalPreference<boolean>("RenderSceneTags")) {
-            const boundingBox = this.ComputeBoundingBox()
-            this._nameTag.position = World.SceneRenderer.WorldToPixelSpace(
-                new THREE.Vector3(
-                    (boundingBox.max.x + boundingBox.min.x) / 2,
-                    boundingBox.max.y + 0.1,
-                    (boundingBox.max.z + boundingBox.min.z) / 2
-                )
+        if (!this._nameTag || !PreferencesSystem.getGlobalPreference<boolean>("RenderSceneTags")) return
+
+        const boundingBox = this.ComputeBoundingBox()
+        this._nameTag.position = World.SceneRenderer.WorldToPixelSpace(
+            new THREE.Vector3(
+                (boundingBox.max.x + boundingBox.min.x) / 2,
+                boundingBox.max.y + 0.1,
+                (boundingBox.max.z + boundingBox.min.z) / 2
             )
-        }
+        )
     }
 
     public Dispose(): void {
@@ -279,9 +275,7 @@ class MirabufSceneObject extends SceneObject {
     }
 
     public Eject() {
-        if (!this._ejectable) {
-            return
-        }
+        if (!this._ejectable) return
 
         this._ejectable.Eject()
         World.SceneRenderer.RemoveSceneObject(this._ejectable.id)
@@ -336,9 +330,7 @@ class MirabufSceneObject extends SceneObject {
 
     public SetEjectable(bodyId?: Jolt.BodyID, removeExisting: boolean = false): boolean {
         if (this._ejectable) {
-            if (!removeExisting) {
-                return false
-            }
+            if (!removeExisting) return false
 
             World.SceneRenderer.RemoveSceneObject(this._ejectable.id)
             this._ejectable = undefined

From 1594ef38d201baaade239c5f4d028bc39607582c Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Fri, 16 Aug 2024 20:06:51 -0700
Subject: [PATCH 03/29] minor changes

---
 fission/src/mirabuf/MirabufInstance.ts | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index fd54564623..6b65dbe037 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -89,9 +89,11 @@ const transformGeometry = (geometry: THREE.BufferGeometry, mesh: mirabuf.IMesh)
     geometry.setIndex(mesh.indices!)
 }
 
+type FrictionCoefficients = { dyn: number; stat: number }
+
 class MirabufInstance {
     private _mirabufParser: MirabufParser
-    private _materials: Map<string, THREE.Material>
+    private _materials: Map<string, [THREE.Material, FrictionCoefficients]>
     private _meshes: Map<MirabufPartInstanceGUID, Array<[THREE.BatchedMesh, number]>>
     private _batches: Array<THREE.BatchedMesh>
 
@@ -125,9 +127,14 @@ class MirabufInstance {
     }
 
     /**
-     * Parses all mirabuf appearances into ThreeJS materials.
+     * Parses all mirabuf appearances into ThreeJS and Jolt materials.
      */
     private LoadMaterials(materialStyle: MaterialStyle) {
+        Object.entries(this._mirabufParser.assembly.data!.materials!.physicalMaterials!).forEach(([name, material]) => {
+            const [static_f, dynamic_f] = [material.staticFriction, material.dynamicFriction]
+            console.log(`${name} - static: ${static_f} dynamic: ${dynamic_f}`)
+            //this._materials.set()
+        })
         Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!).forEach(
             ([appearanceId, appearance]) => {
                 const { A, B, G, R } = appearance.albedo ?? {}

From a370ff25e54453ceb90dbf921fad464fee0a7799 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Mon, 19 Aug 2024 10:24:13 -0700
Subject: [PATCH 04/29] set friction when creating bodies from parser

---
 fission/src/systems/physics/PhysicsSystem.ts | 177 +++++++++----------
 1 file changed, 84 insertions(+), 93 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 42c43f213a..3ad3290af5 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -350,59 +350,47 @@ class PhysicsSystem extends WorldSystem {
             const bodyA = this.GetBody(bodyIdA)
             const bodyB = this.GetBody(bodyIdB)
 
-            const constraints: Jolt.Constraint[] = []
             let listener: Jolt.PhysicsStepListener | undefined = undefined
 
+            function addConstraint(c: Jolt.Constraint): void {
+                mechanism.AddConstraint({
+                    parentBody: bodyIdA!,
+                    childBody: bodyIdB!,
+                    constraint: c,
+                    info: jInst.info ?? undefined, // remove possibility for null
+                })
+            }
+
             switch (jDef.jointMotionType!) {
                 case mirabuf.joint.JointMotion.REVOLUTE:
                     if (this.IsWheel(jDef)) {
-                        if (parser.directedGraph.GetAdjacencyList(rnA.id).length > 0) {
-                            const res = this.CreateWheelConstraint(
-                                jInst,
-                                jDef,
-                                bodyA,
-                                bodyB,
-                                parser.assembly.info!.version!
-                            )
-                            constraints.push(res[0])
-                            constraints.push(res[1])
-                            listener = res[2]
-                        } else {
-                            const res = this.CreateWheelConstraint(
-                                jInst,
-                                jDef,
-                                bodyB,
-                                bodyA,
-                                parser.assembly.info!.version!
-                            )
-                            constraints.push(res[0])
-                            constraints.push(res[1])
-                            listener = res[2]
-                        }
+                        const [bodyOne, bodyTwo] =
+                            parser.directedGraph.GetAdjacencyList(rnA.id).length > 0 ? [bodyA, bodyB] : [bodyB, bodyA]
+
+                        const res = this.CreateWheelConstraint(
+                            jInst,
+                            jDef,
+                            bodyOne,
+                            bodyTwo,
+                            parser.assembly.info!.version!
+                        )
+                        addConstraint(res[0])
+                        addConstraint(res[1])
+                        listener = res[2]
                     } else {
-                        constraints.push(
+                        addConstraint(
                             this.CreateHingeConstraint(jInst, jDef, bodyA, bodyB, parser.assembly.info!.version!)
                         )
                     }
                     break
                 case mirabuf.joint.JointMotion.SLIDER:
-                    constraints.push(this.CreateSliderConstraint(jInst, jDef, bodyA, bodyB))
+                    addConstraint(this.CreateSliderConstraint(jInst, jDef, bodyA, bodyB))
                     break
                 default:
                     console.debug("Unsupported joint detected. Skipping...")
                     break
             }
 
-            if (constraints.length > 0) {
-                constraints.forEach(x =>
-                    mechanism.AddConstraint({
-                        parentBody: bodyIdA,
-                        childBody: bodyIdB,
-                        constraint: x,
-                        info: jInst.info ?? undefined, // remove possibility for null
-                    })
-                )
-            }
             if (listener) {
                 mechanism.AddStepListener(listener)
             }
@@ -456,7 +444,7 @@ class PhysicsSystem extends WorldSystem {
         )
 
         // Some values that are meant to be exactly PI are perceived as being past it, causing unexpected behavior.
-        // This safety check caps the values to be within [-PI, PI] wth minimal difference in precision.
+        // This safety check caps the values to be within [-PI, PI] with minimal difference in precision.
         const piSafetyCheck = (v: number) => Math.min(3.14158, Math.max(-3.14158, v))
 
         if (
@@ -646,6 +634,7 @@ class PhysicsSystem extends WorldSystem {
             let shapesAdded = 0
 
             let totalMass = 0
+            let frictionOverride = 0
             const comAccum = new mirabuf.Vector3()
 
             const minBounds = new JOLT.Vec3(1000000.0, 1000000.0, 1000000.0)
@@ -659,49 +648,47 @@ class PhysicsSystem extends WorldSystem {
 
             rn.parts.forEach(partId => {
                 const partInstance = parser.assembly.data!.parts!.partInstances![partId]!
-                if (
-                    partInstance.skipCollider == null ||
-                    partInstance == undefined ||
-                    partInstance.skipCollider == false
-                ) {
-                    const partDefinition =
-                        parser.assembly.data!.parts!.partDefinitions![partInstance.partDefinitionReference!]!
-
-                    const partShapeResult = rn.isDynamic
-                        ? this.CreateConvexShapeSettingsFromPart(partDefinition)
-                        : this.CreateConcaveShapeSettingsFromPart(partDefinition)
-
-                    if (partShapeResult) {
-                        const [shapeSettings, partMin, partMax] = partShapeResult
-
-                        const transform = ThreeMatrix4_JoltMat44(parser.globalTransforms.get(partId)!)
-                        const translation = transform.GetTranslation()
-                        const rotation = transform.GetQuaternion()
-                        compoundShapeSettings.AddShape(translation, rotation, shapeSettings, 0)
-                        shapesAdded++
-
-                        this.UpdateMinMaxBounds(transform.Multiply3x3(partMin), minBounds, maxBounds)
-                        this.UpdateMinMaxBounds(transform.Multiply3x3(partMax), minBounds, maxBounds)
-
-                        JOLT.destroy(partMin)
-                        JOLT.destroy(partMax)
-                        JOLT.destroy(transform)
-
-                        if (
-                            partDefinition.physicalData &&
-                            partDefinition.physicalData.com &&
-                            partDefinition.physicalData.mass
-                        ) {
-                            const mass = partDefinition.massOverride
-                                ? partDefinition.massOverride!
-                                : partDefinition.physicalData.mass!
-                            totalMass += mass
-                            comAccum.x += (partDefinition.physicalData.com.x! * mass) / 100.0
-                            comAccum.y += (partDefinition.physicalData.com.y! * mass) / 100.0
-                            comAccum.z += (partDefinition.physicalData.com.z! * mass) / 100.0
-                        }
-                    }
-                }
+                if (partInstance.skipCollider) return
+
+                const partDefinition =
+                    parser.assembly.data!.parts!.partDefinitions![partInstance.partDefinitionReference!]!
+
+                const partShapeResult = rn.isDynamic
+                    ? this.CreateConvexShapeSettingsFromPart(partDefinition)
+                    : this.CreateConcaveShapeSettingsFromPart(partDefinition)
+
+                if (!partShapeResult) return
+
+                const [shapeSettings, partMin, partMax] = partShapeResult
+
+                const transform = ThreeMatrix4_JoltMat44(parser.globalTransforms.get(partId)!)
+                const translation = transform.GetTranslation()
+                const rotation = transform.GetQuaternion()
+                compoundShapeSettings.AddShape(translation, rotation, shapeSettings, 0)
+                shapesAdded++
+
+                this.UpdateMinMaxBounds(transform.Multiply3x3(partMin), minBounds, maxBounds)
+                this.UpdateMinMaxBounds(transform.Multiply3x3(partMax), minBounds, maxBounds)
+
+                JOLT.destroy(partMin)
+                JOLT.destroy(partMax)
+                JOLT.destroy(transform)
+
+                // Set friction override once to any of the parts' values
+                if (!frictionOverride && partDefinition?.frictionOverride)
+                    frictionOverride = partDefinition.frictionOverride
+
+                if (!partDefinition.physicalData?.com || !partDefinition.physicalData.mass) return
+
+                const mass = partDefinition.massOverride
+                    ? partDefinition.massOverride!
+                    : partDefinition.physicalData.mass!
+
+                totalMass += mass
+
+                comAccum.x += (partDefinition.physicalData.com.x! * mass) / 100.0
+                comAccum.y += (partDefinition.physicalData.com.y! * mass) / 100.0
+                comAccum.z += (partDefinition.physicalData.com.z! * mass) / 100.0
             })
 
             if (shapesAdded > 0) {
@@ -713,9 +700,7 @@ class PhysicsSystem extends WorldSystem {
 
                 const shape = shapeResult.Get()
 
-                if (rn.isDynamic) {
-                    shape.GetMassProperties().mMass = totalMass == 0.0 ? 1 : totalMass
-                }
+                if (rn.isDynamic) shape.GetMassProperties().mMass = !totalMass ? 1 : totalMass
 
                 const bodySettings = new JOLT.BodyCreationSettings(
                     shape,
@@ -729,9 +714,15 @@ class PhysicsSystem extends WorldSystem {
                 body.SetAllowSleeping(false)
                 rnToBodies.set(rn.id, body.GetID())
 
+                // Set Friction Here
+                if (frictionOverride) body.SetFriction(frictionOverride)
+
                 // Little testing components
                 this._bodies.push(body.GetID())
                 body.SetRestitution(0.4)
+
+                if (!frictionOverride) return
+                body.SetFriction(frictionOverride)
             }
             // Cleanup
             JOLT.destroy(compoundShapeSettings)
@@ -748,7 +739,7 @@ class PhysicsSystem extends WorldSystem {
      */
     private CreateConvexShapeSettingsFromPart(
         partDefinition: mirabuf.IPartDefinition
-    ): [Jolt.ShapeSettings, Jolt.Vec3, Jolt.Vec3] | undefined | null {
+    ): [Jolt.ShapeSettings, Jolt.Vec3, Jolt.Vec3] | undefined {
         const settings = new JOLT.ConvexHullShapeSettings()
 
         const min = new JOLT.Vec3(1000000.0, 1000000.0, 1000000.0)
@@ -756,14 +747,14 @@ class PhysicsSystem extends WorldSystem {
 
         const points = settings.mPoints
         partDefinition.bodies!.forEach(body => {
-            if (body.triangleMesh && body.triangleMesh.mesh && body.triangleMesh.mesh.verts) {
-                const vertArr = body.triangleMesh.mesh.verts
-                for (let i = 0; i < body.triangleMesh.mesh.verts.length; i += 3) {
-                    const vert = MirabufFloatArr_JoltVec3(vertArr, i)
-                    points.push_back(vert)
-                    this.UpdateMinMaxBounds(vert, min, max)
-                    JOLT.destroy(vert)
-                }
+            const verts = body.triangleMesh?.mesh?.verts
+            if (!verts) return
+
+            for (let i = 0; i < verts.length; i += 3) {
+                const vert = MirabufFloatArr_JoltVec3(verts, i)
+                points.push_back(vert)
+                this.UpdateMinMaxBounds(vert, min, max)
+                JOLT.destroy(vert)
             }
         })
 
@@ -785,7 +776,7 @@ class PhysicsSystem extends WorldSystem {
      */
     private CreateConcaveShapeSettingsFromPart(
         partDefinition: mirabuf.IPartDefinition
-    ): [Jolt.ShapeSettings, Jolt.Vec3, Jolt.Vec3] | undefined | null {
+    ): [Jolt.ShapeSettings, Jolt.Vec3, Jolt.Vec3] | undefined {
         const settings = new JOLT.MeshShapeSettings()
 
         settings.mMaxTrianglesPerLeaf = 8

From c9c0e563a1f761d2f735d4546d1edd367d0a67f4 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Mon, 19 Aug 2024 11:55:41 -0700
Subject: [PATCH 05/29] small refactors to parsing

---
 fission/src/mirabuf/MirabufParser.ts         | 94 +++++++++++---------
 fission/src/systems/physics/PhysicsSystem.ts | 22 +++--
 2 files changed, 62 insertions(+), 54 deletions(-)

diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index 610e58f0d0..7fedf40f17 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -84,9 +84,9 @@ class MirabufParser {
         this.LoadGlobalTransforms()
 
         function traverseTree(nodes: mirabuf.INode[], op: (node: mirabuf.INode) => void) {
-            nodes.forEach(x => {
-                if (x.children) traverseTree(x.children, op)
-                op(x)
+            nodes.forEach(node => {
+                if (node.children) traverseTree(node.children, op)
+                op(node)
             })
         }
 
@@ -95,7 +95,7 @@ class MirabufParser {
         // 1: Initial RigidGroups from ancestral breaks in joints
         const jointInstanceKeys = Object.keys(assembly.data!.joints!.jointInstances!) as string[]
         jointInstanceKeys.forEach(key => {
-            if (key == GROUNDED_JOINT_ID) return
+            if (key === GROUNDED_JOINT_ID) return
 
             const jInst = assembly.data!.joints!.jointInstances![key]
             const [ancestorA, ancestorB] = this.FindAncestorialBreak(jInst.parentPart!, jInst.childPart!)
@@ -110,28 +110,7 @@ class MirabufParser {
 
         // Fields Only: Assign Game Piece rigid nodes
         if (!assembly.dynamic) {
-            // Collect all definitions labeled as gamepieces (dynamic = true)
-            const gamepieceDefinitions: Set<string> = new Set<string>()
-
-            Object.values(assembly.data!.parts!.partDefinitions!).forEach((def: mirabuf.IPartDefinition) => {
-                if (def.dynamic) gamepieceDefinitions.add(def.info!.GUID!)
-            })
-
-            // Create gamepiece rigid nodes from PartInstances with corresponding definitions
-            Object.values(assembly.data!.parts!.partInstances!).forEach((inst: mirabuf.IPartInstance) => {
-                if (!gamepieceDefinitions.has(inst.partDefinitionReference!)) return
-
-                const instNode = this.BinarySearchDesignTree(inst.info!.GUID!)
-                if (!instNode) {
-                    this._errors.push([ParseErrorSeverity.LikelyIssues, "Failed to find Game piece in Design Tree"])
-                    return
-                }
-
-                const gpRn = this.NewRigidNode(GAMEPIECE_SUFFIX)
-                gpRn.isGamePiece = true
-                this.MovePartToRigidNode(instNode!.value!, gpRn)
-                instNode.children && traverseTree(instNode.children, x => this.MovePartToRigidNode(x.value!, gpRn))
-            })
+            this.AssignGamePieceRigidNodes(assembly, traverseTree)
         }
 
         // 2: Grounded joint
@@ -156,11 +135,8 @@ class MirabufParser {
             let rn: RigidNode | null = null
             rg.occurrences!.forEach(y => {
                 const currentRn = this._partToNodeMap.get(y)!
-                if (!rn) {
-                    rn = currentRn
-                } else if (currentRn.id != rn.id) {
-                    rn = this.MergeRigidNodes(currentRn, rn)
-                }
+
+                rn = !rn ? currentRn : currentRn.id != rn.id ? this.MergeRigidNodes(currentRn, rn) : rn
             })
         })
 
@@ -177,6 +153,7 @@ class MirabufParser {
 
         // 7. Update root RigidNode
         const rootNode = this._partToNodeMap.get(gInst.parts!.nodes!.at(0)!.value!)
+
         if (rootNode) {
             rootNode.isRoot = true
             this._rootNode = rootNode.id
@@ -184,7 +161,47 @@ class MirabufParser {
             this._rootNode = this._rigidNodes[0].id
         }
 
-        // 8. Generate Rigid Node Graph
+        this._directedGraph = this.GenerateRigidNodeGraph(assembly, rootNode)
+
+        // Transition: GH-1014
+        const partDefinitions: { [k: string]: mirabuf.IPartDefinition } | null | undefined =
+            this.assembly.data?.parts?.partDefinitions
+
+        if (!partDefinitions) {
+            console.log("Failed to get part definitions")
+            return
+        }
+    }
+
+    private AssignGamePieceRigidNodes(
+        assembly: mirabuf.Assembly,
+        traverseTree: (node: mirabuf.INode[], op: (node: mirabuf.INode) => void) => void
+    ) {
+        // Collect all definitions labeled as gamepieces (dynamic = true)
+        const gamepieceDefinitions: Set<string> = new Set<string>()
+
+        Object.values(assembly.data!.parts!.partDefinitions!).forEach((def: mirabuf.IPartDefinition) => {
+            if (def.dynamic) gamepieceDefinitions.add(def.info!.GUID!)
+        })
+
+        // Create gamepiece rigid nodes from PartInstances with corresponding definitions
+        Object.values(assembly.data!.parts!.partInstances!).forEach((inst: mirabuf.IPartInstance) => {
+            if (!gamepieceDefinitions.has(inst.partDefinitionReference!)) return
+
+            const instNode = this.BinarySearchDesignTree(inst.info!.GUID!)
+            if (!instNode) {
+                this._errors.push([ParseErrorSeverity.LikelyIssues, "Failed to find Game piece in Design Tree"])
+                return
+            }
+
+            const gpRn = this.NewRigidNode(GAMEPIECE_SUFFIX)
+            gpRn.isGamePiece = true
+            this.MovePartToRigidNode(instNode!.value!, gpRn)
+            if (instNode.children) traverseTree(instNode.children, x => this.MovePartToRigidNode(x.value!, gpRn))
+        })
+    }
+
+    private GenerateRigidNodeGraph(assembly: mirabuf.Assembly, rootNode: RigidNode | undefined): Graph {
         // Build undirected graph
         const graph = new Graph()
         graph.AddNode(rootNode ? rootNode.id : this._rigidNodes[0].id)
@@ -198,6 +215,7 @@ class MirabufParser {
             graph.AddNode(rB.id)
             graph.AddEdgeUndirected(rA.id, rB.id)
         })
+
         const directedGraph = new Graph()
         const whiteGreyBlackMap = new Map<string, boolean>()
         this._rigidNodes.forEach(x => {
@@ -220,15 +238,7 @@ class MirabufParser {
         whiteGreyBlackMap.delete(node)
         directedRecursive(node)
 
-        this._directedGraph = directedGraph
-
-        // Transition: GH-1014
-        const partDefinitions: { [k: string]: mirabuf.IPartDefinition } | null | undefined =
-            this.assembly.data?.parts?.partDefinitions
-        if (!partDefinitions) {
-            console.log("Failed to get part definitions")
-            return
-        }
+        return directedGraph
     }
 
     private NewRigidNode(suffix?: string): RigidNode {
@@ -376,7 +386,7 @@ class MirabufParser {
         let nextValue = 0
         const partTreeValues = new Map<string, number>()
 
-        const recursive = (partNode: mirabuf.INode) => {
+        function recursive(partNode: mirabuf.INode) {
             partNode.children = partNode.children?.filter(x => x.value != null)
             partNode.children?.forEach(x => recursive(x))
             partTreeValues.set(partNode.value!, nextValue++)
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 3ad3290af5..4feb6d615d 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -182,7 +182,7 @@ class PhysicsSystem extends WorldSystem {
     }
 
     /**
-     * Enabing physics for a single body
+     * Enables physics for a single body
      *
      * @param bodyId
      */
@@ -553,14 +553,10 @@ class PhysicsSystem extends WorldSystem {
 
         const rotationalFreedom = jointDefinition.rotational!.rotationalFreedom!
 
-        const miraAxis = rotationalFreedom.axis! as mirabuf.Vector3
-        let axis: Jolt.Vec3
         // No scaling, these are unit vectors
-        if (versionNum < 5) {
-            axis = new JOLT.Vec3(miraAxis.x ? -miraAxis.x : 0, miraAxis.y ?? 0, miraAxis.z ?? 0)
-        } else {
-            axis = new JOLT.Vec3(miraAxis.x ?? 0, miraAxis.y ?? 0, miraAxis.z ?? 0)
-        }
+        const miraAxis = rotationalFreedom.axis! as mirabuf.Vector3
+        const miraAxisX: number = (versionNum < 5 ? -miraAxis.x : miraAxis.x) ?? 0
+        const axis: Jolt.Vec3 = new JOLT.Vec3(miraAxisX, miraAxis.y ?? 0, miraAxis.z ?? 0)
 
         const bounds = bodyWheel.GetShape().GetLocalBounds()
         const radius = (bounds.mMax.GetY() - bounds.mMin.GetY()) / 2.0
@@ -606,11 +602,12 @@ class PhysicsSystem extends WorldSystem {
         return [fixedConstraint, vehicleConstraint, listener]
     }
 
-    private IsWheel(jDef: mirabuf.joint.Joint) {
+    private IsWheel(jDef: mirabuf.joint.Joint): boolean {
         return (
-            jDef.info!.name! != "grounded" &&
-            jDef.userData &&
-            (new Map(Object.entries(jDef.userData.data!)).get("wheel") ?? "false") == "true"
+            (jDef.info?.name !== "grounded" &&
+                jDef.userData?.data &&
+                (jDef.userData.data["wheel"] ?? "false") === "true") ??
+            false
         )
     }
 
@@ -794,6 +791,7 @@ class PhysicsSystem extends WorldSystem {
             const vertArr = body.triangleMesh?.mesh?.verts
             const indexArr = body.triangleMesh?.mesh?.indices
             if (!vertArr || !indexArr) return
+
             for (let i = 0; i < vertArr.length; i += 3) {
                 const vert = MirabufFloatArr_JoltFloat3(vertArr, i)
                 settings.mTriangleVertices.push_back(vert)

From 2a3fa7227907ae8497e2065052faa2985d7a1eec Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Mon, 19 Aug 2024 13:59:41 -0700
Subject: [PATCH 06/29] make eslint not complain

---
 fission/src/mirabuf/MirabufParser.ts | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index 7fedf40f17..2d0ecd6ea5 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -124,7 +124,10 @@ class MirabufParser {
         const traverseNodeRoundup = (node: mirabuf.INode, parentNode: RigidNode) => {
             const currentNode = this._partToNodeMap.get(node.value!)
             if (!currentNode) this.MovePartToRigidNode(node.value!, parentNode)
-            ;(node.children ?? []).forEach(x => traverseNodeRoundup(x, currentNode ?? parentNode))
+
+            // Eslint complains about the semicolon added at the begining of the line if you inline this variable
+            const children = node.children ?? []
+            children.forEach(x => traverseNodeRoundup(x, currentNode ?? parentNode))
         }
         this._designHierarchyRoot.children?.forEach(x => traverseNodeRoundup(x, gNode))
 
@@ -218,9 +221,9 @@ class MirabufParser {
 
         const directedGraph = new Graph()
         const whiteGreyBlackMap = new Map<string, boolean>()
-        this._rigidNodes.forEach(x => {
-            whiteGreyBlackMap.set(x.id, false)
-            directedGraph.AddNode(x.id)
+        this._rigidNodes.forEach(node => {
+            whiteGreyBlackMap.set(node.id, false)
+            directedGraph.AddNode(node.id)
         })
 
         function directedRecursive(node: string) {

From a150a1cbb049db6a538a867220070c9d1cc0148a Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Mon, 19 Aug 2024 14:15:13 -0700
Subject: [PATCH 07/29] fix build and lint

---
 fission/src/mirabuf/MirabufInstance.ts       | 4 +---
 fission/src/systems/physics/PhysicsSystem.ts | 2 +-
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 6b65dbe037..49cd9df49e 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -89,11 +89,9 @@ const transformGeometry = (geometry: THREE.BufferGeometry, mesh: mirabuf.IMesh)
     geometry.setIndex(mesh.indices!)
 }
 
-type FrictionCoefficients = { dyn: number; stat: number }
-
 class MirabufInstance {
     private _mirabufParser: MirabufParser
-    private _materials: Map<string, [THREE.Material, FrictionCoefficients]>
+    private _materials: Map<string, THREE.Material>
     private _meshes: Map<MirabufPartInstanceGUID, Array<[THREE.BatchedMesh, number]>>
     private _batches: Array<THREE.BatchedMesh>
 
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 63cba1cf5a..471100480f 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -356,7 +356,7 @@ class PhysicsSystem extends WorldSystem {
 
             let listener: Jolt.PhysicsStepListener | undefined = undefined
 
-            function addConstraint(c: Jolt.Constraint): void {
+            const addConstraint = (c: Jolt.Constraint): void => {
                 mechanism.AddConstraint({
                     parentBody: bodyIdA!,
                     childBody: bodyIdB!,

From dc6bf6a2fffb200174588f0565c1314bf9940706 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 20 Aug 2024 11:10:47 -0700
Subject: [PATCH 08/29] more extraction refactoring in MirabufParser
 constructor

---
 fission/src/mirabuf/MirabufParser.ts | 85 +++++++++++++---------------
 1 file changed, 39 insertions(+), 46 deletions(-)

diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index 2d0ecd6ea5..84e47a40b0 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -90,28 +90,10 @@ class MirabufParser {
             })
         }
 
-        // const materials = assembly.data?.materials?.physicalMaterials
-
-        // 1: Initial RigidGroups from ancestral breaks in joints
-        const jointInstanceKeys = Object.keys(assembly.data!.joints!.jointInstances!) as string[]
-        jointInstanceKeys.forEach(key => {
-            if (key === GROUNDED_JOINT_ID) return
-
-            const jInst = assembly.data!.joints!.jointInstances![key]
-            const [ancestorA, ancestorB] = this.FindAncestorialBreak(jInst.parentPart!, jInst.childPart!)
-            const parentRN = this.NewRigidNode()
-
-            this.MovePartToRigidNode(ancestorA, parentRN)
-            this.MovePartToRigidNode(ancestorB, this.NewRigidNode())
-
-            if (jInst.parts && jInst.parts.nodes)
-                traverseTree(jInst.parts.nodes, x => this.MovePartToRigidNode(x.value!, parentRN))
-        })
+        this.InitializeRigidGroups(assembly, traverseTree) // 1: from ancestral breaks in joints
 
         // Fields Only: Assign Game Piece rigid nodes
-        if (!assembly.dynamic) {
-            this.AssignGamePieceRigidNodes(assembly, traverseTree)
-        }
+        if (!assembly.dynamic) this.AssignGamePieceRigidNodes(assembly, traverseTree)
 
         // 2: Grounded joint
         const gInst = assembly.data!.joints!.jointInstances![GROUNDED_JOINT_ID]
@@ -133,16 +115,7 @@ class MirabufParser {
 
         // this.DebugPrintHierarchy(1, ...this._designHierarchyRoot.children!);
 
-        // 4: Bandage via RigidGroups
-        assembly.data!.joints!.rigidGroups!.forEach(rg => {
-            let rn: RigidNode | null = null
-            rg.occurrences!.forEach(y => {
-                const currentRn = this._partToNodeMap.get(y)!
-
-                rn = !rn ? currentRn : currentRn.id != rn.id ? this.MergeRigidNodes(currentRn, rn) : rn
-            })
-        })
-
+        this.BandageRigidNodes(assembly) // 4: Bandage via RigidGroups
         // this.DebugPrintHierarchy(1, ...this._designHierarchyRoot.children!);
 
         // 5. Remove Empty RNs
@@ -150,32 +123,41 @@ class MirabufParser {
 
         // 6. If field, find grounded node and set isDynamic to false. Also just find grounded node again
         this._groundedNode = this.partToNodeMap.get(gInst.parts!.nodes!.at(0)!.value!)
-        if (!assembly.dynamic && this._groundedNode) {
-            this._groundedNode.isDynamic = false
-        }
+        if (!assembly.dynamic && this._groundedNode) this._groundedNode.isDynamic = false
 
         // 7. Update root RigidNode
         const rootNode = this._partToNodeMap.get(gInst.parts!.nodes!.at(0)!.value!)
-
-        if (rootNode) {
-            rootNode.isRoot = true
-            this._rootNode = rootNode.id
-        } else {
-            this._rootNode = this._rigidNodes[0].id
-        }
+        this._rootNode = rootNode?.id ?? this._rigidNodes[0].id
+        rootNode!.isRoot = true
 
         this._directedGraph = this.GenerateRigidNodeGraph(assembly, rootNode)
 
-        // Transition: GH-1014
-        const partDefinitions: { [k: string]: mirabuf.IPartDefinition } | null | undefined =
-            this.assembly.data?.parts?.partDefinitions
-
-        if (!partDefinitions) {
-            console.log("Failed to get part definitions")
+        if (!this.assembly.data?.parts?.partDefinitions) {
+            console.warn("Failed to get part definitions")
             return
         }
     }
 
+    private InitializeRigidGroups(
+        assembly: mirabuf.Assembly,
+        traverseTree: (node: mirabuf.INode[], op: (node: mirabuf.INode) => void) => void
+    ) {
+        const jointInstanceKeys = Object.keys(assembly.data!.joints!.jointInstances!) as string[]
+        jointInstanceKeys.forEach(key => {
+            if (key === GROUNDED_JOINT_ID) return
+
+            const jInst = assembly.data!.joints!.jointInstances![key]
+            const [ancestorA, ancestorB] = this.FindAncestorialBreak(jInst.parentPart!, jInst.childPart!)
+            const parentRN = this.NewRigidNode()
+
+            this.MovePartToRigidNode(ancestorA, parentRN)
+            this.MovePartToRigidNode(ancestorB, this.NewRigidNode())
+
+            if (jInst.parts && jInst.parts.nodes)
+                traverseTree(jInst.parts.nodes, x => this.MovePartToRigidNode(x.value!, parentRN))
+        })
+    }
+
     private AssignGamePieceRigidNodes(
         assembly: mirabuf.Assembly,
         traverseTree: (node: mirabuf.INode[], op: (node: mirabuf.INode) => void) => void
@@ -204,6 +186,17 @@ class MirabufParser {
         })
     }
 
+    private BandageRigidNodes(assembly: mirabuf.Assembly) {
+        assembly.data!.joints!.rigidGroups!.forEach(rg => {
+            let rn: RigidNode | null = null
+            rg.occurrences!.forEach(y => {
+                const currentRn = this._partToNodeMap.get(y)!
+
+                rn = !rn ? currentRn : currentRn.id != rn.id ? this.MergeRigidNodes(currentRn, rn) : rn
+            })
+        })
+    }
+
     private GenerateRigidNodeGraph(assembly: mirabuf.Assembly, rootNode: RigidNode | undefined): Graph {
         // Build undirected graph
         const graph = new Graph()

From 102f164a5e966ca5284740881a5d54f6b3eaa13e Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 20 Aug 2024 15:29:40 -0700
Subject: [PATCH 09/29] more refactors :)

---
 fission/src/mirabuf/MirabufParser.ts         |  55 +++--
 fission/src/systems/physics/PhysicsSystem.ts | 215 +++++++------------
 2 files changed, 107 insertions(+), 163 deletions(-)

diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index 84e47a40b0..471b022aa3 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -107,9 +107,8 @@ class MirabufParser {
             const currentNode = this._partToNodeMap.get(node.value!)
             if (!currentNode) this.MovePartToRigidNode(node.value!, parentNode)
 
-            // Eslint complains about the semicolon added at the begining of the line if you inline this variable
-            const children = node.children ?? []
-            children.forEach(x => traverseNodeRoundup(x, currentNode ?? parentNode))
+            if (!node.children) return
+            node.children.forEach(x => traverseNodeRoundup(x, currentNode ?? parentNode))
         }
         this._designHierarchyRoot.children?.forEach(x => traverseNodeRoundup(x, gNode))
 
@@ -126,11 +125,10 @@ class MirabufParser {
         if (!assembly.dynamic && this._groundedNode) this._groundedNode.isDynamic = false
 
         // 7. Update root RigidNode
-        const rootNode = this._partToNodeMap.get(gInst.parts!.nodes!.at(0)!.value!)
-        this._rootNode = rootNode?.id ?? this._rigidNodes[0].id
-        rootNode!.isRoot = true
+        const rootNodeId = this._partToNodeMap.get(gInst.parts!.nodes!.at(0)!.value!)?.id ?? this._rigidNodes[0].id
+        this._rootNode = rootNodeId
 
-        this._directedGraph = this.GenerateRigidNodeGraph(assembly, rootNode)
+        this._directedGraph = this.GenerateRigidNodeGraph(assembly, rootNodeId)
 
         if (!this.assembly.data?.parts?.partDefinitions) {
             console.warn("Failed to get part definitions")
@@ -163,11 +161,13 @@ class MirabufParser {
         traverseTree: (node: mirabuf.INode[], op: (node: mirabuf.INode) => void) => void
     ) {
         // Collect all definitions labeled as gamepieces (dynamic = true)
-        const gamepieceDefinitions: Set<string> = new Set<string>()
-
-        Object.values(assembly.data!.parts!.partDefinitions!).forEach((def: mirabuf.IPartDefinition) => {
-            if (def.dynamic) gamepieceDefinitions.add(def.info!.GUID!)
-        })
+        const gamepieceDefinitions: Set<string> = new Set(
+            Object.values(assembly.data!.parts!.partDefinitions!)
+                .filter(def => !def.dynamic)
+                .map((def: mirabuf.IPartDefinition) => {
+                    return def.info!.GUID!
+                })
+        )
 
         // Create gamepiece rigid nodes from PartInstances with corresponding definitions
         Object.values(assembly.data!.parts!.partInstances!).forEach((inst: mirabuf.IPartInstance) => {
@@ -197,10 +197,10 @@ class MirabufParser {
         })
     }
 
-    private GenerateRigidNodeGraph(assembly: mirabuf.Assembly, rootNode: RigidNode | undefined): Graph {
+    private GenerateRigidNodeGraph(assembly: mirabuf.Assembly, rootNodeId: string): Graph {
         // Build undirected graph
         const graph = new Graph()
-        graph.AddNode(rootNode ? rootNode.id : this._rigidNodes[0].id)
+        graph.AddNode(rootNodeId)
         const jointInstances = Object.values(assembly.data!.joints!.jointInstances!) as mirabuf.joint.JointInstance[]
         jointInstances.forEach((x: mirabuf.joint.JointInstance) => {
             const rA = this._partToNodeMap.get(x.parentPart)
@@ -220,19 +220,18 @@ class MirabufParser {
         })
 
         function directedRecursive(node: string) {
-            graph.GetAdjacencyList(node).forEach(x => {
-                if (!whiteGreyBlackMap.has(x)) return
-
-                directedGraph.AddEdgeDirected(node, x)
-                whiteGreyBlackMap.delete(x)
-                directedRecursive(x)
-            })
+            graph
+                .GetAdjacencyList(node)
+                .filter(x => whiteGreyBlackMap.has(x))
+                .forEach(x => {
+                    directedGraph.AddEdgeDirected(node, x)
+                    whiteGreyBlackMap.delete(x)
+                    directedRecursive(x)
+                })
         }
 
-        const node = rootNode?.id ?? this._rigidNodes[0].id
-
-        whiteGreyBlackMap.delete(node)
-        directedRecursive(node)
+        whiteGreyBlackMap.delete(rootNodeId)
+        directedRecursive(rootNodeId)
 
         return directedGraph
     }
@@ -402,7 +401,6 @@ class MirabufParser {
  * Collection of mirabuf parts that are bound together
  */
 class RigidNode {
-    public isRoot: boolean
     public id: RigidNodeId
     public parts: Set<string> = new Set()
     public isDynamic: boolean
@@ -411,7 +409,6 @@ class RigidNode {
     public constructor(id: RigidNodeId, isDynamic?: boolean, isGamePiece?: boolean) {
         this.id = id
         this.isDynamic = isDynamic ?? true
-        this.isRoot = false
         this.isGamePiece = isGamePiece ?? false
     }
 }
@@ -431,10 +428,6 @@ export class RigidNodeReadOnly {
         return this._original.isDynamic
     }
 
-    public get isRoot(): boolean {
-        return this._original.isRoot
-    }
-
     public get isGamePiece(): boolean {
         return this._original.isGamePiece
     }
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 471100480f..a92cb1524c 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -165,9 +165,7 @@ class PhysicsSystem extends WorldSystem {
      * The pause works off of a request counter.
      */
     public ReleasePause() {
-        if (this._pauseCounter > 0) {
-            this._pauseCounter--
-        }
+        if (this._pauseCounter > 0) this._pauseCounter--
     }
 
     /**
@@ -176,9 +174,7 @@ class PhysicsSystem extends WorldSystem {
      * @param bodyId
      */
     public DisablePhysicsForBody(bodyId: Jolt.BodyID) {
-        if (!this.IsBodyAdded(bodyId)) {
-            return
-        }
+        if (!this.IsBodyAdded(bodyId)) return
 
         this._joltBodyInterface.DeactivateBody(bodyId)
 
@@ -191,9 +187,7 @@ class PhysicsSystem extends WorldSystem {
      * @param bodyId
      */
     public EnablePhysicsForBody(bodyId: Jolt.BodyID) {
-        if (!this.IsBodyAdded(bodyId)) {
-            return
-        }
+        if (!this.IsBodyAdded(bodyId)) return
 
         this._joltBodyInterface.ActivateBody(bodyId)
         this.GetBody(bodyId).SetIsSensor(false)
@@ -232,9 +226,8 @@ class PhysicsSystem extends WorldSystem {
             mass ? JOLT.EMotionType_Dynamic : JOLT.EMotionType_Static,
             mass ? LAYER_GENERAL_DYNAMIC : LAYER_FIELD
         )
-        if (mass) {
-            creationSettings.mMassPropertiesOverride.mMass = mass
-        }
+        if (mass) creationSettings.mMassPropertiesOverride.mMass = mass
+
         const body = this._joltBodyInterface.CreateBody(creationSettings)
         JOLT.destroy(pos)
         JOLT.destroy(rot)
@@ -268,9 +261,8 @@ class PhysicsSystem extends WorldSystem {
             mass ? JOLT.EMotionType_Dynamic : JOLT.EMotionType_Static,
             mass ? LAYER_GENERAL_DYNAMIC : LAYER_FIELD
         )
-        if (mass) {
-            creationSettings.mMassPropertiesOverride.mMass = mass
-        }
+        if (mass) creationSettings.mMassPropertiesOverride.mMass = mass
+
         const body = this._joltBodyInterface.CreateBody(creationSettings)
         JOLT.destroy(pos)
         JOLT.destroy(rot)
@@ -295,9 +287,8 @@ class PhysicsSystem extends WorldSystem {
      * @returns Resulting shape.
      */
     public CreateConvexHull(points: Float32Array, density: number = 1.0): Jolt.ShapeResult {
-        if (points.length % 3) {
-            throw new Error(`Invalid size of points: ${points.length}`)
-        }
+        if (points.length % 3) throw new Error(`Invalid size of points: ${points.length}`)
+
         const settings = new JOLT.ConvexHullShapeSettings()
         settings.mPoints.clear()
         settings.mPoints.reserve(points.length / 3.0)
@@ -325,23 +316,21 @@ class PhysicsSystem extends WorldSystem {
      */
     public CreateJointsFromParser(parser: MirabufParser, mechanism: Mechanism) {
         const jointData = parser.assembly.data!.joints!
-        for (const [jGuid, jInst] of Object.entries(jointData.jointInstances!) as [
-            string,
-            mirabuf.joint.JointInstance,
-        ][]) {
-            if (jGuid == GROUNDED_JOINT_ID) continue
+        const joints = Object.entries(jointData.jointInstances!) as [string, mirabuf.joint.JointInstance][]
+        joints.forEach(([jGuid, jInst]) => {
+            if (jGuid == GROUNDED_JOINT_ID) return
 
             const rnA = parser.partToNodeMap.get(jInst.parentPart!)
             const rnB = parser.partToNodeMap.get(jInst.childPart!)
 
             if (!rnA || !rnB) {
                 console.warn(`Skipping joint '${jInst.info!.name!}'. Couldn't find associated rigid nodes.`)
-                continue
+                return
             } else if (rnA.id == rnB.id) {
                 console.warn(
                     `Skipping joint '${jInst.info!.name!}'. Jointing the same parts. Likely in issue with Fusion Design structure.`
                 )
-                continue
+                return
             }
 
             const jDef = parser.assembly.data!.joints!.jointDefinitions![jInst.jointReference!]! as mirabuf.joint.Joint
@@ -349,13 +338,11 @@ class PhysicsSystem extends WorldSystem {
             const bodyIdB = mechanism.GetBodyByNodeId(rnB.id)
             if (!bodyIdA || !bodyIdB) {
                 console.warn(`Skipping joint '${jInst.info!.name!}'. Failed to find rigid nodes' associated bodies.`)
-                continue
+                return
             }
             const bodyA = this.GetBody(bodyIdA)
             const bodyB = this.GetBody(bodyIdB)
 
-            let listener: Jolt.PhysicsStepListener | undefined = undefined
-
             const addConstraint = (c: Jolt.Constraint): void => {
                 mechanism.AddConstraint({
                     parentBody: bodyIdA!,
@@ -380,45 +367,11 @@ class PhysicsSystem extends WorldSystem {
                 maxForce = miraMotor.simpleMotor.stallTorque
             }
 
+            let listener: Jolt.PhysicsStepListener | null = null
+
             switch (jDef.jointMotionType!) {
                 case mirabuf.joint.JointMotion.REVOLUTE:
-                    if (this.IsWheel(jDef)) {
-                        const prefVel = PreferencesSystem.getRobotPreferences(
-                            parser.assembly.info?.name ?? ""
-                        ).driveVelocity
-                        if (prefVel > 0) maxVel = prefVel
-
-                        const prefAcc = PreferencesSystem.getRobotPreferences(
-                            parser.assembly.info?.name ?? ""
-                        ).driveAcceleration
-                        if (prefAcc > 0) maxForce = prefAcc
-
-                        if (parser.directedGraph.GetAdjacencyList(rnA.id).length > 0) {
-                            const res = this.CreateWheelConstraint(
-                                jInst,
-                                jDef,
-                                maxForce ?? 1.5,
-                                bodyA,
-                                bodyB,
-                                parser.assembly.info!.version!
-                            )
-                            addConstraint(res[0])
-                            addConstraint(res[1])
-                            listener = res[2]
-                        } else {
-                            const res = this.CreateWheelConstraint(
-                                jInst,
-                                jDef,
-                                maxForce ?? 1.5,
-                                bodyB,
-                                bodyA,
-                                parser.assembly.info!.version!
-                            )
-                            addConstraint(res[0])
-                            addConstraint(res[1])
-                            listener = res[2]
-                        }
-                    } else {
+                    if (!this.IsWheel(jDef)) {
                         addConstraint(
                             this.CreateHingeConstraint(
                                 jInst,
@@ -429,7 +382,28 @@ class PhysicsSystem extends WorldSystem {
                                 parser.assembly.info!.version!
                             )
                         )
+
+                        break
                     }
+
+                    const preferences = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "")
+                    maxVel = preferences.driveVelocity > 0 ? preferences.driveVelocity : maxVel
+                    maxForce = preferences.driveAcceleration > 0 ? preferences.driveAcceleration : maxForce
+
+                    const [bodyOne, bodyTwo] =
+                        parser.directedGraph.GetAdjacencyList(rnA.id).length > 0 ? [bodyA, bodyB] : [bodyB, bodyA]
+
+                    const res = this.CreateWheelConstraint(
+                        jInst,
+                        jDef,
+                        maxForce ?? 1.5,
+                        bodyOne,
+                        bodyTwo,
+                        parser.assembly.info!.version!
+                    )
+                    addConstraint(res[0])
+                    addConstraint(res[1])
+                    listener = res[2]
                     break
                 case mirabuf.joint.JointMotion.SLIDER:
                     addConstraint(this.CreateSliderConstraint(jInst, jDef, maxForce ?? 200, bodyA, bodyB))
@@ -439,10 +413,8 @@ class PhysicsSystem extends WorldSystem {
                     break
             }
 
-            if (listener) {
-                mechanism.AddStepListener(listener)
-            }
-        }
+            if (listener) mechanism.AddStepListener(listener)
+        })
     }
 
     /**
@@ -480,13 +452,10 @@ class PhysicsSystem extends WorldSystem {
         const rotationalFreedom = jointDefinition.rotational!.rotationalFreedom!
 
         const miraAxis = rotationalFreedom.axis! as mirabuf.Vector3
-        let axis: Jolt.Vec3
         // No scaling, these are unit vectors
-        if (versionNum < 5) {
-            axis = new JOLT.Vec3(miraAxis.x ? -miraAxis.x : 0, miraAxis.y ?? 0, miraAxis.z! ?? 0)
-        } else {
-            axis = new JOLT.Vec3(miraAxis.x! ?? 0, miraAxis.y! ?? 0, miraAxis.z! ?? 0)
-        }
+        const miraAxisX = (versionNum < 5 ? -miraAxis.x : miraAxis.x) ?? 0
+        const axis = new JOLT.Vec3(miraAxisX, miraAxis.y! ?? 0, miraAxis.z! ?? 0)
+
         hingeConstraintSettings.mHingeAxis1 = hingeConstraintSettings.mHingeAxis2 = axis.Normalized()
         hingeConstraintSettings.mNormalAxis1 = hingeConstraintSettings.mNormalAxis2 = getPerpendicular(
             hingeConstraintSettings.mHingeAxis1
@@ -636,7 +605,7 @@ class PhysicsSystem extends WorldSystem {
 
         // Other than maxTorque, these controller settings are not being used as of now
         // because ArcadeDriveBehavior goes directly to the WheelDrivers.
-        // MaxTorque is only used as communication for WheelDriver to get maxAcceleration
+        // maxTorque is only used as communication for WheelDriver to get maxAcceleration
         const controllerSettings = new JOLT.WheeledVehicleControllerSettings()
         controllerSettings.mEngine.mMaxTorque = maxAcc
         controllerSettings.mTransmission.mClutchStrength = 10.0
@@ -664,12 +633,7 @@ class PhysicsSystem extends WorldSystem {
     }
 
     private IsWheel(jDef: mirabuf.joint.Joint): boolean {
-        return (
-            (jDef.info?.name !== "grounded" &&
-                jDef.userData?.data &&
-                (jDef.userData.data["wheel"] ?? "false") === "true") ??
-            false
-        )
+        return (jDef.info?.name !== "grounded" && (jDef.userData?.data?.wheel ?? "false") === "true") ?? false
     }
 
     /**
@@ -778,9 +742,6 @@ class PhysicsSystem extends WorldSystem {
                 // Little testing components
                 this._bodies.push(body.GetID())
                 body.SetRestitution(0.4)
-
-                if (!frictionOverride) return
-                body.SetFriction(frictionOverride)
             }
             // Cleanup
             JOLT.destroy(compoundShapeSettings)
@@ -821,9 +782,9 @@ class PhysicsSystem extends WorldSystem {
             JOLT.destroy(min)
             JOLT.destroy(max)
             return
-        } else {
-            return [settings, min, max]
         }
+
+        return [settings, min, max]
     }
 
     /**
@@ -871,10 +832,10 @@ class PhysicsSystem extends WorldSystem {
             JOLT.destroy(min)
             JOLT.destroy(max)
             return
-        } else {
-            settings.Sanitize()
-            return [settings, min, max]
         }
+
+        settings.Sanitize()
+        return [settings, min, max]
     }
 
     /**
@@ -901,12 +862,10 @@ class PhysicsSystem extends WorldSystem {
             .GetNarrowPhaseQuery()
             .CastRay(ray, raySettings, collector, bp_filter, object_filter, body_filter, shape_filter)
 
-        if (collector.HadHit()) {
-            const hitPoint = ray.GetPointOnRay(collector.mHit.mFraction)
-            return { data: collector.mHit, point: hitPoint, ray: ray }
-        }
+        if (collector.HadHit()) return undefined
 
-        return undefined
+        const hitPoint = ray.GetPointOnRay(collector.mHit.mFraction)
+        return { data: collector.mHit, point: hitPoint, ray: ray }
     }
 
     /**
@@ -929,7 +888,7 @@ class PhysicsSystem extends WorldSystem {
     /**
      * Destroys bodies.
      *
-     * @param   bodies  Bodies to destroy.
+     * @param bodies  Bodies to destroy.
      */
     public DestroyBodies(...bodies: Jolt.Body[]) {
         bodies.forEach(x => {
@@ -963,9 +922,7 @@ class PhysicsSystem extends WorldSystem {
     }
 
     public Update(deltaT: number): void {
-        if (this._pauseCounter > 0) {
-            return
-        }
+        if (this._pauseCounter > 0) return
 
         const diffDeltaT = deltaT - lastDeltaT
 
@@ -981,7 +938,10 @@ class PhysicsSystem extends WorldSystem {
         this._physicsEventQueue = []
     }
 
-    public Destroy(): void {
+    /*
+     * Destroys PhysicsSystem and frees all objects
+     */
+    public Destroy() {
         this._constraints.forEach(x => {
             this._joltPhysSystem.RemoveConstraint(x)
             // JOLT.destroy(x);
@@ -1051,9 +1011,7 @@ class PhysicsSystem extends WorldSystem {
      * @param position The new position of the body
      */
     public SetBodyPosition(id: Jolt.BodyID, position: Jolt.Vec3, activate: boolean = true): void {
-        if (!this.IsBodyAdded(id)) {
-            return
-        }
+        if (!this.IsBodyAdded(id)) return
 
         this._joltBodyInterface.SetPosition(
             id,
@@ -1063,9 +1021,7 @@ class PhysicsSystem extends WorldSystem {
     }
 
     public SetBodyRotation(id: Jolt.BodyID, rotation: Jolt.Quat, activate: boolean = true): void {
-        if (!this.IsBodyAdded(id)) {
-            return
-        }
+        if (!this.IsBodyAdded(id)) return
 
         this._joltBodyInterface.SetRotation(
             id,
@@ -1089,9 +1045,7 @@ class PhysicsSystem extends WorldSystem {
         massProperties: boolean,
         activationMode: Jolt.EActivation
     ): void {
-        if (!this.IsBodyAdded(id)) {
-            return
-        }
+        if (!this.IsBodyAdded(id)) return
 
         this._joltBodyInterface.SetShape(id, shape, massProperties, activationMode)
     }
@@ -1181,10 +1135,10 @@ export class LayerReserve {
     }
 
     public Release(): void {
-        if (!this._isReleased) {
-            RobotLayers.push(this._layer)
-            this._isReleased = true
-        }
+        if (this._isReleased) return
+
+        RobotLayers.push(this._layer)
+        this._isReleased = true
     }
 }
 
@@ -1199,25 +1153,24 @@ function SetupCollisionFiltering(settings: Jolt.JoltSettings) {
     // Enable Field layer collisions
     objectFilter.EnableCollision(LAYER_GENERAL_DYNAMIC, LAYER_GENERAL_DYNAMIC)
     objectFilter.EnableCollision(LAYER_FIELD, LAYER_GENERAL_DYNAMIC)
-    for (let i = 0; i < RobotLayers.length; i++) {
-        objectFilter.EnableCollision(LAYER_FIELD, RobotLayers[i])
-        objectFilter.EnableCollision(LAYER_GENERAL_DYNAMIC, RobotLayers[i])
-    }
+    RobotLayers.forEach(layer => {
+        objectFilter.EnableCollision(LAYER_FIELD, layer)
+        objectFilter.EnableCollision(LAYER_GENERAL_DYNAMIC, layer)
+    })
 
     // Enable Collisions between other robots
-    for (let i = 0; i < RobotLayers.length - 1; i++) {
-        for (let j = i + 1; j < RobotLayers.length; j++) {
-            objectFilter.EnableCollision(RobotLayers[i], RobotLayers[j])
-        }
-    }
+    RobotLayers.forEach(layerOne => {
+        RobotLayers.forEach(layerTwo => {
+            objectFilter.EnableCollision(layerOne, layerTwo)
+        })
+    })
 
     const BP_LAYER_FIELD = new JOLT.BroadPhaseLayer(LAYER_FIELD)
     const BP_LAYER_GENERAL_DYNAMIC = new JOLT.BroadPhaseLayer(LAYER_GENERAL_DYNAMIC)
 
-    const bpRobotLayers = new Array<Jolt.BroadPhaseLayer>(RobotLayers.length)
-    for (let i = 0; i < bpRobotLayers.length; i++) {
-        bpRobotLayers[i] = new JOLT.BroadPhaseLayer(RobotLayers[i])
-    }
+    const bpRobotLayers = new Array<Jolt.BroadPhaseLayer>(RobotLayers.length).map(
+        (_, idx) => new JOLT.BroadPhaseLayer(idx)
+    )
 
     const COUNT_BROAD_PHASE_LAYERS = 2 + RobotLayers.length
 
@@ -1225,9 +1178,9 @@ function SetupCollisionFiltering(settings: Jolt.JoltSettings) {
 
     bpInterface.MapObjectToBroadPhaseLayer(LAYER_FIELD, BP_LAYER_FIELD)
     bpInterface.MapObjectToBroadPhaseLayer(LAYER_GENERAL_DYNAMIC, BP_LAYER_GENERAL_DYNAMIC)
-    for (let i = 0; i < bpRobotLayers.length; i++) {
-        bpInterface.MapObjectToBroadPhaseLayer(RobotLayers[i], bpRobotLayers[i])
-    }
+    bpRobotLayers.map((bpRobot, i) => {
+        bpInterface.MapObjectToBroadPhaseLayer(RobotLayers[i], bpRobot)
+    })
 
     settings.mObjectLayerPairFilter = objectFilter
     settings.mBroadPhaseLayerInterface = bpInterface
@@ -1257,9 +1210,7 @@ function getPerpendicular(vec: Jolt.Vec3): Jolt.Vec3 {
 }
 
 function tryGetPerpendicular(vec: Jolt.Vec3, toCheck: Jolt.Vec3): Jolt.Vec3 | undefined {
-    if (Math.abs(Math.abs(vec.Dot(toCheck)) - 1.0) < 0.0001) {
-        return undefined
-    }
+    if (Math.abs(Math.abs(vec.Dot(toCheck)) - 1.0) < 0.0001) return undefined
 
     const a = vec.Dot(toCheck)
     return new JOLT.Vec3(

From 7f934b3f9c073767e23ac6c8d2d988624231438d Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Tue, 20 Aug 2024 15:32:49 -0700
Subject: [PATCH 10/29] format

---
 fission/src/systems/physics/PhysicsSystem.ts | 56 ++++++++++----------
 1 file changed, 29 insertions(+), 27 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index a92cb1524c..b095b24221 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -371,40 +371,42 @@ class PhysicsSystem extends WorldSystem {
 
             switch (jDef.jointMotionType!) {
                 case mirabuf.joint.JointMotion.REVOLUTE:
-                    if (!this.IsWheel(jDef)) {
-                        addConstraint(
-                            this.CreateHingeConstraint(
-                                jInst,
-                                jDef,
-                                maxForce ?? 50,
-                                bodyA,
-                                bodyB,
-                                parser.assembly.info!.version!
-                            )
+                    if (this.IsWheel(jDef)) {
+                        const preferences = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "")
+                        maxVel = preferences.driveVelocity > 0 ? preferences.driveVelocity : maxVel
+                        maxForce = preferences.driveAcceleration > 0 ? preferences.driveAcceleration : maxForce
+
+                        const [bodyOne, bodyTwo] =
+                            parser.directedGraph.GetAdjacencyList(rnA.id).length > 0 ? [bodyA, bodyB] : [bodyB, bodyA]
+
+                        const res = this.CreateWheelConstraint(
+                            jInst,
+                            jDef,
+                            maxForce ?? 1.5,
+                            bodyOne,
+                            bodyTwo,
+                            parser.assembly.info!.version!
                         )
+                        addConstraint(res[0])
+                        addConstraint(res[1])
+                        listener = res[2]
 
                         break
                     }
 
-                    const preferences = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "")
-                    maxVel = preferences.driveVelocity > 0 ? preferences.driveVelocity : maxVel
-                    maxForce = preferences.driveAcceleration > 0 ? preferences.driveAcceleration : maxForce
-
-                    const [bodyOne, bodyTwo] =
-                        parser.directedGraph.GetAdjacencyList(rnA.id).length > 0 ? [bodyA, bodyB] : [bodyB, bodyA]
-
-                    const res = this.CreateWheelConstraint(
-                        jInst,
-                        jDef,
-                        maxForce ?? 1.5,
-                        bodyOne,
-                        bodyTwo,
-                        parser.assembly.info!.version!
+                    addConstraint(
+                        this.CreateHingeConstraint(
+                            jInst,
+                            jDef,
+                            maxForce ?? 50,
+                            bodyA,
+                            bodyB,
+                            parser.assembly.info!.version!
+                        )
                     )
-                    addConstraint(res[0])
-                    addConstraint(res[1])
-                    listener = res[2]
+
                     break
+
                 case mirabuf.joint.JointMotion.SLIDER:
                     addConstraint(this.CreateSliderConstraint(jInst, jDef, maxForce ?? 200, bodyA, bodyB))
                     break

From e8d823ba6918cd2b5a6c7cbc6de439bd5b96f7e3 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 21 Aug 2024 10:17:44 -0700
Subject: [PATCH 11/29] fix parsing for non-dynamic assemblies

---
 fission/package.json                 | 6 +++---
 fission/src/mirabuf/MirabufParser.ts | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/fission/package.json b/fission/package.json
index 0643c80a52..812e2255df 100644
--- a/fission/package.json
+++ b/fission/package.json
@@ -12,11 +12,11 @@
     "test": "vitest",
     "lint": "eslint . --ext ts,tsx --report-unused-disable-directives",
     "lint:fix": "eslint . --ext ts,tsx --report-unused-disable-directives --fix",
-    "prettier": "bun x prettier src --check || npx prettier src --check",
-    "prettier:fix": "bun x prettier src --write || npx prettier src --write",
+    "prettier": "(bun x prettier src --check) || (npx prettier src --check)",
+    "prettier:fix": "(bun x prettier src --write) || (npx prettier src --write)",
     "format": "(bun run prettier:fix && bun run lint:fix) || (npm run prettier:fix && npm run lint:fix)",
     "assetpack": "curl -o public/assetpack.zip https://synthesis.autodesk.com/Downloadables/assetpack.zip && tar -xf public/assetpack.zip -C public/",
-    "playwright:install": "bun x playwright install || npx playwright install"
+    "playwright:install": "(bun x playwright install || npx playwright install)"
   },
   "dependencies": {
     "@barclah/jolt-physics": "^0.24.1",
diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index 471b022aa3..b92166dfb2 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -163,7 +163,7 @@ class MirabufParser {
         // Collect all definitions labeled as gamepieces (dynamic = true)
         const gamepieceDefinitions: Set<string> = new Set(
             Object.values(assembly.data!.parts!.partDefinitions!)
-                .filter(def => !def.dynamic)
+                .filter(def => def.dynamic)
                 .map((def: mirabuf.IPartDefinition) => {
                     return def.info!.GUID!
                 })

From 5b9e451346b832bfd6218ab56f580b9273651700 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 21 Aug 2024 14:13:44 -0700
Subject: [PATCH 12/29] fix raycasting

---
 fission/src/systems/physics/PhysicsSystem.ts | 30 +++++++++++---------
 1 file changed, 16 insertions(+), 14 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index b095b24221..f54b427db8 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -343,15 +343,6 @@ class PhysicsSystem extends WorldSystem {
             const bodyA = this.GetBody(bodyIdA)
             const bodyB = this.GetBody(bodyIdB)
 
-            const addConstraint = (c: Jolt.Constraint): void => {
-                mechanism.AddConstraint({
-                    parentBody: bodyIdA!,
-                    childBody: bodyIdB!,
-                    constraint: c,
-                    maxVelocity: maxVel ?? VELOCITY_DEFAULT,
-                    info: jInst.info ?? undefined, // remove possibility for null
-                })
-            }
             // Motor velocity and acceleration. Prioritizes preferences then mirabuf.
             const prefMotors = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "").motors
             const prefMotor = prefMotors ? prefMotors.filter(x => x.name == jInst.info?.name) : undefined
@@ -369,15 +360,26 @@ class PhysicsSystem extends WorldSystem {
 
             let listener: Jolt.PhysicsStepListener | null = null
 
+            const addConstraint = (c: Jolt.Constraint): void => {
+                mechanism.AddConstraint({
+                    parentBody: bodyIdA!,
+                    childBody: bodyIdB!,
+                    constraint: c,
+                    maxVelocity: maxVel ?? VELOCITY_DEFAULT,
+                    info: jInst.info ?? undefined,
+                })
+            }
+
             switch (jDef.jointMotionType!) {
                 case mirabuf.joint.JointMotion.REVOLUTE:
                     if (this.IsWheel(jDef)) {
                         const preferences = PreferencesSystem.getRobotPreferences(parser.assembly.info?.name ?? "")
-                        maxVel = preferences.driveVelocity > 0 ? preferences.driveVelocity : maxVel
-                        maxForce = preferences.driveAcceleration > 0 ? preferences.driveAcceleration : maxForce
+                        maxVel = preferences.driveVelocity ?? maxVel
+                        maxForce = preferences.driveAcceleration ?? maxForce
 
-                        const [bodyOne, bodyTwo] =
-                            parser.directedGraph.GetAdjacencyList(rnA.id).length > 0 ? [bodyA, bodyB] : [bodyB, bodyA]
+                        const [bodyOne, bodyTwo] = parser.directedGraph.GetAdjacencyList(rnA.id).length
+                            ? [bodyA, bodyB]
+                            : [bodyB, bodyA]
 
                         const res = this.CreateWheelConstraint(
                             jInst,
@@ -864,7 +866,7 @@ class PhysicsSystem extends WorldSystem {
             .GetNarrowPhaseQuery()
             .CastRay(ray, raySettings, collector, bp_filter, object_filter, body_filter, shape_filter)
 
-        if (collector.HadHit()) return undefined
+        if (!collector.HadHit()) return undefined
 
         const hitPoint = ray.GetPointOnRay(collector.mHit.mFraction)
         return { data: collector.mHit, point: hitPoint, ray: ray }

From 09aea2c38ffb5f5949b3cde9770f8d5890c56d68 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 21 Aug 2024 14:21:37 -0700
Subject: [PATCH 13/29] fix intense robot shaking

---
 fission/src/systems/physics/PhysicsSystem.ts | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index f54b427db8..dc1f29944a 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -1163,18 +1163,17 @@ function SetupCollisionFiltering(settings: Jolt.JoltSettings) {
     })
 
     // Enable Collisions between other robots
-    RobotLayers.forEach(layerOne => {
-        RobotLayers.forEach(layerTwo => {
-            objectFilter.EnableCollision(layerOne, layerTwo)
-        })
-    })
+
+    for (let i = 0; i < RobotLayers.length - 1; i++) {
+        for (let j = i + 1; j < RobotLayers.length; j++) {
+            objectFilter.EnableCollision(RobotLayers[i], RobotLayers[j])
+        }
+    }
 
     const BP_LAYER_FIELD = new JOLT.BroadPhaseLayer(LAYER_FIELD)
     const BP_LAYER_GENERAL_DYNAMIC = new JOLT.BroadPhaseLayer(LAYER_GENERAL_DYNAMIC)
 
-    const bpRobotLayers = new Array<Jolt.BroadPhaseLayer>(RobotLayers.length).map(
-        (_, idx) => new JOLT.BroadPhaseLayer(idx)
-    )
+    const bpRobotLayers = RobotLayers.map(layer => new JOLT.BroadPhaseLayer(layer))
 
     const COUNT_BROAD_PHASE_LAYERS = 2 + RobotLayers.length
 

From 6af504d12adc264c88955ffae651f10f0651a026 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
Date: Wed, 21 Aug 2024 14:23:26 -0700
Subject: [PATCH 14/29] Update fission/src/mirabuf/MirabufInstance.ts

Co-authored-by: Brandon Pacewic <92102436+BrandonPacewic@users.noreply.github.com>
---
 fission/src/mirabuf/MirabufInstance.ts | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 49cd9df49e..607343678b 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -128,11 +128,6 @@ class MirabufInstance {
      * Parses all mirabuf appearances into ThreeJS and Jolt materials.
      */
     private LoadMaterials(materialStyle: MaterialStyle) {
-        Object.entries(this._mirabufParser.assembly.data!.materials!.physicalMaterials!).forEach(([name, material]) => {
-            const [static_f, dynamic_f] = [material.staticFriction, material.dynamicFriction]
-            console.log(`${name} - static: ${static_f} dynamic: ${dynamic_f}`)
-            //this._materials.set()
-        })
         Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!).forEach(
             ([appearanceId, appearance]) => {
                 const { A, B, G, R } = appearance.albedo ?? {}

From c485d5b502174b8bddec12db355b96fe717fed9e Mon Sep 17 00:00:00 2001
From: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
Date: Wed, 21 Aug 2024 14:24:20 -0700
Subject: [PATCH 15/29] Update fission/src/systems/physics/PhysicsSystem.ts

Co-authored-by: Brandon Pacewic <92102436+BrandonPacewic@users.noreply.github.com>
---
 fission/src/systems/physics/PhysicsSystem.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index dc1f29944a..f323503e43 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -165,7 +165,7 @@ class PhysicsSystem extends WorldSystem {
      * The pause works off of a request counter.
      */
     public ReleasePause() {
-        if (this._pauseCounter > 0) this._pauseCounter--
+        if (this._pauseCounter) this._pauseCounter--
     }
 
     /**

From 29000a224c90306aae6cdd124c5d46388947cbcc Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 21 Aug 2024 15:29:16 -0700
Subject: [PATCH 16/29] extracted traverse tree

---
 fission/src/mirabuf/MirabufInstance.ts |  3 +-
 fission/src/mirabuf/MirabufParser.ts   | 44 +++++++++++---------------
 2 files changed, 21 insertions(+), 26 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 49cd9df49e..bbb56d1cf3 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -182,7 +182,8 @@ class MirabufInstance {
                 if (!mesh?.verts || !mesh.normals || !mesh.uv || !mesh.indices) return
 
                 const appearanceOverride = body.appearanceOverride
-                const material: THREE.Material = WIREFRAME
+
+                const material = WIREFRAME
                     ? new THREE.MeshStandardMaterial({ wireframe: true, color: 0x000000 })
                     : appearanceOverride && this._materials.has(appearanceOverride)
                       ? this._materials.get(appearanceOverride)!
diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index b92166dfb2..c07cf5cef9 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -83,17 +83,10 @@ class MirabufParser {
         this.GenerateTreeValues()
         this.LoadGlobalTransforms()
 
-        function traverseTree(nodes: mirabuf.INode[], op: (node: mirabuf.INode) => void) {
-            nodes.forEach(node => {
-                if (node.children) traverseTree(node.children, op)
-                op(node)
-            })
-        }
-
-        this.InitializeRigidGroups(assembly, traverseTree) // 1: from ancestral breaks in joints
+        this.InitializeRigidGroups() // 1: from ancestral breaks in joints
 
         // Fields Only: Assign Game Piece rigid nodes
-        if (!assembly.dynamic) this.AssignGamePieceRigidNodes(assembly, traverseTree)
+        if (!assembly.dynamic) this.AssignGamePieceRigidNodes()
 
         // 2: Grounded joint
         const gInst = assembly.data!.joints!.jointInstances![GROUNDED_JOINT_ID]
@@ -136,15 +129,19 @@ class MirabufParser {
         }
     }
 
-    private InitializeRigidGroups(
-        assembly: mirabuf.Assembly,
-        traverseTree: (node: mirabuf.INode[], op: (node: mirabuf.INode) => void) => void
-    ) {
-        const jointInstanceKeys = Object.keys(assembly.data!.joints!.jointInstances!) as string[]
+    private TraverseTree(nodes: mirabuf.INode[], op: (node: mirabuf.INode) => void) {
+        nodes.forEach(node => {
+            if (node.children) this.TraverseTree(node.children, op)
+            op(node)
+        })
+    }
+
+    private InitializeRigidGroups() {
+        const jointInstanceKeys = Object.keys(this._assembly.data!.joints!.jointInstances!) as string[]
         jointInstanceKeys.forEach(key => {
             if (key === GROUNDED_JOINT_ID) return
 
-            const jInst = assembly.data!.joints!.jointInstances![key]
+            const jInst = this._assembly.data!.joints!.jointInstances![key]
             const [ancestorA, ancestorB] = this.FindAncestorialBreak(jInst.parentPart!, jInst.childPart!)
             const parentRN = this.NewRigidNode()
 
@@ -152,17 +149,14 @@ class MirabufParser {
             this.MovePartToRigidNode(ancestorB, this.NewRigidNode())
 
             if (jInst.parts && jInst.parts.nodes)
-                traverseTree(jInst.parts.nodes, x => this.MovePartToRigidNode(x.value!, parentRN))
+                this.TraverseTree(jInst.parts.nodes, x => this.MovePartToRigidNode(x.value!, parentRN))
         })
     }
 
-    private AssignGamePieceRigidNodes(
-        assembly: mirabuf.Assembly,
-        traverseTree: (node: mirabuf.INode[], op: (node: mirabuf.INode) => void) => void
-    ) {
+    private AssignGamePieceRigidNodes() {
         // Collect all definitions labeled as gamepieces (dynamic = true)
         const gamepieceDefinitions: Set<string> = new Set(
-            Object.values(assembly.data!.parts!.partDefinitions!)
+            Object.values(this._assembly.data!.parts!.partDefinitions!)
                 .filter(def => def.dynamic)
                 .map((def: mirabuf.IPartDefinition) => {
                     return def.info!.GUID!
@@ -170,7 +164,7 @@ class MirabufParser {
         )
 
         // Create gamepiece rigid nodes from PartInstances with corresponding definitions
-        Object.values(assembly.data!.parts!.partInstances!).forEach((inst: mirabuf.IPartInstance) => {
+        Object.values(this._assembly.data!.parts!.partInstances!).forEach((inst: mirabuf.IPartInstance) => {
             if (!gamepieceDefinitions.has(inst.partDefinitionReference!)) return
 
             const instNode = this.BinarySearchDesignTree(inst.info!.GUID!)
@@ -182,7 +176,7 @@ class MirabufParser {
             const gpRn = this.NewRigidNode(GAMEPIECE_SUFFIX)
             gpRn.isGamePiece = true
             this.MovePartToRigidNode(instNode!.value!, gpRn)
-            if (instNode.children) traverseTree(instNode.children, x => this.MovePartToRigidNode(x.value!, gpRn))
+            if (instNode.children) this.TraverseTree(instNode.children, x => this.MovePartToRigidNode(x.value!, gpRn))
         })
     }
 
@@ -219,7 +213,7 @@ class MirabufParser {
             directedGraph.AddNode(node.id)
         })
 
-        function directedRecursive(node: string) {
+        const directedRecursive = (node: string) => {
             graph
                 .GetAdjacencyList(node)
                 .filter(x => whiteGreyBlackMap.has(x))
@@ -381,7 +375,7 @@ class MirabufParser {
         let nextValue = 0
         const partTreeValues = new Map<string, number>()
 
-        function recursive(partNode: mirabuf.INode) {
+        const recursive = (partNode: mirabuf.INode) => {
             partNode.children = partNode.children?.filter(x => x.value != null)
             partNode.children?.forEach(x => recursive(x))
             partTreeValues.set(partNode.value!, nextValue++)

From 4f6f7426b2092ca196c9099f69dfd871870187d1 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <62953415+azaleacolburn@users.noreply.github.com>
Date: Wed, 21 Aug 2024 15:37:40 -0700
Subject: [PATCH 17/29] Update fission/src/mirabuf/MirabufParser.ts

---
 fission/src/mirabuf/MirabufParser.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index c07cf5cef9..436a022a84 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -454,7 +454,7 @@ export class Graph {
     }
 
     public AddEdgeDirected(nodeA: string, nodeB: string) {
-        if (!this._adjacencyMap.has(nodeA) || !this._adjacencyMap?.has(nodeB)) throw new Error("Nodes aren't in graph")
+        if (!this._adjacencyMap.has(nodeA) || !this._adjacencyMap.has(nodeB)) throw new Error("Nodes aren't in graph")
 
         this._adjacencyMap.get(nodeA)!.push(nodeB)
     }

From 4bffc6ad7654c76eeccccbf2d8571d95aa253897 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 21 Aug 2024 15:54:37 -0700
Subject: [PATCH 18/29] cleanup appearance parsing

---
 fission/src/mirabuf/MirabufInstance.ts | 45 +++++++++++++-------------
 1 file changed, 22 insertions(+), 23 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 7e1a9eb505..d8d8781a23 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -128,29 +128,28 @@ class MirabufInstance {
      * Parses all mirabuf appearances into ThreeJS and Jolt materials.
      */
     private LoadMaterials(materialStyle: MaterialStyle) {
-        Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!).forEach(
-            ([appearanceId, appearance]) => {
-                const { A, B, G, R } = appearance.albedo ?? {}
-                const [hex, opacity] =
-                    A && B && G && R ? [(A << 24) | (R << 16) | (G << 8) | B, A / 255.0] : [0xe32b50, 1.0]
-
-                const material =
-                    materialStyle === MaterialStyle.Regular
-                        ? new THREE.MeshPhongMaterial({
-                              color: hex,
-                              shininess: 0.0,
-                              shadowSide: THREE.DoubleSide,
-                              opacity: opacity,
-                              transparent: opacity < 1.0,
-                          })
-                        : materialStyle === MaterialStyle.Normals
-                          ? new THREE.MeshNormalMaterial()
-                          : World.SceneRenderer.CreateToonMaterial(hex, 5)
-
-                World.SceneRenderer.SetupMaterial(material)
-                this._materials.set(appearanceId, material)
-            }
-        )
+        ;(
+            Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!) as [string, mirabuf.Color][]
+        ).forEach(([appearanceId, { A, B, G, R }]) => {
+            const hex = (A << 24) | (R << 16) | (G << 8) | B
+            const opacity = A / 255.0
+
+            const material =
+                materialStyle === MaterialStyle.Regular
+                    ? new THREE.MeshPhongMaterial({
+                          color: hex,
+                          shininess: 0.0,
+                          shadowSide: THREE.DoubleSide,
+                          opacity: opacity,
+                          transparent: opacity < 1.0,
+                      })
+                    : materialStyle === MaterialStyle.Normals
+                      ? new THREE.MeshNormalMaterial()
+                      : World.SceneRenderer.CreateToonMaterial(hex, 5)
+
+            World.SceneRenderer.SetupMaterial(material)
+            this._materials.set(appearanceId, material)
+        })
     }
 
     /**

From 691c7d0e9444ee783d755065cf5b082e4918a64c Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Wed, 21 Aug 2024 16:35:57 -0700
Subject: [PATCH 19/29] formatted

---
 fission/src/mirabuf/MirabufInstance.ts | 2 +-
 fission/src/mirabuf/MirabufParser.ts   | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index d8d8781a23..2b53fad76c 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -128,7 +128,7 @@ class MirabufInstance {
      * Parses all mirabuf appearances into ThreeJS and Jolt materials.
      */
     private LoadMaterials(materialStyle: MaterialStyle) {
-        ;(
+        (
             Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!) as [string, mirabuf.Color][]
         ).forEach(([appearanceId, { A, B, G, R }]) => {
             const hex = (A << 24) | (R << 16) | (G << 8) | B
diff --git a/fission/src/mirabuf/MirabufParser.ts b/fission/src/mirabuf/MirabufParser.ts
index 436a022a84..1e90a7e151 100644
--- a/fission/src/mirabuf/MirabufParser.ts
+++ b/fission/src/mirabuf/MirabufParser.ts
@@ -286,7 +286,6 @@ class MirabufParser {
 
         root.children?.forEach(child => {
             const partInstance = partInstances.get(child.value!)!
-            // TODO: guarantee that these assertions won't fail
             const def = partDefinitions[partInstance.partDefinitionReference!]
 
             const mat = partInstance.transform

From e328c0337617219d615af988c6b6c35867e13212 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 22 Aug 2024 10:28:08 -0700
Subject: [PATCH 20/29] revert colors

---
 fission/src/mirabuf/MirabufInstance.ts | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 2b53fad76c..f7b589c2e5 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -53,6 +53,8 @@ const fillerMaterials = [
     }),
 ]
 
+type Color = { A: number; B: number; G: number; R: number }
+
 const transformVerts = (mesh: mirabuf.IMesh) => {
     const newVerts = new Float32Array(mesh.verts!.length)
     for (let i = 0; i < mesh.verts!.length; i += 3) {
@@ -128,11 +130,15 @@ class MirabufInstance {
      * Parses all mirabuf appearances into ThreeJS and Jolt materials.
      */
     private LoadMaterials(materialStyle: MaterialStyle) {
-        (
-            Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!) as [string, mirabuf.Color][]
-        ).forEach(([appearanceId, { A, B, G, R }]) => {
-            const hex = (A << 24) | (R << 16) | (G << 8) | B
-            const opacity = A / 255.0
+        ;(
+            Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!) as [
+                string,
+                mirabuf.material.Appearance,
+            ][]
+        ).forEach(([appearanceId, appearance]) => {
+            const { A, B, G, R } = appearance.albedo ?? {}
+            const [hex, opacity] =
+                A && B && G && R ? [(A << 24) | (R << 16) | (G << 8) | B, A / 255.0] : [0xe32b50, 1.0]
 
             const material =
                 materialStyle === MaterialStyle.Regular

From 2acdfa2f56c0bf26973dcd1430bac4293eae25c5 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 22 Aug 2024 10:34:17 -0700
Subject: [PATCH 21/29] change map to foreach

---
 fission/src/systems/physics/PhysicsSystem.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index f323503e43..f0e84a6385 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -1181,7 +1181,7 @@ function SetupCollisionFiltering(settings: Jolt.JoltSettings) {
 
     bpInterface.MapObjectToBroadPhaseLayer(LAYER_FIELD, BP_LAYER_FIELD)
     bpInterface.MapObjectToBroadPhaseLayer(LAYER_GENERAL_DYNAMIC, BP_LAYER_GENERAL_DYNAMIC)
-    bpRobotLayers.map((bpRobot, i) => {
+    bpRobotLayers.forEach((bpRobot, i) => {
         bpInterface.MapObjectToBroadPhaseLayer(RobotLayers[i], bpRobot)
     })
 

From 32fc40e1964069c182a2560e613fa0be508063ae Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 22 Aug 2024 11:00:42 -0700
Subject: [PATCH 22/29] format

---
 fission/src/mirabuf/MirabufInstance.ts | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index f7b589c2e5..bb667aa840 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -53,8 +53,6 @@ const fillerMaterials = [
     }),
 ]
 
-type Color = { A: number; B: number; G: number; R: number }
-
 const transformVerts = (mesh: mirabuf.IMesh) => {
     const newVerts = new Float32Array(mesh.verts!.length)
     for (let i = 0; i < mesh.verts!.length; i += 3) {
@@ -130,7 +128,7 @@ class MirabufInstance {
      * Parses all mirabuf appearances into ThreeJS and Jolt materials.
      */
     private LoadMaterials(materialStyle: MaterialStyle) {
-        ;(
+        (
             Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!) as [
                 string,
                 mirabuf.material.Appearance,

From 98f049e0d73db43ed9a293d41e2dc1e046e907f2 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 22 Aug 2024 11:04:44 -0700
Subject: [PATCH 23/29] one more formatting change apartently

---
 fission/src/mirabuf/MirabufInstance.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index bb667aa840..98322d796d 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -128,7 +128,7 @@ class MirabufInstance {
      * Parses all mirabuf appearances into ThreeJS and Jolt materials.
      */
     private LoadMaterials(materialStyle: MaterialStyle) {
-        (
+        ;(
             Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!) as [
                 string,
                 mirabuf.material.Appearance,

From 3c358e4167196100b76ee16c9f56b289b60f2617 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 22 Aug 2024 11:49:33 -0700
Subject: [PATCH 24/29] what is going on with formatting

---
 fission/src/mirabuf/MirabufInstance.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 98322d796d..bb667aa840 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -128,7 +128,7 @@ class MirabufInstance {
      * Parses all mirabuf appearances into ThreeJS and Jolt materials.
      */
     private LoadMaterials(materialStyle: MaterialStyle) {
-        ;(
+        (
             Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!) as [
                 string,
                 mirabuf.material.Appearance,

From 5f1b4ed224ede7f82aea42558cbd09ba6cd38c2b Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 22 Aug 2024 11:54:39 -0700
Subject: [PATCH 25/29] i think maybe eslint and prettier disagree :(

---
 fission/package.json | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/fission/package.json b/fission/package.json
index 428df4a422..6423349f3a 100644
--- a/fission/package.json
+++ b/fission/package.json
@@ -13,11 +13,11 @@
     "test": "vitest",
     "lint": "eslint . --ext ts,tsx --report-unused-disable-directives",
     "lint:fix": "eslint . --ext ts,tsx --report-unused-disable-directives --fix",
-    "prettier": "(bun x prettier src --check) || (npx prettier src --check)",
-    "prettier:fix": "(bun x prettier src --write) || (npx prettier src --write)",
-    "format": "(bun run prettier:fix && bun run lint:fix) || (npm run prettier:fix && npm run lint:fix)",
+    "prettier": "bun x prettier src --check || npx prettier src --check",
+    "prettier:fix": "bun x prettier src --write || npx prettier src --write",
+    "format": "bun run prettier:fix && bun run lint:fix || npm run prettier:fix && npm run lint:fix",
     "assetpack": "curl -o public/assetpack.zip https://synthesis.autodesk.com/Downloadables/assetpack.zip && tar -xf public/assetpack.zip -C public/",
-    "playwright:install": "(bun x playwright install || npx playwright install)"
+    "playwright:install": "bun x playwright install || npx playwright install"
   },
   "dependencies": {
     "@barclah/jolt-physics": "^0.24.1",

From 32dbec7482e0cb344d890f410ce3fcdedf9723f3 Mon Sep 17 00:00:00 2001
From: Azalea Colburn <azalea.colburn@autodesk.com>
Date: Thu, 22 Aug 2024 11:58:21 -0700
Subject: [PATCH 26/29] format again

---
 fission/src/mirabuf/MirabufInstance.ts | 49 ++++++++++++--------------
 1 file changed, 23 insertions(+), 26 deletions(-)

diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index bb667aa840..7e1a9eb505 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -128,32 +128,29 @@ class MirabufInstance {
      * Parses all mirabuf appearances into ThreeJS and Jolt materials.
      */
     private LoadMaterials(materialStyle: MaterialStyle) {
-        (
-            Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!) as [
-                string,
-                mirabuf.material.Appearance,
-            ][]
-        ).forEach(([appearanceId, appearance]) => {
-            const { A, B, G, R } = appearance.albedo ?? {}
-            const [hex, opacity] =
-                A && B && G && R ? [(A << 24) | (R << 16) | (G << 8) | B, A / 255.0] : [0xe32b50, 1.0]
-
-            const material =
-                materialStyle === MaterialStyle.Regular
-                    ? new THREE.MeshPhongMaterial({
-                          color: hex,
-                          shininess: 0.0,
-                          shadowSide: THREE.DoubleSide,
-                          opacity: opacity,
-                          transparent: opacity < 1.0,
-                      })
-                    : materialStyle === MaterialStyle.Normals
-                      ? new THREE.MeshNormalMaterial()
-                      : World.SceneRenderer.CreateToonMaterial(hex, 5)
-
-            World.SceneRenderer.SetupMaterial(material)
-            this._materials.set(appearanceId, material)
-        })
+        Object.entries(this._mirabufParser.assembly.data!.materials!.appearances!).forEach(
+            ([appearanceId, appearance]) => {
+                const { A, B, G, R } = appearance.albedo ?? {}
+                const [hex, opacity] =
+                    A && B && G && R ? [(A << 24) | (R << 16) | (G << 8) | B, A / 255.0] : [0xe32b50, 1.0]
+
+                const material =
+                    materialStyle === MaterialStyle.Regular
+                        ? new THREE.MeshPhongMaterial({
+                              color: hex,
+                              shininess: 0.0,
+                              shadowSide: THREE.DoubleSide,
+                              opacity: opacity,
+                              transparent: opacity < 1.0,
+                          })
+                        : materialStyle === MaterialStyle.Normals
+                          ? new THREE.MeshNormalMaterial()
+                          : World.SceneRenderer.CreateToonMaterial(hex, 5)
+
+                World.SceneRenderer.SetupMaterial(material)
+                this._materials.set(appearanceId, material)
+            }
+        )
     }
 
     /**

From 0c39d2e378f46802d5a7fa915c9294ed1fa2c8df Mon Sep 17 00:00:00 2001
From: HunterBarclay <hunter.barclay18@gmail.com>
Date: Thu, 5 Sep 2024 00:45:35 -0600
Subject: [PATCH 27/29] WIP: Accumulating friction pairings and fixed gamepiece
 issue in the exporter.

---
 .../src/UI/GamepieceConfigTab.py              |  6 ++-
 fission/src/systems/physics/PhysicsSystem.ts  | 37 +++++++++++++++++--
 fission/vite.config.ts                        |  2 +-
 3 files changed, 39 insertions(+), 6 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
index c28f6c60f1..819f352e87 100644
--- a/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
+++ b/exporter/SynthesisFusionAddin/src/UI/GamepieceConfigTab.py
@@ -3,6 +3,9 @@
 
 from src.Logging import logFailure
 from src.Parser.ExporterOptions import ExporterOptions
+from src.Parser.SynthesisParser.Utilities import (
+    guid_occurrence
+)
 from src.Types import Gamepiece, UnitSystem
 from src.UI.CreateCommandInputsHelper import (
     createBooleanInput,
@@ -198,7 +201,8 @@ def removeChildOccurrences(childOccurrences: adsk.fusion.OccurrenceList) -> None
     def getGamepieces(self) -> list[Gamepiece]:
         gamepieces: list[Gamepiece] = []
         for row in range(1, self.gamepieceTable.rowCount):  # Row is 1 indexed
-            gamepieceEntityToken = self.selectedGamepieceList[row - 1].entityToken
+            occ = self.selectedGamepieceList[row - 1]
+            gamepieceEntityToken = guid_occurrence(occ)
             gamepieceWeight = convertMassUnitsTo(self.gamepieceTable.getInputAtPosition(row, 1).value)
             gamepieceFrictionCoefficient = self.gamepieceTable.getInputAtPosition(row, 2).valueOne
             gamepieces.append(Gamepiece(gamepieceEntityToken, gamepieceWeight, gamepieceFrictionCoefficient))
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index f0e84a6385..463d3d4c37 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -62,6 +62,8 @@ const FLOOR_FRICTION = 0.7
 const SUSPENSION_MIN_FACTOR = 0.1
 const SUSPENSION_MAX_FACTOR = 0.3
 
+const DEFAULT_PHYSICAL_MATERIAL_KEY = "default"
+
 // Motor constant
 const VELOCITY_DEFAULT = 30
 
@@ -660,7 +662,14 @@ class PhysicsSystem extends WorldSystem {
             let shapesAdded = 0
 
             let totalMass = 0
-            let frictionOverride = 0
+
+            type FrictionPairing = {
+                dynamic: number,
+                static: number,
+                weight: number
+            }
+            const frictionAccum: FrictionPairing[] = []
+
             const comAccum = new mirabuf.Vector3()
 
             const minBounds = new JOLT.Vec3(1000000.0, 1000000.0, 1000000.0)
@@ -701,8 +710,14 @@ class PhysicsSystem extends WorldSystem {
                 JOLT.destroy(transform)
 
                 // Set friction override once to any of the parts' values
-                if (!frictionOverride && partDefinition?.frictionOverride)
-                    frictionOverride = partDefinition.frictionOverride
+                const physicalMaterial = parser.assembly.data!.materials!.physicalMaterials![partInstance.physicalMaterial ?? DEFAULT_PHYSICAL_MATERIAL_KEY]
+                const frictionPairing: FrictionPairing = {
+                    dynamic: partDefinition?.frictionOverride ?? physicalMaterial.dynamicFriction!,
+                    static: partDefinition?.frictionOverride ?? physicalMaterial.staticFriction!,
+                    weight: partDefinition.physicalData?.area ?? 1.0
+                }
+                frictionAccum.push(frictionPairing)
+                // console.debug(`(${frictionPairing.dynamic.toFixed(3), frictionPairing.static.toFixed(3)}) [${frictionPairing.weight.toFixed(3)}]`)
 
                 if (!partDefinition.physicalData?.com || !partDefinition.physicalData.mass) return
 
@@ -741,7 +756,21 @@ class PhysicsSystem extends WorldSystem {
                 rnToBodies.set(rn.id, body.GetID())
 
                 // Set Friction Here
-                if (frictionOverride) body.SetFriction(frictionOverride)
+                let staticFriction = 0.0
+                let dynamicFriction = 0.0
+                let weightSum = 0.0
+                frictionAccum.forEach(pairing => {
+                    staticFriction += pairing.static * pairing.weight
+                    dynamicFriction += pairing.dynamic * pairing.weight
+                    weightSum += pairing.weight
+                })
+                staticFriction /= weightSum == 0.0 ? 1.0 : weightSum
+                dynamicFriction /= weightSum == 0.0 ? 1.0 : weightSum
+
+                // I guess this is an okay substitute.
+                const friction = (staticFriction + dynamicFriction) / 2.0
+                body.SetFriction(friction)
+                console.debug(`Friction: ${friction}`)
 
                 // Little testing components
                 this._bodies.push(body.GetID())
diff --git a/fission/vite.config.ts b/fission/vite.config.ts
index 967c978caa..050892e312 100644
--- a/fission/vite.config.ts
+++ b/fission/vite.config.ts
@@ -7,7 +7,7 @@ const basePath = "/fission/"
 const serverPort = 3000
 const dockerServerPort = 80
 
-const useLocal = true
+const useLocal = false
 
 // https://vitejs.dev/config/
 export default defineConfig({

From 78f7f3bba885011d31923a0d3af7e446655051c2 Mon Sep 17 00:00:00 2001
From: HunterBarclay <hunter.barclay18@gmail.com>
Date: Sun, 15 Sep 2024 22:50:41 -0600
Subject: [PATCH 28/29] fix: Add fallbacks for zero friction, experimenting
 with materials in Fusion.

---
 exporter/SynthesisFusionAddin/Synthesis.py    |  4 +-
 .../src/Parser/ExporterOptions.py             |  2 +-
 .../src/Parser/SynthesisParser/Components.py  |  2 +
 .../src/Parser/SynthesisParser/Materials.py   | 12 +++++
 fission/src/mirabuf/MirabufInstance.ts        |  8 +++-
 fission/src/systems/physics/PhysicsSystem.ts  | 47 ++++++++++++++++---
 6 files changed, 63 insertions(+), 12 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/Synthesis.py b/exporter/SynthesisFusionAddin/Synthesis.py
index ee630a12ca..109460f808 100644
--- a/exporter/SynthesisFusionAddin/Synthesis.py
+++ b/exporter/SynthesisFusionAddin/Synthesis.py
@@ -121,7 +121,7 @@ def register_ui() -> None:
         work_panel,
         lambda *_: True,  # TODO: Should be redone with various refactors.
         ShowAPSAuthCommand.ShowAPSAuthCommandCreatedHandler,
-        description=f"APS",
+        description=f"Login to your Autodesk account",
         command=True,
     )
 
@@ -132,7 +132,7 @@ def register_ui() -> None:
         work_panel,
         lambda *_: True,
         ShowWebsiteCommand.ShowWebsiteCommandCreatedHandler,
-        description=f"Website Test",
+        description=f"Open our tutorials page",
         command=True,
     )
     gm.elements.append(websiteButton)
diff --git a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
index 634c005e9d..5fdfae1432 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/ExporterOptions.py
@@ -56,7 +56,7 @@ class ExporterOptions:
     openSynthesisUponExport: bool = field(default=False)
 
     hierarchy: ModelHierarchy = field(default=ModelHierarchy.FusionAssembly)
-    visualQuality: TriangleMeshQualityOptions = field(default=TriangleMeshQualityOptions.LowQualityTriangleMesh)
+    visualQuality: TriangleMeshQualityOptions = field(default=TriangleMeshQualityOptions.NormalQualityTriangleMesh)
     physicalDepth: PhysicalDepth = field(default=PhysicalDepth.AllOccurrence)
     physicalCalculationLevel: CalculationAccuracy = field(default=CalculationAccuracy.LowCalculationAccuracy)
 
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
index dd8726ad82..9287dfa7ff 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py
@@ -189,6 +189,8 @@ def _ParseBRep(
     meshManager = body.meshManager
     calc = meshManager.createMeshCalculator()
     calc.setQuality(options.visualQuality)
+    calc.maxNormalDeviation = 3.14159 * (1.0 / 6.0)
+    calc.surfaceTolerance = 0.5
     mesh = calc.calculate()
 
     fill_info(trimesh, body)
diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index 1ff5d3fe6c..8218088bf3 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -207,6 +207,14 @@ def getMaterialAppearance(
 
     properties = fusionAppearance.appearanceProperties
 
+    arr = []
+    for x in range(properties.count):
+        arr.append(properties.item(x))
+
+    roughnessProp = properties.itemById("surface_roughness")
+    if roughnessProp:
+        appearance.roughness = roughnessProp.value
+
     # Thank Liam for this.
     modelItem = properties.itemById("interior_model")
     if modelItem:
@@ -214,11 +222,15 @@ def getMaterialAppearance(
         baseColor = None
 
         if matModelType == 0:
+            reflectanceProp = properties.itemById("opaque_f0")
+            if reflectanceProp:
+                appearance.metallic = reflectanceProp.value
             baseColor = properties.itemById("opaque_albedo").value
             if baseColor:
                 baseColor.opacity = 255
         elif matModelType == 1:
             baseColor = properties.itemById("metal_f0").value
+            appearance.metallic = 0.8
             if baseColor:
                 baseColor.opacity = 255
         elif matModelType == 2:
diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 7e1a9eb505..0586844174 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -134,11 +134,15 @@ class MirabufInstance {
                 const [hex, opacity] =
                     A && B && G && R ? [(A << 24) | (R << 16) | (G << 8) | B, A / 255.0] : [0xe32b50, 1.0]
 
+                console.debug(`${appearance.metallic}, ${appearance.roughness}`)
+
                 const material =
                     materialStyle === MaterialStyle.Regular
-                        ? new THREE.MeshPhongMaterial({
+                        ? new THREE.MeshStandardMaterial({
+                              // No specular?
                               color: hex,
-                              shininess: 0.0,
+                              roughness: appearance.roughness ?? 0.5,
+                              metalness: appearance.metallic ?? 0.0,
                               shadowSide: THREE.DoubleSide,
                               opacity: opacity,
                               transparent: opacity < 1.0,
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 463d3d4c37..5bdc397b6d 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -52,6 +52,8 @@ const MAX_SUBSTEPS = 6
 const STANDARD_SUB_STEPS = 4
 const TIMESTEP_ADJUSTMENT = 0.0001
 
+const SIGNIFICANT_FRICTION_THRESHOLD = 0.05
+
 let lastDeltaT = STANDARD_SIMULATION_PERIOD
 export function GetLastDeltaT(): number {
     return lastDeltaT
@@ -59,6 +61,7 @@ export function GetLastDeltaT(): number {
 
 // Friction constants
 const FLOOR_FRICTION = 0.7
+const DEFAULT_FRICTION = 0.7
 const SUSPENSION_MIN_FACTOR = 0.1
 const SUSPENSION_MAX_FACTOR = 0.3
 
@@ -651,6 +654,8 @@ class PhysicsSystem extends WorldSystem {
     public CreateBodiesFromParser(parser: MirabufParser, layerReserve?: LayerReserve): Map<string, Jolt.BodyID> {
         const rnToBodies = new Map<string, Jolt.BodyID>()
 
+        console.debug(parser.assembly.data?.materials)
+
         if ((parser.assembly.dynamic && !layerReserve) || layerReserve?.isReleased) {
             throw new Error("No layer reserve for dynamic assembly")
         }
@@ -664,8 +669,8 @@ class PhysicsSystem extends WorldSystem {
             let totalMass = 0
 
             type FrictionPairing = {
-                dynamic: number,
-                static: number,
+                dynamic: number
+                static: number
                 weight: number
             }
             const frictionAccum: FrictionPairing[] = []
@@ -710,14 +715,42 @@ class PhysicsSystem extends WorldSystem {
                 JOLT.destroy(transform)
 
                 // Set friction override once to any of the parts' values
-                const physicalMaterial = parser.assembly.data!.materials!.physicalMaterials![partInstance.physicalMaterial ?? DEFAULT_PHYSICAL_MATERIAL_KEY]
+                console.debug(
+                    `Physical Material: ${partInstance.physicalMaterial}, Part Name: ${partInstance.info?.name}`
+                )
+                const physicalMaterial =
+                    parser.assembly.data!.materials!.physicalMaterials![
+                        partInstance.physicalMaterial ?? DEFAULT_PHYSICAL_MATERIAL_KEY
+                    ]
+                console.debug(physicalMaterial)
+                console.debug(
+                    `Override: ${partDefinition?.frictionOverride == null || partDefinition?.frictionOverride == undefined}`
+                )
+
+                let frictionOverride: number | undefined =
+                    partDefinition?.frictionOverride == null ? undefined : partDefinition?.frictionOverride
+                if ((partDefinition?.frictionOverride ?? 0.0) < SIGNIFICANT_FRICTION_THRESHOLD) {
+                    frictionOverride = undefined
+                }
+
+                if (
+                    (physicalMaterial.dynamicFriction ?? 0.0) < SIGNIFICANT_FRICTION_THRESHOLD ||
+                    (physicalMaterial.staticFriction ?? 0.0) < SIGNIFICANT_FRICTION_THRESHOLD
+                ) {
+                    physicalMaterial.dynamicFriction = DEFAULT_FRICTION
+                    physicalMaterial.staticFriction = DEFAULT_FRICTION
+                }
+
+                // TODO: Consider using roughness as dynamic friction.
                 const frictionPairing: FrictionPairing = {
-                    dynamic: partDefinition?.frictionOverride ?? physicalMaterial.dynamicFriction!,
-                    static: partDefinition?.frictionOverride ?? physicalMaterial.staticFriction!,
-                    weight: partDefinition.physicalData?.area ?? 1.0
+                    dynamic: frictionOverride ?? physicalMaterial.dynamicFriction!,
+                    static: frictionOverride ?? physicalMaterial.staticFriction!,
+                    weight: partDefinition.physicalData?.area ?? 1.0,
                 }
                 frictionAccum.push(frictionPairing)
-                // console.debug(`(${frictionPairing.dynamic.toFixed(3), frictionPairing.static.toFixed(3)}) [${frictionPairing.weight.toFixed(3)}]`)
+                console.debug(
+                    `(${frictionPairing.dynamic.toFixed(3)}, ${frictionPairing.static.toFixed(3)}) [${frictionPairing.weight.toFixed(3)}]`
+                )
 
                 if (!partDefinition.physicalData?.com || !partDefinition.physicalData.mass) return
 

From c875a156dd75b51f7c32ad0a7aaec469cadfb887 Mon Sep 17 00:00:00 2001
From: HunterBarclay <hunter.barclay18@gmail.com>
Date: Sun, 15 Sep 2024 22:58:55 -0600
Subject: [PATCH 29/29] chores: Clean up left over test code, remove debug
 statements.

---
 .../src/Parser/SynthesisParser/Materials.py          |  4 ----
 fission/src/mirabuf/MirabufInstance.ts               |  2 --
 fission/src/systems/physics/PhysicsSystem.ts         | 12 ------------
 3 files changed, 18 deletions(-)

diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
index 8218088bf3..08c5e17bb3 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Materials.py
@@ -207,10 +207,6 @@ def getMaterialAppearance(
 
     properties = fusionAppearance.appearanceProperties
 
-    arr = []
-    for x in range(properties.count):
-        arr.append(properties.item(x))
-
     roughnessProp = properties.itemById("surface_roughness")
     if roughnessProp:
         appearance.roughness = roughnessProp.value
diff --git a/fission/src/mirabuf/MirabufInstance.ts b/fission/src/mirabuf/MirabufInstance.ts
index 0586844174..8edcbf29a1 100644
--- a/fission/src/mirabuf/MirabufInstance.ts
+++ b/fission/src/mirabuf/MirabufInstance.ts
@@ -134,8 +134,6 @@ class MirabufInstance {
                 const [hex, opacity] =
                     A && B && G && R ? [(A << 24) | (R << 16) | (G << 8) | B, A / 255.0] : [0xe32b50, 1.0]
 
-                console.debug(`${appearance.metallic}, ${appearance.roughness}`)
-
                 const material =
                     materialStyle === MaterialStyle.Regular
                         ? new THREE.MeshStandardMaterial({
diff --git a/fission/src/systems/physics/PhysicsSystem.ts b/fission/src/systems/physics/PhysicsSystem.ts
index 5bdc397b6d..59cc1af147 100644
--- a/fission/src/systems/physics/PhysicsSystem.ts
+++ b/fission/src/systems/physics/PhysicsSystem.ts
@@ -714,18 +714,10 @@ class PhysicsSystem extends WorldSystem {
                 JOLT.destroy(partMax)
                 JOLT.destroy(transform)
 
-                // Set friction override once to any of the parts' values
-                console.debug(
-                    `Physical Material: ${partInstance.physicalMaterial}, Part Name: ${partInstance.info?.name}`
-                )
                 const physicalMaterial =
                     parser.assembly.data!.materials!.physicalMaterials![
                         partInstance.physicalMaterial ?? DEFAULT_PHYSICAL_MATERIAL_KEY
                     ]
-                console.debug(physicalMaterial)
-                console.debug(
-                    `Override: ${partDefinition?.frictionOverride == null || partDefinition?.frictionOverride == undefined}`
-                )
 
                 let frictionOverride: number | undefined =
                     partDefinition?.frictionOverride == null ? undefined : partDefinition?.frictionOverride
@@ -748,9 +740,6 @@ class PhysicsSystem extends WorldSystem {
                     weight: partDefinition.physicalData?.area ?? 1.0,
                 }
                 frictionAccum.push(frictionPairing)
-                console.debug(
-                    `(${frictionPairing.dynamic.toFixed(3)}, ${frictionPairing.static.toFixed(3)}) [${frictionPairing.weight.toFixed(3)}]`
-                )
 
                 if (!partDefinition.physicalData?.com || !partDefinition.physicalData.mass) return
 
@@ -803,7 +792,6 @@ class PhysicsSystem extends WorldSystem {
                 // I guess this is an okay substitute.
                 const friction = (staticFriction + dynamicFriction) / 2.0
                 body.SetFriction(friction)
-                console.debug(`Friction: ${friction}`)
 
                 // Little testing components
                 this._bodies.push(body.GetID())