Intake and Ejector Configurator

fission/src/mirabuf/IntakeSensorSceneObject.ts

@@ -75,7 +75,8 @@ class IntakeSensorSceneObject extends SceneObject {
                 // TEMPORARY GAME PIECE DETECTION
                 const hitRes = World.PhysicsSystem.RayCast(ThreeVector3_JoltVec3(position), new JOLT.Vec3(0, 0, 3))
                 if (hitRes) {
-                    const gpAssoc = World.PhysicsSystem.GetBodyAssociation<RigidNodeAssociate>(hitRes.data.mBodyID)
+                    const gpAssoc = <RigidNodeAssociate>World.PhysicsSystem.GetBodyAssociation(hitRes.data.mBodyID)
+                    // This works, however the check for game piece is doing two checks.
                     if (gpAssoc && gpAssoc.isGamePiece) {
                         console.debug("Found game piece!")
                         this._parentAssembly.SetEjectable(hitRes.data.mBodyID, false)

fission/src/mirabuf/MirabufSceneObject.ts

@@ -7,7 +7,7 @@
 import { JoltMat44_ThreeMatrix4 } from "@/util/TypeConversions"
 import * as THREE from "three"
 import JOLT from "@/util/loading/JoltSyncLoader"
 import { BodyAssociate, JoltBodyIndexAndSequence, LayerReserve } from "@/systems/physics/PhysicsSystem"
 import Mechanism from "@/systems/physics/Mechanism"
 import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import InputSystem from "@/systems/input/InputSystem"
@@ -359,8 +359,7 @@
 /**
  * Body association to a rigid node with a given mirabuf scene object.
  */
-export class RigidNodeAssociate implements BodyAssociate {
-    public readonly associatedBody: JoltBodyIndexAndSequence
+export class RigidNodeAssociate extends BodyAssociate {
     public readonly sceneObject: MirabufSceneObject
 
     public readonly rigidNode: RigidNodeReadOnly
@@ -373,9 +372,9 @@
     }
 
     public constructor(sceneObject: MirabufSceneObject, rigidNode: RigidNodeReadOnly, body: Jolt.BodyID) {
+        super(body)
         this.sceneObject = sceneObject
         this.rigidNode = rigidNode
-        this.associatedBody = body.GetIndexAndSequenceNumber()
     }
 }
 

fission/src/systems/physics/PhysicsSystem.ts

@@ -110,14 +110,8 @@ class PhysicsSystem extends WorldSystem {
      * @param bodyId BodyID to check for association
      * @returns Association for given Body
      */
-    public GetBodyAssociation<T extends object & BodyAssociate>(bodyId: Jolt.BodyID): T | undefined {
-        const res = this._bodyAssociations.get(bodyId.GetIndexAndSequenceNumber())
-        if (res) {
-            // Avoids error, simply returns undefined if invalid
-            return res as unknown as T
-        } else {
-            return res
-        }
+    public GetBodyAssociation(bodyId: Jolt.BodyID): BodyAssociate | undefined {
+        return this._bodyAssociations.get(bodyId.GetIndexAndSequenceNumber())
     }
 
     /**
@@ -1127,8 +1121,12 @@ export type RayCastHit = {
 /**
  * An interface to create an association between a body and anything.
  */
-export interface BodyAssociate {
+export class BodyAssociate {
     readonly associatedBody: JoltBodyIndexAndSequence
+
+    public constructor(bodyId: Jolt.BodyID) {
+        this.associatedBody = bodyId.GetIndexAndSequenceNumber()
+    }
 }
 
 export default PhysicsSystem

fission/src/test/PhysicsSystem.test.ts

@@ -1,5 +1,5 @@
 import { test, expect, describe, assert } from "vitest"
-import PhysicsSystem, { BodyAssociate, LayerReserve } from "../systems/physics/PhysicsSystem"
+import PhysicsSystem, { LayerReserve } from "../systems/physics/PhysicsSystem"
 import MirabufParser from "@/mirabuf/MirabufParser"
 import * as THREE from "three"
 import Jolt from "@barclah/jolt-physics"
@@ -100,45 +100,3 @@ describe("Mirabuf Physics Loading", () => {
         expect(mapping.size).toBe(10)
     })
 })
-
-describe("Body Association", () => {
-    const B_SAMPLE_NUMBER = 52
-    const C_SAMPLE_NUMBER = 24
-
-    class A implements BodyAssociate {
-        public associatedBody: number
-        public sampleBoolean: boolean
-
-        public constructor(bodyId: Jolt.BodyID) {
-            this.associatedBody = bodyId.GetIndexAndSequenceNumber()
-            this.sampleBoolean = true
-        }
-    }
-
-    class B implements BodyAssociate {
-        public associatedBody: number
-        public sampleNumber: number
-
-        public constructor(bodyId: Jolt.BodyID) {
-            this.associatedBody = bodyId.GetIndexAndSequenceNumber()
-            this.sampleNumber = B_SAMPLE_NUMBER
-        }
-    }
-
-    class C extends A {
-        public sampleNumber: number
-
-        public constructor(bodyId: Jolt.BodyID) {
-            super(bodyId)
-            this.sampleNumber = C_SAMPLE_NUMBER
-        }
-    }
-
-    test("Simple Association", () => {
-        const physSystem = new PhysicsSystem()
-        const boxA = physSystem.CreateBox(new THREE.Vector3(1, 1, 1), undefined, undefined, undefined)
-        physSystem.AddBodyToSystem(boxA.GetID(), true)
-
-        physSystem.SetBodyAssociation(new A(boxA.GetID()))
-    })
-})

fission/src/ui/panels/configuring/ConfigureGamepiecePickupPanel.tsx

@@ -170,8 +170,8 @@ const ConfigureGamepiecePickupPanel: React.FC<PanelPropsImpl> = ({ panelId, open
                 return false
             }
 
-            const assoc = World.PhysicsSystem.GetBodyAssociation<RigidNodeAssociate>(body)
-            if (assoc?.sceneObject != selectedRobot) {
+            const assoc = World.PhysicsSystem.GetBodyAssociation(body) as RigidNodeAssociate
+            if (!assoc || !assoc.sceneObject || assoc.sceneObject != selectedRobot) {
                 return false
             }
 

fission/src/ui/panels/configuring/ConfigureShotTrajectoryPanel.tsx

@@ -164,8 +164,8 @@ const ConfigureShotTrajectoryPanel: React.FC<PanelPropsImpl> = ({ panelId, openL
                 return false
             }
 
-            const assoc = World.PhysicsSystem.GetBodyAssociation<RigidNodeAssociate>(body)
-            if (assoc?.sceneObject != selectedRobot) {
+            const assoc = World.PhysicsSystem.GetBodyAssociation(body) as RigidNodeAssociate
+            if (!assoc || !assoc.sceneObject || assoc.sceneObject != selectedRobot) {
                 return false
             }