Adaptive Physics Time Step

.github/workflows/FissionESLintFormat.yml

@@ -28,17 +28,25 @@ jobs:
         cd fission
         npm run lint
       continue-on-error: true
+    - name: Check EsLint
+      run: |
+        if [ ${{ steps.linter-validation.outcome }} == "success" ]; then
+          echo "EsLint Validation Passed"
+        else
+          echo "EsLint Validation Failed"
+          exit 1
+        fi
     - name: Prettier
       id: prettier-validation
       run: |
         cd fission
         npm run prettier
       continue-on-error: true
-    - name: Check Success
+    - name: Check Prettier
       run: |
-        if [ ${{ steps.linter-validation.outcome }} == "success" ]; then
-          echo "Format Validation Passed"
+        if [ ${{ steps.prettier-validation.outcome }} == "success" ]; then
+          echo "Prettier Validation Passed"
         else
-          echo "Format Validation Failed"
+          echo "Prettier Validation Failed"
           exit 1
         fi

fission/package.json

@@ -6,12 +6,12 @@
   "scripts": {
     "dev": "vite --open",
     "build": "tsc && vite build",
-    "lint": "eslint . --ext ts,tsx --report-unused-disable-directives",
     "preview": "vite preview --base=/fission/",
     "test": "vitest",
-    "lint:fix": "bun run lint --fix || npm run lint --fix",
+    "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 run prettier --write || npm run prettier --write",
+    "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)",
     "build:prod": "tsc && vite build --base=/fission/",
     "assetpack": "run-script-os",

fission/src/Synthesis.tsx

@@ -49,11 +49,11 @@ import ScoringZonesPanel from "@/panels/configuring/scoring/ScoringZonesPanel"
 import ZoneConfigPanel from "@/panels/configuring/scoring/ZoneConfigPanel"
 import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
-import ManageAssembliesModal from '@/modals/spawning/ManageAssembliesModal.tsx';
-import World from '@/systems/World.ts';
-import { AddRobotsModal, AddFieldsModal, SpawningModal } from '@/modals/spawning/SpawningModals.tsx';
-import ImportMirabufModal from '@/modals/mirabuf/ImportMirabufModal.tsx';
-import ImportLocalMirabufModal from '@/modals/mirabuf/ImportLocalMirabufModal.tsx';
+import ManageAssembliesModal from "@/modals/spawning/ManageAssembliesModal.tsx"
+import World from "@/systems/World.ts"
+import { AddRobotsModal, AddFieldsModal, SpawningModal } from "@/modals/spawning/SpawningModals.tsx"
+import ImportMirabufModal from "@/modals/mirabuf/ImportMirabufModal.tsx"
+import ImportLocalMirabufModal from "@/modals/mirabuf/ImportLocalMirabufModal.tsx"
 
 const DEFAULT_MIRA_PATH = "/api/mira/Robots/Team 2471 (2018)_v7.mira"
 

fission/src/mirabuf/MirabufParser.ts

@@ -91,7 +91,8 @@ class MirabufParser {
         }
 
         // 1: Initial Rigidgroups from ancestorial breaks in joints
-        (Object.keys(assembly.data!.joints!.jointInstances!) as string[]).forEach(key => {
+        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!)

fission/src/systems/input/InputSystem.ts

@@ -121,10 +121,9 @@ class InputSystem extends WorldSystem {
     }
 
     // Returns true if two modifier states are identical
-    private static CompareModifiers(state1: ModifierState, state2: ModifierState) : boolean {
-        if (!state1 || !state2)
-            return false;
-
+    private static CompareModifiers(state1: ModifierState, state2: ModifierState): boolean {
+        if (!state1 || !state2) return false
+
         return (
             state1.alt == state2.alt &&
             state1.ctrl == state2.ctrl &&

fission/src/systems/physics/PhysicsSystem.ts

@@ -31,8 +31,16 @@ const LAYER_GHOST = 10
 // Please update this accordingly.
 const COUNT_OBJECT_LAYERS = 11
 
-export const SIMULATION_PERIOD = 1.0 / 120.0
-const STANDARD_SUB_STEPS = 3
+export const STANDARD_SIMULATION_PERIOD = 1.0 / 60.0
+const MIN_SIMULATION_PERIOD = 1.0 / 120.0
+const MAX_SIMULATION_PERIOD = 1.0 / 10.0
+const STANDARD_SUB_STEPS = 2
+const TIMESTEP_ADJUSTMENT = 0.0001
+
+let lastDeltaT = STANDARD_SIMULATION_PERIOD
+export function GetLastDeltaT(): number {
+    return lastDeltaT
+}
 
 // Friction constants
 const FLOOR_FRICTION = 0.7
@@ -704,8 +712,17 @@ class PhysicsSystem extends WorldSystem {
         return this._joltPhysSystem.GetBodyLockInterface().TryGetBody(bodyId)
     }
 
-    public Update(_: number): void {
-        this._joltInterface.Step(SIMULATION_PERIOD, STANDARD_SUB_STEPS)
+    public Update(deltaT: number): void {
+        const diffDeltaT = deltaT - lastDeltaT
+        lastDeltaT = lastDeltaT + Math.min(TIMESTEP_ADJUSTMENT, Math.max(-TIMESTEP_ADJUSTMENT, diffDeltaT))
+
+        lastDeltaT = Math.min(MAX_SIMULATION_PERIOD, Math.max(MIN_SIMULATION_PERIOD, lastDeltaT))
+
+        const substeps = Math.max(1, Math.floor((STANDARD_SIMULATION_PERIOD / lastDeltaT) * STANDARD_SUB_STEPS))
+
+        console.log(`DeltaT: ${lastDeltaT.toFixed(5)}, Substeps: ${substeps}`)
+
+        this._joltInterface.Step(lastDeltaT, substeps)
     }
 
     public Destroy(): void {

fission/src/systems/simulation/behavior/GenericArmBehavior.ts

@@ -6,10 +6,10 @@ import InputSystem, { emptyModifierState } from "@/systems/input/InputSystem"
 class GenericArmBehavior extends Behavior {
     private _hingeDriver: HingeDriver
 
-    private _positiveInput: string;
-    private _negativeInput: string;
-    
-    private _rotationalSpeed = 6;
+    private _positiveInput: string
+    private _negativeInput: string
+
+    private _rotationalSpeed = 6
 
     constructor(hingeDriver: HingeDriver, hingeStimulus: HingeStimulus, jointIndex: number) {
         super([hingeDriver], [hingeStimulus])

fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts

@@ -9,7 +9,7 @@ class GenericElevatorBehavior extends Behavior {
     private _positiveInput: string
     private _negativeInput: string
 
-    private _linearSpeed = 2.5;
+    private _linearSpeed = 2.5
 
     constructor(sliderDriver: SliderDriver, sliderStimulus: SliderStimulus, jointIndex: number) {
         super([sliderDriver], [sliderStimulus])
@@ -35,11 +35,11 @@ class GenericElevatorBehavior extends Behavior {
 
     // Changes the elevators target position
     moveElevator(linearVelocity: number) {
-        this._sliderDriver.targetVelocity = linearVelocity; 
+        this._sliderDriver.targetVelocity = linearVelocity
     }
 
     public Update(_: number): void {
-        this.moveElevator(InputSystem.GetAxis(this._positiveInput, this._negativeInput)*this._linearSpeed); 
+        this.moveElevator(InputSystem.GetAxis(this._positiveInput, this._negativeInput) * this._linearSpeed)
     }
 }
 

fission/src/systems/simulation/driver/Driver.ts

@@ -4,7 +4,7 @@ abstract class Driver {
 
 export enum DriverControlMode {
     Velocity = 0,
-    Position = 1
+    Position = 1,
 }
 
-export default Driver;
+export default Driver

fission/src/systems/simulation/driver/HingeDriver.ts

@@ -1,6 +1,6 @@
 import Jolt from "@barclah/jolt-physics"
 import Driver, { DriverControlMode } from "./Driver"
-import { SIMULATION_PERIOD } from "@/systems/physics/PhysicsSystem"
+import { GetLastDeltaT } from "@/systems/physics/PhysicsSystem"
 import JOLT from "@/util/loading/JoltSyncLoader"
 
 class HingeDriver extends Driver {
@@ -21,7 +21,7 @@ class HingeDriver extends Driver {
         return this._targetAngle
     }
     public set targetAngle(rads: number) {
-        this._targetAngle = Math.max(this._constraint.GetLimitsMin(), Math.min(this._constraint.GetLimitsMax(), rads));
+        this._targetAngle = Math.max(this._constraint.GetLimitsMin(), Math.min(this._constraint.GetLimitsMax(), rads))
     }
 
     public set minTorqueLimit(nm: number) {
@@ -61,7 +61,7 @@ class HingeDriver extends Driver {
         const springSettings = motorSettings.mSpringSettings
 
         // These values were selected based on the suggestions of the documentation for stiff control.
-        springSettings.mFrequency = 20 * (1.0 / SIMULATION_PERIOD)
+        springSettings.mFrequency = 20 * (1.0 / GetLastDeltaT())
         springSettings.mDamping = 0.995
 
         motorSettings.mSpringSettings = springSettings
@@ -82,4 +82,4 @@ class HingeDriver extends Driver {
     }
 }
 
-export default HingeDriver
+export default HingeDriver

fission/src/systems/simulation/driver/SliderDriver.ts

@@ -1,21 +1,20 @@
-import Jolt from "@barclah/jolt-physics";
-import Driver, { DriverControlMode } from "./Driver";
-import { SIMULATION_PERIOD } from "@/systems/physics/PhysicsSystem";
-import JOLT from "@/util/loading/JoltSyncLoader";
+import Jolt from "@barclah/jolt-physics"
+import Driver, { DriverControlMode } from "./Driver"
+import { GetLastDeltaT } from "@/systems/physics/PhysicsSystem"
+import JOLT from "@/util/loading/JoltSyncLoader"
 
 class SliderDriver extends Driver {
+    private _constraint: Jolt.SliderConstraint
 
-    private _constraint: Jolt.SliderConstraint;
-
-    private _controlMode: DriverControlMode = DriverControlMode.Velocity;
-    private _targetVelocity: number = 0.0;
-    private _targetPosition: number = 0.0;
+    private _controlMode: DriverControlMode = DriverControlMode.Velocity
+    private _targetVelocity: number = 0.0
+    private _targetPosition: number = 0.0
 
     public get targetVelocity(): number {
-        return this._targetVelocity;
+        return this._targetVelocity
     }
     public set targetVelocity(radsPerSec: number) {
-        this._targetVelocity = radsPerSec;
+        this._targetVelocity = radsPerSec
     }
 
     public get targetPosition(): number {
@@ -38,21 +37,21 @@ class SliderDriver extends Driver {
     }
 
     public get controlMode(): DriverControlMode {
-        return this._controlMode;
+        return this._controlMode
     }
-    
+
     public set controlMode(mode: DriverControlMode) {
-        this._controlMode = mode;
+        this._controlMode = mode
         switch (mode) {
             case DriverControlMode.Velocity:
-                this._constraint.SetMotorState(JOLT.EMotorState_Velocity);
-                break;
+                this._constraint.SetMotorState(JOLT.EMotorState_Velocity)
+                break
             case DriverControlMode.Position:
-                this._constraint.SetMotorState(JOLT.EMotorState_Position);
-                break;
+                this._constraint.SetMotorState(JOLT.EMotorState_Position)
+                break
             default:
                 // idk
-                break;
+                break
         }
     }
 
@@ -63,21 +62,22 @@ class SliderDriver extends Driver {
 
         const motorSettings = this._constraint.GetMotorSettings()
         const springSettings = motorSettings.mSpringSettings
-        springSettings.mFrequency = 20 * (1.0 / SIMULATION_PERIOD)
+        springSettings.mFrequency = 20 * (1.0 / GetLastDeltaT())
         springSettings.mDamping = 0.999
 
         motorSettings.mSpringSettings = springSettings
         motorSettings.mMinForceLimit = -900.0
         motorSettings.mMaxForceLimit = 900.0
 
         this._constraint.SetMotorState(JOLT.EMotorState_Velocity)
-        this.controlMode = DriverControlMode.Velocity;
+        this.controlMode = DriverControlMode.Velocity
     }
 
-    public Update(_: number): void {if (this._controlMode == DriverControlMode.Velocity) {
-            this._constraint.SetTargetVelocity(this._targetVelocity);
+    public Update(_: number): void {
+        if (this._controlMode == DriverControlMode.Velocity) {
+            this._constraint.SetTargetVelocity(this._targetVelocity)
         } else if (this._controlMode == DriverControlMode.Position) {
-            this._constraint.SetTargetPosition(this._targetPosition);
+            this._constraint.SetTargetPosition(this._targetPosition)
         }
     }
 }

fission/src/ui/components/MainHUD.tsx

@@ -125,11 +125,7 @@ const MainHUD: React.FC = () => {
                         icon={<IoPeople />}
                         onClick={() => openModal("import-local-mirabuf")}
                     />
-                    <MainHUDButton
-                        value={"Test God Mode"}
-                        icon={<IoGameControllerOutline />}
-                        onClick={TestGodMode}
-                    />
+                    <MainHUDButton value={"Test God Mode"} icon={<IoGameControllerOutline />} onClick={TestGodMode} />
                 </div>
                 <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
                     <MainHUDButton

fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx

@@ -35,34 +35,36 @@ const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
             modalId={modalId}
             acceptEnabled={selectedFile !== undefined}
             onAccept={() => {
-                    if (selectedFile) {
-                        console.log(`Mira: '${selectedFile}'`)
-                        showTooltip("controls", [
-                            { control: "WASD", description: "Drive" },
-                            { control: "E", description: "Intake" },
-                            { control: "Q", description: "Dispense" },
-                        ])
+                if (selectedFile) {
+                    console.log(`Mira: '${selectedFile}'`)
+                    showTooltip("controls", [
+                        { control: "WASD", description: "Drive" },
+                        { control: "E", description: "Intake" },
+                        { control: "Q", description: "Dispense" },
+                    ])
 
-                        CreateMirabufFromUrl(URL.createObjectURL(selectedFile)).then(x => {
-                            if (x) {
-                                World.SceneRenderer.RegisterSceneObject(x)
-                            }
-                        })
-                    }
+                    CreateMirabufFromUrl(URL.createObjectURL(selectedFile)).then(x => {
+                        if (x) {
+                            World.SceneRenderer.RegisterSceneObject(x)
+                        }
+                    })
                 }
-            }
+            }}
         >
             <div className="flex flex-col items-center gap-5">
                 <input ref={fileUploadRef} onChange={onInputChanged} type="file" hidden={true} />
                 <Button value="Upload" size={ButtonSize.Large} onClick={uploadClicked} />
-                {
-                    selectedFile
-                        ? (<Label className="text-center" size={LabelSize.Medium}>{`Selected File: ${selectedFile.name}`}</Label>)
-                        : (<></>)
-                }
+                {selectedFile ? (
+                    <Label
+                        className="text-center"
+                        size={LabelSize.Medium}
+                    >{`Selected File: ${selectedFile.name}`}</Label>
+                ) : (
+                    <></>
+                )}
             </div>
         </Modal>
     )
 }
 
-export default ImportLocalMirabufModal
+export default ImportLocalMirabufModal

fission/src/ui/modals/mirabuf/ImportMirabufModal.tsx

@@ -33,13 +33,15 @@ const ImportMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     const [selectedFolder, setSelectedFolder] = useState<Folder | undefined>(undefined)
 
     const [hubs, setHubs] = useState<Hub[] | undefined>(undefined)
+    // prettier-ignore
     useEffect(() => {
         (async () => {
             setHubs(await getHubs())
         })()
     }, [])
 
     const [projects, setProjects] = useState<Project[] | undefined>(undefined)
+    // prettier-ignore
     useEffect(() => {
         (async () => {
             if (selectedHub) {
@@ -49,6 +51,7 @@ const ImportMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
     }, [selectedHub])
 
     const [folderData, setFolderData] = useState<Data[] | undefined>(undefined)
+    // prettier-ignore
     useEffect(() => {
         (async () => {
             if (selectedProject) {