Reorg and fix for object reset issue

src/AbstractRobot/WriteCommand.ts

@@ -1,4 +1,4 @@
-import construct from '../util/construct';
+import construct from '../util/redux/construct';
 import Motor from './Motor';
 
 namespace WriteCommand {

src/AbstractRobot/index.ts

@@ -1,5 +1,5 @@
-import deepNeq from '../util/deepNeq';
-import Patch from '../util/Patch';
+import deepNeq from '../util/redux/deepNeq';
+import Patch from '../util/redux/Patch';
 import Motor from './Motor';
 import Servo from './Servo';
 import WriteCommand from './WriteCommand';

src/Bindings/CameraBinding.ts

@@ -1,7 +1,7 @@
 import {  ArcRotateCamera, Scene as babylScene, Camera as babylCamera } from '@babylonjs/core';
 
 import Camera from "../state/State/Scene/Camera";
-import { Vector3wUnits } from "../util/unit-math";
+import { Vector3wUnits } from "../util/math/UnitMath";
 
 
 

src/Bindings/Lightbinding.ts

@@ -2,9 +2,9 @@ import { ShadowGenerator,  IShadowLight, PointLight, SpotLight, DirectionalLight
   Scene as babylScene } from '@babylonjs/core';
 
 import Node from "../state/State/Scene/Node";
-import Dict from "../util/Dict";
-import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from "../util/unit-math";
-import { RawQuaternion, RawVector2, RawVector3 } from "../util/math";
+import Dict from "../util/objectOps/Dict";
+import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from "../util/math/UnitMath";
+import { RawQuaternion, RawVector2, RawVector3 } from "../util/math/math";
 import LocalizedString from '../util/LocalizedString';
 import { Angle, Distance, Mass, SetOps } from "../util";
 

src/Bindings/MaterialBinding.ts

@@ -3,7 +3,7 @@ import { Texture, DynamicTexture, StandardMaterial, Color3, PBRMaterial,
 
 import Material from '../state/State/Scene/Material';
 import { Color } from '../state/State/Scene/Color';
-import Patch from "../util/Patch";
+import Patch from "../util/redux/Patch";
 
 
 

src/Bindings/MotorBindings.ts

@@ -5,9 +5,9 @@ import { Scene as babylScene, Quaternion, Vector3, Mesh,
 } from '@babylonjs/core';
 
 import Node from '../state/State/Robot/Node';
-import { Vector3wUnits } from '../util/unit-math';
+import { Vector3wUnits } from '../util/math/UnitMath';
 import { RENDER_SCALE } from '../components/Constants/renderConstants';
-import { RawVector3 } from '../util/math';
+import { RawVector3 } from '../util/math/math';
 
 
 

src/Bindings/ObjectBinding.ts

@@ -6,14 +6,14 @@ import { PhysicsShapeType, IPhysicsCollisionEvent, IPhysicsEnginePluginV2, Physi
   GlowLayer, Observer, BoundingBox } from '@babylonjs/core';
 
 import Geometry from "../state/State/Scene/Geometry";
-import { RawQuaternion, RawVector2, RawVector3 } from "../util/math";
+import { RawQuaternion, RawVector2, RawVector3 } from "../util/math/math";
 import { Angle, Distance, Mass, SetOps } from "../util";
 import Node from "../state/State/Scene/Node";
 import Scene from "../state/State/Scene";
 import LocalizedString from '../util/LocalizedString';
 import { apply } from './helpers';
 import { createMaterial } from './MaterialBinding';
-import { preBuiltGeometries, preBuiltTemplates } from "../NodeTemplates";
+import { preBuiltGeometries, preBuiltTemplates } from "../SimulatorDefinitions/NodeTemplates";
 
 export type FrameLike = TransformNode | AbstractMesh;
 

src/Bindings/RobotBinding.ts

@@ -12,11 +12,11 @@ import '@babylonjs/core/Physics/physicsEngineComponent';
 import SceneNode from '../state/State/Scene/Node';
 import Robot from '../state/State/Robot';
 import Node from '../state/State/Robot/Node';
-import { RawQuaternion, RawVector3, clamp, RawEuler } from '../util/math';
-import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from '../util/unit-math';
-import { Angle, Distance, Mass } from '../util/Value';
+import { RawQuaternion, RawVector3, clamp, RawEuler } from '../util/math/math';
+import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from '../util/math/UnitMath';
+import { Angle, Distance, Mass } from '../util/math/Value';
 import { SceneMeshMetadata } from './SceneBinding';
-import Dict from '../util/Dict';
+import Dict from '../util/objectOps/Dict';
 import { RENDER_SCALE, RENDER_SCALE_METERS_MULTIPLIER } from '../components/Constants/renderConstants';
 import WriteCommand from '../AbstractRobot/WriteCommand';
 import AbstractRobot from '../AbstractRobot';

src/Bindings/RobotLink.ts

@@ -9,7 +9,7 @@ import Geometry from '../state/State/Robot/Geometry';
 import Node from '../state/State/Robot/Node';
 import { RENDER_SCALE_METERS_MULTIPLIER } from '../components/Constants/renderConstants';
 import Robot from '../state/State/Robot';
-import { Mass } from '../util/Value';
+import { Mass } from '../util/math/Value';
 
 
 interface BuiltGeometry {

src/Bindings/SceneBinding.ts

@@ -10,19 +10,19 @@ import { PhysicsShapeType, IPhysicsCollisionEvent, IPhysicsEnginePluginV2, Physi
 import '@babylonjs/core/Engines/Extensions/engine.views';
 import '@babylonjs/core/Lights/Shadows/shadowGeneratorSceneComponent';
 
-import Dict from "../util/Dict";
-import { RawQuaternion, RawVector2, RawVector3 } from "../util/math";
+import Dict from "../util/objectOps/Dict";
+import { RawQuaternion, RawVector2, RawVector3 } from "../util/math/math";
 import Scene from "../state/State/Scene";
 import Camera from "../state/State/Scene/Camera";
 import Geometry from "../state/State/Scene/Geometry";
 import Node from "../state/State/Scene/Node";
-import Patch from "../util/Patch";
+import Patch from "../util/redux/Patch";
 
-import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from "../util/unit-math";
+import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from "../util/math/UnitMath";
 import { Angle, Distance, Mass, SetOps } from "../util";
 import { Color } from '../state/State/Scene/Color';
 import Material from '../state/State/Scene/Material';
-import { preBuiltGeometries, preBuiltTemplates } from "../NodeTemplates";
+import { preBuiltGeometries, preBuiltTemplates } from "../SimulatorDefinitions/NodeTemplates";
 import RobotBinding from './RobotBinding';
 import Robot from '../state/State/Robot';
 import AbstractRobot from '../AbstractRobot';
@@ -264,7 +264,10 @@ class SceneBinding {
 
     if (!ret) return null;
 
-    this.updateNodePosition_(nodeToCreate, ret);
+    if (nodeToCreate.name['en-US'] === 'Can 4') {
+      console.log('createNode_ -> updateNodePosition_', nodeToCreate.name, nodeToCreate);
+    }
+    this.updateNodePosition_(nodeToCreate, ret, id, nextScene);
     ret.id = id;
 
     ret.metadata = { id } as SceneMeshMetadata;
@@ -279,21 +282,28 @@ class SceneBinding {
     return ret;
   };
 
-  private updateNodePosition_ = (node: Node, bNode: babylNode) => {
-    if (node.origin && bNode instanceof TransformNode || bNode instanceof AbstractMesh) {
+  private updateNodePosition_ = (node: Node, bNode: babylNode, nodeId: string, scene: Scene) => {
+    // if (node.origin && bNode instanceof TransformNode || bNode instanceof AbstractMesh) {
+    if (node.origin && bNode instanceof AbstractMesh) {
+      this.removePhysicsFromObject(bNode);
       const origin = node.origin || {};
       const position: Vector3wUnits = origin.position ?? Vector3wUnits.zero();
       const orientation: RotationwUnits = origin.orientation ?? RotationwUnits.EulerwUnits.identity();
       const scale = origin.scale ?? RawVector3.ONE;
 
-      bNode.position.set(
-        Distance.toCentimetersValue(position.x || Distance.centimeters(0)),
-        Distance.toCentimetersValue(position.y || Distance.centimeters(0)),
-        Distance.toCentimetersValue(position.z || Distance.centimeters(0))
-      );
+      // bNode.position.set(
+      //   Distance.toCentimetersValue(position.x || Distance.centimeters(0)),
+      //   Distance.toCentimetersValue(position.y || Distance.centimeters(0)),
+      //   Distance.toCentimetersValue(position.z || Distance.centimeters(0))
+      // );
+      bNode.position.x = Distance.toCentimetersValue(position.x || Distance.centimeters(0));
+      bNode.position.y = Distance.toCentimetersValue(position.y || Distance.centimeters(0));
+      bNode.position.z = Distance.toCentimetersValue(position.z || Distance.centimeters(0));
 
       bNode.rotationQuaternion = RawQuaternion.toBabylon(RotationwUnits.toRawQuaternion(orientation));
       bNode.scaling.set(scale.x, scale.y, scale.z);
+
+      this.restorePhysicsToObject(bNode, node as Node.Obj, nodeId, scene);
     }
   };
 
@@ -310,7 +320,7 @@ class SceneBinding {
     }
 
     if (node.inner.origin.type === Patch.Type.OuterChange) {
-      this.updateNodePosition_(node.next, bNode);
+      this.updateNodePosition_(node.next, bNode, id, this.scene);
     }
 
     return bNode;
@@ -354,9 +364,14 @@ class SceneBinding {
       m.material = bMaterial;
     });
 
+
+
     // TODO: Handle changes to faceUvs when we fully support it
     if (node.inner.origin.type === Patch.Type.OuterChange) {
-      this.updateNodePosition_(node.next, bNode);
+      // if (node.next.name['en-US'] === 'Can 4') {
+      //   console.log('updateObject_ -> updateNodePosition_', node.next.name, node.next);
+      // }
+      this.updateNodePosition_(node.next, bNode, id, nextScene);
     }
 
     if (node.inner.physics.type === Patch.Type.OuterChange) {
@@ -477,6 +492,9 @@ class SceneBinding {
             faceUvs: Patch.none(nodeTemplate.faceUvs),
           },
         };
+        // if (id === 'can4') {
+        //   console.log('updateFromTemplate_ -> updateObject_', id, objectChange);
+        // }
         return this.updateObject_(id, objectChange, nextScene);
       }
       case 'directional-light': {
@@ -550,7 +568,7 @@ class SceneBinding {
               this.destroyNode_(id);
               return this.createNode_(id, node.prev, nextScene);
             }
-
+            // console.log('updateNode_ -> updateObject_', node.next.name, node.next);
             return this.updateObject_(id, node as Patch.InnerChange<Node.Obj>, nextScene);
           }
           case 'directional-light': return this.updateDirectionalLight_(id, node as Patch.InnerChange<Node.DirectionalLight>);
@@ -676,7 +694,7 @@ class SceneBinding {
     this.syncCollisionFilters_();
   };
 
-  
+
   private removePhysicsFromObject = (mesh: AbstractMesh) => {
     if (!mesh.physicsBody) return;
 

src/Bindings/WeightBinding.ts

@@ -4,11 +4,11 @@ import { Scene as babylScene, CreateSphere, Vector3, Mesh,
 } from '@babylonjs/core';
 
 import Node from '../state/State/Robot/Node';
-import { ReferenceFramewUnits } from '../util/unit-math';
+import { ReferenceFramewUnits } from '../util/math/UnitMath';
 import { RENDER_SCALE } from '../components/Constants/renderConstants';
-import { Mass } from '../util/Value';
+import { Mass } from '../util/math/Value';
 import Robot from '../state/State/Robot';
-import Dict from '../util/Dict';
+import Dict from '../util/objectOps/Dict';
 
 // Adds an invisible weight to a parent link.
 export const createWeight_ = (id: string, weight: Node.Weight, bScene_: babylScene, robot_: Robot, links_: Dict<Mesh>) => {

src/Bindings/helpers.ts

@@ -1,10 +1,5 @@
 
-import { PhysicsShapeType, IPhysicsCollisionEvent, IPhysicsEnginePluginV2, PhysicsAggregate, 
-  TransformNode, AbstractMesh, PhysicsViewer, ShadowGenerator, CreateBox, CreateSphere, CreateCylinder, 
-  CreatePlane, Vector4, Vector3, Texture, DynamicTexture, StandardMaterial, GizmoManager, ArcRotateCamera, 
-  IShadowLight, PointLight, SpotLight, DirectionalLight, Color3, PBRMaterial, Mesh, SceneLoader, EngineView,
-  Scene as babylScene, Node as babylNode, Camera as babylCamera, Material as babylMaterial,
-  GlowLayer, Observer, BoundingBox } from '@babylonjs/core';
+import { AbstractMesh,  Node as babylNode } from '@babylonjs/core';
 
 
 export const apply = (g: babylNode, f: (m: AbstractMesh) => void) => {

src/ScriptManager/ScriptSceneBinding.ts

@@ -1,8 +1,8 @@
-import Dict from '../util/Dict';
+import Dict from '../util/objectOps/Dict';
 import Camera from '../state/State/Scene/Camera';
 import Geometry from '../state/State/Scene/Geometry';
 import Node from '../state/State/Scene/Node';
-import { Vector3wUnits } from '../util/unit-math';
+import { Vector3wUnits } from '../util/math/UnitMath';
 
 export type Ids = string | string[] | Set<string>;
 

src/ScriptManager/index.ts

@@ -1,16 +1,16 @@
-import Dict from '../util/Dict';
+import Dict from '../util/objectOps/Dict';
 import Scene from '../state/State/Scene';
 import Camera from '../state/State/Scene/Camera';
 import Geometry from '../state/State/Scene/Geometry';
 import Node from '../state/State/Scene/Node';
 import Script from '../state/State/Scene/Script';
-import { RotationwUnits, Vector3wUnits } from '../util/unit-math';
+import { RotationwUnits, Vector3wUnits } from '../util/math/UnitMath';
 
 import { v4 as uuid } from 'uuid';
-import construct from '../util/construct';
+import construct from '../util/redux/construct';
 import { Ids, ScriptSceneBinding } from './ScriptSceneBinding';
-import { RawAxisAngle, RawQuaternion, RawReferenceFrame, RawVector3 } from '../util/math';
-import { Angle, Mass, Distance } from '../util/Value';
+import { RawAxisAngle, RawQuaternion, RawReferenceFrame, RawVector3 } from '../util/math/math';
+import { Angle, Mass, Distance } from '../util/math/Value';
 
 class ScriptManager {
   private scene_: Scene;

src/Sim.tsx

@@ -8,9 +8,9 @@ import HavokPhysics from "@babylonjs/havok";
 import '@babylonjs/loaders/glTF';
 import '@babylonjs/core/Physics/physicsEngineComponent';
 
-import Dict from './util/Dict';
-import { RawQuaternion, RawVector2, RawVector3 } from './util/math';
-import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from './util/unit-math';
+import Dict from './util/objectOps/Dict';
+import { RawQuaternion, RawVector2, RawVector3 } from './util/math/math';
+import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from './util/math/UnitMath';
 import { Angle } from './util';
 
 import store from './state';

src/NodeTemplates/index.ts → src/SimulatorDefinitions/NodeTemplates/index.ts

@@ -1,9 +1,9 @@
-import Dict from "../util/Dict";
-import { RawVector2 } from "../util/math";
-import { Color } from "../state/State/Scene/Color";
-import Geometry from "../state/State/Scene/Geometry";
-import Node from "../state/State/Scene/Node";
-import { Distance, Mass } from "../util";
+import Dict from "../../util/objectOps/Dict";
+import { RawVector2 } from "../../util/math/math";
+import { Color } from "../../state/State/Scene/Color";
+import Geometry from "../../state/State/Scene/Geometry";
+import Node from "../../state/State/Scene/Node";
+import { Distance, Mass } from "../../util";
 
 // TODO: Consider deep-freezing all of these objects
 

src/robots/common.ts → src/SimulatorDefinitions/robots/common.ts

@@ -1,4 +1,4 @@
-import { Mass } from '../util';
+import { Mass } from '../../util';
 
 export const WOMBAT_BATTERY_MASS: Mass = Mass.grams(113);
 export const MOTOR_MASS: Mass = Mass.grams(55);

src/robots/demobot.ts → src/SimulatorDefinitions/robots/demobot.ts

@@ -1,9 +1,9 @@
-import Robot from "../state/State/Robot";
-import Node from "../state/State/Robot/Node";
-import Geometry from "../state/State/Robot/Geometry";
-import { Angle, Distance, Mass } from '../util';
-import { RawVector3 } from '../util/math';
-import { RotationwUnits, Vector3wUnits } from '../util/unit-math';
+import Robot from "../../state/State/Robot";
+import Node from "../../state/State/Robot/Node";
+import Geometry from "../../state/State/Robot/Geometry";
+import { Angle, Distance, Mass } from '../../util';
+import { RawVector3 } from '../../util/math/math';
+import { RotationwUnits, Vector3wUnits } from '../../util/math/UnitMath';
 
 import tr from '@i18n';
 

src/scenes/jbc1.ts → src/SimulatorDefinitions/scenes/jbc1.ts

@@ -1,5 +1,5 @@
-import Scene from '../state/State/Scene';
-import LocalizedString from '../util/LocalizedString';
+import Scene from '../../state/State/Scene';
+import LocalizedString from '../../util/LocalizedString';
 
 import { createCanNode, createBaseSceneSurfaceA } from './jbcBase';
 

src/scenes/jbc10.ts → src/SimulatorDefinitions/scenes/jbc10.ts

@@ -1,6 +1,6 @@
-import Scene from "../state/State/Scene";
-import { Distance } from "../util";
-import LocalizedString from '../util/LocalizedString';
+import Scene from "../../state/State/Scene";
+import { Distance } from "../../util";
+import LocalizedString from '../../util/LocalizedString';
 
 import { createBaseSceneSurfaceB, createCanNode } from './jbcBase';
 

src/scenes/jbc10b.ts → src/SimulatorDefinitions/scenes/jbc10b.ts

@@ -1,6 +1,6 @@
-import Scene from "../state/State/Scene";
-import { Distance } from "../util";
-import LocalizedString from '../util/LocalizedString';
+import Scene from "../../state/State/Scene";
+import { Distance } from "../../util";
+import LocalizedString from '../../util/LocalizedString';
 
 import { createBaseSceneSurfaceB, createCanNode } from './jbcBase';
 

src/scenes/jbc12.ts → src/SimulatorDefinitions/scenes/jbc12.ts

@@ -1,6 +1,6 @@
-import Scene from "../state/State/Scene";
-import { Distance } from "../util";
-import LocalizedString from '../util/LocalizedString';
+import Scene from "../../state/State/Scene";
+import { Distance } from "../../util";
+import LocalizedString from '../../util/LocalizedString';
 
 import { createBaseSceneSurfaceA, createCanNode } from './jbcBase';
 

src/scenes/jbc13.ts → src/SimulatorDefinitions/scenes/jbc13.ts

@@ -1,5 +1,5 @@
-import Scene from "../state/State/Scene";
-import LocalizedString from '../util/LocalizedString';
+import Scene from "../../state/State/Scene";
+import LocalizedString from '../../util/LocalizedString';
 
 import { createBaseSceneSurfaceA, createCanNode } from './jbcBase';
 

src/scenes/jbc15b.ts → src/SimulatorDefinitions/scenes/jbc15b.ts

@@ -1,7 +1,7 @@
-import Scene from "../state/State/Scene";
-import { ReferenceFramewUnits, RotationwUnits } from "../util/unit-math";
-import { Distance, Mass } from "../util";
-import LocalizedString from '../util/LocalizedString';
+import Scene from "../../state/State/Scene";
+import { ReferenceFramewUnits, RotationwUnits } from "../../util/math/UnitMath";
+import { Distance, Mass } from "../../util";
+import LocalizedString from '../../util/LocalizedString';
 
 import { createBaseSceneSurfaceA } from './jbcBase';