Created Drag Mode (previously god mode)

fission/src/Synthesis.tsx

@@ -66,6 +66,7 @@ import ContextMenu from "./ui/components/ContextMenu.tsx"
 import GlobalUIComponent from "./ui/components/GlobalUIComponent.tsx"
 import InitialConfigPanel from "./ui/panels/configuring/initial-config/InitialConfigPanel.tsx"
 import WPILibConnectionStatus from "./ui/components/WPILibConnectionStatus.tsx"
+import DragModeIndicator from "./ui/components/DragModeIndicator.tsx"
 import AutoTestPanel from "./ui/panels/simulation/AutoTestPanel.tsx"
 import TouchControls from "./ui/components/TouchControls.tsx"
 import GraphicsSettings from "./ui/panels/GraphicsSettingsPanel.tsx"
@@ -195,6 +196,7 @@ function Synthesis() {
                             <ProgressNotifications key={"progress-notifications"} />
                             <ToastContainer key={"toast-container"} />
                             <WPILibConnectionStatus />
+                            <DragModeIndicator />
 
                             {!consentPopupDisable ? (
                                 <AnalyticsConsent onClose={onDisableConsent} onConsent={onConsent} />

fission/src/systems/World.ts

@@ -5,6 +5,7 @@ import SceneRenderer from "./scene/SceneRenderer"
 import SimulationSystem from "./simulation/SimulationSystem"
 import InputSystem from "./input/InputSystem"
 import AnalyticsSystem, { AccumTimes } from "./analytics/AnalyticsSystem"
+import DragModeSystem from "./scene/DragModeSystem"
 
 class World {
     private static _isAlive: boolean = false
@@ -16,6 +17,7 @@ class World {
     private static _simulationSystem: SimulationSystem
     private static _inputSystem: InputSystem
     private static _analyticsSystem: AnalyticsSystem | undefined = undefined
+    private static _dragModeSystem: DragModeSystem
 
     private static _accumTimes: AccumTimes = {
         frames: 0,
@@ -49,6 +51,9 @@ class World {
     public static get AnalyticsSystem() {
         return World._analyticsSystem
     }
+    public static get DragModeSystem() {
+        return World._dragModeSystem
+    }
 
     public static resetAccumTimes() {
         this._accumTimes = {
@@ -71,6 +76,7 @@ class World {
         World._physicsSystem = new PhysicsSystem()
         World._simulationSystem = new SimulationSystem()
         World._inputSystem = new InputSystem()
+        World._dragModeSystem = new DragModeSystem()
         try {
             World._analyticsSystem = new AnalyticsSystem()
         } catch (_) {
@@ -87,6 +93,7 @@ class World {
         World._sceneRenderer.Destroy()
         World._simulationSystem.Destroy()
         World._inputSystem.Destroy()
+        World._dragModeSystem.Destroy()
 
         World._analyticsSystem?.Destroy()
     }
@@ -101,6 +108,7 @@ class World {
             this._accumTimes.physicsTime += this.time(() => World._physicsSystem.Update(this._currentDeltaT))
             this._accumTimes.inputTime += this.time(() => World._inputSystem.Update(this._currentDeltaT))
             this._accumTimes.sceneTime += this.time(() => World._sceneRenderer.Update(this._currentDeltaT))
+            World._dragModeSystem.Update(this._currentDeltaT)
         })
 
         World._analyticsSystem?.Update(this._currentDeltaT)

fission/src/systems/physics/PhysicsSystem.ts

@@ -1,7 +1,6 @@
 import {
     JoltRVec3_JoltVec3,
     JoltVec3_JoltRVec3,
-    JoltVec3_ThreeVector3,
     MirabufFloatArr_JoltFloat3,
     MirabufFloatArr_JoltVec3,
     MirabufVector3_JoltRVec3,
@@ -46,7 +45,7 @@ const RobotLayers: number[] = [
     3, 4, 5, 6, 7, 8, 9,
 ]
 
-// Layer for ghost object in god mode, interacts with nothing
+// Layer for ghost objects used in constraint systems, interacts with nothing
 const LAYER_GHOST = 10
 
 // Please update this accordingly.
@@ -1306,38 +1305,6 @@ class PhysicsSystem extends WorldSystem {
         return body
     }
 
-    /**
-     * Creates a ghost object and a distance constraint that connects it to the given body
-     * The ghost body is part of the LAYER_GHOST which doesn't interact with any other layer
-     * The caller is responsible for cleaning up the ghost body and the constraint
-     *
-     * @param id The id of the body to be attatched to and moved
-     * @returns The ghost body and the constraint
-     */
-
-    public CreateGodModeBody(id: Jolt.BodyID, anchorPoint: Jolt.Vec3): [Jolt.Body, Jolt.Constraint] {
-        const body = this.GetBody(id)
-        const ghostBody = this.CreateBox(
-            new THREE.Vector3(0.05, 0.05, 0.05),
-            undefined,
-            JoltVec3_ThreeVector3(anchorPoint),
-            undefined
-        )
-
-        const ghostBodyId = ghostBody.GetID()
-        this._joltBodyInterface.SetObjectLayer(ghostBodyId, LAYER_GHOST)
-        this._joltBodyInterface.AddBody(ghostBodyId, JOLT.EActivation_Activate)
-        this._bodies.push(ghostBodyId)
-
-        const constraintSettings = new JOLT.PointConstraintSettings()
-        constraintSettings.mPoint1 = constraintSettings.mPoint2 = JoltVec3_JoltRVec3(anchorPoint)
-        const constraint = constraintSettings.Create(ghostBody, body)
-        this._joltPhysSystem.AddConstraint(constraint)
-        this._constraints.push(constraint)
-
-        return [ghostBody, constraint]
-    }
-
     public CreateSensor(shapeSettings: Jolt.ShapeSettings): Jolt.BodyID | undefined {
         const shape = shapeSettings.Create()
         if (shape.HasError()) {

fission/src/systems/scene/CameraControls.ts

@@ -29,7 +29,7 @@ export abstract class CameraControls {
     public abstract dispose(): void
 }
 
-interface SphericalCoords {
+export interface SphericalCoords {
     theta: number
     phi: number
     r: number
@@ -112,6 +112,18 @@ export class CustomOrbitControls extends CameraControls {
         return this._focusProvider
     }
 
+    public get coords(): SphericalCoords {
+        return this._coords
+    }
+
+    public get focus(): THREE.Matrix4 {
+        return this._focus
+    }
+
+    public set focus(matrix: THREE.Matrix4) {
+        this._focus.copy(matrix)
+    }
+
     public constructor(mainCamera: THREE.Camera, interactionHandler: ScreenInteractionHandler) {
         super("Orbit")