Fix robot position bug and add JBC 23

src/simulator/babylonBindings/RobotBinding.ts

@@ -535,9 +535,9 @@ class RobotBinding {
     const default_offset = LocalizedString.getOriginal(this.robot_.name) === 'Demobot' ? -1 * Math.PI / 2 : Math.PI / 2;
 
     const UpdatedEulerOrigin = RawEuler.create(
-      newOriginE.x + Robot_OriginE.x,
-      newOriginE.y + Robot_OriginE.y + default_offset,
-      newOriginE.z + Robot_OriginE.z,
+      newOriginE.x,
+      newOriginE.y + default_offset,
+      newOriginE.z,
       "xyz"
     );
 
@@ -561,8 +561,7 @@ class RobotBinding {
       weight.physicsBody.setLinearVelocity(Vector3.Zero());
     }
 
-    rootTransformNode.position = RawVector3.toBabylon(rawOrigin.position || RawVector3.ZERO)
-      .add(RawVector3.toBabylon(rawInternalOrigin.position || RawVector3.ZERO));
+    rootTransformNode.position = RawVector3.toBabylon(rawOrigin.position || RawVector3.ZERO);
 
     rootTransformNode.rotationQuaternion = RawQuaternion.toBabylon(RawEuler.toQuaternion(UpdatedEulerOrigin));
 

src/simulator/babylonBindings/SceneBinding.ts

@@ -123,7 +123,7 @@ class SceneBinding {
     this.gizmoManager_.rotationGizmoEnabled = true;
     this.gizmoManager_.scaleGizmoEnabled = false;
     this.gizmoManager_.usePointerToAttachGizmos = false;
-    // Un comment for boudning boxes in scene
+    // Uncomment for bounding boxes in scene
     // this.gizmoManager_.boundingBoxGizmoEnabled = true;
     // this.gizmoManager_.gizmos.boundingBoxGizmo.setColor(new Color3(0, 0, 1));
 
@@ -960,6 +960,9 @@ class SceneBinding {
 
     // Update intersections
     for (const nodeId in this.intersectionFilters_) {
+      const nodeMeshes = this.nodeMeshes_(nodeId);
+      if (nodeMeshes.length === 0) continue;
+
       try {
         const nodeBoundingBoxes = this.nodeBoundingBoxes_(nodeId);
         const filterIds = this.intersectionFilters_[nodeId];

src/simulator/definitions/scenes/index.ts

@@ -20,6 +20,7 @@ export * from './jbc18-Stackerz-New';
 export * from './jbc19-Bump-New';
 export * from './jbc20-Amazing-New';
 export * from './jbc21-Proximity-New';
+export * from './jbc23-Find-the-Black-Line-New';
 export * from './jbc24-Walk-the-Line-New';
 export * from './moonSandbox';
 // export * from './jbc2b-Ring-Around-the-Cans-Sr';

src/simulator/definitions/scenes/jbc15-Go-Fetch-New.ts

@@ -36,7 +36,7 @@ const uprightCan = `
 // When a can is standing upright, the upright condition is met.
 
 const EULER_IDENTITY = RotationwUnits.EulerwUnits.identity();
-const yAngle = (nodeId) => 180 / Math.PI * Math.acos(Vector3wUnits.dot(Vector3wUnits.applyQuaternion(Vector3wUnits.Y, RotationwUnits.toRawQuaternion(scene.nodes[nodeId].origin.orientation || EULER_IDENTITY)), Vector3wUnits.Y));
+const yAngle = (nodeId) => 180 / Math.PI * -1 * Math.asin(Vector3wUnits.dot(Vector3wUnits.applyQuaternion(Vector3wUnits.Y, RotationwUnits.toRawQuaternion(scene.nodes[nodeId].origin.orientation || EULER_IDENTITY)), Vector3wUnits.Y));
 
 
 scene.addOnRenderListener(() => {

src/simulator/definitions/scenes/jbc23-Find-the-Black-Line-New.ts

@@ -0,0 +1,92 @@
+import Scene from '../../../state/State/Scene';
+import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from '../../../util/math/unitMath';
+import { Distance } from '../../../util';
+import LocalizedString from '../../../util/LocalizedString';
+import Script from '../../../state/State/Scene/Script';
+import { createBaseSceneSurfaceA, canPositions } from './jbcBase';
+import { Color } from '../../../state/State/Scene/Color';
+
+const baseScene = createBaseSceneSurfaceA();
+
+const foundBlack = `
+scene.addOnIntersectionListener('robot', (type, otherNodeId) => {
+  const setNodeVisible = (nodeId, visible) => scene.setNode(nodeId, {
+    ...scene.nodes[nodeId],
+    visible
+  });
+
+  console.log('Robot crossing black line', type, otherNodeId);
+  if(scene.programStatus === 'running'){
+    if(scene.nodes['robot'].state.getAnalogValue(1) > 2000) {
+      scene.setChallengeEventValue('stopAtBlackLine', type === 'start');
+      setNodeVisible('otherNodeId', true);
+    }
+  }
+}, 'blackLine');
+`;
+
+function randomCircle(): Vector3wUnits {
+  const circles = [2, 4, 6, 9, 11];
+  const randomCircle = circles[Math.floor(Math.random() * circles.length)];
+  console.log('randomCircle: ', randomCircle);
+  const circle: Vector3wUnits = {
+    ...canPositions[randomCircle - 1],
+  };
+  console.log('circle: ', circle);
+  return circle;
+}
+
+const ROBOT_ORIGIN: ReferenceFramewUnits = {
+  position: { ...randomCircle() },
+  orientation: RotationwUnits.eulerDegrees(0, 180, 0)
+};
+
+export const JBC_23: Scene = {
+  ...baseScene,
+  name: { [LocalizedString.EN_US]: 'JBC 23' },
+  description: {
+    [LocalizedString.EN_US]: `Junior Botball Challenge 23: Find the Black Line`,
+  },
+  scripts: {
+    foundBlack: Script.ecmaScript('Found Black Line', foundBlack),
+  },
+  geometry: {
+    ...baseScene.geometry,
+    blackLine_geom: {
+      type: "box",
+      size: {
+        x: Distance.inches(24),
+        y: Distance.centimeters(10),
+        z: Distance.inches(0.65),
+      },
+    },
+  },
+  nodes: {
+    ...baseScene.nodes,
+    robot: {
+      ...baseScene.nodes['robot'],
+      origin: ROBOT_ORIGIN,
+      startingOrigin: ROBOT_ORIGIN,
+    },
+    blackLine: {
+      type: "object",
+      geometryId: "blackLine_geom",
+      name: { [LocalizedString.EN_US]: "Black Line" },
+      visible: true,
+      origin: {
+        position: {
+          x: Distance.centimeters(0),
+          y: Distance.centimeters(-1.9),
+          z: Distance.inches(5.95),
+        },
+      },
+      material: {
+        type: "basic",
+        color: {
+          type: "color3",
+          color: Color.rgb(255, 255, 255),
+        },
+      },
+    },
+  },
+};

src/state/reducer/scenes.ts

@@ -327,7 +327,7 @@ const DEFAULT_SCENES: Scenes = {
   jbc20: Async.loaded({ value: JBC_SCENES.JBC_20 }),
   jbc21: Async.loaded({ value: JBC_SCENES.JBC_21 }),
   // jbc22: Async.loaded({ value: JBC_SCENES.JBC_22 }),
-  // jbc23: Async.loaded({ value: JBC_SCENES.JBC_23 }),
+  jbc23: Async.loaded({ value: JBC_SCENES.JBC_23 }),
   jbc24: Async.loaded({ value: JBC_SCENES.JBC_24 }),
   // scriptPlayground: Async.loaded({ value: JBC_SCENES.scriptPlayground }),
   // lightSensorTest: Async.loaded({ value: JBC_SCENES.lightSensorTest }),