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Update JBC9 #607

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83 changes: 36 additions & 47 deletions src/simulator/definitions/challenges/jbc9-Cover-Your-Bases.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -22,25 +22,25 @@ export default {
name: tr('Robot not in Start Box'),
description: tr('Robot not in start box'),
},
canAUpright: {
name: tr('Can A Upright'),
description: tr('Can A upright in a circle'),
canANotUpright: {
name: tr('Can A Not Upright'),
description: tr('Can A not upright in a circle'),
},
canBUpright: {
name: tr('Can B Upright'),
description: tr('Can B upright in a circle'),
canBNotUpright: {
name: tr('Can B Not Upright'),
description: tr('Can B not upright in a circle'),
},
canCUpright: {
name: tr('Can C Upright'),
description: tr('Can C upright in a circle'),
canCNotUpright: {
name: tr('Can C Not Upright'),
description: tr('Can C not upright in a circle'),
},
canDUpright: {
name: tr('Can D Upright'),
description: tr('Can D upright in a circle'),
canDNotUpright: {
name: tr('Can D Not Upright'),
description: tr('Can D not upright in a circle'),
},
canEUpright: {
name: tr('Can E Upright'),
description: tr('Can E upright in a circle'),
canENotUpright: {
name: tr('Can E Not Upright'),
description: tr('Can E not upright in a circle'),
},
baseACovered: {
name: tr('Base A Covered'),
Expand Down Expand Up @@ -105,59 +105,48 @@ export default {
argIds: ['baseACovered', 'baseBCovered', 'baseCCovered', 'baseDCovered', 'baseECovered'],
},

// Upright Events
canAUpright: {
type: Expr.Type.Event,
eventId: 'canAUpright',
// Success logic: stared in start box and five bases covered
completion: {
type: Expr.Type.And,
argIds: ['inStartBoxOnce', 'allBasesCovered'],
},
},
rootId: 'completion',
},
failure: {
exprs: {
canANotUpright: {
type: Expr.Type.Not,
argId: 'canAUpright',
},
canBUpright: {
type: Expr.Type.Event,
eventId: 'canBUpright',
eventId: 'canANotUpright',
},
canBNotUpright: {
type: Expr.Type.Not,
argId: 'canBUpright',
},
canCUpright: {
type: Expr.Type.Event,
eventId: 'canCUpright',
eventId: 'canBNotUpright',
},
canCNotUpright: {
type: Expr.Type.Not,
argId: 'canCUpright',
},
canDUpright: {
type: Expr.Type.Event,
eventId: 'canDUpright',
eventId: 'canCNotUpright',
},
canDNotUpright: {
type: Expr.Type.Not,
argId: 'canDUpright',
},
canEUpright: {
type: Expr.Type.Event,
eventId: 'canEUpright',
eventId: 'canDNotUpright',
},
canENotUpright: {
type: Expr.Type.Not,
argId: 'canEUpright',
type: Expr.Type.Event,
eventId: 'canENotUpright',
},
allCansUpright: {
allCansNotUpright: {
type: Expr.Type.And,
argIds: ['canAUpright', 'canBUpright', 'canCUpright', 'canDUpright', 'canEUpright'],
argIds: ['canANotUpright', 'canBNotUpright', 'canCNotUpright', 'canDNotUpright', 'canENotUpright'],
},

// Success Logic = Can A upright, intersects and touched
completion: {
// Failure logic based on can uprightness thresholds
failure: {
type: Expr.Type.And,
argIds: ['inStartBoxOnce', 'allBasesCovered', 'allCansUpright'],
argIds: ['canANotUpright', 'canBNotUpright', 'canCNotUpright', 'canDNotUpright', 'canENotUpright'],
},
},
rootId: 'completion',
rootId: 'failure',
},
successGoals: [
{ exprId: 'inStartBoxOnce', name: tr('Start in the Start Box') },
Expand Down
163 changes: 42 additions & 121 deletions src/simulator/definitions/scenes/jbc9-Cover-Your-Bases.ts
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Original file line number Diff line number Diff line change
@@ -1,118 +1,65 @@
import Scene from '../../../state/State/Scene';
import { ReferenceFramewUnits } from '../../../util/math/unitMath';
import { Distance } from '../../../util';
import LocalizedString from '../../../util/LocalizedString';
import Script from '../../../state/State/Scene/Script';
import { createBaseSceneSurfaceA, createCanNode, createCircleNode } from './jbcBase';
import { Color } from '../../../state/State/Scene/Color';
import tr from '@i18n';
import { matAStartGeoms, matAStartNodes, nodeUpright, setNodeVisible, notInStartBox } from './jbcCommonComponents';

const baseScene = createBaseSceneSurfaceA();

const notInStartBox = `
scene.addOnIntersectionListener('robot', (type, otherNodeId) => {
// console.log('Robot not started in start box!', type, otherNodeId);
if(scene.programStatus === 'running'){
scene.setChallengeEventValue('notInStartBox', type === 'start');
}
}, 'notStartBox');
`;

const circleIntersectsUpright = `
const setNodeVisible = (nodeId, visible) => scene.setNode(nodeId, {
...scene.nodes[nodeId],
visible
});

const EULER_IDENTITY = RotationwUnits.EulerwUnits.identity();
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));

const cans = ['can1', 'can2', 'can3', 'can4', 'can5', 'can6', 'can7'];
let circles = [false, false, false, false, false, false, false];
let uprights = [true, true, true, true, true, true, true];

${setNodeVisible}
${nodeUpright}
const cans = new Map([
['can1', false],
['can2', false],
['can3', false],
['can4', false],
['can5', false],
['can6', false],
['can7', false],
]);

// Rules for jbc9 are updated:
// There may be more that one circle on a can.
scene.addOnRenderListener(() => {
let circleCount = 0;
let uprightCount = 0;

for (const circle of circles) {
if (circle) {
circleCount++;
}
if(scene.programStatus === 'running'){
const covered = new Map(cans.entries().filter((c) => c[1]));
scene.setChallengeEventValue('baseACovered', covered.size > 0);
scene.setChallengeEventValue('baseBCovered', covered.size > 1);
scene.setChallengeEventValue('baseCCovered', covered.size > 2);
scene.setChallengeEventValue('baseDCovered', covered.size > 3);
scene.setChallengeEventValue('baseECovered', covered.size > 4);
const notUpright = covered.keys().reduce((count, k) => !nodeUpright(k) ? ++count : count, 0);
scene.setChallengeEventValue('canANotUpright', notUpright > 0);
scene.setChallengeEventValue('canBNotUpright', notUpright > 1);
scene.setChallengeEventValue('canCNotUpright', notUpright > 2);
scene.setChallengeEventValue('canDNotUpright', notUpright > 3);
scene.setChallengeEventValue('canENotUpright', notUpright > 4);
}
scene.setChallengeEventValue('baseACovered', circleCount > 0);
scene.setChallengeEventValue('baseBCovered', circleCount > 1);
scene.setChallengeEventValue('baseCCovered', circleCount > 2);
scene.setChallengeEventValue('baseDCovered', circleCount > 3);
scene.setChallengeEventValue('baseECovered', circleCount > 4);

for (const upright of uprights) {
if (upright) {
uprightCount++;
// Users must complete challenge in one run
else {
for (const k of cans.keys()) {
cans.set(k, false);
}
}
scene.setChallengeEventValue('canAUpright', uprightCount > 0);
scene.setChallengeEventValue('canBUpright', uprightCount > 1);
scene.setChallengeEventValue('canCUpright', uprightCount > 2);
scene.setChallengeEventValue('canDUpright', uprightCount > 3);
scene.setChallengeEventValue('canEUpright', uprightCount > 4);
});

scene.addOnIntersectionListener('circle1', (type, otherNodeId) => {
const visible = type === 'start';
circles[0] = visible;
setNodeVisible('circle1', visible);
uprights[0] = yAngle(otherNodeId) > 5;
}, [...cans]);

scene.addOnIntersectionListener('circle2', (type, otherNodeId) => {
const visible = type === 'start';
circles[1] = visible;
setNodeVisible('circle2', visible);
uprights[1] = yAngle(otherNodeId) > 5;
}, [...cans]);

scene.addOnIntersectionListener('circle3', (type, otherNodeId) => {
const visible = type === 'start';
circles[2] = visible;
setNodeVisible('circle3', visible);
uprights[2] = yAngle(otherNodeId) > 5;
}, [...cans]);

scene.addOnIntersectionListener('circle4', (type, otherNodeId) => {
const visible = type === 'start';
circles[3] = visible;
setNodeVisible('circle4', visible);
uprights[3] = yAngle(otherNodeId) > 5;
}, [...cans]);

scene.addOnIntersectionListener('circle5', (type, otherNodeId) => {
const visible = type === 'start';
circles[4] = visible;
setNodeVisible('circle5', visible);
uprights[4] = yAngle(otherNodeId) > 5;
}, [...cans]);

scene.addOnIntersectionListener('circle6', (type, otherNodeId) => {
const visible = type === 'start';
circles[5] = visible;
setNodeVisible('circle6', visible);
uprights[5] = yAngle(otherNodeId) > 5;
}, [...cans]);

scene.addOnIntersectionListener('circle7', (type, otherNodeId) => {
const visible = type === 'start';
circles[6] = visible;
setNodeVisible('circle7', visible);
uprights[6] = yAngle(otherNodeId) > 5;
}, [...cans]);
for (let i = 0; i < cans.size; i++) {
const circleName = 'circle' + (i + 1);
scene.addOnIntersectionListener(circleName, (type, otherNodeId) => {
cans.set(otherNodeId, type === 'start');
//console.log(circleName, otherNodeId, type, cans);
}, cans.keys().toArray());
}
`;

const ROBOT_ORIGIN: ReferenceFramewUnits = {
...baseScene.nodes['robot'].origin,
position: {
...baseScene.nodes['robot'].origin.position,
z: Distance.centimeters(-8),
z: Distance.centimeters(-10),
},
};

Expand All @@ -126,37 +73,11 @@ export const JBC_9: Scene = {
},
geometry: {
...baseScene.geometry,
notStartBox_geom: {
type: 'box',
size: {
x: Distance.meters(3.54),
y: Distance.centimeters(10),
z: Distance.meters(2.14),
},
},
...matAStartGeoms
},
nodes: {
...baseScene.nodes,
notStartBox: {
type: 'object',
geometryId: 'notStartBox_geom',
name: tr('Not Start Box'),
visible: false,
origin: {
position: {
x: Distance.centimeters(0),
y: Distance.centimeters(-1.9),
z: Distance.meters(1.188),
},
},
material: {
type: 'basic',
color: {
type: 'color3',
color: Color.rgb(255, 0, 0),
},
},
},
...matAStartNodes,
// The normal starting position of the robot covers the tape
// Start the robot back a bit so that a can fits on the tape in front of the robot
robot: {
Expand Down