3D Dynamic Bumper Colors

bundledAssets/Robot_FRCKitBot/config.json

@@ -1,6 +1,7 @@
 {
   "name": "KitBot",
   "isFTC": false,
+  "dynamicColoring": true,
   "rotations": [
     {
       "axis": "z",

src/hub/controllers/Field3dController.ts

@@ -463,7 +463,9 @@ export default class Field3dController implements TabController {
               yz: mechanismYZ
             },
             visionTargets: visionTargets,
-            swerveStates: swerveStates
+            swerveStates: swerveStates,
+            bumperColor:
+              source.options.bumper === "auto" ? (isRedAlliance ? "#ff0000" : "#0000ff") : source.options.bumper
           });
           break;
         case "ghost":

src/hub/controllers/Field3dController_Config.ts

@@ -20,8 +20,7 @@ const Field3dController_Config: SourceListConfig = {
       display: "Robot",
       symbol: "location.fill",
       showInTypeName: false,
-      color: "#000000",
-      darkColor: "#ffffff",
+      color: "bumper",
       sourceTypes: [
         "Pose2d",
         "Pose3d",
@@ -39,6 +38,21 @@ const Field3dController_Config: SourceListConfig = {
           display: "Model",
           showInTypeName: true,
           values: []
+        },
+        {
+          key: "bumper",
+          display: "Bumper",
+          showInTypeName: false,
+          values: NeonColors_RedStart.toReversed()
+            .concat({
+              // Puts these options at the top
+              key: "#000000",
+              display: "Black"
+            }, {
+              key: "auto",
+              display: "Auto"
+            })
+            .toReversed()
         }
       ],
       initialSelectionOption: "model",
@@ -50,8 +64,7 @@ const Field3dController_Config: SourceListConfig = {
       display: "Robot",
       symbol: "location.fill",
       showInTypeName: false,
-      color: "#000000",
-      darkColor: "#ffffff",
+      color: "bumper",
       sourceTypes: ["NumberArray"],
       showDocs: false,
       options: [
@@ -80,6 +93,21 @@ const Field3dController_Config: SourceListConfig = {
             { key: "radians", display: "Radians" },
             { key: "degrees", display: "Degrees" }
           ]
+        },
+        {
+          key: "bumper",
+          display: "Bumper",
+          showInTypeName: false,
+          values: NeonColors_RedStart.toReversed()
+            .concat({
+              // Puts these options at the top
+              key: "#000000",
+              display: "Black"
+            }, {
+              key: "auto",
+              display: "Auto"
+            })
+            .toReversed()
         }
       ],
       initialSelectionOption: "model",

src/main/assetUtil.ts

@@ -298,7 +298,8 @@ export function parseRobot(configRaw: unknown): Config3dRobot | "invalid" {
     position: [0, 0, 0],
     cameras: [],
     components: [],
-    disableSimplification: false
+    disableSimplification: false,
+    dynamicColoring: false
   };
   if ("name" in configRaw && typeof configRaw.name === "string") {
     config.name = configRaw.name;
@@ -309,6 +310,10 @@ export function parseRobot(configRaw: unknown): Config3dRobot | "invalid" {
   if ("disableSimplification" in configRaw && typeof configRaw.disableSimplification === "boolean") {
     config.disableSimplification = configRaw.disableSimplification;
   }
+  if ("dynamicColoring" in configRaw && typeof configRaw.dynamicColoring === "boolean"
+  ) {
+    config.dynamicColoring = configRaw.dynamicColoring;
+  }
   if (
     "rotations" in configRaw &&
     Array.isArray(configRaw.rotations) &&

src/shared/AdvantageScopeAssets.ts

@@ -93,6 +93,7 @@ export interface Config3dRobot {
 
   isFTC: boolean;
   disableSimplification: boolean;
+  dynamicColoring: boolean;
   rotations: Config3d_Rotation[];
   position: [number, number, number];
   cameras: Config3dRobot_Camera[];

src/shared/renderers/Field3dRenderer.ts

@@ -155,6 +155,7 @@ export type Field3dRendererCommand_GenericRobotObj = {
 
 export type Field3dRendererCommand_RobotObj = Field3dRendererCommand_GenericRobotObj & {
   type: "robot";
+  bumperColor: string;
 };
 
 export type Field3dRendererCommand_GhostObj = Field3dRendererCommand_GenericRobotObj & {

src/shared/renderers/Field3dRendererImpl.ts

@@ -824,7 +824,8 @@ export default class Field3dRendererImpl implements TabRenderer {
             components: [],
             mechanisms: { xz: null, yz: null },
             visionTargets: [],
-            swerveStates: []
+            swerveStates: [],
+            bumperColor: "#000000"
           });
         }
       }

src/shared/renderers/field3d/OptimizeGeometries.ts

@@ -28,13 +28,16 @@ export default async function optimizeGeometries(
   normal: THREE.Mesh[];
   transparent: THREE.Mesh[];
   carpet: THREE.Mesh[];
+  bumper: THREE.Mesh[];
 }> {
   return new Promise(async (resolve) => {
     let geometries = getGeometries(object, mode, enableSimplification, isFTC, slicingSize);
 
     let normalMeshes: THREE.Mesh[] = [];
     let transparentMeshes: THREE.Mesh[] = [];
     let carpetMeshes: THREE.Mesh[] = [];
+    let bumperMeshes: THREE.Mesh[] = [];
+
     geometries.normal.forEach((group) => {
       if (group.length > 0) {
         let geometry = BufferGeometryUtils.mergeGeometries(group, false);
@@ -104,11 +107,34 @@ export default async function optimizeGeometries(
         }
       }
     });
+    geometries.bumper.forEach((group) => {
+      if (group.length > 0) {
+        let geometry = BufferGeometryUtils.mergeGeometries(group, false);
+        if (geometry !== null) {
+          let mesh = new THREE.Mesh(
+            geometry,
+            new THREE.MeshPhongMaterial({
+              vertexColors: true,
+              side: THREE.DoubleSide,
+              specular: materialSpecular,
+              shininess: materialShininess
+            })
+          );
+          bumperMeshes.push(mesh);
+          if (mode === "cinematic") {
+            mesh.castShadow = true;
+            mesh.receiveShadow = false;
+          }
+          mesh.name = "bumper";
+        }
+      }
+    });
     disposeObject(object);
     resolve({
       normal: normalMeshes,
       transparent: transparentMeshes,
-      carpet: carpetMeshes
+      carpet: carpetMeshes,
+      bumper: bumperMeshes
     });
   });
 }
@@ -119,10 +145,16 @@ function getGeometries(
   enableSimplification: boolean,
   isFTC: boolean,
   slicingSize?: number
-): { normal: THREE.BufferGeometry[][]; transparent: THREE.BufferGeometry[][]; carpet: THREE.BufferGeometry[][] } {
+): {
+  normal: THREE.BufferGeometry[][];
+  transparent: THREE.BufferGeometry[][];
+  carpet: THREE.BufferGeometry[][];
+  bumper: THREE.BufferGeometry[][];
+} {
   let normal: THREE.BufferGeometry[][] = [];
   let transparent: THREE.BufferGeometry[][] = [];
   let carpet: THREE.BufferGeometry[][] = [];
+  let bumper: THREE.BufferGeometry[][] = [];
 
   let totalCount = 0;
   object.traverse((object) => {
@@ -215,6 +247,11 @@ function getGeometries(
             transparent.push([]);
           }
           transparent[outputIndex].push(geometry);
+        } else if (mesh.name.includes("BUMPERCOLOR")) {
+          while (bumper.length < outputIndex + 1) {
+            bumper.push([]);
+          }
+          bumper[outputIndex].push(geometry);
         } else {
           while (normal.length < outputIndex + 1) {
             normal.push([]);
@@ -228,6 +265,7 @@ function getGeometries(
   return {
     normal: normal,
     transparent: transparent,
-    carpet: carpet
+    carpet: carpet,
+    bumper: bumper
   };
 }

src/shared/renderers/field3d/objectManagers/RobotManager.ts

@@ -50,6 +50,7 @@ export default class RobotManager extends ObjectManager<
     shininess: this.materialShininess,
     depthWrite: false
   });
+  private bumperMaterial = new THREE.MeshStandardMaterial();
   private visionLines: Line2[] = [];
   private mechanismLinesXZ: MechanismLineData[] = [];
   private mechanismLinesYZ: MechanismLineData[] = [];
@@ -69,6 +70,7 @@ export default class RobotManager extends ObjectManager<
   private hasNewAssets = false;
   private lastModel = "";
   private lastColor = "";
+  private lastBumperColor = "";
   private lastHadSwerveStates = false;
   private lastHideRobotModels = false;
 
@@ -248,6 +250,13 @@ export default class RobotManager extends ObjectManager<
                   }
                 }
 
+                if (mesh.name.includes("BUMPERCOLOR") && robotConfig.dynamicColoring) {
+                  if (!Array.isArray(mesh.material)) {
+                    mesh.material.dispose();
+                  }
+                  mesh.material = this.bumperMaterial;
+                }
+
                 if (object.type === "ghost") {
                   if (!Array.isArray(mesh.material)) {
                     mesh.material.dispose();
@@ -298,6 +307,13 @@ export default class RobotManager extends ObjectManager<
                   }
                 }
 
+                if (mesh.name === "bumper" && robotConfig.dynamicColoring) {
+                  if (!Array.isArray(mesh.material)) {
+                    mesh.material.dispose();
+                  }
+                  mesh.material = this.bumperMaterial;
+                }
+
                 if (object.type === "ghost") {
                   if (!Array.isArray(mesh.material)) {
                     mesh.material.dispose();
@@ -346,6 +362,19 @@ export default class RobotManager extends ObjectManager<
       this.meshes[0].setPoses(object.poses.map((x) => x.pose));
     }
 
+    // Update bumper color
+    if (object.type === "robot" && object.bumperColor !== this.lastBumperColor) {
+      this.lastBumperColor = object.bumperColor;
+      this.bumperMaterial.color = new THREE.Color(object.bumperColor).offsetHSL(0.0, -0.1, 0.0);
+
+      if (!robotConfig?.dynamicColoring) {
+        window.sendMainMessage("error", {
+          title: "Cannot display dynamic color.",
+          content: "This robot model is not configured for displaying dynamic colors and your selection will not have any effect. See the documentation for details."
+        });
+      }
+    }
+
     // Update components
     for (let i = 1; i < this.meshes.length; i++) {
       this.meshes[i].setPoses(

src/shared/renderers/field3d/workers/loadRobot.ts

@@ -62,6 +62,7 @@ self.onmessage = (event) => {
       let sceneMeshes: THREE.Mesh[] = [];
       if (optimized.normal.length > 0) sceneMeshes.push(optimized.normal[0]);
       if (optimized.transparent.length > 0) sceneMeshes.push(optimized.transparent[0]);
+      if (optimized.bumper.length > 0) sceneMeshes.push(optimized.bumper[0]);
       meshes.push(sceneMeshes.map((mesh) => mesh.toJSON()));
     }
 

src/xrClient/XRRenderer.ts

@@ -747,7 +747,8 @@ export default class XRRenderer {
             components: [],
             mechanisms: { xz: null, yz: null },
             visionTargets: [],
-            swerveStates: []
+            swerveStates: [],
+            bumperColor: "#000000"
           });
         }
       }