fix: some unused imports causing errors
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2 changed files with 89 additions and 87 deletions
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@ -1,44 +1,45 @@
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<script lang="ts">
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import { T, useTask } from '@threlte/core'
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import { Grid } from '@threlte/extras'
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import CameraControls from './CameraControls.svelte'
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import { cameraControls, mesh } from './utils/cameraStore'
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import Hornet from '../models/Hornet.svelte'
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import { Vector3 } from 'three'
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import { onMount } from 'svelte'
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import RobotDecimated from '../models/RobotDecimated.svelte'
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import { T, useTask } from "@threlte/core";
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import { Grid } from "@threlte/extras";
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import CameraControls from "./CameraControls.svelte";
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import { cameraControls, mesh } from "./utils/cameraStore";
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import { Vector3 } from "three";
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import { onMount } from "svelte";
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import RobotDecimated from "../models/RobotDecimated.svelte";
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function vectorFromObject() {
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let ideal: Vector3 = new Vector3()
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$cameraControls.getPosition(ideal, true)
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let ideal: Vector3 = new Vector3();
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$cameraControls.getPosition(ideal, true);
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ideal.applyQuaternion($mesh.quaternion)
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ideal.add(new Vector3($mesh.position.x, $mesh.position.y, $mesh.position.z))
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return ideal
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ideal.applyQuaternion($mesh.quaternion);
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ideal.add(
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new Vector3($mesh.position.x, $mesh.position.y, $mesh.position.z)
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);
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return ideal;
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}
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const follow = (delta: number) => {
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// the object's position is bound to the prop
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if (!$mesh || !$cameraControls) return
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if (!$mesh || !$cameraControls) return;
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// typescript HACKS! never do this! How does this work? who knows!
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const robotPosition = vectorFromObject()
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const robotPosition = vectorFromObject();
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const horizontalOffsetDistance = 12 // Distance behind the leading vector
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const direction = new Vector3(0, 0, 1) // Default forward direction in Three.js is negative z-axis, so behind is positive z-axis
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const verticalOffset = new Vector3(0, -2.8, 0)
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const horizontalOffsetDistance = 12; // Distance behind the leading vector
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const direction = new Vector3(0, 0, 1); // Default forward direction in Three.js is negative z-axis, so behind is positive z-axis
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const verticalOffset = new Vector3(0, -2.8, 0);
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// Calculate the offset vector
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const offsetVector = direction
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.normalize()
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.multiplyScalar(horizontalOffsetDistance)
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.add(verticalOffset)
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.add(verticalOffset);
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// If the leading object is rotating, apply its rotation to the offset vector
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const rotatedOffsetVector = offsetVector.applyQuaternion($mesh.quaternion)
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const rotatedOffsetVector = offsetVector.applyQuaternion($mesh.quaternion);
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// Calculate the trailing vector's position
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const trailingVector = robotPosition.clone().sub(rotatedOffsetVector)
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const trailingVector = robotPosition.clone().sub(rotatedOffsetVector);
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$cameraControls.setLookAt(
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trailingVector.x,
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@ -48,10 +49,10 @@
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$mesh.position.y,
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$mesh.position.z,
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true
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)
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}
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);
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};
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useTask(delta => {
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useTask((delta) => {
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// follow(delta)
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// $cameraControls.moveTo(
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// $mesh.position.x,
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@ -59,7 +60,7 @@
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// $mesh.position.z,
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// true
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// )
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})
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});
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onMount(() => {
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setTimeout(() => {
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@ -80,21 +81,21 @@
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$mesh.position.y,
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$mesh.position.z,
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true
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)
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}, 8000)
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})
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);
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}, 8000);
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});
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</script>
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<T.PerspectiveCamera
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makeDefault
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position={[10, 10, 10]}
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on:create={({ ref }) => {
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ref.lookAt(0, 1, 0)
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ref.lookAt(0, 1, 0);
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}}
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>
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<CameraControls
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on:create={({ ref }) => {
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$cameraControls = ref
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$cameraControls = ref;
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}}
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/>
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</T.PerspectiveCamera>
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@ -105,15 +106,17 @@
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scale={[10, 10, 10]}
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position.y={0}
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on:create={({ ref }) => {
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$mesh = ref
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// @ts-expect-error
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$mesh = ref;
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}}
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/>
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<Grid
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sectionColor={'#ff3e00'}
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sectionColor={"#ff3e00"}
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sectionThickness={1}
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fadeDistance={125}
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fadeDistance={100}
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cellSize={6}
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cellColor={'#cccccc'}
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sectionSize={24}
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cellColor={"#cccccc"}
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infiniteGrid
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/>
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@ -1,23 +1,22 @@
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<script lang="ts">
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import { T, useTask } from '@threlte/core'
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import { ContactShadows, Float, Grid, OrbitControls } from '@threlte/extras'
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import Hornet from './models/Hornet.svelte'
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import Controls from './Controls.svelte'
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import { T, useTask } from "@threlte/core";
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import { ContactShadows, Float, Grid, OrbitControls } from "@threlte/extras";
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import Controls from "./Controls.svelte";
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import {
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Vector3,
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type Camera,
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type Group,
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type Object3D,
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type Object3DEventMap,
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} from 'three'
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} from "three";
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import {
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telemetryReadonlyStore,
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telemetryStore,
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} from '../../stores/telemetryStore'
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import { get } from 'svelte/store'
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import { Vector2 } from 'three'
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import { SmoothMotionController } from './smoothMotionController'
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import { onMount } from 'svelte'
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} from "../../stores/telemetryStore";
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import { get } from "svelte/store";
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import { Vector2 } from "three";
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import { SmoothMotionController } from "./smoothMotionController";
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import { onMount } from "svelte";
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/* This is the root scene where the robot visualization is built.
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It renders an infinite grid (it's not actually infinite, but we shouldn't run out
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@ -32,91 +31,91 @@
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is the most esoteric and jank code ever written.
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*/
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let shouldOrbit = true
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let shouldOrbit = true;
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// CONSTANTS
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const maxAngularVelocity = 2 // Max angular velocity, in radians per second
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const stoppingThreshold = 0.005 // Threshold in radians for when to consider the rotation close enough to stop
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const maxAngularVelocity = 2; // Max angular velocity, in radians per second
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const stoppingThreshold = 0.005; // Threshold in radians for when to consider the rotation close enough to stop
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// Proportional control factor
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const kP = 2 // Adjust this value based on responsiveness and stability needs
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const kP = 2; // Adjust this value based on responsiveness and stability needs
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// Sync robot orientation with target rotation
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let targetRot = 0
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let targetRot = 0;
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// Updates rotation to match target with PID controller (intended to be invoked in useTask)
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let rot = 0 // (initial) rotation in radians
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let angularVelocity = 0
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let rot = 0; // (initial) rotation in radians
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let angularVelocity = 0;
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const updateRotation = (delta: number) => {
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let angleDifference = targetRot - rot
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let angleDifference = targetRot - rot;
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// Normalize angle difference to the range [-π, π]
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angleDifference = ((angleDifference + Math.PI) % (2 * Math.PI)) - Math.PI
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angleDifference = ((angleDifference + Math.PI) % (2 * Math.PI)) - Math.PI;
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// Calculate the desired angular velocity based on the angle difference
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let desiredVelocity =
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Math.sign(angleDifference) *
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Math.min(maxAngularVelocity, Math.abs(kP * angleDifference))
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Math.min(maxAngularVelocity, Math.abs(kP * angleDifference));
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// If the object is very close to the target, adjust the desired velocity to zero to prevent overshooting
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if (Math.abs(angleDifference) < stoppingThreshold) {
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desiredVelocity = 0
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desiredVelocity = 0;
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}
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// Adjust angular velocity towards desired velocity
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angularVelocity = desiredVelocity
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angularVelocity = desiredVelocity;
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// Update rotation
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rot += angularVelocity * delta
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rot += angularVelocity * delta;
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// Normalize rot to the range [0, 2π]
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if (rot < 0) rot += 2 * Math.PI
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else if (rot > 2 * Math.PI) rot -= 2 * Math.PI
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if (rot < 0) rot += 2 * Math.PI;
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else if (rot > 2 * Math.PI) rot -= 2 * Math.PI;
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// Snap to the target rotation to prevent tiny oscillations if close enough
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if (Math.abs(angleDifference) < stoppingThreshold) {
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rot = targetRot
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angularVelocity = 0
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rot = targetRot;
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angularVelocity = 0;
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}
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}
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};
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let robotPos: Vector3 = new Vector3(0, 0, 0)
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let robotPos: Vector3 = new Vector3(0, 0, 0);
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const robotPosition = new Vector2(0, 0) // Initial position
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const initialVelocity = { x: 0, y: 0 } // Initial velocity
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const robotPosition = new Vector2(0, 0); // Initial position
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const initialVelocity = { x: 0, y: 0 }; // Initial velocity
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// The smooth motion controller utilizes a cubic hermite spline to interpolate between
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// the current simulation velocity and the robot's actual velocity
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const controller = new SmoothMotionController(robotPosition, initialVelocity)
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const controller = new SmoothMotionController(robotPosition, initialVelocity);
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onMount(() => {
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telemetryReadonlyStore.subscribe(value => {
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targetRot = (value['orientation'] * Math.PI) / 180 // convert deg to rad
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telemetryReadonlyStore.subscribe((value) => {
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targetRot = (value["orientation"] * Math.PI) / 180; // convert deg to rad
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controller.setTargetVelocity({
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x: value['chassis-x-speed'],
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y: value['chassis-y-speed'],
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})
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shouldOrbit = value.gear === 'park' || value.gear === '-999'
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x: value["chassis-x-speed"],
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y: value["chassis-y-speed"],
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});
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shouldOrbit = value.gear === "park" || value.gear === "-999";
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if (shouldOrbit) {
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robotPos = new Vector3(0, 0, 0)
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controller.reset()
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robotPos = new Vector3(0, 0, 0);
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controller.reset();
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}
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})
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})
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});
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});
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useTask(delta => {
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useTask((delta) => {
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if (!shouldOrbit) {
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updateRotation(delta)
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updateRotation(delta);
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controller.update(delta)
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robotPos.x = controller.getPosition().x
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robotPos.z = controller.getPosition().y
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controller.update(delta);
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robotPos.x = controller.getPosition().x;
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robotPos.z = controller.getPosition().y;
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}
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})
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});
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let capsule: Group<Object3DEventMap>
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let capRef: Group<Object3DEventMap>
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let capsule: Group<Object3DEventMap>;
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let capRef: Group<Object3DEventMap>;
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$: if (capsule) {
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capRef = capsule
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capRef = capsule;
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}
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</script>
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@ -145,11 +144,11 @@
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<ContactShadows scale={10} blur={2} far={2.5} opacity={0.5} />
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<Hornet
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<!-- <Hornet
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position.y={2}
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position.z={robotPos.z}
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position.x={robotPos.x}
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scale={[0.8, 0.8, 0.8]}
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bind:ref={capsule}
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rotation.y={rot}
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/>
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/> -->
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