Pre-Summer Update (#974)

.github/workflows/FissionESLintFormat.yml

@@ -0,0 +1,44 @@
+name: Fission - ES Lint Format
+
+on:
+  workflow_dispatch: {}
+  push: 
+    branches: [ master, dev ]
+  pull_request:
+    branches: [ master, dev ]
+
+jobs:
+  runFormatValidationScript:
+    name: ESLint Format Validation
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v2
+    - name: JavaScript Setup
+      uses: actions/setup-node@v2
+      with:
+        node-version: 20
+    - name: Install Dependencies
+      run: |
+        cd fission
+        npm install
+    - name: Linter
+      id: linter-validation
+      run: |
+        cd fission
+        npm run lint
+      continue-on-error: true
+    - name: Prettier
+      id: prettier-validation
+      run: |
+        cd fission
+        npm run prettier
+      continue-on-error: true
+    - name: Check Success
+      run: |
+        if [ ${{ steps.linter-validation.outcome }} == "success" ]; then
+          echo "Format Validation Passed"
+        else
+          echo "Format Validation Failed"
+          exit 1
+        fi

.github/workflows/FissionPackage.yml

@@ -0,0 +1,47 @@
+name: Fission - Package
+
+on:
+  workflow_dispatch: {}
+  push:
+    branches: [ master, dev ]
+
+jobs:
+  runUnitTests:
+    name: Package
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v2
+    - name: JavaScript Setup
+      uses: actions/setup-node@v2
+      with:
+        node-version: 20
+
+    - name: Get date
+      id: date # this is used on variable path
+      run: |
+        echo "timestamp=$(date +'%Y-%m-%dT%H-%M-%S')" >> $GITHUB_OUTPUT
+
+    - name: Install Dependencies
+      run: |
+        cd fission
+        npm install
+
+    - name: Get package info
+      id: info
+      uses: codex-team/[email protected]
+      with:
+        path: fission/
+
+    - name: Build
+      id: build
+      run: |
+        cd fission
+        npm run build
+
+    - name: Upload Artifact
+      uses: actions/upload-artifact@v4
+      id: upload-artifact
+      with:
+        name: "${{ steps.info.outputs.name }}@${{ steps.info.outputs.version }}[${{ steps.date.outputs.timestamp }}]"
+        path: fission/dist/

.github/workflows/FissionUnitTest.yml

@@ -0,0 +1,38 @@
+name: Fission - Unit Test
+
+on:
+  workflow_dispatch: {}
+  push:
+    branches: [ master, dev ]
+  pull_request:
+    branches: [ master, dev ]
+
+jobs:
+  runUnitTests:
+    name: Unit Tests
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout Code
+      uses: actions/checkout@v2
+    - name: JavaScript Setup
+      uses: actions/setup-node@v2
+      with:
+        node-version: 20
+    - name: Install Dependencies
+      run: |
+        cd fission
+        npm install
+    - name: Unit Tests
+      id: unit-tests
+      run: |
+        cd fission
+        npm run test
+      continue-on-error: true
+    - name: Check Success
+      run: |
+        if [ ${{ steps.unit-tests.outcome }} == "success" ]; then
+          echo "Format Validation Passed"
+        else
+          echo "Format Validation Failed"
+          exit 1
+        fi

engine/Assets/Scripts/Importer/MirabufDefinitionHelper.cs

@@ -121,6 +121,9 @@ public static void MakePartDefinition(GameObject container, PartDefinition defin
             AssemblyData assemblyData, ColliderGenType colliderGenType, bool useIndex, int partIndex) {
             PhysicMaterial physMat = new PhysicMaterial { dynamicFriction = 0.6f, staticFriction = 0.6f };
             foreach (var body in definition.Bodies) {
+                if (body.TriangleMesh == null)
+                    continue;
+
                 var bodyObject    = new GameObject(useIndex ? $"{body.Info.Name}_{partIndex}" : body.Info.Name);
                 var filter        = bodyObject.AddComponent<MeshFilter>();
                 var renderer      = bodyObject.AddComponent<MeshRenderer>();

exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Components.py

@@ -43,14 +43,18 @@ def _MapAllComponents(
         else:
             partDefinition.dynamic = True
 
-        for body in component.bRepBodies:
+        def processBody(body: adsk.fusion.BRepBody | adsk.fusion.MeshBody):
             if progressDialog.wasCancelled():
                 raise RuntimeError("User canceled export")
             if body.isLightBulbOn:
                 part_body = partDefinition.bodies.add()
                 fill_info(part_body, body)
                 part_body.part = comp_ref
-                _ParseBRep(body, options, part_body.triangle_mesh)
+
+                if isinstance(body, adsk.fusion.BRepBody):
+                    _ParseBRep(body, options, part_body.triangle_mesh)
+                else:
+                    _ParseMesh(body, options, part_body.triangle_mesh)
 
                 appearance_key = "{}_{}".format(body.appearance.name, body.appearance.id)
                 # this should be appearance
@@ -59,6 +63,12 @@ def _MapAllComponents(
                 else:
                     part_body.appearance_override = "default"
 
+        for body in component.bRepBodies:
+            processBody(body)
+
+        for body in component.meshBodies:
+            processBody(body)
+
 
 @TimeThis
 def _ParseComponentRoot(
@@ -199,6 +209,29 @@ def _ParseBRep(
         )
 
 
+def _ParseMesh(
+    meshBody: adsk.fusion.MeshBody,
+    options: ParseOptions,
+    trimesh: assembly_pb2.TriangleMesh,
+) -> any:
+    try:
+        mesh = meshBody.displayMesh
+
+        fill_info(trimesh, meshBody)
+        trimesh.has_volume = True
+
+        plainmesh_out = trimesh.mesh
+
+        plainmesh_out.verts.extend(mesh.nodeCoordinatesAsFloat)
+        plainmesh_out.normals.extend(mesh.normalVectorsAsFloat)
+        plainmesh_out.indices.extend(mesh.nodeIndices)
+        plainmesh_out.uv.extend(mesh.textureCoordinatesAsFloat)
+    except:
+        logging.getLogger("{INTERNAL_ID}.Parser.BrepBody").error(
+            "Failed:\n{}".format(traceback.format_exc())
+        )
+
+
 def _MapRigidGroups(
     rootComponent: adsk.fusion.Component, joints: joint_pb2.Joints
 ) -> None:

exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py

@@ -166,6 +166,12 @@ def export(self) -> bool:
             path = pathlib.Path(self.parseOptions.fileLocation).parent
             path.mkdir(parents=True, exist_ok=True)
 
+            ### Print out assembly as JSON
+            # miraJson = MessageToJson(assembly_out)
+            # miraJsonFile = open(f'', 'wb')
+            # miraJsonFile.write(str.encode(miraJson))
+            # miraJsonFile.close()
+
             if self.parseOptions.compress:
                 self.logger.debug("Compressing file")
                 with gzip.open(self.parseOptions.fileLocation, "wb", 9) as f:

fission/.eslintrc.cjs

@@ -0,0 +1,27 @@
+module.exports = {
+  root: true,
+  env: { browser: true, es2020: true },
+  extends: [
+    'eslint:recommended',
+    'plugin:@typescript-eslint/recommended',
+    'plugin:react-hooks/recommended',
+  ],
+  ignorePatterns: ['dist', '.eslintrc.cjs', 'src/proto/mirabuf.*', 'src/samples/*'],
+  parser: '@typescript-eslint/parser',
+  plugins: ['react-refresh'],
+  rules: {
+    'react-refresh/only-export-components': [
+      'warn',
+      { allowConstantExport: true },
+    ],
+    '@typescript-eslint/no-unused-vars': [
+      'warn', // or "error"
+      {
+        'argsIgnorePattern': '^_',
+        'varsIgnorePattern': '^_',
+        'caughtErrorsIgnorePattern': '^_'
+      }
+    ]
+  },
+
+}

fission/.gitignore

@@ -0,0 +1,24 @@
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+pnpm-debug.log*
+lerna-debug.log*
+
+node_modules
+dist
+dist-ssr
+*.local
+
+# Editor directories and files
+.vscode/*
+!.vscode/extensions.json
+.idea
+.DS_Store
+*.suo
+*.ntvs*
+*.njsproj
+*.sln
+*.sw?

fission/README.md

@@ -0,0 +1,65 @@
+# Fission: Synthesis' web-based robot simulator
+
+## Gettings Started
+### Requirements
+1. NPM (v10.2.4 recommended)
+2. NodeJS (v20.10.0 recommended)
+3. TypeScript (v4.8.4 recommended) *Unknown if this is actually required*
+
+### Building
+To build, install all dependencies:
+```bash
+npm i
+```
+### NPM Scripts
+
+| Script | Description |
+| ------ | ----------- |
+| `dev` | Starts the development server used for testing. Supports hotloading (though finicky with WASM module loading). |
+| `test` | Runs the unit tests via vitest. |
+| `build` | Builds the project into it's packaged form. Uses root base path. |
+| `build:prod` | Builds the project into it's packaged form. Uses the `/fission/` base path. |
+| `preview` | Runs the built project for preview locally before deploying. |
+| `lint` | Runs eslint on the project. |
+| `lint:fix` | Attempts to fix issues found with eslint. |
+| `prettier` | Runs prettier on the project as a check. |
+| `prettier:fix` | Runs prettier on the project to fix any issues with formating. **DO NOT USE**, I don't like the current format it uses. |
+| `format` | Runs `prettier:fix` and `lint:fix`. **Do not use** for the same reasons as `prettier:fix`. |
+
+## Core Systems
+These core systems make up the bulk of the vital technologies to make Synthesis work. The idea is that these systems will serve as a
+jumping off point for anything requiring real-time simulation.
+
+### World
+The world serves as a hub for all of the core systems. It is a static class that handles system update execution order and lifetime.
+
+### Scene Renderer
+The Scene Renderer is our interface with rendering within the Canvas. This is primarily done via ThreeJS, however can be extended later on.
+
+### Physics System
+This Physics System is our interface with Jolt, ensuring objects are properly handled and provides utility functions that are more custom fit to our purposes.
+
+[Jolt Physics Architecture](https://jrouwe.github.io/JoltPhysics/)
+
+### Input System
+
+### UI System
+
+## Additional Systems
+These systems will extend off of the core systems to build out features in Synthesis.
+
+### Simulation System
+The Simulation System articulates dynamic elements of the scene via the Physics System. At it's core there are 3 main components:
+
+#### Driver
+Drivers are mostly write-only. They take in values to know how to articulate the physics objects and contraints.
+
+#### Stimulus
+Stimulu are mostly read-only. They read values from given physics objects and constraints.
+
+#### Brain
+Brains are the controllers of the mechanisms. They use a combination of Drivers and Stimuli to control a given mechanism.
+
+For basic user control of the mechanisms, we'll have a Synthesis Brain. By the end of Summer 2024, I hope to have an additional brain, the WPIBrain for facilitating WPILib code control over the mechanisms inside of Synthesis.
+
+### Mode System

fission/index.html

@@ -0,0 +1,15 @@
+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <link rel="icon" type="image/svg+xml" href="/synthesis-logo.svg" />
+    <link rel='stylesheet' href='https://static-dc.autodesk.net/etc/designs/v201808022224/templates-general/structure/fonts/artifakt/clientlibs/artifakt.css'/>
+    <link rel="stylesheet" href="https://fonts.googleapis.com/css2?family=Roboto:ital,wght@0,100;0,300;0,400;0,500;0,700;0,900;1,100;1,300;1,400;1,500;1,700;1,900&display=swap" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Fission | Synthesis</title>
+  </head>
+  <body>
+    <div id="root"></div>
+    <script type="module" src="/src/main.tsx"></script>
+  </body>
+</html>