diff --git a/Pixi/Robots/CubeUtility.cs b/Pixi/Robots/CubeUtility.cs index add4247..6c27a1b 100644 --- a/Pixi/Robots/CubeUtility.cs +++ b/Pixi/Robots/CubeUtility.cs @@ -438,8 +438,22 @@ namespace Pixi.Robots #endif Quaternion cubeQuaternion = Quaternion.Euler(cube.rotation); BlockJsonInfo[] blueprint = blueprintMap[cube.cubeId]; - float3 correctionVec = new float3((float)(0), (float)(RobotCommands.blockSize), (float)(0)); + if (blueprint.Length == 0) + { + Logging.LogWarning($"Found empty blueprint for {cube.name} (id:{cube.cubeId}), is the blueprint correct?"); + return new Block[0]; + } + float3 defaultCorrectionVec = new float3((float)(0), (float)(RobotCommands.blockSize), (float)(0)); + float3 baseRot = new float3(blueprint[0].rotation[0], blueprint[0].rotation[1], blueprint[0].rotation[2]); + float3 baseScale = new float3(blueprint[0].scale[0], blueprint[0].scale[1], blueprint[0].scale[2]); Block[] placedBlocks = new Block[blueprint.Length]; + bool isBaseScaled = !(blueprint[0].scale[1] > 0f && blueprint[0].scale[1] < 2f); + float3 correctionVec = isBaseScaled ? (float3)(Quaternion.Euler(baseRot) * baseScale / 2) * (float)-RobotCommands.blockSize : -defaultCorrectionVec; + // FIXME scaled base blocks cause the blueprint to be placed in the wrong location (this also could be caused by a bug in DumpVON command) + if (isBaseScaled) + { + Logging.LogWarning($"Found blueprint with scaled base block for {cube.name} (id:{cube.cubeId}), this is not currently supported"); + } for (int i = 0; i < blueprint.Length; i++) { BlockColor blueprintBlockColor = ColorSpaceUtility.QuantizeToBlockColor(blueprint[i].color); @@ -450,7 +464,7 @@ namespace Pixi.Robots float3 blueRot = new float3(blueprint[i].rotation[0], blueprint[i].rotation[1], blueprint[i].rotation[2]); float3 physicalLocation = (float3)(cubeQuaternion * bluePos) + actualPosition;// + (blueprintSizeRotated / 2); //physicalLocation.x += blueprintSize.x / 2; - physicalLocation -= (float3)(cubeQuaternion * correctionVec); + physicalLocation += (float3)(cubeQuaternion * (correctionVec)); //physicalLocation.y -= (float)(RobotCommands.blockSize * scale / 2); //float3 physicalScale = (float3)(cubeQuaternion * blueScale); // this actually over-rotates when combined with rotation float3 physicalScale = blueScale; diff --git a/Pixi/Robots/RobotCommands.cs b/Pixi/Robots/RobotCommands.cs index 279bc0c..e8e1e50 100644 --- a/Pixi/Robots/RobotCommands.cs +++ b/Pixi/Robots/RobotCommands.cs @@ -186,7 +186,11 @@ namespace Pixi.Robots Player local = new Player(PlayerType.Local); Block baseBlock = local.GetBlockLookedAt(); Block[] blocks = baseBlock.GetConnectedCubes(); - if (blocks.Length == 0) return; + bool isBaseScaled = !(baseBlock.Scale.x > 0 && baseBlock.Scale.x < 2 && baseBlock.Scale.y > 0 && baseBlock.Scale.y < 2 && baseBlock.Scale.z > 0 && baseBlock.Scale.z < 2); + if (isBaseScaled) + { + Logging.CommandLogWarning($"Detected scaled base block. This is not currently supported"); + } float3 basePos = baseBlock.Position; string von = VoxelObjectNotationUtility.SerializeBlocks(blocks, new float[] { basePos.x, basePos.y, basePos.z }); File.WriteAllText(filename, von); diff --git a/Pixi/blueprints.json b/Pixi/blueprints.json index e32ffd8..e3ef8e0 100644 --- a/Pixi/blueprints.json +++ b/Pixi/blueprints.json @@ -1,26 +1,93 @@ { "0":[{"name":"t2 rod short"}], "1312806203":[{"name":"AluminiumCube","position":[0.0,0.0,0.0],"rotation":[-1.19528313E-05,90.00001,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[0.0,2.98023224E-08,0.200000763],"rotation":[1.36603849E-05,270.0,2.44266586E-12],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[0.199998856,5.96046448E-08,0.200000763],"rotation":[-7.600128E-13,1.00179113E-05,1.36603821E-05],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[0.199999809,5.96046448E-08,9.536743E-07],"rotation":[-7.600128E-13,1.00179113E-05,1.36603821E-05],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[0.199998856,8.940697E-08,-0.199998856],"rotation":[-1.36603849E-05,90.0000153,-2.44266586E-12],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[-1.90734863E-06,2.98023224E-08,-0.199998856],"rotation":[-1.36603849E-05,90.0000153,-2.44266586E-12],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[-0.20000267,-2.98023224E-08,-0.1999979],"rotation":[7.600132E-13,180.0,-1.36603821E-05],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[-0.200001717,-2.98023224E-08,1.90734863E-06],"rotation":[7.600132E-13,180.0,-1.36603821E-05],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[-0.20000267,-2.98023224E-08,0.200001717],"rotation":[1.36603849E-05,270.0,0.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumCube","position":[0.0,0.5000001,0.0],"rotation":[1.02452868E-05,1.00179159E-05,1.36603821E-05],"color":[0.0,0.0,0.0],"scale":[1.0,4.0,1.0]},{"name":"AluminiumCube","position":[-1.90734863E-06,1.00000012,1.90734863E-06],"rotation":[2.00051545E-06,1.00179122E-05,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[-1.90734863E-06,1.00000024,0.200001717],"rotation":[1.19528313E-05,270.0,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[0.199996948,1.00000012,0.200000763],"rotation":[-1.36603849E-05,90.0,180.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[0.199998856,1.00000012,1.90734863E-06],"rotation":[2.00051545E-06,1.00179122E-05,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[0.199996948,1.00000012,-0.199998856],"rotation":[6.83019152E-06,180.0,180.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[-1.90734863E-06,1.00000036,-0.199998856],"rotation":[-1.19528313E-05,90.00001,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[-0.20000267,1.00000012,-0.199998856],"rotation":[1.36603849E-05,270.0,180.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[-0.20000267,1.00000024,1.90734863E-06],"rotation":[-3.41509258E-06,180.0,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[-0.20000267,1.00000012,0.200000763],"rotation":[-6.83019152E-06,1.00179122E-05,180.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]}], + "2":[{"name":"t2 rod"}], "1818686721":[{"name":"AluminiumCube","position":[0.0,0.0,0.0],"rotation":[-4.14323381E-07,1.72624223E-05,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[-9.536743E-07,2.98023224E-08,-0.200000763],"rotation":[-1.36603849E-05,90.0000153,-2.44266586E-12],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[-0.200001717,-2.98023224E-08,-0.199999809],"rotation":[7.600132E-13,180.0,-1.36603821E-05],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[-0.200000763,-5.96046448E-08,9.536743E-07],"rotation":[7.600132E-13,180.0,-1.36603821E-05],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[-0.200001717,-2.98023224E-08,0.200000763],"rotation":[1.3660383E-05,270.0,2.44266586E-12],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[9.536743E-07,0.0,0.199999809],"rotation":[1.3660383E-05,270.0,4.88533172E-12],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[0.199999809,5.96046448E-08,0.199999809],"rotation":[-7.600128E-13,1.00179113E-05,1.36603821E-05],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[0.200000763,5.96046448E-08,-9.536743E-07],"rotation":[-7.600128E-13,1.00179113E-05,1.36603821E-05],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[0.199999809,5.96046448E-08,-0.200000763],"rotation":[-1.36603849E-05,90.0000153,-2.44266586E-12],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumCube","position":[0.0,0.8,9.536743E-07],"rotation":[-6.83019152E-06,1.00179095E-05,1.36603821E-05],"color":[0.0,0.0,0.0],"scale":[1.0,7.0,1.0]},{"name":"AluminiumCube","position":[-9.536743E-07,1.6,9.536743E-07],"rotation":[-1.00736706E-05,2.20920938E-05,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[-9.536743E-07,1.60000026,0.200000763],"rotation":[1.36603785E-05,270.0,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[-0.200001717,1.60000026,0.199999809],"rotation":[-1.70754756E-05,1.00179095E-05,180.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[-0.200001717,1.6,9.536743E-07],"rotation":[6.24425456E-06,180.000015,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[-0.200001717,1.6,-0.199999809],"rotation":[1.36603849E-05,270.0,180.000015],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[-9.536743E-07,1.60000026,-0.199999809],"rotation":[-1.8783021E-05,90.00001,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[0.1999979,1.6,-0.199999809],"rotation":[1.70754756E-05,180.0,180.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumSlope","position":[0.199999809,1.60000014,9.536743E-07],"rotation":[-1.73181779E-05,1.00179095E-05,270.0],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]},{"name":"AluminiumPyramidSegment","position":[0.1999979,1.60000026,0.199999809],"rotation":[-1.36603885E-05,90.0,179.999985],"color":[1.0,1.0,1.0],"scale":[1.0,1.0,1.0]}], + "4":[{"name":"t2 rod long"}], 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