Merge branch 'main' into 2027

jwbonner · jwbonner · commit 750baf7cd00d · 2025-07-21T00:18:47.000-04:00
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -100,6 +100,8 @@ jobs:
           cache: "npm"
       - name: Setup Emscripten
         uses: mymindstorm/setup-emsdk@v14
+        with:
+          version: 3.1.74
       - name: Install Node.js dependencies
         run: npm ci
         env:
diff --git a/docs/docs/more-features/custom-assets/index.md b/docs/docs/more-features/custom-assets/index.md
@@ -43,7 +43,7 @@ A model must be included in the folder with the name "model.glb". CAD files must
 ```json
 {
   "name": string // Unique name, required for all asset types
-  "isFTC": string // Whether the model is intended for use on FTC fields instead of FRC fields (default "false")
+  "isFTC": boolean // Whether the model is intended for use on FTC fields instead of FRC fields (default "false")
   "disableSimplification": boolean // Whether to disable model simplification, optional
   "rotations": { "axis": "x" | "y" | "z", "degrees": number }[] // Sequence of rotations along the x, y, and z axes
   "position": [number, number, number] // Position offset in meters, applied after rotation
diff --git a/docs/docs/tab-reference/3d-field/index.md b/docs/docs/tab-reference/3d-field/index.md
@@ -92,7 +92,7 @@ Mechanism data can be visualized using 2D mechanisms or articulated 3D component
 
 ### 2D Mechanisms
 
-To visualize mechanism data logged using a [`Mechanism2d`](https://docs.wpilib.org/en/stable/docs/software/dashboards/glass/mech2d-widget.html), add the mechanism field to an existing robot or ghost object. The mechanism is projected onto the XZ plane of the robot using simple boxes (as shown below). The robot's origin is centered on the bottom edge of the mechanism.
+To visualize mechanism data logged using a [`Mechanism2d`](https://docs.wpilib.org/en/stable/docs/software/dashboards/glass/mech2d-widget.html), add the mechanism field to an existing robot or ghost object. The mechanism is projected onto the XZ or YZ plane of the robot using simple boxes, as shown below. Click the gear icon or right-click on the field name to switch between the XZ and YZ planes. The robot's origin is centered on the bottom edge of the mechanism.
 
 ![2D mechanism](./img/3d-field-2.png)
 
diff --git a/src/hub/controllers/Field3dController.ts b/src/hub/controllers/Field3dController.ts
@@ -255,7 +255,8 @@ export default class Field3dController implements TabController {
 
       // Add data from children
       let components: AnnotatedPose3d[] = [];
-      let mechanisms: MechanismState[] = [];
+      let mechanismsXZ: MechanismState[] = [];
+      let mechanismsYZ: MechanismState[] = [];
       let visionTargets: AnnotatedPose3d[] = [];
       let swerveStates: {
         values: SwerveState[];
@@ -271,9 +272,9 @@ export default class Field3dController implements TabController {
             }
 
             case "mechanism": {
-              let state = getMechanismState(window.log, child.logKey, time!, child.options.axis);
+              let state = getMechanismState(window.log, child.logKey, time!);
               if (state !== null) {
-                mechanisms.push(state);
+                (child.options.plane === "yz" ? mechanismsYZ : mechanismsXZ).push(state);
               }
               break;
             }
@@ -341,7 +342,8 @@ export default class Field3dController implements TabController {
           }
         });
       }
-      let mechanism = mechanisms.length === 0 ? null : mergeMechanismStates(mechanisms);
+      let mechanismXZ = mechanismsXZ.length === 0 ? null : mergeMechanismStates(mechanismsXZ);
+      let mechanismYZ = mechanismsYZ.length === 0 ? null : mergeMechanismStates(mechanismsYZ);
       visionTargets.reverse();
       swerveStates.reverse();
 
@@ -353,7 +355,10 @@ export default class Field3dController implements TabController {
             model: source.options.model,
             poses: poses,
             components: components,
-            mechanism: mechanism,
+            mechanisms: {
+              xz: mechanismXZ,
+              yz: mechanismYZ
+            },
             visionTargets: visionTargets,
             swerveStates: swerveStates
           });
@@ -365,7 +370,10 @@ export default class Field3dController implements TabController {
             model: source.options.model,
             poses: poses,
             components: components,
-            mechanism: mechanism,
+            mechanisms: {
+              xz: mechanismXZ,
+              yz: mechanismYZ
+            },
             visionTargets: visionTargets,
             swerveStates: swerveStates
           });
diff --git a/src/hub/controllers/Field3dController_Config.ts b/src/hub/controllers/Field3dController_Config.ts
@@ -102,12 +102,12 @@ const Field3dController_Config: SourceListConfig = {
       showDocs: true,
       options: [
         {
-          key: "axis",
-          display: "Axis",
-          showInTypeName: true,
+          key: "plane",
+          display: "Plane",
+          showInTypeName: false,
           values: [
-            { key: "x", display: "XZ Axis" },
-            { key: "y", display: "YZ Axis" }
+            { key: "xz", display: "XZ Plane" },
+            { key: "yz", display: "YZ Plane" }
           ]
         }
       ],
diff --git a/src/shared/log/LogUtil.ts b/src/shared/log/LogUtil.ts
@@ -570,7 +570,6 @@ export type MechanismState = {
   backgroundColor: string;
   dimensions: [number, number];
   lines: MechanismLine[];
-  axis: string;
 };
 
 export type MechanismLine = {
@@ -580,7 +579,7 @@ export type MechanismLine = {
   weight: number;
 };
 
-export function getMechanismState(log: Log, key: string, time: number, axis: string = "x"): MechanismState | null {
+export function getMechanismState(log: Log, key: string, time: number): MechanismState | null {
   // Get general config
   let backgroundColor = getOrDefault(log, key + "/backgroundColor", LoggableType.String, time, null);
   let dimensions = getOrDefault(log, key + "/dims", LoggableType.NumberArray, time, null);
@@ -665,8 +664,7 @@ export function getMechanismState(log: Log, key: string, time: number, axis: str
   return {
     backgroundColor: backgroundColor,
     dimensions: dimensions,
-    lines: lines,
-    axis: axis
+    lines: lines
   };
 }
 
@@ -688,8 +686,7 @@ export function mergeMechanismStates(states: MechanismState[]): MechanismState {
   return {
     backgroundColor: states[0].backgroundColor,
     dimensions: [newWidth, newHeight],
-    lines: lines,
-    axis: states[0].axis
+    lines: lines
   };
 }
 
diff --git a/src/shared/renderers/Field3dRenderer.ts b/src/shared/renderers/Field3dRenderer.ts
@@ -141,7 +141,10 @@ export type Field3dRendererCommand_GenericRobotObj = {
   model: string;
   poses: AnnotatedPose3d[];
   components: AnnotatedPose3d[];
-  mechanism: MechanismState | null;
+  mechanisms: {
+    xz: MechanismState | null;
+    yz: MechanismState | null;
+  };
   visionTargets: AnnotatedPose3d[];
   swerveStates: {
     values: SwerveState[];
diff --git a/src/shared/renderers/Field3dRendererImpl.ts b/src/shared/renderers/Field3dRendererImpl.ts
@@ -814,7 +814,7 @@ export default class Field3dRendererImpl implements TabRenderer {
             color: "#000000",
             poses: [],
             components: [],
-            mechanism: null,
+            mechanisms: { xz: null, yz: null },
             visionTargets: [],
             swerveStates: []
           });
diff --git a/src/shared/renderers/LineGraphRenderer.ts b/src/shared/renderers/LineGraphRenderer.ts
@@ -128,9 +128,9 @@ export default class LineGraphRenderer implements TabRenderer {
       command.showRightAxis,
       command.priorityAxis,
       this.lastCursorX,
-      command.leftFields.map((field) => field.values.length),
-      command.discreteFields.map((field) => field.values.length),
-      command.rightFields.map((field) => field.values.length)
+      command.leftFields.map((field) => [field.values.length, field.color, field.type, field.size]),
+      command.discreteFields.map((field) => [field.values.length, field.color, field.type, field.toggleReference]),
+      command.rightFields.map((field) => [field.values.length, field.color, field.type, field.size])
     ];
     let renderStateString = JSON.stringify(renderState);
     if (renderStateString === this.lastRenderState) {
diff --git a/src/shared/renderers/field3d/objectManagers/RobotManager.ts b/src/shared/renderers/field3d/objectManagers/RobotManager.ts
@@ -13,6 +13,7 @@ import { GLTF, GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js";
 import WorkerManager from "../../../../hub/WorkerManager";
 import { AdvantageScopeAssets } from "../../../AdvantageScopeAssets";
 import { SwerveState } from "../../../geometry";
+import { MechanismState } from "../../../log/LogUtil";
 import { Units } from "../../../units";
 import { transformPx } from "../../../util";
 import { Field3dRendererCommand_GhostObj, Field3dRendererCommand_RobotObj } from "../../Field3dRenderer";
@@ -21,6 +22,14 @@ import ObjectManager from "../ObjectManager";
 import { FTC_MULTIPLIER, XR_MAX_RADIUS } from "../OptimizeGeometries";
 import ResizableInstancedMesh from "../ResizableInstancedMesh";
 
+type MechanismLineData = {
+  mesh: ResizableInstancedMesh;
+  geometry: THREE.BoxGeometry;
+  scale: THREE.Vector3;
+  translation: THREE.Vector3;
+  material: THREE.MeshPhongMaterial;
+};
+
 export default class RobotManager extends ObjectManager<
   Field3dRendererCommand_RobotObj | Field3dRendererCommand_GhostObj
 > {
@@ -41,13 +50,8 @@ export default class RobotManager extends ObjectManager<
     shininess: this.materialShininess
   });
   private visionLines: Line2[] = [];
-  private mechanismLines: {
-    mesh: ResizableInstancedMesh;
-    geometry: THREE.BoxGeometry;
-    scale: THREE.Vector3;
-    translation: THREE.Vector3;
-    material: THREE.MeshPhongMaterial;
-  }[] = [];
+  private mechanismLinesXZ: MechanismLineData[] = [];
+  private mechanismLinesYZ: MechanismLineData[] = [];
 
   private swerveContainer: HTMLElement | null = null;
   private swerveCanvas: HTMLCanvasElement | null = null;
@@ -100,9 +104,8 @@ export default class RobotManager extends ObjectManager<
     this.meshes.forEach((mesh) => {
       mesh.dispose();
     });
-    this.mechanismLines.forEach((entry) => {
-      entry.mesh.dispose();
-    });
+    this.mechanismLinesXZ.forEach((entry) => entry.mesh.dispose());
+    this.mechanismLinesYZ.forEach((entry) => entry.mesh.dispose());
     while (this.visionLines.length > 0) {
       this.visionLines[0].geometry.dispose();
       this.visionLines[0].material.dispose();
@@ -431,95 +434,94 @@ export default class RobotManager extends ObjectManager<
     }
 
     // Update mechanism
-    if (object.mechanism === null) {
-      // No mechanism data, remove all meshes
-      while (this.mechanismLines.length > 0) {
-        this.mechanismLines[0].mesh.dispose(true, object.type === "robot"); // Ghost material is shared, don't dispose
-        this.mechanismLines.shift();
-      }
-    } else {
-      // Filter to visible lines
-      let mechanismLines = object.mechanism?.lines.filter(
-        (line) =>
-          Math.hypot(line.end[1] - line.start[1], line.end[0] - line.start[0]) >= 1e-3 &&
-          line.weight * this.MECHANISM_WIDTH_PER_WEIGHT >= 1e-3
-      );
-
-      // Remove extra lines
-      while (this.mechanismLines.length > mechanismLines.length) {
-        this.mechanismLines[0].mesh.dispose(true, object.type === "robot"); // Ghost material is shared, don't dispose
-        this.mechanismLines.shift();
-      }
-
-      // Add new lines
-      while (this.mechanismLines.length < mechanismLines.length) {
-        const geometry = new THREE.BoxGeometry(1, 1, 1);
-        const material =
-          object.type === "ghost"
-            ? this.ghostMaterial
-            : new THREE.MeshPhongMaterial({ specular: this.materialSpecular, shininess: this.materialShininess });
-        this.mechanismLines.push({
-          mesh: new ResizableInstancedMesh(this.root, [{ geometry: geometry, material: material }]),
-          geometry: geometry,
-          scale: new THREE.Vector3(1, 1, 1),
-          translation: new THREE.Vector3(),
-          material: material
-        });
-      }
-
-      // Update children
-      for (let i = 0; i < mechanismLines.length; i++) {
-        const line = mechanismLines[i];
-        const meshEntry = this.mechanismLines[i];
-
-        const length = Math.hypot(line.end[1] - line.start[1], line.end[0] - line.start[0]);
-        const angle = Math.atan2(line.end[1] - line.start[1], line.end[0] - line.start[0]);
-
-        // Update length
-        const newScale = new THREE.Vector3(
-          object.mechanism.axis == "x" ? length : line.weight * this.MECHANISM_WIDTH_PER_WEIGHT,
-          object.mechanism.axis == "x" ? line.weight * this.MECHANISM_WIDTH_PER_WEIGHT : length,
-          line.weight * this.MECHANISM_WIDTH_PER_WEIGHT
+    let updateMechanism = (state: MechanismState | null, lines: MechanismLineData[], plane: "xz" | "yz") => {
+      if (state === null) {
+        // No mechanism data, remove all meshes
+        while (lines.length > 0) {
+          lines[0].mesh.dispose(true, object.type === "robot"); // Ghost material is shared, don't dispose
+          lines.shift();
+        }
+      } else {
+        // Filter to visible lines
+        let mechanismLines = state?.lines.filter(
+          (line) =>
+            Math.hypot(line.end[1] - line.start[1], line.end[0] - line.start[0]) >= 1e-3 &&
+            line.weight * this.MECHANISM_WIDTH_PER_WEIGHT >= 1e-3
         );
-        const newTranslation =
-          object.mechanism.axis == "x" ? new THREE.Vector3(length / 2, 0, 0) : new THREE.Vector3(0, length / 2, 0);
-        if (!newScale.equals(meshEntry.scale) || !newTranslation.equals(meshEntry.translation)) {
-          meshEntry.geometry.translate(-meshEntry.translation.x, -meshEntry.translation.y, -meshEntry.translation.z);
-          meshEntry.geometry.scale(1 / meshEntry.scale.x, 1 / meshEntry.scale.y, 1 / meshEntry.scale.z);
-          meshEntry.geometry.scale(newScale.x, newScale.y, newScale.z);
-          meshEntry.geometry.translate(newTranslation.x, newTranslation.y, newTranslation.z);
-          meshEntry.scale = newScale;
-          meshEntry.translation = newTranslation;
+
+        // Remove extra lines
+        while (lines.length > mechanismLines.length) {
+          lines[0].mesh.dispose(true, object.type === "robot"); // Ghost material is shared, don't dispose
+          lines.shift();
         }
 
-        // Update color
-        if (object.type !== "ghost") {
-          meshEntry.material.color = new THREE.Color(line.color);
+        // Add new lines
+        while (lines.length < mechanismLines.length) {
+          const geometry = new THREE.BoxGeometry(1, 1, 1);
+          const material =
+            object.type === "ghost"
+              ? this.ghostMaterial
+              : new THREE.MeshPhongMaterial({ specular: this.materialSpecular, shininess: this.materialShininess });
+          lines.push({
+            mesh: new ResizableInstancedMesh(this.root, [{ geometry: geometry, material: material }]),
+            geometry: geometry,
+            scale: new THREE.Vector3(1, 1, 1),
+            translation: new THREE.Vector3(),
+            material: material
+          });
         }
 
-        // Update pose
-        meshEntry.mesh.setPoses(
-          object.poses
-            .map((x) => x.pose)
-            .map((robotPose) => {
-              this.dummyRobotPose.rotation.setFromQuaternion(rotation3dToQuaternion(robotPose.rotation));
-              this.dummyRobotPose.position.set(...robotPose.translation);
+        // Update children
+        for (let i = 0; i < mechanismLines.length; i++) {
+          const line = mechanismLines[i];
+          const meshEntry = lines[i];
+
+          const length = Math.hypot(line.end[1] - line.start[1], line.end[0] - line.start[0]);
+          const angle = Math.atan2(line.end[1] - line.start[1], line.end[0] - line.start[0]);
+
+          // Update length
+          const newScale = new THREE.Vector3(
+            length,
+            line.weight * this.MECHANISM_WIDTH_PER_WEIGHT,
+            line.weight * this.MECHANISM_WIDTH_PER_WEIGHT
+          );
+          const newTranslation = new THREE.Vector3(length / 2, 0, 0);
+          if (!newScale.equals(meshEntry.scale) || !newTranslation.equals(meshEntry.translation)) {
+            meshEntry.geometry.translate(-meshEntry.translation.x, -meshEntry.translation.y, -meshEntry.translation.z);
+            meshEntry.geometry.scale(1 / meshEntry.scale.x, 1 / meshEntry.scale.y, 1 / meshEntry.scale.z);
+            meshEntry.geometry.scale(newScale.x, newScale.y, newScale.z);
+            meshEntry.geometry.translate(newTranslation.x, newTranslation.y, newTranslation.z);
+            meshEntry.scale = newScale;
+            meshEntry.translation = newTranslation;
+          }
 
-              if (object.mechanism?.axis == "x") {
-                this.dummyUserPose.position.set(line.start[0] - object.mechanism!.dimensions[0] / 2, 0, line.start[1]);
+          // Update color
+          if (object.type !== "ghost") {
+            meshEntry.material.color = new THREE.Color(line.color);
+          }
+
+          // Update pose
+          meshEntry.mesh.setPoses(
+            object.poses
+              .map((x) => x.pose)
+              .map((robotPose) => {
+                this.dummyRobotPose.rotation.setFromQuaternion(rotation3dToQuaternion(robotPose.rotation));
+                if (plane == "yz") this.dummyRobotPose.rotateZ(Math.PI / 2);
+                this.dummyRobotPose.position.set(...robotPose.translation);
+
+                this.dummyUserPose.position.set(line.start[0] - state.dimensions[0] / 2, 0, line.start[1]);
                 this.dummyUserPose.rotation.set(0, -angle, 0);
-              } else {
-                this.dummyUserPose.position.set(0, line.start[0] - object.mechanism!.dimensions[0] / 2, line.start[1]);
-                this.dummyUserPose.rotation.set(angle, 0, 0);
-              }
-              return {
-                translation: this.dummyUserPose.getWorldPosition(new THREE.Vector3()).toArray(),
-                rotation: quaternionToRotation3d(this.dummyUserPose.getWorldQuaternion(new THREE.Quaternion()))
-              };
-            })
-        );
+                return {
+                  translation: this.dummyUserPose.getWorldPosition(new THREE.Vector3()).toArray(),
+                  rotation: quaternionToRotation3d(this.dummyUserPose.getWorldQuaternion(new THREE.Quaternion()))
+                };
+              })
+          );
+        }
       }
-    }
+    };
+    updateMechanism(object.mechanisms.xz, this.mechanismLinesXZ, "xz");
+    updateMechanism(object.mechanisms.yz, this.mechanismLinesYZ, "yz");
 
     // Update swerve canvas (disabled in XR)
     if (!this.isXR) {
diff --git a/src/xrClient/XRRenderer.ts b/src/xrClient/XRRenderer.ts
diff --git a/wasmCompile.mjs b/wasmCompile.mjs

Original file line number	Diff line number	Diff line change
`@@ -43,7 +43,7 @@ A model must be included in the folder with the name "model.glb". CAD files must`
`43`	`43`	```json
`44`	`44`	`{`
`45`	`45`	`"name": string // Unique name, required for all asset types`
`46`		`- "isFTC": string // Whether the model is intended for use on FTC fields instead of FRC fields (default "false")`
	`46`	`+ "isFTC": boolean // Whether the model is intended for use on FTC fields instead of FRC fields (default "false")`
`47`	`47`	`"disableSimplification": boolean // Whether to disable model simplification, optional`
`48`	`48`	`"rotations": { "axis": "x" \| "y" \| "z", "degrees": number }[] // Sequence of rotations along the x, y, and z axes`
`49`	`49`	`"position": [number, number, number] // Position offset in meters, applied after rotation`
Original file line number	Diff line number	Diff line change
`@@ -102,12 +102,12 @@ const Field3dController_Config: SourceListConfig = {`
`102`	`102`	`showDocs: true,`
`103`	`103`	`options: [`
`104`	`104`	`{`
`105`		`- key: "axis",`
`106`		`- display: "Axis",`
`107`		`- showInTypeName: true,`
	`105`	`+ key: "plane",`
	`106`	`+ display: "Plane",`
	`107`	`+ showInTypeName: false,`
`108`	`108`	`values: [`
`109`		`- { key: "x", display: "XZ Axis" },`
`110`		`- { key: "y", display: "YZ Axis" }`
	`109`	`+ { key: "xz", display: "XZ Plane" },`
	`110`	`+ { key: "yz", display: "YZ Plane" }`
`111`	`111`	`]`
`112`	`112`	`}`
`113`	`113`	`],`