Add ability to display Mechanism2d in the XY plane of the 3D Field

docs/docs/tab-reference/3d-field/index.md

@@ -108,7 +108,7 @@ 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 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.
+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, YZ, and XY planes. The robot's origin is centered on the bottom edge of the mechanism.
 
 ![2D mechanism](./img/3d-field-2.png)
 

src/hub/controllers/Field3dController.ts

@@ -322,6 +322,7 @@ export default class Field3dController implements TabController {
       let components: AnnotatedPose3d[] = [];
       let mechanismsXZ: MechanismState[] = [];
       let mechanismsYZ: MechanismState[] = [];
+      let mechanismsXY: MechanismState[] = [];
       let visionTargets: AnnotatedPose3d[] = [];
       let swerveStates: {
         values: SwerveState[];
@@ -342,7 +343,12 @@ export default class Field3dController implements TabController {
             case "mechanism": {
               let state = getMechanismState(window.log, child.logKey, time!);
               if (state !== null) {
-                (child.options.plane === "yz" ? mechanismsYZ : mechanismsXZ).push(state);
+                (child.options.plane === "yz"
+                  ? mechanismsYZ
+                  : child.options.plane === "xy"
+                  ? mechanismsXY
+                  : mechanismsXZ
+                ).push(state);
               }
               break;
             }
@@ -446,6 +452,7 @@ export default class Field3dController implements TabController {
       }
       let mechanismXZ = mechanismsXZ.length === 0 ? null : mergeMechanismStates(mechanismsXZ);
       let mechanismYZ = mechanismsYZ.length === 0 ? null : mergeMechanismStates(mechanismsYZ);
+      let mechanismXY = mechanismsXY.length === 0 ? null : mergeMechanismStates(mechanismsXY);
       visionTargets.reverse();
       swerveStates.reverse();
 
@@ -460,7 +467,8 @@ export default class Field3dController implements TabController {
             components: components,
             mechanisms: {
               xz: mechanismXZ,
-              yz: mechanismYZ
+              yz: mechanismYZ,
+              xy: mechanismXY
             },
             visionTargets: visionTargets,
             swerveStates: swerveStates
@@ -476,7 +484,8 @@ export default class Field3dController implements TabController {
             components: components,
             mechanisms: {
               xz: mechanismXZ,
-              yz: mechanismYZ
+              yz: mechanismYZ,
+              xy: mechanismXY
             },
             visionTargets: visionTargets,
             swerveStates: swerveStates

src/hub/controllers/Field3dController_Config.ts

@@ -209,7 +209,8 @@ const Field3dController_Config: SourceListConfig = {
           showInTypeName: false,
           values: [
             { key: "xz", display: "XZ Plane" },
-            { key: "yz", display: "YZ Plane" }
+            { key: "yz", display: "YZ Plane" },
+            { key: "xy", display: "XY Plane" }
           ]
         }
       ],

src/shared/renderers/Field3dRenderer.ts

@@ -145,6 +145,7 @@ export type Field3dRendererCommand_GenericRobotObj = {
   mechanisms: {
     xz: MechanismState | null;
     yz: MechanismState | null;
+    xy: MechanismState | null;
   };
   visionTargets: AnnotatedPose3d[];
   swerveStates: {

src/shared/renderers/Field3dRendererImpl.ts

@@ -822,7 +822,7 @@ export default class Field3dRendererImpl implements TabRenderer {
             color: "#000000",
             poses: [],
             components: [],
-            mechanisms: { xz: null, yz: null },
+            mechanisms: { xz: null, yz: null, xy: null },
             visionTargets: [],
             swerveStates: []
           });

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

@@ -53,6 +53,7 @@ export default class RobotManager extends ObjectManager<
   private visionLines: Line2[] = [];
   private mechanismLinesXZ: MechanismLineData[] = [];
   private mechanismLinesYZ: MechanismLineData[] = [];
+  private mechanismLinesXY: MechanismLineData[] = [];
 
   private swerveContainer: HTMLElement | null = null;
   private swerveCanvas: HTMLCanvasElement | null = null;
@@ -107,6 +108,7 @@ export default class RobotManager extends ObjectManager<
     });
     this.mechanismLinesXZ.forEach((entry) => entry.mesh.dispose());
     this.mechanismLinesYZ.forEach((entry) => entry.mesh.dispose());
+    this.mechanismLinesXY.forEach((entry) => entry.mesh.dispose());
     while (this.visionLines.length > 0) {
       this.visionLines[0].geometry.dispose();
       this.visionLines[0].material.dispose();
@@ -435,7 +437,7 @@ export default class RobotManager extends ObjectManager<
     }
 
     // Update mechanism
-    let updateMechanism = (state: MechanismState | null, lines: MechanismLineData[], plane: "xz" | "yz") => {
+    let updateMechanism = (state: MechanismState | null, lines: MechanismLineData[], plane: "xz" | "yz" | "xy") => {
       if (state === null) {
         // No mechanism data, remove all meshes
         while (lines.length > 0) {
@@ -507,10 +509,16 @@ export default class RobotManager extends ObjectManager<
               .map((x) => x.pose)
               .map((robotPose) => {
                 this.dummyRobotPose.rotation.setFromQuaternion(rotation3dToQuaternion(robotPose.rotation));
+                // default plane is xz
                 if (plane === "yz") this.dummyRobotPose.rotateZ(Math.PI / 2);
+                if (plane === "xy") this.dummyRobotPose.rotateX(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.position.set(
+                  line.start[0] - (plane === "xy" ? 0 : state.dimensions[0] / 2),
+                  0,
+                  line.start[1]
+                );
                 this.dummyUserPose.rotation.set(0, -angle, 0);
                 return {
                   translation: this.dummyUserPose.getWorldPosition(new THREE.Vector3()).toArray(),
@@ -523,6 +531,7 @@ export default class RobotManager extends ObjectManager<
     };
     updateMechanism(object.mechanisms.xz, this.mechanismLinesXZ, "xz");
     updateMechanism(object.mechanisms.yz, this.mechanismLinesYZ, "yz");
+    updateMechanism(object.mechanisms.xy, this.mechanismLinesXY, "xy");
 
     // Update swerve canvas (disabled in XR)
     if (!this.isXR) {

src/xrClient/XRRenderer.ts

@@ -745,7 +745,7 @@ export default class XRRenderer {
             color: "#000000",
             poses: [],
             components: [],
-            mechanisms: { xz: null, yz: null },
+            mechanisms: { xz: null, yz: null, xy: null },
             visionTargets: [],
             swerveStates: []
           });