Force Applies on Button Press

Author: AlexD717

fission/src/systems/input/DefaultInputs.ts

@@ -26,6 +26,7 @@ class DefaultInputs {
 
                 ButtonInput.onKeyboard("intake", "KeyE"),
                 ButtonInput.onKeyboard("eject", "KeyQ"),
+                ButtonInput.onKeyboard("unstick", "Space"),
 
                 AxisInput.onKeyboardSingleKey("joint 1", "Digit1", negativeModifierKeys),
                 AxisInput.onKeyboardSingleKey("joint 2", "Digit2", negativeModifierKeys),
@@ -61,6 +62,7 @@ class DefaultInputs {
 
                 ButtonInput.onKeyboard("intake", "KeyE"),
                 ButtonInput.onKeyboard("eject", "KeyQ"),
+                ButtonInput.onKeyboard("unstick", "Space"),
 
                 AxisInput.onKeyboardSingleKey("joint 1", "Digit1", negativeModifierKeys),
                 AxisInput.onKeyboardSingleKey("joint 2", "Digit2", negativeModifierKeys),
@@ -96,6 +98,7 @@ class DefaultInputs {
 
                 ButtonInput.onKeyboard("intake", "Semicolon"),
                 ButtonInput.onKeyboard("eject", "KeyL"),
+                ButtonInput.onKeyboard("unstick", "KeyK"),
 
                 AxisInput.onKeyboardSingleKey("joint 1", "Slash", negativeModifierKeys),
                 AxisInput.onKeyboardSingleKey("joint 2", "Period", negativeModifierKeys),
@@ -127,6 +130,7 @@ class DefaultInputs {
 
                 ButtonInput.onGamepad("intake", 4),
                 ButtonInput.onGamepad("eject", 5),
+                ButtonInput.onGamepad("unstick", 6),
 
                 AxisInput.onGamepadButtons("joint 1", 3, 0),
                 AxisInput.onGamepadButtons("joint 2", 1, 2),
@@ -157,6 +161,7 @@ class DefaultInputs {
 
                 ButtonInput.onGamepad("intake", 4),
                 ButtonInput.onGamepad("eject", 5),
+                ButtonInput.onGamepad("unstick", 6),
 
                 AxisInput.onGamepadButtons("joint 1", 12, 13),
                 AxisInput.onGamepadButtons("joint 2", 15, 14),
@@ -186,6 +191,7 @@ class DefaultInputs {
 
                 ButtonInput.onGamepad("intake", 4),
                 ButtonInput.onGamepad("eject", 5),
+                ButtonInput.onGamepad("unstick", 6),
 
                 AxisInput.onGamepadButtons("joint 1", 3, 0),
                 AxisInput.onGamepadButtons("joint 2", 1, 2),
@@ -254,6 +260,7 @@ class DefaultInputs {
 
                 ButtonInput.unbound("intake"),
                 ButtonInput.unbound("eject"),
+                ButtonInput.unbound("unstick"),
 
                 AxisInput.unbound("joint 1"),
                 AxisInput.unbound("joint 2"),

fission/src/systems/input/InputSystem.ts

@@ -14,7 +14,7 @@ export type ModifierState = Readonly<{
 }>
 export const EMPTY_MODIFIER_STATE: ModifierState = { ctrl: false, alt: false, shift: false, meta: false }
 
-export type InputName = "arcadeDrive" | "arcadeTurn" | "tankLeft" | "tankRight" | "intake" | "eject" | `joint ${number}`
+export type InputName = "arcadeDrive" | "arcadeTurn" | "tankLeft" | "tankRight" | "intake" | "eject" | "unstick" | `joint ${number}`
 
 const inputDriveTypeAssociations: Partial<Record<InputName, DriveType>> = {
     arcadeDrive: DriveType.ARCADE,

fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts

@@ -35,6 +35,9 @@ class SynthesisBrain extends Brain {
     // Tracks how many joins have been made with unique controls
     private _currentJointIndex = 1
 
+    // Track previous unstick button state to detect button press (not hold)
+    private _prevUnstickPressed = false
+
     public get assemblyName(): string {
         return this._assemblyName
     }
@@ -112,6 +115,36 @@ class SynthesisBrain extends Brain {
 
         this._assembly.ejectorActive = InputSystem.getInput("eject", this._brainIndex) > 0.5
         this._assembly.intakeActive = InputSystem.getInput("intake", this._brainIndex) > 0.5
+
+        // Handle unstick 
+        const unstickPressed = InputSystem.getInput("unstick", this._brainIndex) === 1
+        if (unstickPressed && !this._prevUnstickPressed) {
+            this.applyUnstickForce()
+        }
+        
+        this._prevUnstickPressed = unstickPressed
+    }
+
+    /**
+     * Applies a small upward force to the robot's main body to help unstick it
+     */
+    private applyUnstickForce(): void {
+        const rootBodyId = this._mechanism.getBodyByNodeId(this._mechanism.rootBody)
+        if (!rootBodyId) {
+            console.warn("Could not find root body for unstick")
+            return
+        }
+
+        const body = World.physicsSystem.getBody(rootBodyId)
+        if (!body) {
+            console.warn("Could not get body for unstick")
+            return
+        }
+
+        const unstickForce = new JOLT.Vec3(0, 8000, 0)
+        body.AddForce(unstickForce)
+        
+        console.log("Unstick force applied to robot")
     }
 
     public disable(): void {