From 99f536f5be51acee8d5eaad4bbd395779c1ccdfe Mon Sep 17 00:00:00 2001
From: sbosse <sbosse@uni-bremen.de>
Date: Mon, 21 Jul 2025 23:07:04 +0200
Subject: [PATCH] Mon 21 Jul 22:43:21 CEST 2025

---
 js/simu/simuPHY.js | 184 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 184 insertions(+)
 create mode 100644 js/simu/simuPHY.js

diff --git a/js/simu/simuPHY.js b/js/simu/simuPHY.js
new file mode 100644
index 0000000..abc3868
--- /dev/null
+++ b/js/simu/simuPHY.js
@@ -0,0 +1,184 @@
+/**
+ **      ==============================
+ **       O           O      O   OOOO
+ **       O           O     O O  O   O
+ **       O           O     O O  O   O
+ **       OOOO   OOOO O     OOO  OOOO
+ **       O   O       O    O   O O   O
+ **       O   O       O    O   O O   O
+ **       OOOO        OOOO O   O OOOO
+ **      ==============================
+ **      Dr. Stefan Bosse http://www.bsslab.de
+ **
+ **      COPYRIGHT: THIS SOFTWARE, EXECUTABLE AND SOURCE CODE IS OWNED
+ **                 BY THE AUTHOR(S).
+ **                 THIS SOURCE CODE MAY NOT BE COPIED, EXTRACTED,
+ **                 MODIFIED, OR OTHERWISE USED IN A CONTEXT
+ **                 OUTSIDE OF THE SOFTWARE SYSTEM.
+ **
+ **    $AUTHORS:     Stefan Bosse
+ **    $INITIAL:     (C) 2006-2019 bLAB
+ **    $CREATED:     21-04-17 by sbosse.
+ **    $VERSION:     1.3.1
+ **
+ **    $INFO:
+ **
+ **  Physical Multi-body Simulator that can be combined with MAS simulation
+ **
+ **  Physical scene constructor function type signature:
+ **
+ **  function constructor(world:{CANNON,GUI,..},settings:{$p:$v},log:function) -> {map?:function, destroy?:function, ..}
+ **
+ **    $ENDOFINFO
+ */
+
+var Comp = Require('com/compat');
+var util = Require('util');
+var current=none;
+var Aios = none;
+var DSP = Require('dsp/dsp');
+
+var simu = function (options) {
+  this.CANNON=options.CANNON;
+  this.UI=options.UI;
+  this.options=options;
+  this.options.width=options.width||100;
+  this.options.height=options.height||100;
+  this.log = options.log || console.log;
+  
+  this.gui = new this.CANNON.Gui({width:this.options.width,
+                                  height:this.options.height,
+                                  log:this.log,
+                                  display:options.display});
+  this.objects=[];
+  this.selected=none;
+}
+
+/** Add a physical world scene defining physical and visual objects incl. constraints.
+ *
+ */
+simu.prototype.addScene = function (name,constructor,settings) {
+  var self=this, 
+      gui = this.gui,
+      CANNON = this.CANNON,      
+      world = this.world;
+  this.objects=[];
+  this.scene=_;
+  if (!settings) settings={};
+  // Pass MAS simulation model to physical model constructor
+  settings.model=this.options.model;
+  gui.addScene(name,function(options){
+    for(var p in options) settings[p]=options[p];
+    // remove old scene bindings (listeners ..)
+    if (self.objects && self.objects.destroy) self.objects.destroy();
+    self.objects=constructor(world,settings,self.log);
+    self.scene=name;
+    return;
+  });
+}
+
+/** Show a scene by name
+ *
+ */
+simu.prototype.changeScene = function (name,settings) {
+  this.gui.scenePicker[name](settings);
+}
+
+simu.prototype.destroy = function () {
+  if (this.gui) this.gui.destroy();
+  this.gui=none;
+  this.wolrd=none;
+  this.selected=none;
+}
+
+simu.prototype.get = function (id) {
+  if (this.objects && this.objects.map) 
+  try {
+    return this.objects.map(id);
+  } catch (e) {return none};
+}
+
+simu.prototype.init = function () {
+  this.gui.init();
+  this.gui.enable();
+  this.gui.animate();
+  this.gui.disable();
+  this.world = this.gui.getWorld();
+  this.world.CANNON=this.CANNON;
+  this.world.GUI=this.gui;
+  this.world.DSP=DSP;
+}
+
+simu.prototype.refresh = function (steps) {
+  this.gui.checkRender();
+}
+
+// Try to get a report from a scene
+simu.prototype.report = function (name) {
+  if (!name) name=this.scene;
+  if (this.scene && this.objects.report) 
+    try { return  this.objects.report() }
+    catch (e) { this.gui.log('report: '+e.toString()) } 
+}
+
+simu.prototype.select = function (id) {
+  var obj,shape;
+  if (this.selected) {
+    this.selected.shape.color=this.selected.color; 
+    this.gui.setMaterial(this.selected.shape);
+    this.selected=none;
+  }
+  if (this.objects && this.objects.map) {
+    obj = this.objects.map(id);
+    if (obj && obj.shapes && obj.shapes[0]) {
+      shape=obj.shapes[0];
+      // this.log(util.inspect(shape));
+      if (shape.mesh) {
+        this.selected={shape:shape.mesh,color:shape.mesh.color||'white'};
+        shape.mesh.color = 'red';
+        this.gui.setMaterial(shape.mesh);
+      }
+      this.gui.checkRender();
+    }
+  }
+}
+
+simu.prototype.start = function (steps) {
+
+}
+
+simu.prototype.step = function (steps,callback) { 
+  this.gui.enable();
+  return this.gui.step(steps,callback);
+}
+
+simu.prototype.stepPhyOnly = function (steps,callback) { 
+  this.gui.stepPhyOnly(steps,callback);
+}
+
+simu.prototype.stop = function (steps) {
+
+}
+
+simu.prototype.unselect = function () {
+  if (this.selected) {
+    this.selected.shape.color=this.selected.color; 
+    this.gui.setMaterial(this.selected.shape);
+    this.selected=none;
+    this.gui.checkRender();
+  }
+}
+
+
+var Simu = function(options) {
+  var obj=none;
+  obj = new simu(options);
+  return obj;
+}
+
+module.exports = {
+  simu:simu,
+  Simu:Simu,
+  current:function (module) { current=module.current; Aios=module; JamAnal.current(module)}
+}
+