1 files changed, 144 insertions, 137 deletions

diff --git a/godot/sim.gd b/godot/sim.gd
index 7e860dc..5b0e868 100644
--- a/godot/sim.gd
+++ b/godot/sim.gd
@@ -1,223 +1,230 @@
 extends Node3D
-## Simulador generico: Blender disena, Godot (Jolt) hace la fisica.
+## Generic simulator: Blender designs, Godot (Jolt) does the physics.
 ##
 ##   godot --headless --path godot --fixed-fps 240 -- <config.json>
 ##
-## El .glb exportado por Blender se carga en tiempo de ejecucion y cada objeto
-## se convierte en cuerpo segun el prefijo de su nombre:
-##   fijo_*       estatico, malla exacta (ConcavePolygonShape3D)
-##   caja_*       estatico, caja con el tamano de la malla
-##   compuerta_*  estatico, caja que un evento "quitar" saca del mundo
-##   bola_*       rigido, esfera
-##   bloque_*     rigido, caja
-## Las trayectorias se graban a 30 fps en coordenadas de Blender (Z arriba),
-## asi el script de render las usa sin convertir nada.
-
-var hz := 240                       # pasos de fisica por segundo
-var pasos_por_frame := 8             # hz / 30 fps de video
+## The .glb exported by Blender is loaded at runtime and every object becomes
+## a body according to its name prefix:
+##   static_*  static, exact mesh (ConcavePolygonShape3D)
+##   box_*     static, box the size of the mesh
+##   gate_*    static, box that a "remove" event takes out of the world
+##   ball_*    rigid, sphere
+##   block_*   rigid, box
+## Trajectories are recorded in Blender coordinates (Z up), so the render
+## script uses them without converting anything.
+##
+## The prefixes also fix the order bodies are created in: Blender exports
+## objects alphabetically, and in a chaotic scene (hundreds of balls on pegs)
+## a different creation order gives different trajectories. Keep new prefixes
+## in the same alphabetical order (ball_ < box_ < gate_ < static_) or cached
+## simulations will no longer match.
+
+var hz := 240                       # physics steps per second
+var steps_per_frame := 8            # hz / 30 video fps
 
 var cfg: Dictionary
-var dinamicos: Array[RigidBody3D] = []
-var removibles := {}                 # nombre -> CollisionObject3D
+var dynamic_bodies: Array[RigidBody3D] = []
+var removable := {}                 # name -> CollisionObject3D
 var tick := 0
 var frames: Array = []
-var eventos: Array = []
-var esc := 1.0                       # el mundo se simula esc veces mas grande
+var events: Array = []
+var scale_f := 1.0                  # the world is simulated scale_f times larger
 
 
 func _ready() -> void:
 	var args := OS.get_cmdline_user_args()
 	if args.is_empty():
-		push_error("falta el config.json")
+		push_error("missing config.json")
 		get_tree().quit(1)
 		return
 	cfg = JSON.parse_string(FileAccess.get_file_as_string(args[0]))
-	# Jolt tiene tolerancias en metros (penetracion admitida 2 cm): con piezas
-	# chicas conviene simular a mayor escala. Gravedad y posiciones se escalan
-	# igual, asi la dinamica es la misma y la salida vuelve a la escala original.
-	esc = float(cfg.get("escala", 1.0))
-	# mas pasos por segundo = contactos mas rigidos (pilas altas); el proceso
-	# corre con --fixed-fps 240, asi que cada frame hace hz/240 pasos
+	# Jolt has tolerances in meters (2 cm of allowed penetration): with small
+	# pieces it is better to simulate at a larger scale. Gravity and positions
+	# are scaled alike, so the dynamics are the same and the output goes back
+	# to the original scale.
+	scale_f = float(cfg.get("scale", 1.0))
+	# more steps per second = stiffer contacts (tall stacks); the process runs
+	# with --fixed-fps 240, so each frame does hz/240 steps
 	hz = int(cfg.get("hz", 240))
-	# fps de grabacion: 30 para tiempo real, mas para camara lenta
-	pasos_por_frame = hz / int(cfg.get("fps", 30))
+	# recording fps: 30 for real time, more for slow motion
+	steps_per_frame = hz / int(cfg.get("fps", 30))
 	Engine.physics_ticks_per_second = hz
 	Engine.max_physics_steps_per_frame = maxi(1, hz / 240)
 	PhysicsServer3D.area_set_param(get_world_3d().space, PhysicsServer3D.AREA_PARAM_GRAVITY,
-			float(cfg.get("gravedad", 9.81)) * esc)
-	eventos = cfg.get("eventos", [])
-	eventos.sort_custom(func(a, b): return a["t"] < b["t"])
+			float(cfg.get("gravity", 9.81)) * scale_f)
+	events = cfg.get("events", [])
+	events.sort_custom(func(a, b): return a["t"] < b["t"])
 
 	var doc := GLTFDocument.new()
 	var st := GLTFState.new()
 	if doc.append_from_file(cfg["glb"], st) != OK:
-		push_error("no pude leer " + cfg["glb"])
+		push_error("could not read " + cfg["glb"])
 		get_tree().quit(1)
 		return
-	var raiz := doc.generate_scene(st)
-	add_child(raiz)
-	var mallas: Array[MeshInstance3D] = []
-	_juntar(raiz, mallas)
-	for mi in mallas:
-		_crear_cuerpo(mi)
-	raiz.queue_free()
-	print("[sim] %d dinamicos, %d mallas, g=%.2f" % [dinamicos.size(), mallas.size(),
-			float(cfg.get("gravedad", 9.81))])
-	_grabar()
-
-
-func _juntar(n: Node, out: Array[MeshInstance3D]) -> void:
+	var root := doc.generate_scene(st)
+	add_child(root)
+	var meshes: Array[MeshInstance3D] = []
+	_collect(root, meshes)
+	for mi in meshes:
+		_create_body(mi)
+	root.queue_free()
+	print("[sim] %d dynamic, %d meshes, g=%.2f" % [dynamic_bodies.size(), meshes.size(),
+			float(cfg.get("gravity", 9.81))])
+	_record()
+
+
+func _collect(n: Node, out: Array[MeshInstance3D]) -> void:
 	if n is MeshInstance3D:
 		out.append(n)
 	for c in n.get_children():
-		_juntar(c, out)
+		_collect(c, out)
 
 
-func _regla(nombre: String) -> Dictionary:
+func _rule(body_name: String) -> Dictionary:
 	var r: Dictionary = {}
-	var largo := -1
-	for pre in cfg.get("reglas", {}):
-		if nombre.begins_with(pre) and pre.length() > largo:
-			r = cfg["reglas"][pre]
-			largo = pre.length()
+	var longest := -1
+	for prefix in cfg.get("rules", {}):
+		if body_name.begins_with(prefix) and prefix.length() > longest:
+			r = cfg["rules"][prefix]
+			longest = prefix.length()
 	return r
 
 
-func _crear_cuerpo(mi: MeshInstance3D) -> void:
-	var nombre := String(mi.name)
+func _create_body(mi: MeshInstance3D) -> void:
+	var body_name := String(mi.name)
 	var aabb := mi.get_aabb()
-	aabb = AABB(aabb.position * esc, aabb.size * esc)
-	var r := _regla(nombre)
+	aabb = AABB(aabb.position * scale_f, aabb.size * scale_f)
+	var r := _rule(body_name)
 	var mat := PhysicsMaterial.new()
-	mat.friction = float(r.get("friccion", 0.5))
-	mat.bounce = float(r.get("rebote", 0.0))
-	var cuerpo: CollisionObject3D
-	var forma := CollisionShape3D.new()
+	mat.friction = float(r.get("friction", 0.5))
+	mat.bounce = float(r.get("bounce", 0.0))
+	var body: CollisionObject3D
+	var shape := CollisionShape3D.new()
 
-	if nombre.begins_with("fijo_"):
-		cuerpo = StaticBody3D.new()
+	if body_name.begins_with("static_"):
+		body = StaticBody3D.new()
 		var tri := ConcavePolygonShape3D.new()
-		var caras := mi.mesh.get_faces()
-		for n in caras.size():
-			caras[n] *= esc
-		tri.set_faces(caras)
-		forma.shape = tri
-	elif nombre.begins_with("caja_") or nombre.begins_with("compuerta_"):
-		cuerpo = StaticBody3D.new()
+		var faces := mi.mesh.get_faces()
+		for n in faces.size():
+			faces[n] *= scale_f
+		tri.set_faces(faces)
+		shape.shape = tri
+	elif body_name.begins_with("box_") or body_name.begins_with("gate_"):
+		body = StaticBody3D.new()
 		var b := BoxShape3D.new()
 		b.size = aabb.size
-		forma.shape = b
-		forma.position = aabb.get_center()
-	elif nombre.begins_with("bola_") or nombre.begins_with("bloque_"):
+		shape.shape = b
+		shape.position = aabb.get_center()
+	elif body_name.begins_with("ball_") or body_name.begins_with("block_"):
 		var rb := RigidBody3D.new()
 		var vol: float
-		if nombre.begins_with("bola_"):
+		if body_name.begins_with("ball_"):
 			var s := SphereShape3D.new()
 			s.radius = aabb.size.x * 0.5
-			forma.shape = s
+			shape.shape = s
 			vol = 4.0 / 3.0 * PI * pow(s.radius, 3)
 		else:
 			var b := BoxShape3D.new()
 			b.size = aabb.size
-			forma.shape = b
+			shape.shape = b
 			vol = aabb.size.x * aabb.size.y * aabb.size.z
-		forma.position = aabb.get_center()
-		rb.mass = vol * float(r.get("densidad", 1000.0))
+		shape.position = aabb.get_center()
+		rb.mass = vol * float(r.get("density", 1000.0))
 		rb.continuous_cd = bool(r.get("ccd", false))
-		rb.can_sleep = bool(r.get("dormir", true))
-		rb.linear_damp = float(r.get("amortiguar", 0.0))
-		rb.angular_damp = float(r.get("amortiguar_giro", 0.0))
-		if r.get("plano", false):
-			# movimiento en el plano del tablero (Blender XZ = Godot XY)
+		rb.can_sleep = bool(r.get("can_sleep", true))
+		rb.linear_damp = float(r.get("damping", 0.0))
+		rb.angular_damp = float(r.get("angular_damping", 0.0))
+		if r.get("planar", false):
+			# motion in the board plane (Blender XZ = Godot XY)
 			rb.axis_lock_linear_z = true
 			rb.axis_lock_angular_x = true
 			rb.axis_lock_angular_y = true
-		for pre in cfg.get("congelados", []):
-			if nombre.begins_with(pre):
+		for prefix in cfg.get("frozen", []):
+			if body_name.begins_with(prefix):
 				rb.freeze = true
 				rb.freeze_mode = RigidBody3D.FREEZE_MODE_KINEMATIC
-		cuerpo = rb
-		dinamicos.append(rb)
+		body = rb
+		dynamic_bodies.append(rb)
 	else:
 		return
 
-	cuerpo.name = nombre
-	if cuerpo is StaticBody3D:
-		cuerpo.physics_material_override = mat
+	body.name = body_name
+	if body is StaticBody3D:
+		body.physics_material_override = mat
 	else:
-		(cuerpo as RigidBody3D).physics_material_override = mat
-	cuerpo.add_child(forma)
-	add_child(cuerpo)
+		(body as RigidBody3D).physics_material_override = mat
+	body.add_child(shape)
+	add_child(body)
 	var tr := mi.global_transform
-	tr.origin *= esc
-	cuerpo.global_transform = tr
-	removibles[nombre] = cuerpo
+	tr.origin *= scale_f
+	body.global_transform = tr
+	removable[body_name] = body
 
 
 func _physics_process(_delta: float) -> void:
 	tick += 1
 	var t := tick / float(hz)
-	while not eventos.is_empty() and eventos[0]["t"] <= t:
-		_aplicar(eventos.pop_front())
-	if tick % pasos_por_frame == 0:
-		_grabar()
-	if t >= float(cfg["duracion"]):
-		_guardar()
+	while not events.is_empty() and events[0]["t"] <= t:
+		_apply(events.pop_front())
+	if tick % steps_per_frame == 0:
+		_record()
+	if t >= float(cfg["duration"]):
+		_save()
 		get_tree().quit()
 
 
-func _aplicar(ev: Dictionary) -> void:
-	var pre: String = ev["prefijo"]
+func _apply(ev: Dictionary) -> void:
+	var prefix: String = ev["prefix"]
 	var n := 0
-	for nombre in removibles.keys():
-		if not String(nombre).begins_with(pre):
+	for body_name in removable.keys():
+		if not String(body_name).begins_with(prefix):
 			continue
-		var c: CollisionObject3D = removibles[nombre]
+		var c: CollisionObject3D = removable[body_name]
 		if not is_instance_valid(c):
 			continue
 		n += 1
-		match ev["accion"]:
-			"quitar":
+		match ev["action"]:
+			"remove":
 				c.queue_free()
-			"soltar":
+			"release":
 				var rb := c as RigidBody3D
 				rb.freeze = false
 				rb.sleeping = false
-				if ev.has("velocidad"):
-					var v: Array = ev["velocidad"]      # en coordenadas de Blender
-					rb.linear_velocity = Vector3(v[0], v[2], -v[1]) * esc
-				if ev.has("giro"):
-					var w: Array = ev["giro"]          # rad/s, ejes de Blender
+				if ev.has("velocity"):
+					var v: Array = ev["velocity"]    # in Blender coordinates
+					rb.linear_velocity = Vector3(v[0], v[2], -v[1]) * scale_f
+				if ev.has("spin"):
+					var w: Array = ev["spin"]        # rad/s, Blender axes
 					rb.angular_velocity = Vector3(w[0], w[2], -w[1])
-	# un cuerpo dormido no se entera de que le sacaron el apoyo: se despiertan todos
-	for rb in dinamicos:
+	# a sleeping body never notices its support was removed: wake them all
+	for rb in dynamic_bodies:
 		if not rb.freeze:
 			rb.sleeping = false
-	print("[sim] t=%.2f %s %s (%d)" % [tick / float(hz), ev["accion"], pre, n])
+	print("[sim] t=%.2f %s %s (%d)" % [tick / float(hz), ev["action"], prefix, n])
 
 
-func _grabar() -> void:
-	var fila := PackedFloat32Array()
-	for rb in dinamicos:
-		var p := rb.global_position / esc
+func _record() -> void:
+	var row := PackedFloat32Array()
+	for rb in dynamic_bodies:
+		var p := rb.global_position / scale_f
 		var q := rb.global_transform.basis.get_rotation_quaternion()
-		# Godot (Y arriba) -> Blender (Z arriba): (x, y, z) -> (x, -z, y)
-		fila.append_array([p.x, -p.z, p.y, q.w, q.x, -q.z, q.y])
-	frames.append(fila)
-
-
-func _guardar() -> void:
-	# binario: cabecera JSON en un archivo aparte + float32 crudos
-	var sal: String = cfg["salida"]
-	var nombres := []
-	for rb in dinamicos:
-		nombres.append(String(rb.name))
-	var f := FileAccess.open(sal + ".cab.json", FileAccess.WRITE)
-	f.store_string(JSON.stringify({"nombres": nombres, "frames": frames.size(),
-			"fps": int(cfg.get("fps", 30)), "campos": ["x", "y", "z", "qw", "qx", "qy", "qz"]}))
+		# Godot (Y up) -> Blender (Z up): (x, y, z) -> (x, -z, y)
+		row.append_array([p.x, -p.z, p.y, q.w, q.x, -q.z, q.y])
+	frames.append(row)
+
+
+func _save() -> void:
+	# binary: a JSON header in a separate file + raw float32
+	var out: String = cfg["output"]
+	var names := []
+	for rb in dynamic_bodies:
+		names.append(String(rb.name))
+	var f := FileAccess.open(out + ".header.json", FileAccess.WRITE)
+	f.store_string(JSON.stringify({"names": names, "frames": frames.size(),
+			"fps": int(cfg.get("fps", 30)), "fields": ["x", "y", "z", "qw", "qx", "qy", "qz"]}))
 	f.close()
-	var b := FileAccess.open(sal + ".bin", FileAccess.WRITE)
-	for fila in frames:
-		b.store_buffer(fila.to_byte_array())
+	var b := FileAccess.open(out + ".bin", FileAccess.WRITE)
+	for row in frames:
+		b.store_buffer(row.to_byte_array())
 	b.close()
-	print("[sim] %d frames -> %s.bin" % [frames.size(), sal])
+	print("[sim] %d frames -> %s.bin" % [frames.size(), out])