handle negative z coordinates in 3D

Author: gabrielburnworth

frontend/farm_designer/__tests__/three_d_garden_map_test.tsx

@@ -28,6 +28,7 @@ describe("<ThreeDGardenMap />", () => {
     mapPoints: [],
     weeds: [],
     botPosition: { x: 1, y: 2, z: 3 },
+    negativeZ: false,
   });
 
   it("converts props", () => {
@@ -77,4 +78,17 @@ describe("<ThreeDGardenMap />", () => {
       weeds: [],
     }, {});
   });
+
+  it("converts props: negative z", () => {
+    const p = fakeProps();
+    p.botPosition = { x: undefined, y: undefined, z: -100 };
+    p.negativeZ = true;
+    render(<ThreeDGardenMap {...p} />);
+    expect(ThreeDGarden).toHaveBeenCalledWith({
+      config: expect.objectContaining({ x: 0, y: 0, z: 100 }),
+      addPlantProps: expect.any(Object),
+      mapPoints: [],
+      weeds: [],
+    }, {});
+  });
 });

frontend/farm_designer/index.tsx

@@ -212,6 +212,7 @@ export class RawFarmDesigner
           plants={this.props.plants}
           get3DConfigValue={get3DConfigValueFunction(this.props.farmwareEnvs)}
           sourceFbosConfig={this.props.sourceFbosConfig}
+          negativeZ={!!this.props.botMcuParams.movement_home_up_z}
           gridOffset={gridOffset}
           mapTransformProps={this.mapTransformProps}
           botSize={this.props.botSize}

frontend/farm_designer/three_d_garden_map.tsx

@@ -19,6 +19,7 @@ export interface ThreeDGardenMapProps {
   gridOffset: AxisNumberProperty;
   get3DConfigValue(key: string): number;
   sourceFbosConfig: SourceFbosConfig;
+  negativeZ: boolean;
   designer: DesignerState;
   plants: TaggedPlant[];
   dispatch: Function;
@@ -39,9 +40,11 @@ export const ThreeDGardenMap = (props: ThreeDGardenMapProps) => {
   config.zoomBeacons = false;
   config.trail = !!props.getWebAppConfigValue(BooleanSetting.display_trail);
 
+  const zDir = props.negativeZ ? -1 : 1;
+
   config.x = props.botPosition.x || 0;
   config.y = props.botPosition.y || 0;
-  config.z = props.botPosition.z || 0;
+  config.z = zDir * (props.botPosition.z || 0);
 
   const { designer } = props;
   config.distanceIndicator = designer.distanceIndicator;