From 65ef6839a0235990f88645c73baf030be17a68c9 Mon Sep 17 00:00:00 2001
From: Jerald-Golden-B <jerald@hexrfactory.com>
Date: Wed, 9 Jul 2025 13:38:06 +0530
Subject: [PATCH] feat: Enhance IK handling in Model and IKInstance components
 with improved data structure and validation

---
 .../builder/asset/models/model/model.tsx      |  5 +-
 .../instances/ikInstance/ikInstance.tsx       | 46 +++++++------------
 app/src/types/simulationTypes.d.ts            | 21 ++++++++-
 3 files changed, 40 insertions(+), 32 deletions(-)

diff --git a/app/src/modules/builder/asset/models/model/model.tsx b/app/src/modules/builder/asset/models/model/model.tsx
index 2b5df51..7baa4b7 100644
--- a/app/src/modules/builder/asset/models/model/model.tsx
+++ b/app/src/modules/builder/asset/models/model/model.tsx
@@ -81,7 +81,8 @@ function Model({ asset }: { readonly asset: Asset }) {
         if (!ikData && asset.eventData && asset.eventData.type === 'ArmBot') {
             getAssetIksApi(asset.assetId).then((data) => {
                 if (data.iks) {
-                    setIkData(data.iks);
+                    const iks: IK[] = data.iks;
+                    setIkData(iks);
                 }
             })
         }
@@ -463,7 +464,7 @@ function Model({ asset }: { readonly asset: Asset }) {
             position={asset.position}
             rotation={asset.rotation}
             visible={asset.isVisible}
-            userData={asset}
+            userData={{ ...asset, iks: ikData }}
             onDoubleClick={(e) => {
                 e.stopPropagation();
                 if (!toggleView) {
diff --git a/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx b/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
index d78077a..897c6d1 100644
--- a/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
@@ -22,7 +22,7 @@ function IKInstance({ setIkSolver, armBot }: IKInstanceProps) {
         const trySetup = () => {
             const targetMesh = scene?.getObjectByProperty("uuid", armBot.modelUuid);
 
-            if (!targetMesh) {
+            if (!targetMesh || !targetMesh.userData.iks || targetMesh.userData.iks.length < 1) {
                 retryId = setTimeout(trySetup, 100);
                 return;
             }
@@ -33,34 +33,22 @@ function IKInstance({ setIkSolver, armBot }: IKInstanceProps) {
                 if (n.name === skinnedMeshName) OOI.Skinned_Mesh = n;
             });
             if (!OOI.Target_Bone || !OOI.Skinned_Mesh) return;
-            const iks = [
-                {
-                    target: 7,
-                    effector: 6,
-                    links: [
-                        {
-                            index: 5,
-                            enabled: true,
-                            rotationMin: new THREE.Vector3(-Math.PI / 2, 0, 0),
-                            rotationMax: new THREE.Vector3(Math.PI / 2, 0, 0),
-                        },
-                        {
-                            index: 4,
-                            enabled: true,
-                            rotationMin: new THREE.Vector3(-Math.PI / 2, 0, 0),
-                            rotationMax: new THREE.Vector3(0, 0, 0),
-                        },
-                        {
-                            index: 3,
-                            enabled: true,
-                            rotationMin: new THREE.Vector3(0, 0, 0),
-                            rotationMax: new THREE.Vector3(2, 0, 0),
-                        },
-                        { index: 1, enabled: true, limitation: new THREE.Vector3(0, 1, 0) },
-                        { index: 0, enabled: false, limitation: new THREE.Vector3(0, 0, 0) },
-                    ],
-                },
-            ];
+
+            const rawIks: IK[] = targetMesh.userData.iks;
+            const iks = rawIks.map((ik) => ({
+                target: ik.target,
+                effector: ik.effector,
+                links: ik.links.map((link) => ({
+                    index: link.index,
+                    enabled: link.enabled,
+                    rotationMin: link.rotationMin ? new THREE.Vector3(...link.rotationMin) : undefined,
+                    rotationMax: link.rotationMax ? new THREE.Vector3(...link.rotationMax) : undefined,
+                    limitation: link.limitation ? new THREE.Vector3(...link.limitation) : undefined,
+                })),
+                ringRadius: ik.ringRadius,
+                maxheight: ik.maxheight,
+                minheight: ik.minheight,
+            }));
 
             const solver = new CCDIKSolver(OOI.Skinned_Mesh, iks);
             setIkSolver(solver);
diff --git a/app/src/types/simulationTypes.d.ts b/app/src/types/simulationTypes.d.ts
index 133cb74..a39a3ec 100644
--- a/app/src/types/simulationTypes.d.ts
+++ b/app/src/types/simulationTypes.d.ts
@@ -286,4 +286,23 @@ interface MaterialHistoryEntry {
     removedAt: string;
 }
 
-type MaterialHistorySchema = MaterialHistoryEntry[];
\ No newline at end of file
+type MaterialHistorySchema = MaterialHistoryEntry[];
+
+//IK
+
+type Link = {
+    index: number;
+    enabled: boolean;
+    rotationMin?: [number, number, number];
+    rotationMax?: [number, number, number];
+    limitation?: [number, number, number];
+};
+
+type IK = {
+    target: number;
+    effector: number;
+    links: Link[];
+    ringRadius?: number;
+    maxheight?: number;
+    minheight?: number;
+} ;