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feat: Enhance IK handling in Model and IKInstance components with improved data structure and validation

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This commit is contained in:
Jerald-Golden-B
2025-07-09 13:38:06 +05:30
parent 8c69aa52db
commit 65ef6839a0
3 changed files with 40 additions and 32 deletions
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46
app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
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@@ -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);