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human and vehicle bug fix

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This commit is contained in:
Jerald-Golden-B
2025-08-22 13:51:35 +05:30
parent c24b0fd414
commit 970e3a837b
10 changed files with 135 additions and 130 deletions
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125
app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
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@@ -42,11 +42,6 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
const lastRemoved = useRef<{ type: string, materialId: string, modelId: string } | null>(null);
function firstFrame() {
startTime = performance.now();
step();
}
const action = getActionByUuid(selectedProduct.productUuid, armBot.currentAction?.actionUuid || '');
const handlePickUpTrigger = () => {
@@ -109,68 +104,6 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
}
}
function step() {
if (isPausedRef.current) {
if (!pauseTimeRef.current) {
pauseTimeRef.current = performance.now();
}
requestAnimationFrame(() => step());
return;
}
if (pauseTimeRef.current) {
const pauseDuration = performance.now() - pauseTimeRef.current;
startTime += pauseDuration;
pauseTimeRef.current = null;
}
const elapsedTime = performance.now() - startTime;
if (elapsedTime < 1000) {
// Wait until 1500ms has passed
requestAnimationFrame(step);
return;
}
if (currentPhase === "picking") {
setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("start-to-end");
startTime = 0
if (!action) return;
const startPoint = (action as RoboticArmAction).process.startPoint;
const endPoint = (action as RoboticArmAction).process.endPoint;
if (startPoint && endPoint) {
let curve = createCurveBetweenTwoPoints(
new THREE.Vector3(startPoint[0], startPoint[1], startPoint[2]),
new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]));
if (curve) {
logStatus(armBot.modelUuid, "picking the object");
setPath(curve.points.map(point => [point.x, point.y, point.z]))
handlePickUpTrigger();
}
}
logStatus(armBot.modelUuid, "Moving armBot from start point to end position.")
} else if (currentPhase === "dropping") {
setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("end-to-rest");
startTime = 0;
if (!action) return;
const endPoint = (action as RoboticArmAction).process.endPoint;
if (endPoint) {
let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition);
if (curve) {
logStatus(armBot.modelUuid, "dropping the object");
setPath(curve.points.map(point => [point.x, point.y, point.z]));
handleDropTrigger();
}
}
logStatus(armBot.modelUuid, "Moving armBot from end point to rest position.")
}
}
useEffect(() => {
isPausedRef.current = isPaused;
}, [isPaused]);
@@ -268,7 +201,6 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
useEffect(() => {
const targetBones = ikSolver?.mesh.skeleton.bones.find((b: any) => b.name === targetBone);
if (!isReset && isPlaying) {
//Moving armBot from initial point to rest position.
if (!armBot?.isActive && armBot?.state == "idle" && currentPhase == "init") {
if (targetBones) {
setArmBotActive(armBot.modelUuid, true)
@@ -280,13 +212,9 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
}
}
logStatus(armBot.modelUuid, "Moving armBot from initial point to rest position.")
}
//Waiting for trigger.
else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && !armBot.currentAction) {
} else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && !armBot.currentAction) {
logStatus(armBot.modelUuid, "Waiting to trigger CurrentAction")
}
//Moving to pickup point
else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && armBot.currentAction) {
} else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && armBot.currentAction) {
if (armBot.currentAction) {
setArmBotActive(armBot.modelUuid, true);
@@ -302,14 +230,45 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
}
}
logStatus(armBot.modelUuid, "Moving armBot from rest point to start position.")
}
// Moving to Pick to Drop position
else if (armBot && !armBot.isActive && armBot.state === "running" && currentPhase === "picking" && armBot.currentAction) {
requestAnimationFrame(firstFrame);
}
//Moving to drop point to restPosition
else if (armBot && !armBot.isActive && armBot.state === "running" && currentPhase === "dropping" && armBot.currentAction) {
requestAnimationFrame(firstFrame);
} else if (armBot && !armBot.isActive && armBot.state === "running" && currentPhase === "picking" && armBot.currentAction) {
setTimeout(() => {
setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("start-to-end");
startTime = 0
if (!action) return;
const startPoint = (action as RoboticArmAction).process.startPoint;
const endPoint = (action as RoboticArmAction).process.endPoint;
if (startPoint && endPoint) {
let curve = createCurveBetweenTwoPoints(new THREE.Vector3(startPoint[0], startPoint[1], startPoint[2]), new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]));
if (curve) {
logStatus(armBot.modelUuid, "picking the object");
setPath(curve.points.map(point => [point.x, point.y, point.z]))
handlePickUpTrigger();
}
}
logStatus(armBot.modelUuid, "Moving armBot from start point to end position.")
}, 100)
} else if (armBot && !armBot.isActive && armBot.state === "running" && currentPhase === "dropping" && armBot.currentAction) {
setTimeout(() => {
setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("end-to-rest");
startTime = 0;
if (!action) return;
const endPoint = (action as RoboticArmAction).process.endPoint;
if (endPoint) {
let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition);
if (curve) {
logStatus(armBot.modelUuid, "dropping the object");
setPath(curve.points.map(point => [point.x, point.y, point.z]));
handleDropTrigger();
}
}
logStatus(armBot.modelUuid, "Moving armBot from end point to rest position.")
}, 100)
}
} else {
logStatus(armBot.modelUuid, "Simulation Play Exited")
@@ -348,7 +307,7 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
setCurrentPhase("rest");
setPath([])
}
else if (armBot.isActive && armBot.state == "running" && currentPhase == "rest-to-start") {
else if (armBot.state == "running" && currentPhase == "rest-to-start") {
logStatus(armBot.modelUuid, "Callback triggered: pick.");
setArmBotActive(armBot.modelUuid, false)
setArmBotState(armBot.modelUuid, "running")