Dwinzo-Beta/Dwinzo_Demo
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update assetID

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This commit is contained in:
Vishnu
2025-06-12 09:31:51 +05:30
parent 9b0842ed14
commit c7cc5cf2ca
59 changed files with 1039 additions and 1029 deletions
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40
app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
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@@ -1,21 +1,19 @@
import React, { useEffect, useMemo, useRef, useState } from 'react'
import { useEffect, useMemo } from 'react'
import * as THREE from "three";
import { DRACOLoader } from "three/examples/jsm/loaders/DRACOLoader";
import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader";
import { clone } from "three/examples/jsm/utils/SkeletonUtils";
import { useLoader, useThree } from "@react-three/fiber";
import { CCDIKSolver, CCDIKHelper, } from "three/examples/jsm/animation/CCDIKSolver";
import { TransformControls } from '@react-three/drei';
import { useLoader } from "@react-three/fiber";
import { CCDIKSolver, CCDIKHelper } from "three/examples/jsm/animation/CCDIKSolver";
type IKInstanceProps = {
modelUrl: string;
ikSolver: any;
setIkSolver: any
armBot: ArmBotStatus;
groupRef: any;
};
function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef }: IKInstanceProps) {
const { scene } = useThree()
function IKInstance({ modelUrl, setIkSolver, armBot, groupRef }: IKInstanceProps) {
const gltf = useLoader(GLTFLoader, modelUrl, (loader) => {
const draco = new DRACOLoader();
draco.setDecoderPath("https://cdn.jsdelivr.net/npm/three@0.160.0/examples/jsm/libs/draco/");
@@ -24,7 +22,6 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef }: IKIns
const cloned = useMemo(() => clone(gltf?.scene), [gltf]);
const targetBoneName = "Target";
const skinnedMeshName = "link_0";
const [selectedArm, setSelectedArm] = useState<THREE.Group>();
useEffect(() => {
if (!gltf) return;
@@ -66,28 +63,21 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef }: IKIns
const solver = new CCDIKSolver(OOI.Skinned_Mesh, iks);
setIkSolver(solver);
const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05)
setSelectedArm(OOI.Target_Bone);
// const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05)
// scene.add(helper);
}, [cloned, gltf, setIkSolver]);
}, [cloned, gltf]);
return (
<>
<group ref={groupRef} position={armBot.position} rotation={armBot.rotation} onClick={() => {
setSelectedArm(groupRef.current?.getObjectByName(targetBoneName))
}}>
<primitive
uuid={`${armBot.modelUuid}_IK`}
object={cloned}
scale={[1, 1, 1]}
name={armBot.modelName}
/>
</group>
{/* {selectedArm && <TransformControls object={selectedArm} />} */}
</>
<group ref={groupRef} position={armBot.position} rotation={armBot.rotation}>
<primitive
uuid={`${armBot.modelUuid}_IK`}
object={cloned}
scale={[1, 1, 1]}
name={armBot.modelName}
/>
</group>
)
}