first commit

2025-06-10 15:28:23 +05:30
commit e22a2dc275
699 changed files with 100382 additions and 0 deletions
--- a/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
@@ -0,0 +1,94 @@
+import React, { useEffect, useMemo, useRef, useState } 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';
+
+type IKInstanceProps = {
+    modelUrl: string;
+    ikSolver: any;
+    setIkSolver: any
+    armBot: ArmBotStatus;
+    groupRef: any;
+};
+function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef }: IKInstanceProps) {
+    const { scene } = useThree()
+    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/");
+        loader.setDRACOLoader(draco);
+    });
+    const cloned = useMemo(() => clone(gltf?.scene), [gltf]);
+    const targetBoneName = "Target";
+    const skinnedMeshName = "link_0";
+    const [selectedArm, setSelectedArm] = useState<THREE.Group>();
+
+    useEffect(() => {
+        if (!gltf) return;
+        const OOI: any = {};
+        cloned.traverse((n: any) => {
+            if (n.name === targetBoneName) OOI.Target_Bone = n;
+            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 solver = new CCDIKSolver(OOI.Skinned_Mesh, iks);
+        setIkSolver(solver);
+
+        const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05)
+
+        setSelectedArm(OOI.Target_Bone);
+
+        // scene.add(helper);
+
+    }, [cloned, gltf, setIkSolver]);
+
+    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} />} */}
+        </>
+    )
+}
+
+export default IKInstance;