armbot trigger

app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx

@@ -1,6 +1,64 @@
-import React from 'react'
+import React, { useEffect, useMemo, useRef, useState } from 'react'
+import { useArmBotStore } from '../../../../../store/simulation/useArmBotStore';
+import { useFrame, useThree } from '@react-three/fiber';
+import * as THREE from "three"
+import { usePlayButtonStore } from '../../../../../store/usePlayButtonStore';
+
+function RoboticArmAnimator({ armUuid, HandleCallback, currentPhase, ikSolver, targetBone, robot, logStatus, groupRef, processes, armBotCurveRef, path }: any) {
+    const { armBots } = useArmBotStore();
+    const { scene } = useThree();
+    const restSpeed = 0.1;
+    const restPosition = new THREE.Vector3(0, 2, 1.6);
+    const initialCurveRef = useRef<THREE.CatmullRomCurve3 | null>(null);
+    const initialStartPositionRef = useRef<THREE.Vector3 | null>(null);
+    const [initialProgress, setInitialProgress] = useState(0);
+    const [progress, setProgress] = useState(0);
+    const [needsInitialMovement, setNeedsInitialMovement] = useState(true);
+    const [isInitializing, setIsInitializing] = useState(true);
+    const { isPlaying } = usePlayButtonStore();
+    const statusRef = useRef("idle");
+    // Create a ref for initialProgress
+    const initialProgressRef = useRef(0);
+    const [currentPath, setCurrentPath] = useState<[number, number, number][]>([]);
+
+    useEffect(() => {
+        setCurrentPath(path)
+    }, [path])
+
+    useEffect(() => {
+        
+    }, [currentPath])
+
+    useFrame((_, delta) => {
+        if (!ikSolver || !currentPath || currentPath.length === 0) return;
+
+        const bone = ikSolver.mesh.skeleton.bones.find(
+            (b: any) => b.name === targetBone
+        );
+        if (!bone) return;
+
+        // Ensure currentPath is a valid array of 3D points, create a CatmullRomCurve3 from it
+        const curve = new THREE.CatmullRomCurve3(
+            currentPath.map(point => new THREE.Vector3(point[0], point[1], point[2]))
+        );
+
+        const next = initialProgressRef.current + delta * 0.5;
+        if (next >= 1) {
+            bone.position.copy(restPosition);
+            HandleCallback(); // Call the callback when the path is completed
+            initialProgressRef.current = 0; // Set ref to 1 when done
+        } else {
+            
+            const point = curve.getPoint(next); // Get the interpolated point from the curve
+            bone.position.copy(point); // Update the bone position along the curve
+            initialProgressRef.current = next; // Update progress
+        }
+
+        ikSolver.update();
+    });
+
+
 
-function RoboticArmAnimator({ armUuid, HandleCallback, currentPhase }: any) {
     return (
         <></>
     )