armbot trigger

2025-04-25 19:40:15 +05:30
parent c5d4679068
commit 05d8405188
8 changed files with 382 additions and 71 deletions
--- a/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
+++ b/app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
@@ -1,8 +1,87 @@
-import React from 'react'
+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 { useFrame, useLoader, useThree } from "@react-three/fiber";
+import { CCDIKSolver, CCDIKHelper, } from "three/examples/jsm/animation/CCDIKSolver";
+type IKInstanceProps = {
+    modelUrl: string;
+    ikSolver: any;
+    setIkSolver: any
+    robot: any;
+    groupRef: React.RefObject<THREE.Group>;
+    processes: any;
+    setArmBotCurvePoints: any
+};
+function IKInstance({ modelUrl, setIkSolver, ikSolver, robot, groupRef, processes, setArmBotCurvePoints }: 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";
+    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);
+
+        // scene.add(groupRef.current)
+
+
+    }, [gltf]);

-function IKInstance() {
    return (
-        <></>
+        <>
+            <group ref={groupRef} position={robot.position}>
+                <primitive
+                    uuid={"ArmBot-X200"}
+                    object={cloned}
+                    scale={[1, 1, 1]}
+                    name={`arm-bot11`}
+                />
+            </group>
+        </>
    )
 }