Merge remote-tracking branch 'origin/simulation-armbot-v2' into v2
This commit is contained in:
@@ -18,20 +18,20 @@ import Window from "../../assets/gltf-glb/window.glb";
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////////// Zustand State Imports //////////
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import {
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useToggleView,
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useDeletePointOrLine,
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useMovePoint,
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useActiveLayer,
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useSocketStore,
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useWallVisibility,
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useRoofVisibility,
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useShadows,
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useUpdateScene,
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useWalls,
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useToolMode,
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useRefTextUpdate,
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useRenderDistance,
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useLimitDistance,
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useToggleView,
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useDeletePointOrLine,
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useMovePoint,
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useActiveLayer,
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useSocketStore,
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useWallVisibility,
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useRoofVisibility,
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useShadows,
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useUpdateScene,
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useWalls,
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useToolMode,
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useRefTextUpdate,
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useRenderDistance,
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useLimitDistance,
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} from "../../store/store";
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////////// 3D Function Imports //////////
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@@ -56,300 +56,301 @@ import ZoneGroup from "./groups/zoneGroup";
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import useModuleStore from "../../store/useModuleStore";
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import MeasurementTool from "../scene/tools/measurementTool";
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import NavMesh from "../simulation/vehicle/navMesh/navMesh";
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import ProductionCapacity from "../../components/ui/analysis/ProductionCapacity";
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export default function Builder() {
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const state = useThree<Types.ThreeState>(); // Importing the state from the useThree hook, which contains the scene, camera, and other Three.js elements.
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const csg = useRef(); // Reference for CSG object, used for 3D modeling.
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const CSGGroup = useRef() as Types.RefMesh; // Reference to a group of CSG objects.
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const scene = useRef() as Types.RefScene; // Reference to the scene.
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const camera = useRef() as Types.RefCamera; // Reference to the camera object.
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const controls = useRef<any>(); // Reference to the controls object.
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const raycaster = useRef() as Types.RefRaycaster; // Reference for raycaster used for detecting objects being pointed at in the scene.
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const dragPointControls = useRef() as Types.RefDragControl; // Reference for drag point controls, an array for drag control.
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const state = useThree<Types.ThreeState>(); // Importing the state from the useThree hook, which contains the scene, camera, and other Three.js elements.
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const csg = useRef(); // Reference for CSG object, used for 3D modeling.
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const CSGGroup = useRef() as Types.RefMesh; // Reference to a group of CSG objects.
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const scene = useRef() as Types.RefScene; // Reference to the scene.
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const camera = useRef() as Types.RefCamera; // Reference to the camera object.
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const controls = useRef<any>(); // Reference to the controls object.
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const raycaster = useRef() as Types.RefRaycaster; // Reference for raycaster used for detecting objects being pointed at in the scene.
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const dragPointControls = useRef() as Types.RefDragControl; // Reference for drag point controls, an array for drag control.
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// Assigning the scene and camera from the Three.js state to the references.
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// Assigning the scene and camera from the Three.js state to the references.
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scene.current = state.scene;
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camera.current = state.camera;
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controls.current = state.controls;
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raycaster.current = state.raycaster;
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scene.current = state.scene;
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camera.current = state.camera;
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controls.current = state.controls;
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raycaster.current = state.raycaster;
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const plane = useRef<THREE.Mesh>(null); // Reference for a plane object for raycaster reference.
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const grid = useRef() as any; // Reference for a grid object for raycaster reference.
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const snappedPoint = useRef() as Types.RefVector3; // Reference for storing a snapped point at the (end = isSnapped) and (start = ispreSnapped) of the line.
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const isSnapped = useRef(false) as Types.RefBoolean; // Boolean reference to indicate if an object is snapped at the (end).
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const anglesnappedPoint = useRef() as Types.RefVector3; // Reference for storing an angle-snapped point when the line is in 90 degree etc...
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const isAngleSnapped = useRef(false) as Types.RefBoolean; // Boolean to indicate if angle snapping is active.
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const isSnappedUUID = useRef() as Types.RefString; // UUID reference to identify the snapped point.
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const ispreSnapped = useRef(false) as Types.RefBoolean; // Boolean reference to indicate if an object is snapped at the (start).
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const tempLoader = useRef() as Types.RefMesh; // Reference for a temporary loader for the floor items.
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const isTempLoader = useRef() as Types.RefBoolean; // Reference to check if a temporary loader is active.
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const Tube = useRef() as Types.RefTubeGeometry; // Reference for tubes used for reference line creation and updation.
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const line = useRef([]) as Types.RefLine; // Reference for line which stores the current line that is being drawn.
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const lines = useRef([]) as Types.RefLines; // Reference for lines which stores all the lines that are ever drawn.
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const onlyFloorline = useRef<Types.OnlyFloorLine>([]); // Reference for floor lines which does not have walls or roof and have only floor used to store the current line that is being drawn.
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const onlyFloorlines = useRef<Types.OnlyFloorLines>([]); // Reference for all the floor lines that are ever drawn.
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const ReferenceLineMesh = useRef() as Types.RefMesh; // Reference for storing the mesh of the reference line for moving it during draw.
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const LineCreated = useRef(false) as Types.RefBoolean; // Boolean to track whether the reference line is created or not.
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const referencePole = useRef() as Types.RefMesh; // Reference for a pole that is used as the reference for the user to show where it is placed.
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const itemsGroup = useRef() as Types.RefGroup; // Reference to the THREE.Group that has the floor items (Gltf).
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const floorGroup = useRef() as Types.RefGroup; // Reference to the THREE.Group that has the roofs and the floors.
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const AttachedObject = useRef() as Types.RefMesh; // Reference for an object that is attached using dbl click for transform controls rotation.
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const floorPlanGroup = useRef() as Types.RefGroup; // Reference for a THREE.Group that has the lines group and the points group.
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const floorPlanGroupLine = useRef() as Types.RefGroup; // Reference for a THREE.Group that has the lines that are drawn.
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const floorPlanGroupPoint = useRef() as Types.RefGroup; // Reference for a THREE.Group that has the points that are created.
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const floorGroupAisle = useRef() as Types.RefGroup;
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const zoneGroup = useRef() as Types.RefGroup;
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const currentLayerPoint = useRef([]) as Types.RefMeshArray; // Reference for points that re in the current layer used to update the points in drag controls.
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const hoveredDeletablePoint = useRef() as Types.RefMesh; // Reference for the currently hovered point that can be deleted.
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const hoveredDeletableLine = useRef() as Types.RefMesh; // Reference for the currently hovered line that can be deleted.
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const hoveredDeletableFloorItem = useRef() as Types.RefMesh; // Reference for the currently hovered floor item that can be deleted.
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const hoveredDeletableWallItem = useRef() as Types.RefMesh; // Reference for the currently hovered wall item that can be deleted.
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const hoveredDeletablePillar = useRef() as Types.RefMesh; // Reference for the currently hovered pillar that can be deleted.
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const currentWallItem = useRef() as Types.RefMesh; // Reference for the currently selected wall item that can be scaled, dragged etc...
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const plane = useRef<THREE.Mesh>(null); // Reference for a plane object for raycaster reference.
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const grid = useRef() as any; // Reference for a grid object for raycaster reference.
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const snappedPoint = useRef() as Types.RefVector3; // Reference for storing a snapped point at the (end = isSnapped) and (start = ispreSnapped) of the line.
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const isSnapped = useRef(false) as Types.RefBoolean; // Boolean reference to indicate if an object is snapped at the (end).
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const anglesnappedPoint = useRef() as Types.RefVector3; // Reference for storing an angle-snapped point when the line is in 90 degree etc...
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||||
const isAngleSnapped = useRef(false) as Types.RefBoolean; // Boolean to indicate if angle snapping is active.
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const isSnappedUUID = useRef() as Types.RefString; // UUID reference to identify the snapped point.
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const ispreSnapped = useRef(false) as Types.RefBoolean; // Boolean reference to indicate if an object is snapped at the (start).
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const tempLoader = useRef() as Types.RefMesh; // Reference for a temporary loader for the floor items.
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const isTempLoader = useRef() as Types.RefBoolean; // Reference to check if a temporary loader is active.
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||||
const Tube = useRef() as Types.RefTubeGeometry; // Reference for tubes used for reference line creation and updation.
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||||
const line = useRef([]) as Types.RefLine; // Reference for line which stores the current line that is being drawn.
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const lines = useRef([]) as Types.RefLines; // Reference for lines which stores all the lines that are ever drawn.
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const onlyFloorline = useRef<Types.OnlyFloorLine>([]); // Reference for floor lines which does not have walls or roof and have only floor used to store the current line that is being drawn.
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const onlyFloorlines = useRef<Types.OnlyFloorLines>([]); // Reference for all the floor lines that are ever drawn.
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const ReferenceLineMesh = useRef() as Types.RefMesh; // Reference for storing the mesh of the reference line for moving it during draw.
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const LineCreated = useRef(false) as Types.RefBoolean; // Boolean to track whether the reference line is created or not.
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||||
const referencePole = useRef() as Types.RefMesh; // Reference for a pole that is used as the reference for the user to show where it is placed.
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const itemsGroup = useRef() as Types.RefGroup; // Reference to the THREE.Group that has the floor items (Gltf).
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const floorGroup = useRef() as Types.RefGroup; // Reference to the THREE.Group that has the roofs and the floors.
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const AttachedObject = useRef() as Types.RefMesh; // Reference for an object that is attached using dbl click for transform controls rotation.
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const floorPlanGroup = useRef() as Types.RefGroup; // Reference for a THREE.Group that has the lines group and the points group.
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const floorPlanGroupLine = useRef() as Types.RefGroup; // Reference for a THREE.Group that has the lines that are drawn.
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const floorPlanGroupPoint = useRef() as Types.RefGroup; // Reference for a THREE.Group that has the points that are created.
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const floorGroupAisle = useRef() as Types.RefGroup;
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const zoneGroup = useRef() as Types.RefGroup;
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const currentLayerPoint = useRef([]) as Types.RefMeshArray; // Reference for points that re in the current layer used to update the points in drag controls.
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const hoveredDeletablePoint = useRef() as Types.RefMesh; // Reference for the currently hovered point that can be deleted.
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||||
const hoveredDeletableLine = useRef() as Types.RefMesh; // Reference for the currently hovered line that can be deleted.
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||||
const hoveredDeletableFloorItem = useRef() as Types.RefMesh; // Reference for the currently hovered floor item that can be deleted.
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const hoveredDeletableWallItem = useRef() as Types.RefMesh; // Reference for the currently hovered wall item that can be deleted.
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const hoveredDeletablePillar = useRef() as Types.RefMesh; // Reference for the currently hovered pillar that can be deleted.
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const currentWallItem = useRef() as Types.RefMesh; // Reference for the currently selected wall item that can be scaled, dragged etc...
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const cursorPosition = new THREE.Vector3(); // 3D vector for storing the cursor position.
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const cursorPosition = new THREE.Vector3(); // 3D vector for storing the cursor position.
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const [selectedItemsIndex, setSelectedItemsIndex] = useState<Types.Number | null>(null); // State for tracking the index of the selected item.
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const { activeLayer, setActiveLayer } = useActiveLayer(); // State that changes based on which layer the user chooses in Layers.jsx.
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const { toggleView, setToggleView } = useToggleView(); // State for toggling between 2D and 3D.
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const { toolMode, setToolMode } = useToolMode();
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const { movePoint, setMovePoint } = useMovePoint(); // State that stores a boolean which represents whether the move mode is active or not.
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const { deletePointOrLine, setDeletePointOrLine } = useDeletePointOrLine();
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const { socket } = useSocketStore();
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const { roofVisibility, setRoofVisibility } = useRoofVisibility();
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const { wallVisibility, setWallVisibility } = useWallVisibility();
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const { shadows, setShadows } = useShadows();
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const { renderDistance, setRenderDistance } = useRenderDistance();
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const { limitDistance, setLimitDistance } = useLimitDistance();
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const { updateScene, setUpdateScene } = useUpdateScene();
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const { walls, setWalls } = useWalls();
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const { refTextupdate, setRefTextUpdate } = useRefTextUpdate();
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const { activeModule } = useModuleStore();
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const [selectedItemsIndex, setSelectedItemsIndex] =
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useState<Types.Number | null>(null); // State for tracking the index of the selected item.
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const { activeLayer, setActiveLayer } = useActiveLayer(); // State that changes based on which layer the user chooses in Layers.jsx.
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const { toggleView, setToggleView } = useToggleView(); // State for toggling between 2D and 3D.
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const { toolMode, setToolMode } = useToolMode();
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const { movePoint, setMovePoint } = useMovePoint(); // State that stores a boolean which represents whether the move mode is active or not.
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const { deletePointOrLine, setDeletePointOrLine } = useDeletePointOrLine();
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const { socket } = useSocketStore();
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const { roofVisibility, setRoofVisibility } = useRoofVisibility();
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const { wallVisibility, setWallVisibility } = useWallVisibility();
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const { shadows, setShadows } = useShadows();
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const { renderDistance, setRenderDistance } = useRenderDistance();
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const { limitDistance, setLimitDistance } = useLimitDistance();
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const { updateScene, setUpdateScene } = useUpdateScene();
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const { walls, setWalls } = useWalls();
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const { refTextupdate, setRefTextUpdate } = useRefTextUpdate();
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||||
const { activeModule } = useModuleStore();
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||||
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// const loader = new GLTFLoader();
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// const dracoLoader = new DRACOLoader();
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// const loader = new GLTFLoader();
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||||
// const dracoLoader = new DRACOLoader();
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||||
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||||
// dracoLoader.setDecoderPath('https://cdn.jsdelivr.net/npm/three@0.160.0/examples/jsm/libs/draco/gltf/');
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// loader.setDRACOLoader(dracoLoader);
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// dracoLoader.setDecoderPath('https://cdn.jsdelivr.net/npm/three@0.160.0/examples/jsm/libs/draco/gltf/');
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// loader.setDRACOLoader(dracoLoader);
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||||
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||||
////////// Assest Configuration Values //////////
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||||
////////// Assest Configuration Values //////////
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||||
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||||
const AssetConfigurations: Types.AssetConfigurations = {
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arch: {
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||||
modelUrl: arch,
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||||
scale: [0.75, 0.75, 0.75],
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csgscale: [2, 4, 0.5],
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csgposition: [0, 2, 0],
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||||
positionY: () => 0,
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type: "Fixed-Move",
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||||
},
|
||||
door: {
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modelUrl: door,
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||||
scale: [0.75, 0.75, 0.75],
|
||||
csgscale: [2, 4, 0.5],
|
||||
csgposition: [0, 2, 0],
|
||||
positionY: () => 0,
|
||||
type: "Fixed-Move",
|
||||
},
|
||||
window: {
|
||||
modelUrl: Window,
|
||||
scale: [0.75, 0.75, 0.75],
|
||||
csgscale: [5, 3, 0.5],
|
||||
csgposition: [0, 1.5, 0],
|
||||
positionY: (intersectionPoint) => intersectionPoint.point.y,
|
||||
type: "Free-Move",
|
||||
},
|
||||
};
|
||||
const AssetConfigurations: Types.AssetConfigurations = {
|
||||
arch: {
|
||||
modelUrl: arch,
|
||||
scale: [0.75, 0.75, 0.75],
|
||||
csgscale: [2, 4, 0.5],
|
||||
csgposition: [0, 2, 0],
|
||||
positionY: () => 0,
|
||||
type: "Fixed-Move",
|
||||
},
|
||||
door: {
|
||||
modelUrl: door,
|
||||
scale: [0.75, 0.75, 0.75],
|
||||
csgscale: [2, 4, 0.5],
|
||||
csgposition: [0, 2, 0],
|
||||
positionY: () => 0,
|
||||
type: "Fixed-Move",
|
||||
},
|
||||
window: {
|
||||
modelUrl: Window,
|
||||
scale: [0.75, 0.75, 0.75],
|
||||
csgscale: [5, 3, 0.5],
|
||||
csgposition: [0, 1.5, 0],
|
||||
positionY: (intersectionPoint) => intersectionPoint.point.y,
|
||||
type: "Free-Move",
|
||||
},
|
||||
};
|
||||
|
||||
////////// All Toggle's //////////
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||||
////////// All Toggle's //////////
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||||
|
||||
useEffect(() => {
|
||||
setRefTextUpdate((prevUpdate: number) => prevUpdate - 1);
|
||||
if (dragPointControls.current) {
|
||||
dragPointControls.current.enabled = false;
|
||||
}
|
||||
if (toggleView) {
|
||||
Layer2DVisibility(
|
||||
activeLayer,
|
||||
floorPlanGroup,
|
||||
floorPlanGroupLine,
|
||||
floorPlanGroupPoint,
|
||||
currentLayerPoint,
|
||||
dragPointControls
|
||||
);
|
||||
} else {
|
||||
setToolMode(null);
|
||||
setDeletePointOrLine(false);
|
||||
setMovePoint(false);
|
||||
loadWalls(lines, setWalls);
|
||||
setUpdateScene(true);
|
||||
line.current = [];
|
||||
}
|
||||
}, [toggleView]);
|
||||
useEffect(() => {
|
||||
setRefTextUpdate((prevUpdate: number) => prevUpdate - 1);
|
||||
if (dragPointControls.current) {
|
||||
dragPointControls.current.enabled = false;
|
||||
}
|
||||
if (toggleView) {
|
||||
Layer2DVisibility(
|
||||
activeLayer,
|
||||
floorPlanGroup,
|
||||
floorPlanGroupLine,
|
||||
floorPlanGroupPoint,
|
||||
currentLayerPoint,
|
||||
dragPointControls
|
||||
);
|
||||
} else {
|
||||
setToolMode(null);
|
||||
setDeletePointOrLine(false);
|
||||
setMovePoint(false);
|
||||
loadWalls(lines, setWalls);
|
||||
setUpdateScene(true);
|
||||
line.current = [];
|
||||
}
|
||||
}, [toggleView]);
|
||||
|
||||
useEffect(() => {
|
||||
THREE.Cache.clear();
|
||||
THREE.Cache.enabled = true;
|
||||
}, []);
|
||||
useEffect(() => {
|
||||
THREE.Cache.clear();
|
||||
THREE.Cache.enabled = true;
|
||||
}, []);
|
||||
|
||||
useEffect(() => {
|
||||
const email = localStorage.getItem("email");
|
||||
const organization = email!.split("@")[1].split(".")[0];
|
||||
useEffect(() => {
|
||||
const email = localStorage.getItem("email");
|
||||
const organization = email!.split("@")[1].split(".")[0];
|
||||
|
||||
async function fetchVisibility() {
|
||||
const visibility = await findEnvironment(
|
||||
organization,
|
||||
localStorage.getItem("userId")!
|
||||
);
|
||||
if (visibility) {
|
||||
setRoofVisibility(visibility.roofVisibility);
|
||||
setWallVisibility(visibility.wallVisibility);
|
||||
setShadows(visibility.shadowVisibility);
|
||||
setRenderDistance(visibility.renderDistance);
|
||||
setLimitDistance(visibility.limitDistance);
|
||||
}
|
||||
}
|
||||
fetchVisibility();
|
||||
}, []);
|
||||
async function fetchVisibility() {
|
||||
const visibility = await findEnvironment(
|
||||
organization,
|
||||
localStorage.getItem("userId")!
|
||||
);
|
||||
if (visibility) {
|
||||
setRoofVisibility(visibility.roofVisibility);
|
||||
setWallVisibility(visibility.wallVisibility);
|
||||
setShadows(visibility.shadowVisibility);
|
||||
setRenderDistance(visibility.renderDistance);
|
||||
setLimitDistance(visibility.limitDistance);
|
||||
}
|
||||
}
|
||||
fetchVisibility();
|
||||
}, []);
|
||||
|
||||
////////// UseFrame is Here //////////
|
||||
////////// UseFrame is Here //////////
|
||||
|
||||
useFrame(() => {
|
||||
if (toolMode) {
|
||||
Draw(
|
||||
state,
|
||||
plane,
|
||||
cursorPosition,
|
||||
floorPlanGroupPoint,
|
||||
floorPlanGroupLine,
|
||||
snappedPoint,
|
||||
isSnapped,
|
||||
isSnappedUUID,
|
||||
line,
|
||||
lines,
|
||||
ispreSnapped,
|
||||
floorPlanGroup,
|
||||
ReferenceLineMesh,
|
||||
LineCreated,
|
||||
setRefTextUpdate,
|
||||
Tube,
|
||||
anglesnappedPoint,
|
||||
isAngleSnapped,
|
||||
toolMode
|
||||
);
|
||||
}
|
||||
});
|
||||
useFrame(() => {
|
||||
if (toolMode) {
|
||||
Draw(
|
||||
state,
|
||||
plane,
|
||||
cursorPosition,
|
||||
floorPlanGroupPoint,
|
||||
floorPlanGroupLine,
|
||||
snappedPoint,
|
||||
isSnapped,
|
||||
isSnappedUUID,
|
||||
line,
|
||||
lines,
|
||||
ispreSnapped,
|
||||
floorPlanGroup,
|
||||
ReferenceLineMesh,
|
||||
LineCreated,
|
||||
setRefTextUpdate,
|
||||
Tube,
|
||||
anglesnappedPoint,
|
||||
isAngleSnapped,
|
||||
toolMode
|
||||
);
|
||||
}
|
||||
});
|
||||
|
||||
////////// Return //////////
|
||||
////////// Return //////////
|
||||
|
||||
return (
|
||||
<>
|
||||
<Ground grid={grid} plane={plane} />
|
||||
return (
|
||||
<>
|
||||
<Ground grid={grid} plane={plane} />
|
||||
|
||||
<DistanceText key={toggleView} />
|
||||
<DistanceText key={toggleView} />
|
||||
|
||||
<ReferenceDistanceText
|
||||
key={refTextupdate}
|
||||
line={ReferenceLineMesh.current}
|
||||
/>
|
||||
<ReferenceDistanceText
|
||||
key={refTextupdate}
|
||||
line={ReferenceLineMesh.current}
|
||||
/>
|
||||
|
||||
<SocketResponses
|
||||
floorPlanGroup={floorPlanGroup}
|
||||
lines={lines}
|
||||
floorGroup={floorGroup}
|
||||
floorGroupAisle={floorGroupAisle}
|
||||
scene={scene}
|
||||
onlyFloorlines={onlyFloorlines}
|
||||
AssetConfigurations={AssetConfigurations}
|
||||
itemsGroup={itemsGroup}
|
||||
isTempLoader={isTempLoader}
|
||||
tempLoader={tempLoader}
|
||||
currentLayerPoint={currentLayerPoint}
|
||||
floorPlanGroupPoint={floorPlanGroupPoint}
|
||||
floorPlanGroupLine={floorPlanGroupLine}
|
||||
zoneGroup={zoneGroup}
|
||||
dragPointControls={dragPointControls}
|
||||
/>
|
||||
<SocketResponses
|
||||
floorPlanGroup={floorPlanGroup}
|
||||
lines={lines}
|
||||
floorGroup={floorGroup}
|
||||
floorGroupAisle={floorGroupAisle}
|
||||
scene={scene}
|
||||
onlyFloorlines={onlyFloorlines}
|
||||
AssetConfigurations={AssetConfigurations}
|
||||
itemsGroup={itemsGroup}
|
||||
isTempLoader={isTempLoader}
|
||||
tempLoader={tempLoader}
|
||||
currentLayerPoint={currentLayerPoint}
|
||||
floorPlanGroupPoint={floorPlanGroupPoint}
|
||||
floorPlanGroupLine={floorPlanGroupLine}
|
||||
zoneGroup={zoneGroup}
|
||||
dragPointControls={dragPointControls}
|
||||
/>
|
||||
|
||||
<WallsAndWallItems
|
||||
CSGGroup={CSGGroup}
|
||||
AssetConfigurations={AssetConfigurations}
|
||||
setSelectedItemsIndex={setSelectedItemsIndex}
|
||||
selectedItemsIndex={selectedItemsIndex}
|
||||
currentWallItem={currentWallItem}
|
||||
csg={csg}
|
||||
lines={lines}
|
||||
hoveredDeletableWallItem={hoveredDeletableWallItem}
|
||||
/>
|
||||
<WallsAndWallItems
|
||||
CSGGroup={CSGGroup}
|
||||
AssetConfigurations={AssetConfigurations}
|
||||
setSelectedItemsIndex={setSelectedItemsIndex}
|
||||
selectedItemsIndex={selectedItemsIndex}
|
||||
currentWallItem={currentWallItem}
|
||||
csg={csg}
|
||||
lines={lines}
|
||||
hoveredDeletableWallItem={hoveredDeletableWallItem}
|
||||
/>
|
||||
|
||||
<FloorItemsGroup
|
||||
itemsGroup={itemsGroup}
|
||||
hoveredDeletableFloorItem={hoveredDeletableFloorItem}
|
||||
AttachedObject={AttachedObject}
|
||||
floorGroup={floorGroup}
|
||||
tempLoader={tempLoader}
|
||||
isTempLoader={isTempLoader}
|
||||
plane={plane}
|
||||
/>
|
||||
<FloorItemsGroup
|
||||
itemsGroup={itemsGroup}
|
||||
hoveredDeletableFloorItem={hoveredDeletableFloorItem}
|
||||
AttachedObject={AttachedObject}
|
||||
floorGroup={floorGroup}
|
||||
tempLoader={tempLoader}
|
||||
isTempLoader={isTempLoader}
|
||||
plane={plane}
|
||||
/>
|
||||
|
||||
<FloorGroup
|
||||
floorGroup={floorGroup}
|
||||
lines={lines}
|
||||
referencePole={referencePole}
|
||||
hoveredDeletablePillar={hoveredDeletablePillar}
|
||||
/>
|
||||
<FloorGroup
|
||||
floorGroup={floorGroup}
|
||||
lines={lines}
|
||||
referencePole={referencePole}
|
||||
hoveredDeletablePillar={hoveredDeletablePillar}
|
||||
/>
|
||||
|
||||
<FloorPlanGroup
|
||||
floorPlanGroup={floorPlanGroup}
|
||||
floorPlanGroupLine={floorPlanGroupLine}
|
||||
floorPlanGroupPoint={floorPlanGroupPoint}
|
||||
floorGroup={floorGroup}
|
||||
currentLayerPoint={currentLayerPoint}
|
||||
dragPointControls={dragPointControls}
|
||||
hoveredDeletablePoint={hoveredDeletablePoint}
|
||||
hoveredDeletableLine={hoveredDeletableLine}
|
||||
plane={plane}
|
||||
line={line}
|
||||
lines={lines}
|
||||
onlyFloorline={onlyFloorline}
|
||||
onlyFloorlines={onlyFloorlines}
|
||||
ReferenceLineMesh={ReferenceLineMesh}
|
||||
LineCreated={LineCreated}
|
||||
isSnapped={isSnapped}
|
||||
ispreSnapped={ispreSnapped}
|
||||
snappedPoint={snappedPoint}
|
||||
isSnappedUUID={isSnappedUUID}
|
||||
isAngleSnapped={isAngleSnapped}
|
||||
anglesnappedPoint={anglesnappedPoint}
|
||||
/>
|
||||
<FloorPlanGroup
|
||||
floorPlanGroup={floorPlanGroup}
|
||||
floorPlanGroupLine={floorPlanGroupLine}
|
||||
floorPlanGroupPoint={floorPlanGroupPoint}
|
||||
floorGroup={floorGroup}
|
||||
currentLayerPoint={currentLayerPoint}
|
||||
dragPointControls={dragPointControls}
|
||||
hoveredDeletablePoint={hoveredDeletablePoint}
|
||||
hoveredDeletableLine={hoveredDeletableLine}
|
||||
plane={plane}
|
||||
line={line}
|
||||
lines={lines}
|
||||
onlyFloorline={onlyFloorline}
|
||||
onlyFloorlines={onlyFloorlines}
|
||||
ReferenceLineMesh={ReferenceLineMesh}
|
||||
LineCreated={LineCreated}
|
||||
isSnapped={isSnapped}
|
||||
ispreSnapped={ispreSnapped}
|
||||
snappedPoint={snappedPoint}
|
||||
isSnappedUUID={isSnappedUUID}
|
||||
isAngleSnapped={isAngleSnapped}
|
||||
anglesnappedPoint={anglesnappedPoint}
|
||||
/>
|
||||
|
||||
<ZoneGroup />
|
||||
<ZoneGroup />
|
||||
|
||||
<FloorGroupAilse
|
||||
floorGroupAisle={floorGroupAisle}
|
||||
plane={plane}
|
||||
floorPlanGroupLine={floorPlanGroupLine}
|
||||
floorPlanGroupPoint={floorPlanGroupPoint}
|
||||
line={line}
|
||||
lines={lines}
|
||||
currentLayerPoint={currentLayerPoint}
|
||||
dragPointControls={dragPointControls}
|
||||
floorPlanGroup={floorPlanGroup}
|
||||
ReferenceLineMesh={ReferenceLineMesh}
|
||||
LineCreated={LineCreated}
|
||||
isSnapped={isSnapped}
|
||||
ispreSnapped={ispreSnapped}
|
||||
snappedPoint={snappedPoint}
|
||||
isSnappedUUID={isSnappedUUID}
|
||||
isAngleSnapped={isAngleSnapped}
|
||||
anglesnappedPoint={anglesnappedPoint}
|
||||
/>
|
||||
<FloorGroupAilse
|
||||
floorGroupAisle={floorGroupAisle}
|
||||
plane={plane}
|
||||
floorPlanGroupLine={floorPlanGroupLine}
|
||||
floorPlanGroupPoint={floorPlanGroupPoint}
|
||||
line={line}
|
||||
lines={lines}
|
||||
currentLayerPoint={currentLayerPoint}
|
||||
dragPointControls={dragPointControls}
|
||||
floorPlanGroup={floorPlanGroup}
|
||||
ReferenceLineMesh={ReferenceLineMesh}
|
||||
LineCreated={LineCreated}
|
||||
isSnapped={isSnapped}
|
||||
ispreSnapped={ispreSnapped}
|
||||
snappedPoint={snappedPoint}
|
||||
isSnappedUUID={isSnappedUUID}
|
||||
isAngleSnapped={isAngleSnapped}
|
||||
anglesnappedPoint={anglesnappedPoint}
|
||||
/>
|
||||
|
||||
<MeasurementTool />
|
||||
<MeasurementTool />
|
||||
|
||||
<NavMesh lines={lines} />
|
||||
|
||||
</>
|
||||
);
|
||||
<NavMesh lines={lines} />
|
||||
</>
|
||||
);
|
||||
}
|
||||
|
||||
@@ -1,173 +1,287 @@
|
||||
import React, { useEffect, useRef, useState } from 'react';
|
||||
import * as THREE from 'three';
|
||||
import { useEventsStore } from '../../../../../store/simulation/useEventsStore';
|
||||
import useModuleStore from '../../../../../store/useModuleStore';
|
||||
import { TransformControls } from '@react-three/drei';
|
||||
import { detectModifierKeys } from '../../../../../utils/shortcutkeys/detectModifierKeys';
|
||||
import { useSelectedEventSphere, useSelectedEventData } from '../../../../../store/simulation/useSimulationStore';
|
||||
import React, { useEffect, useRef, useState } from "react";
|
||||
import * as THREE from "three";
|
||||
import { useEventsStore } from "../../../../../store/simulation/useEventsStore";
|
||||
import useModuleStore from "../../../../../store/useModuleStore";
|
||||
import { TransformControls, useGLTF } from "@react-three/drei";
|
||||
import { detectModifierKeys } from "../../../../../utils/shortcutkeys/detectModifierKeys";
|
||||
import {
|
||||
useSelectedEventSphere,
|
||||
useSelectedEventData,
|
||||
} from "../../../../../store/simulation/useSimulationStore";
|
||||
import PickDropPoints from "../../../ui/arm/PickDropPoints";
|
||||
|
||||
import armPick from "../../../../../assets/gltf-glb/arm_ui_pick.glb";
|
||||
import armDrop from "../../../../../assets/gltf-glb/arm_ui_drop.glb";
|
||||
import useDraggableGLTF from "../../../ui/arm/useDraggableGLTF";
|
||||
import { useArmBotStore } from "../../../../../store/simulation/useArmBotStore";
|
||||
import { useThree } from "@react-three/fiber";
|
||||
|
||||
interface Process {
|
||||
startPoint: number[] | null;
|
||||
endPoint: number[] | null;
|
||||
}
|
||||
|
||||
interface Action {
|
||||
actionUuid: string;
|
||||
actionName: string;
|
||||
actionType: string;
|
||||
process: Process;
|
||||
triggers: any[];
|
||||
}
|
||||
|
||||
interface Point {
|
||||
uuid: string;
|
||||
position: number[];
|
||||
rotation: number[];
|
||||
actions: Action[];
|
||||
}
|
||||
|
||||
interface RoboticArmEvent {
|
||||
modelUuid: string;
|
||||
modelName: string;
|
||||
position: number[];
|
||||
rotation: number[];
|
||||
state: string;
|
||||
type: string;
|
||||
speed: number;
|
||||
point: Point;
|
||||
}
|
||||
function PointsCreator() {
|
||||
const { events, updatePoint, getPointByUuid, getEventByModelUuid } = useEventsStore();
|
||||
const { activeModule } = useModuleStore();
|
||||
const transformRef = useRef<any>(null);
|
||||
const [transformMode, setTransformMode] = useState<"translate" | "rotate" | null>(null);
|
||||
const sphereRefs = useRef<{ [key: string]: THREE.Mesh }>({});
|
||||
const { selectedEventSphere, setSelectedEventSphere, clearSelectedEventSphere } = useSelectedEventSphere();
|
||||
const { setSelectedEventData, clearSelectedEventData } = useSelectedEventData();
|
||||
const { events, updatePoint, getPointByUuid, getEventByModelUuid } =
|
||||
useEventsStore();
|
||||
const { armBots, updateArmBot, addArmBot, removeArmBot } = useArmBotStore()
|
||||
|
||||
useEffect(() => {
|
||||
if (selectedEventSphere) {
|
||||
const eventData = getEventByModelUuid(selectedEventSphere.userData.modelUuid);
|
||||
if (eventData) {
|
||||
setSelectedEventData(
|
||||
eventData,
|
||||
selectedEventSphere.userData.pointUuid
|
||||
);
|
||||
} else {
|
||||
clearSelectedEventData();
|
||||
}
|
||||
} else {
|
||||
clearSelectedEventData();
|
||||
const armUiPick = useGLTF(armPick) as any;
|
||||
const armUiDrop = useGLTF(armDrop) as any;
|
||||
|
||||
const updatePointToState = (obj: THREE.Object3D) => {
|
||||
const { modelUuid, pointUuid, actionType, actionUuid } = obj.userData;
|
||||
|
||||
const newPosition = new THREE.Vector3();
|
||||
obj.getWorldPosition(newPosition);
|
||||
const worldPositionArray = newPosition.toArray();
|
||||
|
||||
const armBot = armBots.find((a) => a.modelUuid === modelUuid);
|
||||
if (!armBot) return;
|
||||
|
||||
const updatedActions = armBot.point.actions.map((action: any) => {
|
||||
if (action.actionUuid === actionUuid) {
|
||||
const updatedProcess = { ...action.process };
|
||||
|
||||
if (actionType === "pick") {
|
||||
updatedProcess.startPoint = getLocalPosition(modelUuid, worldPositionArray);
|
||||
}
|
||||
}, [selectedEventSphere]);
|
||||
|
||||
useEffect(() => {
|
||||
const handleKeyDown = (e: KeyboardEvent) => {
|
||||
const keyCombination = detectModifierKeys(e);
|
||||
if (!selectedEventSphere) return;
|
||||
if (keyCombination === "G") {
|
||||
setTransformMode((prev) => (prev === "translate" ? null : "translate"));
|
||||
}
|
||||
if (keyCombination === "R") {
|
||||
setTransformMode((prev) => (prev === "rotate" ? null : "rotate"));
|
||||
}
|
||||
if (actionType === "drop") {
|
||||
updatedProcess.endPoint = getLocalPosition(modelUuid, worldPositionArray);
|
||||
}
|
||||
return {
|
||||
...action,
|
||||
process: updatedProcess,
|
||||
};
|
||||
}
|
||||
return action;
|
||||
});
|
||||
|
||||
window.addEventListener("keydown", handleKeyDown);
|
||||
return () => window.removeEventListener("keydown", handleKeyDown);
|
||||
}, [selectedEventSphere]);
|
||||
updateArmBot(modelUuid, {
|
||||
point: {
|
||||
...armBot.point,
|
||||
actions: updatedActions,
|
||||
},
|
||||
});
|
||||
};
|
||||
|
||||
const updatePointToState = (selectedEventSphere: THREE.Mesh) => {
|
||||
let point = JSON.parse(JSON.stringify(getPointByUuid(selectedEventSphere.userData.modelUuid, selectedEventSphere.userData.pointUuid)));
|
||||
if (point) {
|
||||
point.position = [selectedEventSphere.position.x, selectedEventSphere.position.y, selectedEventSphere.position.z];
|
||||
updatePoint(selectedEventSphere.userData.modelUuid, selectedEventSphere.userData.pointUuid, point)
|
||||
}
|
||||
|
||||
const { handlePointerDown } = useDraggableGLTF(updatePointToState);
|
||||
const { scene } = useThree();
|
||||
const { activeModule } = useModuleStore();
|
||||
const transformRef = useRef<any>(null);
|
||||
const groupRef = useRef<any>(null);
|
||||
const [transformMode, setTransformMode] = useState<
|
||||
"translate" | "rotate" | null
|
||||
>(null);
|
||||
const sphereRefs = useRef<{ [key: string]: THREE.Mesh }>({});
|
||||
const {
|
||||
selectedEventSphere,
|
||||
setSelectedEventSphere,
|
||||
clearSelectedEventSphere,
|
||||
} = useSelectedEventSphere();
|
||||
const { setSelectedEventData, clearSelectedEventData } =
|
||||
useSelectedEventData();
|
||||
|
||||
useEffect(() => {
|
||||
if (selectedEventSphere) {
|
||||
const eventData = getEventByModelUuid(
|
||||
selectedEventSphere.userData.modelUuid
|
||||
);
|
||||
if (eventData) {
|
||||
setSelectedEventData(eventData, selectedEventSphere.userData.pointUuid);
|
||||
} else {
|
||||
clearSelectedEventData();
|
||||
}
|
||||
} else {
|
||||
clearSelectedEventData();
|
||||
}
|
||||
}, [selectedEventSphere]);
|
||||
|
||||
return (
|
||||
useEffect(() => {
|
||||
const handleKeyDown = (e: KeyboardEvent) => {
|
||||
const keyCombination = detectModifierKeys(e);
|
||||
if (!selectedEventSphere) return;
|
||||
if (keyCombination === "G") {
|
||||
setTransformMode((prev) => (prev === "translate" ? null : "translate"));
|
||||
}
|
||||
if (keyCombination === "R") {
|
||||
setTransformMode((prev) => (prev === "rotate" ? null : "rotate"));
|
||||
}
|
||||
};
|
||||
|
||||
window.addEventListener("keydown", handleKeyDown);
|
||||
return () => window.removeEventListener("keydown", handleKeyDown);
|
||||
}, [selectedEventSphere]);
|
||||
|
||||
const [selectedPoint, setSelectedPoint] = useState<THREE.Mesh | null>(null);
|
||||
|
||||
const getDefaultPositions = (modelUuid: string) => {
|
||||
const modelData = getModelByUuid(modelUuid);
|
||||
if (modelData) {
|
||||
|
||||
const baseX = modelData.position?.[0] || 0;
|
||||
const baseY = 2.6;
|
||||
const baseZ = modelData.position?.[2] || 0;
|
||||
return {
|
||||
pick: [baseX, baseY, baseZ + 0.4],
|
||||
drop: [baseX, baseY, baseZ - 1.2],
|
||||
default: [baseX, baseY, baseZ - 1.5],
|
||||
};
|
||||
}
|
||||
return {
|
||||
pick: [0.5, 1.5, 0],
|
||||
drop: [-0.5, 1.5, 0],
|
||||
default: [0, 1.5, 0],
|
||||
};
|
||||
};
|
||||
|
||||
const getModelByUuid = (modelUuid: string) => {
|
||||
try {
|
||||
const modelsJson = localStorage.getItem("FloorItems");
|
||||
if (modelsJson) {
|
||||
const models = JSON.parse(modelsJson);
|
||||
return models.find((m: any) => m.modeluuid === modelUuid);
|
||||
}
|
||||
const storeModels = (useModuleStore.getState() as any).models || [];
|
||||
return storeModels.find((m: any) => m.modelUuid === modelUuid);
|
||||
} catch (error) { }
|
||||
return null;
|
||||
};
|
||||
|
||||
function getLocalPosition(parentUuid: string, worldPosArray: [number, number, number] | null): [number, number, number] | null {
|
||||
if (worldPosArray) {
|
||||
const worldPos = new THREE.Vector3(...worldPosArray);
|
||||
const localPos = worldPos.clone();
|
||||
|
||||
const parentObject = scene.getObjectByProperty('uuid', parentUuid);
|
||||
if (parentObject) {
|
||||
parentObject.worldToLocal(localPos);
|
||||
|
||||
return [localPos.x, localPos.y, localPos.z];
|
||||
} else {
|
||||
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
useEffect(() => {
|
||||
|
||||
}, [armBots]);
|
||||
return (
|
||||
<>
|
||||
{activeModule === "simulation" && (
|
||||
<>
|
||||
{activeModule === 'simulation' &&
|
||||
<>
|
||||
<group name='EventPointsGroup' >
|
||||
{events.map((event, i) => {
|
||||
if (event.type === 'transfer') {
|
||||
return (
|
||||
<group key={i} position={new THREE.Vector3(...event.position)}>
|
||||
{event.points.map((point, j) => (
|
||||
<mesh
|
||||
name='Event-Sphere'
|
||||
uuid={point.uuid}
|
||||
ref={(el) => (sphereRefs.current[point.uuid] = el!)}
|
||||
onClick={(e) => {
|
||||
e.stopPropagation();
|
||||
setSelectedEventSphere(sphereRefs.current[point.uuid]);
|
||||
}}
|
||||
onPointerMissed={() => {
|
||||
clearSelectedEventSphere();
|
||||
setTransformMode(null);
|
||||
}}
|
||||
key={`${i}-${j}`}
|
||||
position={new THREE.Vector3(...point.position)}
|
||||
userData={{ modelUuid: event.modelUuid, pointUuid: point.uuid }}
|
||||
>
|
||||
<sphereGeometry args={[0.1, 16, 16]} />
|
||||
<meshStandardMaterial color="orange" />
|
||||
</mesh>
|
||||
))}
|
||||
</group>
|
||||
);
|
||||
} else if (event.type === 'vehicle') {
|
||||
return (
|
||||
<group key={i} position={new THREE.Vector3(...event.position)}>
|
||||
<mesh
|
||||
name='Event-Sphere'
|
||||
uuid={event.point.uuid}
|
||||
ref={(el) => (sphereRefs.current[event.point.uuid] = el!)}
|
||||
onClick={(e) => {
|
||||
e.stopPropagation();
|
||||
setSelectedEventSphere(sphereRefs.current[event.point.uuid]);
|
||||
}}
|
||||
onPointerMissed={() => {
|
||||
clearSelectedEventSphere();
|
||||
setTransformMode(null);
|
||||
}}
|
||||
position={new THREE.Vector3(...event.point.position)}
|
||||
userData={{ modelUuid: event.modelUuid, pointUuid: event.point.uuid }}
|
||||
>
|
||||
<sphereGeometry args={[0.1, 16, 16]} />
|
||||
<meshStandardMaterial color="blue" />
|
||||
</mesh>
|
||||
</group>
|
||||
);
|
||||
} else if (event.type === 'roboticArm') {
|
||||
return (
|
||||
<group key={i} position={new THREE.Vector3(...event.position)}>
|
||||
<mesh
|
||||
name='Event-Sphere'
|
||||
uuid={event.point.uuid}
|
||||
ref={(el) => (sphereRefs.current[event.point.uuid] = el!)}
|
||||
onClick={(e) => {
|
||||
e.stopPropagation();
|
||||
setSelectedEventSphere(sphereRefs.current[event.point.uuid]);
|
||||
}}
|
||||
onPointerMissed={() => {
|
||||
clearSelectedEventSphere();
|
||||
setTransformMode(null);
|
||||
}}
|
||||
position={new THREE.Vector3(...event.point.position)}
|
||||
userData={{ modelUuid: event.modelUuid, pointUuid: event.point.uuid }}
|
||||
>
|
||||
<sphereGeometry args={[0.1, 16, 16]} />
|
||||
<meshStandardMaterial color="green" />
|
||||
</mesh>
|
||||
</group>
|
||||
);
|
||||
} else if (event.type === 'machine') {
|
||||
return (
|
||||
<group key={i} position={new THREE.Vector3(...event.position)}>
|
||||
<mesh
|
||||
name='Event-Sphere'
|
||||
uuid={event.point.uuid}
|
||||
ref={(el) => (sphereRefs.current[event.point.uuid] = el!)}
|
||||
onClick={(e) => {
|
||||
e.stopPropagation();
|
||||
setSelectedEventSphere(sphereRefs.current[event.point.uuid]);
|
||||
}}
|
||||
onPointerMissed={() => {
|
||||
clearSelectedEventSphere();
|
||||
setTransformMode(null);
|
||||
}}
|
||||
position={new THREE.Vector3(...event.point.position)}
|
||||
userData={{ modelUuid: event.modelUuid, pointUuid: event.point.uuid }}
|
||||
>
|
||||
<sphereGeometry args={[0.1, 16, 16]} />
|
||||
<meshStandardMaterial color="purple" />
|
||||
</mesh>
|
||||
</group>
|
||||
);
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
})}
|
||||
</group>
|
||||
{(selectedEventSphere && transformMode) &&
|
||||
<TransformControls ref={transformRef} object={selectedEventSphere} mode={transformMode} onMouseUp={(e) => { updatePointToState(selectedEventSphere) }} />
|
||||
}
|
||||
</>
|
||||
}
|
||||
<group name="EventPointsGroup">
|
||||
{armBots.map((event, i) => {
|
||||
if (event.type === "roboticArm") {
|
||||
const defaultPositions = getDefaultPositions(event.modelUuid);
|
||||
const isSelected =
|
||||
selectedPoint?.userData?.modelUuid === event.modelUuid;
|
||||
return (
|
||||
<group
|
||||
key={i}
|
||||
position={new THREE.Vector3(...event.position)}
|
||||
rotation={new THREE.Euler(...event.rotation)}
|
||||
>
|
||||
<mesh
|
||||
name='Event-Sphere'
|
||||
uuid={event.point.uuid}
|
||||
ref={(el) => (sphereRefs.current[event.point.uuid] = el!)}
|
||||
onClick={(e) => {
|
||||
e.stopPropagation();
|
||||
setSelectedEventSphere(sphereRefs.current[event.point.uuid]);
|
||||
setSelectedPoint(e.object as THREE.Mesh);
|
||||
}}
|
||||
onPointerMissed={() => {
|
||||
clearSelectedEventSphere();
|
||||
setTransformMode(null);
|
||||
}}
|
||||
position={new THREE.Vector3(...event.point.position)}
|
||||
userData={{ modelUuid: event.modelUuid, pointUuid: event.point.uuid }}
|
||||
>
|
||||
<sphereGeometry args={[0.1, 16, 16]} />
|
||||
<meshStandardMaterial
|
||||
color={isSelected ? "yellow" : "green"}
|
||||
/>
|
||||
</mesh>
|
||||
{event.point.actions.map((action) => {
|
||||
if (action.actionType === "pickAndPlace") {
|
||||
|
||||
const pickPosition =
|
||||
action.process.startPoint || defaultPositions.pick;
|
||||
const dropPosition =
|
||||
action.process.endPoint || defaultPositions.drop;
|
||||
|
||||
return (
|
||||
<React.Fragment key={action.actionUuid}>
|
||||
{/* Pick Point */}
|
||||
<PickDropPoints
|
||||
position={pickPosition}
|
||||
modelUuid={event.modelUuid}
|
||||
pointUuid={event.point.uuid}
|
||||
actionType="pick"
|
||||
actionUuid={action.actionUuid}
|
||||
gltfScene={armUiPick.scene}
|
||||
selectedPoint={selectedPoint}
|
||||
handlePointerDown={handlePointerDown}
|
||||
isSelected={isSelected}
|
||||
/>
|
||||
|
||||
{/* Drop Point */}
|
||||
<PickDropPoints
|
||||
position={dropPosition}
|
||||
modelUuid={event.modelUuid}
|
||||
pointUuid={event.point.uuid}
|
||||
actionType="drop"
|
||||
actionUuid={action.actionUuid}
|
||||
gltfScene={armUiDrop.scene}
|
||||
selectedPoint={selectedPoint}
|
||||
handlePointerDown={handlePointerDown}
|
||||
isSelected={isSelected}
|
||||
/>
|
||||
</React.Fragment>
|
||||
);
|
||||
}
|
||||
return null;
|
||||
})}
|
||||
</group>
|
||||
);
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
})}
|
||||
</group>
|
||||
</>
|
||||
);
|
||||
)}
|
||||
</>
|
||||
);
|
||||
}
|
||||
|
||||
export default PointsCreator;
|
||||
|
||||
@@ -8,7 +8,7 @@ function RoboticArmAnimator({ armUuid, HandleCallback, currentPhase, ikSolver, t
|
||||
const { armBots } = useArmBotStore();
|
||||
const { scene } = useThree();
|
||||
const restSpeed = 0.1;
|
||||
const restPosition = new THREE.Vector3(0, 2, 1.6);
|
||||
const restPosition = new THREE.Vector3(0, 1, -1.6);
|
||||
const initialCurveRef = useRef<THREE.CatmullRomCurve3 | null>(null);
|
||||
const initialStartPositionRef = useRef<THREE.Vector3 | null>(null);
|
||||
const [initialProgress, setInitialProgress] = useState(0);
|
||||
@@ -22,11 +22,12 @@ function RoboticArmAnimator({ armUuid, HandleCallback, currentPhase, ikSolver, t
|
||||
const [currentPath, setCurrentPath] = useState<[number, number, number][]>([]);
|
||||
|
||||
useEffect(() => {
|
||||
|
||||
setCurrentPath(path)
|
||||
}, [path])
|
||||
|
||||
useEffect(() => {
|
||||
|
||||
|
||||
}, [currentPath])
|
||||
|
||||
useFrame((_, delta) => {
|
||||
@@ -42,13 +43,13 @@ function RoboticArmAnimator({ armUuid, HandleCallback, currentPhase, ikSolver, t
|
||||
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);
|
||||
// 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
|
||||
|
||||
@@ -16,6 +16,7 @@ interface Process {
|
||||
endPoint?: Vector3;
|
||||
speed: number;
|
||||
}
|
||||
|
||||
function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
|
||||
|
||||
const { isPlaying } = usePlayButtonStore();
|
||||
@@ -29,7 +30,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
|
||||
const groupRef = useRef<any>(null);
|
||||
const [processes, setProcesses] = useState<Process[]>([]);
|
||||
const [armBotCurvePoints, setArmBotCurvePoints] = useState({ start: [], end: [] })
|
||||
const restPosition = new THREE.Vector3(0, 2, 1.6);
|
||||
const restPosition = new THREE.Vector3(0, 1, -1.6);
|
||||
let armBotCurveRef = useRef<THREE.CatmullRomCurve3 | null>(null)
|
||||
const [path, setPath] = useState<[number, number, number][]>([]);
|
||||
|
||||
@@ -52,7 +53,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
|
||||
if (isPlaying) {
|
||||
//Moving armBot from initial point to rest position.
|
||||
if (!robot?.isActive && robot?.state == "idle" && currentPhase == "init") {
|
||||
|
||||
|
||||
setArmBotActive(robot.modelUuid, true)
|
||||
setArmBotState(robot.modelUuid, "running")
|
||||
setCurrentPhase("init-to-rest");
|
||||
@@ -62,11 +63,11 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
|
||||
setPath(curve.points.map(point => [point.x, point.y, point.z]));
|
||||
}
|
||||
}
|
||||
logStatus(robot.modelUuid, "Starting from init to rest")
|
||||
logStatus(robot.modelUuid, "Moving armBot from initial point to rest position.")
|
||||
}
|
||||
//Waiting for trigger.
|
||||
else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "rest" && !robot.currentAction) {
|
||||
console.log("trigger");
|
||||
logStatus(robot.modelUuid, "Waiting to trigger CurrentAction")
|
||||
setTimeout(() => {
|
||||
addCurrentAction(robot.modelUuid, 'action-003');
|
||||
}, 3000);
|
||||
@@ -84,7 +85,7 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
|
||||
}
|
||||
}
|
||||
}
|
||||
logStatus(robot.modelUuid, "Starting from rest to start")
|
||||
logStatus(robot.modelUuid, "Moving armBot from rest point to start position.")
|
||||
}
|
||||
else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "picking" && robot.currentAction) {
|
||||
setArmBotActive(robot.modelUuid, true);
|
||||
@@ -98,10 +99,13 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
|
||||
new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2])
|
||||
);
|
||||
if (curve) {
|
||||
setPath(curve.points.map(point => [point.x, point.y, point.z]));
|
||||
setTimeout(() => {
|
||||
logStatus(robot.modelUuid, "picking the object");
|
||||
setPath(curve.points.map(point => [point.x, point.y, point.z]));
|
||||
}, 1500)
|
||||
}
|
||||
}
|
||||
logStatus(robot.modelUuid, "Starting from start to end")
|
||||
logStatus(robot.modelUuid, "Moving armBot from start point to end position.")
|
||||
}
|
||||
else if (robot && !robot.isActive && robot.state === "idle" && currentPhase === "dropping" && robot.currentAction) {
|
||||
setArmBotActive(robot.modelUuid, true);
|
||||
@@ -112,10 +116,13 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
|
||||
let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition
|
||||
);
|
||||
if (curve) {
|
||||
setPath(curve.points.map(point => [point.x, point.y, point.z]));
|
||||
setTimeout(() => {
|
||||
logStatus(robot.modelUuid, "dropping the object");
|
||||
setPath(curve.points.map(point => [point.x, point.y, point.z]));
|
||||
}, 1500)
|
||||
}
|
||||
}
|
||||
logStatus(robot.modelUuid, "Starting from end to rest")
|
||||
logStatus(robot.modelUuid, "Moving armBot from end point to rest position.")
|
||||
}
|
||||
}
|
||||
|
||||
@@ -133,28 +140,28 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
|
||||
|
||||
const HandleCallback = () => {
|
||||
if (robot.isActive && robot.state == "running" && currentPhase == "init-to-rest") {
|
||||
console.log("Callback triggered: rest");
|
||||
logStatus(robot.modelUuid, "Callback triggered: rest");
|
||||
setArmBotActive(robot.modelUuid, false)
|
||||
setArmBotState(robot.modelUuid, "idle")
|
||||
setCurrentPhase("rest");
|
||||
setPath([])
|
||||
}
|
||||
else if (robot.isActive && robot.state == "running" && currentPhase == "rest-to-start") {
|
||||
console.log("Callback triggered: pick.");
|
||||
logStatus(robot.modelUuid, "Callback triggered: pick.");
|
||||
setArmBotActive(robot.modelUuid, false)
|
||||
setArmBotState(robot.modelUuid, "idle")
|
||||
setCurrentPhase("picking");
|
||||
setPath([])
|
||||
}
|
||||
else if (robot.isActive && robot.state == "running" && currentPhase == "start-to-end") {
|
||||
console.log("Callback triggered: drop.");
|
||||
logStatus(robot.modelUuid, "Callback triggered: drop.");
|
||||
setArmBotActive(robot.modelUuid, false)
|
||||
setArmBotState(robot.modelUuid, "idle")
|
||||
setCurrentPhase("dropping");
|
||||
setPath([])
|
||||
}
|
||||
else if (robot.isActive && robot.state == "running" && currentPhase == "end-to-rest") {
|
||||
console.log("Callback triggered: rest, cycle completed.");
|
||||
logStatus(robot.modelUuid, "Callback triggered: rest, cycle completed.");
|
||||
setArmBotActive(robot.modelUuid, false)
|
||||
setArmBotState(robot.modelUuid, "idle")
|
||||
setCurrentPhase("rest");
|
||||
@@ -163,12 +170,12 @@ function RoboticArmInstance({ robot }: { robot: ArmBotStatus }) {
|
||||
}
|
||||
}
|
||||
const logStatus = (id: string, status: string) => {
|
||||
console.log(id +","+ status);
|
||||
// console.log(id + "," + status);
|
||||
console.log( status);
|
||||
}
|
||||
|
||||
return (
|
||||
<>
|
||||
|
||||
<IKInstance modelUrl={armModel} setIkSolver={setIkSolver} ikSolver={ikSolver} robot={robot} groupRef={groupRef} processes={processes}
|
||||
setArmBotCurvePoints={setArmBotCurvePoints} />
|
||||
<RoboticArmAnimator armUuid={robot?.modelUuid} HandleCallback={HandleCallback}
|
||||
|
||||
@@ -15,6 +15,7 @@ type IKInstanceProps = {
|
||||
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();
|
||||
@@ -64,16 +65,16 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, robot, groupRef, processe
|
||||
const solver = new CCDIKSolver(OOI.Skinned_Mesh, iks);
|
||||
setIkSolver(solver);
|
||||
|
||||
const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05);
|
||||
const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05)
|
||||
|
||||
// scene.add(groupRef.current)
|
||||
// scene.add(helper)
|
||||
|
||||
|
||||
}, [gltf]);
|
||||
|
||||
return (
|
||||
<>
|
||||
<group ref={groupRef} position={robot.position}>
|
||||
<group ref={groupRef} position={robot.position} rotation={robot.rotation}>
|
||||
<primitive
|
||||
uuid={"ArmBot-X200"}
|
||||
object={cloned}
|
||||
|
||||
@@ -7,18 +7,19 @@ function RoboticArm() {
|
||||
const { armBots, addArmBot, removeArmBot } = useArmBotStore();
|
||||
const { floorItems } = useFloorItems();
|
||||
|
||||
|
||||
const armBotStatusSample: RoboticArmEventSchema[] = [
|
||||
{
|
||||
state: "idle",
|
||||
modelUuid: "armbot-xyz-001",
|
||||
modelUuid: "3abf5d46-b59e-4e6b-9c02-a4634b64b82d",
|
||||
modelName: "ArmBot-X200",
|
||||
position: [91.94347308985614, 0, 6.742905194869091],
|
||||
rotation: [0, 0, 0],
|
||||
position: [0.20849215906958463, 0, 0.32079278127773675],
|
||||
rotation: [-1.3768690876192207e-15, 1.4883085074751308, 1.5407776675834467e-15],
|
||||
type: "roboticArm",
|
||||
speed: 1.5,
|
||||
point: {
|
||||
uuid: "point-123",
|
||||
position: [0, 1.5, 0],
|
||||
position: [0, 2.6, 0],
|
||||
rotation: [0, 0, 0],
|
||||
actions: [
|
||||
{
|
||||
@@ -26,9 +27,21 @@ function RoboticArm() {
|
||||
actionName: "Pick Component",
|
||||
actionType: "pickAndPlace",
|
||||
process: {
|
||||
startPoint: [5.52543010919071, 1, -8.433681161200905],
|
||||
endPoint: [10.52543010919071, 1, -12.433681161200905],
|
||||
startPoint: [-1, 2, 1],
|
||||
endPoint: [-2, 1, -1],
|
||||
},
|
||||
// process: {
|
||||
// "startPoint": [
|
||||
// 0.37114476008711866,
|
||||
// 1.9999999999999998,
|
||||
// 1.8418816116721384
|
||||
// ],
|
||||
// "endPoint": [
|
||||
// -0.42197069459490777,
|
||||
// 1,
|
||||
// -3.159515927851809
|
||||
// ]
|
||||
// },
|
||||
triggers: [
|
||||
{
|
||||
triggerUuid: "trigger-001",
|
||||
@@ -145,7 +158,7 @@ function RoboticArm() {
|
||||
];
|
||||
|
||||
useEffect(() => {
|
||||
|
||||
|
||||
removeArmBot(armBotStatusSample[0].modelUuid);
|
||||
addArmBot('123', armBotStatusSample[0]);
|
||||
// addArmBot('123', armBotStatusSample[1]);
|
||||
@@ -153,7 +166,7 @@ function RoboticArm() {
|
||||
}, []);
|
||||
|
||||
useEffect(() => {
|
||||
//
|
||||
|
||||
}, [armBots]);
|
||||
|
||||
return (
|
||||
|
||||
54
app/src/modules/simulation/ui/arm/PickDropPoints.tsx
Normal file
54
app/src/modules/simulation/ui/arm/PickDropPoints.tsx
Normal file
@@ -0,0 +1,54 @@
|
||||
import React, { useRef } from "react";
|
||||
import * as THREE from "three";
|
||||
import { ThreeEvent } from "@react-three/fiber";
|
||||
|
||||
interface PickDropProps {
|
||||
position: number[];
|
||||
modelUuid: string;
|
||||
pointUuid: string;
|
||||
actionType: "pick" | "drop";
|
||||
actionUuid: string;
|
||||
gltfScene: THREE.Group;
|
||||
selectedPoint: THREE.Mesh | null;
|
||||
handlePointerDown: (e: ThreeEvent<PointerEvent>) => void;
|
||||
isSelected: boolean;
|
||||
}
|
||||
|
||||
const PickDropPoints: React.FC<PickDropProps> = ({
|
||||
position,
|
||||
modelUuid,
|
||||
pointUuid,
|
||||
actionType,
|
||||
actionUuid,
|
||||
gltfScene,
|
||||
selectedPoint,
|
||||
handlePointerDown,
|
||||
isSelected,
|
||||
}) => {
|
||||
const groupRef = useRef<THREE.Group>(null);
|
||||
|
||||
return (
|
||||
<group
|
||||
ref={groupRef}
|
||||
position={
|
||||
Array.isArray(position) && position.length === 3
|
||||
? new THREE.Vector3(...position)
|
||||
: new THREE.Vector3(0, 0, 0)
|
||||
}
|
||||
onPointerDown={(e) => {
|
||||
e.stopPropagation(); // Important to prevent event bubbling
|
||||
if (!isSelected) return;
|
||||
handlePointerDown(e);
|
||||
}}
|
||||
userData={{ modelUuid, pointUuid, actionType, actionUuid }}
|
||||
>
|
||||
<primitive
|
||||
object={gltfScene.clone()}
|
||||
position={[0, 0, 0]} // Ensure this stays at origin
|
||||
scale={[0.5, 0.5, 0.5]}
|
||||
/>
|
||||
</group>
|
||||
);
|
||||
};
|
||||
|
||||
export default PickDropPoints;
|
||||
131
app/src/modules/simulation/ui/arm/useDraggableGLTF.ts
Normal file
131
app/src/modules/simulation/ui/arm/useDraggableGLTF.ts
Normal file
@@ -0,0 +1,131 @@
|
||||
import { useRef } from "react";
|
||||
import * as THREE from "three";
|
||||
import { ThreeEvent, useThree } from "@react-three/fiber";
|
||||
|
||||
type OnUpdateCallback = (object: THREE.Object3D) => void;
|
||||
|
||||
export default function useDraggableGLTF(onUpdate: OnUpdateCallback) {
|
||||
const { camera, gl, controls, scene } = useThree();
|
||||
const activeObjRef = useRef<THREE.Object3D | null>(null);
|
||||
const planeRef = useRef<THREE.Plane>(
|
||||
new THREE.Plane(new THREE.Vector3(0, 1, 0), 0)
|
||||
);
|
||||
const offsetRef = useRef<THREE.Vector3>(new THREE.Vector3());
|
||||
const initialPositionRef = useRef<THREE.Vector3>(new THREE.Vector3());
|
||||
|
||||
const raycaster = new THREE.Raycaster();
|
||||
const pointer = new THREE.Vector2();
|
||||
|
||||
const handlePointerDown = (e: ThreeEvent<PointerEvent>) => {
|
||||
e.stopPropagation();
|
||||
|
||||
let obj: THREE.Object3D | null = e.object;
|
||||
|
||||
// Traverse up until we find modelUuid in userData
|
||||
while (obj && !obj.userData?.modelUuid) {
|
||||
obj = obj.parent;
|
||||
}
|
||||
|
||||
if (!obj) return;
|
||||
|
||||
// Disable orbit controls while dragging
|
||||
if (controls) (controls as any).enabled = false;
|
||||
|
||||
activeObjRef.current = obj;
|
||||
initialPositionRef.current.copy(obj.position);
|
||||
|
||||
// Get world position
|
||||
const objectWorldPos = new THREE.Vector3();
|
||||
obj.getWorldPosition(objectWorldPos);
|
||||
|
||||
// Set plane at the object's Y level
|
||||
planeRef.current.set(new THREE.Vector3(0, 1, 0), -objectWorldPos.y);
|
||||
|
||||
// Convert pointer to NDC
|
||||
const rect = gl.domElement.getBoundingClientRect();
|
||||
pointer.x = ((e.clientX - rect.left) / rect.width) * 2 - 1;
|
||||
pointer.y = -((e.clientY - rect.top) / rect.height) * 2 + 1;
|
||||
|
||||
// Raycast to intersection
|
||||
raycaster.setFromCamera(pointer, camera);
|
||||
const intersection = new THREE.Vector3();
|
||||
raycaster.ray.intersectPlane(planeRef.current, intersection);
|
||||
|
||||
// Calculate offset
|
||||
offsetRef.current.copy(objectWorldPos).sub(intersection);
|
||||
|
||||
// Start listening for drag
|
||||
gl.domElement.addEventListener("pointermove", handlePointerMove);
|
||||
gl.domElement.addEventListener("pointerup", handlePointerUp);
|
||||
};
|
||||
|
||||
const handlePointerMove = (e: PointerEvent) => {
|
||||
if (!activeObjRef.current) return;
|
||||
|
||||
// Check if Shift key is pressed
|
||||
const isShiftKeyPressed = e.shiftKey;
|
||||
|
||||
// Get the mouse position relative to the canvas
|
||||
const rect = gl.domElement.getBoundingClientRect();
|
||||
pointer.x = ((e.clientX - rect.left) / rect.width) * 2 - 1;
|
||||
pointer.y = -((e.clientY - rect.top) / rect.height) * 2 + 1;
|
||||
|
||||
// Update raycaster to point to the mouse position
|
||||
raycaster.setFromCamera(pointer, camera);
|
||||
|
||||
// Create a vector to store intersection point
|
||||
const intersection = new THREE.Vector3();
|
||||
const intersects = raycaster.ray.intersectPlane(planeRef.current, intersection);
|
||||
if (!intersects) return;
|
||||
|
||||
// Add offset for dragging
|
||||
intersection.add(offsetRef.current);
|
||||
console.log('intersection: ', intersection);
|
||||
|
||||
// Get the parent's world matrix if exists
|
||||
const parent = activeObjRef.current.parent;
|
||||
const targetPosition = new THREE.Vector3();
|
||||
|
||||
if (isShiftKeyPressed) {
|
||||
console.log('isShiftKeyPressed: ', isShiftKeyPressed);
|
||||
// For Y-axis only movement, maintain original X and Z
|
||||
console.log('initialPositionRef: ', initialPositionRef);
|
||||
console.log('intersection.y: ', intersection);
|
||||
targetPosition.set(
|
||||
initialPositionRef.current.x,
|
||||
intersection.y,
|
||||
initialPositionRef.current.z
|
||||
);
|
||||
} else {
|
||||
// For free movement
|
||||
targetPosition.copy(intersection);
|
||||
}
|
||||
|
||||
// Convert world position to local if object is nested inside a parent
|
||||
if (parent) {
|
||||
parent.worldToLocal(targetPosition);
|
||||
}
|
||||
|
||||
// Update object position
|
||||
activeObjRef.current.position.copy(targetPosition);
|
||||
};
|
||||
|
||||
const handlePointerUp = () => {
|
||||
if (controls) (controls as any).enabled = true;
|
||||
|
||||
if (activeObjRef.current) {
|
||||
// Pass the updated position to the onUpdate callback to persist it
|
||||
onUpdate(activeObjRef.current);
|
||||
}
|
||||
|
||||
gl.domElement.removeEventListener("pointermove", handlePointerMove);
|
||||
gl.domElement.removeEventListener("pointerup", handlePointerUp);
|
||||
|
||||
activeObjRef.current = null;
|
||||
};
|
||||
|
||||
return { handlePointerDown };
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -140,8 +140,6 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
|
||||
const elapsedTime = performance.now() - startTime;
|
||||
|
||||
if (elapsedTime >= fixedInterval) {
|
||||
console.log('fixedInterval: ', fixedInterval);
|
||||
console.log('elapsedTime: ', elapsedTime);
|
||||
let droppedMat = droppedMaterial - 1;
|
||||
decrementVehicleLoad(agvDetail.modelUuid, 1);
|
||||
if (droppedMat === 0) return;
|
||||
|
||||
@@ -148,7 +148,7 @@ function Vehicles() {
|
||||
}, [])
|
||||
|
||||
useEffect(() => {
|
||||
console.log('vehicles: ', vehicles);
|
||||
// console.log('vehicles: ', vehicles);
|
||||
}, [vehicles])
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user