Merge remote-tracking branch 'origin/simulation-agv-v2' into v2

app/src/modules/simulation/vehicle/instances/animator/vehicleAnimator.tsx

@@ -25,6 +25,7 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
     const completedRef = useRef<boolean>(false);
     const isPausedRef = useRef<boolean>(false);
     const pauseTimeRef = useRef<number | null>(null);
+    const [objectRotation, setObjectRotation] = useState<{ x: number; y: number; z: number } | undefined>(agvDetail.point?.action?.pickUpPoint?.rotation || { x: 0, y: 0, z: 0 })
     const [progress, setProgress] = useState<number>(0);
     const [restRotation, setRestingRotation] = useState<boolean>(true);
     const [currentPath, setCurrentPath] = useState<[number, number, number][]>([]);
@@ -32,20 +33,19 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
     let startTime: number;
     let fixedInterval: number;
     let coveredDistance = progressRef.current;
-    let objectRotation = (agvDetail.point?.action?.pickUpPoint?.rotation || { x: 0, y: 0, z: 0 }) as { x: number; y: number; z: number } | undefined;
 
     useEffect(() => {
         if (currentPhase === 'stationed-pickup' && path.length > 0) {
             setCurrentPath(path);
-            objectRotation = agvDetail.point.action?.pickUpPoint?.rotation
+            setObjectRotation(agvDetail.point.action?.pickUpPoint?.rotation)
         } else if (currentPhase === 'pickup-drop' && path.length > 0) {
-            objectRotation = agvDetail.point.action?.unLoadPoint?.rotation
+            setObjectRotation(agvDetail.point.action?.unLoadPoint?.rotation)
             setCurrentPath(path);
         } else if (currentPhase === 'drop-pickup' && path.length > 0) {
-            objectRotation = agvDetail.point.action?.pickUpPoint?.rotation
+            setObjectRotation(agvDetail.point.action?.pickUpPoint?.rotation)
             setCurrentPath(path);
         }
-    }, [currentPhase, path]);
+    }, [currentPhase, path, objectRotation]);
 
     useEffect(() => {
         setProgress(0);
@@ -64,7 +64,6 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
             coveredDistance = 0;
             setReset(false);
             setRestingRotation(true);
-            decrementVehicleLoad(agvDetail.modelUuid, 0);
             isPausedRef.current = false;
             pauseTimeRef.current = 0;
             const object = scene.getObjectByProperty('uuid', agvUuid);
@@ -125,26 +124,30 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
             if (isAligned) {
                 progressRef.current += delta * (speed * agvDetail.speed);
                 coveredDistance = progressRef.current;
-
                 const t = (coveredDistance - accumulatedDistance) / segmentDistance;
                 const position = start.clone().lerp(end, t);
                 object.position.copy(position);
             }
         }
 
+
         if (progressRef.current >= totalDistance) {
             if (restRotation && objectRotation) {
-                const targetQuaternion = new THREE.Quaternion().setFromEuler(new THREE.Euler(objectRotation.x, objectRotation.y, objectRotation.z));
+                const targetEuler = new THREE.Euler(
+                    objectRotation.x,
+                    objectRotation.y - (agvDetail.point.action.steeringAngle),
+                    objectRotation.z
+                );
+                const targetQuaternion = new THREE.Quaternion().setFromEuler(targetEuler);
                 object.quaternion.slerp(targetQuaternion, delta * 2);
-                const angleDiff = object.quaternion.angleTo(targetQuaternion);
-                if (angleDiff < 0.01) {
-                    object.rotation.set(objectRotation.x, objectRotation.y, objectRotation.z);
+                if (object.quaternion.angleTo(targetQuaternion) < 0.01) {
+                    object.quaternion.copy(targetQuaternion);
+                    object.rotation.copy(targetEuler);
                     setRestingRotation(false);
                 }
                 return;
             }
         }
-
         if (progressRef.current >= totalDistance) {
             setRestingRotation(true);
             progressRef.current = 0;
@@ -199,7 +202,7 @@ function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetai
     return (
         <>
             {currentPath.length > 0 && (
-                <group visible={false}>
+                <group >
                     <Line points={currentPath} color="blue" lineWidth={3} />
                     {currentPath.map((point, index) => (
                         <mesh key={index} position={point}>

app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx

@@ -11,7 +11,7 @@ function VehicleInstance({ agvDetail }: { agvDetail: VehicleStatus }) {
     const { navMesh } = useNavMesh();
     const vehicleRef: any = useRef();
     const { isPlaying } = usePlayButtonStore();
-    const { vehicles, setVehicleActive, setVehicleState, incrementVehicleLoad, setVehicleLoad, setMaterialType } = useVehicleStore();
+    const { vehicles, setVehicleActive, setVehicleState, incrementVehicleLoad, setMaterialType, setVehicleLoad } = useVehicleStore();
     const [currentPhase, setCurrentPhase] = useState<string>('stationed');
     const [path, setPath] = useState<[number, number, number][]>([]);
     let isIncrememtable = useRef<boolean>(true);

app/src/modules/simulation/vehicle/vehicles.tsx

@@ -28,15 +28,12 @@ function Vehicles() {
 
     return (
         <>
-
             <VehicleInstances />
-
-            {isVehicleSelected && !isPlaying &&
-                < VehicleUI />
+            {isVehicleSelected && selectedEventSphere && !isPlaying &&
+                <VehicleUI />
             }
-
         </>
     );
 }
 
-export default Vehicles;
+export default Vehicles;