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feat: Implement ArmBot simulation with IK animation and event handling

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- Added ArmBot component to manage ArmBot instances in the simulation.
- Created ArmBotInstances component to render individual ArmBot models.
- Developed IKAnimationController for handling inverse kinematics during animations.
- Introduced IkInstances component to load and manage IK-enabled arm models.
- Defined simulation types for ArmBot events and connections in TypeScript.
- Enhanced type definitions for better clarity and maintainability.
This commit is contained in:
Jerald-Golden-B
2025-04-14 18:16:53 +05:30
parent ba215dd0d3
commit 37df5e8801
32 changed files with 923 additions and 949 deletions
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29
app/src/modules/builder/geomentries/assets/addAssetModel.ts
View File

@@ -5,6 +5,7 @@ import { toast } from 'react-toastify';
import TempLoader from './tempLoader';
import { DRACOLoader } from 'three/examples/jsm/loaders/DRACOLoader';
import * as Types from "../../../../types/world/worldTypes";
import * as SimulationTypes from "../../../../types/simulation";
import { retrieveGLTF, storeGLTF } from '../../../../utils/indexDB/idbUtils';
// import { setFloorItemApi } from '../../../../services/factoryBuilder/assest/floorAsset/setFloorItemApi';
import { Socket } from 'socket.io-client';
@@ -136,7 +137,7 @@ async function handleModelLoad(
tempLoader.current = undefined;
}
const newFloorItem: Types.EventData = {
const newFloorItem: SimulationTypes.EventData = {
modeluuid: model.uuid,
modelname: selectedItem.name,
modelfileID: selectedItem.id,
@@ -150,12 +151,11 @@ async function handleModelLoad(
const organization = email ? email.split("@")[1].split(".")[0] : "";
getAssetEventType(selectedItem.id, organization).then(async (res) => {
console.log('res: ', res);
if (res.type === "Conveyor") {
const pointUUIDs = res.points.map(() => THREE.MathUtils.generateUUID());
const backendEventData: Extract<Types.EventData['eventData'], { type: 'Conveyor' }> = {
const backendEventData: Extract<SimulationTypes.EventData['eventData'], { type: 'Conveyor' }> = {
type: 'Conveyor',
points: res.points.map((point: any, index: number) => ({
uuid: pointUUIDs[index],
@@ -220,9 +220,9 @@ async function handleModelLoad(
eventData.position = newFloorItem.position;
eventData.rotation = [model.rotation.x, model.rotation.y, model.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
eventData as Types.ConveyorEventsSchema
eventData as SimulationTypes.ConveyorEventsSchema
]);
console.log('data: ', data);
@@ -232,7 +232,7 @@ async function handleModelLoad(
const pointUUID = THREE.MathUtils.generateUUID();
const backendEventData: Extract<Types.EventData['eventData'], { type: 'Vehicle' }> = {
const backendEventData: Extract<SimulationTypes.EventData['eventData'], { type: 'Vehicle' }> = {
type: "Vehicle",
points: {
uuid: pointUUID,
@@ -284,9 +284,9 @@ async function handleModelLoad(
return updatedItems;
});
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
eventData as Types.VehicleEventsSchema
eventData as SimulationTypes.VehicleEventsSchema
]);
socket.emit("v2:model-asset:add", data);
@@ -295,7 +295,7 @@ async function handleModelLoad(
const pointUUID = THREE.MathUtils.generateUUID();
const backendEventData: Extract<Types.EventData['eventData'], { type: 'StaticMachine' }> = {
const backendEventData: Extract<SimulationTypes.EventData['eventData'], { type: 'StaticMachine' }> = {
type: "StaticMachine",
points: {
uuid: pointUUID,
@@ -348,9 +348,9 @@ async function handleModelLoad(
return updatedItems;
});
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
eventData as Types.StaticMachineEventsSchema
eventData as SimulationTypes.StaticMachineEventsSchema
]);
socket.emit("v2:model-asset:add", data);
@@ -359,7 +359,7 @@ async function handleModelLoad(
const pointUUID = THREE.MathUtils.generateUUID();
const backendEventData: Extract<Types.EventData['eventData'], { type: 'ArmBot' }> = {
const backendEventData: Extract<SimulationTypes.EventData['eventData'], { type: 'ArmBot' }> = {
type: "ArmBot",
points: {
uuid: pointUUID,
@@ -412,9 +412,9 @@ async function handleModelLoad(
return updatedItems;
});
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
eventData as Types.ArmBotEventsSchema
eventData as SimulationTypes.ArmBotEventsSchema
]);
socket.emit("v2:model-asset:add", data);
@@ -455,7 +455,6 @@ async function handleModelLoad(
return updatedItems;
});
console.log('data: ', data);
socket.emit("v2:model-asset:add", data);
}

3
app/src/modules/builder/geomentries/assets/deleteFloorItems.ts
View File

@@ -2,6 +2,7 @@ import { toast } from 'react-toastify';
import * as THREE from 'three';
import * as Types from "../../../../types/world/worldTypes";
import * as SimulationTypes from "../../../../types/simulation";
// import { deleteFloorItem } from '../../../../services/factoryBuilder/assest/floorAsset/deleteFloorItemApi';
import { Socket } from 'socket.io-client';
import { getFloorAssets } from '../../../../services/factoryBuilder/assest/floorAsset/getFloorItemsApi';
@@ -76,7 +77,7 @@ async function DeleteFloorItems(
}
setFloorItems(updatedItems);
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema)[]) => {
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
const updatedEvents = (prevEvents || []).filter(event => event.modeluuid !== removedItem.modeluuid);
return updatedEvents;
});

2
app/src/modules/builder/groups/floorItemsGroup.tsx
View File

@@ -313,7 +313,7 @@ const FloorItemsGroup = ({ itemsGroup, hoveredDeletableFloorItem, AttachedObject
useFrame(() => {
if (controls)
assetVisibility(itemsGroup, state.camera.position, renderDistance);
// assetVisibility(itemsGroup, state.camera.position, renderDistance);
if (deleteTool && activeModule === "builder") {
DeletableHoveredFloorItems(state, itemsGroup, hoveredDeletableFloorItem, setDeletableFloorItem);
} else if (!deleteTool) {

7
app/src/modules/collaboration/collabCams.tsx
View File

@@ -26,12 +26,7 @@ const CamModelsGroup = () => {
loader.setDRACOLoader(dracoLoader);
const [cams, setCams] = useState<any[]>([]);
const [models, setModels] = useState<
Record<
string,
{ targetPosition: THREE.Vector3; targetRotation: THREE.Euler }
>
>({});
const [models, setModels] = useState<Record<string, { targetPosition: THREE.Vector3; targetRotation: THREE.Euler }>>({});
const dedupeCams = (cams: any[]) => {
const seen = new Set();

28
app/src/modules/scene/IntialLoad/loadInitialFloorItems.ts
View File

@@ -5,6 +5,7 @@ import * as THREE from 'three';
import * as CONSTANTS from '../../../types/world/worldConstants';
import { toast } from 'react-toastify';
import * as Types from "../../../types/world/worldTypes";
import * as SimulationTypes from "../../..//types/simulation";
import { initializeDB, retrieveGLTF, storeGLTF } from '../../../utils/indexDB/idbUtils';
import { getCamera } from '../../../services/factoryBuilder/camera/getCameraApi';
import { getFloorAssets } from '../../../services/factoryBuilder/assest/floorAsset/getFloorItemsApi';
@@ -12,7 +13,7 @@ import { getFloorAssets } from '../../../services/factoryBuilder/assest/floorAss
async function loadInitialFloorItems(
itemsGroup: Types.RefGroup,
setFloorItems: Types.setFloorItemSetState,
setSimulationStates: (paths: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => void
setSimulationStates: (paths: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => void
): Promise<void> {
if (!itemsGroup.current) return;
let url_Backend_dwinzo = `http://${process.env.REACT_APP_SERVER_MARKETPLACE_URL}`;
@@ -26,7 +27,7 @@ async function loadInitialFloorItems(
if (items.message === "floorItems not found") return;
if (items) {
const storedFloorItems: Types.EventData[] = items;
const storedFloorItems: SimulationTypes.EventData[] = items;
const loader = new GLTFLoader();
const dracoLoader = new DRACOLoader();
@@ -150,10 +151,10 @@ async function loadInitialFloorItems(
function processLoadedModel(
gltf: any,
item: Types.EventData,
item: SimulationTypes.EventData,
itemsGroup: Types.RefGroup,
setFloorItems: Types.setFloorItemSetState,
setSimulationStates: (paths: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => void
setSimulationStates: (paths: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => void
) {
const model = gltf;
model.uuid = item.modeluuid;
@@ -196,7 +197,7 @@ function processLoadedModel(
gsap.to(model.scale, { x: 1, y: 1, z: 1, duration: 1.5, ease: 'power2.out' });
}
function processEventData(item: Types.EventData, setSimulationStates: any) {
function processEventData(item: SimulationTypes.EventData, setSimulationStates: any) {
if (item.eventData?.type === 'Conveyor') {
@@ -206,9 +207,9 @@ function processEventData(item: Types.EventData, setSimulationStates: any) {
data.position = item.position;
data.rotation = [item.rotation.x, item.rotation.y, item.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
data as Types.ConveyorEventsSchema
data as SimulationTypes.ConveyorEventsSchema
]);
} else if (item.eventData?.type === 'Vehicle') {
@@ -219,22 +220,23 @@ function processEventData(item: Types.EventData, setSimulationStates: any) {
data.position = item.position;
data.rotation = [item.rotation.x, item.rotation.y, item.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
data as Types.VehicleEventsSchema
data as SimulationTypes.VehicleEventsSchema
]);
} else if (item.eventData?.type === 'StaticMachine') {
const data: any = item.eventData;
item.eventData.points.position = [0, 1.5, 1]
data.modeluuid = item.modeluuid;
data.modelName = item.modelname;
data.position = item.position;
data.rotation = [item.rotation.x, item.rotation.y, item.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
data as Types.StaticMachineEventsSchema
data as SimulationTypes.StaticMachineEventsSchema
]);
} else if (item.eventData?.type === 'ArmBot') {
@@ -245,9 +247,9 @@ function processEventData(item: Types.EventData, setSimulationStates: any) {
data.position = item.position;
data.rotation = [item.rotation.x, item.rotation.y, item.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
data as Types.ArmBotEventsSchema
data as SimulationTypes.ArmBotEventsSchema
]);
}

37
app/src/modules/scene/controls/selection/copyPasteControls.tsx
View File

@@ -5,6 +5,7 @@ import { useFloorItems, useSelectedAssets, useSimulationStates, useSocketStore,
import { toast } from "react-toastify";
// import { setFloorItemApi } from '../../../../services/factoryBuilder/assest/floorAsset/setFloorItemApi';
import * as Types from "../../../../types/world/worldTypes";
import * as SimulationTypes from "../../../../types/simulation";
import { detectModifierKeys } from "../../../../utils/shortcutkeys/detectModifierKeys";
const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pastedObjects, setpastedObjects, selectionGroup, setDuplicatedObjects, movedObjects, setMovedObjects, rotatedObjects, setRotatedObjects, boundingBoxRef }: any) => {
@@ -154,7 +155,7 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
return updatedItems;
});
let eventData: Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema | undefined = simulationStates.find((events) => events.modeluuid === obj.userData.modeluuid);
let eventData: SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema | undefined = simulationStates.find((events) => events.modeluuid === obj.userData.modeluuid);
const email = localStorage.getItem("email");
const organization = email ? email.split("@")[1].split(".")[0] : "default";
@@ -162,7 +163,7 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
if (eventData.type === 'Conveyor' && eventData) {
const createConveyorPoint = (index: number) => {
const pointUUID = THREE.MathUtils.generateUUID();
const hasActions = (eventData as Types.ConveyorEventsSchema)?.points[index].actions.length > 0;
const hasActions = (eventData as SimulationTypes.ConveyorEventsSchema)?.points[index].actions.length > 0;
const defaultAction = {
uuid: THREE.MathUtils.generateUUID(),
@@ -176,15 +177,15 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
return {
uuid: pointUUID,
position: (eventData as Types.ConveyorEventsSchema)?.points[index].position,
rotation: (eventData as Types.ConveyorEventsSchema)?.points[index].rotation,
position: (eventData as SimulationTypes.ConveyorEventsSchema)?.points[index].position,
rotation: (eventData as SimulationTypes.ConveyorEventsSchema)?.points[index].rotation,
actions: hasActions
? (eventData as Types.ConveyorEventsSchema)?.points[index].actions.map(action => ({
? (eventData as SimulationTypes.ConveyorEventsSchema)?.points[index].actions.map(action => ({
...action,
uuid: THREE.MathUtils.generateUUID()
}))
: [defaultAction],
triggers: (eventData as Types.ConveyorEventsSchema)?.points[index].triggers.map(trigger => ({
triggers: (eventData as SimulationTypes.ConveyorEventsSchema)?.points[index].triggers.map(trigger => ({
...trigger,
uuid: THREE.MathUtils.generateUUID()
})),
@@ -202,7 +203,7 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
createConveyorPoint(1), // middlePoint
createConveyorPoint(2) // point2
],
speed: (eventData as Types.ConveyorEventsSchema)?.speed
speed: (eventData as SimulationTypes.ConveyorEventsSchema)?.speed
};
//REST
@@ -240,9 +241,9 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
newEventData as Types.ConveyorEventsSchema
newEventData as SimulationTypes.ConveyorEventsSchema
]);
socket.emit("v2:model-asset:add", data);
@@ -250,7 +251,7 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
} else if (eventData.type === 'Vehicle' && eventData) {
const createVehiclePoint = () => {
const pointUUID = THREE.MathUtils.generateUUID();
const vehiclePoint = (eventData as Types.VehicleEventsSchema)?.points;
const vehiclePoint = (eventData as SimulationTypes.VehicleEventsSchema)?.points;
const hasActions = vehiclePoint?.actions !== undefined;
const defaultAction = {
@@ -321,9 +322,9 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
newEventData as Types.VehicleEventsSchema
newEventData as SimulationTypes.VehicleEventsSchema
]);
socket.emit("v2:model-asset:add", data);
@@ -331,7 +332,7 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
} else if (eventData.type === 'StaticMachine' && eventData) {
const createStaticMachinePoint = () => {
const pointUUID = THREE.MathUtils.generateUUID();
const vehiclePoint = (eventData as Types.StaticMachineEventsSchema)?.points;
const vehiclePoint = (eventData as SimulationTypes.StaticMachineEventsSchema)?.points;
const hasActions = vehiclePoint?.actions !== undefined;
const defaultAction = {
@@ -399,9 +400,9 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
newEventData as Types.StaticMachineEventsSchema
newEventData as SimulationTypes.StaticMachineEventsSchema
]);
socket.emit("v2:model-asset:add", data);
@@ -409,7 +410,7 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
} else if (eventData.type === 'ArmBot' && eventData) {
const createArmBotPoint = () => {
const pointUUID = THREE.MathUtils.generateUUID();
const vehiclePoint = (eventData as Types.ArmBotEventsSchema)?.points;
const vehiclePoint = (eventData as SimulationTypes.ArmBotEventsSchema)?.points;
const hasActions = vehiclePoint?.actions !== undefined;
const defaultAction = {
@@ -481,9 +482,9 @@ const CopyPasteControls = ({ itemsGroupRef, copiedObjects, setCopiedObjects, pas
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
newEventData as Types.ArmBotEventsSchema
newEventData as SimulationTypes.ArmBotEventsSchema
]);
socket.emit("v2:model-asset:add", data);

45
app/src/modules/scene/controls/selection/duplicationControls.tsx
View File

@@ -5,6 +5,7 @@ import { useFloorItems, useSelectedAssets, useSimulationStates, useSocketStore,
import { toast } from "react-toastify";
// import { setFloorItemApi } from '../../../../services/factoryBuilder/assest/floorAsset/setFloorItemApi';
import * as Types from "../../../../types/world/worldTypes";
import * as SimulationTypes from "../../../../types/simulation";
import { setFloorItemApi } from "../../../../services/factoryBuilder/assest/floorAsset/setFloorItemApi";
import { detectModifierKeys } from "../../../../utils/shortcutkeys/detectModifierKeys";
@@ -40,11 +41,11 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
};
const onKeyDown = (event: KeyboardEvent) => {
const keyCombination = detectModifierKeys(event);
const keyCombination = detectModifierKeys(event);
if (keyCombination === "Ctrl+D" && selectedAssets.length > 0 && duplicatedObjects.length === 0 && movedObjects.length === 0 && rotatedObjects.length === 0) {
duplicateSelection();
}
if (keyCombination === "Ctrl+D" && selectedAssets.length > 0 && duplicatedObjects.length === 0 && movedObjects.length === 0 && rotatedObjects.length === 0) {
duplicateSelection();
}
};
if (!toggleView) {
@@ -132,7 +133,7 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
return updatedItems;
});
let eventData: Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema | undefined = simulationStates.find((events) => events.modeluuid === obj.userData.modeluuid);
let eventData: SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema | undefined = simulationStates.find((events) => events.modeluuid === obj.userData.modeluuid);
const email = localStorage.getItem("email");
const organization = email ? email.split("@")[1].split(".")[0] : "default";
@@ -141,7 +142,7 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
if (eventData.type === 'Conveyor' && eventData) {
const createConveyorPoint = (index: number) => {
const pointUUID = THREE.MathUtils.generateUUID();
const hasActions = (eventData as Types.ConveyorEventsSchema)?.points[index].actions.length > 0;
const hasActions = (eventData as SimulationTypes.ConveyorEventsSchema)?.points[index].actions.length > 0;
const defaultAction = {
uuid: THREE.MathUtils.generateUUID(),
@@ -155,15 +156,15 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
return {
uuid: pointUUID,
position: (eventData as Types.ConveyorEventsSchema)?.points[index].position,
rotation: (eventData as Types.ConveyorEventsSchema)?.points[index].rotation,
position: (eventData as SimulationTypes.ConveyorEventsSchema)?.points[index].position,
rotation: (eventData as SimulationTypes.ConveyorEventsSchema)?.points[index].rotation,
actions: hasActions
? (eventData as Types.ConveyorEventsSchema)?.points[index].actions.map(action => ({
? (eventData as SimulationTypes.ConveyorEventsSchema)?.points[index].actions.map(action => ({
...action,
uuid: THREE.MathUtils.generateUUID()
}))
: [defaultAction],
triggers: (eventData as Types.ConveyorEventsSchema)?.points[index].triggers.map(trigger => ({
triggers: (eventData as SimulationTypes.ConveyorEventsSchema)?.points[index].triggers.map(trigger => ({
...trigger,
uuid: THREE.MathUtils.generateUUID()
})),
@@ -181,7 +182,7 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
createConveyorPoint(1),
createConveyorPoint(2)
],
speed: (eventData as Types.ConveyorEventsSchema)?.speed
speed: (eventData as SimulationTypes.ConveyorEventsSchema)?.speed
};
//REST
@@ -219,9 +220,9 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
newEventData as Types.ConveyorEventsSchema
newEventData as SimulationTypes.ConveyorEventsSchema
]);
socket.emit("v2:model-asset:add", data);
@@ -229,7 +230,7 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
} else if (eventData.type === 'Vehicle' && eventData) {
const createVehiclePoint = () => {
const pointUUID = THREE.MathUtils.generateUUID();
const vehiclePoint = (eventData as Types.VehicleEventsSchema)?.points;
const vehiclePoint = (eventData as SimulationTypes.VehicleEventsSchema)?.points;
const hasActions = vehiclePoint?.actions !== undefined;
const defaultAction = {
@@ -300,9 +301,9 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
newEventData as Types.VehicleEventsSchema
newEventData as SimulationTypes.VehicleEventsSchema
]);
socket.emit("v2:model-asset:add", data);
@@ -310,7 +311,7 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
} else if (eventData.type === 'StaticMachine' && eventData) {
const createStaticMachinePoint = () => {
const pointUUID = THREE.MathUtils.generateUUID();
const vehiclePoint = (eventData as Types.StaticMachineEventsSchema)?.points;
const vehiclePoint = (eventData as SimulationTypes.StaticMachineEventsSchema)?.points;
const hasActions = vehiclePoint?.actions !== undefined;
const defaultAction = {
@@ -378,9 +379,9 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
newEventData as Types.StaticMachineEventsSchema
newEventData as SimulationTypes.StaticMachineEventsSchema
]);
socket.emit("v2:model-asset:add", data);
@@ -388,7 +389,7 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
} else if (eventData.type === 'ArmBot' && eventData) {
const createArmBotPoint = () => {
const pointUUID = THREE.MathUtils.generateUUID();
const vehiclePoint = (eventData as Types.ArmBotEventsSchema)?.points;
const vehiclePoint = (eventData as SimulationTypes.ArmBotEventsSchema)?.points;
const hasActions = vehiclePoint?.actions !== undefined;
const defaultAction = {
@@ -460,9 +461,9 @@ const DuplicationControls = ({ itemsGroupRef, duplicatedObjects, setDuplicatedOb
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => [
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => [
...(prevEvents || []),
newEventData as Types.ArmBotEventsSchema
newEventData as SimulationTypes.ArmBotEventsSchema
]);
socket.emit("v2:model-asset:add", data);

13
app/src/modules/scene/controls/selection/moveControls.tsx
View File

@@ -5,6 +5,7 @@ import { useFloorItems, useSelectedAssets, useSimulationStates, useSocketStore,
// import { setFloorItemApi } from '../../../../services/factoryBuilder/assest/floorAsset/setFloorItemApi';
import { toast } from "react-toastify";
import * as Types from "../../../../types/world/worldTypes";
import * as SimulationTypes from "../../../../types/simulation";
import { detectModifierKeys } from "../../../../utils/shortcutkeys/detectModifierKeys";
function MoveControls({ movedObjects, setMovedObjects, itemsGroupRef, copiedObjects, setCopiedObjects, pastedObjects, setpastedObjects, duplicatedObjects, setDuplicatedObjects, selectionGroup, rotatedObjects, setRotatedObjects, boundingBoxRef }: any) {
@@ -183,7 +184,7 @@ function MoveControls({ movedObjects, setMovedObjects, itemsGroupRef, copiedObje
return updatedItems;
});
let eventData: Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema | undefined = simulationStates.find((events) => events.modeluuid === obj.userData.modeluuid);
let eventData: SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema | undefined = simulationStates.find((events) => events.modeluuid === obj.userData.modeluuid);
const email = localStorage.getItem("email");
const organization = email ? email.split("@")[1].split(".")[0] : "default";
@@ -194,7 +195,7 @@ function MoveControls({ movedObjects, setMovedObjects, itemsGroupRef, copiedObje
const backendEventData = {
type: 'Conveyor',
points: eventData.points,
speed: (eventData as Types.ConveyorEventsSchema)?.speed
speed: (eventData as SimulationTypes.ConveyorEventsSchema)?.speed
};
//REST
@@ -232,7 +233,7 @@ function MoveControls({ movedObjects, setMovedObjects, itemsGroupRef, copiedObje
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => {
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
const updatedEvents = (prevEvents || []).map(event =>
event.modeluuid === newFloorItem.modeluuid
? { ...event, ...newEventData }
@@ -284,7 +285,7 @@ function MoveControls({ movedObjects, setMovedObjects, itemsGroupRef, copiedObje
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => {
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
const updatedEvents = (prevEvents || []).map(event =>
event.modeluuid === newFloorItem.modeluuid
? { ...event, ...newEventData }
@@ -337,7 +338,7 @@ function MoveControls({ movedObjects, setMovedObjects, itemsGroupRef, copiedObje
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => {
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
const updatedEvents = (prevEvents || []).map(event =>
event.modeluuid === newFloorItem.modeluuid
? { ...event, ...newEventData }
@@ -390,7 +391,7 @@ function MoveControls({ movedObjects, setMovedObjects, itemsGroupRef, copiedObje
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => {
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
const updatedEvents = (prevEvents || []).map(event =>
event.modeluuid === newFloorItem.modeluuid
? { ...event, ...newEventData }

13
app/src/modules/scene/controls/selection/rotateControls.tsx
View File

@@ -5,6 +5,7 @@ import { useFloorItems, useSelectedAssets, useSimulationStates, useSocketStore,
// import { setFloorItemApi } from '../../../../services/factoryBuilder/assest/floorAsset/setFloorItemApi';
import { toast } from "react-toastify";
import * as Types from "../../../../types/world/worldTypes";
import * as SimulationTypes from "../../../../types/simulation";
import { setFloorItemApi } from "../../../../services/factoryBuilder/assest/floorAsset/setFloorItemApi";
function RotateControls({ rotatedObjects, setRotatedObjects, movedObjects, setMovedObjects, itemsGroupRef, copiedObjects, setCopiedObjects, pastedObjects, setpastedObjects, duplicatedObjects, setDuplicatedObjects, selectionGroup, boundingBoxRef }: any) {
@@ -184,7 +185,7 @@ function RotateControls({ rotatedObjects, setRotatedObjects, movedObjects, setMo
return updatedItems;
});
let eventData: Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema | undefined = simulationStates.find((events) => events.modeluuid === obj.userData.modeluuid);
let eventData: SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema | undefined = simulationStates.find((events) => events.modeluuid === obj.userData.modeluuid);
const email = localStorage.getItem("email");
const organization = email ? email.split("@")[1].split(".")[0] : "default";
@@ -195,7 +196,7 @@ function RotateControls({ rotatedObjects, setRotatedObjects, movedObjects, setMo
const backendEventData = {
type: 'Conveyor',
points: eventData.points,
speed: (eventData as Types.ConveyorEventsSchema)?.speed
speed: (eventData as SimulationTypes.ConveyorEventsSchema)?.speed
};
// REST
@@ -233,7 +234,7 @@ function RotateControls({ rotatedObjects, setRotatedObjects, movedObjects, setMo
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => {
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
const updatedEvents = (prevEvents || []).map(event =>
event.modeluuid === newFloorItem.modeluuid
? { ...event, ...newEventData }
@@ -286,7 +287,7 @@ function RotateControls({ rotatedObjects, setRotatedObjects, movedObjects, setMo
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => {
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
const updatedEvents = (prevEvents || []).map(event =>
event.modeluuid === newFloorItem.modeluuid
? { ...event, ...newEventData }
@@ -339,7 +340,7 @@ function RotateControls({ rotatedObjects, setRotatedObjects, movedObjects, setMo
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => {
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
const updatedEvents = (prevEvents || []).map(event =>
event.modeluuid === newFloorItem.modeluuid
? { ...event, ...newEventData }
@@ -392,7 +393,7 @@ function RotateControls({ rotatedObjects, setRotatedObjects, movedObjects, setMo
newEventData.position = newFloorItem.position;
newEventData.rotation = [obj.rotation.x, obj.rotation.y, obj.rotation.z];
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => {
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
const updatedEvents = (prevEvents || []).map(event =>
event.modeluuid === newFloorItem.modeluuid
? { ...event, ...newEventData }

3
app/src/modules/scene/controls/selection/selectionControls.tsx
View File

@@ -8,6 +8,7 @@ import BoundingBox from "./boundingBoxHelper";
import { toast } from "react-toastify";
// import { deleteFloorItem } from '../../../../services/factoryBuilder/assest/floorAsset/deleteFloorItemApi';
import * as Types from "../../../../types/world/worldTypes";
import * as SimulationTypes from "../../../../types/simulation";
import DuplicationControls from "./duplicationControls";
import CopyPasteControls from "./copyPasteControls";
@@ -245,7 +246,7 @@ const SelectionControls: React.FC = () => {
}
});
setSimulationStates((prevEvents: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => {
setSimulationStates((prevEvents: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
const updatedEvents = (prevEvents || []).filter(event => event.modeluuid !== selectedMesh.uuid);
return updatedEvents;
});

7
app/src/modules/scene/world/world.tsx
View File

@@ -55,7 +55,6 @@ import DrieHtmlTemp from "../mqttTemp/drieHtmlTemp";
import ZoneGroup from "../../builder/groups/zoneGroup";
import useModuleStore from "../../../store/useModuleStore";
import NavMeshCreator from "../../builder/agv/navMeshCreator";
import ArmReplace from "../../simulation/ik/ArmReplace";
export default function World() {
const state = useThree<Types.ThreeState>(); // Importing the state from the useThree hook, which contains the scene, camera, and other Three.js elements.
@@ -110,8 +109,7 @@ export default function World() {
const cursorPosition = new THREE.Vector3(); // 3D vector for storing the cursor position.
const [selectedItemsIndex, setSelectedItemsIndex] =
useState<Types.Number | null>(null); // State for tracking the index of the selected item.
const [selectedItemsIndex, setSelectedItemsIndex] = useState<Types.Number | null>(null); // State for tracking the index of the selected item.
const { activeLayer, setActiveLayer } = useActiveLayer(); // State that changes based on which layer the user chooses in Layers.jsx.
const { toggleView, setToggleView } = useToggleView(); // State for toggling between 2D and 3D.
const { toolMode, setToolMode } = useToolMode();
@@ -371,9 +369,6 @@ export default function World() {
<NavMeshCreator lines={lines} />
{/* replacing exsisting arms with rigged ones */}
<ArmReplace />
</>
);
}

62
app/src/modules/simulation/armbot/ArmBot.tsx Normal file
View File

@@ -0,0 +1,62 @@
import React, { useEffect, useState } from "react";
import { useThree } from "@react-three/fiber";
import useModuleStore from "../../../store/useModuleStore";
import { useSimulationStates } from "../../../store/store";
import * as SimulationTypes from '../../../types/simulation';
import { ArmbotInstances } from "./ArmBotInstances";
interface ArmBotState {
uuid: string;
position: [number, number, number];
rotation: [number, number, number];
status: string;
material: string;
triggerId: string;
connections: any
}
const ArmBot: React.FC = () => {
const { activeModule } = useModuleStore();
const { scene } = useThree();
const { simulationStates } = useSimulationStates();
const [armBots, setArmBots] = useState<ArmBotState[]>([]);
useEffect(() => {
const filtered = simulationStates.filter((s): s is SimulationTypes.ArmBotEventsSchema => s.type === "ArmBot");
const initialStates: ArmBotState[] = filtered.map(bot => ({
uuid: bot.modeluuid,
position: bot.position,
rotation: bot.rotation,
status: "idle",
material: "default",
triggerId: '',
connections: bot.points.connections
}));
setArmBots(initialStates);
}, [simulationStates]);
useEffect(() => {
armBots.forEach((bot) => {
const object = scene.getObjectByProperty("uuid", bot.uuid);
if (object) {
object.visible = activeModule !== "simulation";
}
});
}, [scene, activeModule, armBots]);
return (
<>
{activeModule === "simulation" &&
armBots.map((bot, i) => (
<ArmbotInstances
key={i}
index={i}
armBot={bot}
setArmBots={setArmBots}
/>
))}
</>
);
};
export default ArmBot;

25
app/src/modules/simulation/armbot/ArmBotInstances.tsx Normal file
View File

@@ -0,0 +1,25 @@
import IkInstances from "./IkInstances";
import armModel from "../../../assets/gltf-glb/rigged/ik_arm_4.glb";
interface ArmBotState {
uuid: string;
position: [number, number, number];
rotation: [number, number, number];
status: string;
material: string;
triggerId: string;
connections: any
}
interface ArmbotInstancesProps {
index: number;
armBot: ArmBotState;
setArmBots: (armBots: ArmBotState[]) => void;
}
export const ArmbotInstances: React.FC<ArmbotInstancesProps> = ({ index, armBot, setArmBots }) => {
return (
<IkInstances key={index} modelUrl={armModel} position={armBot.position} rotation={armBot.rotation} />
);
};

101
app/src/modules/simulation/armbot/IKAnimationController.tsx Normal file
View File

@@ -0,0 +1,101 @@
import { useEffect, useMemo, useState } from "react";
import { useFrame } from "@react-three/fiber";
import * as THREE from "three";
const IKAnimationController = ({
ikSolver,
process,
selectedTrigger,
targetBoneName,
}: {
ikSolver: any;
process: {
trigger: string;
start: THREE.Vector3;
end: THREE.Vector3;
speed: number;
}[];
selectedTrigger: string;
targetBoneName: string;
}) => {
const [progress, setProgress] = useState(0);
const restSpeed = 0.1;
useEffect(() => {
setProgress(0);
}, [selectedTrigger]);
const processedCurves = useMemo(() => {
const restPosition = new THREE.Vector3(0.2, 2.3, 1.6);
return process.map((p) => {
const mid = new THREE.Vector3(
(p.start.x + p.end.x) / 1,
Math.max(p.start.y, p.end.y) + 0.8,
(p.start.z + p.end.z) / 0.9
);
const points = [
restPosition.clone(),
p.start.clone(),
mid.clone(),
p.end.clone(),
restPosition.clone(),
];
const curve = new THREE.CatmullRomCurve3(points);
const restToStartDist = points[0].distanceTo(points[1]);
const startToEndDist = points[1].distanceTo(points[3]);
const endToRestDist = points[3].distanceTo(points[4]);
const totalDist = restToStartDist + startToEndDist + endToRestDist;
const restToStartRange = [0, restToStartDist / totalDist];
const startToEndRange = [
restToStartRange[1],
restToStartRange[1] + startToEndDist / totalDist,
];
const endToRestRange = [startToEndRange[1], 1];
return {
trigger: p.trigger,
curve,
speed: p.speed,
restToStartRange,
startToEndRange,
endToRestRange,
};
});
}, [process]);
const activeCurve = useMemo(() => {
return processedCurves.find((c) => c.trigger === selectedTrigger);
}, [processedCurves, selectedTrigger]);
useFrame((_, delta) => {
if (!ikSolver || !activeCurve) return;
const { curve, speed, startToEndRange } = activeCurve;
const targetBone = ikSolver.mesh.skeleton.bones.find(
(b: any) => b.name === targetBoneName
);
if (!targetBone) return;
let currentSpeed = restSpeed;
if (progress >= startToEndRange[0] && progress < startToEndRange[1]) {
currentSpeed = speed;
}
setProgress((prev) => {
const next = prev + delta * currentSpeed;
if (next >= 1) {
targetBone.position.copy(curve.getPoint(1));
return 1;
}
targetBone.position.copy(curve.getPoint(next));
return next;
});
ikSolver.update();
});
return null;
};
export default IKAnimationController;

128
app/src/modules/simulation/armbot/IkInstances.tsx Normal file
View File

@@ -0,0 +1,128 @@
import * as THREE from "three";
import { useEffect, useMemo, useRef, useState } from "react";
import { useLoader } from "@react-three/fiber";
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 { CCDIKSolver, CCDIKHelper, } from "three/examples/jsm/animation/CCDIKSolver";
import IKAnimationController from "./IKAnimationController";
const IkInstances = ({ modelUrl, position, rotation }: { modelUrl: string; position: [number, number, number]; rotation: [number, number, number]; }) => {
const [ikSolver, setIkSolver] = useState<any>(null);
const [selectedTrigger, setSelectedTrigger] = useState<string>("idle");
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 groupRef = useRef<any>(null);
const [selectedArm, setSelectedArm] = useState<THREE.Group>();
const targetBoneName = "Target";
const skinnedMeshName = "link_0";
const process = useMemo(() => [
{
trigger: "Trigger1",
start: new THREE.Vector3(-0.75, 1.5, -2.2),
end: new THREE.Vector3(0, 1.2, 2.2),
speed: 0.25,
},
{
trigger: "Trigger2",
start: new THREE.Vector3(0, 1.2, 2.2),
end: new THREE.Vector3(0.75, 1.5, -2.2),
speed: 0.22,
}
], []);
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);
// groupRef.current.add(helper);
}, [gltf]);
useEffect(() => {
const triggers = ['Trigger1', 'Trigger2'];
let index = 0;
const cycleTriggers = setInterval(() => {
setSelectedTrigger(triggers[index]);
index = (index + 1) % triggers.length;
}, 10000);
return () => clearInterval(cycleTriggers);
}, []);
return (
<>
<group
ref={groupRef}
onClick={(e) => {
e.stopPropagation();
setSelectedArm(groupRef.current?.getObjectByName(targetBoneName))
}}
>
<primitive
object={cloned}
position={position}
rotation={rotation}
scale={[1, 1, 1]}
name={`arm-bot`}
/>
</group>
<IKAnimationController
ikSolver={ikSolver}
process={process}
selectedTrigger={selectedTrigger}
targetBoneName={targetBoneName}
/>
{/* {selectedArm && <TransformControls object={selectedArm} />} */}
</>
);
};
export default IkInstances;

88
app/src/modules/simulation/behaviour/behaviour.tsx
View File

@@ -1,88 +0,0 @@
import { useFloorItems, useSimulationStates } from '../../../store/store';
import * as THREE from 'three';
import * as Types from '../../../types/world/worldTypes';
import { useEffect } from 'react';
function Behaviour() {
const { setSimulationStates } = useSimulationStates();
const { floorItems } = useFloorItems();
useEffect(() => {
const newPaths: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema)[] = [];
// floorItems.forEach((item: Types.FloorItemType) => {
// if (item.modelfileID === "672a090f80d91ac979f4d0bd") {
// const point1Position = new THREE.Vector3(0, 0.85, 2.2);
// const middlePointPosition = new THREE.Vector3(0, 0.85, 0);
// const point2Position = new THREE.Vector3(0, 0.85, -2.2);
// const point1UUID = THREE.MathUtils.generateUUID();
// const middlePointUUID = THREE.MathUtils.generateUUID();
// const point2UUID = THREE.MathUtils.generateUUID();
// const newPath: Types.ConveyorEventsSchema = {
// modeluuid: item.modeluuid,
// modelName: item.modelname,
// type: 'Conveyor',
// points: [
// {
// uuid: point1UUID,
// position: [point1Position.x, point1Position.y, point1Position.z],
// rotation: [0, 0, 0],
// actions: [{ uuid: THREE.MathUtils.generateUUID(), name: 'Action 1', type: 'Inherit', material: 'Inherit', delay: 'Inherit', spawnInterval: 'Inherit', isUsed: true }],
// triggers: [],
// connections: { source: { modelUUID: item.modeluuid, pointUUID: point1UUID }, targets: [] },
// },
// {
// uuid: middlePointUUID,
// position: [middlePointPosition.x, middlePointPosition.y, middlePointPosition.z],
// rotation: [0, 0, 0],
// actions: [{ uuid: THREE.MathUtils.generateUUID(), name: 'Action 1', type: 'Inherit', material: 'Inherit', delay: 'Inherit', spawnInterval: 'Inherit', isUsed: true }],
// triggers: [],
// connections: { source: { modelUUID: item.modeluuid, pointUUID: middlePointUUID }, targets: [] },
// },
// {
// uuid: point2UUID,
// position: [point2Position.x, point2Position.y, point2Position.z],
// rotation: [0, 0, 0],
// actions: [{ uuid: THREE.MathUtils.generateUUID(), name: 'Action 1', type: 'Inherit', material: 'Inherit', delay: 'Inherit', spawnInterval: 'Inherit', isUsed: true }],
// triggers: [],
// connections: { source: { modelUUID: item.modeluuid, pointUUID: point2UUID }, targets: [] },
// },
// ],
// position: [...item.position],
// rotation: [item.rotation.x, item.rotation.y, item.rotation.z],
// speed: 'Inherit',
// };
// newPaths.push(newPath);
// } else if (item.modelfileID === "67e3da19c2e8f37134526e6a") {
// const pointUUID = THREE.MathUtils.generateUUID();
// const pointPosition = new THREE.Vector3(0, 1.3, 0);
// const newVehiclePath: Types.VehicleEventsSchema = {
// modeluuid: item.modeluuid,
// modelName: item.modelname,
// type: 'Vehicle',
// point: {
// uuid: pointUUID,
// position: [pointPosition.x, pointPosition.y, pointPosition.z],
// actions: { uuid: THREE.MathUtils.generateUUID(), name: 'Action 1', type: 'Start', start: {}, hitCount: 1, end: {}, buffer: 0 },
// connections: { source: { modelUUID: item.modeluuid, pointUUID: pointUUID }, targets: [] },
// speed: 2,
// },
// position: [...item.position],
// };
// newPaths.push(newVehiclePath);
// }
// });
// setSimulationStates(newPaths);
// console.log('floorItems: ', floorItems);
}, [floorItems]);
return null;
}
export default Behaviour;

56
app/src/modules/simulation/ik/ArmReplace.tsx
View File

@@ -1,56 +0,0 @@
import React, { useEffect } from "react";
import { useThree } from "@react-three/fiber";
// store
import useModuleStore from "../../../store/useModuleStore";
// functions
import { findLinkObjects } from "./functions/findLinkObjects";
// components
import { MultiGLTFInstances } from "./MultiGLTFInstances";
// impory model from model folder
import armModel from "../../../assets/gltf-glb/rigged/ik_arm_4.glb";
// Main component to include the logic
const ArmReplace: React.FC = () => {
const { activeModule } = useModuleStore();
const { scene } = useThree(); // Access the Three.js scene from the React Fiber context
// State to store positions, rotations, and count
const [positions, setPositions] = React.useState<[number, number, number][]>(
[]
);
const [rotations, setRotations] = React.useState<[number, number, number][]>(
[]
);
const [count, setCount] = React.useState<string[]>([]);
useEffect(() => {
// Call the function to find objects and update states
findLinkObjects(
scene,
setPositions,
setRotations,
setCount,
activeModule === "simulation" ? false : true
);
}, [scene, activeModule]); // Re-run this effect if the scene changes or activeModule changes
return (
<>
{useModuleStore.getState().activeModule === "simulation" &&
count.map((_, i: number) => (
<MultiGLTFInstances
index={i}
modelUrl={armModel}
position={positions[i]}
rotation={rotations[i]}
/>
))}
</>
);
};
export default ArmReplace;

43
app/src/modules/simulation/ik/MultiGLTFInstances.tsx
View File

@@ -1,43 +0,0 @@
import { useLoader } from "@react-three/fiber";
import { DRACOLoader } from "three/examples/jsm/loaders/DRACOLoader";
import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader";
import { clone } from "three/examples/jsm/utils/SkeletonUtils";
interface MultiGLTFInstancesProps {
index: number;
modelUrl: string;
position: [number, number, number];
rotation: [number, number, number];
}
export const MultiGLTFInstances: React.FC<MultiGLTFInstancesProps> = ({
index,
modelUrl,
position,
rotation,
}) => {
// Load GLTF model with DRACO loader for compression
const originalGltf = 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);
});
// Clone the model for independent transformations
const cloned = clone(originalGltf.scene);
// Render the cloned model
return (
<mesh>
<primitive
name="rigged_arm"
key={index}
object={cloned}
position={position}
rotation={rotation}
/>
</mesh>
);
};

43
app/src/modules/simulation/ik/functions/findLinkObjects.ts
View File

@@ -1,43 +0,0 @@
import { Object3D, Vector3 } from "three";
// Function to find objects named 'link_0' and update positions, rotations, and count
export const findLinkObjects = (
scene: Object3D,
setPositions: React.Dispatch<
React.SetStateAction<[number, number, number][]>
>,
setRotations: React.Dispatch<
React.SetStateAction<[number, number, number][]>
>,
setCount: React.Dispatch<React.SetStateAction<string[]>>,
visibility: boolean
) => {
const positions: [number, number, number][] = [];
const rotations: [number, number, number][] = [];
const count: string[] = [];
let i = 0;
scene.traverse((object) => {
if (object.name === "link_0") {
if (object.parent && object.type !== "SkinnedMesh") {
// count
count[i] = object.uuid;
i++;
// Save the position and rotation of the parent object
const { x: px, y: py, z: pz } = object.parent.position;
positions.push([px, py, pz]);
const { x: rx, y: ry, z: rz } = object.parent.rotation;
rotations.push([rx, ry, rz]);
// Change visibility of the object
object.visible = visibility;
}
}
});
// Update the state with the collected positions, rotations, and count
setPositions(positions);
setRotations(rotations);
setCount(count);
};

23
app/src/modules/simulation/path/pathConnector.tsx
View File

@@ -2,6 +2,7 @@ import { useFrame, useThree } from '@react-three/fiber';
import React, { useEffect, useRef, useState } from 'react';
import * as THREE from 'three';
import * as Types from '../../../types/world/worldTypes';
import * as SimulationTypes from '../../../types/simulation';
import { QuadraticBezierLine } from '@react-three/drei';
import { useDeleteTool, useIsConnecting, useRenderDistance, useSimulationStates, useSocketStore } from '../../../store/store';
import useModuleStore from '../../../store/useModuleStore';
@@ -339,7 +340,7 @@ function PathConnector({ pathsGroupRef }: { pathsGroupRef: React.MutableRefObjec
updateBackend(updatedPathDetails);
};
const updateBackend = async (updatedPaths: (Types.ConveyorEventsSchema | Types.VehicleEventsSchema | Types.StaticMachineEventsSchema | Types.ArmBotEventsSchema)[]) => {
const updateBackend = async (updatedPaths: (SimulationTypes.ConveyorEventsSchema | SimulationTypes.VehicleEventsSchema | SimulationTypes.StaticMachineEventsSchema | SimulationTypes.ArmBotEventsSchema)[]) => {
if (updatedPaths.length === 0) return;
const email = localStorage.getItem("email");
const organization = email ? email.split("@")[1].split(".")[0] : "";
@@ -852,11 +853,11 @@ function PathConnector({ pathsGroupRef }: { pathsGroupRef: React.MutableRefObjec
}
});
const removeConnections = (connection1: { model: string; point: string }, connection2: { model: string; point: string }) => {
const removeConnection = (connection1: { model: string; point: string }, connection2: { model: string; point: string }) => {
const updatedStates = simulationStates.map(state => {
// Handle Conveyor (which has multiple points)
if (state.type === 'Conveyor') {
const updatedConveyor: Types.ConveyorEventsSchema = {
const updatedConveyor: SimulationTypes.ConveyorEventsSchema = {
...state,
points: state.points.map(point => {
// Check if this point is either connection1 or connection2
@@ -887,7 +888,7 @@ function PathConnector({ pathsGroupRef }: { pathsGroupRef: React.MutableRefObjec
if ((state.modeluuid === connection1.model && state.points.uuid === connection1.point) ||
(state.modeluuid === connection2.model && state.points.uuid === connection2.point)) {
const updatedVehicle: Types.VehicleEventsSchema = {
const updatedVehicle: SimulationTypes.VehicleEventsSchema = {
...state,
points: {
...state.points,
@@ -913,7 +914,7 @@ function PathConnector({ pathsGroupRef }: { pathsGroupRef: React.MutableRefObjec
if ((state.modeluuid === connection1.model && state.points.uuid === connection1.point) ||
(state.modeluuid === connection2.model && state.points.uuid === connection2.point)) {
const updatedStaticMachine: Types.StaticMachineEventsSchema = {
const updatedStaticMachine: SimulationTypes.StaticMachineEventsSchema = {
...state,
points: {
...state.points,
@@ -939,7 +940,7 @@ function PathConnector({ pathsGroupRef }: { pathsGroupRef: React.MutableRefObjec
if ((state.modeluuid === connection1.model && state.points.uuid === connection1.point) ||
(state.modeluuid === connection2.model && state.points.uuid === connection2.point)) {
const updatedArmBot: Types.ArmBotEventsSchema = {
const updatedArmBot: SimulationTypes.ArmBotEventsSchema = {
...state,
points: {
...state.points,
@@ -1030,10 +1031,11 @@ function PathConnector({ pathsGroupRef }: { pathsGroupRef: React.MutableRefObjec
const connection1 = { model: path.modeluuid, point: point.uuid }
const connection2 = { model: target.modelUUID, point: target.pointUUID }
removeConnections(connection1, connection2)
removeConnection(connection1, connection2)
}
}}
depthWrite={false}
userData={target}
/>
);
@@ -1082,9 +1084,10 @@ function PathConnector({ pathsGroupRef }: { pathsGroupRef: React.MutableRefObjec
const connection1 = { model: path.modeluuid, point: path.points.uuid }
const connection2 = { model: target.modelUUID, point: target.pointUUID }
removeConnections(connection1, connection2)
removeConnection(connection1, connection2)
}
}}
depthWrite={false}
userData={target}
/>
);
@@ -1135,10 +1138,11 @@ function PathConnector({ pathsGroupRef }: { pathsGroupRef: React.MutableRefObjec
const connection1 = { model: path.modeluuid, point: path.points.uuid }
const connection2 = { model: target.modelUUID, point: target.pointUUID }
removeConnections(connection1, connection2)
removeConnection(connection1, connection2)
}
}}
depthWrite={false}
userData={target}
/>
);
@@ -1160,6 +1164,7 @@ function PathConnector({ pathsGroupRef }: { pathsGroupRef: React.MutableRefObjec
dashed
dashSize={1}
dashScale={20}
depthWrite={false}
/>
)}
</group>

11
app/src/modules/simulation/path/pathCreation.tsx
View File

@@ -1,5 +1,5 @@
import * as THREE from "three";
import * as Types from "../../../types/world/worldTypes";
import * as SimulationTypes from "../../../types/simulation";
import { useRef, useState, useEffect, useMemo } from "react";
import { Sphere, TransformControls } from "@react-three/drei";
import {
@@ -94,7 +94,7 @@ function PathCreation({ pathsGroupRef, }: { pathsGroupRef: React.MutableRefObjec
} else {
return path;
}
}) as Types.ConveyorEventsSchema[];
}) as SimulationTypes.ConveyorEventsSchema[];
const updatedPath = updatedPaths.find(
(path) => path.type === "Conveyor" && path.points.some((point) => point.uuid === selectedActionSphere.points.uuid)
@@ -161,7 +161,7 @@ function PathCreation({ pathsGroupRef, }: { pathsGroupRef: React.MutableRefObjec
};
}, [eyeDropMode, editingPoint, previewPosition]);
const updateBackend = async (updatedPath: Types.VehicleEventsSchema | undefined) => {
const updateBackend = async (updatedPath: SimulationTypes.VehicleEventsSchema | undefined) => {
if (!updatedPath) return;
const email = localStorage.getItem("email");
const organization = email ? email.split("@")[1].split(".")[0] : "";
@@ -191,7 +191,7 @@ function PathCreation({ pathsGroupRef, }: { pathsGroupRef: React.MutableRefObjec
return path;
});
const updatedPath = updatedPaths.find((path): path is Types.VehicleEventsSchema => path.type === "Vehicle" && path.points.uuid === selectedActionSphere.points.uuid);
const updatedPath = updatedPaths.find((path): path is SimulationTypes.VehicleEventsSchema => path.type === "Vehicle" && path.points.uuid === selectedActionSphere.points.uuid);
updateBackend(updatedPath);
setSimulationStates(updatedPaths);
@@ -282,6 +282,7 @@ function PathCreation({ pathsGroupRef, }: { pathsGroupRef: React.MutableRefObjec
key={path.modeluuid}
ref={(el) => (groupRefs.current[path.modeluuid] = el!)}
position={path.position}
rotation={path.rotation}
onClick={(e) => {
if (isConnecting || eyeDropMode) return;
e.stopPropagation();
@@ -335,6 +336,7 @@ function PathCreation({ pathsGroupRef, }: { pathsGroupRef: React.MutableRefObjec
key={path.modeluuid}
ref={(el) => (groupRefs.current[path.modeluuid] = el!)}
position={path.position}
rotation={path.rotation}
onClick={(e) => {
if (isConnecting || eyeDropMode) return;
e.stopPropagation();
@@ -388,6 +390,7 @@ function PathCreation({ pathsGroupRef, }: { pathsGroupRef: React.MutableRefObjec
key={path.modeluuid}
ref={(el) => (groupRefs.current[path.modeluuid] = el!)}
position={path.position}
rotation={path.rotation}
onClick={(e) => {
if (isConnecting || eyeDropMode) return;
e.stopPropagation();

2
app/src/modules/simulation/process/processCreator.tsx
View File

@@ -458,7 +458,7 @@ import { useThree } from "@react-three/fiber";
import {
ConveyorEventsSchema,
VehicleEventsSchema,
} from "../../../types/world/worldTypes";
} from "../../../types/simulation";
import { usePlayButtonStore } from "../../../store/usePlayButtonStore";
// Type definitions

15
app/src/modules/simulation/simulation.tsx
View File

@@ -1,16 +1,11 @@
import { useState, useEffect, useRef, useMemo } from "react";
import {
useSelectedActionSphere,
useSelectedPath,
useSimulationStates,
} from "../../store/store";
import { useState, useRef } from "react";
import * as THREE from "three";
import Behaviour from "./behaviour/behaviour";
import PathCreation from "./path/pathCreation";
import PathConnector from "./path/pathConnector";
import useModuleStore from "../../store/useModuleStore";
import ProcessContainer from "./process/processContainer";
import Agv from "../builder/agv/agv";
import ArmBot from "./armbot/ArmBot";
function Simulation() {
const { activeModule } = useModuleStore();
@@ -21,24 +16,28 @@ function Simulation() {
return (
<>
<Behaviour />
{activeModule === "simulation" && (
<>
<PathCreation pathsGroupRef={pathsGroupRef} />
<PathConnector pathsGroupRef={pathsGroupRef} />
<ProcessContainer
processes={processes}
setProcesses={setProcesses}
agvRef={agvRef}
MaterialRef={MaterialRef}
/>
<Agv
processes={processes}
agvRef={agvRef}
MaterialRef={MaterialRef}
/>
</>
)}
<ArmBot />
</>
);
}