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arm points path upated and points restricted between 270 and 360

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This commit is contained in:
Gomathi
2025-05-06 18:38:27 +05:30
parent 801dc83994
commit 4ac77e462c
8 changed files with 296 additions and 325 deletions
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39
app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
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@@ -5,7 +5,6 @@ import { usePauseButtonStore, usePlayButtonStore, useResetButtonStore } from '..
import { useArmBotStore } from '../../../../../store/simulation/useArmBotStore';
import armModel from "../../../../../assets/gltf-glb/rigged/ik_arm_1.glb";
import { useThree } from "@react-three/fiber";
import useModuleStore from '../../../../../store/useModuleStore';
import * as THREE from "three";
import MaterialAnimator from '../animator/materialAnimator';
@@ -24,16 +23,15 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
let startTime: number;
//zustand
const { addCurrentAction, setArmBotActive, setArmBotState, removeCurrentAction } = useArmBotStore();
const { activeModule } = useModuleStore();
const { isPlaying } = usePlayButtonStore();
const { isReset, setReset } = useResetButtonStore();
const { isReset } = useResetButtonStore();
const { isPaused } = usePauseButtonStore();
function firstFrame() {
startTime = performance.now();
step();
}
function step() {
if (isPausedRef.current) {
if (!pauseTimeRef.current) {
@@ -87,6 +85,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
logStatus(armBot.modelUuid, "Moving armBot from end point to rest position.")
}
}
useEffect(() => {
isPausedRef.current = isPaused;
}, [isPaused]);
@@ -98,6 +97,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
setArmBotState(armBot.modelUuid, "idle")
setCurrentPhase("init");
setPath([])
setIkSolver(null);
removeCurrentAction(armBot.modelUuid)
isPausedRef.current = false
pauseTimeRef.current = null
@@ -117,17 +117,17 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
useEffect(() => {
const targetMesh = scene?.getObjectByProperty("uuid", armBot.modelUuid);
if (targetMesh) {
targetMesh.visible = activeModule !== "simulation"
targetMesh.visible = (!isPlaying)
}
const targetBones = ikSolver?.mesh.skeleton.bones.find((b: any) => b.name === targetBone);
if (isPlaying) {
if (!isReset && isPlaying) {
//Moving armBot from initial point to rest position.
if (!armBot?.isActive && armBot?.state == "idle" && currentPhase == "init") {
setArmBotActive(armBot.modelUuid, true)
setArmBotState(armBot.modelUuid, "running")
setCurrentPhase("init-to-rest");
if (targetBones) {
let curve = createCurveBetweenTwoPoints(targetBones.position, targetBones.position)
setArmBotActive(armBot.modelUuid, true)
setArmBotState(armBot.modelUuid, "running")
setCurrentPhase("init-to-rest");
let curve = createCurveBetweenTwoPoints(targetBones.position, restPosition)
if (curve) {
setPath(curve.points.map(point => [point.x, point.y, point.z]));
}
@@ -142,9 +142,9 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
}, 3000);
return () => clearTimeout(timeoutId);
}
//Moving to pickup point
else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && armBot.currentAction) {
if (armBot.currentAction) {
setArmBotActive(armBot.modelUuid, true);
setArmBotState(armBot.modelUuid, "running");
setCurrentPhase("rest-to-start");
@@ -158,17 +158,20 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
}
logStatus(armBot.modelUuid, "Moving armBot from rest point to start position.")
}
// Moving to Pick to Drop position
else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "picking" && armBot.currentAction) {
requestAnimationFrame(firstFrame);
}
//Moving to drop point to restPosition
else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "dropping" && armBot.currentAction) {
requestAnimationFrame(firstFrame);
}
}else{
} else {
logStatus(armBot.modelUuid, "Simulation Play Exited")
setArmBotActive(armBot.modelUuid, false)
setArmBotState(armBot.modelUuid, "idle")
setCurrentPhase("init");
setIkSolver(null);
setPath([])
isPausedRef.current = false
pauseTimeRef.current = null
@@ -177,7 +180,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
removeCurrentAction(armBot.modelUuid)
}
}, [currentPhase, armBot, isPlaying, ikSolver])
}, [currentPhase, armBot, isPlaying, isReset, ikSolver])
function createCurveBetweenTwoPoints(p1: any, p2: any) {
@@ -224,9 +227,13 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
return (
<>
<IKInstance modelUrl={armModel} setIkSolver={setIkSolver} ikSolver={ikSolver} armBot={armBot} groupRef={groupRef} />
<RoboticArmAnimator HandleCallback={HandleCallback} restPosition={restPosition} ikSolver={ikSolver} targetBone={targetBone} armBot={armBot}
logStatus={logStatus} path={path} currentPhase={currentPhase} />
{!isReset && isPlaying && (
<>
<IKInstance modelUrl={armModel} setIkSolver={setIkSolver} ikSolver={ikSolver} armBot={armBot} groupRef={groupRef} />
<RoboticArmAnimator HandleCallback={HandleCallback} restPosition={restPosition} ikSolver={ikSolver} targetBone={targetBone} armBot={armBot}
logStatus={logStatus} path={path} currentPhase={currentPhase} />
</>
)}
<MaterialAnimator ikSolver={ikSolver} armBot={armBot} currentPhase={currentPhase} />
</>
)