feat: Integrate reset functionality in ArmBot and StaticMachine components
This commit is contained in:
parent
a59aa1d61c
commit
8b7b7f589a
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@ -4,6 +4,7 @@ import useModuleStore from "../../../store/useModuleStore";
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import { useSimulationStates } from "../../../store/store";
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import * as SimulationTypes from '../../../types/simulationTypes';
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import { ArmbotInstances } from "./ArmBotInstances";
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import { useResetButtonStore } from "../../../store/usePlayButtonStore";
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interface ArmBotState {
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uuid: string;
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@ -38,6 +39,7 @@ const ArmBot = ({ armBots, setArmBots, setStaticMachines }: ArmBotProps) => {
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const { activeModule } = useModuleStore();
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const { scene } = useThree();
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const { simulationStates } = useSimulationStates();
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const { isReset } = useResetButtonStore();
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useEffect(() => {
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const filtered = simulationStates.filter((s): s is SimulationTypes.ArmBotEventsSchema => s.type === "ArmBot");
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@ -54,7 +56,7 @@ const ArmBot = ({ armBots, setArmBots, setStaticMachines }: ArmBotProps) => {
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connections: bot.points.connections
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}));
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setArmBots(initialStates);
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}, [simulationStates]);
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}, [simulationStates, isReset]);
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useEffect(() => {
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armBots.forEach((bot) => {
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@ -31,7 +31,7 @@ interface ArmBotState {
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type IKAnimationControllerProps = {
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ikSolver: any;
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process: {
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processes: {
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triggerId: string;
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startPoint: THREE.Vector3;
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endPoint: THREE.Vector3;
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@ -50,7 +50,7 @@ type IKAnimationControllerProps = {
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const IKAnimationController = ({
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ikSolver,
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process,
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processes,
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selectedTrigger,
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targetBoneName,
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uuid,
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@ -67,20 +67,10 @@ const IKAnimationController = ({
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const [isInitializing, setIsInitializing] = useState(true);
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const restSpeed = 0.1;
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const restPosition = new THREE.Vector3(0, 2, 1.6);
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const { isPlaying } = usePlayButtonStore();
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const { isPlaying } = usePlayButtonStore();;
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const statusRef = useRef("idle");
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const { simulationStates } = useSimulationStates();
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// Track previous states for comparison
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const prevStateRef = useRef({
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isInitializing: true,
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needsInitialMovement: true,
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selectedTrigger: "",
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progress: 0
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});
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// Track previous status for comparison
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const prevStatusRef = useRef("");
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const initialCurveRef = useRef<THREE.CatmullRomCurve3 | null>(null);
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const initialStartPositionRef = useRef<THREE.Vector3 | null>(null);
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@ -101,91 +91,6 @@ const IKAnimationController = ({
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}
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}, [ikSolver]);
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// Log state changes
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useEffect(() => {
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const prev = prevStateRef.current;
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if (prev.isInitializing !== isInitializing) {
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if (!isInitializing) {
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logStatus(`[Arm ${uuid}] Completed initialization, now at rest position`);
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}
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}
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if (prev.needsInitialMovement !== needsInitialMovement && !needsInitialMovement) {
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logStatus(`[Arm ${uuid}] Reached rest position, ready for animation`);
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}
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if (prev.selectedTrigger !== selectedTrigger) {
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logStatus(`[Arm ${uuid}] Processing new trigger: ${selectedTrigger}`);
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const currentProcess = process.find(p => p.triggerId === prev.selectedTrigger);
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if (currentProcess) {
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const triggerId = currentProcess.triggerId;
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const endPoint = armBot.actions.processes.find((process) => process.triggerId === triggerId)?.endPoint;
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// Search simulationStates for a StaticMachine or Conveyor that has a point matching this endPointId
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const matchedMachine = simulationStates.find((state) => {
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if (state.type === "Conveyor") {
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// For Conveyor, points is an array
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return (state).points.some(
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(point) => point.uuid === endPoint
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);
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} else if (state.type === "StaticMachine") {
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// For StaticMachine, points is an object
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return state.points.uuid === endPoint;
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}
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return false;
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});
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if (matchedMachine) {
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// Log if the end point is a conveyor
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if (matchedMachine.type === "Conveyor") {
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logStatus(`[Arm ${uuid}] Reached end point which is a conveyor (${matchedMachine.modelName})`);
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} else {
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logStatus(`[Arm ${uuid}] Reached end point which is a static machine (${matchedMachine.modelName})`);
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}
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if (matchedMachine.type === "StaticMachine") {
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setStaticMachines((machines) => {
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return machines.map((machine) => {
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if (machine.uuid === matchedMachine.modeluuid) {
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return { ...machine, status: "running" };
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} else {
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return machine;
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}
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});
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});
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}
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if (matchedMachine.type === "Conveyor") {
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setArmBots((prev) =>
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prev.map((arm) => {
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if (arm.uuid === uuid) {
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return {
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...arm,
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isActive: false
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};
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}
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else {
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return arm;
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}
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})
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);
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}
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}
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}
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}
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// Update previous state
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prevStateRef.current = {
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isInitializing,
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needsInitialMovement,
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selectedTrigger,
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progress
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};
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}, [isInitializing, needsInitialMovement, selectedTrigger, progress]);
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const calculateInitialCurve = (startPosition: THREE.Vector3) => {
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const direction = new THREE.Vector3().subVectors(restPosition, startPosition);
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@ -211,61 +116,56 @@ const IKAnimationController = ({
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]);
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};
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const processedCurves = useMemo(() => {
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if (isPlaying)
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return process.map((p) => {
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const tempLift = 0.5;
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const localStart = groupRef.current?.worldToLocal(p.startPoint.clone().add(new THREE.Vector3(0, tempLift, 0)));
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const localEnd = groupRef.current?.worldToLocal(p.endPoint.clone().add(new THREE.Vector3(0, tempLift, 0)));
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const processCurves = useMemo(() => {
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if (!isPlaying) return [];
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if (localStart && localEnd) {
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return processes.map(process => {
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const localStart = groupRef.current?.worldToLocal(process.startPoint.clone());
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const localEnd = groupRef.current?.worldToLocal(process.endPoint.clone());
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const mid = new THREE.Vector3(
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(localStart.x + localEnd.x) / 1,
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Math.max(localStart.y, localEnd.y) + 0.8,
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(localStart.z + localEnd.z) / 0.9
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);
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if (!localStart || !localEnd) return null;
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const points = [
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restPosition.clone(),
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localStart.clone(),
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mid.clone(),
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localEnd.clone(),
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restPosition.clone(),
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];
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const curve = new THREE.CatmullRomCurve3(points);
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const restToStartDist = points[0].distanceTo(points[1]);
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const startToEndDist = points[1].distanceTo(points[3]);
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const endToRestDist = points[3].distanceTo(points[4]);
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const midPoint = new THREE.Vector3(
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(localStart.x + localEnd.x) / 2,
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Math.max(localStart.y, localEnd.y) + 1,
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(localStart.z + localEnd.z) / 2
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);
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const restToStartCurve = new THREE.CatmullRomCurve3([
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restPosition,
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new THREE.Vector3().lerpVectors(restPosition, localStart, 0.5),
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localStart
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]);
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const totalDist = restToStartDist + startToEndDist + endToRestDist;
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const restToStartRange = [0, restToStartDist / totalDist];
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const startToEndRange = [
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restToStartRange[1],
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restToStartRange[1] + startToEndDist / totalDist,
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];
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const endToRestRange = [startToEndRange[1], 1];
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const processCurve = new THREE.CatmullRomCurve3([
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localStart,
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midPoint,
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localEnd
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]);
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return {
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trigger: p.triggerId,
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curve,
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speed: p.speed,
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restToStartRange,
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startToEndRange,
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endToRestRange,
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};
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}
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});
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}, [process, groupRef, isPlaying]);
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const endToRestCurve = new THREE.CatmullRomCurve3([
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localEnd,
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new THREE.Vector3().lerpVectors(localEnd, restPosition, 0.5),
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restPosition
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]);
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useEffect(() => {
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console.log('processedCurves: ', processedCurves);
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}, [processedCurves])
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return {
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triggerId: process.triggerId,
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restToStartCurve,
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processCurve,
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endToRestCurve,
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speed: process.speed,
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totalDistance:
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restPosition.distanceTo(localStart) +
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localStart.distanceTo(localEnd) +
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localEnd.distanceTo(restPosition)
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};
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}).filter(Boolean);
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}, [processes, isPlaying]);
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const activeCurve = useMemo(() => {
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if (isPlaying && processedCurves)
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return processedCurves.find((c) => c?.trigger === selectedTrigger);
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}, [processedCurves, selectedTrigger, isPlaying]);
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const activeProcess = useMemo(() => {
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if (!selectedTrigger) return null;
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return processCurves.find(p => p?.triggerId === selectedTrigger);
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}, [processCurves, selectedTrigger]);
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// Initial movement to rest position
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useFrame((_, delta) => {
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@ -293,68 +193,128 @@ const IKAnimationController = ({
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// Main animation loop
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useFrame((_, delta) => {
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if (!ikSolver || !activeCurve || isInitializing || !isPlaying) return;
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if (isInitializing || !isPlaying || !selectedTrigger || !activeProcess || !ikSolver) return;
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const { curve, speed, restToStartRange, startToEndRange, endToRestRange } = activeCurve;
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const targetBone = ikSolver.mesh.skeleton.bones.find(
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(b: any) => b.name === targetBoneName
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);
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if (!targetBone) return;
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const bone = ikSolver.mesh.skeleton.bones.find((b: any) => b.name === targetBoneName);
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if (!bone) return;
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let currentSpeed = restSpeed;
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let currentStatus = "idle"; // Default status
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const {
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restToStartCurve,
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processCurve,
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endToRestCurve,
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speed,
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totalDistance
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} = activeProcess;
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// Determine current phase and status
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if (progress < restToStartRange[1]) {
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currentSpeed = restSpeed;
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currentStatus = "moving"; // Moving to start point
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} else if (progress >= startToEndRange[0] && progress < startToEndRange[1]) {
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currentSpeed = speed;
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currentStatus = "moving"; // Moving between points
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} else if (progress >= endToRestRange[0] && progress < 1) {
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currentSpeed = restSpeed;
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currentStatus = "moving"; // Returning to rest
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} else if (progress >= 1) {
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currentStatus = "idle"; // Completed cycle
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}
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// Calculate current segment and progress
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const restToStartDist = restPosition.distanceTo(restToStartCurve.points[2]);
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const processDist = processCurve.getLength();
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const endToRestDist = endToRestCurve.getLength();
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// Update status when it changes
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if (prevStatusRef.current !== currentStatus) {
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updateArmBotStatus(currentStatus);
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prevStatusRef.current = currentStatus;
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}
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const restToStartEnd = restToStartDist / totalDistance;
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const processEnd = (restToStartDist + processDist) / totalDistance;
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// Only update progress if we're not already at the end
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if (progress < 1) {
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setProgress((prev) => {
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const next = prev + delta * currentSpeed;
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return Math.min(next, 1); // Cap at 1
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});
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}
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setProgress(prev => {
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let currentStatus = statusRef.current;
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let currentPosition: THREE.Vector3;
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const newProgress = Math.min(prev + delta * ((currentStatus === 'returning to rest') ? restSpeed : speed), 1);
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// Update bone position based on progress
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if (progress < 1) {
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targetBone.position.copy(curve.getPoint(progress));
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} else {
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targetBone.position.copy(curve.getPoint(1));
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}
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if (newProgress < restToStartEnd) {
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// Moving from rest to start position
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currentStatus = "moving to start";
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const segmentProgress = newProgress / restToStartEnd;
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currentPosition = restToStartCurve.getPoint(segmentProgress);
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} else if (newProgress < processEnd) {
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// Processing - moving from start to end
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currentStatus = "processing";
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const segmentProgress = (newProgress - restToStartEnd) / (processEnd - restToStartEnd);
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currentPosition = processCurve.getPoint(segmentProgress);
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} else {
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// Returning to rest position
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currentStatus = "returning to rest";
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const segmentProgress = (newProgress - processEnd) / (1 - processEnd);
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currentPosition = endToRestCurve.getPoint(segmentProgress);
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}
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ikSolver.update();
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// Update status if changed
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if (currentStatus !== statusRef.current) {
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statusRef.current = currentStatus;
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// updateArmBotStatus(currentStatus);
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logStatus(`[Arm ${uuid}] Status: ${currentStatus}`);
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}
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// Only trigger when the entire animation is complete (newProgress === 1)
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if (newProgress === 1 && currentStatus === "returning to rest") {
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updateConveyorOrStaticMachineStatus(selectedTrigger);
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}
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bone.position.copy(currentPosition);
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ikSolver.update();
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return newProgress;
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});
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});
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return (
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<>
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{armBot.status === 'moving' && activeCurve &&
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<MaterialInstances
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groupRef={groupRef}
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activeCurve={activeCurve}
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progress={progress}
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ikSolver={ikSolver}
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targetBoneName={targetBoneName}
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/>
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const updateConveyorOrStaticMachineStatus = (selectedTrigger: string) => {
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const currentProcess = processes.find(p => p.triggerId === selectedTrigger);
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if (currentProcess) {
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const triggerId = currentProcess.triggerId;
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const endPoint = armBot.actions.processes.find((process) => process.triggerId === triggerId)?.endPoint;
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const matchedMachine = simulationStates.find((state) => {
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if (state.type === "Conveyor") {
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return (state).points.some(
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(point) => point.uuid === endPoint
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);
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} else if (state.type === "StaticMachine") {
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return state.points.uuid === endPoint;
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}
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return false;
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});
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if (matchedMachine) {
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if (matchedMachine.type === "Conveyor") {
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logStatus(`[Arm ${uuid}] Reached end point which is a conveyor (${matchedMachine.modelName})`);
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} else {
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logStatus(`[Arm ${uuid}] Reached end point which is a static machine (${matchedMachine.modelName})`);
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}
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setTimeout(() => {
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if (matchedMachine.type === "StaticMachine") {
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setStaticMachines((machines) => {
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return machines.map((machine) => {
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if (machine.uuid === matchedMachine.modeluuid) {
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return { ...machine, status: "running" };
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} else {
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return machine;
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}
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});
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});
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updateArmBotStatus('idle');
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}
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if (matchedMachine.type === "Conveyor") {
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setArmBots((prev) =>
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prev.map((arm) => {
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if (arm.uuid === uuid) {
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return {
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...arm,
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isActive: false,
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status: "idle",
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};
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}
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else {
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return arm;
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}
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})
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);
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}
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}, 0);
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}
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</>
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);
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}
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}
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return null;
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};
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export default IKAnimationController;
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@ -132,7 +132,7 @@ const IkInstances = ({
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</group>
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<IKAnimationController
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ikSolver={ikSolver}
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process={processes}
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processes={processes}
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selectedTrigger={selectedTrigger}
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targetBoneName={targetBoneName}
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uuid={uuid}
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@ -2,6 +2,7 @@ import React, { useEffect } from 'react'
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import * as SimulationTypes from '../../../types/simulationTypes';
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import { useSimulationStates } from '../../../store/store';
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import StaticMachineInstances from './staticMachineInstances';
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import { useResetButtonStore } from '../../../store/usePlayButtonStore';
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interface ArmBotState {
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uuid: string;
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@ -34,6 +35,7 @@ type StaticMachineProps = {
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function StaticMachine({ setArmBots, staticMachines, setStaticMachines }: StaticMachineProps) {
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const { simulationStates } = useSimulationStates();
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const { isReset } = useResetButtonStore();
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useEffect(() => {
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const filtered = simulationStates.filter((s): s is SimulationTypes.StaticMachineEventsSchema => s.type === "StaticMachine");
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|
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@ -47,7 +49,7 @@ function StaticMachine({ setArmBots, staticMachines, setStaticMachines }: Static
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connectedArmBot: machine.points.connections.targets[0].modelUUID
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}));
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setStaticMachines(initialStates);
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}, [simulationStates]);
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}, [simulationStates, isReset]);
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const updateArmBotTriggerAndMachineStatus = (armBotUuid: string, triggerId: string, machineId: string) => {
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setArmBots((prevArmBots) => {
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