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path helper added

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This commit is contained in:
Gomathi
2025-04-30 10:30:30 +05:30
parent fe57e6c873
commit c95f140d30
2 changed files with 42 additions and 8 deletions
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19
app/src/modules/simulation/roboticArm/instances/ikInstance/ikInstance.tsx
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@@ -3,18 +3,19 @@ import * as THREE from "three";
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 { useLoader, useThree } from "@react-three/fiber";
import { useLoader, useThree } from "@react-three/fiber";
import { CCDIKSolver, CCDIKHelper, } from "three/examples/jsm/animation/CCDIKSolver";
import { TransformControls } from '@react-three/drei';
type IKInstanceProps = {
modelUrl: string;
ikSolver: any;
setIkSolver: any
armBot: any;
groupRef: React.RefObject<THREE.Group>;
groupRef: any;
};
function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef}: IKInstanceProps) {
const {scene}=useThree()
function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef }: IKInstanceProps) {
const { scene } = useThree()
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/");
@@ -23,6 +24,7 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef}: IKInst
const cloned = useMemo(() => clone(gltf?.scene), [gltf]);
const targetBoneName = "Target";
const skinnedMeshName = "link_0";
const [selectedArm, setSelectedArm] = useState<THREE.Group>();
useEffect(() => {
if (!gltf) return;
@@ -65,6 +67,9 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef}: IKInst
setIkSolver(solver);
const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05)
groupRef.current.add(helper);
console.log('OOI.Target_Bone: ', OOI.Target_Bone);
setSelectedArm(OOI.Target_Bone);
scene.add(helper)
@@ -73,7 +78,10 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef}: IKInst
return (
<>
<group ref={groupRef} position={armBot.position} rotation={armBot.rotation}>
<group ref={groupRef} position={armBot.position} rotation={armBot.rotation} onClick={() =>{
setSelectedArm(groupRef.current?.getObjectByName(targetBoneName))
}
}>
<primitive
uuid={"ArmBot-X200"}
object={cloned}
@@ -81,6 +89,7 @@ function IKInstance({ modelUrl, setIkSolver, ikSolver, armBot, groupRef}: IKInst
name={`arm-bot11`}
/>
</group>
{/* {selectedArm && <TransformControls object={selectedArm} />} */}
</>
)
}