armbot circular path updated and ui dynamic updation
This commit is contained in:
@@ -8,6 +8,7 @@ import { useThree } from "@react-three/fiber";
|
||||
import { useFloorItems } from '../../../../../store/store';
|
||||
import useModuleStore from '../../../../../store/useModuleStore';
|
||||
import * as THREE from "three";
|
||||
import { useSelectedAction } from '../../../../../store/simulation/useSimulationStore';
|
||||
|
||||
function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
|
||||
|
||||
@@ -28,6 +29,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
|
||||
const { isPlaying } = usePlayButtonStore();
|
||||
const { isReset, setReset } = useResetButtonStore();
|
||||
const { isPaused } = usePauseButtonStore();
|
||||
const { selectedAction } = useSelectedAction();
|
||||
|
||||
function firstFrame() {
|
||||
startTime = performance.now();
|
||||
@@ -78,6 +80,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
|
||||
startTime=0;
|
||||
const endPoint = armBot.point.actions[0].process.endPoint;
|
||||
if (endPoint) {
|
||||
|
||||
let curve = createCurveBetweenTwoPoints(new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]), restPosition);
|
||||
if (curve) {
|
||||
logStatus(armBot.modelUuid, "dropping the object");
|
||||
@@ -93,21 +96,17 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
|
||||
}, [isPaused]);
|
||||
|
||||
useEffect(() => {
|
||||
let armItems = floorItems?.filter((val: any) =>
|
||||
val.modelUuid === "3abf5d46-b59e-4e6b-9c02-a4634b64b82d"
|
||||
);
|
||||
// Get the first matching item
|
||||
let armItem = armItems?.[0];
|
||||
if (armItem) {
|
||||
const targetMesh = scene?.getObjectByProperty("uuid", armItem.modelUuid);
|
||||
const targetMesh = scene?.getObjectByProperty("uuid", armBot.modelUuid);
|
||||
|
||||
if (targetMesh) {
|
||||
targetMesh.visible = activeModule !== "simulation"
|
||||
}
|
||||
}
|
||||
|
||||
const targetBones = ikSolver?.mesh.skeleton.bones.find(
|
||||
(b: any) => b.name === targetBone
|
||||
);
|
||||
if (isReset) {
|
||||
|
||||
logStatus(armBot.modelUuid, "Simulation Play Reset Successfully")
|
||||
removeCurrentAction(armBot.modelUuid)
|
||||
setArmBotActive(armBot.modelUuid, true)
|
||||
@@ -127,8 +126,10 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
|
||||
logStatus(armBot.modelUuid, "Moving armBot from initial point to rest position.")
|
||||
}
|
||||
if (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");
|
||||
@@ -144,12 +145,15 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
|
||||
else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && !armBot.currentAction) {
|
||||
logStatus(armBot.modelUuid, "Waiting to trigger CurrentAction")
|
||||
const timeoutId = setTimeout(() => {
|
||||
addCurrentAction(armBot.modelUuid, 'action-003');
|
||||
let actionId=armBot.point.actions[0].actionUuid
|
||||
// addCurrentAction(armBot.modelUuid,actionId);
|
||||
addCurrentAction(armBot.modelUuid, selectedAction?.actionId);
|
||||
}, 3000);
|
||||
return () => clearTimeout(timeoutId);
|
||||
}
|
||||
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");
|
||||
@@ -253,7 +257,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
|
||||
}
|
||||
}
|
||||
const logStatus = (id: string, status: string) => {
|
||||
// console.log('status: ', status);
|
||||
//
|
||||
}
|
||||
|
||||
return (
|
||||
@@ -261,296 +265,8 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
|
||||
<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} />
|
||||
|
||||
</>
|
||||
)
|
||||
}
|
||||
|
||||
export default RoboticArmInstance;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// import React, { useEffect, useRef, useState } from 'react';
|
||||
// import IKInstance from '../ikInstance/ikInstance';
|
||||
// import RoboticArmAnimator from '../animator/roboticArmAnimator';
|
||||
// import { usePlayButtonStore, useResetButtonStore } from '../../../../../store/usePlayButtonStore';
|
||||
// import { useArmBotStore } from '../../../../../store/simulation/useArmBotStore';
|
||||
// import armModel from "../../../../../assets/gltf-glb/rigged/ik_arm_4.glb";
|
||||
// import { useThree } from "@react-three/fiber";
|
||||
// import { useFloorItems } from '../../../../../store/store';
|
||||
// import useModuleStore from '../../../../../store/useModuleStore';
|
||||
// import * as THREE from "three";
|
||||
|
||||
// function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
|
||||
|
||||
// const [currentPhase, setCurrentPhase] = useState<string>("init");
|
||||
// const [path, setPath] = useState<[number, number, number][]>([]);
|
||||
// const [ikSolver, setIkSolver] = useState<any>(null);
|
||||
// const { scene } = useThree();
|
||||
// const restPosition = new THREE.Vector3(0, 1, -1.6);
|
||||
// const targetBone = "Target";
|
||||
// const groupRef = useRef<any>(null);
|
||||
|
||||
// // Zustand Stores
|
||||
// const { addCurrentAction, setArmBotActive, setArmBotState, removeCurrentAction } = useArmBotStore();
|
||||
// const { floorItems } = useFloorItems();
|
||||
// const { activeModule } = useModuleStore();
|
||||
// const { isPlaying } = usePlayButtonStore();
|
||||
// const { isReset, setReset } = useResetButtonStore();
|
||||
|
||||
// // Generate path according to constraints
|
||||
// const generateArmPath = (
|
||||
// startPoint: [number, number, number],
|
||||
// endPoint: [number, number, number],
|
||||
// restPos: THREE.Vector3 = new THREE.Vector3(0, 1, -1.6)
|
||||
// ): [number, number, number][] => {
|
||||
// const path: [number, number, number][] = [];
|
||||
|
||||
// const startVec = new THREE.Vector3(...startPoint);
|
||||
// const endVec = new THREE.Vector3(...endPoint);
|
||||
|
||||
// // Helper functions
|
||||
// const addLinePoints = (from: THREE.Vector3, to: THREE.Vector3, segments: number) => {
|
||||
// for (let i = 0; i <= segments; i++) {
|
||||
// const t = i / segments;
|
||||
// const point = new THREE.Vector3().lerpVectors(from, to, t);
|
||||
// path.push([point.x, point.y, point.z]);
|
||||
// }
|
||||
// };
|
||||
|
||||
// const addCurveFromTo = (from: THREE.Vector3, to: THREE.Vector3, segments: number = 15) => {
|
||||
// const mid = new THREE.Vector3()
|
||||
// .addVectors(from, to)
|
||||
// .multiplyScalar(0.5)
|
||||
// .setY(Math.max(from.y, to.y) + 0.5);
|
||||
// const curve = new THREE.CatmullRomCurve3([from, mid, to]);
|
||||
// const points = curve.getPoints(segments);
|
||||
// for (const p of points) {
|
||||
// path.push([p.x, p.y, p.z]);
|
||||
// }
|
||||
// };
|
||||
|
||||
// // Step 1: Move vertically to align Y with start point
|
||||
// const step1Start = startVec.clone().setY(restPos.y);
|
||||
// const step1End = startVec.clone();
|
||||
// addLinePoints(step1Start, step1End, 10);
|
||||
|
||||
// // Step 2: Move horizontally XZ to reach start point
|
||||
// const step2Start = step1End.clone();
|
||||
// const step2End = startVec.clone(); // ✅ Fixed here
|
||||
// addLinePoints(step2Start, step2End, 10);
|
||||
// addLinePoints(step1End, step2End, 10);
|
||||
|
||||
// // Optional Step 3: Move to rest/midpoint if needed
|
||||
// const distanceToRest = startVec.distanceTo(restPos);
|
||||
// if (distanceToRest > 1) {
|
||||
// addCurveFromTo(step2End, restPos, 15);
|
||||
// }
|
||||
|
||||
// // Step 4: Move up/down to align Y with end point
|
||||
// const step4Start = endVec.clone().setY(restPos.y);
|
||||
// const step4End = endVec.clone();
|
||||
// addLinePoints(step4Start, step4End, 10);
|
||||
|
||||
// // Step 5: Move horizontally XZ to end point
|
||||
// addLinePoints(step4End, endVec.clone(), 10);
|
||||
|
||||
// // Step 6: Return to rest or mid-position after dropping
|
||||
// const finalRestHeight = restPos.clone().setY(endVec.y + 0.5);
|
||||
// addCurveFromTo(endVec, finalRestHeight, 15);
|
||||
|
||||
// return path;
|
||||
// };
|
||||
|
||||
// useEffect(() => {
|
||||
// let armItems = floorItems?.filter((val: any) =>
|
||||
// val.modeluuid === armBot.modelUuid
|
||||
// );
|
||||
// let armItem = armItems?.[0];
|
||||
// if (armItem) {
|
||||
// const targetMesh = scene?.getObjectByProperty("uuid", armItem.modeluuid);
|
||||
// if (targetMesh) {
|
||||
// targetMesh.visible = activeModule !== "simulation";
|
||||
// }
|
||||
// }
|
||||
|
||||
// const targetBones = ikSolver?.mesh.skeleton.bones.find(
|
||||
// (b: any) => b.name === targetBone
|
||||
// );
|
||||
|
||||
// if (isReset) {
|
||||
// logStatus(armBot.modelUuid, "Simulation Play Reset Successfully");
|
||||
// removeCurrentAction(armBot.modelUuid);
|
||||
// setArmBotActive(armBot.modelUuid, true);
|
||||
// setArmBotState(armBot.modelUuid, "running");
|
||||
// setCurrentPhase("init-to-rest");
|
||||
|
||||
// if (targetBones) {
|
||||
// const startPoint = new THREE.Vector3(targetBones.position.x, targetBones.position.y, targetBones.position.z);
|
||||
// const curve = new THREE.CatmullRomCurve3([
|
||||
// startPoint,
|
||||
// startPoint.clone().setY(restPosition.y + 0.5),
|
||||
// restPosition.clone(),
|
||||
// ]);
|
||||
// setPath(curve.getPoints(30).map(p => [p.x, p.y, p.z]));
|
||||
// }
|
||||
|
||||
// setReset(false);
|
||||
// logStatus(armBot.modelUuid, "Moving armBot from initial point to rest position.");
|
||||
// }
|
||||
|
||||
// if (isPlaying) {
|
||||
// // Phase 1: Initial -> Rest
|
||||
// if (!armBot.isActive && armBot.state === "idle" && currentPhase === "init") {
|
||||
// setArmBotActive(armBot.modelUuid, true);
|
||||
// setArmBotState(armBot.modelUuid, "running");
|
||||
// setCurrentPhase("init-to-rest");
|
||||
|
||||
// if (targetBones) {
|
||||
// const startPoint = new THREE.Vector3(targetBones.position.x, targetBones.position.y, targetBones.position.z);
|
||||
// const curve = new THREE.CatmullRomCurve3([
|
||||
// startPoint,
|
||||
// startPoint.clone().setY(restPosition.y + 0.5),
|
||||
// restPosition.clone(),
|
||||
// ]);
|
||||
// setPath(curve.getPoints(30).map(p => [p.x, p.y, p.z]));
|
||||
// }
|
||||
|
||||
// logStatus(armBot.modelUuid, "Moving armBot from initial point to rest position.");
|
||||
// }
|
||||
|
||||
// // Phase 2: Wait for trigger
|
||||
// else if (!armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && !armBot.currentAction) {
|
||||
// logStatus(armBot.modelUuid, "Waiting to trigger CurrentAction");
|
||||
// const timeoutId = setTimeout(() => {
|
||||
// addCurrentAction(armBot.modelUuid, 'action-003');
|
||||
// }, 3000);
|
||||
// return () => clearTimeout(timeoutId);
|
||||
// }
|
||||
|
||||
// // Phase 3: Rest -> Start Point
|
||||
// else if (!armBot.isActive && armBot.state === "idle" && currentPhase === "rest" && armBot.currentAction) {
|
||||
// setArmBotActive(armBot.modelUuid, true);
|
||||
// setArmBotState(armBot.modelUuid, "running");
|
||||
// setCurrentPhase("rest-to-start");
|
||||
|
||||
// const startPoint = armBot.point.actions[0].process.startPoint;
|
||||
// if (startPoint) {
|
||||
// const start = new THREE.Vector3(startPoint[0], startPoint[1], startPoint[2]);
|
||||
// const curve = new THREE.CatmullRomCurve3([restPosition, restPosition.clone().setY(start.y), start]);
|
||||
// setPath(curve.getPoints(30).map(p => [p.x, p.y, p.z]));
|
||||
// }
|
||||
|
||||
// logStatus(armBot.modelUuid, "Moving armBot from rest point to start position.");
|
||||
// }
|
||||
|
||||
// // Phase 4: Start -> End (Pick & Move Object)
|
||||
// else if (!armBot.isActive && armBot.state === "idle" && currentPhase === "picking" && armBot.currentAction) {
|
||||
// setArmBotActive(armBot.modelUuid, true);
|
||||
// setArmBotState(armBot.modelUuid, "running");
|
||||
// setCurrentPhase("start-to-end");
|
||||
|
||||
// const startPoint = armBot.point.actions[0].process.startPoint;
|
||||
// const endPoint = armBot.point.actions[0].process.endPoint;
|
||||
|
||||
// if (startPoint && endPoint) {
|
||||
// const path = generateArmPath(startPoint, endPoint, restPosition);
|
||||
// logStatus(armBot.modelUuid, "Waiting to pick.");
|
||||
// setTimeout(()=>{
|
||||
// setPath(path);
|
||||
// },3000)
|
||||
// }
|
||||
|
||||
// logStatus(armBot.modelUuid, "Moving armBot from start point to end position.");
|
||||
// }
|
||||
|
||||
// // Phase 5: End -> Rest (Drop & Return)
|
||||
// else if (!armBot.isActive && armBot.state === "idle" && currentPhase === "dropping" && armBot.currentAction) {
|
||||
// setArmBotActive(armBot.modelUuid, true);
|
||||
// setArmBotState(armBot.modelUuid, "running");
|
||||
// setCurrentPhase("end-to-rest");
|
||||
|
||||
// const endPoint = armBot.point.actions[0].process.endPoint;
|
||||
// if (endPoint) {
|
||||
// const start = new THREE.Vector3(endPoint[0], endPoint[1], endPoint[2]);
|
||||
// const curve = new THREE.CatmullRomCurve3([start, start.clone().setY(restPosition.y), restPosition]);
|
||||
// logStatus(armBot.modelUuid, "Waiting to drop.");
|
||||
// setTimeout(()=>{
|
||||
// setPath(curve.getPoints(30).map(p => [p.x, p.y, p.z]));
|
||||
// },3000)
|
||||
|
||||
// }
|
||||
|
||||
// logStatus(armBot.modelUuid, "Moving armBot from end point to rest position.");
|
||||
// }
|
||||
// } else {
|
||||
// logStatus(armBot.modelUuid, "Simulation Play Stopped");
|
||||
// setArmBotActive(armBot.modelUuid, false);
|
||||
// setArmBotState(armBot.modelUuid, "idle");
|
||||
// setCurrentPhase("init");
|
||||
// setPath([]);
|
||||
// removeCurrentAction(armBot.modelUuid);
|
||||
// }
|
||||
|
||||
// }, [currentPhase, armBot, isPlaying, ikSolver, isReset]);
|
||||
|
||||
// const HandleCallback = () => {
|
||||
// if (armBot.isActive && armBot.state === "running" && currentPhase === "init-to-rest") {
|
||||
// logStatus(armBot.modelUuid, "Callback triggered: rest");
|
||||
// setArmBotActive(armBot.modelUuid, false);
|
||||
// setArmBotState(armBot.modelUuid, "idle");
|
||||
// setCurrentPhase("rest");
|
||||
// setPath([]);
|
||||
// } else if (armBot.isActive && armBot.state === "running" && currentPhase === "rest-to-start") {
|
||||
// logStatus(armBot.modelUuid, "Callback triggered: pick.");
|
||||
// setArmBotActive(armBot.modelUuid, false);
|
||||
// setArmBotState(armBot.modelUuid, "idle");
|
||||
// setCurrentPhase("picking");
|
||||
// setPath([]);
|
||||
// } else if (armBot.isActive && armBot.state === "running" && currentPhase === "start-to-end") {
|
||||
// logStatus(armBot.modelUuid, "Callback triggered: drop.");
|
||||
// setArmBotActive(armBot.modelUuid, false);
|
||||
// setArmBotState(armBot.modelUuid, "idle");
|
||||
// setCurrentPhase("dropping");
|
||||
// setPath([]);
|
||||
// } else if (armBot.isActive && armBot.state === "running" && currentPhase === "end-to-rest") {
|
||||
// logStatus(armBot.modelUuid, "Callback triggered: rest, cycle completed.");
|
||||
// setArmBotActive(armBot.modelUuid, false);
|
||||
// setArmBotState(armBot.modelUuid, "idle");
|
||||
// setCurrentPhase("rest");
|
||||
// setPath([]);
|
||||
// removeCurrentAction(armBot.modelUuid);
|
||||
// }
|
||||
// };
|
||||
|
||||
// const logStatus = (id: string, status: string) => {
|
||||
// console.log( status);
|
||||
// // console.log(`status [${id}]: ${status}`);
|
||||
// };
|
||||
|
||||
// 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}
|
||||
// />
|
||||
// </>
|
||||
// );
|
||||
// }
|
||||
|
||||
// export default RoboticArmInstance;
|
||||
Reference in New Issue
Block a user