"updated Animation"
This commit is contained in:
SreeNath14
@@ -1,68 +1,107 @@
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import { useEffect, useState } from "react";
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import { Line } from "@react-three/drei";
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import { useNavMesh, useSimulationStates } from "../../../store/store";
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import {
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useNavMesh,
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usePlayAgv,
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useSimulationStates,
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} from "../../../store/store";
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import PathNavigator from "./pathNavigator";
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import { usePlayButtonStore } from "../../../store/usePlayButtonStore";
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type PathPoints = {
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modelUuid: string;
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modelSpeed: number;
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bufferTime: number;
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points: { x: number; y: number; z: number }[];
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hitCount: number;
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modelUuid: string;
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modelSpeed: number;
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bufferTime: number;
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points: { x: number; y: number; z: number }[];
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hitCount: number;
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};
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interface ProcessContainerProps {
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processes: any[];
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agvRef: any;
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}
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const Agv = () => {
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const [pathPoints, setPathPoints] = useState<PathPoints[]>([]);
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const { simulationStates } = useSimulationStates();
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const { navMesh } = useNavMesh();
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const { isPlaying } = usePlayButtonStore();
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const Agv: React.FC<ProcessContainerProps> = ({ processes, agvRef }) => {
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const [pathPoints, setPathPoints] = useState<PathPoints[]>([]);
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const { simulationStates } = useSimulationStates();
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const { navMesh } = useNavMesh();
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const { isPlaying } = usePlayButtonStore();
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const { PlayAgv, setPlayAgv } = usePlayAgv();
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useEffect(() => {
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if (simulationStates.length > 0) {
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useEffect(() => {
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console.log("agvRef: ", agvRef);
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}, [agvRef]);
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const agvModels = simulationStates.filter((val) => val.modelName === "agv" && val.type === "Vehicle");
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useEffect(() => {
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if (simulationStates.length > 0) {
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const agvModels = simulationStates.filter(
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(val) => val.modelName === "agv" && val.type === "Vehicle"
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);
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const newPathPoints = agvModels.filter((model: any) => model.points && model.points.actions && typeof model.points.actions.start === "object" && typeof model.points.actions.end === "object" && "x" in model.points.actions.start && "y" in model.points.actions.start && "x" in model.points.actions.end && "y" in model.points.actions.end)
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.map((model: any) => ({
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modelUuid: model.modeluuid,
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modelSpeed: model.points.speed,
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bufferTime: model.points.actions.buffer,
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hitCount: model.points.actions.hitCount,
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points: [
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{ x: model.position[0], y: model.position[1], z: model.position[2] },
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{ x: model.points.actions.start.x, y: 0, z: model.points.actions.start.y },
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{ x: model.points.actions.end.x, y: 0, z: model.points.actions.end.y },
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],
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}));
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const newPathPoints = agvModels
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.filter(
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(model: any) =>
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model.points &&
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model.points.actions &&
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typeof model.points.actions.start === "object" &&
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typeof model.points.actions.end === "object" &&
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"x" in model.points.actions.start &&
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"y" in model.points.actions.start &&
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"x" in model.points.actions.end &&
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"y" in model.points.actions.end
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)
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.map((model: any) => ({
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modelUuid: model.modeluuid,
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modelSpeed: model.points.speed,
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bufferTime: model.points.actions.buffer,
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hitCount: model.points.actions.hitCount,
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points: [
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{
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x: model.position[0],
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y: model.position[1],
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z: model.position[2],
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},
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{
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x: model.points.actions.start.x,
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y: 0,
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z: model.points.actions.start.y,
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},
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{
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x: model.points.actions.end.x,
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y: 0,
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z: model.points.actions.end.y,
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},
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],
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}));
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setPathPoints(newPathPoints);
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}
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}, [simulationStates]);
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setPathPoints(newPathPoints);
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}
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}, [simulationStates]);
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return (
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<>
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{pathPoints.map((pair, i) => (
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<group key={i} visible={!isPlaying}>
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<PathNavigator
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navMesh={navMesh}
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pathPoints={pair.points}
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id={pair.modelUuid}
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speed={pair.modelSpeed}
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bufferTime={pair.bufferTime}
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hitCount={pair.hitCount}
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/>
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return (
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<>
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{pathPoints.map((pair, i) => (
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<group key={i} visible={!isPlaying}>
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<PathNavigator
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navMesh={navMesh}
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pathPoints={pair.points}
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id={pair.modelUuid}
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speed={pair.modelSpeed}
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bufferTime={pair.bufferTime}
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hitCount={pair.hitCount}
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processes={processes}
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agvRef={agvRef}
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/>
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{pair.points.slice(1).map((point, idx) => (
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<mesh position={[point.x, point.y, point.z]} key={idx}>
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<sphereGeometry args={[0.3, 15, 15]} />
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<meshStandardMaterial color="red" />
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</mesh>
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))}
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</group>
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))}
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</>
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);
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{pair.points.slice(1).map((point, idx) => (
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<mesh position={[point.x, point.y, point.z]} key={idx}>
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<sphereGeometry args={[0.3, 15, 15]} />
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<meshStandardMaterial color="red" />
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</mesh>
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))}
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</group>
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))}
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</>
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);
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};
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export default Agv;
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@@ -4,206 +4,368 @@ import { useFrame, useThree } from "@react-three/fiber";
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import { NavMeshQuery } from "@recast-navigation/core";
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import { Line } from "@react-three/drei";
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import { usePlayButtonStore } from "../../../store/usePlayButtonStore";
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import { usePlayAgv } from "../../../store/store";
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interface PathNavigatorProps {
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navMesh: any;
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pathPoints: any;
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id: string;
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speed: number;
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bufferTime: number;
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hitCount: number;
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navMesh: any;
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pathPoints: any;
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id: string;
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speed: number;
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bufferTime: number;
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hitCount: number;
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processes: any[];
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agvRef: any;
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}
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interface AGVData {
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processId: string;
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vehicleId: string;
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hitCount: number;
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totalHits: number;
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}
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type Phase = "initial" | "toDrop" | "toPickup";
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export default function PathNavigator({
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navMesh,
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pathPoints,
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id,
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speed,
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bufferTime,
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hitCount
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navMesh,
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pathPoints,
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id,
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speed,
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bufferTime,
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hitCount,
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processes,
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agvRef,
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}: PathNavigatorProps) {
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const [path, setPath] = useState<[number, number, number][]>([]);
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const [currentPhase, setCurrentPhase] = useState<'initial' | 'loop'>('initial');
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const [toPickupPath, setToPickupPath] = useState<[number, number, number][]>([]);
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const [pickupDropPath, setPickupDropPath] = useState<[number, number, number][]>([]);
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const [dropPickupPath, setDropPickupPath] = useState<[number, number, number][]>([]);
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const [initialPosition, setInitialPosition] = useState<THREE.Vector3 | null>(null);
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const [initialRotation, setInitialRotation] = useState<THREE.Euler | null>(null);
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const [currentPhase, setCurrentPhase] = useState<Phase>("initial");
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// console.log('agvRef: ', agvRef);
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const distancesRef = useRef<number[]>([]);
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const totalDistanceRef = useRef(0);
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const progressRef = useRef(0);
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const isWaiting = useRef(false);
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const timeoutRef = useRef<NodeJS.Timeout | null>(null);
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const [path, setPath] = useState<[number, number, number][]>([]);
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const { scene } = useThree();
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const { isPlaying } = usePlayButtonStore();
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// const [currentPhase, setCurrentPhase] = useState<"initial" | "loop">(
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// "initial"
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// );
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const [toPickupPath, setToPickupPath] = useState<[number, number, number][]>(
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[]
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);
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const [pickupDropPath, setPickupDropPath] = useState<
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[number, number, number][]
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>([]);
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const [dropPickupPath, setDropPickupPath] = useState<
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[number, number, number][]
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>([]);
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const [initialPosition, setInitialPosition] = useState<THREE.Vector3 | null>(
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null
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);
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const [initialRotation, setInitialRotation] = useState<THREE.Euler | null>(
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null
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);
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useEffect(() => {
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const object = scene.getObjectByProperty("uuid", id);
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if (object) {
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setInitialPosition(object.position.clone());
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setInitialRotation(object.rotation.clone());
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}
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}, [scene, id]);
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const distancesRef = useRef<number[]>([]);
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const totalDistanceRef = useRef(0);
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const progressRef = useRef(0);
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const isWaiting = useRef(false);
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const timeoutRef = useRef<NodeJS.Timeout | null>(null);
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const hasStarted = useRef(false);
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const computePath = (start: any, end: any) => {
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try {
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const navMeshQuery = new NavMeshQuery(navMesh);
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const { path: segmentPath } = navMeshQuery.computePath(start, end);
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return segmentPath?.map(({ x, y, z }) => [x, y + 0.1, z] as [number, number, number]) || [];
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} catch {
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return [];
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}
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};
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const { scene } = useThree();
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const { isPlaying } = usePlayButtonStore();
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const { PlayAgv, setPlayAgv } = usePlayAgv();
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const resetState = () => {
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if (timeoutRef.current) {
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clearTimeout(timeoutRef.current);
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timeoutRef.current = null;
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}
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useEffect(() => {
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const object = scene.getObjectByProperty("uuid", id);
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if (object) {
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setInitialPosition(object.position.clone());
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setInitialRotation(object.rotation.clone());
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}
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}, [scene, id]);
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setPath([]);
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setCurrentPhase('initial');
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setPickupDropPath([]);
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setDropPickupPath([]);
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distancesRef.current = [];
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totalDistanceRef.current = 0;
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progressRef.current = 0;
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isWaiting.current = false;
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const computePath = (start: any, end: any) => {
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try {
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const navMeshQuery = new NavMeshQuery(navMesh);
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const { path: segmentPath } = navMeshQuery.computePath(start, end);
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return (
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segmentPath?.map(
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({ x, y, z }) => [x, y + 0.1, z] as [number, number, number]
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) || []
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);
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} catch {
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return [];
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}
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};
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if (initialPosition && initialRotation) {
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const object = scene.getObjectByProperty("uuid", id);
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if (object) {
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object.position.copy(initialPosition);
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object.rotation.copy(initialRotation);
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}
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}
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};
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const resetState = () => {
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if (timeoutRef.current) {
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clearTimeout(timeoutRef.current);
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timeoutRef.current = null;
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}
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useEffect(() => {
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if (!isPlaying) {
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resetState();
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}
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setPath([]);
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setCurrentPhase("initial");
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setPickupDropPath([]);
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setDropPickupPath([]);
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distancesRef.current = [];
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totalDistanceRef.current = 0;
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progressRef.current = 0;
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isWaiting.current = false;
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if (!navMesh || pathPoints.length < 2) return;
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if (initialPosition && initialRotation) {
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const object = scene.getObjectByProperty("uuid", id);
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if (object) {
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object.position.copy(initialPosition);
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object.rotation.copy(initialRotation);
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}
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}
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};
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const [pickup, drop] = pathPoints.slice(-2);
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const object = scene.getObjectByProperty("uuid", id);
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if (!object) return;
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useEffect(() => {
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if (!isPlaying) {
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resetState();
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}
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const currentPosition = { x: object.position.x, y: object.position.y, z: object.position.z };
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if (!navMesh || pathPoints.length < 2) return;
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const toPickupPath = computePath(currentPosition, pickup);
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const pickupToDropPath = computePath(pickup, drop);
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const dropToPickupPath = computePath(drop, pickup);
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const [pickup, drop] = pathPoints.slice(-2);
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const object = scene.getObjectByProperty("uuid", id);
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if (toPickupPath.length && pickupToDropPath.length && dropToPickupPath.length) {
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setPickupDropPath(pickupToDropPath);
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setDropPickupPath(dropToPickupPath);
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setToPickupPath(toPickupPath);
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setPath(toPickupPath);
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setCurrentPhase('initial');
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}
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}, [navMesh, pathPoints, hitCount, isPlaying]);
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if (!object) return;
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useEffect(() => {
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if (path.length < 2) return;
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const currentPosition = {
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x: object.position.x,
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y: object.position.y,
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z: object.position.z,
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};
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let total = 0;
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const segmentDistances = path.slice(0, -1).map((point, i) => {
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const dist = new THREE.Vector3(...point).distanceTo(new THREE.Vector3(...path[i + 1]));
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total += dist;
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return dist;
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});
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const toPickupPath = computePath(currentPosition, pickup);
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const pickupToDropPath = computePath(pickup, drop);
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const dropToPickupPath = computePath(drop, pickup);
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distancesRef.current = segmentDistances;
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totalDistanceRef.current = total;
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progressRef.current = 0;
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isWaiting.current = false;
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}, [path]);
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if (
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toPickupPath.length &&
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pickupToDropPath.length &&
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dropToPickupPath.length
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) {
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setPickupDropPath(pickupToDropPath);
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setDropPickupPath(dropToPickupPath);
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setToPickupPath(toPickupPath);
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setPath(toPickupPath);
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setCurrentPhase("initial");
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}
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}, [navMesh, pathPoints, hitCount, isPlaying, PlayAgv]);
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useFrame((_, delta) => {
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if (!isPlaying || path.length < 2 || !scene || !id) return;
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useEffect(() => {
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if (path.length < 2) return;
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const object = scene.getObjectByProperty("uuid", id);
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if (!object) return;
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let total = 0;
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const segmentDistances = path.slice(0, -1).map((point, i) => {
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const dist = new THREE.Vector3(...point).distanceTo(
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new THREE.Vector3(...path[i + 1])
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);
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total += dist;
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return dist;
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});
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const speedFactor = speed;
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progressRef.current += delta * speedFactor;
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distancesRef.current = segmentDistances;
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totalDistanceRef.current = total;
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progressRef.current = 0;
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isWaiting.current = false;
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}, [path]);
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let covered = progressRef.current;
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let accumulated = 0;
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let index = 0;
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// Add these refs outside the useFrame if not already present:
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const startPointReached = useRef(false);
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while (
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index < distancesRef.current.length &&
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covered > accumulated + distancesRef.current[index]
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) {
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accumulated += distancesRef.current[index];
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index++;
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}
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useFrame((_, delta) => {});
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if (index >= distancesRef.current.length) {
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progressRef.current = totalDistanceRef.current;
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useFrame((_, delta) => {
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const currentAgv = (agvRef.current || []).find(
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(agv: AGVData) => agv.vehicleId === id
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);
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console.log("currentAgv: ", currentAgv?.isplaying);
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if (!isWaiting.current) {
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isWaiting.current = true;
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if (!scene || !id || !isPlaying) return;
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timeoutRef.current = setTimeout(() => {
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if (currentPhase === 'initial') {
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setPath(pickupDropPath);
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setCurrentPhase('loop');
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} else {
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setPath(prevPath =>
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prevPath === pickupDropPath ? dropPickupPath : pickupDropPath
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);
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}
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const object = scene.getObjectByProperty("uuid", id);
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if (!object) return;
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progressRef.current = 0;
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isWaiting.current = false;
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}, bufferTime * 1000);
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}
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return;
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}
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if (isPlaying && !hasStarted.current) {
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hasStarted.current = false;
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startPointReached.current = false;
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progressRef.current = 0;
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isWaiting.current = false;
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if (timeoutRef.current) {
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clearTimeout(timeoutRef.current);
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timeoutRef.current = null;
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}
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||||
}
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const start = new THREE.Vector3(...path[index]);
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const end = new THREE.Vector3(...path[index + 1]);
|
||||
const dist = distancesRef.current[index];
|
||||
const t = THREE.MathUtils.clamp((covered - accumulated) / dist, 0, 1);
|
||||
const position = start.clone().lerp(end, t);
|
||||
const isAgvReady = () => {
|
||||
if (!agvRef.current || agvRef.current.length === 0) return false;
|
||||
if (!currentAgv) return false;
|
||||
return hitCount === currentAgv.expectedHitCount;
|
||||
};
|
||||
|
||||
object.position.copy(position);
|
||||
// Step 1: Snap to start point on first play
|
||||
if (isPlaying && !hasStarted.current && toPickupPath.length > 0) {
|
||||
const startPoint = new THREE.Vector3(...toPickupPath[0]);
|
||||
object.position.copy(startPoint);
|
||||
|
||||
const direction = new THREE.Vector3().subVectors(end, start).normalize();
|
||||
const targetRotationY = Math.atan2(direction.x, direction.z);
|
||||
if (toPickupPath.length > 1) {
|
||||
const nextPoint = new THREE.Vector3(...toPickupPath[1]);
|
||||
const direction = nextPoint.clone().sub(startPoint).normalize();
|
||||
object.rotation.y = Math.atan2(direction.x, direction.z);
|
||||
}
|
||||
|
||||
let angleDifference = targetRotationY - object.rotation.y;
|
||||
angleDifference = ((angleDifference + Math.PI) % (Math.PI * 2)) - Math.PI;
|
||||
object.rotation.y += angleDifference * 0.1;
|
||||
});
|
||||
hasStarted.current = true;
|
||||
startPointReached.current = true;
|
||||
progressRef.current = 0;
|
||||
|
||||
useEffect(() => {
|
||||
return () => {
|
||||
if (timeoutRef.current) {
|
||||
clearTimeout(timeoutRef.current);
|
||||
}
|
||||
};
|
||||
}, []);
|
||||
return;
|
||||
}
|
||||
|
||||
return (
|
||||
<group name="path-navigator-lines" visible={!isPlaying} >
|
||||
{toPickupPath.length > 0 && (
|
||||
<Line points={toPickupPath} color="blue" lineWidth={3} dashed dashSize={0.75} dashScale={2} />
|
||||
)}
|
||||
// Step 2: Wait at start point for AGV readiness (only if expected hit count is not met)
|
||||
if (
|
||||
isPlaying &&
|
||||
startPointReached.current &&
|
||||
path.length === 0 &&
|
||||
currentAgv?.isplaying
|
||||
) {
|
||||
if (!isAgvReady()) {
|
||||
return; // Prevent transitioning to the next phase if AGV is not ready
|
||||
}
|
||||
|
||||
{pickupDropPath.length > 0 && (
|
||||
<Line points={pickupDropPath} color="red" lineWidth={3} />
|
||||
)}
|
||||
setPath([...toPickupPath]); // Start path transition once the AGV is ready
|
||||
setCurrentPhase("toDrop");
|
||||
progressRef.current = 0;
|
||||
startPointReached.current = false;
|
||||
|
||||
{dropPickupPath.length > 0 && (
|
||||
<Line points={dropPickupPath} color="red" lineWidth={3} />
|
||||
)}
|
||||
</group>
|
||||
);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
if (path.length < 2) return;
|
||||
|
||||
progressRef.current += delta * speed;
|
||||
|
||||
let covered = progressRef.current;
|
||||
let accumulated = 0;
|
||||
let index = 0;
|
||||
|
||||
if (distancesRef.current.length !== path.length - 1) {
|
||||
distancesRef.current = [];
|
||||
totalDistanceRef.current = 0;
|
||||
|
||||
for (let i = 0; i < path.length - 1; i++) {
|
||||
const start = new THREE.Vector3(...path[i]);
|
||||
const end = new THREE.Vector3(...path[i + 1]);
|
||||
const distance = start.distanceTo(end);
|
||||
distancesRef.current.push(distance);
|
||||
totalDistanceRef.current += distance;
|
||||
}
|
||||
}
|
||||
|
||||
while (
|
||||
index < distancesRef.current.length &&
|
||||
covered > accumulated + distancesRef.current[index]
|
||||
) {
|
||||
accumulated += distancesRef.current[index];
|
||||
index++;
|
||||
}
|
||||
|
||||
// AGV has completed its path
|
||||
if (index >= distancesRef.current.length) {
|
||||
progressRef.current = totalDistanceRef.current;
|
||||
|
||||
timeoutRef.current = setTimeout(() => {
|
||||
if (!isAgvReady()) {
|
||||
isWaiting.current = false;
|
||||
return;
|
||||
}
|
||||
|
||||
let nextPath = [];
|
||||
let nextPhase = currentPhase;
|
||||
|
||||
if (currentPhase === "toDrop") {
|
||||
nextPath = dropPickupPath;
|
||||
nextPhase = "toPickup";
|
||||
} else if (currentPhase === "toPickup") {
|
||||
nextPath = pickupDropPath;
|
||||
nextPhase = "toDrop";
|
||||
} else {
|
||||
nextPath = pickupDropPath;
|
||||
nextPhase = "toDrop";
|
||||
}
|
||||
|
||||
setPath([...nextPath]);
|
||||
setCurrentPhase(nextPhase);
|
||||
progressRef.current = 0;
|
||||
isWaiting.current = false;
|
||||
distancesRef.current = [];
|
||||
|
||||
// Decrease the expected count if AGV is ready and has completed its path
|
||||
if (currentAgv) {
|
||||
currentAgv.expectedCount = Math.max(0, currentAgv.expectedCount - 1); // Decrease but ensure it's not negative
|
||||
console.log(
|
||||
"Decreased expected count to: ",
|
||||
currentAgv.expectedCount
|
||||
);
|
||||
}
|
||||
|
||||
if (agvRef.current) {
|
||||
agvRef.current = agvRef.current.map((agv: AGVData) =>
|
||||
agv.vehicleId === id ? { ...agv, hitCount: null } : agv
|
||||
);
|
||||
}
|
||||
|
||||
// 🔁 Reset and wait again after reaching start
|
||||
if (currentPhase === "toPickup" && currentAgv) {
|
||||
currentAgv.isplaying = false;
|
||||
setPath([]);
|
||||
startPointReached.current = true;
|
||||
progressRef.current = 0;
|
||||
}
|
||||
}, bufferTime * 1000);
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
// Step 4: Interpolate position and rotation
|
||||
const start = new THREE.Vector3(...path[index]);
|
||||
const end = new THREE.Vector3(...path[index + 1]);
|
||||
const dist = distancesRef.current[index];
|
||||
|
||||
if (!dist || dist === 0) return;
|
||||
|
||||
const t = THREE.MathUtils.clamp((covered - accumulated) / dist, 0, 1);
|
||||
object.position.copy(start.clone().lerp(end, t));
|
||||
|
||||
const direction = new THREE.Vector3().subVectors(end, start).normalize();
|
||||
object.rotation.y = Math.atan2(direction.x, direction.z);
|
||||
});
|
||||
|
||||
useEffect(() => {
|
||||
return () => {
|
||||
if (timeoutRef.current) {
|
||||
clearTimeout(timeoutRef.current);
|
||||
}
|
||||
};
|
||||
}, []);
|
||||
|
||||
return (
|
||||
<group name="path-navigator-lines" visible={!isPlaying}>
|
||||
{toPickupPath.length > 0 && (
|
||||
<Line
|
||||
points={toPickupPath}
|
||||
color="blue"
|
||||
lineWidth={3}
|
||||
dashed
|
||||
dashSize={0.75}
|
||||
dashScale={2}
|
||||
/>
|
||||
)}
|
||||
|
||||
{pickupDropPath.length > 0 && (
|
||||
<Line points={pickupDropPath} color="red" lineWidth={3} />
|
||||
)}
|
||||
|
||||
{dropPickupPath.length > 0 && (
|
||||
<Line points={dropPickupPath} color="red" lineWidth={3} />
|
||||
)}
|
||||
</group>
|
||||
);
|
||||
}
|
||||
|
||||
@@ -150,6 +150,7 @@ 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());
|
||||
@@ -224,6 +225,7 @@ async function handleModelLoad(
|
||||
eventData as Types.ConveyorEventsSchema
|
||||
]);
|
||||
|
||||
console.log('data: ', data);
|
||||
socket.emit("v2:model-asset:add", data);
|
||||
|
||||
} else if (res.type === "Vehicle") {
|
||||
@@ -324,6 +326,7 @@ async function handleModelLoad(
|
||||
return updatedItems;
|
||||
});
|
||||
|
||||
console.log('data: ', data);
|
||||
socket.emit("v2:model-asset:add", data);
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user