Refactor vehicle simulation components for improved path handling and state management
- Updated PointsCreator component to enhance event data selection and keyboard handling. - Refactored VehicleAnimator to streamline animation logic and reset handling. - Simplified VehicleInstance logic for better clarity and maintainability. - Modified vehicle data structure to include rotation information for pick-up and unload points. - Adjusted TypeScript types to reflect new vehicle point schema with nested position and rotation properties.
This commit is contained in:
parent
ccc7a1d954
commit
ea53af62c4
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@ -4,196 +4,182 @@ import RenameInput from "../../../../../ui/inputs/RenameInput";
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import LabledDropdown from "../../../../../ui/inputs/LabledDropdown";
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import Trigger from "../trigger/Trigger";
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import {
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useSelectedEventData,
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useSelectedProduct,
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useSelectedEventData,
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useSelectedProduct,
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} from "../../../../../../store/simulation/useSimulationStore";
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import { useProductStore } from "../../../../../../store/simulation/useProductStore";
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import TravelAction from "../actions/TravelAction";
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import ActionsList from "../components/ActionsList";
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function VehicleMechanics() {
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const [activeOption, setActiveOption] = useState<"default" | "travel">(
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"default"
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);
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const [selectedPointData, setSelectedPointData] = useState<
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VehiclePointSchema | undefined
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>();
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const { selectedEventData } = useSelectedEventData();
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const { getPointByUuid, updateEvent, updateAction } = useProductStore();
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const { selectedProduct } = useSelectedProduct();
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const [activeOption, setActiveOption] = useState<"default" | "travel">(
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"default"
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);
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const [selectedPointData, setSelectedPointData] = useState<VehiclePointSchema | undefined>();
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const { selectedEventData } = useSelectedEventData();
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const { getPointByUuid, updateEvent, updateAction } = useProductStore();
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const { selectedProduct } = useSelectedProduct();
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useEffect(() => {
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if (selectedEventData) {
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const point = getPointByUuid(
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selectedProduct.productId,
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selectedEventData.data.modelUuid,
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selectedEventData.selectedPoint
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) as VehiclePointSchema | undefined;
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useEffect(() => {
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if (selectedEventData) {
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const point = getPointByUuid(
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selectedProduct.productId,
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selectedEventData.data.modelUuid,
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selectedEventData.selectedPoint
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) as VehiclePointSchema | undefined;
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if (point) {
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setSelectedPointData(point);
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setActiveOption(point.action.actionType as "travel");
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}
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}
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}, [selectedProduct, selectedEventData, getPointByUuid]);
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if (point) {
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setSelectedPointData(point);
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setActiveOption(point.action.actionType as "travel");
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}
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}
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}, [selectedProduct, selectedEventData, getPointByUuid]);
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const handleSpeedChange = (value: string) => {
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if (!selectedEventData) return;
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updateEvent(selectedProduct.productId, selectedEventData.data.modelUuid, {
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speed: parseFloat(value),
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});
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};
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const handleSpeedChange = (value: string) => {
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if (!selectedEventData) return;
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updateEvent(selectedProduct.productId, selectedEventData.data.modelUuid, {
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speed: parseFloat(value),
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});
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};
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const handleActionTypeChange = (option: string) => {
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if (!selectedEventData || !selectedPointData) return;
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const validOption = option as "travel";
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setActiveOption(validOption);
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const handleActionTypeChange = (option: string) => {
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if (!selectedEventData || !selectedPointData) return;
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const validOption = option as "travel";
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setActiveOption(validOption);
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updateAction(selectedPointData.action.actionUuid, {
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actionType: validOption,
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});
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};
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updateAction(selectedPointData.action.actionUuid, {
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actionType: validOption,
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});
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};
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const handleRenameAction = (newName: string) => {
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if (!selectedPointData) return;
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updateAction(selectedPointData.action.actionUuid, { actionName: newName });
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};
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const handleRenameAction = (newName: string) => {
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if (!selectedPointData) return;
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updateAction(selectedPointData.action.actionUuid, { actionName: newName });
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};
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const handleLoadCapacityChange = (value: string) => {
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if (!selectedPointData) return;
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updateAction(selectedPointData.action.actionUuid, {
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loadCapacity: parseFloat(value),
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});
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};
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const handleLoadCapacityChange = (value: string) => {
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if (!selectedPointData) return;
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updateAction(selectedPointData.action.actionUuid, {
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loadCapacity: parseFloat(value),
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});
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};
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const handleUnloadDurationChange = (value: string) => {
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if (!selectedPointData) return;
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updateAction(selectedPointData.action.actionUuid, {
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unLoadDuration: parseFloat(value),
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});
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};
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const handleUnloadDurationChange = (value: string) => {
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if (!selectedPointData) return;
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updateAction(selectedPointData.action.actionUuid, {
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unLoadDuration: parseFloat(value),
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});
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};
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const handlePickPointChange = (value: string) => {
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if (!selectedPointData) return;
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const [x, y, z] = value.split(",").map(Number);
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updateAction(selectedPointData.action.actionUuid, {
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pickUpPoint: { x, y, z },
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});
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};
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const handlePickPointChange = (value: string) => {
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if (!selectedPointData) return;
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};
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const handleUnloadPointChange = (value: string) => {
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if (!selectedPointData) return;
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const [x, y, z] = value.split(",").map(Number);
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updateAction(selectedPointData.action.actionUuid, {
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unLoadPoint: { x, y, z },
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});
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};
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const handleUnloadPointChange = (value: string) => {
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if (!selectedPointData) return;
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};
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// Get current values from store
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const currentSpeed =
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selectedEventData?.data.type === "vehicle"
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? selectedEventData.data.speed.toString()
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: "0.5";
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// Get current values from store
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const currentSpeed =
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selectedEventData?.data.type === "vehicle"
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? selectedEventData.data.speed.toString()
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: "0.5";
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const currentActionName = selectedPointData
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? selectedPointData.action.actionName
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: "Action Name";
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const currentActionName = selectedPointData
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? selectedPointData.action.actionName
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: "Action Name";
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const currentLoadCapacity = selectedPointData
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? selectedPointData.action.loadCapacity.toString()
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: "1";
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const currentLoadCapacity = selectedPointData
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? selectedPointData.action.loadCapacity.toString()
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: "1";
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const currentUnloadDuration = selectedPointData
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? selectedPointData.action.unLoadDuration.toString()
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: "1";
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const currentUnloadDuration = selectedPointData
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? selectedPointData.action.unLoadDuration.toString()
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: "1";
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const currentPickPoint = selectedPointData?.action.pickUpPoint
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? `${selectedPointData.action.pickUpPoint.x},${selectedPointData.action.pickUpPoint.y},${selectedPointData.action.pickUpPoint.z}`
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: "";
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const currentPickPoint = selectedPointData?.action.pickUpPoint;
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const currentUnloadPoint = selectedPointData?.action.unLoadPoint
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? `${selectedPointData.action.unLoadPoint.x},${selectedPointData.action.unLoadPoint.y},${selectedPointData.action.unLoadPoint.z}`
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: "";
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const currentUnloadPoint = selectedPointData?.action.unLoadPoint;
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const availableActions = {
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defaultOption: "travel",
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options: ["travel"],
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};
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const availableActions = {
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defaultOption: "travel",
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options: ["travel"],
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};
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return (
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<>
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{selectedEventData && (
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return (
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<>
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<div className="global-props">
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<div className="property-list-container">
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<div className="property-item">
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<InputWithDropDown
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label="Speed"
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value={currentSpeed}
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min={0}
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step={0.1}
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defaultValue={"0.5"}
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max={10}
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activeOption="m/s"
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onClick={() => {}}
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onChange={handleSpeedChange}
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/>
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</div>
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</div>
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</div>
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<ActionsList
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setSelectedPointData={setSelectedPointData}
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selectedPointData={selectedPointData}
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/>
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<div className="selected-actions-details">
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<div className="selected-actions-header">
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<RenameInput
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value={currentActionName}
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onRename={handleRenameAction}
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/>
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</div>
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<div className="selected-actions-list">
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<LabledDropdown
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defaultOption="travel"
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options={availableActions.options}
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onSelect={handleActionTypeChange}
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/>
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{selectedEventData && (
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<>
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<div className="global-props">
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<div className="property-list-container">
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<div className="property-item">
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<InputWithDropDown
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label="Speed"
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value={currentSpeed}
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min={0}
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step={0.1}
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defaultValue={"0.5"}
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max={10}
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activeOption="m/s"
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onClick={() => { }}
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onChange={handleSpeedChange}
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/>
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</div>
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</div>
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</div>
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<ActionsList
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setSelectedPointData={setSelectedPointData}
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selectedPointData={selectedPointData}
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/>
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<div className="selected-actions-details">
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<div className="selected-actions-header">
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<RenameInput
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value={currentActionName}
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onRename={handleRenameAction}
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/>
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</div>
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<div className="selected-actions-list">
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<LabledDropdown
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defaultOption="travel"
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options={availableActions.options}
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onSelect={handleActionTypeChange}
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/>
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{activeOption === "travel" && (
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<TravelAction
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loadCapacity={{
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value: currentLoadCapacity,
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min: 1,
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max: 100,
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defaultValue: "1",
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onChange: handleLoadCapacityChange,
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}}
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unloadDuration={{
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value: currentUnloadDuration,
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min: 1,
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max: 60,
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defaultValue: "1",
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onChange: handleUnloadDurationChange,
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}}
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// pickPoint={{
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// value: currentPickPoint,
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// onChange: handlePickPointChange,
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// }}
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// unloadPoint={{
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// value: currentUnloadPoint,
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// onChange: handleUnloadPointChange,
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// }}
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/>
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)}
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</div>
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</div>
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<div className="tirgger">
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<Trigger />
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</div>
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{activeOption === "travel" && (
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<TravelAction
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loadCapacity={{
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value: currentLoadCapacity,
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min: 1,
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max: 100,
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defaultValue: "1",
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onChange: handleLoadCapacityChange,
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}}
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unloadDuration={{
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value: currentUnloadDuration,
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min: 1,
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max: 60,
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defaultValue: "1",
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onChange: handleUnloadDurationChange,
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}}
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// pickPoint={{
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// value: currentPickPoint,
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// onChange: handlePickPointChange,
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// }}
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// unloadPoint={{
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// value: currentUnloadPoint,
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// onChange: handleUnloadPointChange,
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// }}
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/>
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)}
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</div>
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</div>
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<div className="tirgger">
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<Trigger />
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</div>
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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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}
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export default VehicleMechanics;
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@ -15,36 +15,36 @@ function PointsCreator() {
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const { selectedEventSphere, setSelectedEventSphere, clearSelectedEventSphere } = useSelectedEventSphere();
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const { setSelectedEventData, clearSelectedEventData } = useSelectedEventData();
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useEffect(() => {
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if (selectedEventSphere) {
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const eventData = getEventByModelUuid(
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selectedEventSphere.userData.modelUuid
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);
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if (eventData) {
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setSelectedEventData(eventData, selectedEventSphere.userData.pointUuid);
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} else {
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clearSelectedEventData();
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}
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} else {
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clearSelectedEventData();
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}
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}, [selectedEventSphere]);
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useEffect(() => {
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if (selectedEventSphere) {
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const eventData = getEventByModelUuid(
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selectedEventSphere.userData.modelUuid
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);
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if (eventData) {
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setSelectedEventData(eventData, selectedEventSphere.userData.pointUuid);
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} else {
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clearSelectedEventData();
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}
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} else {
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clearSelectedEventData();
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}
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}, [selectedEventSphere]);
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useEffect(() => {
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const handleKeyDown = (e: KeyboardEvent) => {
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const keyCombination = detectModifierKeys(e);
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if (!selectedEventSphere) return;
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if (keyCombination === "G") {
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setTransformMode((prev) => (prev === "translate" ? null : "translate"));
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}
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if (keyCombination === "R") {
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setTransformMode((prev) => (prev === "rotate" ? null : "rotate"));
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}
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};
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useEffect(() => {
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const handleKeyDown = (e: KeyboardEvent) => {
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const keyCombination = detectModifierKeys(e);
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if (!selectedEventSphere) return;
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if (keyCombination === "G") {
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setTransformMode((prev) => (prev === "translate" ? null : "translate"));
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}
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if (keyCombination === "R") {
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setTransformMode((prev) => (prev === "rotate" ? null : "rotate"));
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}
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};
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window.addEventListener("keydown", handleKeyDown);
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return () => window.removeEventListener("keydown", handleKeyDown);
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}, [selectedEventSphere]);
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window.addEventListener("keydown", handleKeyDown);
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return () => window.removeEventListener("keydown", handleKeyDown);
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}, [selectedEventSphere]);
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const updatePointToState = (selectedEventSphere: THREE.Mesh) => {
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let point = JSON.parse(JSON.stringify(getPointByUuid(selectedEventSphere.userData.modelUuid, selectedEventSphere.userData.pointUuid)));
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|
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@ -7,269 +7,267 @@ import { useAnimationPlaySpeed, usePauseButtonStore, useResetButtonStore } from
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import { useVehicleStore } from '../../../../../store/simulation/useVehicleStore';
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interface VehicleAnimatorProps {
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path: [number, number, number][];
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handleCallBack: () => void;
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reset: () => void;
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currentPhase: string;
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agvUuid: number;
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agvDetail: any;
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path: [number, number, number][];
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handleCallBack: () => void;
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reset: () => void;
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currentPhase: string;
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agvUuid: number;
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agvDetail: any;
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}
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function VehicleAnimator({ path, handleCallBack, currentPhase, agvUuid, agvDetail, reset }: VehicleAnimatorProps) {
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const { decrementVehicleLoad, vehicles } = useVehicleStore();
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const { isPaused } = usePauseButtonStore();
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const { speed } = useAnimationPlaySpeed();
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const { isReset } = useResetButtonStore();
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const [restRotation, setRestingRotation] = useState<boolean>(true);
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const [progress, setProgress] = useState<number>(0);
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const [currentPath, setCurrentPath] = useState<[number, number, number][]>([]);
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const { scene } = useThree();
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const progressRef = useRef<number>(0);
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const movingForward = useRef<boolean>(true);
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const completedRef = useRef<boolean>(false);
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let startTime: number;
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let pausedTime: number;
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let fixedInterval: number;
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const { decrementVehicleLoad, vehicles } = useVehicleStore();
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const { isPaused } = usePauseButtonStore();
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const { speed } = useAnimationPlaySpeed();
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const { isReset } = useResetButtonStore();
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const [restRotation, setRestingRotation] = useState<boolean>(true);
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const [progress, setProgress] = useState<number>(0);
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const [currentPath, setCurrentPath] = useState<[number, number, number][]>([]);
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const { scene } = useThree();
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const progressRef = useRef<number>(0);
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const movingForward = useRef<boolean>(true);
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const completedRef = useRef<boolean>(false);
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let startTime: number;
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let pausedTime: number;
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let fixedInterval: number;
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useEffect(() => {
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if (currentPhase === 'stationed-pickup' && path.length > 0) {
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setCurrentPath(path);
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} else if (currentPhase === 'pickup-drop' && path.length > 0) {
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setCurrentPath(path);
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} else if (currentPhase === 'drop-pickup' && path.length > 0) {
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setCurrentPath(path);
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}
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}, [currentPhase, path]);
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useEffect(() => {
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setProgress(0);
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completedRef.current = false;
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}, [currentPath]);
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// useEffect(() => {
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// console.log('isReset: ', isReset);
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// if (isReset) {
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// reset();
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// setCurrentPath([]);
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// setProgress(0);
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// completedRef.current = false;
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// decrementVehicleLoad(agvDetail.modelUuid, 0)
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// }
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// }, [isReset])
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// useFrame((_, delta) => {
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// const object = scene.getObjectByProperty('uuid', agvUuid);
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// if (!object || currentPath.length < 2) return;
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// if (isPaused) return;
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// let totalDistance = 0;
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// const distances = [];
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|
||||
// for (let i = 0; i < currentPath.length - 1; i++) {
|
||||
// const start = new THREE.Vector3(...currentPath[i]);
|
||||
// const end = new THREE.Vector3(...currentPath[i + 1]);
|
||||
// const segmentDistance = start.distanceTo(end);
|
||||
// distances.push(segmentDistance);
|
||||
// totalDistance += segmentDistance;
|
||||
// }
|
||||
|
||||
// let coveredDistance = progressRef.current;
|
||||
// let accumulatedDistance = 0;
|
||||
// let index = 0;
|
||||
|
||||
// while (
|
||||
// index < distances.length &&
|
||||
// coveredDistance > accumulatedDistance + distances[index]
|
||||
// ) {
|
||||
// accumulatedDistance += distances[index];
|
||||
// index++;
|
||||
// }
|
||||
|
||||
// if (index < distances.length) {
|
||||
// const start = new THREE.Vector3(...currentPath[index]);
|
||||
// const end = new THREE.Vector3(...currentPath[index + 1]);
|
||||
// const segmentDistance = distances[index];
|
||||
|
||||
// const currentDirection = new THREE.Vector3().subVectors(end, start).normalize();
|
||||
// const targetAngle = Math.atan2(currentDirection.x, currentDirection.z);
|
||||
// const rotationSpeed = 2.0;
|
||||
// const currentAngle = object.rotation.y;
|
||||
|
||||
// let angleDifference = targetAngle - currentAngle;
|
||||
// if (angleDifference > Math.PI) angleDifference -= 2 * Math.PI;
|
||||
// if (angleDifference < -Math.PI) angleDifference += 2 * Math.PI;
|
||||
|
||||
// const maxRotationStep = rotationSpeed * delta;
|
||||
// object.rotation.y += Math.sign(angleDifference) * Math.min(Math.abs(angleDifference), maxRotationStep);
|
||||
|
||||
// const isAligned = Math.abs(angleDifference) < 0.01;
|
||||
|
||||
// if (isAligned) {
|
||||
// progressRef.current += delta * (speed * agvDetail.speed);
|
||||
// coveredDistance = progressRef.current;
|
||||
|
||||
// const t = (coveredDistance - accumulatedDistance) / segmentDistance;
|
||||
// const position = start.clone().lerp(end, t);
|
||||
// object.position.copy(position);
|
||||
// }
|
||||
// }
|
||||
|
||||
// if (progressRef.current >= totalDistance) {
|
||||
// if (restRotation) {
|
||||
// const targetQuaternion = new THREE.Quaternion().setFromEuler(new THREE.Euler(0, 0, 0));
|
||||
// object.quaternion.slerp(targetQuaternion, delta * 2);
|
||||
// const angleDiff = object.quaternion.angleTo(targetQuaternion);
|
||||
// if (angleDiff < 0.01) {
|
||||
// let objectRotation = agvDetail.point.rotation
|
||||
// object.rotation.set(objectRotation[0], objectRotation[1], objectRotation[2]);
|
||||
// setRestingRotation(false);
|
||||
// }
|
||||
// return;
|
||||
// }
|
||||
// }
|
||||
|
||||
// if (progressRef.current >= totalDistance) {
|
||||
// setRestingRotation(true);
|
||||
// progressRef.current = 0;
|
||||
// movingForward.current = !movingForward.current;
|
||||
// setCurrentPath([]);
|
||||
// handleCallBack();
|
||||
// if (currentPhase === 'pickup-drop') {
|
||||
// requestAnimationFrame(firstFrame);
|
||||
// }
|
||||
// }
|
||||
// });
|
||||
useEffect(() => {
|
||||
console.log('isReset: ', isReset);
|
||||
if (isReset) {
|
||||
reset();
|
||||
setCurrentPath([]);
|
||||
setProgress(0);
|
||||
progressRef.current = 0;
|
||||
completedRef.current = false;
|
||||
movingForward.current = true;
|
||||
setRestingRotation(false);
|
||||
decrementVehicleLoad(agvDetail.modelUuid, 0);
|
||||
console.log('agvDetail: ', vehicles);
|
||||
}
|
||||
}, [isReset]);
|
||||
|
||||
useFrame((_, delta) => {
|
||||
// If reset is active, don't run anything in frame
|
||||
if (isReset) return;
|
||||
|
||||
const object = scene.getObjectByProperty('uuid', agvUuid);
|
||||
if (!object || currentPath.length < 2) return;
|
||||
if (isPaused) return;
|
||||
|
||||
let totalDistance = 0;
|
||||
const distances = [];
|
||||
|
||||
for (let i = 0; i < currentPath.length - 1; i++) {
|
||||
const start = new THREE.Vector3(...currentPath[i]);
|
||||
const end = new THREE.Vector3(...currentPath[i + 1]);
|
||||
const segmentDistance = start.distanceTo(end);
|
||||
distances.push(segmentDistance);
|
||||
totalDistance += segmentDistance;
|
||||
}
|
||||
|
||||
let coveredDistance = progressRef.current;
|
||||
let accumulatedDistance = 0;
|
||||
let index = 0;
|
||||
|
||||
while (index < distances.length && coveredDistance > accumulatedDistance + distances[index]) {
|
||||
accumulatedDistance += distances[index];
|
||||
index++;
|
||||
}
|
||||
|
||||
if (index < distances.length) {
|
||||
const start = new THREE.Vector3(...currentPath[index]);
|
||||
const end = new THREE.Vector3(...currentPath[index + 1]);
|
||||
const segmentDistance = distances[index];
|
||||
|
||||
const currentDirection = new THREE.Vector3().subVectors(end, start).normalize();
|
||||
const targetAngle = Math.atan2(currentDirection.x, currentDirection.z);
|
||||
const currentAngle = object.rotation.y;
|
||||
|
||||
let angleDifference = targetAngle - currentAngle;
|
||||
if (angleDifference > Math.PI) angleDifference -= 2 * Math.PI;
|
||||
if (angleDifference < -Math.PI) angleDifference += 2 * Math.PI;
|
||||
|
||||
const rotationSpeed = 2.0;
|
||||
const maxRotationStep = rotationSpeed * delta;
|
||||
const rotationStep = Math.sign(angleDifference) * Math.min(Math.abs(angleDifference), maxRotationStep);
|
||||
object.rotation.y += rotationStep;
|
||||
|
||||
const isAligned = Math.abs(angleDifference) < 0.01;
|
||||
|
||||
if (isAligned) {
|
||||
progressRef.current += delta * (speed * agvDetail.speed);
|
||||
coveredDistance = progressRef.current;
|
||||
|
||||
const t = (coveredDistance - accumulatedDistance) / segmentDistance;
|
||||
const position = start.clone().lerp(end, t);
|
||||
object.position.copy(position);
|
||||
}
|
||||
}
|
||||
|
||||
if (progressRef.current >= totalDistance) {
|
||||
if (restRotation) {
|
||||
const targetQuaternion = new THREE.Quaternion().setFromEuler(new THREE.Euler(0, 0, 0));
|
||||
object.quaternion.slerp(targetQuaternion, delta * 2);
|
||||
const angleDiff = object.quaternion.angleTo(targetQuaternion);
|
||||
if (angleDiff < 0.01) {
|
||||
const objectRotation = agvDetail.point.rotation;
|
||||
object.rotation.set(objectRotation[0], objectRotation[1], objectRotation[2]);
|
||||
setRestingRotation(false);
|
||||
useEffect(() => {
|
||||
if (currentPhase === 'stationed-pickup' && path.length > 0) {
|
||||
setCurrentPath(path);
|
||||
} else if (currentPhase === 'pickup-drop' && path.length > 0) {
|
||||
setCurrentPath(path);
|
||||
} else if (currentPhase === 'drop-pickup' && path.length > 0) {
|
||||
setCurrentPath(path);
|
||||
}
|
||||
} else {
|
||||
setRestingRotation(true);
|
||||
progressRef.current = 0;
|
||||
movingForward.current = !movingForward.current;
|
||||
setCurrentPath([]);
|
||||
handleCallBack();
|
||||
if (currentPhase === 'pickup-drop') {
|
||||
requestAnimationFrame(firstFrame);
|
||||
}, [currentPhase, path]);
|
||||
|
||||
useEffect(() => {
|
||||
setProgress(0);
|
||||
completedRef.current = false;
|
||||
}, [currentPath]);
|
||||
// useEffect(() => {
|
||||
// console.log('isReset: ', isReset);
|
||||
// if (isReset) {
|
||||
// reset();
|
||||
// setCurrentPath([]);
|
||||
// setProgress(0);
|
||||
// completedRef.current = false;
|
||||
// decrementVehicleLoad(agvDetail.modelUuid, 0)
|
||||
// }
|
||||
// }, [isReset])
|
||||
|
||||
// useFrame((_, delta) => {
|
||||
// const object = scene.getObjectByProperty('uuid', agvUuid);
|
||||
// if (!object || currentPath.length < 2) return;
|
||||
// if (isPaused) return;
|
||||
|
||||
// let totalDistance = 0;
|
||||
// const distances = [];
|
||||
|
||||
// for (let i = 0; i < currentPath.length - 1; i++) {
|
||||
// const start = new THREE.Vector3(...currentPath[i]);
|
||||
// const end = new THREE.Vector3(...currentPath[i + 1]);
|
||||
// const segmentDistance = start.distanceTo(end);
|
||||
// distances.push(segmentDistance);
|
||||
// totalDistance += segmentDistance;
|
||||
// }
|
||||
|
||||
// let coveredDistance = progressRef.current;
|
||||
// let accumulatedDistance = 0;
|
||||
// let index = 0;
|
||||
|
||||
// while (
|
||||
// index < distances.length &&
|
||||
// coveredDistance > accumulatedDistance + distances[index]
|
||||
// ) {
|
||||
// accumulatedDistance += distances[index];
|
||||
// index++;
|
||||
// }
|
||||
|
||||
// if (index < distances.length) {
|
||||
// const start = new THREE.Vector3(...currentPath[index]);
|
||||
// const end = new THREE.Vector3(...currentPath[index + 1]);
|
||||
// const segmentDistance = distances[index];
|
||||
|
||||
// const currentDirection = new THREE.Vector3().subVectors(end, start).normalize();
|
||||
// const targetAngle = Math.atan2(currentDirection.x, currentDirection.z);
|
||||
// const rotationSpeed = 2.0;
|
||||
// const currentAngle = object.rotation.y;
|
||||
|
||||
// let angleDifference = targetAngle - currentAngle;
|
||||
// if (angleDifference > Math.PI) angleDifference -= 2 * Math.PI;
|
||||
// if (angleDifference < -Math.PI) angleDifference += 2 * Math.PI;
|
||||
|
||||
// const maxRotationStep = rotationSpeed * delta;
|
||||
// object.rotation.y += Math.sign(angleDifference) * Math.min(Math.abs(angleDifference), maxRotationStep);
|
||||
|
||||
// const isAligned = Math.abs(angleDifference) < 0.01;
|
||||
|
||||
// if (isAligned) {
|
||||
// progressRef.current += delta * (speed * agvDetail.speed);
|
||||
// coveredDistance = progressRef.current;
|
||||
|
||||
// const t = (coveredDistance - accumulatedDistance) / segmentDistance;
|
||||
// const position = start.clone().lerp(end, t);
|
||||
// object.position.copy(position);
|
||||
// }
|
||||
// }
|
||||
|
||||
// if (progressRef.current >= totalDistance) {
|
||||
// if (restRotation) {
|
||||
// const targetQuaternion = new THREE.Quaternion().setFromEuler(new THREE.Euler(0, 0, 0));
|
||||
// object.quaternion.slerp(targetQuaternion, delta * 2);
|
||||
// const angleDiff = object.quaternion.angleTo(targetQuaternion);
|
||||
// if (angleDiff < 0.01) {
|
||||
// let objectRotation = agvDetail.point.rotation
|
||||
// object.rotation.set(objectRotation[0], objectRotation[1], objectRotation[2]);
|
||||
// setRestingRotation(false);
|
||||
// }
|
||||
// return;
|
||||
// }
|
||||
// }
|
||||
|
||||
// if (progressRef.current >= totalDistance) {
|
||||
// setRestingRotation(true);
|
||||
// progressRef.current = 0;
|
||||
// movingForward.current = !movingForward.current;
|
||||
// setCurrentPath([]);
|
||||
// handleCallBack();
|
||||
// if (currentPhase === 'pickup-drop') {
|
||||
// requestAnimationFrame(firstFrame);
|
||||
// }
|
||||
// }
|
||||
// });
|
||||
useEffect(() => {
|
||||
if (isReset) {
|
||||
reset();
|
||||
setCurrentPath([]);
|
||||
setProgress(0);
|
||||
progressRef.current = 0;
|
||||
completedRef.current = false;
|
||||
movingForward.current = true;
|
||||
setRestingRotation(false);
|
||||
decrementVehicleLoad(agvDetail.modelUuid, 0);
|
||||
}
|
||||
}
|
||||
}, [isReset]);
|
||||
|
||||
useFrame((_, delta) => {
|
||||
// If reset is active, don't run anything in frame
|
||||
if (isReset) return;
|
||||
|
||||
const object = scene.getObjectByProperty('uuid', agvUuid);
|
||||
if (!object || currentPath.length < 2) return;
|
||||
if (isPaused) return;
|
||||
|
||||
let totalDistance = 0;
|
||||
const distances = [];
|
||||
|
||||
for (let i = 0; i < currentPath.length - 1; i++) {
|
||||
const start = new THREE.Vector3(...currentPath[i]);
|
||||
const end = new THREE.Vector3(...currentPath[i + 1]);
|
||||
const segmentDistance = start.distanceTo(end);
|
||||
distances.push(segmentDistance);
|
||||
totalDistance += segmentDistance;
|
||||
}
|
||||
|
||||
let coveredDistance = progressRef.current;
|
||||
let accumulatedDistance = 0;
|
||||
let index = 0;
|
||||
|
||||
while (index < distances.length && coveredDistance > accumulatedDistance + distances[index]) {
|
||||
accumulatedDistance += distances[index];
|
||||
index++;
|
||||
}
|
||||
|
||||
if (index < distances.length) {
|
||||
const start = new THREE.Vector3(...currentPath[index]);
|
||||
const end = new THREE.Vector3(...currentPath[index + 1]);
|
||||
const segmentDistance = distances[index];
|
||||
|
||||
const currentDirection = new THREE.Vector3().subVectors(end, start).normalize();
|
||||
const targetAngle = Math.atan2(currentDirection.x, currentDirection.z);
|
||||
const currentAngle = object.rotation.y;
|
||||
|
||||
let angleDifference = targetAngle - currentAngle;
|
||||
if (angleDifference > Math.PI) angleDifference -= 2 * Math.PI;
|
||||
if (angleDifference < -Math.PI) angleDifference += 2 * Math.PI;
|
||||
|
||||
const rotationSpeed = 2.0;
|
||||
const maxRotationStep = rotationSpeed * delta;
|
||||
const rotationStep = Math.sign(angleDifference) * Math.min(Math.abs(angleDifference), maxRotationStep);
|
||||
object.rotation.y += rotationStep;
|
||||
|
||||
const isAligned = Math.abs(angleDifference) < 0.01;
|
||||
|
||||
if (isAligned) {
|
||||
progressRef.current += delta * (speed * agvDetail.speed);
|
||||
coveredDistance = progressRef.current;
|
||||
|
||||
const t = (coveredDistance - accumulatedDistance) / segmentDistance;
|
||||
const position = start.clone().lerp(end, t);
|
||||
object.position.copy(position);
|
||||
}
|
||||
}
|
||||
|
||||
if (progressRef.current >= totalDistance) {
|
||||
if (restRotation) {
|
||||
const targetQuaternion = new THREE.Quaternion().setFromEuler(new THREE.Euler(0, 0, 0));
|
||||
object.quaternion.slerp(targetQuaternion, delta * 2);
|
||||
const angleDiff = object.quaternion.angleTo(targetQuaternion);
|
||||
if (angleDiff < 0.01) {
|
||||
const objectRotation = agvDetail.point.rotation;
|
||||
object.rotation.set(objectRotation[0], objectRotation[1], objectRotation[2]);
|
||||
setRestingRotation(false);
|
||||
}
|
||||
} else {
|
||||
setRestingRotation(true);
|
||||
progressRef.current = 0;
|
||||
movingForward.current = !movingForward.current;
|
||||
setCurrentPath([]);
|
||||
handleCallBack();
|
||||
if (currentPhase === 'pickup-drop') {
|
||||
requestAnimationFrame(firstFrame);
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
|
||||
function firstFrame() {
|
||||
const unLoadDuration = agvDetail.point.action.unLoadDuration;
|
||||
const droppedMaterial = agvDetail.currentLoad;
|
||||
fixedInterval = (unLoadDuration / droppedMaterial) * 1000;
|
||||
startTime = performance.now();
|
||||
step(droppedMaterial);
|
||||
}
|
||||
});
|
||||
|
||||
function firstFrame() {
|
||||
const unLoadDuration = agvDetail.point.action.unLoadDuration;
|
||||
const droppedMaterial = agvDetail.currentLoad;
|
||||
fixedInterval = (unLoadDuration / droppedMaterial) * 1000;
|
||||
startTime = performance.now();
|
||||
step(droppedMaterial);
|
||||
}
|
||||
|
||||
function step(droppedMaterial: number) {
|
||||
const elapsedTime = (performance.now() - startTime) * speed;
|
||||
if (elapsedTime >= fixedInterval) {
|
||||
let droppedMat = droppedMaterial - 1;
|
||||
decrementVehicleLoad(agvDetail.modelUuid, 1);
|
||||
if (droppedMat === 0) return;
|
||||
startTime = performance.now();
|
||||
requestAnimationFrame(() => step(droppedMat));
|
||||
} else {
|
||||
requestAnimationFrame(() => step(droppedMaterial));
|
||||
function step(droppedMaterial: number) {
|
||||
const elapsedTime = (performance.now() - startTime) * speed;
|
||||
if (elapsedTime >= fixedInterval) {
|
||||
let droppedMat = droppedMaterial - 1;
|
||||
decrementVehicleLoad(agvDetail.modelUuid, 1);
|
||||
if (droppedMat === 0) return;
|
||||
startTime = performance.now();
|
||||
requestAnimationFrame(() => step(droppedMat));
|
||||
} else {
|
||||
requestAnimationFrame(() => step(droppedMaterial));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return (
|
||||
<>
|
||||
{currentPath.length > 0 && (
|
||||
return (
|
||||
<>
|
||||
<Line points={currentPath} color="blue" lineWidth={3} />
|
||||
{currentPath.map((point, index) => (
|
||||
<mesh key={index} position={point}>
|
||||
<sphereGeometry args={[0.1, 16, 16]} />
|
||||
<meshStandardMaterial color="red" />
|
||||
</mesh>
|
||||
))}
|
||||
{currentPath.length > 0 && (
|
||||
<>
|
||||
<Line points={currentPath} color="blue" lineWidth={3} />
|
||||
{currentPath.map((point, index) => (
|
||||
<mesh key={index} position={point}>
|
||||
<sphereGeometry args={[0.1, 16, 16]} />
|
||||
<meshStandardMaterial color="red" />
|
||||
</mesh>
|
||||
))}
|
||||
</>
|
||||
)}
|
||||
</>
|
||||
)}
|
||||
</>
|
||||
);
|
||||
);
|
||||
}
|
||||
|
||||
export default VehicleAnimator;
|
||||
|
|
@ -7,126 +7,116 @@ import { usePlayButtonStore, useResetButtonStore } from '../../../../../store/us
|
|||
import { useVehicleStore } from '../../../../../store/simulation/useVehicleStore';
|
||||
|
||||
function VehicleInstance({ agvDetail }: any) {
|
||||
const { navMesh } = useNavMesh();
|
||||
const { isPlaying, setIsPlaying } = usePlayButtonStore();
|
||||
const { isReset } = useResetButtonStore();
|
||||
const { vehicles, setVehicleActive, setVehicleState, incrementVehicleLoad } = useVehicleStore();
|
||||
const [currentPhase, setCurrentPhase] = useState<string>('stationed');
|
||||
const [path, setPath] = useState<[number, number, number][]>([]);
|
||||
const { navMesh } = useNavMesh();
|
||||
const { isPlaying, setIsPlaying } = usePlayButtonStore();
|
||||
const { isReset } = useResetButtonStore();
|
||||
const { vehicles, setVehicleActive, setVehicleState, incrementVehicleLoad } = useVehicleStore();
|
||||
const [currentPhase, setCurrentPhase] = useState<string>('stationed');
|
||||
const [path, setPath] = useState<[number, number, number][]>([]);
|
||||
|
||||
const computePath = useCallback(
|
||||
(start: any, end: any) => {
|
||||
try {
|
||||
const navMeshQuery = new NavMeshQuery(navMesh);
|
||||
const { path: segmentPath } = navMeshQuery.computePath(start, end);
|
||||
return (
|
||||
segmentPath?.map(({ x, y, z }) => [x, y + 0.1, z] as [number, number, number]) || []
|
||||
);
|
||||
} catch {
|
||||
return [];
|
||||
}
|
||||
},
|
||||
[navMesh]
|
||||
);
|
||||
const computePath = useCallback(
|
||||
(start: any, end: any) => {
|
||||
try {
|
||||
const navMeshQuery = new NavMeshQuery(navMesh);
|
||||
const { path: segmentPath } = navMeshQuery.computePath(start, end);
|
||||
return (
|
||||
segmentPath?.map(({ x, y, z }) => [x, y + 0.1, z] as [number, number, number]) || []
|
||||
);
|
||||
} catch {
|
||||
return [];
|
||||
}
|
||||
},
|
||||
[navMesh]
|
||||
);
|
||||
|
||||
function vehicleStatus(modelid: string, status: string) {
|
||||
// console.log(`AGV ${modelid}: ${status}`);
|
||||
}
|
||||
function reset() {
|
||||
console.log("runs");
|
||||
setVehicleActive(agvDetail.modelUuid, false);
|
||||
setVehicleState(agvDetail.modelUuid, 'idle');
|
||||
setPath([]);
|
||||
setCurrentPhase('stationed')
|
||||
}
|
||||
function vehicleStatus(modelid: string, status: string) {
|
||||
// console.log(`AGV ${modelid}: ${status}`);
|
||||
}
|
||||
function reset() {
|
||||
setVehicleActive(agvDetail.modelUuid, false);
|
||||
setVehicleState(agvDetail.modelUuid, 'idle');
|
||||
setPath([]);
|
||||
setCurrentPhase('stationed')
|
||||
}
|
||||
|
||||
useEffect(() => {
|
||||
if (isPlaying) {
|
||||
if (!agvDetail.isActive && agvDetail.state === 'idle' && currentPhase === 'stationed') {
|
||||
const toPickupPath = computePath(
|
||||
new THREE.Vector3(agvDetail.position[0], agvDetail.position[1], agvDetail.position[2]),
|
||||
agvDetail.point.action.pickUpPoint
|
||||
);
|
||||
setPath(toPickupPath);
|
||||
setVehicleActive(agvDetail.modelUuid, true);
|
||||
setVehicleState(agvDetail.modelUuid, 'running');
|
||||
setCurrentPhase('stationed-pickup');
|
||||
vehicleStatus(agvDetail.modelUuid, 'Started from station, heading to pickup');
|
||||
return;
|
||||
} else if (
|
||||
!agvDetail.isActive &&
|
||||
agvDetail.state === 'idle' &&
|
||||
currentPhase === 'picking'
|
||||
) {
|
||||
useEffect(() => {
|
||||
if (isPlaying) {
|
||||
if (!agvDetail.isActive && agvDetail.state === 'idle' && currentPhase === 'stationed') {
|
||||
const toPickupPath = computePath(
|
||||
new THREE.Vector3(agvDetail.position[0], agvDetail.position[1], agvDetail.position[2]),
|
||||
agvDetail.point.action.pickUpPoint
|
||||
);
|
||||
setPath(toPickupPath);
|
||||
setVehicleActive(agvDetail.modelUuid, true);
|
||||
setVehicleState(agvDetail.modelUuid, 'running');
|
||||
setCurrentPhase('stationed-pickup');
|
||||
vehicleStatus(agvDetail.modelUuid, 'Started from station, heading to pickup');
|
||||
return;
|
||||
} else if (!agvDetail.isActive && agvDetail.state === 'idle' && currentPhase === 'picking') {
|
||||
|
||||
setTimeout(() => {
|
||||
incrementVehicleLoad(agvDetail.modelUuid, 2);
|
||||
}, 5000);
|
||||
setTimeout(() => {
|
||||
incrementVehicleLoad(agvDetail.modelUuid, 2);
|
||||
}, 5000);
|
||||
|
||||
if (agvDetail.currentLoad === agvDetail.point.action.loadCapacity) {
|
||||
const toDrop = computePath(
|
||||
agvDetail.point.action.pickUpPoint,
|
||||
agvDetail.point.action.unLoadPoint
|
||||
);
|
||||
setPath(toDrop);
|
||||
setVehicleActive(agvDetail.modelUuid, true);
|
||||
setVehicleState(agvDetail.modelUuid, 'running');
|
||||
setCurrentPhase('pickup-drop');
|
||||
vehicleStatus(agvDetail.modelUuid, 'Started from pickup point, heading to drop point');
|
||||
if (agvDetail.currentLoad === agvDetail.point.action.loadCapacity) {
|
||||
const toDrop = computePath(
|
||||
agvDetail.point.action.pickUpPoint,
|
||||
agvDetail.point.action.unLoadPoint
|
||||
);
|
||||
setPath(toDrop);
|
||||
setVehicleActive(agvDetail.modelUuid, true);
|
||||
setVehicleState(agvDetail.modelUuid, 'running');
|
||||
setCurrentPhase('pickup-drop');
|
||||
vehicleStatus(agvDetail.modelUuid, 'Started from pickup point, heading to drop point');
|
||||
}
|
||||
} else if (!agvDetail.isActive && agvDetail.state === 'idle' && currentPhase === 'dropping' && agvDetail.currentLoad === 0) {
|
||||
const dropToPickup = computePath(
|
||||
agvDetail.point.action.unLoadPoint,
|
||||
agvDetail.point.action.pickUpPoint
|
||||
);
|
||||
setPath(dropToPickup);
|
||||
setVehicleActive(agvDetail.modelUuid, true);
|
||||
setVehicleState(agvDetail.modelUuid, 'running');
|
||||
setCurrentPhase('drop-pickup');
|
||||
vehicleStatus(agvDetail.modelUuid, 'Started from dropping point, heading to pickup point');
|
||||
}
|
||||
}
|
||||
} else if (
|
||||
!agvDetail.isActive &&
|
||||
agvDetail.state === 'idle' &&
|
||||
currentPhase === 'dropping' &&
|
||||
agvDetail.currentLoad === 0
|
||||
) {
|
||||
const dropToPickup = computePath(
|
||||
agvDetail.point.action.unLoadPoint,
|
||||
agvDetail.point.action.pickUpPoint
|
||||
);
|
||||
setPath(dropToPickup);
|
||||
setVehicleActive(agvDetail.modelUuid, true);
|
||||
setVehicleState(agvDetail.modelUuid, 'running');
|
||||
setCurrentPhase('drop-pickup');
|
||||
vehicleStatus(agvDetail.modelUuid, 'Started from dropping point, heading to pickup point');
|
||||
}
|
||||
}
|
||||
}, [vehicles, currentPhase, path, isPlaying, isReset]);
|
||||
}, [vehicles, currentPhase, path, isPlaying, isReset]);
|
||||
|
||||
function handleCallBack() {
|
||||
if (currentPhase === 'stationed-pickup') {
|
||||
setVehicleActive(agvDetail.modelUuid, false);
|
||||
setVehicleState(agvDetail.modelUuid, 'idle');
|
||||
setCurrentPhase('picking');
|
||||
vehicleStatus(agvDetail.modelUuid, 'Reached pickup point, waiting for material');
|
||||
setPath([]);
|
||||
} else if (currentPhase === 'pickup-drop') {
|
||||
setVehicleActive(agvDetail.modelUuid, false);
|
||||
setVehicleState(agvDetail.modelUuid, 'idle');
|
||||
setCurrentPhase('dropping');
|
||||
vehicleStatus(agvDetail.modelUuid, 'Reached drop point');
|
||||
setPath([]);
|
||||
} else if (currentPhase === 'drop-pickup') {
|
||||
setVehicleActive(agvDetail.modelUuid, false);
|
||||
setVehicleState(agvDetail.modelUuid, 'idle');
|
||||
setCurrentPhase('picking');
|
||||
setPath([]);
|
||||
vehicleStatus(agvDetail.modelUuid, 'Reached pickup point again, cycle complete');
|
||||
function handleCallBack() {
|
||||
if (currentPhase === 'stationed-pickup') {
|
||||
setVehicleActive(agvDetail.modelUuid, false);
|
||||
setVehicleState(agvDetail.modelUuid, 'idle');
|
||||
setCurrentPhase('picking');
|
||||
vehicleStatus(agvDetail.modelUuid, 'Reached pickup point, waiting for material');
|
||||
setPath([]);
|
||||
} else if (currentPhase === 'pickup-drop') {
|
||||
setVehicleActive(agvDetail.modelUuid, false);
|
||||
setVehicleState(agvDetail.modelUuid, 'idle');
|
||||
setCurrentPhase('dropping');
|
||||
vehicleStatus(agvDetail.modelUuid, 'Reached drop point');
|
||||
setPath([]);
|
||||
} else if (currentPhase === 'drop-pickup') {
|
||||
setVehicleActive(agvDetail.modelUuid, false);
|
||||
setVehicleState(agvDetail.modelUuid, 'idle');
|
||||
setCurrentPhase('picking');
|
||||
setPath([]);
|
||||
vehicleStatus(agvDetail.modelUuid, 'Reached pickup point again, cycle complete');
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return (
|
||||
<>
|
||||
<VehicleAnimator
|
||||
path={path}
|
||||
handleCallBack={handleCallBack}
|
||||
currentPhase={currentPhase}
|
||||
agvUuid={agvDetail?.modelUuid}
|
||||
agvDetail={agvDetail}
|
||||
reset={reset}
|
||||
/>
|
||||
</>
|
||||
);
|
||||
return (
|
||||
<>
|
||||
<VehicleAnimator
|
||||
path={path}
|
||||
handleCallBack={handleCallBack}
|
||||
currentPhase={currentPhase}
|
||||
agvUuid={agvDetail?.modelUuid}
|
||||
agvDetail={agvDetail}
|
||||
reset={reset}
|
||||
/>
|
||||
</>
|
||||
);
|
||||
}
|
||||
|
||||
export default VehicleInstance;
|
||||
|
|
@ -28,8 +28,8 @@ function Vehicles() {
|
|||
actionType: "travel",
|
||||
unLoadDuration: 10,
|
||||
loadCapacity: 2,
|
||||
pickUpPoint: { x: 98.71483985219794, y: 0, z: 28.66321267938962 },
|
||||
unLoadPoint: { x: 105.71483985219794, y: 0, z: 28.66321267938962 },
|
||||
pickUpPoint: { position: { x: 98.71483985219794, y: 0, z: 28.66321267938962 }, rotation: { x: 0, y: 0, z: 0 } },
|
||||
unLoadPoint: { position: { x: 105.71483985219794, y: 0, z: 28.66321267938962 }, rotation: { x: 0, y: 0, z: 0 } },
|
||||
triggers: [
|
||||
{
|
||||
triggerUuid: "trig-001",
|
||||
|
|
@ -71,8 +71,8 @@ function Vehicles() {
|
|||
actionType: "travel",
|
||||
unLoadDuration: 10,
|
||||
loadCapacity: 2,
|
||||
pickUpPoint: { x: 90, y: 0, z: 28 },
|
||||
unLoadPoint: { x: 20, y: 0, z: 10 },
|
||||
pickUpPoint: { position: { x: 90, y: 0, z: 28 }, rotation: { x: 0, y: 0, z: 0 } },
|
||||
unLoadPoint: { position: { x: 20, y: 0, z: 10 }, rotation: { x: 0, y: 0, z: 0 } },
|
||||
triggers: [
|
||||
{
|
||||
triggerUuid: "trig-001",
|
||||
|
|
@ -95,7 +95,8 @@ function Vehicles() {
|
|||
]
|
||||
}
|
||||
}
|
||||
}, {
|
||||
},
|
||||
{
|
||||
modelUuid: "e729a4f1-11d2-4778-8d6a-468f1b4f6b79",
|
||||
modelName: "forklift",
|
||||
position: [98.85729337188162, 0, 38.36616546567653],
|
||||
|
|
@ -113,8 +114,8 @@ function Vehicles() {
|
|||
actionType: "travel",
|
||||
unLoadDuration: 15,
|
||||
loadCapacity: 5,
|
||||
pickUpPoint: { x: 98.71483985219794, y: 0, z: 28.66321267938962 },
|
||||
unLoadPoint: { x: 20, y: 0, z: 10 },
|
||||
pickUpPoint: { position: { x: 98.71483985219794, y: 0, z: 28.66321267938962 }, rotation: { x: 0, y: 0, z: 0 } },
|
||||
unLoadPoint: { position: { x: 20, y: 0, z: 10 }, rotation: { x: 0, y: 0, z: 0 } },
|
||||
triggers: [
|
||||
{
|
||||
triggerUuid: "trig-001",
|
||||
|
|
|
|||
|
|
@ -44,8 +44,8 @@ interface VehiclePointSchema {
|
|||
actionType: "travel";
|
||||
unLoadDuration: number;
|
||||
loadCapacity: number;
|
||||
pickUpPoint: { x: number; y: number, z: number } | null;
|
||||
unLoadPoint: { x: number; y: number, z: number } | null;
|
||||
pickUpPoint: { position: { x: number; y: number, z: number }, rotation: { x: number; y: number, z: number } } | null;
|
||||
unLoadPoint: { position: { x: number; y: number, z: number }, rotation: { x: number; y: number, z: number } } | null;
|
||||
triggers: TriggerSchema[];
|
||||
};
|
||||
}
|
||||
|
|
@ -134,7 +134,7 @@ interface ConveyorStatus extends ConveyorEventSchema {
|
|||
isActive: boolean;
|
||||
idleTime: number;
|
||||
activeTime: number;
|
||||
|
||||
|
||||
}
|
||||
|
||||
interface MachineStatus extends MachineEventSchema {
|
||||
|
|
|
|||
Loading…
Reference in New Issue