Dwinzo_dev/app/src/modules/builder/agv/pathNavigator.tsx

import React, { useEffect, useState, useRef } from "react";
import * as THREE from "three";
import { useFrame, useThree } from "@react-three/fiber";
import { NavMeshQuery } from "@recast-navigation/core";
import { Line } from "@react-three/drei";
import { useActiveTool } from "../../../store/store";
import { usePlayButtonStore } from "../../../store/usePlayButtonStore";

interface PathNavigatorProps {
  navMesh: any;
  selectedPoints: any;
  id: string;
  speed: number;
  bufferTime: number;
  hitCount: number;
}

export default function PathNavigator({
  navMesh,
  selectedPoints,
  id,
  speed,
  bufferTime,
  hitCount,
}: PathNavigatorProps) {
  const [path, setPath] = useState<[number, number, number][]>([]);
  const progressRef = useRef(0);
  const distancesRef = useRef<number[]>([]);
  const totalDistanceRef = useRef(0);
  const currentSegmentIndex = useRef(0);
  const [stop, setStop] = useState<boolean>(true);
  const { scene } = useThree();
  const { isPlaying, setIsPlaying } = usePlayButtonStore();
  const [startPoint, setStartPoint] = useState(new THREE.Vector3());
  const isWaiting = useRef<boolean>(false); // Flag to track waiting state
  const delayTime = bufferTime;

  const movingForward = useRef<boolean>(true); // Tracks whether the object is moving forward
  // Compute distances and total distance when the path changes
  useEffect(() => {
    if (!scene || !id || path.length < 2) return;

    let totalDistance = 0;
    const distances: number[] = [];
    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 segmentDistance = start.distanceTo(end);
      distances.push(segmentDistance);
      totalDistance += segmentDistance;
    }
    distancesRef.current = distances;
    totalDistanceRef.current = totalDistance;
    progressRef.current = 0;
  }, [path]);

  // Compute the path using NavMeshQuery
  useEffect(() => {
    if (!navMesh || selectedPoints.length === 0) return;

    const allPoints = selectedPoints.flat();
    const computedPath: [number, number, number][] = [];

    for (let i = 0; i < allPoints.length - 1; i++) {
      const start = allPoints[i];
      setStartPoint(
        new THREE.Vector3(allPoints[0].x, allPoints[0].y, allPoints[0].z)
      );

      const end = allPoints[i + 1];

      try {
        const navMeshQuery = new NavMeshQuery(navMesh);
        const { path: segmentPath } = navMeshQuery.computePath(start, end);

        if (!segmentPath || segmentPath.length === 0) {
          continue;
        }

        computedPath.push(
          ...segmentPath.map(({ x, y, z }): [number, number, number] => [
            x,
            y + 0.1,
            z,
          ])
        );
      } catch (error) {}
    }

    if (computedPath.length > 0) {
      setPath(computedPath);
      currentSegmentIndex.current = 0;
    }
  }, [selectedPoints, navMesh]);
  useFrame((_, delta) => {
    if (!scene || !id || path.length < 2) return;

    // Find the object in the scene by its UUID
    const findObject = scene.getObjectByProperty("uuid", id);
    if (!findObject) return;

    if (isPlaying) {
      const fast = speed;
      progressRef.current += delta * fast;

      let coveredDistance = progressRef.current;
      let accumulatedDistance = 0;
      let index = 0;

      // Determine the current segment of the path
      while (
        index < distancesRef.current.length &&
        coveredDistance > accumulatedDistance + distancesRef.current[index]
      ) {
        accumulatedDistance += distancesRef.current[index];
        index++;
      }

      if (index >= distancesRef.current.length) {
        progressRef.current = totalDistanceRef.current;

        if (!isWaiting.current) {
          isWaiting.current = true; // Set waiting flag

          if (movingForward.current) {
            // Moving forward: reached the end, wait for `delay`
            // console.log(
            //   "Reached end position. Waiting for delay:",
            //   delayTime,
            //   "seconds"
            // );
            setTimeout(() => {
              // After delay, reverse direction
              movingForward.current = false;
              progressRef.current = 0; // Reset progress
              path.reverse(); // Reverse the path
              distancesRef.current.reverse();
              isWaiting.current = false; // Reset waiting flag
            }, delayTime * 1000); // Wait for `delay` seconds
          }
        }
        return;
      }

      // Interpolate position within the current segment
      const start = new THREE.Vector3(...path[index]);
      const end = new THREE.Vector3(...path[index + 1]);
      const segmentDistance = distancesRef.current[index];

      const t = Math.min(
        (coveredDistance - accumulatedDistance) / segmentDistance,
        1
      ); // Clamp t to avoid overshooting
      const position = start.clone().lerp(end, t);
      findObject.position.copy(position);

      // Rotate the object to face the direction of movement
      const direction = new THREE.Vector3().subVectors(end, start).normalize();
      const targetYRotation = Math.atan2(direction.x, direction.z);
      findObject.rotation.y += (targetYRotation - findObject.rotation.y) * 0.1;
    } else {
      findObject.position.copy(startPoint);
    }
  });

  return (
    <>
      {path.length > 0 && (
        <>
          <Line points={path} color="blue" lineWidth={3} />
          {selectedPoints.map((val: any, i: any) => (
            <mesh position={[val[0], val[1] + 1, val[2]]} key={i}>
              <sphereGeometry args={[50, 5, 5]} />
              <meshBasicMaterial color={"red"} />
            </mesh>
          ))}
        </>
      )}
    </>
  );
}