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Merge remote-tracking branch 'origin/v2' into v2-ui

This commit is contained in:
Vishnu 2025-05-21 17:50:47 +05:30
parent bd31259aac 70136fd7d3
commit 33499c66af
1 changed files with 6 additions and 0 deletions
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6
app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
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@ -1,5 +1,6 @@
import React, { useEffect, useRef, useState } from 'react'
import * as THREE from "three";
import { useThree } from "@react-three/fiber";
import IKInstance from '../ikInstance/ikInstance';
import RoboticArmAnimator from '../animator/roboticArmAnimator';
import MaterialAnimator from '../animator/materialAnimator';
@ -18,6 +19,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
const [currentPhase, setCurrentPhase] = useState<(string)>("init");
const [path, setPath] = useState<[number, number, number][]>([]);
const [ikSolver, setIkSolver] = useState<any>(null);
const { scene } = useThree();
const restPosition = new THREE.Vector3(0, 1.75, -1.6);
const targetBone = "Target";
const groupRef = useRef<any>(null);
@ -271,6 +273,10 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
useEffect(() => {
const targetMesh = scene?.getObjectByProperty("uuid", armBot.modelUuid);
if (targetMesh) {
targetMesh.visible = (!isPlaying)
}
const targetBones = ikSolver?.mesh.skeleton.bones.find((b: any) => b.name === targetBone);
if (!isReset && isPlaying) {
//Moving armBot from initial point to rest position.