"updated animation"
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import React, { useRef, useState, useEffect, useMemo } from "react";
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import { usePlayButtonStore } from "../../../store/usePlayButtonStore";
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import { GLTFLoader } from "three-stdlib";
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import { useLoader, useFrame } from "@react-three/fiber";
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import * as THREE from "three";
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import { GLTF } from "three-stdlib";
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import boxGltb from "../../../assets/gltf-glb/crate_box.glb";
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interface PointAction {
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uuid: string;
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name: string;
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type: "Inherit" | "Spawn" | "Despawn" | "Delay" | "Swap";
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material: string;
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delay: string | number;
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spawnInterval: string | number;
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isUsed: boolean;
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}
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interface ProcessPoint {
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uuid: string;
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position: number[];
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rotation: number[];
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actions: PointAction[];
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connections: {
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source: { pathUUID: string; pointUUID: string };
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targets: { pathUUID: string; pointUUID: string }[];
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};
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}
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interface ProcessPath {
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modeluuid: string;
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modelName: string;
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points: ProcessPoint[];
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pathPosition: number[];
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pathRotation: number[];
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speed: number;
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}
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interface ProcessData {
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id: string;
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paths: ProcessPath[];
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animationPath: { x: number; y: number; z: number }[];
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pointActions: PointAction[][];
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speed: number;
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}
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interface AnimationState {
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currentIndex: number;
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progress: number;
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isAnimating: boolean;
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speed: number;
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isDelaying: boolean;
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delayStartTime: number;
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currentDelayDuration: number;
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delayComplete: boolean;
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currentPathIndex: number;
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spawnPoints: Record<
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string,
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{
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position: THREE.Vector3;
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interval: number;
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lastSpawnTime: number;
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}
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>;
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}
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const MAX_SPAWNED_OBJECTS = 20;
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const ProcessAnimator: React.FC<{ processes: ProcessData[] }> = ({
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processes,
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}) => {
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console.log("processes: ", processes);
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const gltf = useLoader(GLTFLoader, boxGltb) as GLTF;
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const { isPlaying, setIsPlaying } = usePlayButtonStore();
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const groupRef = useRef<THREE.Group>(null);
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const meshRef = useRef<THREE.Mesh>(null);
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const [visible, setVisible] = useState(false);
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const spawnedObjectsRef = useRef<THREE.Object3D[]>([]);
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const materials = useMemo(
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() => ({
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Wood: new THREE.MeshStandardMaterial({ color: 0x8b4513 }),
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Box: new THREE.MeshStandardMaterial({
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color: 0xcccccc,
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metalness: 0.8,
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roughness: 0.2,
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}),
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Crate: new THREE.MeshStandardMaterial({
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color: 0x00aaff,
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metalness: 0.1,
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roughness: 0.5,
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}),
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Default: new THREE.MeshStandardMaterial({ color: 0x00ff00 }),
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}),
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[]
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);
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const [currentMaterial, setCurrentMaterial] = useState<THREE.Material>(
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materials.Default
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);
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const { animationPath, currentProcess } = useMemo(() => {
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const defaultProcess = {
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animationPath: [],
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pointActions: [],
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speed: 1,
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paths: [],
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};
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const cp = processes?.[0] || defaultProcess;
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return {
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animationPath:
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cp.animationPath?.map((p) => new THREE.Vector3(p.x, p.y, p.z)) || [],
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currentProcess: cp,
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};
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}, [processes]);
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const animationStateRef = useRef<AnimationState>({
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currentIndex: 0,
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progress: 0,
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isAnimating: false,
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speed: currentProcess.speed,
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isDelaying: false,
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delayStartTime: 0,
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currentDelayDuration: 0,
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delayComplete: false,
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currentPathIndex: 0,
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spawnPoints: {},
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});
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const getPointDataForAnimationIndex = (index: number) => {
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if (!processes[0]?.paths) return null;
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if (index < 3) {
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return processes[0].paths[0]?.points[index];
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} else {
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const path2Index = index - 3;
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return processes[0].paths[1]?.points[path2Index];
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}
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};
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useEffect(() => {
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if (isPlaying) {
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setVisible(true);
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animationStateRef.current = {
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currentIndex: 0,
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progress: 0,
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isAnimating: true,
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speed: currentProcess.speed,
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isDelaying: false,
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delayStartTime: 0,
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currentDelayDuration: 0,
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delayComplete: false,
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currentPathIndex: 0,
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spawnPoints: {},
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};
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// Clear spawned objects
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if (groupRef.current) {
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spawnedObjectsRef.current.forEach((obj) => {
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if (groupRef.current?.children.includes(obj)) {
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groupRef.current.remove(obj);
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}
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if (obj instanceof THREE.Mesh) {
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obj.material.dispose();
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}
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});
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spawnedObjectsRef.current = [];
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}
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const currentRef = gltf?.scene ? groupRef.current : meshRef.current;
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if (currentRef && animationPath.length > 0) {
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currentRef.position.copy(animationPath[0]);
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}
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} else {
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animationStateRef.current.isAnimating = false;
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}
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}, [isPlaying, currentProcess, animationPath]);
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const handleMaterialSwap = (materialType: string) => {
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const newMaterial =
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materials[materialType as keyof typeof materials] || materials.Default;
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setCurrentMaterial(newMaterial);
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spawnedObjectsRef.current.forEach((obj) => {
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if (obj instanceof THREE.Mesh) {
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obj.material = newMaterial.clone();
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}
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});
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};
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const hasNonInheritActions = (actions: PointAction[] = []) => {
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return actions.some((action) => action.isUsed && action.type !== "Inherit");
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};
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const handlePointActions = (
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actions: PointAction[] = [],
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currentTime: number,
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currentPosition: THREE.Vector3
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) => {
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let shouldStopAnimation = false;
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actions.forEach((action) => {
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if (!action.isUsed) return;
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switch (action.type) {
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case "Delay":
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if (
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!animationStateRef.current.isDelaying &&
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!animationStateRef.current.delayComplete
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) {
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const delayDuration =
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typeof action.delay === "number"
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? action.delay
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: parseFloat(action.delay as string) || 0;
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if (delayDuration > 0) {
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animationStateRef.current.isDelaying = true;
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animationStateRef.current.delayStartTime = currentTime;
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animationStateRef.current.currentDelayDuration = delayDuration;
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shouldStopAnimation = true;
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}
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}
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break;
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case "Despawn":
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setVisible(false);
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setIsPlaying(false);
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animationStateRef.current.isAnimating = false;
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shouldStopAnimation = true;
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break;
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case "Spawn":
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const spawnInterval =
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typeof action.spawnInterval === "number"
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? action.spawnInterval
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: parseFloat(action.spawnInterval as string) || 1;
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const positionKey = currentPosition.toArray().join(",");
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animationStateRef.current.spawnPoints[positionKey] = {
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position: currentPosition.clone(),
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interval: spawnInterval,
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lastSpawnTime: currentTime - spawnInterval, // Force immediate spawn
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};
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break;
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case "Swap":
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if (action.material) {
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handleMaterialSwap(action.material);
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}
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break;
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case "Inherit":
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break;
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}
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});
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return shouldStopAnimation;
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};
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useFrame((state, delta) => {
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const currentRef = gltf?.scene ? groupRef.current : meshRef.current;
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if (
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!currentRef ||
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!animationStateRef.current.isAnimating ||
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animationPath.length < 2
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) {
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return;
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}
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const currentTime = state.clock.getElapsedTime();
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const path = animationPath;
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const stateRef = animationStateRef.current;
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if (stateRef.currentIndex === 3 && stateRef.currentPathIndex === 0) {
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stateRef.currentPathIndex = 1;
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}
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const currentPointData = getPointDataForAnimationIndex(
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stateRef.currentIndex
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);
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if (stateRef.progress === 0 && currentPointData?.actions) {
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const shouldStop = handlePointActions(
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currentPointData.actions,
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currentTime,
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currentRef.position
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);
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if (shouldStop) return;
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}
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if (stateRef.isDelaying) {
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if (
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currentTime - stateRef.delayStartTime >=
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stateRef.currentDelayDuration
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) {
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stateRef.isDelaying = false;
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stateRef.delayComplete = true;
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} else {
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return;
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}
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}
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// Handle spawning - this is the key updated part
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Object.entries(stateRef.spawnPoints).forEach(([key, spawnPoint]) => {
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if (currentTime - spawnPoint.lastSpawnTime >= spawnPoint.interval) {
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spawnPoint.lastSpawnTime = currentTime;
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if (gltf?.scene && groupRef?.current) {
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const newObject = gltf.scene.clone();
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newObject.position.copy(spawnPoint.position);
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newObject.traverse((child) => {
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if (child instanceof THREE.Mesh) {
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child.material = currentMaterial.clone();
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}
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});
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groupRef.current.add(newObject);
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spawnedObjectsRef.current.push(newObject);
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// Clean up old objects if needed
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console.log(
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"spawnedObjectsRef.current.length: ",
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spawnedObjectsRef.current.length
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);
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if (spawnedObjectsRef.current.length > MAX_SPAWNED_OBJECTS) {
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const oldest = spawnedObjectsRef.current.shift();
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if (oldest && groupRef.current.children.includes(oldest)) {
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groupRef.current.remove(oldest);
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if (oldest instanceof THREE.Mesh) {
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oldest.material.dispose();
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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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const nextPointIdx = stateRef.currentIndex + 1;
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const isLastPoint = nextPointIdx >= path.length;
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if (isLastPoint) {
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if (currentPointData?.actions) {
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const shouldStop = !hasNonInheritActions(currentPointData.actions);
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if (shouldStop) {
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currentRef.position.copy(path[stateRef.currentIndex]);
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setIsPlaying(false);
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stateRef.isAnimating = false;
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return;
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}
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}
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}
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if (!isLastPoint) {
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const nextPoint = path[nextPointIdx];
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const distance = path[stateRef.currentIndex].distanceTo(nextPoint);
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const movement = stateRef.speed * delta;
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stateRef.progress += movement / distance;
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if (stateRef.progress >= 1) {
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stateRef.currentIndex = nextPointIdx;
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stateRef.progress = 0;
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stateRef.delayComplete = false;
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currentRef.position.copy(nextPoint);
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} else {
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currentRef.position.lerpVectors(
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path[stateRef.currentIndex],
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nextPoint,
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stateRef.progress
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);
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}
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}
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});
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useEffect(() => {
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return () => {
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if (groupRef.current) {
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spawnedObjectsRef.current.forEach((obj) => {
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if (groupRef.current?.children.includes(obj)) {
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groupRef.current.remove(obj);
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}
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if (obj instanceof THREE.Mesh) {
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obj.material.dispose();
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}
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});
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spawnedObjectsRef.current = [];
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}
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};
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}, []);
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if (!processes || processes.length === 0) {
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return null;
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}
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if (!gltf?.scene) {
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return visible ? (
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<mesh ref={meshRef} material={currentMaterial}>
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<boxGeometry args={[1, 1, 1]} />
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</mesh>
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) : null;
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}
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return visible ? (
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<group ref={groupRef}>
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<primitive
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object={gltf.scene.clone()}
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scale={[1, 1, 1]}
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material={currentMaterial}
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/>
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</group>
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) : null;
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};
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export default ProcessAnimator;
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@ -0,0 +1,17 @@
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import React, { useState } from "react";
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import ProcessCreator from "./processCreator";
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import ProcessAnimator from "./processAnimator";
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const ProcessContainer: React.FC = () => {
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const [processes, setProcesses] = useState<any[]>([]);
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return (
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<>
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<ProcessCreator onProcessesCreated={setProcesses} />
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{processes.length > 0 && <ProcessAnimator processes={processes} />}
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</>
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);
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};
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export default ProcessContainer;
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@ -0,0 +1,398 @@
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import React, {
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useEffect,
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useMemo,
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useState,
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useCallback,
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useRef,
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} from "react";
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import { useSimulationPaths } from "../../../store/store";
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import * as THREE from "three";
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import { useThree } from "@react-three/fiber";
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import {
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ConveyorEventsSchema,
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VehicleEventsSchema,
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} from "../../../types/world/worldTypes";
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// Type definitions
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export interface PointAction {
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uuid: string;
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name: string;
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type: string;
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material: string;
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delay: number | string;
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spawnInterval: string | number;
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isUsed: boolean;
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}
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export interface PathPoint {
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uuid: string;
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position: [number, number, number];
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actions: PointAction[];
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connections: {
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targets: Array<{ pathUUID: string }>;
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};
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}
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export interface SimulationPath {
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modeluuid: string;
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points: PathPoint[];
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pathPosition: [number, number, number];
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speed?: number;
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}
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export interface Process {
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id: string;
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paths: SimulationPath[];
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animationPath: THREE.Vector3[];
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pointActions: PointAction[][];
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speed: number;
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}
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interface ProcessCreatorProps {
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onProcessesCreated: (processes: Process[]) => void;
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}
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// Convert event schemas to SimulationPath
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function convertToSimulationPath(
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path: ConveyorEventsSchema | VehicleEventsSchema
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): SimulationPath {
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const { modeluuid } = path;
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// Simplified normalizeAction function that preserves exact original properties
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const normalizeAction = (action: any): PointAction => {
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return { ...action }; // Return exact copy with no modifications
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};
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if (path.type === "Conveyor") {
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return {
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modeluuid,
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points: path.points.map((point) => ({
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uuid: point.uuid,
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position: point.position,
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actions: point.actions.map(normalizeAction), // Preserve exact actions
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connections: {
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targets: point.connections.targets.map((target) => ({
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pathUUID: target.pathUUID,
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})),
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},
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})),
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pathPosition: path.position,
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speed:
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typeof path.speed === "string"
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? parseFloat(path.speed) || 1
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: path.speed || 1,
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};
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} else {
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return {
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modeluuid,
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points: [
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{
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uuid: path.point.uuid,
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position: path.point.position,
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actions: Array.isArray(path.point.actions)
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? path.point.actions.map(normalizeAction)
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: [normalizeAction(path.point.actions)],
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connections: {
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targets: path.point.connections.targets.map((target) => ({
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pathUUID: target.pathUUID,
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})),
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},
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},
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],
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pathPosition: path.position,
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speed: path.point.speed || 1,
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};
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}
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}
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// Custom shallow comparison for arrays
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const areArraysEqual = (a: any[], b: any[]) => {
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if (a.length !== b.length) return false;
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for (let i = 0; i < a.length; i++) {
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||||
if (a[i] !== b[i]) return false;
|
||||
}
|
||||
return true;
|
||||
};
|
||||
|
||||
// Helper function to create an empty process
|
||||
const createEmptyProcess = (): Process => ({
|
||||
id: `process-${Math.random().toString(36).substring(2, 11)}`,
|
||||
paths: [],
|
||||
animationPath: [],
|
||||
pointActions: [],
|
||||
speed: 1,
|
||||
});
|
||||
|
||||
// Enhanced connection checking function
|
||||
function shouldReverseNextPath(
|
||||
currentPath: SimulationPath,
|
||||
nextPath: SimulationPath
|
||||
): boolean {
|
||||
if (nextPath.points.length !== 3) return false;
|
||||
|
||||
const currentLastPoint = currentPath.points[currentPath.points.length - 1];
|
||||
const nextFirstPoint = nextPath.points[0];
|
||||
const nextLastPoint = nextPath.points[nextPath.points.length - 1];
|
||||
|
||||
// Check if current last connects to next last (requires reversal)
|
||||
const connectsToLast = currentLastPoint.connections.targets.some(
|
||||
(target) =>
|
||||
target.pathUUID === nextPath.modeluuid &&
|
||||
nextLastPoint.connections.targets.some(
|
||||
(t) => t.pathUUID === currentPath.modeluuid
|
||||
)
|
||||
);
|
||||
|
||||
// Check if current last connects to next first (no reversal needed)
|
||||
const connectsToFirst = currentLastPoint.connections.targets.some(
|
||||
(target) =>
|
||||
target.pathUUID === nextPath.modeluuid &&
|
||||
nextFirstPoint.connections.targets.some(
|
||||
(t) => t.pathUUID === currentPath.modeluuid
|
||||
)
|
||||
);
|
||||
|
||||
// Only reverse if connected to last point and not to first point
|
||||
return connectsToLast && !connectsToFirst;
|
||||
}
|
||||
|
||||
// Updated path adjustment function
|
||||
function adjustPathPointsOrder(paths: SimulationPath[]): SimulationPath[] {
|
||||
if (paths.length < 2) return paths;
|
||||
|
||||
const adjustedPaths = [...paths];
|
||||
|
||||
for (let i = 0; i < adjustedPaths.length - 1; i++) {
|
||||
const currentPath = adjustedPaths[i];
|
||||
const nextPath = adjustedPaths[i + 1];
|
||||
|
||||
if (shouldReverseNextPath(currentPath, nextPath)) {
|
||||
const reversedPoints = [
|
||||
nextPath.points[2],
|
||||
nextPath.points[1],
|
||||
nextPath.points[0],
|
||||
];
|
||||
|
||||
adjustedPaths[i + 1] = {
|
||||
...nextPath,
|
||||
points: reversedPoints,
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
return adjustedPaths;
|
||||
}
|
||||
|
||||
// Main hook for process creation
|
||||
export function useProcessCreation() {
|
||||
const { scene } = useThree();
|
||||
const [processes, setProcesses] = useState<Process[]>([]);
|
||||
|
||||
const hasSpawnAction = useCallback((path: SimulationPath): boolean => {
|
||||
return path.points.some((point) =>
|
||||
point.actions.some((action) => action.type.toLowerCase() === "spawn")
|
||||
);
|
||||
}, []);
|
||||
|
||||
const createProcess = useCallback(
|
||||
(paths: SimulationPath[]): Process => {
|
||||
if (!paths || paths.length === 0) {
|
||||
return createEmptyProcess();
|
||||
}
|
||||
|
||||
const animationPath: THREE.Vector3[] = [];
|
||||
const pointActions: PointAction[][] = [];
|
||||
const processSpeed = paths[0]?.speed || 1;
|
||||
|
||||
for (const path of paths) {
|
||||
for (const point of path.points) {
|
||||
const obj = scene.getObjectByProperty("uuid", point.uuid);
|
||||
if (!obj) {
|
||||
console.warn(`Object with UUID ${point.uuid} not found in scene`);
|
||||
continue;
|
||||
}
|
||||
|
||||
const position = obj.getWorldPosition(new THREE.Vector3());
|
||||
animationPath.push(position.clone());
|
||||
pointActions.push(point.actions);
|
||||
}
|
||||
}
|
||||
|
||||
return {
|
||||
id: `process-${Math.random().toString(36).substring(2, 11)}`,
|
||||
paths,
|
||||
animationPath,
|
||||
pointActions,
|
||||
speed: processSpeed,
|
||||
};
|
||||
},
|
||||
[scene]
|
||||
);
|
||||
|
||||
const getAllConnectedPaths = useCallback(
|
||||
(
|
||||
initialPath: SimulationPath,
|
||||
allPaths: SimulationPath[],
|
||||
visited: Set<string> = new Set()
|
||||
): SimulationPath[] => {
|
||||
const connectedPaths: SimulationPath[] = [];
|
||||
const queue: SimulationPath[] = [initialPath];
|
||||
visited.add(initialPath.modeluuid);
|
||||
|
||||
const pathMap = new Map<string, SimulationPath>();
|
||||
allPaths.forEach((path) => pathMap.set(path.modeluuid, path));
|
||||
|
||||
while (queue.length > 0) {
|
||||
const currentPath = queue.shift()!;
|
||||
connectedPaths.push(currentPath);
|
||||
|
||||
// Process outgoing connections
|
||||
for (const point of currentPath.points) {
|
||||
for (const target of point.connections.targets) {
|
||||
if (!visited.has(target.pathUUID)) {
|
||||
const targetPath = pathMap.get(target.pathUUID);
|
||||
if (targetPath) {
|
||||
visited.add(target.pathUUID);
|
||||
queue.push(targetPath);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Process incoming connections
|
||||
for (const [uuid, path] of pathMap) {
|
||||
if (!visited.has(uuid)) {
|
||||
const hasConnectionToCurrent = path.points.some((point) =>
|
||||
point.connections.targets.some(
|
||||
(t) => t.pathUUID === currentPath.modeluuid
|
||||
)
|
||||
);
|
||||
if (hasConnectionToCurrent) {
|
||||
visited.add(uuid);
|
||||
queue.push(path);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return connectedPaths;
|
||||
},
|
||||
[]
|
||||
);
|
||||
|
||||
const createProcessesFromPaths = useCallback(
|
||||
(paths: SimulationPath[]): Process[] => {
|
||||
if (!paths || paths.length === 0) return [];
|
||||
|
||||
const visited = new Set<string>();
|
||||
const processes: Process[] = [];
|
||||
const pathMap = new Map<string, SimulationPath>();
|
||||
paths.forEach((path) => pathMap.set(path.modeluuid, path));
|
||||
|
||||
for (const path of paths) {
|
||||
if (!visited.has(path.modeluuid) && hasSpawnAction(path)) {
|
||||
const connectedPaths = getAllConnectedPaths(path, paths, visited);
|
||||
const adjustedPaths = adjustPathPointsOrder(connectedPaths);
|
||||
const process = createProcess(adjustedPaths);
|
||||
processes.push(process);
|
||||
}
|
||||
}
|
||||
|
||||
return processes;
|
||||
},
|
||||
[createProcess, getAllConnectedPaths, hasSpawnAction]
|
||||
);
|
||||
|
||||
return {
|
||||
processes,
|
||||
createProcessesFromPaths,
|
||||
setProcesses,
|
||||
};
|
||||
}
|
||||
|
||||
const ProcessCreator: React.FC<ProcessCreatorProps> = React.memo(
|
||||
({ onProcessesCreated }) => {
|
||||
const { simulationPaths } = useSimulationPaths();
|
||||
const { createProcessesFromPaths } = useProcessCreation();
|
||||
const prevPathsRef = useRef<SimulationPath[]>([]);
|
||||
const prevProcessesRef = useRef<Process[]>([]);
|
||||
|
||||
const convertedPaths = useMemo((): SimulationPath[] => {
|
||||
if (!simulationPaths) return [];
|
||||
return simulationPaths.map((path) =>
|
||||
convertToSimulationPath(
|
||||
path as ConveyorEventsSchema | VehicleEventsSchema
|
||||
)
|
||||
);
|
||||
}, [simulationPaths]);
|
||||
|
||||
const pathsDependency = useMemo(() => {
|
||||
if (!convertedPaths) return null;
|
||||
return convertedPaths.map((path) => ({
|
||||
id: path.modeluuid,
|
||||
hasSpawn: path.points.some((p: PathPoint) =>
|
||||
p.actions.some((a: PointAction) => a.type.toLowerCase() === "spawn")
|
||||
),
|
||||
connections: path.points
|
||||
.flatMap((p: PathPoint) =>
|
||||
p.connections.targets.map((t: { pathUUID: string }) => t.pathUUID)
|
||||
)
|
||||
.join(","),
|
||||
}));
|
||||
}, [convertedPaths]);
|
||||
|
||||
useEffect(() => {
|
||||
if (!convertedPaths || convertedPaths.length === 0) {
|
||||
if (prevProcessesRef.current.length > 0) {
|
||||
onProcessesCreated([]);
|
||||
prevProcessesRef.current = [];
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
if (areArraysEqual(prevPathsRef.current, convertedPaths)) {
|
||||
return;
|
||||
}
|
||||
|
||||
prevPathsRef.current = convertedPaths;
|
||||
const newProcesses = createProcessesFromPaths(convertedPaths);
|
||||
|
||||
// console.log("--- Action Types in Paths ---");
|
||||
// convertedPaths.forEach((path) => {
|
||||
// path.points.forEach((point) => {
|
||||
// point.actions.forEach((action) => {
|
||||
// console.log(
|
||||
// `Path ${path.modeluuid}, Point ${point.uuid}: ${action.type}`
|
||||
// );
|
||||
// });
|
||||
// });
|
||||
// });
|
||||
// console.log("New processes:", newProcesses);
|
||||
|
||||
if (
|
||||
newProcesses.length !== prevProcessesRef.current.length ||
|
||||
!newProcesses.every(
|
||||
(proc, i) =>
|
||||
proc.paths.length === prevProcessesRef.current[i]?.paths.length &&
|
||||
proc.paths.every(
|
||||
(path, j) =>
|
||||
path.modeluuid ===
|
||||
prevProcessesRef.current[i]?.paths[j]?.modeluuid
|
||||
)
|
||||
)
|
||||
) {
|
||||
onProcessesCreated(newProcesses);
|
||||
// prevProcessesRef.current = newProcesses;
|
||||
}
|
||||
}, [
|
||||
pathsDependency,
|
||||
onProcessesCreated,
|
||||
convertedPaths,
|
||||
createProcessesFromPaths,
|
||||
]);
|
||||
|
||||
return null;
|
||||
}
|
||||
);
|
||||
|
||||
export default ProcessCreator;
|
|
@ -5,6 +5,7 @@ import Behaviour from './behaviour/behaviour';
|
|||
import PathCreation from './path/pathCreation';
|
||||
import PathConnector from './path/pathConnector';
|
||||
import useModuleStore from '../../store/useModuleStore';
|
||||
import ProcessContainer from './process/processContainer';
|
||||
|
||||
function Simulation() {
|
||||
const { activeModule } = useModuleStore();
|
||||
|
@ -35,6 +36,7 @@ function Simulation() {
|
|||
<>
|
||||
<PathCreation pathsGroupRef={pathsGroupRef} />
|
||||
<PathConnector pathsGroupRef={pathsGroupRef} />
|
||||
<ProcessContainer />
|
||||
</>
|
||||
)}
|
||||
</>
|
||||
|
|
Loading…
Reference in New Issue