Merge pull request 'simulation-arm' (#62) from simulation-arm into main

Reviewed-on: http://185.100.212.76:7776/Dwinzo-Beta/Dwinzo_dev/pulls/62

app/src/modules/scene/world/world.tsx

@@ -55,6 +55,7 @@ import DrieHtmlTemp from "../mqttTemp/drieHtmlTemp";
 import ZoneGroup from "../../builder/groups/zoneGroup";
 import useModuleStore from "../../../store/useModuleStore";
 import NavMeshCreator from "../../builder/agv/navMeshCreator";
+import ArmReplace from "../../simulation/ik/ArmReplace";
 
 export default function World() {
   const state = useThree<Types.ThreeState>(); // Importing the state from the useThree hook, which contains the scene, camera, and other Three.js elements.
@@ -370,6 +371,9 @@ export default function World() {
 
       <NavMeshCreator lines={lines} />
 
+      {/* replacing exsisting arms with rigged ones */}
+      <ArmReplace />
+
     </>
   );
 }

app/src/modules/simulation/ik/ArmReplace.tsx

@@ -0,0 +1,56 @@
+import React, { useEffect } from "react";
+import { useThree } from "@react-three/fiber";
+
+// store
+import useModuleStore from "../../../store/useModuleStore";
+
+// functions
+import { findLinkObjects } from "./functions/findLinkObjects";
+// components
+import { MultiGLTFInstances } from "./MultiGLTFInstances";
+
+// impory model from model folder
+import armModel from "../../../assets/gltf-glb/rigged/ik_arm_4.glb";
+
+// Main component to include the logic
+const ArmReplace: React.FC = () => {
+  const { activeModule } = useModuleStore();
+
+  const { scene } = useThree(); // Access the Three.js scene from the React Fiber context
+
+  // State to store positions, rotations, and count
+  const [positions, setPositions] = React.useState<[number, number, number][]>(
+    []
+  );
+  const [rotations, setRotations] = React.useState<[number, number, number][]>(
+    []
+  );
+  const [count, setCount] = React.useState<string[]>([]);
+
+  useEffect(() => {
+    // Call the function to find objects and update states
+    findLinkObjects(
+      scene,
+      setPositions,
+      setRotations,
+      setCount,
+      activeModule === "simulation" ? false : true
+    );
+  }, [scene, activeModule]); // Re-run this effect if the scene changes or activeModule changes
+
+  return (
+    <>
+      {useModuleStore.getState().activeModule === "simulation" &&
+        count.map((_, i: number) => (
+          <MultiGLTFInstances
+            index={i}
+            modelUrl={armModel}
+            position={positions[i]}
+            rotation={rotations[i]}
+          />
+        ))}
+    </>
+  );
+};
+
+export default ArmReplace;

app/src/modules/simulation/ik/MultiGLTFInstances.tsx

@@ -0,0 +1,43 @@
+import { useLoader } from "@react-three/fiber";
+import { DRACOLoader } from "three/examples/jsm/loaders/DRACOLoader";
+import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader";
+import { clone } from "three/examples/jsm/utils/SkeletonUtils";
+
+interface MultiGLTFInstancesProps {
+  index: number;
+  modelUrl: string;
+  position: [number, number, number];
+  rotation: [number, number, number];
+}
+
+export const MultiGLTFInstances: React.FC<MultiGLTFInstancesProps> = ({
+  index,
+  modelUrl,
+  position,
+  rotation,
+}) => {
+  // Load GLTF model with DRACO loader for compression
+  const originalGltf = useLoader(GLTFLoader, modelUrl, (loader) => {
+    const draco = new DRACOLoader();
+    draco.setDecoderPath(
+      "https://cdn.jsdelivr.net/npm/three@0.160.0/examples/jsm/libs/draco/"
+    );
+    loader.setDRACOLoader(draco);
+  });
+
+  // Clone the model for independent transformations
+  const cloned = clone(originalGltf.scene);
+
+  // Render the cloned model
+  return (
+    <mesh>
+      <primitive
+        name="rigged_arm"
+        key={index}
+        object={cloned}
+        position={position}
+        rotation={rotation}
+      />
+    </mesh>
+  );
+};

app/src/modules/simulation/ik/functions/findLinkObjects.ts

@@ -0,0 +1,43 @@
+import { Object3D, Vector3 } from "three";
+
+// Function to find objects named 'link_0' and update positions, rotations, and count
+export const findLinkObjects = (
+  scene: Object3D,
+  setPositions: React.Dispatch<
+    React.SetStateAction<[number, number, number][]>
+  >,
+  setRotations: React.Dispatch<
+    React.SetStateAction<[number, number, number][]>
+  >,
+  setCount: React.Dispatch<React.SetStateAction<string[]>>,
+  visibility: boolean
+) => {
+  const positions: [number, number, number][] = [];
+  const rotations: [number, number, number][] = [];
+  const count: string[] = [];
+  let i = 0;
+
+  scene.traverse((object) => {
+    if (object.name === "link_0") {
+      if (object.parent && object.type !== "SkinnedMesh") {
+        // count
+        count[i] = object.uuid;
+        i++;
+        // Save the position and rotation of the parent object
+        const { x: px, y: py, z: pz } = object.parent.position;
+        positions.push([px, py, pz]);
+
+        const { x: rx, y: ry, z: rz } = object.parent.rotation;
+        rotations.push([rx, ry, rz]);
+
+        // Change visibility of the object
+        object.visible = visibility;
+      }
+    }
+  });
+
+  // Update the state with the collected positions, rotations, and count
+  setPositions(positions);
+  setRotations(rotations);
+  setCount(count);
+};