armbot animator movements and path updated

app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx

@@ -1,7 +1,7 @@
 import React, { useEffect, useMemo, useRef, useState } from 'react';
 import { useFrame } from '@react-three/fiber';
 import * as THREE from 'three';
-import { Line } from '@react-three/drei';
+import { Line, Text } from '@react-three/drei';
 import {
     useAnimationPlaySpeed,
     usePauseButtonStore,
@@ -124,7 +124,6 @@ function RoboticArmAnimator({
     // Handle nearest points and final path (including arc points)
     useEffect(() => {
         if (circlePoints.length > 0 && currentPath.length > 0) {
-
             const start = currentPath[0];
             const end = currentPath[currentPath.length - 1];
 
@@ -137,31 +136,50 @@ function RoboticArmAnimator({
             const indexOfNearestStart = findNearestIndex(nearestToStart, circlePoints);
             const indexOfNearestEnd = findNearestIndex(nearestToEnd, circlePoints);
 
-            const clockwiseDistance = (indexOfNearestEnd - indexOfNearestStart + 64) % 64;
+            const totalSegments = 64;
-            const counterClockwiseDistance = (indexOfNearestStart - indexOfNearestEnd + 64) % 64;
+            const clockwiseDistance = (indexOfNearestEnd - indexOfNearestStart + totalSegments) % totalSegments;
-            const clockwiseIsShorter = clockwiseDistance <= counterClockwiseDistance;
+            const counterClockwiseDistance = (indexOfNearestStart - indexOfNearestEnd + totalSegments) % totalSegments;
+
+            // Prepare degrees
+            const degreesList = generateRingPointsWithDegrees(CIRCLE_RADIUS, totalSegments);
+
+            // Helper function to collect points and check forbidden degrees
+            const collectArcPoints = (startIdx: number, endIdx: number, clockwise: boolean) => {
+                const arcPoints: [number, number, number][] = [];
+                let i = startIdx;
+
+                while (i !== (endIdx + (clockwise ? 1 : -1) + totalSegments) % totalSegments) {
+                    const { degree, position } = degreesList[i];
+
+                    // Skip over
+                    arcPoints.push(position);
+                    i = (i + (clockwise ? 1 : -1) + totalSegments) % totalSegments;
+                }
+                return arcPoints;
+            };
+
+            const hasForbiddenDegrees = (arc: [number, number, number][]) => {
+                return arc.some(p => {
+                    const idx = findNearestIndex(p, circlePoints);
+                    const degree = degreesList[idx]?.degree || 0;
+                    return degree >= 271 && degree <= 300;  // Forbidden range: 271° to 300°
+                });
+            };
+            
+
+            // Try both directions
+            const arcClockwise = collectArcPoints(indexOfNearestStart, indexOfNearestEnd, true);
+            const arcCounterClockwise = collectArcPoints(indexOfNearestStart, indexOfNearestEnd, false);
+
+            const clockwiseForbidden = hasForbiddenDegrees(arcClockwise);
+            const counterClockwiseForbidden = hasForbiddenDegrees(arcCounterClockwise);
 
             let arcPoints: [number, number, number][] = [];
 
-            if (clockwiseIsShorter) {
+            if (!clockwiseForbidden && (clockwiseDistance <= counterClockwiseDistance || counterClockwiseForbidden)) {
-                if (indexOfNearestStart <= indexOfNearestEnd) {
+                arcPoints = arcClockwise;
-                    arcPoints = circlePoints.slice(indexOfNearestStart, indexOfNearestEnd + 1);
-                } else {
-                    arcPoints = [
-                        ...circlePoints.slice(indexOfNearestStart, 64),
-                        ...circlePoints.slice(0, indexOfNearestEnd + 1)
-                    ];
-                }
             } else {
-                if (indexOfNearestStart >= indexOfNearestEnd) {
+                arcPoints = arcCounterClockwise;
-                    for (let i = indexOfNearestStart; i !== (indexOfNearestEnd - 1 + 64) % 64; i = (i - 1 + 64) % 64) {
-                        arcPoints.push(circlePoints[i]);
-                    }
-                } else {
-                    for (let i = indexOfNearestStart; i !== (indexOfNearestEnd - 1 + 64) % 64; i = (i - 1 + 64) % 64) {
-                        arcPoints.push(circlePoints[i]);
-                    }
-                }
             }
 
             const pathVectors = [
@@ -174,9 +192,7 @@ function RoboticArmAnimator({
                 new THREE.Vector3(end[0], end[1], end[2])
             ];
 
-
             const pathSegments: [THREE.Vector3, THREE.Vector3][] = [];
-
             for (let i = 0; i < pathVectors.length - 1; i++) {
                 pathSegments.push([pathVectors[i], pathVectors[i + 1]]);
             }
@@ -186,16 +202,12 @@ function RoboticArmAnimator({
             const totalDistance = segmentDistances.reduce((sum, d) => sum + d, 0);
             totalDistanceRef.current = totalDistance;
 
-            const movementSpeed = speed * armBot.speed;
-            const totalMoveTime = totalDistance / movementSpeed;
-
-            const segmentTimes = segmentDistances.map(distance => (distance / totalDistance) * totalMoveTime);
-
             setCustomCurvePoints(pathVectors);
-
         }
     }, [circlePoints, currentPath]);
 
+
+
     // Frame update for animation
     useFrame((state, delta) => {
         if (!ikSolver) return;
@@ -266,10 +278,52 @@ function RoboticArmAnimator({
                     />
                 </mesh>
             )}
-            <mesh position={[armBot.position[0], armBot.position[1] + 1.5, armBot.position[2]]} rotation={[-Math.PI / 2, 0, 0]}>
+            <group position={[armBot.position[0], armBot.position[1] + 1.5, armBot.position[2]]}>
-                <ringGeometry args={[CIRCLE_RADIUS, CIRCLE_RADIUS + 0.02, 64]} />
+                {/* Green ring */}
-                <meshBasicMaterial color="green" side={THREE.DoubleSide} />
+                <mesh rotation={[-Math.PI / 2, 0, 0]}>
-            </mesh>
+                    <ringGeometry args={[CIRCLE_RADIUS, CIRCLE_RADIUS + 0.02, 64]} />
+                    <meshBasicMaterial color="green" side={THREE.DoubleSide} />
+                </mesh>
+
+                {/* Markers at 90°, 180°, 270°, 360° */}
+                {[90, 180, 270, 360].map((degree, index) => {
+                    const rad = (degree * Math.PI) / 180;
+                    const x = CIRCLE_RADIUS * Math.cos(rad);
+                    const z = CIRCLE_RADIUS * Math.sin(rad);
+                    const y = 0; // same plane as the ring (Y axis)
+
+                    return (
+                        <mesh key={index} position={[x, y, z]}>
+                            <sphereGeometry args={[0.05, 16, 16]} />
+                            <meshStandardMaterial color="red" />
+                        </mesh>
+                    );
+                })}
+
+                {/* Optional: Text Labels */}
+
+                {[90, 180, 270, 360].map((degree, index) => {
+                    const rad = (degree * Math.PI) / 180;
+                    const x = CIRCLE_RADIUS * Math.cos(rad);
+                    const z = CIRCLE_RADIUS * Math.sin(rad);
+                    const y = 0.15; // lift the text slightly above the ring
+
+                    return (
+                        <Text
+                            key={`text-${index}`}
+                            position={[x, y, z]}
+                            fontSize={0.2}
+                            color="yellow"
+                            anchorX="center"
+                            anchorY="middle"
+                        >
+                            {degree}°
+                        </Text>
+                    );
+                })}
+
+            </group>
+
         </>
     );
 }

app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx

@@ -164,6 +164,17 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
             else if (armBot && !armBot.isActive && armBot.state === "idle" && currentPhase === "dropping" && armBot.currentAction) {
                 requestAnimationFrame(firstFrame);
             }
+        }else{
+            logStatus(armBot.modelUuid, "Simulation Play Exited")
+            setArmBotActive(armBot.modelUuid, false)
+            setArmBotState(armBot.modelUuid, "idle")
+            setCurrentPhase("init");
+            setPath([])
+            isPausedRef.current = false
+            pauseTimeRef.current = null
+            isPausedRef.current = false
+            startTime = 0
+            removeCurrentAction(armBot.modelUuid)
         }
 
     }, [currentPhase, armBot, isPlaying, ikSolver])

app/src/modules/simulation/ui/arm/useDraggableGLTF.ts

@@ -139,15 +139,16 @@ export default function useDraggableGLTF(onUpdate: OnUpdateCallback) {
       }
 
       // Allow only angles between 90° and 270°
-      if (angleDeg < 95 || angleDeg > 270) {
+      if (angleDeg < 0 || angleDeg > 270) {
         // Clamp to nearest boundary (90° or 270°)
-        const distanceTo90 = Math.abs(angleDeg - 95);
+        const distanceTo90 = Math.abs(angleDeg - 0);
         const distanceTo270 = Math.abs(angleDeg - 270);
 
         if (distanceTo90 < distanceTo270) {
-          angleDeg = 95;
+          angleDeg = 0;
         } else {
-          angleDeg = 270;
+          return
+          // angleDeg = 270;
         }
 
         // Update angle in radians