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reset function updated

This commit is contained in:
Gomathi 2025-05-05 11:25:06 +05:30
parent f888c2798c
commit be8f937759
4 changed files with 264 additions and 238 deletions
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16
app/src/components/ui/simulation/simulationPlayer.tsx
View File

@ -38,9 +38,17 @@ const SimulationPlayer: React.FC = () => {
const { isReset, setReset } = useResetButtonStore(); const { isReset, setReset } = useResetButtonStore();
const { subModule } = useSubModuleStore(); const { subModule } = useSubModuleStore();
useEffect(() => {
if (isReset) {
setTimeout(()=>{
setReset(false);
},0)
}
}, [isReset])
// Button functions // Button functions
const handleReset = () => { const handleReset = () => {
setReset(!isReset); setReset(true);
setSpeed(1); setSpeed(1);
}; };
const handlePlayStop = () => { const handlePlayStop = () => {
@ -271,8 +279,7 @@ const SimulationPlayer: React.FC = () => {
</div> </div>
{index < intervals.length - 1 && ( {index < intervals.length - 1 && (
<div <div
className={`line ${ className={`line ${progress >= ((index + 1) / totalSegments) * 100
progress >= ((index + 1) / totalSegments) * 100
? "filled" ? "filled"
: "" : ""
}`} }`}
@ -314,8 +321,7 @@ const SimulationPlayer: React.FC = () => {
<div className="custom-slider-wrapper"> <div className="custom-slider-wrapper">
<div className="custom-slider"> <div className="custom-slider">
<button <button
className={`slider-handle ${ className={`slider-handle ${isDragging ? "dragging" : ""
isDragging ? "dragging" : ""
}`} }`}
style={{ left: `${calculateHandlePosition()}%` }} style={{ left: `${calculateHandlePosition()}%` }}
onMouseDown={handleMouseDown} onMouseDown={handleMouseDown}

52
app/src/modules/simulation/roboticArm/instances/animator/roboticArmAnimator.tsx
View File

@ -44,8 +44,9 @@ function RoboticArmAnimator({
setCirclePoints(points); setCirclePoints(points);
}, [armBot.position]); }, [armBot.position]);
//Handle Reset Animation
useEffect(() => { useEffect(() => {
if (isReset || !isPlaying) { if (isReset ) {
progressRef.current = 0; progressRef.current = 0;
curveRef.current = null; curveRef.current = null;
setCurrentPath([]); setCurrentPath([]);
@ -53,11 +54,15 @@ function RoboticArmAnimator({
totalDistanceRef.current = 0; totalDistanceRef.current = 0;
startTimeRef.current = null; startTimeRef.current = null;
segmentDistancesRef.current = []; segmentDistancesRef.current = [];
setReset(false); if (!ikSolver) return
const bone = ikSolver.mesh.skeleton.bones.find((b: any) => b.name === targetBone);
if (!bone) return;
bone.position.copy(restPosition)
ikSolver.update();
} }
}, [isReset, isPlaying]) }, [isReset, isPlaying])
//Generate Circle Points
function generateRingPoints(radius: any, segments: any) { function generateRingPoints(radius: any, segments: any) {
const points: [number, number, number][] = []; const points: [number, number, number][] = [];
for (let i = 0; i < segments; i++) { for (let i = 0; i < segments; i++) {
@ -70,7 +75,7 @@ function RoboticArmAnimator({
} }
return points; return points;
} }
// Function for find nearest Circlepoints Index
const findNearestIndex = (nearestPoint: [number, number, number], points: [number, number, number][], epsilon = 1e-6) => { const findNearestIndex = (nearestPoint: [number, number, number], points: [number, number, number][], epsilon = 1e-6) => {
for (let i = 0; i < points.length; i++) { for (let i = 0; i < points.length; i++) {
const [x, y, z] = points[i]; const [x, y, z] = points[i];
@ -85,6 +90,15 @@ function RoboticArmAnimator({
return -1; // Not found return -1; // Not found
}; };
//function to find nearest Circlepoints
const findNearest = (target: [number, number, number]) => {
return circlePoints.reduce((nearest, point) => {
const distance = Math.hypot(target[0] - point[0], target[1] - point[1], target[2] - point[2]);
const nearestDistance = Math.hypot(target[0] - nearest[0], target[1] - nearest[1], target[2] - nearest[2]);
return distance < nearestDistance ? point : nearest;
}, circlePoints[0]);
};
// Handle nearest points and final path (including arc points) // Handle nearest points and final path (including arc points)
useEffect(() => { useEffect(() => {
if (circlePoints.length > 0 && currentPath.length > 0) { if (circlePoints.length > 0 && currentPath.length > 0) {
@ -95,13 +109,13 @@ function RoboticArmAnimator({
const raisedStart = [start[0], start[1] + 0.5, start[2]] as [number, number, number]; const raisedStart = [start[0], start[1] + 0.5, start[2]] as [number, number, number];
const raisedEnd = [end[0], end[1] + 0.5, end[2]] as [number, number, number]; const raisedEnd = [end[0], end[1] + 0.5, end[2]] as [number, number, number];
const findNearest = (target: [number, number, number]) => { // const findNearest = (target: [number, number, number]) => {
return circlePoints.reduce((nearest, point) => { // return circlePoints.reduce((nearest, point) => {
const distance = Math.hypot(target[0] - point[0], target[1] - point[1], target[2] - point[2]); // const distance = Math.hypot(target[0] - point[0], target[1] - point[1], target[2] - point[2]);
const nearestDistance = Math.hypot(target[0] - nearest[0], target[1] - nearest[1], target[2] - nearest[2]); // const nearestDistance = Math.hypot(target[0] - nearest[0], target[1] - nearest[1], target[2] - nearest[2]);
return distance < nearestDistance ? point : nearest; // return distance < nearestDistance ? point : nearest;
}, circlePoints[0]); // }, circlePoints[0]);
}; // };
const nearestToStart = findNearest(raisedStart); const nearestToStart = findNearest(raisedStart);
const nearestToEnd = findNearest(raisedEnd); const nearestToEnd = findNearest(raisedEnd);
@ -176,8 +190,13 @@ function RoboticArmAnimator({
if (!bone) return; if (!bone) return;
if (isPlaying) { if (isPlaying) {
if (isReset) {
bone.position.copy(restPosition);
setCustomCurvePoints([]);
ikSolver.update();
}
if (!isPaused && customCurvePoints && customCurvePoints.length > 0) { if (!isPaused && customCurvePoints && customCurvePoints.length > 0) {
const distances = segmentDistancesRef.current; // distances between each pair of points const distances = segmentDistancesRef.current;
const totalDistance = totalDistanceRef.current; const totalDistance = totalDistanceRef.current;
progressRef.current += delta * (speed * armBot.speed); progressRef.current += delta * (speed * armBot.speed);
@ -186,11 +205,11 @@ function RoboticArmAnimator({
let index = 0; let index = 0;
let accumulatedDistance = 0; let accumulatedDistance = 0;
// Find which segment we are currently in
while (index < distances.length && coveredDistance > accumulatedDistance + distances[index]) { while (index < distances.length && coveredDistance > accumulatedDistance + distances[index]) {
accumulatedDistance += distances[index]; accumulatedDistance += distances[index];
index++; index++;
} }
if (index < distances.length) { if (index < distances.length) {
const startPoint = customCurvePoints[index]; const startPoint = customCurvePoints[index];
const endPoint = customCurvePoints[index + 1]; const endPoint = customCurvePoints[index + 1];
@ -201,6 +220,7 @@ function RoboticArmAnimator({
bone.position.copy(position); bone.position.copy(position);
} }
} }
if (progressRef.current >= totalDistance) { if (progressRef.current >= totalDistance) {
HandleCallback(); HandleCallback();
setCurrentPath([]); setCurrentPath([]);
@ -212,13 +232,13 @@ function RoboticArmAnimator({
ikSolver.update(); ikSolver.update();
} }
} else if ((!isPlaying && currentPath.length === 0) || isReset) { } else if (!isPlaying && currentPath.length === 0) {
bone.position.copy(restPosition); bone.position.copy(restPosition);
ikSolver.update();
} }
ikSolver.update();
}); });
return ( return (
<> <>
{customCurvePoints && customCurvePoints?.length >= 2 && currentPath && isPlaying && ( {customCurvePoints && customCurvePoints?.length >= 2 && currentPath && isPlaying && (

36
app/src/modules/simulation/roboticArm/instances/armInstance/roboticArmInstance.tsx
View File

@ -97,25 +97,25 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
useEffect(() => { useEffect(() => {
if (isReset || !isPlaying) { if (isReset || !isPlaying) {
logStatus(armBot.modelUuid, "Simulation Play Reset Successfully") logStatus(armBot.modelUuid, "Simulation Play Reset Successfully")
removeCurrentAction(armBot.modelUuid)
setArmBotActive(armBot.modelUuid, false) setArmBotActive(armBot.modelUuid, false)
setArmBotState(armBot.modelUuid, "idle") setArmBotState(armBot.modelUuid, "idle")
setCurrentPhase("init"); setCurrentPhase("init");
setPath([])
removeCurrentAction(armBot.modelUuid)
isPausedRef.current = false isPausedRef.current = false
pauseTimeRef.current = null pauseTimeRef.current = null
startTime = 0 startTime = 0
const targetBones = ikSolver?.mesh.skeleton.bones.find( const targetBones = ikSolver?.mesh.skeleton.bones.find((b: any) => b.name === targetBone
(b: any) => b.name === targetBone
); );
if (targetBones) { if (targetBones && isPlaying) {
let curve = createCurveBetweenTwoPoints(targetBones.position, restPosition) let curve = createCurveBetweenTwoPoints(targetBones.position, restPosition)
if (curve) { if (curve) {
setPath(curve.points.map(point => [point.x, point.y, point.z])); setPath(curve.points.map(point => [point.x, point.y, point.z]));
}
}
setReset(false);
logStatus(armBot.modelUuid, "Moving armBot from initial point to rest position.") logStatus(armBot.modelUuid, "Moving armBot from initial point to rest position.")
} }
}
// setReset(false);
}
}, [isReset, isPlaying]) }, [isReset, isPlaying])
useEffect(() => { useEffect(() => {
@ -127,7 +127,6 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
(b: any) => b.name === targetBone (b: any) => b.name === targetBone
); );
if (isPlaying) { if (isPlaying) {
//Moving armBot from initial point to rest position. //Moving armBot from initial point to rest position.
if (!armBot?.isActive && armBot?.state == "idle" && currentPhase == "init") { if (!armBot?.isActive && armBot?.state == "idle" && currentPhase == "init") {
@ -204,16 +203,16 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
// logStatus(armBot.modelUuid, "Moving armBot from end point to rest position.") // logStatus(armBot.modelUuid, "Moving armBot from end point to rest position.")
} }
} else { } else {
logStatus(armBot.modelUuid, "Simulation Play Exited") // logStatus(armBot.modelUuid, "Simulation Play Exited")
setArmBotActive(armBot.modelUuid, false) // setArmBotActive(armBot.modelUuid, false)
setArmBotState(armBot.modelUuid, "idle") // setArmBotState(armBot.modelUuid, "idle")
setCurrentPhase("init"); // setCurrentPhase("init");
setPath([]) // setPath([])
isPausedRef.current = false // isPausedRef.current = false
pauseTimeRef.current = null // pauseTimeRef.current = null
isPausedRef.current = false // isPausedRef.current = false
startTime = 0 // startTime = 0
removeCurrentAction(armBot.modelUuid) // removeCurrentAction(armBot.modelUuid)
} }
}, [currentPhase, armBot, isPlaying, ikSolver]) }, [currentPhase, armBot, isPlaying, ikSolver])
@ -260,6 +259,7 @@ function RoboticArmInstance({ armBot }: { armBot: ArmBotStatus }) {
} }
const logStatus = (id: string, status: string) => { const logStatus = (id: string, status: string) => {
// //
} }

2
app/src/modules/simulation/simulator/simulator.tsx
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@ -7,7 +7,7 @@ function Simulator() {
const executionOrder = determineExecutionOrder(products); const executionOrder = determineExecutionOrder(products);
executionOrder.forEach(point => { executionOrder.forEach(point => {
useActionHandler(point); // useActionHandler(point);
}); });
function determineExecutionSequences(products: productsSchema): PointsScheme[][] { function determineExecutionSequences(products: productsSchema): PointsScheme[][] {