diff --git a/app/src/components/ui/list/DropDownList.tsx b/app/src/components/ui/list/DropDownList.tsx
index a61054b..d31ef96 100644
--- a/app/src/components/ui/list/DropDownList.tsx
+++ b/app/src/components/ui/list/DropDownList.tsx
@@ -39,7 +39,7 @@ const DropDownList: React.FC<DropDownListProps> = ({
useEffect(() => {
async function GetZoneData() {
const response = await getZonesApi("hexrfactory")
- console.log('response: ', response.data);
+ // console.log('response: ', response.data);
setZoneDataList([{ id: "1", name: "zone1" },
{ id: "2", name: "Zone 2" },])
}
diff --git a/app/src/modules/builder/agv/agv.tsx b/app/src/modules/builder/agv/agv.tsx
index b2e78c0..749e39f 100644
--- a/app/src/modules/builder/agv/agv.tsx
+++ b/app/src/modules/builder/agv/agv.tsx
@@ -1,1580 +1,51 @@
-import React from "react";
+import PolygonGenerator from "./polygonGenerator";
import { useThree } from "@react-three/fiber";
import { useEffect, useRef, useState } from "react";
import * as THREE from "three";
-import PolygonGenerator from "./polygonGenerator";
-import NavMeshDetails from "./navMeshDetails";
-import { NavMesh as RecastNavMesh } from "@recast-navigation/core";
+import * as Types from "../../../types/world/worldTypes";
import PathNavigator from "./pathNavigator";
-interface RawNavMesh {
- ptr: number; // Replace `number` with the actual type if known
-}
-interface NavMesh {
- raw: RawNavMesh;
-}
-export default function Agv({ lines, plane }: any) {
-
-
- const { scene } = useThree();
- const groupRef = useRef<THREE.Group | null>(null);
- const [navMesh, setNavMesh] = useState<RecastNavMesh | null>(null);
+import NavMeshDetails from "./navMeshDetails";
+
+const Agv = ({
+ lines,
+ plane,
+}: {
+ lines: Types.RefLines;
+ plane: Types.RefMesh;
+}) => {
let pathPoints = [
[
{ x: 8.477161935339709, y: 0, z: 17.41343083550102 },
{ x: 9.175416491482693, y: 0, z: -12.361001232663693 },
],
+ ,
+ // [
+ // { x: 13.508213355232144, y: 0, z: -15.456970649652018 },
+ // { x: -30.464866520869617, y: 0, z: 9.779806557688929 },
+ // ],
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{ x: 16.792040856420844, y: 0, z: 15.86281907549489 },
{ x: -42.77173264503395, y: 0, z: -15.821322764400804 },
],
];
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- React.useEffect(() => {
- const groups = new THREE.Group();
- groups.name = "Meshes";
- groupRef.current = groups;
- scene.add(groups);
-
- return () => {
- if (groupRef.current) {
- scene.remove(groupRef.current);
- }
- };
- }, [scene]);
+ let groupRef = useRef() as Types.RefGroup;
+ const [navMesh, setNavMesh] = useState();
return (
<>
- <PolygonGenerator
- groupRef={groupRef}
- processPoint={processPoint}
+ <PolygonGenerator groupRef={groupRef} lines={lines} plane={plane} />
+ <NavMeshDetails
lines={lines}
+ setNavMesh={setNavMesh}
+ groupRef={groupRef}
plane={plane}
/>
- <NavMeshDetails setNavMesh={setNavMesh} />
{pathPoints.map((pair, i) => (
- <PathNavigator navMesh={navMesh} pathPoints={pair} key={i} />
+ <PathNavigator navMesh={navMesh} selectedPoints={pair} key={i} />
))}
+ <group ref={groupRef} visible={false} name="Meshes"></group>
</>
);
-}
+};
+
+export default Agv;
diff --git a/app/src/modules/builder/agv/navMeshDetails.tsx b/app/src/modules/builder/agv/navMeshDetails.tsx
index 0f4852e..c941011 100644
--- a/app/src/modules/builder/agv/navMeshDetails.tsx
+++ b/app/src/modules/builder/agv/navMeshDetails.tsx
@@ -1,146 +1,43 @@
-// import React, { useEffect, useState } from "react";
-// import { init as initRecastNavigation } from "@recast-navigation/core";
-// import { generateSoloNavMesh } from "@recast-navigation/generators";
-// import { DebugDrawer, getPositionsAndIndices } from "@recast-navigation/three";
-// import { useThree } from "@react-three/fiber";
-// import * as THREE from "three";
-// interface RawNavMesh {
-// ptr: number; // Replace `number` with the actual type if known
-// }
-
-// interface NavMesh {
-// raw: RawNavMesh;
-// }
-
-// // Update the MeshState interface to use the correct type
-// interface MeshState {
-// setNavMesh: React.Dispatch<React.SetStateAction<NavMesh | null>>;
-// }
-// export default function NavMeshDetails({ setNavMesh }: MeshState) {
-// const { scene } = useThree();
-// useEffect(() => {
-// const initializeNavMesh = async () => {
-// try {
-// // Initialize Recast Navigation
-// await initRecastNavigation();
-
-// // Extract meshes from the scene
-// // Extract meshes from the scene
-// const meshes = scene?.children
-// .filter((child) => child.name === "Meshes")
-// .flatMap((mesh) => mesh.children);
-
-// if (!meshes || meshes.length === 0) {
-
-// return;
-// }
-
-// // Filter and process only Mesh objects
-// const meshObjects = meshes.filter(
-// (
-// child
-// ): child is THREE.Mesh<
-// THREE.BufferGeometry,
-// THREE.Material | THREE.Material[]
-// > => child instanceof THREE.Mesh
-// );
-
-// if (meshObjects.length === 0) {
-
-// return;
-// }
-
-// // Get positions and indices from the meshes
-// const [positions, indices] = getPositionsAndIndices(meshObjects);
-
-// // Generate navigation mesh
-// const cs = 0.05;
-// const ch = 0.05;
-// const walkableRadius = 0.87;
-// const { success, navMesh } = generateSoloNavMesh(positions, indices, {
-// cs,
-// ch,
-// walkableRadius: Math.round(walkableRadius / ch),
-// });
-
-// if (!success || !navMesh) {
-
-// return;
-// }
-
-// // Log and update the navigation mesh
-
-//
-// setNavMesh(navMesh);
-
-// // Draw the debug visualization
-// const debugDrawer = new DebugDrawer();
-// debugDrawer.drawNavMesh(navMesh);
-// // scene.add(debugDrawer); // Uncomment if you want to add the debug drawer to the scene
-// } catch (error) {
-
-// }
-// };
-
-// initializeNavMesh();
-// }, [setNavMesh, scene]);
-
-// return null;
-// }
-import React, { useEffect } from "react";
+import React, { useEffect, useState } from "react";
import { init as initRecastNavigation } from "@recast-navigation/core";
import { generateSoloNavMesh } from "@recast-navigation/generators";
import { DebugDrawer, getPositionsAndIndices } from "@recast-navigation/three";
import { useThree } from "@react-three/fiber";
import * as THREE from "three";
+import * as Types from "../../../types/world/worldTypes";
-// Import the NavMesh type from the library
-import { NavMesh as RecastNavMesh } from "@recast-navigation/core";
-
-// Define the state type based on the library's NavMesh type
-interface MeshState {
- setNavMesh: React.Dispatch<React.SetStateAction<RecastNavMesh | null>>;
+interface NavMeshDetailsProps {
+ setNavMesh: (navMesh: any) => void;
+ groupRef: React.MutableRefObject<THREE.Group | null>;
+ lines: Types.RefLines;
+ plane: Types.RefMesh;
}
-export default function NavMeshDetails({ setNavMesh }: MeshState) {
+export default function NavMeshDetails({
+ lines,
+ setNavMesh,
+ groupRef,
+ plane,
+}: NavMeshDetailsProps) {
const { scene } = useThree();
useEffect(() => {
- const initializeNavMesh = async () => {
+ const initializeNavigation = async () => {
try {
- // Initialize Recast Navigation
await initRecastNavigation();
- // Extract meshes from the scene
- const meshes = scene?.children
- .filter((child) => child.name === "Meshes")
- .flatMap((mesh) => mesh.children);
-
- if (!meshes || meshes.length === 0) {
+ if (!groupRef.current || groupRef.current.children.length === 0) {
return;
}
- // Filter and process only Mesh objects
- const meshObjects = meshes.filter(
- (
- child
- ): child is THREE.Mesh<
- THREE.BufferGeometry,
- THREE.Material | THREE.Material[]
- > => child instanceof THREE.Mesh
- );
+ const meshes = groupRef?.current?.children as THREE.Mesh[];
- if (meshObjects.length === 0) {
- return;
- }
+ const [positions, indices] = getPositionsAndIndices(meshes);
- // Get positions and indices from the meshes
- const [positions, indices] = getPositionsAndIndices(meshObjects);
+ const cs = 0.5;
+ const ch = 0.5;
+ const walkableRadius = 0.89;
- // Generate navigation mesh
- const cs = 0.05;
- const ch = 0.05;
- const walkableRadius = 0.95;
const { success, navMesh } = generateSoloNavMesh(positions, indices, {
cs,
ch,
@@ -150,17 +47,17 @@ export default function NavMeshDetails({ setNavMesh }: MeshState) {
if (!success || !navMesh) {
return;
}
- // Log and update the navigation mesh
- setNavMesh(navMesh); // Now compatible with the library's NavMesh type
- // Draw the debug visualization
+
+ setNavMesh(navMesh);
+
const debugDrawer = new DebugDrawer();
debugDrawer.drawNavMesh(navMesh);
- // scene.add(debugDrawer); // Uncomment if you want to add the debug drawer to the scene
+ // scene.add(debugDrawer);
} catch (error) {}
};
- initializeNavMesh();
- }, [setNavMesh, scene]);
+ initializeNavigation();
+ }, [scene, groupRef, lines.current]);
return null;
}
diff --git a/app/src/modules/builder/agv/pathNavigator.tsx b/app/src/modules/builder/agv/pathNavigator.tsx
index 257e3e4..4193fb7 100644
--- a/app/src/modules/builder/agv/pathNavigator.tsx
+++ b/app/src/modules/builder/agv/pathNavigator.tsx
@@ -1,76 +1,46 @@
-import React, { useCallback, useEffect, useRef, useState } from "react";
+import React, { useEffect, useState, useRef } from "react";
import * as THREE from "three";
+import { useFrame } from "@react-three/fiber";
import { NavMeshQuery } from "@recast-navigation/core";
-import { NavMesh as RecastNavMesh } from "@recast-navigation/core";
-import { useFrame, useThree } from "@react-three/fiber";
import { Line } from "@react-three/drei";
-interface Pair {
- x: number;
- y: number;
- z: number;
+
+// Define interface for props
+interface PathNavigatorProps {
+ navMesh: any;
+ selectedPoints: any;
}
-interface PathProps {
- navMesh: RecastNavMesh | null; // The navigation mesh
- pathPoints: Pair[] | undefined; // Array of points (or undefined)
-}
-const PathNavigator = ({ navMesh, pathPoints }: PathProps) => {
- const { scene, raycaster, gl } = useThree();
- const [path, setPath] = useState<THREE.Vector3[]>([]); // Path is an array of THREE.Vector3
- const [points, setSelectedPoints] = useState<THREE.Vector3[]>([]); // Path is an array of THREE.Vector3
- const progressRef = useRef<number>(0);
- const meshRef = useRef<THREE.Mesh>(null!);
- const handleClick = useCallback(() => {
- if (!navMesh) return;
+export default function PathNavigator({
+ navMesh,
+ selectedPoints,
+}: PathNavigatorProps) {
+ const [path, setPath] = useState<[number, number, number][]>([]);
+ const progressRef = useRef(0);
+ const meshRef = useRef<THREE.Mesh | null>(null);
- const intersects = raycaster.intersectObjects(scene.children, true);
- if (intersects.length > 0) {
- const { point } = intersects[0];
- const newPoint = { x: point.x, y: 0, z: point.z };
-
- setSelectedPoints((prevPoints: THREE.Vector3[]) => {
- if (prevPoints.length === 2) {
- // If two points already exist, replace them with the new point
- return [new THREE.Vector3(newPoint.x, newPoint.y, newPoint.z)];
- }
- // Otherwise, append the new point to the array
- return [
- ...prevPoints,
- new THREE.Vector3(newPoint.x, newPoint.y, newPoint.z),
- ];
- });
- }
- }, [navMesh, scene]);
- React.useEffect(() => {
- if (points?.length === 2 && navMesh) {
- const [start, end] = points;
- console.log("start: ", start);
- console.log("end: ", end);
+ useEffect(() => {
+ if (selectedPoints.length === 2 && navMesh) {
+ const [start, end] = selectedPoints;
+ if (!start || !end) return;
const navMeshQuery = new NavMeshQuery(navMesh);
- console.log("navMeshQuery: ", navMeshQuery);
- const { path } = navMeshQuery.computePath(start, end);
- console.log("paths: ", path);
+ const { path: computedPath } = navMeshQuery.computePath(start, end);
- // if (path.length > 0) {
- // setPath(
- // path.map((point) => {
- // const newY = point.y + 0.1; // Increment the y-coordinate
- // return new THREE.Vector3(point.x, newY, point.z); // Create a new Vector3
- // })
- // );
- // progressRef.current = 0;
- // }
+ if (computedPath.length > 0) {
+ setPath(computedPath.map(({ x, y, z }) => [x, y + 0.1, z]));
+ progressRef.current = 0;
+ }
}
- }, [points,]);
+ }, [selectedPoints, navMesh]);
useFrame((_, delta) => {
if (path.length > 1 && meshRef.current) {
const speed = 3;
progressRef.current += delta * speed;
+
let totalDistance = 0;
- const distances = [];
+ const distances: number[] = [];
for (let i = 0; i < path.length - 1; i++) {
const start = new THREE.Vector3(...path[i]);
const end = new THREE.Vector3(...path[i + 1]);
@@ -97,7 +67,7 @@ const PathNavigator = ({ navMesh, pathPoints }: PathProps) => {
const segmentDistance = distances[index];
const t = (coveredDistance - accumulatedDistance) / segmentDistance;
- const position = start.lerp(end, t);
+ const position = start.clone().lerp(end, t); // Use clone() to avoid mutating the original vector
meshRef.current.position.copy(position);
const direction = new THREE.Vector3()
@@ -114,20 +84,10 @@ const PathNavigator = ({ navMesh, pathPoints }: PathProps) => {
}
});
- useEffect(() => {
- gl.domElement.addEventListener("click", handleClick);
- return () => gl.domElement.removeEventListener("click", handleClick);
- }, [handleClick]);
return (
<>
{path.length > 0 && <Line points={path} color="blue" lineWidth={3} />}
{path.length > 0 && (
- // <primitive
- // ref={gltfRef}
- // object={gltfClone}
- // position={path.length > 0 ? path[0] : [0, 0.1, 0]}
- // scale={[0.5, 0.5, 0.5]}
- // />
<mesh ref={meshRef} position={path.length > 0 ? path[0] : [0, 0.1, 0]}>
<boxGeometry args={[1, 1, 1]} />
<meshNormalMaterial />
@@ -135,6 +95,4 @@ const PathNavigator = ({ navMesh, pathPoints }: PathProps) => {
)}
</>
);
-};
-
-export default PathNavigator;
+}
diff --git a/app/src/modules/builder/agv/polygonGenerator.tsx b/app/src/modules/builder/agv/polygonGenerator.tsx
index 75c0911..1eca588 100644
--- a/app/src/modules/builder/agv/polygonGenerator.tsx
+++ b/app/src/modules/builder/agv/polygonGenerator.tsx
@@ -1,86 +1,86 @@
import * as THREE from "three";
-import { useEffect, useRef } from "react";
-import { useThree } from "@react-three/fiber";
+import { useEffect, useState } from "react";
import * as turf from "@turf/turf";
import * as Types from "../../../types/world/worldTypes";
-// import { Feature, Polygon, MultiPolygon } from "@turf/helpers";
-type Point = {
- position: { x: number; y: number; z: number };
- uuid: string;
-};
-
-type LineData = {
- type: string;
- line: Point[];
- _id: {};
- layer: number;
- __v: number;
-};
-
-type PolygonGeneratorProps = {
- processPoint: LineData[];
- groupRef: React.RefObject<THREE.Group>;
- lines: any;
- plane: any;
-};
+import arrayLinesToObject from "../geomentries/lines/lineConvertions/arrayLinesToObject";
+interface PolygonGeneratorProps {
+ groupRef: React.MutableRefObject<THREE.Group | null>;
+ lines: Types.RefLines;
+ plane: Types.RefMesh;
+}
export default function PolygonGenerator({
- processPoint,
groupRef,
lines,
plane,
}: PolygonGeneratorProps) {
- const { scene } = useThree();
-
-
+ // const [rooms, setRooms] = useState<THREE.Vector3[][]>([]);
useEffect(() => {
- if (!processPoint) return;
- const wallInLayer = processPoint?.filter(
- (line) => line.type === "WallLine"
- );
- const wallPoints = wallInLayer.map((pair) =>
- pair?.line.map((vals) => vals.position)
- );
- renderWallGeometry(wallPoints);
+ if (groupRef.current && plane.current) {
+ groupRef.current.add(plane.current.clone());
+ }
+ }, [groupRef, plane]);
- const linesInLayer = processPoint?.filter(
- (line) => line.type === "AisleLine"
- );
- const result = linesInLayer.map((pair) =>
+ useEffect(() => {
+ let allLines = arrayLinesToObject(lines.current);
+ const wallLines = allLines?.filter((line) => line?.type === "WallLine");
+ const aisleLines = allLines?.filter((line) => line?.type === "AisleLine");
+
+ const wallPoints = wallLines
+ .map((pair) => pair?.line.map((vals) => vals.position))
+ .filter((wall): wall is THREE.Vector3[] => !!wall);
+
+ const result = aisleLines.map((pair) =>
pair?.line.map((point) => ({
position: [point.position.x, point.position.z],
uuid: point.uuid,
}))
);
+ if (!result || result.some((line) => !line)) {
+ return;
+ }
- const lineFeatures = result.map((line) =>
- turf.lineString(line.map((p) => p.position))
+ const lineFeatures = result?.map((line: any) =>
+ turf.lineString(line.map((p: any) => p?.position))
);
+
const polygons = turf.polygonize(turf.featureCollection(lineFeatures));
- let union: any[] = [];
+ renderWallGeometry(wallPoints);
+
+ let union: any = [];
polygons.features.forEach((feature) => {
union.push(feature);
});
- if (union.length > 0) {
+ if (union.length > 1) {
const unionResult = turf.union(turf.featureCollection(union));
- if (unionResult && unionResult.geometry.type === "MultiPolygon") {
+
+ if (unionResult?.geometry.type === "MultiPolygon") {
unionResult.geometry.coordinates.forEach((poly) => {
- const Coordinates = poly[0].map(
- ([x, z]) => new THREE.Vector3(x, 0, z)
- );
- renderBoxGeometry(Coordinates);
+ const coordinates = poly[0].map(([x, z]) => {
+ return new THREE.Vector3(x, 0, z);
+ });
+ renderBoxGeometry(coordinates);
});
- } else if (unionResult && unionResult.geometry.type === "Polygon") {
- const Coordinates = unionResult.geometry.coordinates[0].map(
- ([x, z]) => new THREE.Vector3(x, 0, z)
+ } else if (unionResult?.geometry.type === "Polygon") {
+ const coordinates = unionResult.geometry.coordinates[0].map(
+ ([x, z]) => {
+ return new THREE.Vector3(x, 0, z);
+ }
);
- renderBoxGeometry(Coordinates);
+ renderBoxGeometry(coordinates);
}
+ } else if (union.length === 1) {
+ const coordinates = union[0].geometry.coordinates[0].map(
+ ([x, z]: [number, number]) => {
+ return new THREE.Vector3(x, 0, z);
+ }
+ );
+ // setRooms((prevRooms) => [...prevRooms, coordinates]);
}
- }, [processPoint]);
+ }, [lines.current]);
const renderBoxGeometry = (coordinates: THREE.Vector3[]) => {
const minX = Math.min(...coordinates.map((p) => p.x));
@@ -97,16 +97,13 @@ export default function PolygonGenerator({
color: "#ff66cc",
visible: false,
});
+
const mesh = new THREE.Mesh(geometry, material);
mesh.position.set((minX + maxX) / 2, height / 2, (minZ + maxZ) / 2);
-
- groupRef?.current?.add(mesh);
- // scene.add(groupRef.current!);
+ groupRef.current?.add(mesh);
};
- const renderWallGeometry = (
- walls: { x: number; y: number; z: number }[][]
- ) => {
+ const renderWallGeometry = (walls: THREE.Vector3[][]) => {
walls.forEach((wall) => {
if (wall.length < 2) return;
@@ -117,19 +114,20 @@ export default function PolygonGenerator({
wall[i + 1].y,
wall[i + 1].z
);
+
const wallHeight = 10;
const direction = new THREE.Vector3().subVectors(end, start);
const length = direction.length();
direction.normalize();
- const wallGeometry = new THREE.BoxGeometry(length, wallHeight, 0.5);
+ const wallGeometry = new THREE.BoxGeometry(length, wallHeight);
const wallMaterial = new THREE.MeshBasicMaterial({
color: "#aaa",
transparent: true,
opacity: 0.5,
});
- const wallMesh = new THREE.Mesh(wallGeometry, wallMaterial);
+ const wallMesh = new THREE.Mesh(wallGeometry, wallMaterial);
const midPoint = new THREE.Vector3()
.addVectors(start, end)
.multiplyScalar(0.5);
@@ -139,17 +137,7 @@ export default function PolygonGenerator({
quaternion.setFromUnitVectors(new THREE.Vector3(1, 0, 0), direction);
wallMesh.quaternion.copy(quaternion);
- groupRef?.current?.add(wallMesh);
- // scene.add(groupRef.current!);
-
- const lineGeometry = new THREE.BufferGeometry().setFromPoints([
- start,
- end,
- ]);
- const lineMaterial = new THREE.LineBasicMaterial({ color: "blue" });
- const line = new THREE.Line(lineGeometry, lineMaterial);
-
- groupRef?.current?.add(line);
+ groupRef.current?.add(wallMesh);
}
});
};