98 lines
3.6 KiB
TypeScript
98 lines
3.6 KiB
TypeScript
import React, { useEffect, useMemo, useRef, useState } from 'react'
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import * as THREE from "three";
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import { DRACOLoader } from "three/examples/jsm/loaders/DRACOLoader";
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import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader";
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import { clone } from "three/examples/jsm/utils/SkeletonUtils";
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import { useFrame, useLoader, useThree } from "@react-three/fiber";
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import { CCDIKSolver, CCDIKHelper, } from "three/examples/jsm/animation/CCDIKSolver";
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type IKInstanceProps = {
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modelUrl: string;
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ikSolver: any;
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setIkSolver: any
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robot: any;
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groupRef: React.RefObject<THREE.Group>;
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processes: any;
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setArmBotCurvePoints: any
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};
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function IKInstance({ modelUrl, setIkSolver, ikSolver, robot, groupRef, processes, setArmBotCurvePoints }: IKInstanceProps) {
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const { scene } = useThree();
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const gltf = useLoader(GLTFLoader, modelUrl, (loader) => {
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const draco = new DRACOLoader();
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draco.setDecoderPath("https://cdn.jsdelivr.net/npm/three@0.160.0/examples/jsm/libs/draco/");
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loader.setDRACOLoader(draco);
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});
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const cloned = useMemo(() => clone(gltf?.scene), [gltf]);
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const targetBoneName = "Target";
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const skinnedMeshName = "link_0";
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useEffect(() => {
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if (!gltf) return;
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const OOI: any = {};
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cloned.traverse((n: any) => {
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if (n.name === targetBoneName) OOI.Target_Bone = n;
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if (n.name === skinnedMeshName) OOI.Skinned_Mesh = n;
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});
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if (!OOI.Target_Bone || !OOI.Skinned_Mesh) return;
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const iks = [
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{
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target: 7,
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effector: 6,
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links: [
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{
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index: 5,
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enabled: true,
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rotationMin: new THREE.Vector3(-Math.PI / 2, 0, 0),
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rotationMax: new THREE.Vector3(Math.PI / 2, 0, 0),
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},
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{
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index: 4,
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enabled: true,
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rotationMin: new THREE.Vector3(-Math.PI / 2, 0, 0),
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rotationMax: new THREE.Vector3(0, 0, 0),
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},
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{
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index: 3,
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enabled: true,
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rotationMin: new THREE.Vector3(0, 0, 0),
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rotationMax: new THREE.Vector3(2, 0, 0),
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},
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{ index: 1, enabled: true, limitation: new THREE.Vector3(0, 1, 0) },
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{ index: 0, enabled: false, limitation: new THREE.Vector3(0, 0, 0) },
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],
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},
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];
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const solver = new CCDIKSolver(OOI.Skinned_Mesh, iks);
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setIkSolver(solver);
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const helper = new CCDIKHelper(OOI.Skinned_Mesh, iks, 0.05);
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// if (solver) {
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// const bone = solver.mesh.skeleton.bones.find(
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// (b: any) => b.name === targetBoneName
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// ) ?? "";
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// if (bone) {
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// const position = new THREE.Vector3();
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// bone.getWorldPosition(position);
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// console.log("world position", position.x, position.y, position.z); // this is the bone's world position
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// }
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// }
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scene.add(helper)
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}, [gltf]);
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return (
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<>
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<group ref={groupRef} position={robot.position} rotation={robot.rotation}>
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<primitive
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uuid={"ArmBot-X200"}
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object={cloned}
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scale={[1, 1, 1]}
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name={`arm-bot11`}
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/>
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</group>
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</>
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)
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}
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export default IKInstance; |