feat: Clean up commented code and improve asset handling in various components

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

@@ -1,15 +1,27 @@
 import { useEffect, useRef, useState } from 'react';
-import { useFrame } from '@react-three/fiber';
+import { useFrame, useThree } from '@react-three/fiber';
 import * as THREE from 'three';
 import { Line, Text } from '@react-three/drei';
 import { useAnimationPlaySpeed, usePauseButtonStore, usePlayButtonStore, useResetButtonStore } from '../../../../../store/usePlayButtonStore';
+import { useSceneContext } from '../../../../scene/sceneContext';
+import { useProductContext } from '../../../products/productContext';
 
 type PointWithDegree = {
     position: [number, number, number];
     degree: number;
 };
 
-function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone, armBot, path }: any) {
+interface RoboticArmAnimatorProps {
+    HandleCallback: () => void;
+    restPosition: THREE.Vector3;
+    ikSolver: any;
+    targetBone: string;
+    armBot: ArmBotStatus;
+    path: [number, number, number][];
+    currentPhase: string;
+}
+
+function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone, armBot, path, currentPhase }: RoboticArmAnimatorProps) {
     const progressRef = useRef(0);
     const curveRef = useRef<THREE.Vector3[] | null>(null);
     const totalDistanceRef = useRef(0);
@@ -19,6 +31,14 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone
     const [circlePoints, setCirclePoints] = useState<[number, number, number][]>([]);
     const [circlePointsWithDegrees, setCirclePointsWithDegrees] = useState<PointWithDegree[]>([]);
     const [customCurvePoints, setCustomCurvePoints] = useState<THREE.Vector3[] | null>(null);
+    const { armBotStore, productStore, materialStore } = useSceneContext();
+    const { getArmBotById } = armBotStore();
+    const { getMaterialById } = materialStore();
+    const { getEventByModelUuid } = productStore();
+    const { selectedProductStore } = useProductContext();
+    const { selectedProduct } = selectedProductStore();
+    const { scene } = useThree();
+
     let curveHeight = 1.75
     const CIRCLE_RADIUS = 1.6
 
@@ -145,8 +165,38 @@ function RoboticArmAnimator({ HandleCallback, restPosition, ikSolver, targetBone
     useEffect(() => {
         if (circlePoints.length > 0 && currentPath.length > 0) {
 
-            const start = currentPath[0];
-            const end = currentPath[currentPath.length - 1];
+            let start = currentPath[0];
+            let end = currentPath[currentPath.length - 1];
+
+            const armbotStatus = getArmBotById(armBot.modelUuid);
+            const currentMaterial = armbotStatus?.currentAction?.materialId;
+            if (armbotStatus && currentMaterial && (currentPhase === 'rest-to-start' || currentPhase === 'start-to-end')) {
+                const materialData = getMaterialById(currentMaterial);
+                if (materialData) {
+                    const prevModel = getEventByModelUuid(selectedProduct.productUuid, materialData.current.modelUuid);
+
+                    if (prevModel && prevModel.type === 'transfer') {
+                        const material = scene.getObjectByProperty("uuid", currentMaterial);
+                        const armbotModel = scene.getObjectByProperty("uuid", armBot.modelUuid);
+                        if (material && armbotModel) {
+                            const materialWorldPos = new THREE.Vector3();
+                            material.getWorldPosition(materialWorldPos);
+
+                            const armbotWorldPos = new THREE.Vector3();
+                            armbotModel.getWorldPosition(armbotWorldPos);
+
+                            const materialLocalPos = materialWorldPos.clone();
+                            armbotModel.worldToLocal(materialLocalPos);
+
+                            if (currentPhase === 'rest-to-start') {
+                                end = [materialLocalPos.x, materialLocalPos.y + 0.35, materialLocalPos.z];
+                            } else if (currentPhase === 'start-to-end') {
+                                start = [materialLocalPos.x, materialLocalPos.y + 0.35, materialLocalPos.z];
+                            }
+                        }
+                    }
+                }
+            }
 
             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];

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

@@ -334,7 +334,6 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
 
     }, [currentPhase, armBot, isPlaying, isReset, ikSolver])
 
-
     function createCurveBetweenTwoPoints(p1: any, p2: any) {
         const mid = new THREE.Vector3().addVectors(p1, p2).multiplyScalar(0.5);
         const points = [p1, mid, p2];
@@ -342,7 +341,6 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
     }
 
     const HandleCallback = () => {
-
         if (armBot.isActive && armBot.state == "running" && currentPhase == "init-to-rest") {
             logStatus(armBot.modelUuid, "Callback triggered: rest");
             setArmBotActive(armBot.modelUuid, false)
@@ -370,7 +368,6 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
             setArmBotState(armBot.modelUuid, "idle")
             setCurrentPhase("rest");
             setPath([])
-
         }
     }
 
@@ -389,7 +386,6 @@ function RoboticArmInstance({ armBot }: { readonly armBot: ArmBotStatus }) {
                         ikSolver={ikSolver}
                         targetBone={targetBone}
                         armBot={armBot}
-                        logStatus={logStatus}
                         path={path}
                         currentPhase={currentPhase}
                     />