Dwinzo-Beta/Dwinzo_Demo
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

bug fix

Browse Source
This commit is contained in:
Jerald-Golden-B
2025-07-17 14:31:57 +05:30
parent 2fd1cf352c
commit 9d3365ae86
3 changed files with 34 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
app/src/modules/simulation/human/eventManager/useHumanEventManager.ts
View File

@@ -88,14 +88,14 @@ export function useHumanEventManager() {
human.currentLoad < currentAction.loadCapacity
);
// if (human.totalLoadCount >= currentAction.loadCount) {
// queue.shift();
// actionQueue.shift();
// if (queue.length === 0) {
// removeHumanFromMonitor(humanId);
// }
// return;
// }
if (human.totalLoadCount >= currentAction.loadCount && actionUuid === human.currentAction?.actionUuid) {
queue.shift();
actionQueue.shift();
if (queue.length === 0) {
removeHumanFromMonitor(humanId);
}
return;
}
if (conditionMet && actionUuid !== human.currentAction?.actionUuid) {
setCurrentPhase(human.modelUuid, 'init');
@@ -152,7 +152,7 @@ export function useHumanEventManager() {
}
}
});
},10);
}, 0);
useEffect(() => {
return () => {

86
app/src/modules/simulation/human/instances/instance/humanInstance.tsx
View File

@@ -56,27 +56,28 @@ function HumanInstance({ human }: { human: HumanStatus }) {
isSpeedRef.current = speed;
}, [speed]);
const computePath = useCallback(
(start: any, end: any) => {
try {
const navMeshQuery = new NavMeshQuery(navMesh);
const { path: segmentPath } = navMeshQuery.computePath(start, end);
if (
segmentPath.length > 0 &&
Math.round(segmentPath[segmentPath.length - 1].x) == Math.round(end.x) &&
Math.round(segmentPath[segmentPath.length - 1].z) == Math.round(end.z)
) {
return segmentPath?.map(({ x, y, z }) => [x, 0, z] as [number, number, number]) || [];
} else {
console.log("There is no path here...Choose valid path")
const { path: segmentPaths } = navMeshQuery.computePath(start, start);
return segmentPaths.map(({ x, y, z }) => [x, 0, z] as [number, number, number]) || [];
}
} catch {
console.error("Failed to compute path");
return [];
const computePath = useCallback((start: [number, number, number], end: [number, number, number]) => {
try {
const navMeshQuery = new NavMeshQuery(navMesh);
let startPoint = new THREE.Vector3(start[0], start[1], start[2]);
let endPoint = new THREE.Vector3(end[0], end[1], end[2]);
const { path: segmentPath } = navMeshQuery.computePath(startPoint, endPoint);
if (
segmentPath.length > 0 &&
Math.round(segmentPath[segmentPath.length - 1].x) == Math.round(endPoint.x) &&
Math.round(segmentPath[segmentPath.length - 1].z) == Math.round(endPoint.z)
) {
return segmentPath?.map(({ x, y, z }) => [x, 0, z] as [number, number, number]) || [];
} else {
console.log("There is no path here...Choose valid path")
const { path: segmentPaths } = navMeshQuery.computePath(startPoint, startPoint);
return segmentPaths.map(({ x, y, z }) => [x, 0, z] as [number, number, number]) || [];
}
}, [navMesh]);
} catch {
console.error("Failed to compute path");
return [];
}
}, [navMesh]);
function humanStatus(modelId: string, status: string) {
// console.log(`${modelId} , ${status}`);
@@ -128,14 +129,7 @@ function HumanInstance({ human }: { human: HumanStatus }) {
const humanMesh = scene.getObjectByProperty('uuid', human.modelUuid);
if (!humanMesh) return;
const toPickupPath = computePath(
new THREE.Vector3(...humanMesh.position.toArray()),
new THREE.Vector3(
(action as HumanAction)?.assemblyPoint?.position?.[0] ?? 0,
(action as HumanAction)?.assemblyPoint?.position?.[1] ?? 0,
(action as HumanAction)?.assemblyPoint?.position?.[2] ?? 0
)
);
const toPickupPath = computePath(humanMesh.position.toArray(), (action as HumanAction)?.assemblyPoint?.position || [0, 0, 0]);
setPath(toPickupPath);
setHumanState(human.modelUuid, 'idle');
setCurrentPhase(human.modelUuid, 'init-assembly');
@@ -239,14 +233,7 @@ function HumanInstance({ human }: { human: HumanStatus }) {
const humanMesh = scene.getObjectByProperty('uuid', human.modelUuid);
if (!humanMesh) return;
const toPickupPath = computePath(
new THREE.Vector3(...humanMesh.position.toArray()),
new THREE.Vector3(
action?.pickUpPoint?.position?.[0] ?? 0,
action?.pickUpPoint?.position?.[1] ?? 0,
action?.pickUpPoint?.position?.[2] ?? 0
)
);
const toPickupPath = computePath(humanMesh.position.toArray(), action?.pickUpPoint?.position || [0, 0, 0]);
setPath(toPickupPath);
setCurrentPhase(human.modelUuid, 'init-pickup');
setHumanState(human.modelUuid, 'running');
@@ -257,18 +244,7 @@ function HumanInstance({ human }: { human: HumanStatus }) {
} else if (!human.isActive && human.state === 'idle' && human.currentPhase === 'picking') {
if (humanAsset && human.currentLoad === action.loadCapacity && human.currentMaterials.length > 0 && humanAsset.animationState?.current === 'pickup' && humanAsset.animationState?.isCompleted) {
if (action.pickUpPoint && action.dropPoint) {
const toDrop = computePath(
new THREE.Vector3(
action.pickUpPoint.position?.[0] ?? 0,
action.pickUpPoint.position?.[1] ?? 0,
action.pickUpPoint.position?.[2] ?? 0
),
new THREE.Vector3(
action.dropPoint.position?.[0] ?? 0,
action.dropPoint.position?.[1] ?? 0,
action.dropPoint.position?.[2] ?? 0
)
);
const toDrop = computePath(action.pickUpPoint.position || [0, 0, 0], action.dropPoint.position || [0, 0, 0]);
setPath(toDrop);
setCurrentPhase(human.modelUuid, 'pickup-drop');
setHumanState(human.modelUuid, 'running');
@@ -283,18 +259,7 @@ function HumanInstance({ human }: { human: HumanStatus }) {
}
} else if (!human.isActive && human.state === 'idle' && human.currentPhase === 'dropping' && human.currentLoad === 0) {
if (action.pickUpPoint && action.dropPoint) {
const dropToPickup = computePath(
new THREE.Vector3(
action.dropPoint.position?.[0] ?? 0,
action.dropPoint.position?.[1] ?? 0,
action.dropPoint.position?.[2] ?? 0
),
new THREE.Vector3(
action.pickUpPoint.position?.[0] ?? 0,
action.pickUpPoint.position?.[1] ?? 0,
action.pickUpPoint.position?.[2] ?? 0
)
);
const dropToPickup = computePath(action.dropPoint.position || [0, 0, 0], action.pickUpPoint.position || [0, 0, 0]);
setPath(dropToPickup);
setCurrentPhase(human.modelUuid, 'drop-pickup');
setHumanState(human.modelUuid, 'running');
@@ -333,7 +298,6 @@ function HumanInstance({ human }: { human: HumanStatus }) {
humanStatus(human.modelUuid, 'Reached drop point');
setPath([]);
} else if (human.currentPhase === 'drop-pickup') {
console.log('human: ', human);
setCurrentPhase(human.modelUuid, 'picking');
setHumanState(human.modelUuid, 'idle');
setHumanActive(human.modelUuid, false);

2
app/src/modules/simulation/vehicle/instances/instance/vehicleInstance.tsx
View File

@@ -273,7 +273,6 @@ function VehicleInstance({ agvDetail }: Readonly<{ agvDetail: VehicleStatus }>)
loopMaterialDropToHuman(
agvDetail,
model.modelUuid,
agvDetail.point.action,
action.actionUuid
);
}, action.actionUuid || '')
@@ -284,7 +283,6 @@ function VehicleInstance({ agvDetail }: Readonly<{ agvDetail: VehicleStatus }>)
function loopMaterialDropToHuman(
vehicle: VehicleStatus,
humanId: string,
vehicleAction: VehicleAction,
humanActionId: string
) {
let currentVehicleLoad = vehicle.currentLoad;