bug fix in ik and code optimization

app/src/modules/builder/asset/functions/assetBoundingBox.tsx

@@ -3,8 +3,15 @@ import { useMemo } from "react";
 import { Cylinder } from "@react-three/drei";
 
 export const AssetBoundingBox = ({ name, boundingBox, color, lineWidth, }: { name: string; boundingBox: Box3 | null; color: string; lineWidth: number; }) => {
-    const { edgeCylinders, center, size } = useMemo(() => {
+    const { edgeCylinders, cornerSpheres, center, size } = useMemo(() => {
-        if (!boundingBox) return { edgeCylinders: [], center: new Vector3(), size: new Vector3() };
+        if (!boundingBox) {
+            return {
+                edgeCylinders: [],
+                cornerSpheres: [],
+                center: new Vector3(),
+                size: new Vector3(),
+            };
+        }
 
         const min = boundingBox.min;
         const max = boundingBox.max;
@@ -50,7 +57,13 @@ export const AssetBoundingBox = ({ name, boundingBox, color, lineWidth, }: { nam
             };
         });
 
-        return { edgeCylinders, center, size };
+        const cornerSpheres = corners.map((corner, i) => ({
+            key: `corner-sphere-${i}`,
+            position: corner.clone(),
+            radius: radius * 1.5,
+        }));
+
+        return { edgeCylinders, cornerSpheres, center, size };
     }, [boundingBox, lineWidth]);
 
     if (!boundingBox) return null;
@@ -58,11 +71,18 @@ export const AssetBoundingBox = ({ name, boundingBox, color, lineWidth, }: { nam
     return (
         <group name={name}>
             {edgeCylinders.map(({ key, position, rotation, length, radius }) => (
-                <Cylinder key={key} args={[radius, radius, length, 6]} position={position} quaternion={rotation} >
+                <Cylinder key={key} args={[radius, radius, length, 6]} position={position} quaternion={rotation}>
                     <meshBasicMaterial color={color} depthWrite={false} />
                 </Cylinder>
             ))}
 
+            {cornerSpheres.map(({ key, position, radius }) => (
+                <mesh key={key} position={position}>
+                    <sphereGeometry args={[radius, 12, 12]} />
+                    <meshBasicMaterial color={color} depthWrite={false} />
+                </mesh>
+            ))}
+
             <mesh visible={false} position={center}>
                 <boxGeometry args={[size.x, size.y, size.z]} />
             </mesh>

app/src/modules/builder/asset/models/model/model.tsx

@@ -449,7 +449,11 @@ function Model({ asset, isRendered, loader }: { readonly asset: Asset, isRendere
 
                         </>
                     ) : (
-                        <AssetBoundingBox name='Asset Fallback' boundingBox={boundingBox} color='gray' lineWidth={2.5} />
+                        <>
+                            {!isSelected &&
+                                <AssetBoundingBox name='Asset Fallback' boundingBox={boundingBox} color='gray' lineWidth={2.5} />
+                            }
+                        </>
                     )}
                     {isSelected &&
                         <AssetBoundingBox name='Asset BBox' boundingBox={boundingBox} color={savedTheme === "dark" ? "#c4abf1" : "#6f42c1"} lineWidth={2.7} />

app/src/modules/simulation/materials/instances/instance/materialInstance.tsx

@@ -61,30 +61,12 @@ function MaterialInstance({ material }: { readonly material: MaterialSchema }) {
     function getCurrentSpeed(productUuid: string, modelUuid: string) {
         const event = getEventByModelUuid(productUuid, modelUuid)
         if (event) {
-            if (event.type === 'transfer') {
+            if (event.type === 'transfer' || event.type === 'machine' || event.type === 'storageUnit') {
-                return event.speed;
-            }
-
-            if (event.type === 'vehicle') {
-                return event.speed;
-            }
-
-            if (event.type === 'machine') {
                 return 1;
             }
-
+            if (event.type === 'vehicle' || event.type === 'roboticArm' || event.type === 'human') {
-            if (event.type === 'roboticArm') {
                 return event.speed;
             }
-
-            if (event.type === 'storageUnit') {
-                return 1;
-            }
-
-            if (event.type === 'human') {
-                return event.speed;
-            }
-
         } else {
             return 1;
         }

app/src/modules/simulation/materials/instances/materialInstances.tsx

@@ -1,4 +1,4 @@
-import React, { useEffect } from 'react'
+import { useEffect } from 'react'
 import MaterialInstance from './instance/materialInstance'
 import { useSceneContext } from '../../../scene/sceneContext';
 

app/src/modules/simulation/spatialUI/arm/armBotUI.tsx

@@ -173,13 +173,16 @@ const ArmBotUI = () => {
 
     const targetMesh = scene?.getObjectByProperty("uuid", selectedArmBotData?.modelUuid || '');
 
+    const iks = targetMesh?.userData?.iks;
+    const firstIK = Array.isArray(iks) && iks.length > 0 ? iks[0] : {};
+
     const { handlePointerDown } = useDraggableGLTF(
         updatePointToState,
         {
-            minDistance: targetMesh?.userData?.iks[0]?.minDistance || 1.2,
+            minDistance: firstIK.minDistance ?? 1.2,
-            maxDistance: targetMesh?.userData?.iks[0]?.maxDistance || 2,
+            maxDistance: firstIK.maxDistance ?? 2,
-            maxheight: targetMesh?.userData?.iks[0]?.maxheight || 0.6,
+            maxheight: firstIK.maxheight ?? 0.6,
-            minheight: targetMesh?.userData?.iks[0]?.minheight || 1.9,
+            minheight: firstIK.minheight ?? 1.9,
         }
     );