import { useState, useMemo, useRef, useEffect } from 'react';
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import { useFrame } from '@react-three/fiber';
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import { useFBX, useAnimations } from '@react-three/drei';
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import * as THREE from 'three';
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import Box from './box';
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import * as Common from '../utils/common';
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import * as TWEEN from "@tweenjs/tween.js";
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import {
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INTERVAL_TIME,
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MODEL_AGV_SCALE,
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REAL_COMPARE_MAP_SCALE,
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REAL_COMPARE_MAP_OFFSET_X,
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REAL_COMPARE_MAP_OFFSET_Z,
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} from '../config/setting'
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const getCorrectForkDis = (loaderAngle, forkDis) => {
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if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
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return -forkDis;
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}
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if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
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return -forkDis;
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}
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if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
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return forkDis;
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}
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if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
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return forkDis;
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}
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return forkDis;
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}
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const getLoaderHasBox = (loaderAngle, finger1, finger2, finger3, finger4) => {
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// console.log(loaderAngle, finger1, finger2, finger3, finger4);
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if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
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return finger1 && finger2; // 取货是对的 放货是对的
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}
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if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
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return finger3 && finger4; // 放货是对的 取货是错的
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/**
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* 放货 （左边）
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* 34agv.jsx:33 180 false false true true
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warehouse.jsx:29 do
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35agv.jsx:33 180 false false true true
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warehouse.jsx:29 do
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32agv.jsx:33 180 false false true true
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warehouse.jsx:29 do
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39agv.jsx:33 180 false false true true
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warehouse.jsx:29 do
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34agv.jsx:33 180 false false true true
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warehouse.jsx:29 do
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38agv.jsx:33 180 false false true true
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warehouse.jsx:29 do
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agv.jsx:33 180 false false true true
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36agv.jsx:33 180 false false false false
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warehouse.jsx:29 do
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30agv.jsx:33 180 false false false false
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warehouse.jsx:29 do
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37agv.jsx:33 180 false false false false
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warehouse.jsx:29 do
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4agv.jsx:33 180 false false false false
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warehouse.jsx:29 do
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36agv.jsx:33 180 false false false false
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*
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*
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* 取货（左边）
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* 180 false false true true
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warehouse.jsx:29 do
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30agv.jsx:33 180 false false true true
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warehouse.jsx:29 do
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31agv.jsx:33 180 false false true true
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warehouse.jsx:29 do
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4agv.jsx:33 180 false false true true
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32agv.jsx:33 180 true true true true
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warehouse.jsx:29 do
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34agv.jsx:33 180 true true true true
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warehouse.jsx:29 do
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2agv.jsx:33 180 true true true true
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*/
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}
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if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
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return finger1 && finger2;
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}
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if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
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return finger1 && finger2; // 放货是对的
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}
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return finger1 && finger2 && finger3 && finger4;
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}
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const Agv = (props) => {
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const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4 } = props;
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const theta = -props.theta;
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const height = props.height * 0.0655;
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const forkLength = props.forkLength * 0.1;
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// console.log(props.forkLength);
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const loaderTheta = Number(props.loaderTheta?.toFixed(1));
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const [groupPos, setGroupPos] = useState({ x: 0, y: 0, z: 0 });
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const [groupTheta, setGroupTheta] = useState(0);
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const [loaderHeight, setLoaderHeight] = useState(0);
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const [loaderAngle, setLoaderAngle] = useState(0);
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const [forkDis, setForkDis] = useState(0);
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const [realTrayList, setRealTrayList] = useState([]);
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useEffect(() => {
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if (!props || Object.keys(props).length === 0) {
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return;
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}
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// group position
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const pos = {
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x: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
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y: position?.[1] * REAL_COMPARE_MAP_SCALE,
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z: position?.[0] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
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}
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if (!Common.deepEqual(groupPos, pos) && props.position !== null) {
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new TWEEN.Tween(groupPos)
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.to(pos, INTERVAL_TIME)
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.easing(TWEEN.Easing.Linear.None)
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.onUpdate((e) => {
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setGroupPos({ ...e });
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})
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.onComplete((e) => {
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setGroupPos({ ...e });
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}).start();
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}
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// group theta
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if (groupTheta !== theta && props.theta !== null) {
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const targetTheta = Common.normalizeAngle(theta - groupTheta) + groupTheta;
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new TWEEN.Tween({ value: groupTheta })
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.to({ value: targetTheta }, INTERVAL_TIME)
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.easing(TWEEN.Easing.Linear.None)
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.onUpdate((e) => {
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setGroupTheta(e.value)
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})
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.onComplete((e) => {
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setGroupTheta(e.value)
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}).start();
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}
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// loader height
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if (loaderHeight !== height && props.height !== null) {
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new TWEEN.Tween({ value: loaderHeight })
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.to({ value: height }, INTERVAL_TIME)
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.easing(TWEEN.Easing.Linear.None)
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.onUpdate((e) => {
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setLoaderHeight(e.value)
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})
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.onComplete((e) => {
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setLoaderHeight(e.value)
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}).start();
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}
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// loader theta
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const loaderTargetTheta = Common.normalizeAngle(loaderTheta + 90);
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if (loaderAngle !== loaderTargetTheta && props.loaderTheta !== null) {
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new TWEEN.Tween({ value: loaderAngle })
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.to({ value: loaderTargetTheta }, INTERVAL_TIME)
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.easing(TWEEN.Easing.Linear.None)
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.onUpdate((e) => {
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setLoaderAngle(e.value)
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})
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.onComplete((e) => {
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setLoaderAngle(e.value)
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}).start();
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}
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// fork lenght
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if (forkDis !== forkLength && props.forkLength !== null) {
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const targetForkDis = getCorrectForkDis(Common.positiveAngle(loaderTargetTheta), forkLength);
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new TWEEN.Tween({ value: forkDis })
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.to({ value: targetForkDis }, INTERVAL_TIME)
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.easing(TWEEN.Easing.Linear.None)
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.onUpdate((e) => {
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setForkDis(e.value)
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})
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.onComplete((e) => {
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setForkDis(e.value)
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}).start();
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}
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if (trayList) {
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setRealTrayList(trayList);
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}
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}, [props]);
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useFrame((state, delta) => {
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TWEEN.update();
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})
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const bodyModel = useMemo(() => {
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const fbx = useFBX('/models/agv/body.fbx');
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if (!fbx.castShadow) {
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Common.setShadow(fbx);
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}
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fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE * 0.97, MODEL_AGV_SCALE);
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return fbx.clone();
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}, [])
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const loaderModel = useMemo(() => {
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const fbx = useFBX('/models/agv/loader.fbx');
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if (!fbx.castShadow) {
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Common.setShadow(fbx);
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}
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fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
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return fbx.clone();
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}, [])
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const forkModel = useMemo(() => {
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const fbx = useFBX('/models/agv/fork.fbx');
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if (!fbx.castShadow) {
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Common.setShadow(fbx);
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}
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fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
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return fbx.clone();
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}, [])
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return (
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<>
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<group
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rotation-y={Common.rotationParseNum(groupTheta)}
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position={[groupPos.x, groupPos.y, groupPos.z]}
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>
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<primitive object={bodyModel} castShadow />
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<group
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position-y={loaderHeight}
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rotation-y={Common.rotationParseNum(loaderAngle)}
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>
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<primitive object={loaderModel} castShadow position={[0, 0, 0]} />
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<group position-z={forkDis}>
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<primitive object={forkModel} castShadow position={[0, 6, 0]} />
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{(hasBox || getLoaderHasBox(loaderAngle, finger1, finger2, finger3, finger4)) && <Box position={[0, 6, 0]} />}
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</group>
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</group>
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<group>
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{realTrayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 34, 0]} />}
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{realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 66, 0]} />}
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{realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 99, 0]} />}
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{realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 131, 0]} />}
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{realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 163, 0]} />}
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{realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 195, 0]} />}
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</group>
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</group>
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</>
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)
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}
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export default Agv;
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