#

luxiaotao1123

2024-05-05 d41e1236ab68c9dce2e66e1f7ef1182c9424d17f

 src/components/agv.jsx

@@ -5,25 +5,38 @@
import Box from './box';
import * as Common from '../utils/common';
import * as TWEEN from "@tweenjs/tween.js";
import { INTERVAL_TIME, MODEL_AGV_SCALE } from '@/config/setting'
import {
    INTERVAL_TIME,
    MODEL_AGV_SCALE,
    REAL_COMPARE_MAP_SCALE,
    REAL_COMPARE_MAP_OFFSET_X,
    REAL_COMPARE_MAP_OFFSET_Z,
} from '../config/setting'

const Agv = (props) => {
    const { position, theta, height, loaderTheta, forkLength, trayList, hasBox } = props;
    const { agvNo, position, theta, height, loaderTheta, forkLength, trayList, hasBox } = props;

    const [groupPos, setGroupPos] = useState({ x: 0, y: 0, z: 0 });
    const [groupTheta, setGroupTheta] = useState(0);
    const [loaderHeight, setLoaderHeight] = useState(0);
    const [integrateTheta, setIntegrateTheta] = useState(0);
    const [forkDis, setForkDis] = useState(0);

    useEffect(() => {
        if (!props || Object.keys(props).length === 0) {
            return;
        }

        // group position
        // const pos = {
        //     x: position?.[0],
        //     y: position?.[1],
        //     z: position?.[2],
        // }
        const pos = {
            x: position?.[0],
            y: position?.[1],
            z: position?.[2],
            x: position?.[0] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
            y: position?.[1] * REAL_COMPARE_MAP_SCALE,
            z: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
        }
        if (!Common.deepEqual(groupPos, pos)) {
            new TWEEN.Tween(groupPos)
@@ -64,6 +77,20 @@
                }).start();
        }

        // loader theta
        if (integrateTheta !== loaderTheta) {
            const minTheta = Common.minDiffTheta(integrateTheta, loaderTheta);
            new TWEEN.Tween({ value: integrateTheta })
                .to({ value: minTheta }, INTERVAL_TIME)
                .easing(TWEEN.Easing.Linear.None)
                .onUpdate((e) => {
                    setIntegrateTheta(e.value)
                })
                .onComplete((e) => {
                    setIntegrateTheta(e.value)
                }).start();
        }

        // fork lenght
        if (forkDis !== forkLength) {
            new TWEEN.Tween({ value: forkDis })
@@ -74,7 +101,6 @@
                })
                .onComplete((e) => {
                    setForkDis(e.value)
                    console.log(e.value);
                }).start();
        }

@@ -118,13 +144,24 @@
                position={[groupPos.x, groupPos.y, groupPos.z]}
            >
                <primitive object={bodyModel} castShadow />
                <group position-y={loaderHeight}>
                    <primitive object={loaderModel} castShadow position={[0, 30, 0]} />
                <group
                    position-y={loaderHeight}
                    rotation-y={Common.rotationParseNum(integrateTheta)}
                >
                    <primitive object={loaderModel} castShadow position={[0, 20, 0]} />
                    <group position-z={forkDis}>
                        <primitive object={forkModel} castShadow position={[0, 35, 0]} />
                        {hasBox && <Box position={[0, 34, 0]} />}
                        <primitive object={forkModel} castShadow position={[0, 25, 0]} />
                        {hasBox && <Box position={[0, 24, 0]} />}
                    </group>
                </group>
                <group>
                    {trayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 25, 0]} />}
                    {trayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 48, 0]} />}
                    {trayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 71, 0]} />}
                    {trayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 94, 0]} />}
                    {trayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 117, 0]} />}
                    {trayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 140, 0]} />}
                </group>
            </group>
        </>
    )