#

luxiaotao1123

2021-12-13 ce233f75205501532c91fb2fdf0ca1a3f1dbb442

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 static/js/app.js

@@ -14,8 +14,8 @@
        this.firstTime = 1;
        this.stats = null;
        this.goodTypes=[];//存储所有的库位类型
        this.wrkNo = 0;
        this.wrkTasks = [];// 任务列表
        this.time = 0;//标记堆垛机运行的时间

        this.start = function () {
            this.initMain();
@@ -39,7 +39,7 @@
            this.stats.begin();
            this.renderer.render(this.scene, this.camera);
            this.stats.end();
            // this.modelMove();
            this.modelMove();
        }
        this.initScene = function () {
            this.scene = new THREE.Scene();
@@ -352,12 +352,29 @@
                        }, null, null );
                });
        }
        this.modelMove = function () {
        this.initModelMove = function () {
            for (var wrkMast of this.wrkTasks) {
                console.log(wrkMast)
                let crnBody = getArrVal(this.objects, "name", wrkMast.crnNo + "-body");

                console.log(crnBody.position);
                // 取货点定位
                let sourceLocPosition = getBinPosition(wrkMast.sourceLocNo);
                let points = [crnBody.position, sourceLocPosition];
                this.curve = new Route(points);
                console.log(this.curve);
            }
        }
        this.modelMove = function () {
            if (this.curve) {
                this.time = this.time + 1;
                let points = this.curve.getPoints(2000);
                let point = points[this.time];
                let point1 = points[this.time+1];
                if(this.time >= 2000) {
                    this.time = 0;
                }
                if(point&&point.x){
                    this.AgvCar.position.set(point.x,40,point.z);
                    this.AgvCar.lookAt(point1.x,40,point1.z);
                }
            }
        }
    },

 static/js/object/Route.js

@@ -12,9 +12,27 @@
 */
function Route(option) {
    let curvePoints=[];
    for(let i=0;i<option.points.length;i++) {
        let point=option.points[i];
        curvePoints.push(new THREE.Vector3(point.x, point.y, point.z));
    }
    return new THREE.CatmullRomCurve3(curvePoints,false/*是否闭合*/,'catmullrom',0.000000001);
    // 1.去取货 ------------------------------------------------------------------------
    // z轴
    curvePoints.push(option[0]);
    curvePoints.push({
        x: option[0].x,
        y: option[0].y,
        z: option[1].z
    });
    return new THREE.CatmullRomCurve3(curvePoints,false,'catmullrom',0.000000001);





    // 2.


    // let curvePoints=[];
    // for(let i=0;i<option.points.length;i++) {
    //     let point=option.points[i];
    //     curvePoints.push(new THREE.Vector3(point.x, point.y, point.z));
    // }
    // return new THREE.CatmullRomCurve3(curvePoints,false/*是否闭合*/,'catmullrom',0.000000001);
}

 static/js/utils.js

@@ -1,4 +1,5 @@

// 数组根据key取值
function getArrVal(arrObj, key, condition) {
    if (!arrObj instanceof Array) {
        return null;
@@ -11,3 +12,20 @@
    }
    return null;
}

// 根据库位号获取其定位
function getBinPosition(locNo) {
    var position;
    $.ajax({
        url: 'http://localhost:9090/jkwcs/three/query/goods/position/v1',
        type: "GET",
        data: {
            locNo: locNo
        },
        async: false,
        success: function (res) {
            position = res.data;
        }
    })
    return position;
}