From 15d3b197f6102f347a828f2b50d5dfebe57780dd Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 08 五月 2024 15:17:54 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 55 ++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 36 insertions(+), 19 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index c96cf8c..caf04bb 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -13,8 +13,25 @@
REAL_COMPARE_MAP_OFFSET_Z,
} from '../config/setting'
+const getCorrectForkDis = (loaderAngle, forkDis) => {
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return forkDis;
+ }
+ if (loaderAngle > 360 - 10 && loaderAngle < 0 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return -forkDis;
+ }
+ return forkDis;
+}
+
const Agv = (props) => {
- const { agvNo, position, theta, trayList, hasBox } = props;
+ const { agvNo, position, trayList, hasBox } = props;
+ const theta = -props.theta;
const height = props.height * 0.04;
const forkLength = props.forkLength * 0.1;
const loaderTheta = Number(props.loaderTheta?.toFixed(1));
@@ -22,7 +39,7 @@
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 [loaderAngle, setLoaderAngle] = useState(0);
const [forkDis, setForkDis] = useState(0);
const [realTrayList, setRealTrayList] = useState([]);
@@ -50,10 +67,10 @@
}
// group theta
- if (groupTheta !== -theta && props.theta !== null) {
- const minTheta = Common.minDiffTheta(groupTheta, -theta);
+ if (groupTheta !== theta && props.theta !== null) {
+ const targetTheta = Common.normalizeAngle(theta - groupTheta) + groupTheta;
new TWEEN.Tween({ value: groupTheta })
- .to({ value: minTheta }, INTERVAL_TIME)
+ .to({ value: targetTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
setGroupTheta(e.value)
@@ -77,30 +94,30 @@
}
// loader theta
+ let loaderTargetTheta;
const loaderAbsoluteAngle = (theta + loaderTheta) % 360;
- // console.log("integrateTheta", integrateTheta);
- // console.log("theta", theta);
- // console.log("loaderTheta", loaderTheta);
- // console.log("loaderAbsoluteAngle", loaderAbsoluteAngle);
- if (integrateTheta !== loaderAbsoluteAngle && props.loaderTheta !== null) {
- // const minTheta = Common.minDiffTheta(integrateTheta, loaderAbsoluteAngle);
- new TWEEN.Tween({ value: integrateTheta })
- .to({ value: loaderAbsoluteAngle }, INTERVAL_TIME)
+ if (loaderAngle !== loaderAbsoluteAngle && props.loaderTheta !== null) {
+ console.log("theta", theta);
+ console.log("loaderTheta", loaderTheta);
+ console.log("loaderAbsoluteAngle", loaderAbsoluteAngle);
+ loaderTargetTheta = Common.normalizeAngle(loaderAbsoluteAngle - loaderAngle) + loaderAngle;
+ console.log("loaderTargetTheta", loaderTargetTheta);
+ new TWEEN.Tween({ value: loaderAngle })
+ .to({ value: loaderTargetTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
- setIntegrateTheta(e.value)
+ setLoaderAngle(e.value)
})
.onComplete((e) => {
- setIntegrateTheta(e.value)
+ setLoaderAngle(e.value)
}).start();
}
// fork lenght
- // console.log("forkDis", forkDis);
- // console.log("forkLength", forkLength);
if (forkDis !== forkLength && props.forkLength !== null) {
+ const targetForkDis = getCorrectForkDis(Common.positiveAngle(loaderTargetTheta), forkLength);
new TWEEN.Tween({ value: forkDis })
- .to({ value: forkLength }, INTERVAL_TIME)
+ .to({ value: targetForkDis }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
setForkDis(e.value)
@@ -156,7 +173,7 @@
<primitive object={bodyModel} castShadow />
<group
position-y={loaderHeight}
- rotation-y={Common.rotationParseNum(integrateTheta)}
+ rotation-y={Common.rotationParseNum(loaderAngle)}
>
<primitive object={loaderModel} castShadow position={[0, 20, 0]} />
<group position-z={forkDis}>
--
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