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 | 114 ++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 96 insertions(+), 18 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index cf713ed..caf04bb 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -5,32 +5,58 @@
import Box from './box';
import * as Common from '../utils/common';
import * as TWEEN from "@tweenjs/tween.js";
-import { INTERVAL_TIME } 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 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 { position, theta, height, loaderTheta, forkLength, 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));
const [groupPos, setGroupPos] = useState({ x: 0, y: 0, z: 0 });
const [groupTheta, setGroupTheta] = useState(0);
const [loaderHeight, setLoaderHeight] = useState(0);
+ const [loaderAngle, setLoaderAngle] = useState(0);
+ const [forkDis, setForkDis] = useState(0);
+ const [realTrayList, setRealTrayList] = useState([]);
useEffect(() => {
if (!props || Object.keys(props).length === 0) {
return;
}
+
// group position
const pos = {
- x: position?.[0],
- y: position?.[1],
- z: position?.[2],
+ x: position?.[2] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_X,
+ y: position?.[1] * REAL_COMPARE_MAP_SCALE,
+ z: position?.[0] * REAL_COMPARE_MAP_SCALE + REAL_COMPARE_MAP_OFFSET_Z,
}
- if (!Common.deepEqual(groupPos, pos)) {
+ if (!Common.deepEqual(groupPos, pos) && props.position !== null) {
new TWEEN.Tween(groupPos)
- .to({
- x: position[0],
- y: position[1],
- z: position[2]
- }, INTERVAL_TIME)
+ .to(pos, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
setGroupPos({ ...e });
@@ -41,9 +67,10 @@
}
// group theta
- if (groupTheta !== theta) {
+ if (groupTheta !== theta && props.theta !== null) {
+ const targetTheta = Common.normalizeAngle(theta - groupTheta) + groupTheta;
new TWEEN.Tween({ value: groupTheta })
- .to({ value: theta }, INTERVAL_TIME)
+ .to({ value: targetTheta }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
setGroupTheta(e.value)
@@ -54,7 +81,7 @@
}
// loader height
- if (loaderHeight !== height) {
+ if (loaderHeight !== height && props.height !== null) {
new TWEEN.Tween({ value: loaderHeight })
.to({ value: height }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
@@ -64,6 +91,44 @@
.onComplete((e) => {
setLoaderHeight(e.value)
}).start();
+ }
+
+ // loader theta
+ let loaderTargetTheta;
+ const loaderAbsoluteAngle = (theta + loaderTheta) % 360;
+ 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) => {
+ setLoaderAngle(e.value)
+ })
+ .onComplete((e) => {
+ setLoaderAngle(e.value)
+ }).start();
+ }
+
+ // fork lenght
+ if (forkDis !== forkLength && props.forkLength !== null) {
+ const targetForkDis = getCorrectForkDis(Common.positiveAngle(loaderTargetTheta), forkLength);
+ new TWEEN.Tween({ value: forkDis })
+ .to({ value: targetForkDis }, INTERVAL_TIME)
+ .easing(TWEEN.Easing.Linear.None)
+ .onUpdate((e) => {
+ setForkDis(e.value)
+ })
+ .onComplete((e) => {
+ setForkDis(e.value)
+ }).start();
+ }
+
+ if (trayList) {
+ setRealTrayList(trayList);
}
}, [props]);
@@ -77,6 +142,7 @@
if (!fbx.castShadow) {
Common.setShadow(fbx);
}
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
@@ -85,6 +151,7 @@
if (!fbx.castShadow) {
Common.setShadow(fbx);
}
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
@@ -93,6 +160,7 @@
if (!fbx.castShadow) {
Common.setShadow(fbx);
}
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
@@ -100,16 +168,26 @@
<>
<group
rotation-y={Common.rotationParseNum(groupTheta)}
- scale={0.5}
position={[groupPos.x, groupPos.y, groupPos.z]}
>
<primitive object={bodyModel} castShadow />
<group
position-y={loaderHeight}
+ rotation-y={Common.rotationParseNum(loaderAngle)}
>
- <primitive object={loaderModel} castShadow position={[0, 50, 0]} />
- <primitive object={forkModel} castShadow position={[0, 61, 0]} />
- <Box position={[100, 100, 300]} />
+ <primitive object={loaderModel} castShadow position={[0, 20, 0]} />
+ <group position-z={forkDis}>
+ <primitive object={forkModel} castShadow position={[0, 25, 0]} />
+ {hasBox && <Box position={[0, 24, 0]} />}
+ </group>
+ </group>
+ <group>
+ {realTrayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 25, 0]} />}
+ {realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 48, 0]} />}
+ {realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 71, 0]} />}
+ {realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 94, 0]} />}
+ {realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 117, 0]} />}
+ {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-43, 140, 0]} />}
</group>
</group>
</>
--
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