From 28f9d6aadef16cafb888ff6bcc97f99bde971d8d Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 10 五月 2024 13:58:20 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 253 ++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 223 insertions(+), 30 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 2bce4f7..9c74ec6 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -3,72 +3,265 @@
import { useFBX, useAnimations } from '@react-three/drei';
import * as THREE from 'three';
import Box from './box';
-import * as Common from '../utils/common'
+import * as Common from '../utils/common';
+import * as TWEEN from "@tweenjs/tween.js";
+import {
+ INTERVAL_TIME,
+ MODEL_AGV_SCALE,
+ REAL_COMPARE_MAP_SCALE,
+ REAL_COMPARE_MAP_OFFSET_X,
+ REAL_COMPARE_MAP_OFFSET_Z,
+} from '../config/setting'
-const setShadow = (obj) => {
- obj.castShadow = true;
- obj.receiveShadow = true;
+const getCorrectForkDis = (loaderAngle, forkDis) => {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return forkDis;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return forkDis;
+ }
+ return forkDis;
+}
- if (obj.children) {
- obj.children.forEach((child) => {
- setShadow(child);
- });
+const getLoaderHasBox = (loaderAngle, forkDis, finger1, finger2, finger3, finger4) => {
+ // console.log(loaderAngle, forkDis, finger1, finger2, finger3, finger4);
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ return finger1 && finger2; // 鍙栬揣鏄鐨� 鏀捐揣鏄敊鐨� 锛堝彸锛�
+ /**
+ * 2鎺� (0)
+ *
+ * 鍙栬揣
+ * 0 false false false false
+ * 0 false false true true
+ * 0 true true true true
+ *
+ * 鏀捐揣
+ * 0 true true true true
+ * 0 false false true true
+ * 0 false false false false
+ *
+ */
}
-};
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return finger3 && finger4; // 鏀捐揣鏄鐨� 鍙栬揣鏄敊鐨� 锛堝乏锛�
+ /**
+ * 1銆�3鎺� (180)
+ *
+ * 鍙栬揣
+ * 180 false false false false
+ * 180 false false true true
+ * 180 true true true true
+ *
+ * 鏀捐揣
+ * 180 false false true true
+ * 180 false false false false
+ *
+ */
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return finger1 && finger2; // 鏀捐揣鏄鐨� 鍙栬揣鏄敊鐨� 锛堜腑锛�
+ /**
+ * 鑳岀瘬 (90)
+ *
+ * 鍙栬揣
+ * 90 true true false false
+ * 90 true true true true
+ *
+ * 鏀捐揣
+ * 90 true true true true
+ * 90 true true false false
+ * 90 false false false false
+ *
+ */
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return finger1 && finger2;
+ }
+ return finger1 && finger2 && finger3 && finger4;
+}
-const setColor = (obj) => {
- if (obj.material) {
- obj.material.color.set(0x4680BF);
+const forkLengthFn = (forkLen, loaderAngle) => {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+
}
- if (obj.children) {
- obj.children.forEach((child) => {
- setColor(child);
- });
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+
}
-};
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+
+ }
+ if (forkLen < 0) {
+ return -800 * 0.077;
+ } else if (forkLen > 0) {
+ return 800 * 0.077;
+ } else {
+ return 0;
+ }
+}
const Agv = (props) => {
- const { position, theta } = props;
+ const { agvNo, position, trayList, hasBox, finger1, finger2, finger3, finger4 } = props;
+ const theta = -props.theta;
+ const height = props.height * 0.0655;
+
+ 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(() => {
- console.log(position);
- console.log(theta);
+ if (!props || Object.keys(props).length === 0) {
+ return;
+ }
+
+ // group position
+ const pos = {
+ 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) && props.position !== null) {
+ new TWEEN.Tween(groupPos)
+ .to(pos, INTERVAL_TIME)
+ .easing(TWEEN.Easing.Linear.None)
+ .onUpdate((e) => {
+ setGroupPos({ ...e });
+ })
+ .onComplete((e) => {
+ setGroupPos({ ...e });
+ }).start();
+ }
+
+ // group theta
+ if (groupTheta !== theta && props.theta !== null) {
+ const targetTheta = Common.normalizeAngle(theta - groupTheta) + groupTheta;
+ new TWEEN.Tween({ value: groupTheta })
+ .to({ value: targetTheta }, INTERVAL_TIME)
+ .easing(TWEEN.Easing.Linear.None)
+ .onUpdate((e) => {
+ setGroupTheta(e.value)
+ })
+ .onComplete((e) => {
+ setGroupTheta(e.value)
+ }).start();
+ }
+
+ // loader height
+ if (loaderHeight !== height && props.height !== null) {
+ new TWEEN.Tween({ value: loaderHeight })
+ .to({ value: height }, INTERVAL_TIME)
+ .easing(TWEEN.Easing.Linear.None)
+ .onUpdate((e) => {
+ setLoaderHeight(e.value)
+ })
+ .onComplete((e) => {
+ setLoaderHeight(e.value)
+ }).start();
+ }
+
+ // loader theta
+ const loaderTargetTheta = Common.normalizeAngle(Number(props.loaderTheta?.toFixed(1)) + 90);
+ if (loaderAngle !== loaderTargetTheta && props.loaderTheta !== null) {
+ 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
+ // const forkLength = props.forkLength * 0.077;
+ const forkLength = forkLengthFn(props.forkLength, loaderTargetTheta);
+ 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]);
+
+ useFrame((state, delta) => {
+ TWEEN.update();
+ })
const bodyModel = useMemo(() => {
const fbx = useFBX('/models/agv/body.fbx');
if (!fbx.castShadow) {
- setShadow(fbx);
+ Common.setShadow(fbx);
}
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE * 0.97, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
const loaderModel = useMemo(() => {
const fbx = useFBX('/models/agv/loader.fbx');
if (!fbx.castShadow) {
- setShadow(fbx);
+ Common.setShadow(fbx);
}
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
const forkModel = useMemo(() => {
const fbx = useFBX('/models/agv/fork.fbx');
if (!fbx.castShadow) {
- setShadow(fbx);
+ Common.setShadow(fbx);
}
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
- useEffect(() => {
- }, []);
-
return (
<>
- <group rotation-y={Common.rotationParseNum(theta)} scale={0.5} position={position}>
+ <group
+ rotation-y={Common.rotationParseNum(groupTheta)}
+ position={[groupPos.x, groupPos.y, groupPos.z]}
+ >
<primitive object={bodyModel} castShadow />
- <primitive object={loaderModel} castShadow position={[0, 100, 0]} />
- <primitive object={forkModel} castShadow position={[0, 120, 0]} />
- <Box position={[100, 100, 300]} />
+ <group
+ position-y={loaderHeight}
+ rotation-y={Common.rotationParseNum(loaderAngle)}
+ >
+ <primitive object={loaderModel} castShadow position={[0, 0, 0]} />
+ <group position-z={forkDis}>
+ <primitive object={forkModel} castShadow position={[0, 6, 0]} />
+ {(hasBox || getLoaderHasBox(loaderAngle, forkDis, finger1, finger2, finger3, finger4)) && <Box position={[0, 6, 0]} />}
+ </group>
+ </group>
+ <group>
+ {realTrayList?.[0]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 34, 0]} />}
+ {realTrayList?.[1]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 66, 0]} />}
+ {realTrayList?.[2]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 99, 0]} />}
+ {realTrayList?.[3]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 131, 0]} />}
+ {realTrayList?.[4]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 163, 0]} />}
+ {realTrayList?.[5]?.hasBox && <Box rotationY={Math.PI / 2} position={[-60, 195, 0]} />}
+ </group>
</group>
</>
)
--
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