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 | 156 +++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 123 insertions(+), 33 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index c96cf8c..9c74ec6 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -13,16 +13,110 @@
REAL_COMPARE_MAP_OFFSET_Z,
} from '../config/setting'
+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;
+}
+
+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 forkLengthFn = (forkLen, loaderAngle) => {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+
+ }
+ 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 { agvNo, position, theta, trayList, hasBox } = props;
- const height = props.height * 0.04;
- const forkLength = props.forkLength * 0.1;
- const loaderTheta = Number(props.loaderTheta?.toFixed(1));
+ 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 [integrateTheta, setIntegrateTheta] = useState(0);
+ const [loaderAngle, setLoaderAngle] = useState(0);
const [forkDis, setForkDis] = useState(0);
const [realTrayList, setRealTrayList] = useState([]);
@@ -50,10 +144,10 @@
}
// 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 +171,26 @@
}
// loader theta
- 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)
+ 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) => {
- 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);
+ // 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: forkLength }, INTERVAL_TIME)
+ .to({ value: targetForkDis }, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
.onUpdate((e) => {
setForkDis(e.value)
@@ -125,7 +215,7 @@
if (!fbx.castShadow) {
Common.setShadow(fbx);
}
- fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE * 0.97, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
@@ -156,21 +246,21 @@
<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]} />
+ <primitive object={loaderModel} castShadow position={[0, 0, 0]} />
<group position-z={forkDis}>
- <primitive object={forkModel} castShadow position={[0, 25, 0]} />
- {hasBox && <Box position={[0, 24, 0]} />}
+ <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={[-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]} />}
+ {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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