From 8c982a086bc5627bf20a8c2f44489165b08348f8 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 09 五月 2024 10:30:07 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 168 +++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 148 insertions(+), 20 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index bce969f..3c9f99b 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -5,35 +5,146 @@
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'
-let coords = { x: 0, y: 0, z: 0 };
+const getCorrectForkDis = (loaderAngle, forkDis) => {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return -forkDis;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return forkDis;
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return forkDis;
+ }
+ return forkDis;
+}
+
+const getLoaderHasBox = (loaderAngle, finger1, finger2, finger3, finger4) => {
+ if (loaderAngle > 360 - 10 || loaderAngle < 0 + 10) {
+ return finger3 && finger4;
+ }
+ if (loaderAngle > 180 - 10 && loaderAngle < 180 + 10) {
+ return finger3 && finger4;
+ }
+ if (loaderAngle > 270 - 10 && loaderAngle < 270 + 10) {
+ return finger1 && finger2;
+ }
+ if (loaderAngle > 90 - 10 && loaderAngle < 90 + 10) {
+ return finger1 && finger2;
+ }
+ return finger1 && finger2 && finger3 && finger4;
+}
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 * 0.06;
+ 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;
}
- // new TWEEN.Tween(coords)
- // .to(pos, INTERVAL_TIME)
- // .easing(TWEEN.Easing.Linear.None)
- // .onUpdate((e) => {
- // coords = e;
- // console.log(e);
- // })
- // .start();
+
+ // 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(loaderTheta + 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
+ 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();
- setGroupPos(preState => ({
- ...preState,
- x: preState.x + 1
- }))
})
const bodyModel = useMemo(() => {
@@ -41,6 +152,7 @@
if (!fbx.castShadow) {
Common.setShadow(fbx);
}
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
@@ -49,6 +161,7 @@
if (!fbx.castShadow) {
Common.setShadow(fbx);
}
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
@@ -57,20 +170,35 @@
if (!fbx.castShadow) {
Common.setShadow(fbx);
}
+ fbx.scale.set(MODEL_AGV_SCALE, MODEL_AGV_SCALE, MODEL_AGV_SCALE);
return fbx.clone();
}, [])
return (
<>
<group
- rotation-y={Common.rotationParseNum(theta)}
- scale={0.5}
+ 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, 20, 0]} />
+ <group position-z={forkDis}>
+ <primitive object={forkModel} castShadow position={[0, 25, 0]} />
+ {(hasBox || getLoaderHasBox(loaderAngle, finger1, finger2, finger3, finger4)) && <Box position={[0, 26, 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>
</>
)
--
Gitblit v1.9.1