From 9efa735d68a8385a73290156b73850f7233e05fe Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 08 五月 2024 10:27:24 +0800
Subject: [PATCH] #
---
src/components/agv.jsx | 177 +++++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 141 insertions(+), 36 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index 2bce4f7..4588a9d 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -3,72 +3,177 @@
import { useFBX, useAnimations } from '@react-three/drei';
import * as THREE from 'three';
import Box from './box';
-import * as Common from '../utils/common'
-
-const setShadow = (obj) => {
- obj.castShadow = true;
- obj.receiveShadow = true;
-
- if (obj.children) {
- obj.children.forEach((child) => {
- setShadow(child);
- });
- }
-};
-
-const setColor = (obj) => {
- if (obj.material) {
- obj.material.color.set(0x4680BF);
- }
- if (obj.children) {
- obj.children.forEach((child) => {
- setColor(child);
- });
- }
-};
+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 Agv = (props) => {
- const { position, theta } = 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 [integrateTheta, setIntegrateTheta] = 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 minTheta = Common.normalizeAngle(theta);
+ new TWEEN.Tween({ value: groupTheta })
+ .to({ value: minTheta }, 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 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.normalizeAngle(loaderAbsoluteAngle);
+ // const minTheta = Common.minDiffTheta(integrateTheta, loaderAbsoluteAngle);
+ new TWEEN.Tween({ value: integrateTheta })
+ .to({ value: minTheta }, INTERVAL_TIME)
+ .easing(TWEEN.Easing.Linear.None)
+ .onUpdate((e) => {
+ setIntegrateTheta(e.value)
+ })
+ .onComplete((e) => {
+ setIntegrateTheta(e.value)
+ }).start();
+ }
+
+ // fork lenght
+ // console.log("forkDis", forkDis);
+ // console.log("forkLength", forkLength);
+ if (forkDis !== forkLength && props.forkLength !== null) {
+ new TWEEN.Tween({ value: forkDis })
+ .to({ value: forkLength }, 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, 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(integrateTheta)}
+ >
+ <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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