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 | 79 ++++++++++++++++++++++++++++++++-------
1 files changed, 64 insertions(+), 15 deletions(-)
diff --git a/src/components/agv.jsx b/src/components/agv.jsx
index dfd5ea8..4588a9d 100644
--- a/src/components/agv.jsx
+++ b/src/components/agv.jsx
@@ -5,27 +5,40 @@
import Box from './box';
import * as Common from '../utils/common';
import * as TWEEN from "@tweenjs/tween.js";
-import { INTERVAL_TIME, MODEL_AGV_SCALE } 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 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 [integrateTheta, setIntegrateTheta] = 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(pos, INTERVAL_TIME)
.easing(TWEEN.Easing.Linear.None)
@@ -38,8 +51,8 @@
}
// group theta
- if (groupTheta !== theta) {
- const minTheta = Common.minDiffTheta(groupTheta, 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)
@@ -52,7 +65,7 @@
}
// 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)
@@ -64,8 +77,30 @@
}).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
- if (forkDis !== forkLength) {
+ // 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)
@@ -74,8 +109,11 @@
})
.onComplete((e) => {
setForkDis(e.value)
- console.log(e.value);
}).start();
+ }
+
+ if (trayList) {
+ setRealTrayList(trayList);
}
}, [props]);
@@ -118,13 +156,24 @@
position={[groupPos.x, groupPos.y, groupPos.z]}
>
<primitive object={bodyModel} castShadow />
- <group position-y={loaderHeight}>
- <primitive object={loaderModel} castShadow position={[0, 30, 0]} />
+ <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, 35, 0]} />
- {hasBox && <Box position={[0, 34, 0]} />}
+ <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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