Merge remote-tracking branch 'origin/master'

# Conflicts:
#	src/example/example1.js

package.json

@@ -69,6 +69,7 @@
     "vue3-menus": "^1.1.2",
     "three-mesh-bvh": "^0.9.0",
     "three-dxf-viewer": "^1.0.36",
-    "gsap": "^3.13.0"
+    "gsap": "^3.13.0",
+    "three-csg-ts": "^3.2.0"
   }
 }

pnpm-lock.yaml

@@ -138,6 +138,9 @@ importers:
       three:
         specifier: ^0.177.0
         version: 0.177.0
+      three-csg-ts:
+        specifier: ^3.2.0
+        version: 3.2.0(@types/three@0.176.0)(three@0.177.0)
       three-dxf-viewer:
         specifier: ^1.0.36
         version: 1.0.36
@@ -1702,6 +1705,12 @@ packages:
     resolution: {integrity: sha512-5JRxVqC8I8NuOUjzBbvVJAKNM8qoVuH0O77h4WInc/qC2q5IreqKxYwgkga3PfA22OayK2ikceb/B26dztPl+Q==}
     engines: {node: '>=16'}
 
+  three-csg-ts@3.2.0:
+    resolution: {integrity: sha512-oTYg8kdal6qgHDbso/6VzA12Udf2ic2uXhf0XlJzuSP+Gs0OUR5gTHSZ7GotAE+M/QcVlw41eOwiWZVnJG5/8w==, tarball: https://registry.npmmirror.com/three-csg-ts/-/three-csg-ts-3.2.0.tgz}
+    peerDependencies:
+      '@types/three': '>= 0.154.0'
+      three: '>= 0.154.0'
+
   three-dxf-viewer@1.0.36:
     resolution: {integrity: sha512-Tu7k+/yCyovpMJTeQ8fpGHdjtynq66vMMXYzDCwI9prJo2dRDxig4S+ixQVuMIy3I99VZa51z5KwlkeWyCnFzQ==}
 
@@ -3456,6 +3465,11 @@ snapshots:
     dependencies:
       copy-anything: 3.0.5
 
+  three-csg-ts@3.2.0(@types/three@0.176.0)(three@0.177.0):
+    dependencies:
+      '@types/three': 0.176.0
+      three: 0.177.0
+
   three-dxf-viewer@1.0.36:
     dependencies:
       dxf: 5.2.0

src/core/manager/TaskManager.ts

@@ -66,6 +66,31 @@ export default class TaskManager implements TaskManagerIF {
     })
   }
 
+  addCl2ShowArm(): void {
+    this.taskSequence.push({
+      type: "TASKTYPE_CL2_SHOW_ARM"
+    })
+  }
+
+  addCl2UpArm(hight: number): void {
+    this.taskSequence.push({
+      type: "TASKTYPE_CL2_UP_ARM",
+      hight: hight
+    })
+  }
+
+  addCl2HideArm(): void {
+    this.taskSequence.push({
+      type: "TASKTYPE_CL2_HIDE_ARM"
+    })
+  }
+
+  addCl2DownArm(): void {
+    this.taskSequence.push({
+      type: "TASKTYPE_CL2_DOW_ARM"
+    })
+  }
+
   public runTask() {
     if (this.isStepRunning) {
       return
@@ -115,6 +140,65 @@ export default class TaskManager implements TaskManagerIF {
         case 'TASKTYPE_UNLOAD':
           console.error('还没做')
           break
+        case 'TASKTYPE_CL2_SHOW_ARM': {
+          const agv = this.obj as THREE.Group
+          const agvPillar = agv.children[1] as THREE.Object3D
+          gsap.to(agvPillar.position, {
+            z: -1.2,
+            duration: 3,
+            repeat: 0,
+            ease: 'sine.inOut'
+          }).eventCallback('onComplete', () => {
+            this.runTask()
+          })
+          break
+        }
+
+        case 'TASKTYPE_CL2_UP_ARM': {
+          const agv = this.obj as THREE.Group
+          const agvPillar = agv.children[1] as THREE.Object3D
+          const agvArm = agvPillar.children[1] as THREE.Mesh
+          const task = this.currentTask
+          gsap.to(agvArm.position, {
+            y: task.hight,
+            duration: 3,
+            repeat: 0,
+            ease: 'sine.inOut'
+          }).eventCallback('onComplete', () => {
+            this.runTask()
+          })
+
+          break
+        }
+        case 'TASKTYPE_CL2_HIDE_ARM': {
+          const agv = this.obj as THREE.Group
+          const agvPillar = agv.children[1] as THREE.Object3D
+          gsap.to(agvPillar.position, {
+            z: 0,
+            duration: 3,
+            repeat: 0,
+            ease: 'sine.inOut'
+          }).eventCallback('onComplete', () => {
+            this.runTask()
+          })
+          break
+        }
+        case 'TASKTYPE_CL2_DOW_ARM': {
+          const agv = this.obj as THREE.Group
+          const agvPillar = agv.children[1] as THREE.Object3D
+          const agvArm = agvPillar.children[1] as THREE.Mesh
+
+          gsap.to(agvArm.position, {
+            y: 0,
+            duration: 3,
+            repeat: 0,
+            ease: 'sine.inOut'
+          }).eventCallback('onComplete', () => {
+            this.runTask()
+          })
+          break
+        }
+
         default:
           throw new Error('Invalid task type')
       }

src/example/example1.js

@@ -237,7 +237,7 @@ export default {
           id: '5iKoIUBhnU08EM0IsoyOSW',
           t: 'way',
           v: true,
-          tf: [[2.7, 0.1, 7.632], [90, 0, 0], [0.25, 0.25, 0.1]],
+          tf: [[2.7, 0.1, 7.75], [90, 0, 0], [0.25, 0.25, 0.1]],
           dt: { in: [], out: [], center: ['55g6mUWBdozg4m2ueUEUsy'] }
         }, {
           id: '3ZP01pHXJRuyeg24oCaaMq',
@@ -267,7 +267,7 @@ export default {
           id: '2qtxSDVn30EcI2uY4W0CWf',
           t: 'way',
           v: true,
-          tf: [[5.65, 0.1, 7.632], [90, 0, 0], [0.25, 0.25, 0.1]],
+          tf: [[5.65, 0.1, 7.75], [90, 0, 0], [0.25, 0.25, 0.1]],
           dt: { in: [], out: [], center: ['0aJ81sOKqm9FYo60AIQmMG'] }
         }, {
           id: 'ptr1',
@@ -297,50 +297,50 @@ export default {
           id: 'pallet1122',
           t: 'pallet',
           v: true,
-          tf: [[1.5, 0.1, 0.63], [0, 0, 0], [1, 0.25, 1]],
+          tf: [[1.5, 0.1, 0.63], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [] }
+          dt: { in: [], out: [], center: [],  }
         }, {
           id: 'pallet1123',
           t: 'pallet',
           v: true,
-          tf: [[7.100, 0.1, 4.35], [0, 90, 0], [1, 0.25, 1]],
+          tf: [[7.100, 0.1, 4.35], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [] }
+          dt: { in: [], out: [], center: [],  }
         }, {
           id: 'pallet1124',
           t: 'pallet',
           v: true,
-          tf: [[4.196, 1.65, 3.95], [0, 90, 0], [1, 0.25, 1]],
+          tf: [[4.196, 1.65, 3.95], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [] }
+          dt: { in: [], out: [], center: [],  }
         }, {
           id: 'pallet1125',
           t: 'pallet',
           v: true,
-          tf: [[4.196, 1.65, 5.225], [0, 90, 0], [1, 0.25, 1]],
+          tf: [[4.196, 1.65, 5.225], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [] }
+          dt: { in: [], out: [], center: [],  }
         }, {
           id: 'pallet1126',
           t: 'pallet',
           v: true,
-          tf: [[4.196, 1.65, 7.775], [0, 90, 0], [1, 0.25, 1]],
+          tf: [[4.196, 1.65, 7.775], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [] }
+          dt: { in: [], out: [], center: [],  }
-        }, {
+        },{
           id: 'pallet1127',
           t: 'pallet',
           v: true,
-          tf: [[4.196, 3.05, 3.95], [0, 90, 0], [1, 0.25, 1]],
+          tf: [[4.196, 3.05, 3.95], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [] }
+          dt: { in: [], out: [], center: [],  }
         }, {
           id: 'pallet1128',
           t: 'pallet',
           v: true,
-          tf: [[4.196, 3.05, 5.225], [0, 90, 0], [1, 0.25, 1]],
+          tf: [[4.196, 3.05, 5.225], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [] }
+          dt: { in: [], out: [], center: [],  }
         }, {
           id: 'pallet1129',
           t: 'pallet',
           v: true,
-          tf: [[4.196, 3.05, 7.775], [0, 90, 0], [1, 0.25, 1]],
+          tf: [[4.196, 3.05, 7.775], [0, 0, 0], [1.2, 0.15, 1]],
-          dt: { in: [], out: [], center: [] }
+          dt: { in: [], out: [], center: [],  }
         }]
     },
     {

src/modules/ptr/PtrRenderer.ts

@@ -6,6 +6,8 @@ import { LineMaterial } from 'three/examples/jsm/lines/LineMaterial.js'
 import { decimalSumBy } from '@/core/ModelUtils'
 import Constract from '@/core/Constract.ts'
 import ptrUrl from '@/assets/images/ptr/ptr.png'
+import { CSG } from 'three-csg-ts';
+import {BufferGeometry} from "three";
 
 /**
  * ptr侧叉渲染器
@@ -60,27 +62,34 @@ export default class PtrRenderer extends BaseRenderer {
       return null
     }
 
-    const textureLoader = new THREE.TextureLoader()
-    const texture = textureLoader.load(ptrUrl)
-
     const group = new THREE.Group()
     group.name = PtrRenderer.POINT_NAME
 
-    // 绘制背景矩形框
+    const ptrPedestalGeometry = this.createPtrPedestal(item, option)
-    const planeGeometry = new THREE.PlaneGeometry(item.dt.ptrWidth, item.dt.ptrDepth)
+    const ptrPedestalMaterial = new THREE.MeshPhongMaterial({color: 0xffdddbca});
-    planeGeometry.rotateX(-Math.PI / 2)
+    const ptrPedestalMesh = new THREE.Mesh(ptrPedestalGeometry, ptrPedestalMaterial);
-    const planeMaterial = new THREE.MeshLambertMaterial({
+
-      map: texture,      // 颜色贴图
+    const ptrPillarGeometry = this.createPtrPillar(item, option);
-      transparent: true // 允许透明纹理
+    const ptrPillarMaterial = new THREE.MeshPhongMaterial({color: 0xff6c6956});
-    })
+    const ptrPillarMesh = new THREE.Mesh(ptrPillarGeometry, ptrPillarMaterial);
-    const planeMesh = new THREE.Mesh(planeGeometry, planeMaterial)
+
-    group.add(planeMesh)
+    const ptrForkGeometry = this.createPtrFork(item, option);
+    const ptrForkMaterial = new THREE.MeshPhongMaterial({color: 0xff111111});
+    const ptrForkMesh = new THREE.Mesh(ptrForkGeometry, ptrForkMaterial);
+
+    group.add(ptrPedestalMesh)
+    const groupPillar = new THREE.Group()
+    groupPillar.add(ptrPillarMesh)
+    groupPillar.add(ptrForkMesh)
+    group.add(groupPillar)
 
     // 设置位置
     group.position.set(item.tf[0][0], item.tf[0][1], item.tf[0][2])
     return group
   }
 
+
+
   dispose() {
     super.dispose()
     this.pointMaterial?.dispose()
@@ -89,4 +98,218 @@ export default class PtrRenderer extends BaseRenderer {
   createPointBasic(item: ItemJson, option?: RendererCudOption): THREE.Object3D {
     throw new Error('Ptr createPointBasic not allow!')
   }
+
+  // 创建ptr的底座
+  createPtrPedestal(item: ItemJson, option?: RendererCudOption): THREE.BufferGeometry {
+    // 参数配置
+    const radius = 0.8;        // 圆半径
+    const lineDist = 0.75;     // 切割线距离圆心距离
+    const segments = 64;       // 圆的分段精度
+
+    // 计算切割线与圆的交点
+    const intersectY = Math.sqrt(radius*radius - lineDist*lineDist);
+    const startAngle = Math.asin(intersectY/radius);
+    const endAngle = Math.acos(intersectY/radius);
+
+
+    const shape = new THREE.Shape();
+    shape.moveTo(0, 0);  // 起点在圆心
+    shape.absarc(0, 0, 0.8, startAngle, endAngle, false); // 从0到π绘制半圆
+    shape.absarc(0, 0, 0.8, startAngle + Math.PI/2, endAngle + Math.PI/2, false);
+    shape.absarc(0, 0, 0.8, startAngle + Math.PI, endAngle + Math.PI, false);
+    shape.absarc(0, 0, 0.8, startAngle + Math.PI/2 * 3, endAngle + Math.PI/2 * 3, false);
+
+    shape.lineTo(-0.5, -intersectY)
+    shape.lineTo(-0.5, -intersectY + 0.17)
+    shape.lineTo(0.75, -intersectY + 0.17)
+    shape.lineTo(0.75, intersectY - 0.17)
+    shape.lineTo(-0.5, intersectY - 0.17)
+    shape.lineTo(-0.5, intersectY)
+    shape.closePath();  // 闭合路径
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 0.22, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelEnabled: false,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometry = new THREE.ExtrudeGeometry(shape, options)
+    const material = new THREE.MeshBasicMaterial({color: 0xffdddbca});
+    const mesh = new THREE.Mesh(geometry, material);
+
+    mesh.updateMatrix()
+
+    // 倒角
+    const shapeD = new THREE.Shape();
+    shapeD.moveTo(-0.02, -0.02);
+    shapeD.lineTo(0.02, 0.02)
+    shapeD.lineTo(-0.02, 0.02)
+    shapeD.closePath()
+
+    const curveD = new THREE.EllipseCurve(
+      0, 0, radius, radius, 0, Math.PI * 2, false, 0
+    );
+    // 生成拉伸路径点
+    const pointsD = curveD.getPoints(segments).map(p =>
+      new THREE.Vector3(p.x, 0.20, p.y)
+    );
+    // 3. 挤出成型
+    const optionsD = {
+      steps: segments,
+      bevelEnabled: false,
+      // bevelSegments: 0.01,
+      extrudePath: new THREE.CatmullRomCurve3(pointsD)
+    };
+
+    const geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
+    const meshD = new THREE.Mesh(geometryD, material);
+    meshD.updateMatrix()
+
+    // 布尔运算
+    const result = CSG.subtract(mesh, meshD)
+
+    return result.geometry
+  }
+
+  // 创建ptr的立柱
+  createPtrPillar(item: ItemJson, option?: RendererCudOption): THREE.BufferGeometry {
+    // 606.5
+    const width = 0.245
+    const depth = 0.716
+    const dd = 0.05
+    const shape = new THREE.Shape();
+    shape.moveTo(-0.728, -0.358 + dd);
+    shape.lineTo(-0.728 + dd, -0.358);
+    shape.lineTo(-0.728 + width - dd, -0.358);
+    shape.lineTo(-0.728 + width, -0.358 + dd);
+
+    shape.lineTo(-0.728 + width, -0.28);
+    shape.lineTo(-0.728 + width - 0.08, -0.28);
+    shape.lineTo(-0.728 + width - 0.08, 0.28);
+    shape.lineTo(-0.728 + width, 0.28);
+
+    shape.lineTo(-0.728 + width, -0.358 + depth - dd);
+    shape.lineTo(-0.728 + width - dd, -0.358 + depth);
+    shape.lineTo(-0.728 + dd, -0.358 + depth);
+    shape.lineTo(-0.728, -0.358  + depth - dd);
+    // shape.lineTo(-0.728, -0.358 + dd);
+    // shape.closePath()
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.22, 0), new THREE.Vector3(0, 1.872, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometry = new THREE.ExtrudeGeometry(shape, options)
+    // const material = new THREE.MeshBasicMaterial({color: 0xffdddbca});
+    // const mesh = new THREE.Mesh(geometry, material);
+    return geometry
+
+  }
+
+  // 创建ptr的立柱
+  createPtrFork(item: ItemJson, option?: RendererCudOption): THREE.BufferGeometry {
+    // 606.5
+    const width = 0.245
+    const depth = 0.716
+    const dd = 0.05
+    const fd = 0.03
+    const shape = new THREE.Shape();
+
+    shape.moveTo(-0.728 + width - 0.08, -0.28);
+    shape.lineTo(-0.728 + width + 0.02, -0.28);
+    shape.lineTo(-0.728 + width + 0.02, -0.27);
+    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, -0.27);
+    shape.lineTo(-0.728 + width + 0.02 + 1.130, -0.27 + fd);
+    shape.lineTo(-0.728 + width + 0.02 + 1.130, -0.12 - fd);
+    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, -0.12);
+    shape.lineTo(-0.728 + width + 0.02, -0.12);
+    shape.lineTo(-0.728 + width + 0.02, 0.12);
+    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, 0.12);
+    shape.lineTo(-0.728 + width + 0.02 + 1.130, 0.12 + fd);
+    shape.lineTo(-0.728 + width + 0.02 + 1.130, 0.27 - fd);
+    shape.lineTo(-0.728 + width + 0.02 + 1.130 - fd, 0.27);
+    shape.lineTo(-0.728 + width + 0.02, 0.27);
+    shape.lineTo(-0.728 + width + 0.02, 0.28);
+    shape.lineTo(-0.728 + width - 0.08, 0.28);
+
+    shape.closePath()
+
+    // 拉伸轨迹线
+    const curve = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 0.482, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const options = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curve //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometry = new THREE.ExtrudeGeometry(shape, options)
+    const material = new THREE.MeshBasicMaterial({color: 0xffdddbca});
+    const mesh = new THREE.Mesh(geometry, material);
+    mesh.updateMatrix()
+
+    const shapeD = new THREE.Shape();
+
+
+    shapeD.moveTo(-0.728 + width + 0.02, -0.3);
+    shapeD.lineTo(-0.728 + width + 0.02 + 1.2, -0.3);
+    shapeD.lineTo(-0.728 + width + 0.02 + 1.2, 0.3);
+    shapeD.lineTo(-0.728 + width + 0.02, 0.3);
+    shape.closePath()
+
+    // 拉伸轨迹线
+    const curveD = new THREE.CatmullRomCurve3(
+      [new THREE.Vector3(0, 0.07, 0), new THREE.Vector3(0, 0.482, 0)],
+      false,  // 闭合曲线
+      'catmullrom',
+      0
+    )
+
+    // 挤出几何图形 参数
+    const optionsD = {
+      steps: 1,
+      bevelSegments: 0.05,
+      bevelEnabled: true,
+      extrudePath: curveD //  设置挤出轨迹
+    }
+    // 创建挤出几何体
+    const geometryD = new THREE.ExtrudeGeometry(shapeD, optionsD)
+    const meshD = new THREE.Mesh(geometryD, material);
+
+    meshD.updateMatrix()
+
+    // 布尔运算
+    const result = CSG.subtract(mesh, meshD)
+
+    return result.geometry
+  }
+
 }

src/types/ScriptSupport.d.ts

@@ -87,6 +87,14 @@ declare interface TaskManagerIF {
    */
   addRotationTask(angle: number): void
 
+  addCl2ShowArm(): void
+
+  addCl2UpArm(hight: number): void
+
+  addCl2HideArm(): void
+
+  addCl2DownArm(): void
+
   /**
    * 执行任务
    */