From 85d5bb7226f25b7af51c3fb1d617f9d43b2fe5be Mon Sep 17 00:00:00 2001 From: lizw-2015 <1183409807@qq.com> Date: Wed, 9 Jul 2025 10:13:31 +0800 Subject: [PATCH 1/6] =?UTF-8?q?feat(config):=20=E6=B7=BB=E5=8A=A0=E5=85=A8?= =?UTF-8?q?=E5=B1=80=E8=AF=B7=E6=B1=82=E8=B6=85=E6=97=B6=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E5=B9=B6=E4=BC=98=E5=8C=96=E4=BB=A3=E7=A0=81=E6=A0=BC=E5=BC=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 在 globalConfig 中添加 axiosRequestDef函数，设置请求超时时间为10 分钟 - 优化代码格式，调整缩进和空格 --- src/config.ts | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/src/config.ts b/src/config.ts index 1a74ce1..97d2207 100644 --- a/src/config.ts +++ b/src/config.ts @@ -6,6 +6,9 @@ import { createVNode } from "vue"; import ErrorDialog from "@/components/ErrorDialog.vue"; function globalConfig() { + window.globalConfig.axiosRequestDef = () => ({ + timeout: 1000 * 60 * 10, + }) window.globalConfig.customAxios = axiosInstance => { // 全局请求拦截 axiosInstance.interceptors.request.clear(); @@ -25,18 +28,18 @@ function globalConfig() { axiosInstance.interceptors.response.clear(); axiosInstance.interceptors.response.use( (response) => { - const data = response.data; + const data = response.data; - if (data && data.success === false) { - // 显示错误对话框 - system.showErrorDialog(data.failMessage || '系统异常'); + if (data && data.success === false) { + // 显示错误对话框 + system.showErrorDialog(data.failMessage || '系统异常'); - // 返回一个被拒绝的 Promise，这样后续 .then() 不会执行，进入 .catch() - return Promise.reject(response); - } + // 返回一个被拒绝的 Promise，这样后续 .then() 不会执行，进入 .catch() + return Promise.reject(response); + } - // 正常情况，继续传递数据 - return response; + // 正常情况，继续传递数据 + return response; }, (error: any) => { const { response } = error; From 35a1e12792d3b2679d3c08a13e3ef97cf8a9dd25 Mon Sep 17 00:00:00 2001 From: lizw-2015 <1183409807@qq.com> Date: Wed, 9 Jul 2025 10:13:41 +0800 Subject: [PATCH 2/6] =?UTF-8?q?feat(config):=20=E6=B7=BB=E5=8A=A0=E5=85=A8?= =?UTF-8?q?=E5=B1=80=E8=AF=B7=E6=B1=82=E8=B6=85=E6=97=B6=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E5=B9=B6=E4=BC=98=E5=8C=96=E4=BB=A3=E7=A0=81=E6=A0=BC=E5=BC=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 在 globalConfig 中添加 axiosRequestDef函数，设置请求超时时间为10 分钟 - 优化代码格式，调整缩进和空格 --- src/config.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/config.ts b/src/config.ts index 97d2207..f42ca1e 100644 --- a/src/config.ts +++ b/src/config.ts @@ -8,7 +8,7 @@ import ErrorDialog from "@/components/ErrorDialog.vue"; function globalConfig() { window.globalConfig.axiosRequestDef = () => ({ timeout: 1000 * 60 * 10, - }) + }); window.globalConfig.customAxios = axiosInstance => { // 全局请求拦截 axiosInstance.interceptors.request.clear(); From b7b89ff8d59a449eff9778c21a59f751c9d3d985 Mon Sep 17 00:00:00 2001 From: luoyifan Date: Wed, 9 Jul 2025 10:28:34 +0800 Subject: [PATCH 3/6] =?UTF-8?q?=E5=B0=8F=E5=87=AFAI=20=E9=9B=86=E6=88=90?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/editor/ModelMain.vue | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/editor/ModelMain.vue b/src/editor/ModelMain.vue index 1cb2e41..ac4db7e 100644 --- a/src/editor/ModelMain.vue +++ b/src/editor/ModelMain.vue @@ -71,7 +71,7 @@ - + From bde6e35dcfd9e0060304ceb611d61f608e6f53d0 Mon Sep 17 00:00:00 2001 From: yuliang <398780299@qq.com> Date: Wed, 9 Jul 2025 10:40:09 +0800 Subject: [PATCH 4/6] =?UTF-8?q?cl2=20=E5=9F=BA=E4=BA=8E=E8=AE=BE=E5=A4=87?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E5=92=8C=E4=BB=BB=E5=8A=A1=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E5=88=86=E6=AD=A5=E7=94=9F=E6=88=90=E8=AE=BE=E5=A4=87=E4=BB=BB?= =?UTF-8?q?=E5=8A=A1=E6=B6=88=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/core/Constract.ts | 2 +- src/modules/amr/ptr/PtrObject.ts | 168 +++++++++++++------------------ src/modules/amr/ptr/cl2/Cl23DGraphics.ts | 36 ++++++- src/modules/amr/ptr/cl2/Cl23dObject.ts | 42 ++++---- src/modules/amr/ptr/clx/Clx3DGraphics.ts | 2 +- src/modules/amr/ptr/clx/Clx3dObject.ts | 22 +++- src/modules/amr/ptr/clx/ClxRenderer.ts | 29 ++++++ src/modules/rack/RackRenderer.ts | 8 +- 8 files changed, 171 insertions(+), 138 deletions(-) diff --git a/src/core/Constract.ts b/src/core/Constract.ts index 37b1ed0..f41041a 100644 --- a/src/core/Constract.ts +++ b/src/core/Constract.ts @@ -29,7 +29,7 @@ const Constract = Object.freeze({ HEIGHT_GSTORE: 0.03, HEIGHT_MEASURE: 0.02, HEIGHT_RACK: 0, - HEIGHT_WAY: 0.01, + HEIGHT_WAY: 0, HEIGHT_WAY_LABEL: 0.03, HEIGHT_WAY_LINE: 0.02, diff --git a/src/modules/amr/ptr/PtrObject.ts b/src/modules/amr/ptr/PtrObject.ts index facf6cc..cd07072 100644 --- a/src/modules/amr/ptr/PtrObject.ts +++ b/src/modules/amr/ptr/PtrObject.ts @@ -57,6 +57,9 @@ export default class PtrObject extends THREE.Object3D { override AGVModel = '' override AGVFnModel = '' + override rotationSpeed: number = 0 + override showForkSpeed: number = 0 + override upForkSpeed: number = 0 private boxBody: any = null private __toPos: THREE.Vector3 = null @@ -169,6 +172,7 @@ export default class PtrObject extends THREE.Object3D { this.subscribeMessage('/wcs_server/' + this.item.id) this.subscribeMessage('/agv_robot/status') } + window.agv3 = this } protected onFrameTimer() { @@ -199,7 +203,7 @@ export default class PtrObject extends THREE.Object3D { const boxShape = new this.viewport.ammoModel.btBoxShape(new Ammo.btVector3(0.5, 0.5, 0.5)) - const mass = 10 + const mass = 1 const localInertia = new this.viewport.ammoModel.btVector3(0, 0, 0) boxShape.calculateLocalInertia(mass, localInertia) @@ -486,7 +490,7 @@ export default class PtrObject extends THREE.Object3D { } makeStepTask(data: AmrMsg10010) { - + console.log('makeStepTask:', data) let currentStepTask: StepTask = this.runningStepTask if (currentStepTask == null) { if (this.currentStepTaskList && this.currentStepTaskList.length > 0) { @@ -605,7 +609,7 @@ export default class PtrObject extends THREE.Object3D { if (endDirection != currentStepTask.EndDirection) { // 如果此处不能转弯，忽略结束方向 等待后续任务 - if (!item.dt?.agvRotation || !item.dt?.agvRotation?.length <= 0) { + if (!item.dt?.agvRotation || item.dt?.agvRotation?.length <= 0) { return } const stepTask: StepTask = { @@ -684,7 +688,7 @@ export default class PtrObject extends THREE.Object3D { this.currentStepTaskList.shift() this.runningStepTaskList.push(stepTask) - this.addTravel(stepTask.X, stepTask.Y, stepTask.Speed / 1000) + this.addTravel(stepTask.X, stepTask.Y, stepTask.EndDirection, stepTask.Speed / 1000) } else { break @@ -694,7 +698,7 @@ export default class PtrObject extends THREE.Object3D { this.currentStepTaskList.shift() this.runningStepTaskList.push(stepTask) if (stepTask.StepTaskType == 'MOVE' || stepTask.StepTaskType == 'MOVE_BACKWARD') { - this.addTravel(stepTask.X, stepTask.Y, stepTask.Speed / 1000) + this.addTravel(stepTask.X, stepTask.Y, stepTask.EndDirection,stepTask.Speed / 1000) } else if (stepTask.StepTaskType == 'ROTATION') { this.addRotation(stepTask.EndDirection) } else if (stepTask.StepTaskType == 'LOAD') { @@ -707,31 +711,23 @@ export default class PtrObject extends THREE.Object3D { } onActionCompleted() { - this.runningStepTaskList = [] - this.runningStepTask = null - this.computeLogicXYAndDirection() - this.computeRealSpeed() - // 当前所有动作执行完毕 - if (this.currentStepTaskList.length <= 0) { - this.send20010() - } - this.PickMode = 0 - this.OperationType = 0 - this.TaskMode = 0 - this.executeTask() + setTimeout(()=> { + this.runningStepTaskList = [] + this.runningStepTask = null + this.computeLogicXYAndDirection() + // 当前所有动作执行完毕 + if (this.currentStepTaskList.length <= 0) { + this.send20010() + } + this.PickMode = 0 + this.OperationType = 0 + this.TaskMode = 0 + this.executeTask() + }, 2000) } /*==========动作处理============*/ - private realSpeed = 0 - private __lastPosition = this.position.clone() - - computeRealSpeed() { - this.realSpeed = this.__lastPosition.distanceTo(this.position) / this.clock.getDelta() - this.__lastPosition.copy(this.position) - console.log('realSpeed', this.realSpeed) - } - // 转 addRotation(direction: number): Promise { let rad = 0 @@ -754,7 +750,7 @@ export default class PtrObject extends THREE.Object3D { const angleDiff = quat1.angleTo(quat2) console.log(rad, this.rotation.y, angleDiff) const tr = this.rotation.y + angleDiff - let time = Math.abs(angleDiff) / (Math.PI / 7) + let time = Math.abs(angleDiff) / this.rotationSpeed const duration = time return new Promise(resolve => { @@ -771,8 +767,12 @@ export default class PtrObject extends THREE.Object3D { }) } + keepSpeed: any + force: any + reverseForce: any + // 走 - addTravel(logicX: number, logicY: number, speed: number = 1): Promise { + addTravel(logicX: number, logicY: number, direction: number, speed: number = 1): Promise { this.OperationType = 0 @@ -789,19 +789,31 @@ export default class PtrObject extends THREE.Object3D { } // 运动参数 - const accelForce = speed > 0 ? 4 : (-4) + const accelForce = speed > 0 ? a : (-a) let currentPhase = 'accelerate' + this.keepSpeed = new this.viewport.ammoModel.btVector3(0, 0, 0) + this.force = new this.viewport.ammoModel.btVector3(0, 0, 0) + this.reverseForce = new this.viewport.ammoModel.btVector3(0, 0, 0) + if (direction == 0 || direction == 2) { + this.force.setValue(accelForce, 0, 0) + this.reverseForce.setValue(-accelForce, 0, 0) + this.keepSpeed.setValue(speed, 0, 0) + } else if (direction == 1 || direction == 3) { + this.force.setValue(0, 0, accelForce) + this.reverseForce.setValue(0, 0, -accelForce) + this.keepSpeed.setValue(0, 0, speed) + } + if (this.viewport.registerPhysicsUpdateCallBack.has(this.item.id)) { return null } this.travelAnimation = 'asd' - const force = new this.viewport.ammoModel.btVector3(accelForce, 0, 0) this.viewport.registerPhysicsUpdateCallBack.set(this.item.id, () => { - this.viewport.physicsWorld.stepSimulation(1 / 60, 20) + this.viewport.physicsWorld.stepSimulation(1 / 60, 10) // 同步Three.js对象位置 const transform = new this.viewport.ammoModel.btTransform() @@ -815,50 +827,55 @@ export default class PtrObject extends THREE.Object3D { const cSpeed = velocity.length() const stopTime = cSpeed / a const stopDistance = a * stopTime * stopTime / 2 - if (distance <= 0.05) { + if (distance <= 0.01) { const stopVel = new this.viewport.ammoModel.btVector3(0, 0, 0) this.boxBody.setLinearVelocity(stopVel) this.viewport.ammoModel.destroy(stopVel) this.viewport.registerPhysicsUpdateCallBack.delete(this.item.id) - this.viewport.ammoModel.destroy(force) + this.viewport.ammoModel.destroy(this.force) + this.viewport.ammoModel.destroy(this.keepSpeed) this.position.set(this.__toPos.x, this.__toPos.y, this.__toPos.z) this.travelAnimation = null this.onActionCompleted() - + return + } + if (cSpeed == 0) { + this.boxBody.activate() } - if (distance <= stopDistance) { - currentPhase = 'decelerate' + if (distance <= stopDistance + 0.2) { + if (currentPhase != 'decelerate') { + currentPhase = 'decelerate' + const sp = new this.viewport.ammoModel.btVector3(velocity.x(), velocity.y(), velocity.z()) + this.boxBody.setLinearVelocity(sp) + this.viewport.ammoModel.destroy(sp) + } + } else if (currentPhase == 'decelerate') { + currentPhase = 'accelerate' } + // 运动阶段控制 switch (currentPhase) { case 'accelerate': // 施加X轴正向力 - - if (velocity.x() == 0) { - this.boxBody.activate() - } - this.boxBody.applyCentralForce(force) + this.boxBody.applyCentralForce(this.force) // 达到最大速度进入匀速阶段 - if (Math.abs(velocity.x()) >= Math.abs(speed)) { + if (cSpeed >= Math.abs(speed) || distance <= stopDistance) { currentPhase = 'uniform' } + this.boxBody.setDamping(0, 0); break case 'uniform': currentPhase = 'uniform' - const newVel = new this.viewport.ammoModel.btVector3(speed, 0, 0) - this.boxBody.setLinearVelocity(newVel) - this.viewport.ammoModel.destroy(newVel) + this.boxBody.setLinearVelocity(this.keepSpeed) + this.boxBody.setDamping(0, 0); break case 'decelerate': // 检测停止 - if (speed == 0) { - const stopVel = new this.viewport.ammoModel.btVector3(0, 0, 0) - this.boxBody.setLinearVelocity(stopVel) - this.viewport.ammoModel.destroy(stopVel) - currentPhase = 'stop' - console.log('物体已完全停止') + if (cSpeed > 0) { + this.boxBody.setDamping(0.6, 0); } + this.boxBody.activate() break } @@ -882,56 +899,7 @@ export default class PtrObject extends THREE.Object3D { } }) - - return null - // - // if (!this.travelAnimation) { - // return new Promise(resolve => { - // this.travelAnimation = gsap.to(this.position, { - // x: toPos.x, - // y: toPos.y, - // z: toPos.z, - // duration, - // ease: 'power1.inOut', - // onComplete: () => { - // this.travelAnimation = null - // resolve() - // this.onActionCompleted() - // }, - // onUpdate: () => { - // this.computeRealSpeed() - // for (let i = 0; i < this.runningStepTaskList.length; i++) { - // const task = this.runningStepTaskList[i] - // if (task.isCompleted == false) { - // if (this.position.distanceTo(task.position) < 0.1) { - // task.isCompleted = true - // this.runningStepTaskList.splice(0, i + 1) - // const content: AmrMsg20020 = new AmrMsg20020(this.vehicleId) - // content.CurLogicX = task.X - // content.CurLogicY = task.Y - // content.CurX = task.X - // content.CurY = task.Y - // content.CurOrientation = task.EndDirection * 90 - // content.CurDirection = task.EndDirection - // this.send20020(content) - // break - // } - // } - // } - // } - // }) - // }) - // } else { - // this.travelAnimation.vars.x = toPos.x - // this.travelAnimation.vars.y = toPos.y - // this.travelAnimation.vars.z = toPos.z - // this.travelAnimation.vars.ease = 'power1.out' - // const tt = this.travelAnimation.duration() - // this.travelAnimation.duration(duration) - // this.travelAnimation.invalidate().restart(); - // } - } // 取货 diff --git a/src/modules/amr/ptr/cl2/Cl23DGraphics.ts b/src/modules/amr/ptr/cl2/Cl23DGraphics.ts index 2f6a9dc..d8f989a 100644 --- a/src/modules/amr/ptr/cl2/Cl23DGraphics.ts +++ b/src/modules/amr/ptr/cl2/Cl23DGraphics.ts @@ -233,7 +233,7 @@ export default class Cl23DGraphics { // 拉伸轨迹线 const curve = new THREE.CatmullRomCurve3( - [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 0.482, 0)], + [new THREE.Vector3(0, /*0.02*/-0.8, 0), new THREE.Vector3(0, 0.482, 0)], false, // 闭合曲线 'catmullrom', 0 @@ -259,7 +259,7 @@ export default class Cl23DGraphics { 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() + shapeD.closePath() // 拉伸轨迹线 const curveD = new THREE.CatmullRomCurve3( @@ -282,8 +282,38 @@ export default class Cl23DGraphics { meshD.updateMatrix() + + const shapeDD = new THREE.Shape() + + + shapeDD.moveTo(0, 0) + shapeDD.lineTo(0, 2) + shapeDD.lineTo(2, 2) + shapeDD.lineTo(2, 0) + shapeDD.closePath() + + // 拉伸轨迹线 + const curveDD = new THREE.CatmullRomCurve3( + [new THREE.Vector3(-1, 0.03, -1), new THREE.Vector3(-1, 0.03, 0.45)], + false, // 闭合曲线 + 'catmullrom', + 0 + ) + + // 挤出几何图形 参数 + const optionsDD = { + steps: 1, + bevelSegments: 0.05, + bevelEnabled: true, + extrudePath: curveDD // 设置挤出轨迹 + } + // 创建挤出几何体 + const geometryDD = new THREE.ExtrudeGeometry(shapeDD, optionsDD) + const meshDD = new THREE.Mesh(geometryDD, material) + meshDD.updateMatrix() // 布尔运算 - const result = CSG.subtract(mesh, meshD) + let result = CSG.subtract(mesh, meshD) + result = CSG.subtract(result, meshDD) return result.geometry } diff --git a/src/modules/amr/ptr/cl2/Cl23dObject.ts b/src/modules/amr/ptr/cl2/Cl23dObject.ts index affaecf..dabbea2 100644 --- a/src/modules/amr/ptr/cl2/Cl23dObject.ts +++ b/src/modules/amr/ptr/cl2/Cl23dObject.ts @@ -5,25 +5,6 @@ import mqtt from 'mqtt' import {Euler} from 'three/src/math/Euler' import Cl2Entity from '@/modules/amr/ptr/cl2/Cl2Entity' import Cl23DGraphics from "@/modules/amr/ptr/cl2/Cl23DGraphics" -import { - AmrErrorCode, - AmrMsg, - AmrMsg10010, - AmrMsg10050, - AmrMsg10060, - AmrMsg10110, AmrMsg10120, AmrMsg20011, - AmrMsg20020, - AmrMsg20050, - AmrMsg20060, - AmrMsg20100, AmrMsg20147, AmrMsg20148, - AmrMsg20149, - AmrMsg20150, - AmrMsg20250, - CurBatteryData, - type CEventId, type COperationType, type CTaskMode, type CPickMode, - type LogicDirection, TaskCompletedData, TaskModeChangeData, TaskStatusChangeData, TaskTypeChangeData, AmrMsg20010 -} from "@/core/manager/amr/AmrMessageDefine"; -import {worldModel} from "@/core/manager/WorldModel"; import PtrObject from "../PtrObject"; import Viewport from "@/core/engine/Viewport"; @@ -31,6 +12,10 @@ export default class Cl23dObject extends PtrObject { private _cl2Entity: Cl2Entity = null + override rotationSpeed = (Math.PI / 7) + override showForkSpeed: number = 0.15 + override upForkSpeed: number = 0.15 + public get cl2Entity(): Cl2Entity { if (!this._cl2Entity) { const cl2: Cl2Entity = Model.getCl2(this.item.id) as Cl2Entity @@ -81,14 +66,18 @@ export default class Cl23dObject extends PtrObject { override animationShowFork(z: number): Promise { const ptrPillar = this.getObjectByName('ptrPillar') - const time = 3 + const time = Math.abs(z/ this.showForkSpeed) return new Promise(resolve => { this.actionAnimation = gsap.to(ptrPillar.position, { z: -z, duration: time, repeat: 0, ease: 'sine.inOut', - onComplete: resolve + onComplete: ()=>{ + setTimeout(() => { + resolve() + }, 1000) + }, }) }) @@ -98,10 +87,13 @@ export default class Cl23dObject extends PtrObject { return this.animationShowFork(0) } - override animationUpFork(y: number, time?: number = 3): Promise { + override animationUpFork(y: number): Promise { const ptrFork = this.getObjectByName('ptrFork') const ptrPillar = this.getObjectByName('ptrPillar') const pz = ptrPillar.position.z + + const time = Math.abs((ptrFork.position.y - y) / this.upForkSpeed) + return new Promise(resolve => { const bh = 0.22 const children = ptrFork.children @@ -111,7 +103,11 @@ export default class Cl23dObject extends PtrObject { duration: time, repeat: 0, ease: 'sine.inOut', - onComplete: resolve, + onComplete: ()=>{ + setTimeout(() => { + resolve() + }, 1000) + }, onUpdate: function () { const a = this.targets()[0] if (a.y < bh) { diff --git a/src/modules/amr/ptr/clx/Clx3DGraphics.ts b/src/modules/amr/ptr/clx/Clx3DGraphics.ts index e4190e1..0efc86e 100644 --- a/src/modules/amr/ptr/clx/Clx3DGraphics.ts +++ b/src/modules/amr/ptr/clx/Clx3DGraphics.ts @@ -377,7 +377,7 @@ export default class Clx3DGraphics { shape.closePath() const curve = new THREE.CatmullRomCurve3( - [new THREE.Vector3(0, 0.02, 0), new THREE.Vector3(0, 1.287, 0)], + [new THREE.Vector3(0, -1.5/*0.02*/, 0), new THREE.Vector3(0, 1.287, 0)], false, // 闭合曲线 'catmullrom', 0 diff --git a/src/modules/amr/ptr/clx/Clx3dObject.ts b/src/modules/amr/ptr/clx/Clx3dObject.ts index ee8ed1a..3dc1b43 100644 --- a/src/modules/amr/ptr/clx/Clx3dObject.ts +++ b/src/modules/amr/ptr/clx/Clx3dObject.ts @@ -10,6 +10,10 @@ import PtrObject from "@/modules/amr/ptr/PtrObject"; export default class Clx3dObject extends PtrObject { + override rotationSpeed = (Math.PI / 10) + override showForkSpeed: number = 0.15 + override upForkSpeed: number = 0.15 + constructor(item: ItemJson, viewport: Viewport, option?: RendererCudOption) { super(item, viewport) @@ -105,7 +109,7 @@ export default class Clx3dObject extends PtrObject { const fy = clxFork.position.y - const time = 3 + const time = Math.abs(z / this.upForkSpeed) const ac = Math.asin(z / (2 * 0.8)) @@ -189,7 +193,11 @@ export default class Clx3dObject extends PtrObject { duration: time, repeat: 0, ease: 'sine.inOut', - onComplete: resolve + onComplete: ()=>{ + setTimeout(() => { + resolve() + }, 1000) + }, }) }) @@ -199,7 +207,7 @@ export default class Clx3dObject extends PtrObject { return this.animationShowFork(0) } - override animationUpFork(y: number, time?: number = 3): Promise { + override animationUpFork(y: number): Promise { const clxFork = this.getObjectByName('clxFork') const clxGemelMeshL1 = this.getObjectByName('clxGemelMeshL1') const clxGemelMeshL2 = this.getObjectByName('clxGemelMeshL2') @@ -208,6 +216,8 @@ export default class Clx3dObject extends PtrObject { const clxForkBasePlateMesh = this.getObjectByName('clxForkBasePlateMesh') + const time = Math.abs((clxFork.position.y - y) / this.upForkSpeed) + gsap.to(clxGemelMeshL1.position, { y: y + 0.72, duration: time, @@ -248,7 +258,11 @@ export default class Clx3dObject extends PtrObject { duration: time, repeat: 0, ease: 'sine.inOut', - onComplete: resolve, + onComplete: ()=>{ + setTimeout(() => { + resolve() + }, 1000) + }, onUpdate: function() { const a = this.targets()[0] if (a.y < bh) { diff --git a/src/modules/amr/ptr/clx/ClxRenderer.ts b/src/modules/amr/ptr/clx/ClxRenderer.ts index c99a0bd..47708c3 100644 --- a/src/modules/amr/ptr/clx/ClxRenderer.ts +++ b/src/modules/amr/ptr/clx/ClxRenderer.ts @@ -3,6 +3,7 @@ import BaseRenderer from '@/core/base/BaseRenderer.ts' import Constract from '@/core/Constract.ts' import Clx3dObject from './Clx3dObject' import type { Object3DLike } from '@/types/ModelTypes.ts' +import Viewport from "@/core/engine/Viewport"; /** * clx渲染器 @@ -60,6 +61,34 @@ export default class ClxRenderer extends BaseRenderer { return group } + /** + * 如果某物品要放到 Cl2 上 返回可存放的位置和角度一个 Position 和 Rotation + */ + getStorePlacement(storeItem: ItemJson, bay = 0, level = 0, cell = 0) + : { + position: [number, number, number], rotation: [number, number, number], + getParentObject3D?: (viewport: Viewport, parent: THREE.Object3D) => THREE.Object3D + } { + + return { + position: [0, 0.2, 0], + rotation: [0, 90, 0], + getParentObject3D: this.getArmObject.bind(this) + } + } + getArmObject(viewport: Viewport, item: ItemJson): THREE.Object3D { + // 获取机械臂对象 + const object = viewport.entityManager.findObjectById(item.dt.storeAt?.item) + if (!object) { + console.warn('PtrRenderer: getArmObject failed, not found Cl2:', item.dt.storeAt?.item) + return + } + + const agv = object as THREE.Group + const clxFork = agv.getObjectByName('clxFork') + return clxFork + } + updatePoint(item: ItemJson, object: Object3DLike, option?: RendererCudOption): Object3DLike { const group: THREE.Group = object as THREE.Group diff --git a/src/modules/rack/RackRenderer.ts b/src/modules/rack/RackRenderer.ts index 93e0dc9..dab1850 100644 --- a/src/modules/rack/RackRenderer.ts +++ b/src/modules/rack/RackRenderer.ts @@ -82,11 +82,7 @@ export default class RackRenderer extends BaseRenderer { } localX += bays[bay].bayWidth / 2 // 居中 - let localY = 0 - for (let i = 0; i <= level; i++) { - localY += levelHeights[i] - } - + let localY = levelHeights[level] // 构建局部偏移向量 const rackPos = new THREE.Vector3(...rack.tf[0]) const offset = new THREE.Vector3( @@ -107,7 +103,7 @@ export default class RackRenderer extends BaseRenderer { return { position: [ worldPosition.x, - worldPosition.y + rack.dt.bottomBarHeight + 0.05, // 加上横梁高度 + worldPosition.y, //+ 0.05, // 加上横梁高度 worldPosition.z ], rotation: [ From 43d22c6e2b2c0681efae4b79fff1c9ae4782755c Mon Sep 17 00:00:00 2001 From: liupeng <511646242@qq.com> Date: Wed, 9 Jul 2025 10:59:00 +0800 Subject: [PATCH 5/6] =?UTF-8?q?=E4=BF=AE=E6=94=B9logo?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/assets/images/logo_zh.png | Bin 0 -> 3092 bytes src/views/Header.vue | 3 ++- 2 files changed, 2 insertions(+), 1 deletion(-) create mode 100644 src/assets/images/logo_zh.png diff --git a/src/assets/images/logo_zh.png b/src/assets/images/logo_zh.png new file mode 100644 index 0000000000000000000000000000000000000000..7c215a0cf0d60a36daeef1a3e542d20b870c5e6d GIT binary patch literal 3092 zcmV+v4D0iWP)^3xUfA;I|{!%bH)u@<`J5Z;?F}nmvJIG7p6dC;imeUB_cb>^Z9%s z(bE(EEfIaXgZ>#ElzCX8NL1iYlrV|tH6j{)Scw|zu-w@E#JCgi*+Ne&)(Jt^3Tol9 zYusjn$=D#G3K1!7mS&0P@O77;>lUpvUMMa4aiLR^Doo8!jAvRskk1#?gpaNBIWU82 zg$R)&q9a^gLL-v8H%&yvHRwlijoLvZcq0ZD4Dl`-%*{`Xmy)N?mh>C>d_fU-s>}ML zgxF>}YAnSZ{w-rMc|u*j7Ssk;WitGYZJJz%&2{z>(fdU77D%)V{FZuh5zT>@R90g? z<*`x1AjRdIIN$?I6_?lS3Vp05h`C+$;SHi{c!;afpSZ?@>a*@eBDV!x)$<3gJ{$L$~RDSOJ}TAj@LL~G7?t6{fNPu9davOeQkv>-V{(a9xK~jbE z{KR-JdHQUYJGd*NdZU8wAec-NA*jU@l;Z2>*e-NBAP7n%6E*+=F)OUfO>HwD0b5lz zRVHK~YTO5#i6U)}al1v3oT}{~a2sBdG{^=i`b1%B9@lN2<4{^QDv~NpzVp(LKTA8G z@Ka;!1vZey;>pax-!?B=9&Ex~NTSTKIu~_TeyYcRu@R@&q@b#^WA4OSZ zlo09pnnqAjHEEElYO+T7`V>F!_&8pzaFnG9PQ1(4MwraR3+RG6F7o1q4MB;=JgJeY z3eKDm^kpJ?mVetkzFF>DiswNz!TAm&AU4n4DJH1cn>p^^d7k$)_t`V78L!gPyLaio zp9tJ+%!v2>D2{eI1R=3Eqr#9+NmtV$RgLZzgZhIgNA{*ynz6%?A8F?k5eq!3s$Q(}p1@9(EA# zysv-5^+V$aw+w6@Xu9|3p3Uh5hiK}6iL>Dh#?Z%VUNh(Atdf1c|zUP2P zDe7EEhK7HF>$f4KQsugF0aYEBzy=g&WsK{yz#(y&yj4x|&%j0@h%yj3UO|9T{IG}9 zB-ctjrWZA*Mj{-k7B;y99(~Y$>9JL`#hY*+Nd?n}Aq$f6^VDO*!&myh^ZZbJ@7~d) zM>9?0de6?soB+Z6Dof3%&#QIlr%EQ1rp^G6IX>f+R)A^;u1d zcXP(>wRUB$9|WZ0=U zU1D-p*>uQjeRn~-WI)npVZ3-M6qWk6wK3Jshay7W?PXlSRg zX;Vk!Ob;jN`}-chGQ7FJ(%;ilNS;2sRv9@pwv_}WUW7>>3F*LOg-yT^>2=)azV3Vo zDQ1`~v*1KY+hNo@0jWeg<)M5DHX&-di-b<6~8I{`7!idL6MVSS$U^{5g!FM)ii$K#X=T;lyEJF29q>6Br%tpi6V%JQc37&_1CB#Ka@OOZyV%w( z0f{ZJ$t7};_RAq?vPt>eJ?jxR@x%vHKP~R~@WZlxZ{yz7!Dqkr)RXa8texXj=Z>lq zt8R|x!k`4kyB9>|hKW-aA8$w$-IAF*@yfQ4rJJ)SJoeUDY z6kA-62DE|@XwJh-ktl-L+%>R^(_rt49Y3e_b0tA%Rg&iO1&PfCIx$*aUS2Go{Y~TU z_4+psc?5bF|5~BM1nO9~<-)-9c~jKhIr z(nS%YD8A5vdVd|>!^L7_~kjO?5k|yA+eqAB5v->v^gUMU5*uU1>009;R zv)f6f8YEdng|KyrwC|=5CAJ5H5U7KEL=>XroT1k{J^B(!LN)Q9n1 zOY5utdP)NBC7_JiqJNG@9eTth0dF5*+g{_x{x`*@yR}JYE?&Os_bPx)M%zH?1BL}j z8xGs1LIicapNL+7SZ5X-mKq16#XCO7T0$n$foy(BsNM!~M+wABTe2WE?F2^ZHsBc1 zf(6dP0?SEV2C~`Z84(uJ_bib3Cq(o*Uq8ihS_|TpGDp&vqtF)z4h7D!Q#r+1R9Q&E zabS!R>QjCB1rfah$vhIHPC;;A99kjws>9fgBrUgkcbbz_EG?1XzXt7w=Ba28Dz|_KF_-q>bqBi;-*c=H+kHdeVgYRn* zEWYZ~Q_$vdO+ygWD<}YIvHm%3a}G8@LOVhg;UpXLMw_-Js!#)|yoydqx^gPfF833N zx?X^)6DL*jJ%xZJNNqDg8VZRqYe~pr!#znru7R2(c=t#a1@l>n=SrdwRgjo!zAwTn z76-JrtJLrC2i3O2+Ta35T^z`BCD1xg2I& zi8jH|7yjRY6~y5^n?SgC@9t(IIu!2>AnY3M5iUwJ$1N%osE$@Sdte zaydmkOKyOWOO;dquS=aes=q}-qOT#DQep?IzvWE_`KK4CVPu1-d#apD1eg3(5e8!F ih_sja5!GKKBKjX|D%L3LAvWaz0000
- + @@ -20,6 +20,7 @@ import {ref} from 'vue' import { renderIcon } from '@/utils/webutils.js' import Logo from '@/assets/images/logo.png' +import LogoZh from '@/assets/images/logo_zh.png' // 接收 props const props = defineProps({ isMobile: Boolean, From 048989576d83f44ea87f2d4e9b6c272522be5942 Mon Sep 17 00:00:00 2001 From: yuliang <398780299@qq.com> Date: Wed, 9 Jul 2025 12:47:49 +0800 Subject: [PATCH 6/6] =?UTF-8?q?cl2=20=E5=9F=BA=E4=BA=8E=E8=AE=BE=E5=A4=87?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E5=92=8C=E4=BB=BB=E5=8A=A1=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E5=88=86=E6=AD=A5=E7=94=9F=E6=88=90=E8=AE=BE=E5=A4=87=E4=BB=BB?= =?UTF-8?q?=E5=8A=A1=E6=B6=88=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/core/engine/SceneHelp.ts | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/src/core/engine/SceneHelp.ts b/src/core/engine/SceneHelp.ts index 50b1deb..9986816 100644 --- a/src/core/engine/SceneHelp.ts +++ b/src/core/engine/SceneHelp.ts @@ -81,14 +81,15 @@ export default class SceneHelp { this.scene.add(hemisphereLight) // 完全不透明的地板 - // const geometry = new THREE.PlaneGeometry(gridOption.gridSize, gridOption.gridSize) - // const material = new THREE.MeshBasicMaterial({ - // color: '#ffffff', - // side: THREE.BackSide - // }) - // const ground = new THREE.Mesh(geometry, material) - // ground.rotation.x = -Math.PI / 2 - // this.scene.add(ground) + const geometry = new THREE.PlaneGeometry(gridOption.gridSize, gridOption.gridSize) + const material = new THREE.MeshBasicMaterial({ + color: '#ffffff', + side: THREE.BackSide + }) + const ground = new THREE.Mesh(geometry, material) + ground.rotation.x = Math.PI / 2 + ground.position.y = -0.01 + this.scene.add(ground) // const directionalLight = new THREE.DirectionalLight(0xffffff, 1.5) // directionalLight.position.set(5, 5, 5).multiplyScalar(3)