23 changed files with 1144 additions and 430 deletions
@ -1,26 +1,285 @@ |
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import * as THREE from 'three' |
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import gsap from 'gsap' |
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import type { Object3DLike } from '@/types/ModelTypes.ts' |
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import Viewport from '@/core/engine/Viewport.ts' |
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import TaskQueue, { type Task } from '@/core/base/TaskQueue.ts' |
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import type { MeshWrap } from '@/core/manager/InstanceMeshManager.ts' |
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import { getRenderer } from '@/core/manager/ModuleManager.ts' |
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|
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/** |
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* BaseEntity class |
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* Provides a base for managing logistics unit entities. |
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* 物流实体基类 |
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*/ |
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export default abstract class BaseEntity { |
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protected itemJson!: ItemJson |
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protected objects!: THREE.Object3D[] |
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export default abstract class BaseEntity implements EntityIf, Loadable, Carry, Walk, ForkArm, LiftingArm { |
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protected readonly viewport: Viewport |
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protected readonly taskQueue: TaskQueue = new TaskQueue() |
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readonly id: string |
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readonly item: ItemJson |
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readonly object: THREE.Object3D |
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readonly t: string |
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|
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isArmExtended: boolean = false |
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isArmRaised: boolean = false |
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isCarrying: boolean = false |
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isLoading: boolean = false |
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isUnloading: boolean = false |
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isWalking: boolean = false |
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isPaused: boolean = false |
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|
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constructor(viewport: Viewport, id: string) { |
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this.viewport = viewport |
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this.id = id |
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this.item = viewport.find(id) |
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this.object = viewport.entityManager.findObjectById(id) as THREE.Object3D |
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this.t = this.item.t |
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} |
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|
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// 帮助方法：获取机械臂对象
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abstract getArmObject(): THREE.Object3D | undefined |
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// 帮助方法：获取机械臂立柱
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abstract getArmPillar(): THREE.Object3D | undefined |
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|
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// 待执行任务总数
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get taskCount(): number { |
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return this.taskQueue.length |
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} |
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|
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// 是否正在执行任务
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get taskIsRunning(): boolean { |
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return this.taskQueue.isExecuting |
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} |
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|
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// 取消所有任务
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cancelTask(): void { |
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this.taskQueue.cancelAll() |
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} |
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|
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// 暂停任务
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taskPause(): void { |
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this.isPaused = true |
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this.taskQueue.pause() |
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} |
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|
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// 恢复任务
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taskResume(): void { |
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this.isPaused = false |
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this.taskQueue.resume() |
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} |
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|
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// 开始执行任务
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taskStartRun(): void { |
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this.taskQueue.start() |
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} |
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|
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// 创建基础任务
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protected createTask<T extends Task>(type: string, execute: () => Promise<void>, cancel?: () => void): T { |
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return { type, execute, cancel, isCancelable: true } as T |
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} |
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|
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// 上
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addArmRaise(height: number): void { |
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this.taskQueue.add(this.createTask('ARM_RAISE', async () => { |
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return new Promise(resolve => { |
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const arm = this.getArmObject() |
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if (!arm) return resolve() |
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|
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gsap.to(arm.position, { |
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y: height, |
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duration: 3, |
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ease: 'sine.inOut', |
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onComplete: resolve |
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}) |
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}) |
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}, () => { |
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// 取消动画
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gsap.killTweensOf(this.getArmObject()?.position) |
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})) |
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} |
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|
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// 下
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addArmLower(): void { |
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this.taskQueue.add(this.createTask('ARM_LOWER', async () => { |
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return new Promise(resolve => { |
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const arm = this.getArmObject() |
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if (!arm) return resolve() |
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|
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gsap.to(arm.position, { |
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y: 0, |
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duration: 3, |
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ease: 'sine.inOut', |
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onComplete: resolve |
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}) |
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}) |
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}, () => { |
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gsap.killTweensOf(this.getArmObject()?.position) |
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})) |
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} |
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|
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// 伸
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addArmExtender(): void { |
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this.taskQueue.add(this.createTask('ARM_EXTEND', async () => { |
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return new Promise(resolve => { |
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const pillar = this.getArmPillar() |
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if (!pillar) return resolve() |
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|
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gsap.to(pillar.position, { |
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z: -1.2, |
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duration: 3, |
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ease: 'sine.inOut', |
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onComplete: () => { |
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this.isArmExtended = true |
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resolve() |
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} |
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}) |
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}) |
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}, () => { |
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gsap.killTweensOf(this.getArmPillar()?.position) |
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})) |
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} |
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|
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// 缩
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addArmRetractor(): void { |
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this.taskQueue.add(this.createTask('ARM_RETRACT', async () => { |
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return new Promise(resolve => { |
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const pillar = this.getArmPillar() |
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if (!pillar) return resolve() |
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gsap.to(pillar.position, { |
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z: 0, |
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duration: 3, |
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ease: 'sine.inOut', |
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onComplete: () => { |
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this.isArmExtended = false |
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resolve() |
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} |
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}) |
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}) |
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}, () => { |
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gsap.killTweensOf(this.getArmPillar()?.position) |
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})) |
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} |
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|
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// 装
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addLoad(item: string): void { |
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this.taskQueue.add(this.createTask('LOAD', async () => { |
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// 实际业务中应包含装载逻辑
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this.isCarrying = true |
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throw new Error(`装载物品 ${item} 的逻辑未实现`) |
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})) |
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} |
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|
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// 卸
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addUnload(item: string, rack: string, bay?: number, level?: number): void { |
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this.taskQueue.add(this.createTask('UNLOAD', async () => { |
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// 实际业务中应包含卸载逻辑
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this.isCarrying = false |
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throw new Error(`装载物品 ${item} 的逻辑未实现`) |
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})) |
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} |
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|
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// 转
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addRotation(angle: number): void { |
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this.taskQueue.add(this.createTask('ROTATION', async () => { |
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return new Promise(resolve => { |
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const time = Math.abs(angle - THREE.MathUtils.radToDeg(this.object.rotation.y)) / 45 |
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const duration = Math.max(0.5, time) |
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gsap.to(this.object.rotation, { |
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y: THREE.MathUtils.degToRad(angle), |
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duration, |
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ease: 'none', |
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onComplete: resolve |
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}) |
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}) |
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}, () => { |
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gsap.killTweensOf(this.object.rotation) |
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})) |
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} |
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// 走
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addTravel(pos: Vector3IF | string): void { |
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this.taskQueue.add(this.createTask('TRAVEL', async () => { |
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return new Promise(resolve => { |
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const fromPos = this.object.position |
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|
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let position: Vector3IF |
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if (pos instanceof String || typeof pos === 'string') { |
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pos = Model.getPositionByEntityId(pos as string) |
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} |
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const toPos = new THREE.Vector3(pos.x, pos.y, pos.z) |
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const distance = fromPos.distanceTo(toPos) |
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const speed = 2 // 2m/s
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const duration = Math.max(1.5, distance / speed) |
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this.isWalking = true |
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gsap.to(this.object.position, { |
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x: toPos.x, |
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y: toPos.y, |
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z: toPos.z, |
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duration, |
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ease: 'sine.inOut', |
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onComplete: () => { |
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this.isWalking = false |
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resolve() |
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} |
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}) |
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}) |
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}, () => { |
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this.isWalking = false |
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gsap.killTweensOf(this.object.position) |
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})) |
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} |
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|
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/** |
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* Sets the `ItemJson` data for the entity. |
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* @param itemJson - The `ItemJson` data to set. |
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* 拾取物品 |
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*/ |
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setItem(itemJson: ItemJson): void { |
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this.itemJson = itemJson |
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pickupItem(id: string): THREE.Object3D { |
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// 找到物品所在的地方, 删除他
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const item = this.viewport.entityManager.findItemById(id) |
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const wrap = this.viewport.entityManager.findObjectById(id) as MeshWrap |
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if (wrap.type !== 'MeshWrap') { |
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throw new Error(`无法拾取物品 ${id}，它不是一个有效的 MeshWrap`) |
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} |
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item.dt.storeAt = { |
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item: this.id |
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} |
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const mesh = wrap.manager.wrapToObject3D(wrap) |
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this.viewport.entityManager.replaceObject(id, mesh) |
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return mesh |
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} |
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|
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/** |
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* Sets the `THREE.Object3D` object for the entity. |
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* @param object3D - The `THREE.Object3D` object to set. |
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* 卸下物品 |
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*/ |
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setObjects(objects: THREE.Object3D[]): void { |
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this.objects = objects |
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dropItem(item: ItemJson, storeItemId: string, bay?: number, level?: number, cell?: number): void { |
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item.dt.storeAt = { |
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item: storeItemId, |
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bay: bay, |
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level: level, |
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cell: cell |
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} |
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const rack = Model.find(storeItemId) |
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const rackRenderer = getRenderer(rack.t) |
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const itemRenderer = getRenderer(item.t) |
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if (!rackRenderer) { |
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throw new Error(`Renderer for type ${item.t} not found`) |
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} |
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if (!itemRenderer) { |
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throw new Error(`Renderer for type ${item.t} not found`) |
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} |
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const { position, rotation } = rackRenderer.getStorePlacement(this.viewport, item) |
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if (!position || !rotation) { |
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throw new Error(`无法获取物品 ${item.id} 的存储位置`) |
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} |
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this.getArmObject().clear() |
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itemRenderer.tempViewport = this.viewport |
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itemRenderer.createOrUpdatePointForRuntime(item, position, rotation) |
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itemRenderer.tempViewport = null |
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} |
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} |
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@ -0,0 +1 @@ |
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@ -0,0 +1,98 @@ |
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/** |
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* 任务类型定义 |
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*/ |
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export interface Task { |
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type: string |
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execute(): Promise<void> |
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cancel?(): void |
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isCancelable?: boolean |
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} |
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/** |
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* 任务队列管理类 |
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*/ |
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export default class TaskQueue { |
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private queue: Task[] = [] |
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private currentTask: Task | null = null |
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private isRunning = false |
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private isPaused = false |
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private onTaskComplete: ((task: Task) => void) | null = null |
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constructor() { |
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} |
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|
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get length(): number { |
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return this.queue.length + (this.currentTask ? 1 : 0) |
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} |
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get isExecuting(): boolean { |
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return this.isRunning && !this.isPaused |
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} |
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add(task: Task): void { |
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this.queue.push(task) |
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} |
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clear(): void { |
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this.queue = [] |
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} |
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pause(): void { |
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this.isPaused = true |
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if (this.currentTask && this.currentTask.cancel) { |
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this.currentTask.cancel() |
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} |
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} |
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resume(): void { |
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this.isPaused = false |
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if (this.currentTask) { |
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this.executeNextTask() |
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} |
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} |
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cancelAll(): void { |
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this.isRunning = false |
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this.isPaused = false |
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this.queue = [] |
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if (this.currentTask && this.currentTask.cancel) { |
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this.currentTask.cancel() |
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} |
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this.currentTask = null |
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if (this.onTaskComplete) { |
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this.onTaskComplete(this.currentTask || { type: 'CANCELLED' } as Task) |
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} |
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} |
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start(onTaskComplete?: (task: Task) => void): void { |
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this.onTaskComplete = onTaskComplete |
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if (!this.isRunning) { |
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this.isRunning = true |
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this.executeNextTask() |
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} |
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} |
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private async executeNextTask(): Promise<void> { |
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if (this.isPaused || this.queue.length === 0) { |
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return |
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} |
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this.currentTask = this.queue.shift()! |
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try { |
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await this.currentTask.execute() |
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if (this.onTaskComplete) { |
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this.onTaskComplete(this.currentTask) |
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} |
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this.currentTask = null |
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this.executeNextTask() |
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} catch (error) { |
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console.error('Task execution failed:', error) |
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this.currentTask = null |
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this.executeNextTask() |
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} |
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} |
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} |
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@ -0,0 +1,72 @@ |
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import * as THREE from 'three' |
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import BaseEntity from '@/core/base/BaseItemEntity.ts' |
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import type Viewport from '@/core/engine/Viewport.ts' |
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import gsap from 'gsap' |
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import { nextTick } from 'vue' |
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|
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/** |
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* CL2 机械臂实体类 |
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*/ |
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export default class Cl2Entity extends BaseEntity { |
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constructor(viewport: Viewport, id: string) { |
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super(viewport, id) |
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} |
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|
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// 装
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addLoad(item: string): void { |
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this.taskQueue.add(this.createTask('LOAD', async () => { |
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// 实际业务中应包含装载逻辑
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this.isCarrying = true |
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const arm = this.getArmObject() |
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|
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// 抬高20cm
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this.isLoading = true |
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gsap.to(arm.position, { |
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y: arm.position.y + 0.2, |
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duration: 0.5, |
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ease: 'sine.inOut', |
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onComplete: () => { |
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this.isCarrying = true |
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this.isLoading = false |
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const mesh = this.pickupItem(item) |
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const ptrForkMesh = this.getArmObject() |
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mesh.position.set(0, 0.1, 0) |
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mesh.rotation.set(0, THREE.MathUtils.degToRad(90), 0) |
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ptrForkMesh.add(mesh) |
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} |
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}) |
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})) |
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} |
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|
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// 卸
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addUnload(itemId: string, rackId: string, bay?: number, level?: number, cell?: number): void { |
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this.taskQueue.add(this.createTask('UNLOAD', async () => { |
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const item = this.viewport.entityManager.findItemById(itemId) |
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this.isCarrying = false |
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this.isUnloading = false |
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this.dropItem(item, rackId, bay, level) |
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})) |
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} |
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|
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// 帮助方法：获取机械臂对象
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getArmObject(): THREE.Object3D | undefined { |
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const agv = this.object as THREE.Group |
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if (agv.children.length > 1) { |
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const pillar = agv.children[1] |
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if (pillar.children.length > 1) { |
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return pillar.children[1] |
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} |
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} |
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return undefined |
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} |
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|
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// 帮助方法：获取机械臂立柱
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getArmPillar(): THREE.Object3D | undefined { |
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const agv = this.object as THREE.Group |
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if (agv.children.length > 1) { |
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return agv.children[1] |
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} |
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return undefined |
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} |
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} |
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@ -0,0 +1,15 @@ |
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import { defineModule } from '@/core/manager/ModuleManager.ts' |
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import Cl2Renderer from './Cl2Renderer.ts' |
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import Cl2Entity from './Cl2Entity.ts' |
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import Cl2Interaction from './Cl2Interaction.ts' |
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import propertySetter from "./Cl2PropertySetter.ts"; |
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export const ITEM_TYPE_NAME = 'cl2' |
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export default defineModule({ |
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name: ITEM_TYPE_NAME, |
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renderer: new Cl2Renderer(ITEM_TYPE_NAME), |
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interaction: new Cl2Interaction(ITEM_TYPE_NAME), |
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setter: propertySetter, |
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entity: Cl2Entity, |
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}) |
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@ -1,5 +0,0 @@ |
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import BaseEntity from '@/core/base/BaseItemEntity.ts' |
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|
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export default class PtrEntity extends BaseEntity { |
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} |
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@ -1,15 +0,0 @@ |
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import { defineModule } from '@/core/manager/ModuleManager.ts' |
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import PtrRenderer from './PtrRenderer.ts' |
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import PtrEntity from './PtrEntity.ts' |
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import PtrInteraction from './PtrInteraction.ts' |
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import propertySetter from "@/modules/ptr/PtrPropertySetter.ts"; |
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|
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export const ITEM_TYPE_NAME = 'ptr' |
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|
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export default defineModule({ |
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name: ITEM_TYPE_NAME, |
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renderer: new PtrRenderer(ITEM_TYPE_NAME), |
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interaction: new PtrInteraction(ITEM_TYPE_NAME), |
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setter: propertySetter, |
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entity: PtrEntity, |
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}) |
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