动画完善

src/modules/amr/ptr/PtrObject.ts

@@ -672,11 +672,8 @@ export default class PtrObject extends THREE.Object3D {
       const item = this.viewport.entityManager.findItemByLogicXY(data.EndX, data.EndY)
 
       if (endDirection != currentStepTask.EndDirection) {
-        // 如果此处不能转弯，忽略结束方向 等待后续任务
+        // 如果此处不能转弯，忽略结束方向 等待后续任务 此处判断是否包含当前车型的转弯
-        if (!item.dt?.agvRotation || item.dt?.agvRotation?.length <= 0) {
+        if (item.dt?.agvRotation && item.dt?.agvRotation?.length > 0) {
-          debugger
-          return
-        }
           const stepTask: StepTask = {
             SeqNo: data.SeqNo,
             StepTaskType: 'ROTATION',
@@ -693,6 +690,7 @@ export default class PtrObject extends THREE.Object3D {
           }
           this.currentStepTaskList.push(stepTask)
         }
+      }
 
       if (data.OperationType == 3) {
 
@@ -843,8 +841,7 @@ export default class PtrObject extends THREE.Object3D {
 
   keepSpeed: any
   force: any
-  reverseForce: any
+  stopD: number = 0.01
-
   // 走
   addTravel(logicX: number, logicY: number, direction: number, speed: number = 1): Promise<void> {
 
@@ -856,8 +853,9 @@ export default class PtrObject extends THREE.Object3D {
     this.__toPos = pos as THREE.Vector3
     //加速度
     const a = 0.4 * (worldModel.state.runState.timeRate ?? 1)
-    const sa = 0.4 * (worldModel.state.runState.timeRate ?? 1)
+    const sa = 0.4
     speed = speed * (worldModel.state.runState.timeRate ?? 1)
+    this.stopD = 0.01 * (worldModel.state.runState.timeRate ?? 1)
 
     if (this.position.x < this.__toPos.x || this.position.z < this.__toPos.z) {
       speed = Math.abs(speed)
@@ -871,14 +869,11 @@ export default class PtrObject extends THREE.Object3D {
 
     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)
     }
 
@@ -905,7 +900,11 @@ export default class PtrObject extends THREE.Object3D {
       const cSpeed = velocity.length()
       const stopTime = cSpeed / a
       const stopDistance = a * stopTime * stopTime / 2
-      if (distance <= 0.01) {
+
+      const maxStopTime = speed / a
+      const maxStopDistance = a * stopTime * stopTime / 2
+
+      if (distance <= this.stopD) {
         const stopVel = new this.viewport.ammoModel.btVector3(0, 0, 0)
         this.boxBody.setLinearVelocity(stopVel)
         this.viewport.ammoModel.destroy(stopVel)
@@ -920,16 +919,19 @@ export default class PtrObject extends THREE.Object3D {
       if (cSpeed == 0) {
         this.boxBody.activate()
       }
+      let keepSpeed = this.keepSpeed
       if (distance <= stopDistance) {
         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)
+          keepSpeed = new this.viewport.ammoModel.btVector3(velocity.x(), velocity.y(), velocity.z())
         }
-      } else if (currentPhase == 'decelerate') {
-        currentPhase = 'accelerate'
       }
+      // else if (currentPhase == 'decelerate') {
+      //   currentPhase = 'accelerate'
+      // }
 
       // 运动阶段控制
       switch (currentPhase) {
@@ -945,7 +947,7 @@ export default class PtrObject extends THREE.Object3D {
           break
         case 'uniform':
           currentPhase = 'uniform'
-          this.boxBody.setLinearVelocity(this.keepSpeed)
+          this.boxBody.setLinearVelocity(keepSpeed)
           this.boxBody.setDamping(0, 0);
           break
         case 'decelerate':
@@ -953,6 +955,7 @@ export default class PtrObject extends THREE.Object3D {
           if (cSpeed > 0) {
             this.boxBody.setDamping(sa, 0);
           }
+
           this.boxBody.activate()
           break
       }
@@ -983,7 +986,6 @@ export default class PtrObject extends THREE.Object3D {
   // 取货
   addLoad(height: number, goodsId: string): void {
     this.actionAnimation = 'wq'
-    console.log('取货')
     this.TaskMode = 2
     this.PickMode = 1
     this.OperationType = 4
@@ -1012,7 +1014,6 @@ export default class PtrObject extends THREE.Object3D {
   // 卸货
   addUnload(height: number, goodsId: string): void {
     this.actionAnimation = 'wq'
-    console.log('卸货')
     this.TaskMode = 2
     this.PickMode = 2
     this.OperationType = 4