尝试旋转bi1，但bi有时不旋转的bug导致后续不好进行

src/app/babylonjs/FireTruck.ts

@@ -59,8 +59,18 @@ export class FireTruck {
         this.scene = scene;
         this.input = new FireTruckInput(scene);
         SceneLoader.ImportMeshAsync("", "assets/GPC/", "GPC.gltf", scene).then(result => {
-            this.animations = scene.getAnimationGroupByName("All Animations");
-            this.animations.stop();
+            // this.animations = scene.getAnimationGroupByName("All Animations");
+            if (result.animationGroups != null) {
+                if (result.animationGroups.length > 0) {
+                    this.animations = result.animationGroups[0]
+                }
+                for (let i = 0; i < result.animationGroups.length; i++) {
+                    result.animationGroups[i].stop();
+                }
+
+            }
+
+
             this.root = result.meshes[0] as Mesh;
             this.Bi = scene.getMeshByName("Bi") as Mesh;
             this.Bi1 = scene.getMeshByName("Bi1") as Mesh;
@@ -280,9 +290,9 @@ export class FireTruck {
         // const d2T = Math.floor(Vector3.Distance(this.Bi.absolutePosition, this.targetPoint));//臂底端到目标的距离
         // const distance = Math.round(Vector3.Distance(this.Bi6.absolutePosition, this.targetPoint)); //Bi6到目标距离
 
-        const v1 = (new Vector3(this.targetPoint.x, this.targetPoint.y, this.targetPoint.z).subtract(this.Bi1.position)).normalize();
-        const v2 = this.Bi.forward.normalize();
-        const targetDir = Vector3.Cross(v1, v2).x > 0 ? -1 : 1;
+        // const v1 = (new Vector3(this.targetPoint.x, this.targetPoint.y, this.targetPoint.z).subtract(this.Bi1.position)).normalize();
+        // const v2 = this.Bi.forward.normalize();
+        // const targetDir = Vector3.Cross(v1, v2).x > 0 ? -1 : 1;
 
 
         // const lookPos = this.targetPoint.subtract(this.Bi1.position).normalize();
@@ -290,18 +300,18 @@ export class FireTruck {
         // this.Bi1.rotationQuaternion = Quaternion.Slerp(this.Bi1.rotationQuaternion, new Quaternion(rotation.x, rotation.y, rotation.z, rotation.w), this.deltaTime * 10);
 
 
-        const targetAngle = Math.acos(Vector3.Dot(v1, v2)) * 180 / Math.PI * targetDir;
-        const currentAngle = this.Bi1.rotationQuaternion.toEulerAngles().x * 180 / Math.PI;
+        // const targetAngle = Math.acos(Vector3.Dot(v1, v2)) * 180 / Math.PI * targetDir;
+        // const currentAngle = this.Bi1.rotationQuaternion.toEulerAngles().x * 180 / Math.PI;
 
 
         // console.log(currentAngle,);
         // console.log(targetAngle, "=================");
-        if (Math.abs(targetAngle - currentAngle) > 0.5) {
-            const speedDir = (targetAngle - currentAngle) >= 0 ? 1 : -1;
-            this.RotateBi1(speedDir * 0.01);
-        } else {
-            this.armActionState = ArmActionState.Bi6;
-        }
+        // if (Math.abs(targetAngle - currentAngle) > 0.5) {
+        //     const speedDir = (targetAngle - currentAngle) >= 0 ? 1 : -1;
+        //     this.RotateBi1(speedDir * 0.01);
+        // } else {
+        //     this.armActionState = ArmActionState.Bi6;
+        // }
 
         // console.log(distance, '')
         // if (d2E < d2T) {
@@ -317,6 +327,19 @@ export class FireTruck {
         //         this.armActionState = ArmActionState.Bi6;
         //     }
         // }
+
+
+        const v1 = (this.targetPoint.subtract(this.Bi1.absolutePosition)).normalize();
+        const v2 = this.Bi1.forward.normalize();
+        const sinA = Vector3.Cross(v1, v2);
+        // console.log(sinA);
+
+        let rotateDir = sinA.x > 0 ? -1 : 1;
+        let loaclSpeed = sinA.length() * rotateDir;
+        // console.log(loaclSpeed, "speed");
+
+        this.RotateBi1(loaclSpeed);
+
     }
     public RotateBi6(angle: number) {
         this.Bi6.rotate(Axis.X, angle, Space.LOCAL);