@rainbow-robotics/muscat-plugin-kit 0.1.2-dev.54 → 0.1.2-dev.55

package/cli/storybook-dist/assets/{RBTextInput.stories-BrITKTev.js → RBTextInput.stories-DSPlr3uh.js}

@@ -1,4 +1,4 @@
-import{j as t}from"./jsx-runtime-BTJTZTIL.js";import{u as a,F as m}from"./createConveyorBeltLayer-BHP9oJgS.js";import"./index-Dmy2JGbm.js";import"./RainbowUiProvider-B_piZBLb.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./react-resizable-panels.browser-CvAJUcrm.js";import"./index-ChsGqxH_.js";import"./browserUtils-DeopUpDy.js";import"./index-BRq5TIsn.js";const c=s=>t.jsx("div",{className:"bg-alt-2 py-10",children:t.jsx(a,{...s})}),B={component:a,tags:["autodocs"],argTypes:{size:{control:{type:"select"},options:["xs2","sm","md","lg"],table:{type:{summary:'"xs2" | "sm" | "md" | "lg"'}}},variant:{control:{type:"select"},options:["default","success"],table:{type:{summary:'"default" | "success"'}}}},args:{variant:"default",disabled:!1,readOnly:!1},render:c},e={},r={render:s=>t.jsx(m,{label:"Node Name",description:"노드 이름을 입력하세요.",required:!0,helperText:"중복되지 않는 이름을 사용하세요.",helperTone:"default",children:t.jsx(a,{...s,placeholder:"node_053"})})};var o,l,p;e.parameters={...e.parameters,docs:{...(o=e.parameters)==null?void 0:o.docs,source:{originalSource:"{}",...(p=(l=e.parameters)==null?void 0:l.docs)==null?void 0:p.source}}};var d,i,n;r.parameters={...r.parameters,docs:{...(d=r.parameters)==null?void 0:d.docs,source:{originalSource:`{
+import{j as t}from"./jsx-runtime-BTJTZTIL.js";import{u as a,F as m}from"./createConveyorBeltLayer-769P8deX.js";import"./index-Dmy2JGbm.js";import"./RainbowUiProvider-B_piZBLb.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./react-resizable-panels.browser-CvAJUcrm.js";import"./index-ChsGqxH_.js";import"./browserUtils-DeopUpDy.js";import"./index-BRq5TIsn.js";const c=s=>t.jsx("div",{className:"bg-alt-2 py-10",children:t.jsx(a,{...s})}),B={component:a,tags:["autodocs"],argTypes:{size:{control:{type:"select"},options:["xs2","sm","md","lg"],table:{type:{summary:'"xs2" | "sm" | "md" | "lg"'}}},variant:{control:{type:"select"},options:["default","success"],table:{type:{summary:'"default" | "success"'}}}},args:{variant:"default",disabled:!1,readOnly:!1},render:c},e={},r={render:s=>t.jsx(m,{label:"Node Name",description:"노드 이름을 입력하세요.",required:!0,helperText:"중복되지 않는 이름을 사용하세요.",helperTone:"default",children:t.jsx(a,{...s,placeholder:"node_053"})})};var o,l,p;e.parameters={...e.parameters,docs:{...(o=e.parameters)==null?void 0:o.docs,source:{originalSource:"{}",...(p=(l=e.parameters)==null?void 0:l.docs)==null?void 0:p.source}}};var d,i,n;r.parameters={...r.parameters,docs:{...(d=r.parameters)==null?void 0:d.docs,source:{originalSource:`{
   render: args => <RBTextField label="Node Name" description="노드 이름을 입력하세요." required helperText="중복되지 않는 이름을 사용하세요." helperTone="default">
       <RBTextInput {...args} placeholder="node_053" />
     </RBTextField>

package/cli/storybook-dist/assets/{RBToast.stories-zZkkPpIy.js → RBToast.stories-DJNZ9tku.js}

@@ -1,4 +1,4 @@
-import{j as e}from"./jsx-runtime-BTJTZTIL.js";import{r as p}from"./index-Dmy2JGbm.js";import{b4 as c,b5 as d,b6 as m}from"./createConveyorBeltLayer-BHP9oJgS.js";import"./RainbowUiProvider-B_piZBLb.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./react-resizable-panels.browser-CvAJUcrm.js";import"./index-ChsGqxH_.js";import"./browserUtils-DeopUpDy.js";import"./index-BRq5TIsn.js";const j={component:c,tags:["autodocs"],args:{position:"top-left",type:"basic",variant:"default",actionLabel:"",closeOnActionClick:!0},argTypes:{position:{control:{type:"select"},options:["top-center","top-left","top-right","bottom-center","bottom-left","bottom-right"]},variant:{control:{type:"select"},options:["default","danger","warning","caution","success","copy"]},type:{control:{type:"select"},options:["basic","alert"]},icon:{control:!1},actionLabel:{control:{type:"text"},description:"액션 버튼 라벨"},handleActionClick:{control:!1,description:"액션 버튼 클릭 시 실행할 함수"},closeOnActionClick:{control:{type:"boolean"},description:"액션 버튼 클릭 뒤 토스트를 닫을지 여부"}}},u=t=>{const[n,r]=p.useState(0),l=()=>{r(n+1),m.openToast({title:`Toast Title ${n}`,content:"This is a toast message long test long test long test long test long test long test.",icon:t.icon,actionLabel:t.actionLabel||void 0,handleActionClick:t.actionLabel?()=>console.info("toast action clicked"):void 0,closeOnActionClick:t.closeOnActionClick,type:t.type,variant:t.variant,position:t.position,duration:t.duration})};return e.jsxs("div",{className:"border-danger flex h-100 flex-col items-center justify-center border-1",children:[e.jsx(c,{position:t.position,duration:t.duration,toastComponent:d}),e.jsx("button",{onClick:l,className:"text-fg-default",children:"open toast"})]})},o={parameters:{docs:{description:{story:""}}},args:{},render:u};var i,s,a;o.parameters={...o.parameters,docs:{...(i=o.parameters)==null?void 0:i.docs,source:{originalSource:`{
+import{j as e}from"./jsx-runtime-BTJTZTIL.js";import{r as p}from"./index-Dmy2JGbm.js";import{b4 as c,b5 as d,b6 as m}from"./createConveyorBeltLayer-769P8deX.js";import"./RainbowUiProvider-B_piZBLb.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./react-resizable-panels.browser-CvAJUcrm.js";import"./index-ChsGqxH_.js";import"./browserUtils-DeopUpDy.js";import"./index-BRq5TIsn.js";const j={component:c,tags:["autodocs"],args:{position:"top-left",type:"basic",variant:"default",actionLabel:"",closeOnActionClick:!0},argTypes:{position:{control:{type:"select"},options:["top-center","top-left","top-right","bottom-center","bottom-left","bottom-right"]},variant:{control:{type:"select"},options:["default","danger","warning","caution","success","copy"]},type:{control:{type:"select"},options:["basic","alert"]},icon:{control:!1},actionLabel:{control:{type:"text"},description:"액션 버튼 라벨"},handleActionClick:{control:!1,description:"액션 버튼 클릭 시 실행할 함수"},closeOnActionClick:{control:{type:"boolean"},description:"액션 버튼 클릭 뒤 토스트를 닫을지 여부"}}},u=t=>{const[n,r]=p.useState(0),l=()=>{r(n+1),m.openToast({title:`Toast Title ${n}`,content:"This is a toast message long test long test long test long test long test long test.",icon:t.icon,actionLabel:t.actionLabel||void 0,handleActionClick:t.actionLabel?()=>console.info("toast action clicked"):void 0,closeOnActionClick:t.closeOnActionClick,type:t.type,variant:t.variant,position:t.position,duration:t.duration})};return e.jsxs("div",{className:"border-danger flex h-100 flex-col items-center justify-center border-1",children:[e.jsx(c,{position:t.position,duration:t.duration,toastComponent:d}),e.jsx("button",{onClick:l,className:"text-fg-default",children:"open toast"})]})},o={parameters:{docs:{description:{story:""}}},args:{},render:u};var i,s,a;o.parameters={...o.parameters,docs:{...(i=o.parameters)==null?void 0:i.docs,source:{originalSource:`{
   parameters: {
     docs: {
       description: {

package/cli/storybook-dist/assets/{RBToggle.stories-gNxsk8Fe.js → RBToggle.stories-BDQW2WO1.js}

@@ -1,4 +1,4 @@
-import{j as t}from"./jsx-runtime-BTJTZTIL.js";import{r as o}from"./index-Dmy2JGbm.js";import{aT as d,i as c}from"./createConveyorBeltLayer-BHP9oJgS.js";import"./RainbowUiProvider-B_piZBLb.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./react-resizable-panels.browser-CvAJUcrm.js";import"./index-ChsGqxH_.js";import"./browserUtils-DeopUpDy.js";import"./index-BRq5TIsn.js";const h={component:d,tags:["autodocs"],argTypes:{className:{control:!1,table:{disable:!0}},children:{control:!1,table:{disable:!0}},defaultPressed:{control:"boolean"},disabled:{control:"boolean"},onPressedChange:{control:!1,table:{disable:!0}},pressed:{control:!1,table:{disable:!0}},size:{control:{type:"select"},options:["default","sm","lg"]},variant:{control:{type:"select"},options:["default","outline"]}},args:{defaultPressed:!1,disabled:!1,size:"default",variant:"default"}},s={render:function(e){const[u,r]=o.useState(!!e.defaultPressed);return o.useEffect(()=>{r(!!e.defaultPressed)},[e.defaultPressed]),t.jsxs(d,{...e,pressed:u,onPressedChange:r,children:[t.jsx(c,{}),"Text"]})}};var a,n,l;s.parameters={...s.parameters,docs:{...(a=s.parameters)==null?void 0:a.docs,source:{originalSource:`{
+import{j as t}from"./jsx-runtime-BTJTZTIL.js";import{r as o}from"./index-Dmy2JGbm.js";import{aT as d,i as c}from"./createConveyorBeltLayer-769P8deX.js";import"./RainbowUiProvider-B_piZBLb.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./react-resizable-panels.browser-CvAJUcrm.js";import"./index-ChsGqxH_.js";import"./browserUtils-DeopUpDy.js";import"./index-BRq5TIsn.js";const h={component:d,tags:["autodocs"],argTypes:{className:{control:!1,table:{disable:!0}},children:{control:!1,table:{disable:!0}},defaultPressed:{control:"boolean"},disabled:{control:"boolean"},onPressedChange:{control:!1,table:{disable:!0}},pressed:{control:!1,table:{disable:!0}},size:{control:{type:"select"},options:["default","sm","lg"]},variant:{control:{type:"select"},options:["default","outline"]}},args:{defaultPressed:!1,disabled:!1,size:"default",variant:"default"}},s={render:function(e){const[u,r]=o.useState(!!e.defaultPressed);return o.useEffect(()=>{r(!!e.defaultPressed)},[e.defaultPressed]),t.jsxs(d,{...e,pressed:u,onPressedChange:r,children:[t.jsx(c,{}),"Text"]})}};var a,n,l;s.parameters={...s.parameters,docs:{...(a=s.parameters)==null?void 0:a.docs,source:{originalSource:`{
   render: function Render(args) {
     const [pressed, setPressed] = useState(Boolean(args.defaultPressed));
     useEffect(() => {

package/cli/storybook-dist/assets/{RBToggleGroup.stories-D1QZBlWO.js → RBToggleGroup.stories-CjwH6YbI.js}

@@ -1,4 +1,4 @@
-import{j as e}from"./jsx-runtime-BTJTZTIL.js";import{r as u}from"./index-Dmy2JGbm.js";import{aU as i,aV as r,aW as p,aX as g,aY as m}from"./createConveyorBeltLayer-BHP9oJgS.js";import"./RainbowUiProvider-B_piZBLb.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./react-resizable-panels.browser-CvAJUcrm.js";import"./index-ChsGqxH_.js";import"./browserUtils-DeopUpDy.js";import"./index-BRq5TIsn.js";const G={component:i,tags:["autodocs"],parameters:{layout:"centered"},argTypes:{orientation:{control:"select",options:["horizontal","vertical"]},separated:{control:"boolean"},stretched:{control:"boolean"}},args:{orientation:"horizontal",separated:!1,stretched:!1}},t={args:{orientation:"horizontal",separated:!1,stretched:!1},render:function(a){const[c,d]=u.useState("left");return e.jsxs(i,{type:"single",orientation:a.orientation,separated:a.separated,stretched:a.stretched,value:c,onValueChange:o=>{o&&d(o)},className:a.stretched?"w-[360px]":void 0,children:[e.jsx(r,{value:"left","aria-label":"왼쪽 정렬",icon:e.jsx(p,{})}),e.jsx(r,{value:"center","aria-label":"가운데 정렬",icon:e.jsx(g,{})}),e.jsx(r,{value:"right","aria-label":"오른쪽 정렬",icon:e.jsx(m,{})})]})}};var n,s,l;t.parameters={...t.parameters,docs:{...(n=t.parameters)==null?void 0:n.docs,source:{originalSource:`{
+import{j as e}from"./jsx-runtime-BTJTZTIL.js";import{r as u}from"./index-Dmy2JGbm.js";import{aU as i,aV as r,aW as p,aX as g,aY as m}from"./createConveyorBeltLayer-769P8deX.js";import"./RainbowUiProvider-B_piZBLb.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./react-resizable-panels.browser-CvAJUcrm.js";import"./index-ChsGqxH_.js";import"./browserUtils-DeopUpDy.js";import"./index-BRq5TIsn.js";const G={component:i,tags:["autodocs"],parameters:{layout:"centered"},argTypes:{orientation:{control:"select",options:["horizontal","vertical"]},separated:{control:"boolean"},stretched:{control:"boolean"}},args:{orientation:"horizontal",separated:!1,stretched:!1}},t={args:{orientation:"horizontal",separated:!1,stretched:!1},render:function(a){const[c,d]=u.useState("left");return e.jsxs(i,{type:"single",orientation:a.orientation,separated:a.separated,stretched:a.stretched,value:c,onValueChange:o=>{o&&d(o)},className:a.stretched?"w-[360px]":void 0,children:[e.jsx(r,{value:"left","aria-label":"왼쪽 정렬",icon:e.jsx(p,{})}),e.jsx(r,{value:"center","aria-label":"가운데 정렬",icon:e.jsx(g,{})}),e.jsx(r,{value:"right","aria-label":"오른쪽 정렬",icon:e.jsx(m,{})})]})}};var n,s,l;t.parameters={...t.parameters,docs:{...(n=t.parameters)==null?void 0:n.docs,source:{originalSource:`{
   args: {
     orientation: "horizontal",
     separated: false,

package/cli/storybook-dist/assets/{RBTooltip.stories-C6X_sE-H.js → RBTooltip.stories-Cp1oL68L.js}

@@ -1,4 +1,4 @@
-import{j as r}from"./jsx-runtime-BTJTZTIL.js";import{b7 as s}from"./createConveyorBeltLayer-BHP9oJgS.js";import"./index-Dmy2JGbm.js";import"./RainbowUiProvider-B_piZBLb.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./react-resizable-panels.browser-CvAJUcrm.js";import"./index-ChsGqxH_.js";import"./browserUtils-DeopUpDy.js";import"./index-BRq5TIsn.js";const e=0,g={component:s,tags:["autodocs"],argTypes:{place:{control:"radio",options:["top","left","bottom","right"],defaultValue:"bottom"},tooltipColor:{control:"color"},tooltipTextColor:{control:"color"}}},c=t=>r.jsxs("div",{className:"flex items-center justify-center p-30",children:[r.jsx("button",{className:"text-fg-default border-danger border-1",id:`${t.anchorId}${e}`,children:"Tooltip"}),r.jsx(s,{...t,anchorId:`${t.anchorId}${e}`})]}),o={args:{anchorId:"tooltip-anchor",children:"Tooltip Content",events:["hover"],place:"top"},render:c};var n,a,p;o.parameters={...o.parameters,docs:{...(n=o.parameters)==null?void 0:n.docs,source:{originalSource:`{
+import{j as r}from"./jsx-runtime-BTJTZTIL.js";import{b7 as s}from"./createConveyorBeltLayer-769P8deX.js";import"./index-Dmy2JGbm.js";import"./RainbowUiProvider-B_piZBLb.js";import"./index-DKFBREX_.js";import"./index-CT3U1fyk.js";import"./react-resizable-panels.browser-CvAJUcrm.js";import"./index-ChsGqxH_.js";import"./browserUtils-DeopUpDy.js";import"./index-BRq5TIsn.js";const e=0,g={component:s,tags:["autodocs"],argTypes:{place:{control:"radio",options:["top","left","bottom","right"],defaultValue:"bottom"},tooltipColor:{control:"color"},tooltipTextColor:{control:"color"}}},c=t=>r.jsxs("div",{className:"flex items-center justify-center p-30",children:[r.jsx("button",{className:"text-fg-default border-danger border-1",id:`${t.anchorId}${e}`,children:"Tooltip"}),r.jsx(s,{...t,anchorId:`${t.anchorId}${e}`})]}),o={args:{anchorId:"tooltip-anchor",children:"Tooltip Content",events:["hover"],place:"top"},render:c};var n,a,p;o.parameters={...o.parameters,docs:{...(n=o.parameters)==null?void 0:n.docs,source:{originalSource:`{
   args: {
     anchorId: "tooltip-anchor",
     children: "Tooltip Content",

package/cli/storybook-dist/assets/{createConveyorBeltLayer-BHP9oJgS.js → createConveyorBeltLayer-769P8deX.js}

@@ -5691,7 +5691,7 @@ License: MIT
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vr(1.1044,.7484,.537,10,1,1),s=new Ct(65535),a=new Ct(16711680),o=[],l=-1.1044/2,c=1.1044/2,u=l+(c-l)*(2/3);for(let v=0;v<i.attributes.position.count;v++){const b=new de;b.fromBufferAttribute(i.attributes.position,v);const y=b.x>=u?a:s;o.push(y.r,y.g,y.b)}i.setAttribute("color",new Lt(o,3));const d=new rr({vertexColors:!0,transparent:!0,opacity:.65,depthWrite:!1,side:gs}),f=new ht(i,d);f.position.set(0,0,.2685),f.userData.keep=!0,f.renderOrder=1;const m=new Z0(i),p=new Ia(m,new Hr({color:16777215}));p.renderOrder=2,p.userData.keep=!0,f.add(p),this.add(f)}}class _2 extends Cc{static async create(){const e=new _2;return await e._initAsync(),e}constructor(){super(),this.name="GAIA",this.userData.keep=!0}async _initAsync(){const e=new Lp,t=new d2,n=Ti(go.GAIA.modelUrl);t.setDecoderPath(Ti("/draco/")),e.setDRACOLoader(t);try{const s=(await e.loadAsync(n)).scene;s.renderOrder=ui.ROBOT;const a=new Un;a.add(s),a.traverse(o=>{if(o.userData.keep=!0,!(o instanceof ht))return;const l=c=>{const u=new Ui;return"color"in c&&c.color instanceof Ct&&u.color.copy(c.color),"map"in c&&c.map instanceof pr&&(u.map=c.map),"transparent"in c&&(u.transparent=c.transparent),"opacity"in c&&(u.opacity=c.opacity),"side"in c&&(u.side=c.side),u};Array.isArray(o.material)?o.material=o.material.map(l):o.material=l(o.material)}),this.alignToGroundZUp(s),a.rotation.z=Math.PI,this.add(a)}catch(i){i instanceof Error?console.error("GAIA Load Failed:",i.message):console.error("GAIA Load Failed:",i)}finally{t.dispose()}}update(e){this.position.set(Number(e.x),Number(e.y),0),this.rotation.z=Jt.degToRad(Number(e.rz))}applyPose(e){if(!e)return;const t={t:performance.now()*.001,x:e.x,y:e.y,rz:e.rz};this.pushTransformSnapshot(t)}}var tfe=(function(){var 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Uint8Array(y*x);return l(s.exports[u[S]],C,y,x,_,s.exports[c[k]]),C})}}})();let mm=null;const nfe=()=>(mm||(mm=new d2,mm.setDecoderPath(Ti("/draco/"))),mm),tv=(r,e,t)=>{if(/\.(gltf|glb)(\?|#|$)/i.test(r)){const n=new Lp(e);n.setDRACOLoader(nfe()),n.setMeshoptDecoder(tfe),n.load(r,i=>{const s=i.scene??new Un;t(s)},void 0,i=>{console.warn("GLTF load error:",r,i),t(new Un)});return}if(/\.stl(\?|#|$)/i.test(r)){new p2(e).load(r,i=>{const s=new ht(i,new nd({color:8421504}));t(s)},void 0,i=>{console.warn("STL load error:",r,i),t(new Un)});return}if(/\.dae(\?|#|$)/i.test(r)){new u2(e).load(r,i=>{const s=i.scene??i;s.rotation.set(0,0,0),s.traverse(a=>{a.isMesh}),t(s)},void 0,i=>{console.warn("DAE load error:",r,i),t(new Un)});return}console.warn(`URDFLoader: no loader for ${r}`),t(new Un)},mC={rby1a:{name:"RBY1-A",urdfPath:"/rby1a/rby1a.urdf"},rby1m:{name:"RBY1-M",urdfPath:"/rby1m/rby1m.urdf"},rby1ub:{name:"RBY1-UB",urdfPath:"/rby1ub/rby1ub.urdf"},rby2c:{name:"RBY2-C",urdfPath:"/rby2c/rby2c.urdf"}};class Gg extends Cc{constructor(t){super();ae(this,"robot");ae(this,"variant");this.variant=t,this.jointBuf=new g2,this.name=mC[t].name,this.userData.keep=!0}static async create(t="rby1m"){const n=new Gg(t);return await n._initAsync(),n}async _initAsync(){const t=mC[this.variant],n=Ti(t.urdfPath);await new Promise(i=>{const s=new xd,a=new Dp(s);let o=null,l=!1;const c=()=>{l||(l=!0,i())};a.loadMeshCb=tv,s.onLoad=()=>{if(!l){if(!o){c();return}o.userData.keep=!0,o.traverse(u=>{u.userData.keep=!0}),this.robot=o,this.alignToGroundZUp(o),this.add(o),c()}},s.onError=u=>{l||(console.warn(`[RBY] Load failed: ${u}`),c())},a.load(n,u=>{l||(o=u)},void 0,u=>{l||(u instanceof Error?console.error(`RBY Load Failed (${this.variant}):`,u.message):console.error(`RBY Load Failed (${this.variant}):`,u),c())})})}update(t){this.position.set(Number(t.x),Number(t.y),0),this.rotation.z=Jt.degToRad(Number(t.rz))}applyPose(t){if(!t)return;const n={t:performance.now()*.001,x:t.x,y:t.y,rz:t.rz};this.pushTransformSnapshot(n)}applyJointValues(t){var n;(n=this.robot)==null||n.setJointValues(t)}}const gC=["#0087fc","#f77468","#f37a32","#dc8932","#ca9232","#bb9832","#ae9d31","#9fa131","#8ea631","#77ab31","#50b131","#32b25c","#33b07a","#34af8c","#35ae99","#36ada4","#36acae","#37aab9","#38a9c5","#39a7d5","#3ba3ec","#6e9bf4","#9591f4","#b287f4","#cc7af4","#e866f4","#f560e4","#f565cc","#f66ab7","#f66da2"];class rfe{constructor(e){ae(this,"editor");ae(this,"mainRobot");ae(this,"rbq");ae(this,"s100");ae(this,"robotMap");ae(this,"previousUpdateTime");ae(this,"availableColors");ae(this,"update",(e,t)=>{e.visible?(e.position.set(t.x,t.y,e.position.z),e.rotation.z=t.rz*Math.PI/180):(e.position.set(t.x,t.y,0),e.rotation.z=t.rz,e.visible=!0)});ae(this,"handleSetUpInitialView",e=>{if(!this.mainRobot)return;const t={x:Number(e.x),y:Number(e.y),z:0},n=Number(e.rz)*Math.PI/180;this.mainRobot.position.copy(t),this.mainRobot.rotation.z=n});this.editor=e,this.s100=null,this.rbq=null,this.robotMap=new Map,this.previousUpdateTime=Date.now(),this.availableColors=[...gC]}registerEventListeners(){this.editor.eventHandler.eventBus.on("ui:initial-view-set-up",this.handleSetUpInitialView)}deregisterEventListeners(){this.editor.eventHandler.eventBus.off("ui:initial-view-set-up",this.handleSetUpInitialView)}addLabel(e){const t=document.createElement("div");t.className="nodeLabel",t.textContent=e.name,t.style.color="white",t.style.backgroundColor="transparent",t.style.position="absolute",t.style.fontSize="6.5px",t.style.zIndex="-999";const n=new Ns(t);n.userData.keep=!0,n.userData.labelType="robot",n.name="label",n.center.set(0,-.5),e.add(n)}count(){return this.robotMap.size}dispose(){this.rbq=null,this.s100=null,this.mainRobot=null}async loadMainRobot(e){if(this.mainRobot||!this.editor.scene)return;let t=null;switch(e){case"S100":case"S100-A":case"S100-A-3D":case"S100-B":case"S100-B-3D":t=await v2.create(),this.s100=t;break;case"RBQ":t=await b2.create(),this.rbq=t;break;case"SEM":t=await y2.create();break;case"SEC":t=await x2.create();break;case"D400":t=await w2.create();break;case"QD":t=await _2.create();break;case"rby1a":case"rby1m":case"rby1ub":case"rby2c":t=await Gg.create(e);break;case"QD-RBY":t=await Gg.create("rby2c");break}t&&(this.mainRobot=t,this.editor.scene.add(this.mainRobot),this.robotMap.set("mainRobot",this.mainRobot),this.editor.eventHandler.eventBus.emit("robot-manager:main-robot-loaded"))}updateAll(e){var t;(t=this.mainRobot)==null||t.tick(e)}addAxesHelper(e){const t=new Sd(1e3);t.userData.keep=!0,e.add(t)}cloneEdgeLine(e,t){const n=e.getObjectByName("edgeLine"),i=t.getObjectByName("edgeLine");n&&i&&(i.material=n.material.clone())}cloneRobot(e){const t=e.clone();t.name="robot";const n=e.material.clone();return n.color=new Ct(this.getUniqueColor()),t.material=n,t}getUniqueColor(){return this.availableColors.length===0&&(this.availableColors=[...gC]),this.availableColors.splice(0,1)[0]}}class ife{constructor(){ae(this,"_selected",null);ae(this,"_selectableObjects",[]);ae(this,"_selectableLinks",[]);ae(this,"_selectableZones",[]);ae(this,"_selectableZoneVertices",[]);ae(this,"_selectedObjects",[]);ae(this,"_selectedLinks",[]);ae(this,"_focusedLinkId",null);ae(this,"_selectedZones",[]);ae(this,"_focusedZoneId",null);ae(this,"_selectedZoneVertex",null)}getSelected(){return this._selected}setSelected(e){this._selected=e}getSelectableObjects(){return this._selectableObjects}setSelectableObjects(e){this._selectableObjects=e}registerSelectable(e){this._selectableObjects.push(e)}getSelectableLinks(){return this._selectableLinks}registerSelectableLink(e){this._selectableLinks.push(e)}getSelectableZones(){return this._selectableZones}registerSelectableZone(e){this._selectableZones.push(e)}getSelectableZoneVertices(){return this._selectableZoneVertices}registerSelectableZoneVertex(e){this._selectableZoneVertices.push(e)}unregisterSelectableZoneVertex(e){const t=this._selectableZoneVertices.indexOf(e);t>-1&&this._selectableZoneVertices.splice(t,1),this._selectedZoneVertex===e&&(this._selectedZoneVertex=null)}unregisterSelectableZone(e){const t=this._selectableZones.indexOf(e);t>-1&&this._selectableZones.splice(t,1),this._selectedZones=this._selectedZones.filter(n=>n!==e),this.syncFocusedZoneId()}unregisterSelectableLink(e){const t=this._selectableLinks.indexOf(e);t>-1&&this._selectableLinks.splice(t,1),this._selectedLinks=this._selectedLinks.filter(n=>n!==e),this.syncFocusedLinkId()}unregisterSelectable(e){const t=this._selectableObjects.indexOf(e);t>-1&&this._selectableObjects.splice(t,1);const n=this._selectedObjects.indexOf(e);n>-1&&this._selectedObjects.splice(n,1)}isSelectable(e){return this._selectableObjects.includes(e)}getSelectedObjects(){return this._selectedObjects}setSelectedObjects(e){this._selectedObjects=e}getSelectedLinks(){return this._selectedLinks}setSelectedLinks(e){this._selectedLinks=e,this.syncFocusedLinkId()}getFocusedLinkId(){return this._focusedLinkId}setFocusedLinkId(e){if(e===null){this._focusedLinkId=null;return}this._focusedLinkId=this._selectedLinks.some(t=>String(t.userData.linkId)===e)?e:this._selectedLinks[0]?String(this._selectedLinks[0].userData.linkId):null}getSelectedZones(){return this._selectedZones}setSelectedZones(e){this._selectedZones=e,this.syncFocusedZoneId()}getFocusedZoneId(){return this._focusedZoneId}setFocusedZoneId(e){if(e===null){this._focusedZoneId=null;return}this._focusedZoneId=this._selectedZones.some(t=>String(t.userData.zoneId)===e)?e:this._selectedZones[0]?String(this._selectedZones[0].userData.zoneId):null}getSelectedZoneVertex(){return this._selectedZoneVertex}setSelectedZoneVertex(e){this._selectedZoneVertex=e}clearLinkSelection(){this._selectedLinks=[],this._focusedLinkId=null}clearZoneSelection(){this._selectedZones=[],this._focusedZoneId=null}clearZoneVertexSelection(){this._selectedZoneVertex=null}clearSelection(){this._selected=null,this._selectedObjects=[],this._selectedLinks=[],this._focusedLinkId=null,this._selectedZones=[],this._focusedZoneId=null,this._selectedZoneVertex=null}reset(){this.clearSelection(),this._selectableObjects=[],this._selectableLinks=[],this._selectableZones=[],this._selectableZoneVertices=[]}syncFocusedLinkId(){if(this._selectedLinks.length===0){this._focusedLinkId=null;return}this._focusedLinkId&&this._selectedLinks.some(e=>String(e.userData.linkId)===this._focusedLinkId)||(this._focusedLinkId=String(this._selectedLinks[0].userData.linkId))}syncFocusedZoneId(){if(this._selectedZones.length===0){this._focusedZoneId=null;return}this._focusedZoneId&&this._selectedZones.some(e=>String(e.userData.zoneId)===this._focusedZoneId)||(this._focusedZoneId=String(this._selectedZones[0].userData.zoneId))}}class sfe{constructor(e){ae(this,"editor");ae(this,"mode");ae(this,"_raycaster");ae(this,"_invMat",new It);ae(this,"mouse",new lt);ae(this,"selectionRect",new uu);ae(this,"handleBoxIntersectionsDetected",e=>{this.clearLinkSelection(),this.clearZoneSelection(),this.select(null),this.multiSelect(e)});ae(this,"handleIntersectionsDetected",e=>{const{action:t,intersections:n}=e,i=this.resolveSelectionHit(n);if(!i){this.clearZoneVertexSelection(),this.clearLinkSelection(),this.clearZoneSelection(),this.select(null);return}if(i.kind==="zone-draft-vertex"){this.clearLinkSelection(),this.clearZoneSelection(),this.select(null),this.selectZoneDraftVertex(i.vertex,i.vertexIndex);return}if(i.kind==="links"){this.clearZoneVertexSelection(),this.clearZoneSelection(),this.editor.selectionManager.setSelectedLinks(i.arrows),this.editor.eventHandler.eventBus.emit("selector:link-selected",{linkIds:i.linkIds}),this.select(null);return}if(i.kind==="zones"){this.clearZoneVertexSelection(),this.clearLinkSelection(),this.editor.selectionManager.setSelectedZones(i.zones),this.editor.eventHandler.eventBus.emit("selector:zone-selected",{zoneIds:i.zoneIds}),this.select(null);return}this.clearZoneVertexSelection(),this.clearLinkSelection(),this.clearZoneSelection(),this.select(i.object,t)});ae(this,"handleNodesCopied",e=>{this.select(null),this.multiSelect(e)});ae(this,"handleObjectRemoved",()=>{this.clearZoneVertexSelection(),this.clearLinkSelection(),this.clearZoneSelection(),this.select(null)});ae(this,"multiSelect",e=>{this.editor.selectionManager.setSelected(e[e.length-1]),this.editor.selectionManager.setSelectedObjects(e),this.editor.eventHandler.eventBus.emit("selector:objects-selected",{selectedObjects:e})});ae(this,"select",(e,t)=>{const n=this.editor.selectionManager;if(n.getSelected()===e)return;const s=n.getSelectedObjects();let a=s;e?a=s.includes(e)?[...s.filter(c=>c!==e),e]:[...s,e]:a=[],n.setSelected(e);const o={object:e,prevSelected:[...s],selectedObjects:[...a],action:t};this.editor.eventHandler.eventBus.emit("selector:object-selected",o),n.setSelectedObjects(a)});ae(this,"handleSelectionReset",()=>{this.clearZoneVertexSelection(),this.clearLinkSelection(),this.clearZoneSelection(),this.select(null)});ae(this,"handleNodeSelectedFromUI",e=>{const t=this.editor.scene.getObjectByProperty("uuid",e);if(!t)return;const n=t,i=this.editor.selectionManager,s=[...i.getSelectedObjects()],o=s.includes(n)?s.filter(c=>c!==n):[...s,n],l=o[o.length-1]??null;this.clearZoneVertexSelection(),this.clearLinkSelection(),this.clearZoneSelection(),i.setSelected(l),i.setSelectedObjects(o),this.editor.eventHandler.eventBus.emit("selector:object-selected",{object:l,prevSelected:s,selectedObjects:[...o],action:"select"})});ae(this,"handleEraserRadiusChanged",e=>{this._raycaster.params.Points.threshold=e});this.editor=e,this.mode="single",this._raycaster=new _d,this._raycaster.params.Points.threshold=.5}get pointsThreshold(){return this._raycaster.params.Points.threshold}set pointsThreshold(e){e<=0||(this._raycaster.params.Points.threshold=e)}dispose(){this.deregisterEvents()}deregisterEvents(){const e=this.editor.eventHandler.eventBus;e.off("viewport:intersections-detected",this.handleIntersectionsDetected),e.off("selector:box-intersections-detected",this.handleBoxIntersectionsDetected),e.off("editor:object-removed",this.handleObjectRemoved),e.off("ui:selection-reset-requested",this.handleSelectionReset),e.off("ui:node-selected",this.handleNodeSelectedFromUI),e.off("eraser:radius-changed",this.handleEraserRadiusChanged)}getSelectionBoxIntersects(e,t,n){this.selectionRect.min=new lt(Math.min(t.x,n.x),Math.min(t.y,n.y)),this.selectionRect.max=new lt(Math.max(t.x,n.x),Math.max(t.y,n.y));const i=[],s=this.editor.selectionManager.getSelectableObjects(),a=s.length;for(let l=0;l<a;l++){const c=s[l],u=this.toScreenPosition(e,c),d=new lt(u.x,u.y);this.selectionRect.containsPoint(d)&&i.push(c)}return this.getSortedIntersects(i)}getPointerPlaneIntersection(e,t){return this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t),this.computeGlobalPlaneIntersection(this._raycaster)}getPointerObjectIntersections(e,t){return this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t),this.computeObjectIntersects(this._raycaster)}getPointerZoneDraftVertexIntersection(e,t){this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t);const n=this._raycaster.intersectObjects(this.editor.selectionManager.getSelectableZoneVertices(),!0);return this.resolveZoneDraftVertexHit(n)}getPointerOctreeIntersections(e,t){return this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t),this.computeOctreePointIntersections(this._raycaster,t)}getPointerQuadTreeIntersections(e,t){return this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t),this.computeQuadtreePointIntersections(this._raycaster,t)}getPointerNearestPointIntersection(e,t){return this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t),this.computeNearestPointIntersect(this._raycaster,t)}registerEventListeners(){const e=this.editor.eventHandler.eventBus;e.on("viewport:intersections-detected",this.handleIntersectionsDetected),e.on("viewport:box-intersections-detected",this.handleBoxIntersectionsDetected),e.on("editor:object-removed",this.handleObjectRemoved),e.on("ui:selection-reset-requested",this.handleSelectionReset),e.on("ui:node-selected",this.handleNodeSelectedFromUI),e.on("eraser:radius-changed",this.handleEraserRadiusChanged)}accumulateOctreeIntersections(e,t,n,i,s){if(e.intersectsBox(t.boundary))if(t.divided)for(const a of t.children)this.accumulateOctreeIntersections(e,a,n,i,s);else for(const{position:a,index:o}of t.points){const l=e.distanceToPoint(a);if(l<=n){const c=i.position.distanceTo(a);s.push({point:a.clone(),index:o,distance:l,cameraDist:c})}}}computeGlobalPlaneIntersection(e){return e.intersectObject(this.editor.globalPlane)}computeNearestPointIntersect(e,t){const n=e.ray,i=this.editor.pointsManager.pointsOctree;return this.findNearestOctreeIntersection(n,i,e.params.Points.threshold,t)}computeObjectIntersects(e){const t=[...this.editor.selectionManager.getSelectableZoneVertices(),...this.editor.selectionManager.getSelectableObjects(),...this.editor.selectionManager.getSelectableLinks().filter(n=>n.visible),...this.editor.selectionManager.getSelectableZones()];return e.intersectObjects(t,!0)}computeOctreePointIntersections(e,t){const n=e.ray,i=[],s=this.editor.pointsManager.pointsOctree;return this.accumulateOctreeIntersections(n,s,e.params.Points.threshold,t,i),i}findNearestOctreeIntersection(e,t,n,i){if(!e.intersectsBox(t.boundary))return null;let s=null;if(t.divided)for(const a of t.children){const o=this.findNearestOctreeIntersection(e,a,n,i);o!==null&&(s===null||o.cameraDist<s.cameraDist)&&(s=o)}else for(const{position:a,index:o}of t.points){const l=e.distanceToPoint(a);if(l<=n){const c=i.position.distanceTo(a);(s===null||c<s.cameraDist)&&(s={point:a.clone(),index:o,distance:l,cameraDist:c})}}return s}getSortedIntersects(e){return e.sort((t,n)=>{const i=t.position.x-n.position.x;return i!==0?i:n.position.y-t.position.y}),e}toScreenPosition(e,t){const n=e.getBoundingClientRect(),i=new de;return t.updateMatrixWorld(),i.setFromMatrixPosition(t.matrixWorld),i.project(this.editor.camera),{x:(i.x+1)/2*n.width+n.left,y:(-i.y+1)/2*n.height+n.top}}computeQuadtreePointIntersections(e,t){const n=[],i=this.editor.pointsManager.pointsQuadTree;if(!i)return n;const s=e.params.Points.threshold??1;return this.accumulateQuadtreeIntersections(e.ray,i,s,t,n),n}_visualizeRay(e,t,n,i=30,s=65535){const a=new Aie(t,e,i,s,.3,.3);n.add(a)}accumulateQuadtreeIntersections(e,t,n,i,s){const a=t.boundary.clone().expandByScalar(n),o=new Rr(new de(a.min.x,a.min.y,-n),new de(a.max.x,a.max.y,n));if(e.intersectsBox(o))if(t.divided)for(const l of t.children)this.accumulateQuadtreeIntersections(e,l,n,i,s);else for(const{position:l,index:c}of t.points){const u=e.distanceToPoint(l);if(u<=n){const d=i.position.distanceTo(l);s.push({point:l.clone(),index:c,distance:u,cameraDist:d})}}}clearLinkSelection(){this.editor.selectionManager.clearLinkSelection(),this.editor.eventHandler.eventBus.emit("selector:link-selected",{linkIds:[]})}clearZoneSelection(){this.editor.selectionManager.clearZoneSelection(),this.editor.eventHandler.eventBus.emit("selector:zone-selected",{zoneIds:[]})}clearZoneVertexSelection(){this.editor.selectionManager.clearZoneVertexSelection(),this.editor.eventHandler.eventBus.emit("selector:zone-draft-vertex-selected",{vertex:null,vertexIndex:null})}selectZoneDraftVertex(e,t){this.editor.selectionManager.setSelectedZoneVertex(e),this.editor.eventHandler.eventBus.emit("selector:zone-draft-vertex-selected",{vertex:e,vertexIndex:t})}resolveSelectionHit(e){const t=this.resolveZoneDraftVertexHit(e);if(t)return{kind:"zone-draft-vertex",vertex:t.mesh,vertexIndex:t.vertexIndex};for(let s=0;s<e.length;s++){const a=e[s].object;if(this.editor.selectionManager.isSelectable(a))return{kind:"node",object:a}}const n=this.resolveLinkHits(e);if(n.length>0)return{kind:"links",arrows:n,linkIds:n.map(s=>String(s.userData.linkId))};const i=this.resolveZoneHits(e);return i.length>0?{kind:"zones",zones:i,zoneIds:i.map(s=>String(s.userData.zoneId))}:null}resolveLinkHits(e){const t=new Map;for(let n=0;n<e.length;n++){const i=this.resolveLinkHit(e[n].object);if(!i)continue;const s=String(i.userData.linkId);t.has(s)||t.set(s,i)}return[...t.values()]}resolveLinkHit(e){const t=e.userData.objectType,n=e.userData.arrowOwner,i=e.userData.linkId??(n==null?void 0:n.userData.linkId);return(t==="topology-link-hit-area"||t==="topology-link-part")&&n&&n.visible&&i?n:null}resolveZoneHits(e){const t=new Map;for(let n=0;n<e.length;n++){const i=this.resolveZoneHit(e[n].object);if(!i)continue;const s=String(i.userData.zoneId);t.has(s)||t.set(s,i)}return[...t.values()]}resolveZoneHit(e){const t=e.userData.objectType,n=e.userData.zoneId;return t==="topology-zone-hit-area"&&n?e:null}resolveZoneDraftVertexHit(e){for(let t=0;t<e.length;t++){const n=e[t].object;if(!this.editor.selectionManager.getSelectableZoneVertices().includes(n))continue;const i=n.userData.vertexIndex;if(typeof i=="number")return{mesh:n,vertexIndex:i}}return null}}/*! *****************************************************************************
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e._initAsync(),e}constructor(){super(),this.name="SEM",this.userData.keep=!0}update(e){}applyPose(e){if(!e)return;const t={t:performance.now()*.001,x:e.x,y:e.y,rz:e.rz};this.pushTransformSnapshot(t)}async _initAsync(){const i=new vr(1.1044,.7484,.537,10,1,1),s=new Ct(65535),a=new Ct(16711680),o=[],l=-1.1044/2,c=1.1044/2,u=l+(c-l)*(2/3);for(let v=0;v<i.attributes.position.count;v++){const b=new de;b.fromBufferAttribute(i.attributes.position,v);const y=b.x>=u?a:s;o.push(y.r,y.g,y.b)}i.setAttribute("color",new Lt(o,3));const d=new rr({vertexColors:!0,transparent:!0,opacity:.65,depthWrite:!1,side:gs}),f=new ht(i,d);f.position.set(0,0,.2685),f.userData.keep=!0,f.renderOrder=1;const m=new Z0(i),p=new Ia(m,new Hr({color:16777215}));p.renderOrder=2,p.userData.keep=!0,f.add(p),this.add(f)}}class x2 extends Cc{static async create(){const e=new x2;return await e._initAsync(),e}constructor(){super(),this.name="SEC",this.userData.keep=!0}update(e){}applyPose(e){if(!e)return;const t={t:performance.now()*.001,x:e.x,y:e.y,rz:e.rz};this.pushTransformSnapshot(t)}async _initAsync(){const i=new vr(1.1044,.7484,.537,10,1,1),s=new Ct(65535),a=new Ct(16711680),o=[],l=-1.1044/2,c=1.1044/2,u=l+(c-l)*(2/3);for(let v=0;v<i.attributes.position.count;v++){const b=new de;b.fromBufferAttribute(i.attributes.position,v);const y=b.x>=u?a:s;o.push(y.r,y.g,y.b)}i.setAttribute("color",new Lt(o,3));const d=new rr({vertexColors:!0,transparent:!0,opacity:.65,depthWrite:!1,side:gs}),f=new ht(i,d);f.position.set(0,0,.2685),f.userData.keep=!0,f.renderOrder=1;const m=new Z0(i),p=new Ia(m,new Hr({color:16777215}));p.renderOrder=2,p.userData.keep=!0,f.add(p),this.add(f)}}class w2 extends Cc{static async create(){const e=new w2;return await e._initAsync(),e}constructor(){super(),this.name="D400",this.userData.keep=!0}update(e){}applyPose(e){if(!e)return;const t={t:performance.now()*.001,x:e.x,y:e.y,rz:e.rz};this.pushTransformSnapshot(t)}async _initAsync(){const i=new vr(1.1044,.7484,.537,10,1,1),s=new Ct(65535),a=new Ct(16711680),o=[],l=-1.1044/2,c=1.1044/2,u=l+(c-l)*(2/3);for(let v=0;v<i.attributes.position.count;v++){const b=new de;b.fromBufferAttribute(i.attributes.position,v);const y=b.x>=u?a:s;o.push(y.r,y.g,y.b)}i.setAttribute("color",new Lt(o,3));const d=new rr({vertexColors:!0,transparent:!0,opacity:.65,depthWrite:!1,side:gs}),f=new ht(i,d);f.position.set(0,0,.2685),f.userData.keep=!0,f.renderOrder=1;const m=new Z0(i),p=new Ia(m,new Hr({color:16777215}));p.renderOrder=2,p.userData.keep=!0,f.add(p),this.add(f)}}class _2 extends Cc{static async create(){const e=new _2;return await e._initAsync(),e}constructor(){super(),this.name="GAIA",this.userData.keep=!0}async _initAsync(){const e=new Lp,t=new d2,n=Ti(go.GAIA.modelUrl);t.setDecoderPath(Ti("/draco/")),e.setDRACOLoader(t);try{const s=(await e.loadAsync(n)).scene;s.renderOrder=ui.ROBOT;const a=new Un;a.add(s),a.traverse(o=>{if(o.userData.keep=!0,!(o instanceof ht))return;const l=c=>{const u=new Ui;return"color"in c&&c.color instanceof Ct&&u.color.copy(c.color),"map"in c&&c.map instanceof pr&&(u.map=c.map),"transparent"in c&&(u.transparent=c.transparent),"opacity"in c&&(u.opacity=c.opacity),"side"in c&&(u.side=c.side),u};Array.isArray(o.material)?o.material=o.material.map(l):o.material=l(o.material)}),this.alignToGroundZUp(s),a.rotation.z=Math.PI,this.add(a)}catch(i){i instanceof Error?console.error("GAIA Load Failed:",i.message):console.error("GAIA Load Failed:",i)}finally{t.dispose()}}update(e){this.position.set(Number(e.x),Number(e.y),0),this.rotation.z=Jt.degToRad(Number(e.rz))}applyPose(e){if(!e)return;const t={t:performance.now()*.001,x:e.x,y:e.y,rz:e.rz};this.pushTransformSnapshot(t)}}var tfe=(function(){var 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Uint8Array(y*x);return l(s.exports[u[S]],C,y,x,_,s.exports[c[k]]),C})}}})();let mm=null;const nfe=()=>(mm||(mm=new d2,mm.setDecoderPath(Ti("/draco/"))),mm),tv=(r,e,t)=>{if(/\.(gltf|glb)(\?|#|$)/i.test(r)){const n=new Lp(e);n.setDRACOLoader(nfe()),n.setMeshoptDecoder(tfe),n.load(r,i=>{const s=i.scene??new Un;t(s)},void 0,i=>{console.warn("GLTF load error:",r,i),t(new Un)});return}if(/\.stl(\?|#|$)/i.test(r)){new p2(e).load(r,i=>{const s=new ht(i,new nd({color:8421504}));t(s)},void 0,i=>{console.warn("STL load error:",r,i),t(new Un)});return}if(/\.dae(\?|#|$)/i.test(r)){new u2(e).load(r,i=>{const s=i.scene??i;s.rotation.set(0,0,0),s.traverse(a=>{a.isMesh}),t(s)},void 0,i=>{console.warn("DAE load error:",r,i),t(new Un)});return}console.warn(`URDFLoader: no loader for ${r}`),t(new Un)},mC={rby1a:{name:"RBY1-A",urdfPath:"/rby1a/rby1a.urdf"},rby1m:{name:"RBY1-M",urdfPath:"/rby1m/rby1m.urdf"},rby1ub:{name:"RBY1-UB",urdfPath:"/rby1ub/rby1ub.urdf"},rby2c:{name:"RBY2-C",urdfPath:"/rby2c/rby2c.urdf"}};class Gg extends Cc{constructor(t){super();ae(this,"robot");ae(this,"variant");this.variant=t,this.jointBuf=new g2,this.name=mC[t].name,this.userData.keep=!0}static async create(t="rby1m"){const n=new Gg(t);return await n._initAsync(),n}async _initAsync(){const t=mC[this.variant],n=Ti(t.urdfPath);await new Promise(i=>{const s=new xd,a=new Dp(s);let o=null,l=!1;const c=()=>{l||(l=!0,i())};a.loadMeshCb=tv,s.onLoad=()=>{if(!l){if(!o){c();return}o.userData.keep=!0,o.traverse(u=>{u.userData.keep=!0}),this.robot=o,this.alignToGroundZUp(o),this.add(o),c()}},s.onError=u=>{l||(console.warn(`[RBY] Load failed: ${u}`),c())},a.load(n,u=>{l||(o=u)},void 0,u=>{l||(u instanceof Error?console.error(`RBY Load Failed (${this.variant}):`,u.message):console.error(`RBY Load Failed (${this.variant}):`,u),c())})})}update(t){this.position.set(Number(t.x),Number(t.y),0),this.rotation.z=Jt.degToRad(Number(t.rz))}applyPose(t){if(!t)return;const n={t:performance.now()*.001,x:t.x,y:t.y,rz:t.rz};this.pushTransformSnapshot(n)}applyJointValues(t){var n;(n=this.robot)==null||n.setJointValues(t)}}const gC=["#0087fc","#f77468","#f37a32","#dc8932","#ca9232","#bb9832","#ae9d31","#9fa131","#8ea631","#77ab31","#50b131","#32b25c","#33b07a","#34af8c","#35ae99","#36ada4","#36acae","#37aab9","#38a9c5","#39a7d5","#3ba3ec","#6e9bf4","#9591f4","#b287f4","#cc7af4","#e866f4","#f560e4","#f565cc","#f66ab7","#f66da2"];class rfe{constructor(e){ae(this,"editor");ae(this,"mainRobot");ae(this,"rbq");ae(this,"s100");ae(this,"robotMap");ae(this,"previousUpdateTime");ae(this,"availableColors");ae(this,"update",(e,t)=>{e.visible?(e.position.set(t.x,t.y,e.position.z),e.rotation.z=t.rz*Math.PI/180):(e.position.set(t.x,t.y,0),e.rotation.z=t.rz,e.visible=!0)});ae(this,"handleSetUpInitialView",e=>{if(!this.mainRobot)return;const t={x:Number(e.x),y:Number(e.y),z:0},n=Number(e.rz)*Math.PI/180;this.mainRobot.position.copy(t),this.mainRobot.rotation.z=n});this.editor=e,this.s100=null,this.rbq=null,this.robotMap=new Map,this.previousUpdateTime=Date.now(),this.availableColors=[...gC]}registerEventListeners(){this.editor.eventHandler.eventBus.on("ui:initial-view-set-up",this.handleSetUpInitialView)}deregisterEventListeners(){this.editor.eventHandler.eventBus.off("ui:initial-view-set-up",this.handleSetUpInitialView)}addLabel(e){const t=document.createElement("div");t.className="nodeLabel",t.textContent=e.name,t.style.color="white",t.style.backgroundColor="transparent",t.style.position="absolute",t.style.fontSize="6.5px",t.style.zIndex="-999";const n=new Ns(t);n.userData.keep=!0,n.userData.labelType="robot",n.name="label",n.center.set(0,-.5),e.add(n)}count(){return this.robotMap.size}dispose(){this.rbq=null,this.s100=null,this.mainRobot=null}async loadMainRobot(e){if(this.mainRobot||!this.editor.scene)return;let t=null;switch(e){case"S100":case"S100-A":case"S100-A-3D":case"S100-B":case"S100-B-3D":t=await v2.create(),this.s100=t;break;case"RBQ":t=await b2.create(),this.rbq=t;break;case"SEM":t=await y2.create();break;case"SEC":t=await x2.create();break;case"D400":case"D400_NEW":case"DD-SEC_EE":t=await w2.create();break;case"QD":t=await _2.create();break;case"rby1a":case"rby1m":case"rby1ub":case"rby2c":t=await Gg.create(e);break;case"QD-RBY":t=await Gg.create("rby2c");break}t&&(this.mainRobot=t,this.editor.scene.add(this.mainRobot),this.robotMap.set("mainRobot",this.mainRobot),this.editor.eventHandler.eventBus.emit("robot-manager:main-robot-loaded"))}updateAll(e){var t;(t=this.mainRobot)==null||t.tick(e)}addAxesHelper(e){const t=new Sd(1e3);t.userData.keep=!0,e.add(t)}cloneEdgeLine(e,t){const n=e.getObjectByName("edgeLine"),i=t.getObjectByName("edgeLine");n&&i&&(i.material=n.material.clone())}cloneRobot(e){const t=e.clone();t.name="robot";const n=e.material.clone();return n.color=new Ct(this.getUniqueColor()),t.material=n,t}getUniqueColor(){return this.availableColors.length===0&&(this.availableColors=[...gC]),this.availableColors.splice(0,1)[0]}}class ife{constructor(){ae(this,"_selected",null);ae(this,"_selectableObjects",[]);ae(this,"_selectableLinks",[]);ae(this,"_selectableZones",[]);ae(this,"_selectableZoneVertices",[]);ae(this,"_selectedObjects",[]);ae(this,"_selectedLinks",[]);ae(this,"_focusedLinkId",null);ae(this,"_selectedZones",[]);ae(this,"_focusedZoneId",null);ae(this,"_selectedZoneVertex",null)}getSelected(){return this._selected}setSelected(e){this._selected=e}getSelectableObjects(){return this._selectableObjects}setSelectableObjects(e){this._selectableObjects=e}registerSelectable(e){this._selectableObjects.push(e)}getSelectableLinks(){return this._selectableLinks}registerSelectableLink(e){this._selectableLinks.push(e)}getSelectableZones(){return this._selectableZones}registerSelectableZone(e){this._selectableZones.push(e)}getSelectableZoneVertices(){return this._selectableZoneVertices}registerSelectableZoneVertex(e){this._selectableZoneVertices.push(e)}unregisterSelectableZoneVertex(e){const t=this._selectableZoneVertices.indexOf(e);t>-1&&this._selectableZoneVertices.splice(t,1),this._selectedZoneVertex===e&&(this._selectedZoneVertex=null)}unregisterSelectableZone(e){const t=this._selectableZones.indexOf(e);t>-1&&this._selectableZones.splice(t,1),this._selectedZones=this._selectedZones.filter(n=>n!==e),this.syncFocusedZoneId()}unregisterSelectableLink(e){const t=this._selectableLinks.indexOf(e);t>-1&&this._selectableLinks.splice(t,1),this._selectedLinks=this._selectedLinks.filter(n=>n!==e),this.syncFocusedLinkId()}unregisterSelectable(e){const t=this._selectableObjects.indexOf(e);t>-1&&this._selectableObjects.splice(t,1);const n=this._selectedObjects.indexOf(e);n>-1&&this._selectedObjects.splice(n,1)}isSelectable(e){return this._selectableObjects.includes(e)}getSelectedObjects(){return this._selectedObjects}setSelectedObjects(e){this._selectedObjects=e}getSelectedLinks(){return this._selectedLinks}setSelectedLinks(e){this._selectedLinks=e,this.syncFocusedLinkId()}getFocusedLinkId(){return this._focusedLinkId}setFocusedLinkId(e){if(e===null){this._focusedLinkId=null;return}this._focusedLinkId=this._selectedLinks.some(t=>String(t.userData.linkId)===e)?e:this._selectedLinks[0]?String(this._selectedLinks[0].userData.linkId):null}getSelectedZones(){return this._selectedZones}setSelectedZones(e){this._selectedZones=e,this.syncFocusedZoneId()}getFocusedZoneId(){return this._focusedZoneId}setFocusedZoneId(e){if(e===null){this._focusedZoneId=null;return}this._focusedZoneId=this._selectedZones.some(t=>String(t.userData.zoneId)===e)?e:this._selectedZones[0]?String(this._selectedZones[0].userData.zoneId):null}getSelectedZoneVertex(){return this._selectedZoneVertex}setSelectedZoneVertex(e){this._selectedZoneVertex=e}clearLinkSelection(){this._selectedLinks=[],this._focusedLinkId=null}clearZoneSelection(){this._selectedZones=[],this._focusedZoneId=null}clearZoneVertexSelection(){this._selectedZoneVertex=null}clearSelection(){this._selected=null,this._selectedObjects=[],this._selectedLinks=[],this._focusedLinkId=null,this._selectedZones=[],this._focusedZoneId=null,this._selectedZoneVertex=null}reset(){this.clearSelection(),this._selectableObjects=[],this._selectableLinks=[],this._selectableZones=[],this._selectableZoneVertices=[]}syncFocusedLinkId(){if(this._selectedLinks.length===0){this._focusedLinkId=null;return}this._focusedLinkId&&this._selectedLinks.some(e=>String(e.userData.linkId)===this._focusedLinkId)||(this._focusedLinkId=String(this._selectedLinks[0].userData.linkId))}syncFocusedZoneId(){if(this._selectedZones.length===0){this._focusedZoneId=null;return}this._focusedZoneId&&this._selectedZones.some(e=>String(e.userData.zoneId)===this._focusedZoneId)||(this._focusedZoneId=String(this._selectedZones[0].userData.zoneId))}}class sfe{constructor(e){ae(this,"editor");ae(this,"mode");ae(this,"_raycaster");ae(this,"_invMat",new It);ae(this,"mouse",new lt);ae(this,"selectionRect",new uu);ae(this,"handleBoxIntersectionsDetected",e=>{this.clearLinkSelection(),this.clearZoneSelection(),this.select(null),this.multiSelect(e)});ae(this,"handleIntersectionsDetected",e=>{const{action:t,intersections:n}=e,i=this.resolveSelectionHit(n);if(!i){this.clearZoneVertexSelection(),this.clearLinkSelection(),this.clearZoneSelection(),this.select(null);return}if(i.kind==="zone-draft-vertex"){this.clearLinkSelection(),this.clearZoneSelection(),this.select(null),this.selectZoneDraftVertex(i.vertex,i.vertexIndex);return}if(i.kind==="links"){this.clearZoneVertexSelection(),this.clearZoneSelection(),this.editor.selectionManager.setSelectedLinks(i.arrows),this.editor.eventHandler.eventBus.emit("selector:link-selected",{linkIds:i.linkIds}),this.select(null);return}if(i.kind==="zones"){this.clearZoneVertexSelection(),this.clearLinkSelection(),this.editor.selectionManager.setSelectedZones(i.zones),this.editor.eventHandler.eventBus.emit("selector:zone-selected",{zoneIds:i.zoneIds}),this.select(null);return}this.clearZoneVertexSelection(),this.clearLinkSelection(),this.clearZoneSelection(),this.select(i.object,t)});ae(this,"handleNodesCopied",e=>{this.select(null),this.multiSelect(e)});ae(this,"handleObjectRemoved",()=>{this.clearZoneVertexSelection(),this.clearLinkSelection(),this.clearZoneSelection(),this.select(null)});ae(this,"multiSelect",e=>{this.editor.selectionManager.setSelected(e[e.length-1]),this.editor.selectionManager.setSelectedObjects(e),this.editor.eventHandler.eventBus.emit("selector:objects-selected",{selectedObjects:e})});ae(this,"select",(e,t)=>{const n=this.editor.selectionManager;if(n.getSelected()===e)return;const s=n.getSelectedObjects();let a=s;e?a=s.includes(e)?[...s.filter(c=>c!==e),e]:[...s,e]:a=[],n.setSelected(e);const o={object:e,prevSelected:[...s],selectedObjects:[...a],action:t};this.editor.eventHandler.eventBus.emit("selector:object-selected",o),n.setSelectedObjects(a)});ae(this,"handleSelectionReset",()=>{this.clearZoneVertexSelection(),this.clearLinkSelection(),this.clearZoneSelection(),this.select(null)});ae(this,"handleNodeSelectedFromUI",e=>{const t=this.editor.scene.getObjectByProperty("uuid",e);if(!t)return;const n=t,i=this.editor.selectionManager,s=[...i.getSelectedObjects()],o=s.includes(n)?s.filter(c=>c!==n):[...s,n],l=o[o.length-1]??null;this.clearZoneVertexSelection(),this.clearLinkSelection(),this.clearZoneSelection(),i.setSelected(l),i.setSelectedObjects(o),this.editor.eventHandler.eventBus.emit("selector:object-selected",{object:l,prevSelected:s,selectedObjects:[...o],action:"select"})});ae(this,"handleEraserRadiusChanged",e=>{this._raycaster.params.Points.threshold=e});this.editor=e,this.mode="single",this._raycaster=new _d,this._raycaster.params.Points.threshold=.5}get pointsThreshold(){return this._raycaster.params.Points.threshold}set pointsThreshold(e){e<=0||(this._raycaster.params.Points.threshold=e)}dispose(){this.deregisterEvents()}deregisterEvents(){const e=this.editor.eventHandler.eventBus;e.off("viewport:intersections-detected",this.handleIntersectionsDetected),e.off("selector:box-intersections-detected",this.handleBoxIntersectionsDetected),e.off("editor:object-removed",this.handleObjectRemoved),e.off("ui:selection-reset-requested",this.handleSelectionReset),e.off("ui:node-selected",this.handleNodeSelectedFromUI),e.off("eraser:radius-changed",this.handleEraserRadiusChanged)}getSelectionBoxIntersects(e,t,n){this.selectionRect.min=new lt(Math.min(t.x,n.x),Math.min(t.y,n.y)),this.selectionRect.max=new lt(Math.max(t.x,n.x),Math.max(t.y,n.y));const i=[],s=this.editor.selectionManager.getSelectableObjects(),a=s.length;for(let l=0;l<a;l++){const c=s[l],u=this.toScreenPosition(e,c),d=new lt(u.x,u.y);this.selectionRect.containsPoint(d)&&i.push(c)}return this.getSortedIntersects(i)}getPointerPlaneIntersection(e,t){return this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t),this.computeGlobalPlaneIntersection(this._raycaster)}getPointerObjectIntersections(e,t){return this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t),this.computeObjectIntersects(this._raycaster)}getPointerZoneDraftVertexIntersection(e,t){this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t);const n=this._raycaster.intersectObjects(this.editor.selectionManager.getSelectableZoneVertices(),!0);return this.resolveZoneDraftVertexHit(n)}getPointerOctreeIntersections(e,t){return this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t),this.computeOctreePointIntersections(this._raycaster,t)}getPointerQuadTreeIntersections(e,t){return this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t),this.computeQuadtreePointIntersections(this._raycaster,t)}getPointerNearestPointIntersection(e,t){return this.mouse.set(e.x*2-1,-(e.y*2)+1),this._raycaster.setFromCamera(this.mouse,t),this.computeNearestPointIntersect(this._raycaster,t)}registerEventListeners(){const e=this.editor.eventHandler.eventBus;e.on("viewport:intersections-detected",this.handleIntersectionsDetected),e.on("viewport:box-intersections-detected",this.handleBoxIntersectionsDetected),e.on("editor:object-removed",this.handleObjectRemoved),e.on("ui:selection-reset-requested",this.handleSelectionReset),e.on("ui:node-selected",this.handleNodeSelectedFromUI),e.on("eraser:radius-changed",this.handleEraserRadiusChanged)}accumulateOctreeIntersections(e,t,n,i,s){if(e.intersectsBox(t.boundary))if(t.divided)for(const a of t.children)this.accumulateOctreeIntersections(e,a,n,i,s);else for(const{position:a,index:o}of t.points){const l=e.distanceToPoint(a);if(l<=n){const c=i.position.distanceTo(a);s.push({point:a.clone(),index:o,distance:l,cameraDist:c})}}}computeGlobalPlaneIntersection(e){return e.intersectObject(this.editor.globalPlane)}computeNearestPointIntersect(e,t){const n=e.ray,i=this.editor.pointsManager.pointsOctree;return this.findNearestOctreeIntersection(n,i,e.params.Points.threshold,t)}computeObjectIntersects(e){const t=[...this.editor.selectionManager.getSelectableZoneVertices(),...this.editor.selectionManager.getSelectableObjects(),...this.editor.selectionManager.getSelectableLinks().filter(n=>n.visible),...this.editor.selectionManager.getSelectableZones()];return e.intersectObjects(t,!0)}computeOctreePointIntersections(e,t){const n=e.ray,i=[],s=this.editor.pointsManager.pointsOctree;return this.accumulateOctreeIntersections(n,s,e.params.Points.threshold,t,i),i}findNearestOctreeIntersection(e,t,n,i){if(!e.intersectsBox(t.boundary))return null;let s=null;if(t.divided)for(const a of t.children){const o=this.findNearestOctreeIntersection(e,a,n,i);o!==null&&(s===null||o.cameraDist<s.cameraDist)&&(s=o)}else for(const{position:a,index:o}of t.points){const l=e.distanceToPoint(a);if(l<=n){const c=i.position.distanceTo(a);(s===null||c<s.cameraDist)&&(s={point:a.clone(),index:o,distance:l,cameraDist:c})}}return s}getSortedIntersects(e){return e.sort((t,n)=>{const i=t.position.x-n.position.x;return i!==0?i:n.position.y-t.position.y}),e}toScreenPosition(e,t){const n=e.getBoundingClientRect(),i=new de;return t.updateMatrixWorld(),i.setFromMatrixPosition(t.matrixWorld),i.project(this.editor.camera),{x:(i.x+1)/2*n.width+n.left,y:(-i.y+1)/2*n.height+n.top}}computeQuadtreePointIntersections(e,t){const n=[],i=this.editor.pointsManager.pointsQuadTree;if(!i)return n;const s=e.params.Points.threshold??1;return this.accumulateQuadtreeIntersections(e.ray,i,s,t,n),n}_visualizeRay(e,t,n,i=30,s=65535){const a=new Aie(t,e,i,s,.3,.3);n.add(a)}accumulateQuadtreeIntersections(e,t,n,i,s){const a=t.boundary.clone().expandByScalar(n),o=new Rr(new de(a.min.x,a.min.y,-n),new de(a.max.x,a.max.y,n));if(e.intersectsBox(o))if(t.divided)for(const l of t.children)this.accumulateQuadtreeIntersections(e,l,n,i,s);else for(const{position:l,index:c}of t.points){const u=e.distanceToPoint(l);if(u<=n){const d=i.position.distanceTo(l);s.push({point:l.clone(),index:c,distance:u,cameraDist:d})}}}clearLinkSelection(){this.editor.selectionManager.clearLinkSelection(),this.editor.eventHandler.eventBus.emit("selector:link-selected",{linkIds:[]})}clearZoneSelection(){this.editor.selectionManager.clearZoneSelection(),this.editor.eventHandler.eventBus.emit("selector:zone-selected",{zoneIds:[]})}clearZoneVertexSelection(){this.editor.selectionManager.clearZoneVertexSelection(),this.editor.eventHandler.eventBus.emit("selector:zone-draft-vertex-selected",{vertex:null,vertexIndex:null})}selectZoneDraftVertex(e,t){this.editor.selectionManager.setSelectedZoneVertex(e),this.editor.eventHandler.eventBus.emit("selector:zone-draft-vertex-selected",{vertex:e,vertexIndex:t})}resolveSelectionHit(e){const t=this.resolveZoneDraftVertexHit(e);if(t)return{kind:"zone-draft-vertex",vertex:t.mesh,vertexIndex:t.vertexIndex};for(let s=0;s<e.length;s++){const a=e[s].object;if(this.editor.selectionManager.isSelectable(a))return{kind:"node",object:a}}const n=this.resolveLinkHits(e);if(n.length>0)return{kind:"links",arrows:n,linkIds:n.map(s=>String(s.userData.linkId))};const i=this.resolveZoneHits(e);return i.length>0?{kind:"zones",zones:i,zoneIds:i.map(s=>String(s.userData.zoneId))}:null}resolveLinkHits(e){const t=new Map;for(let n=0;n<e.length;n++){const i=this.resolveLinkHit(e[n].object);if(!i)continue;const s=String(i.userData.linkId);t.has(s)||t.set(s,i)}return[...t.values()]}resolveLinkHit(e){const t=e.userData.objectType,n=e.userData.arrowOwner,i=e.userData.linkId??(n==null?void 0:n.userData.linkId);return(t==="topology-link-hit-area"||t==="topology-link-part")&&n&&n.visible&&i?n:null}resolveZoneHits(e){const t=new Map;for(let n=0;n<e.length;n++){const i=this.resolveZoneHit(e[n].object);if(!i)continue;const s=String(i.userData.zoneId);t.has(s)||t.set(s,i)}return[...t.values()]}resolveZoneHit(e){const t=e.userData.objectType,n=e.userData.zoneId;return t==="topology-zone-hit-area"&&n?e:null}resolveZoneDraftVertexHit(e){for(let t=0;t<e.length;t++){const n=e[t].object;if(!this.editor.selectionManager.getSelectableZoneVertices().includes(n))continue;const i=n.userData.vertexIndex;if(typeof i=="number")return{mesh:n,vertexIndex:i}}return null}}/*! *****************************************************************************
 Copyright (c) Microsoft Corporation.
 
 Permission to use, copy, modify, and/or distribute this software for any

package/cli/storybook-dist/assets/{entry-preview-DW9puiK6.js → entry-preview-DtDJHzpd.js}

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