@wandelbots/wandelbots-js-react-components 4.7.2-pr.v4.554.f8a153d → 5.0.0

package/dist/MotionGroupVisualizer-CPEIGXUC.js

@@ -1,1407 +0,0 @@
-import { j as e, d as Te, v as Z, o as Se, e as U } from "./externalizeComponent-BOqKMZMc.js";
-import * as g from "three";
-import { Matrix4 as R, Vector3 as k, Quaternion as B } from "three";
-import { ConvexGeometry as W, RoundedBoxGeometry as Ge } from "three-stdlib";
-import { useThree as ae, useFrame as le, Canvas as z } from "@react-three/fiber";
-import ke, { useEffect as M, useMemo as C, useRef as _, useCallback as G, useState as A, Suspense as ce } from "react";
-import { Environment as Ae, Lightformer as L, Line as $, useGLTF as Le, Bounds as ee } from "@react-three/drei";
-import { useTheme as Fe, Card as Pe, Box as v, Typography as te, Divider as re, Button as ne } from "@mui/material";
-import { observer as Ve } from "mobx-react-lite";
-import { useTranslation as Ie } from "react-i18next";
-import { N as De, V as ue, c as pe, b as se, M as T, J as O } from "./interpolation-B8AcxfdD.js";
-import { ErrorBoundary as de } from "react-error-boundary";
-function Oe(t) {
-  switch (t.shape_type) {
-    case "convex_hull":
-      return new W(
-        t.vertices.map(
-          (r) => new g.Vector3(
-            r[0] / 1e3,
-            r[1] / 1e3,
-            r[2] / 1e3
-          )
-        )
-      );
-    case "box":
-      return new g.BoxGeometry(
-        t.size_x / 1e3,
-        t.size_y / 1e3,
-        t.size_z / 1e3
-      );
-    case "sphere":
-      return new g.SphereGeometry(t.radius / 1e3);
-    case "capsule":
-      return new g.CapsuleGeometry(
-        t.radius / 1e3,
-        t.cylinder_height / 1e3
-      );
-    case "cylinder":
-      return new g.CylinderGeometry(
-        t.radius / 1e3,
-        t.radius / 1e3,
-        t.height / 1e3
-      );
-    case "rectangle":
-      return new g.BoxGeometry(t.size_x / 1e3, t.size_y / 1e3, 0);
-    default:
-      return console.warn(`${t.shape_type} is not supported`), new g.BufferGeometry();
-  }
-}
-function Ce({
-  name: t,
-  collider: n,
-  children: r
-}) {
-  var f, u;
-  const l = ((f = n.pose) == null ? void 0 : f.position) ?? [0, 0, 0], s = ((u = n.pose) == null ? void 0 : u.orientation) ?? [0, 0, 0];
-  return n.margin && console.warn(`${t} margin is not supported`), /* @__PURE__ */ e.jsx(
-    "mesh",
-    {
-      name: t,
-      position: new g.Vector3(
-        l[0],
-        l[1],
-        l[2]
-      ).divideScalar(1e3),
-      rotation: new g.Euler(s[0], s[1], s[2], "XYZ"),
-      geometry: Oe(n.shape),
-      children: r
-    }
-  );
-}
-function Ue({
-  name: t,
-  colliders: n,
-  meshChildrenProvider: r,
-  ...l
-}) {
-  return /* @__PURE__ */ e.jsx("group", { name: t, ...l, children: Object.entries(n).map(([s, f]) => /* @__PURE__ */ e.jsx(
-    Ce,
-    {
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-      collider: f,
-      children: r(s, f)
-    },
-    s
-  )) });
-}
-function at({
-  scene: t,
-  meshChildrenProvider: n
-}) {
-  const r = t.colliders;
-  return /* @__PURE__ */ e.jsx("group", { children: r && /* @__PURE__ */ e.jsx(
-    Ue,
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-      meshChildrenProvider: n,
-      colliders: r
-    }
-  ) });
-}
-function oe() {
-  return /* @__PURE__ */ e.jsx(Ae, { children: /* @__PURE__ */ e.jsx(Ee, {}) });
-}
-function Ee({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
-  return /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
-    /* @__PURE__ */ e.jsx(
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-        target: [0, 0, 0]
-      }
-    )
-  ] });
-}
-function lt({
-  safetyZones: t,
-  dhParameters: n,
-  ...r
-}) {
-  const l = {
-    attach: "material",
-    color: "#009f4d",
-    opacity: 0.2,
-    depthTest: !1,
-    depthWrite: !1,
-    transparent: !0,
-    polygonOffset: !0
-  }, s = Te(n ?? []);
-  M(() => {
-    Array.isArray(t) && console.warn(
-      "SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones."
-    );
-  }, [t]);
-  const f = (p, i) => {
-    var m, j;
-    if (!((m = i == null ? void 0 : i.pose) != null && m.position) || !((j = i == null ? void 0 : i.pose) != null && j.orientation))
-      return null;
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-      i.pose.position[0] / 1e3,
-      i.pose.position[1] / 1e3,
-      i.pose.position[2] / 1e3
-    ), a = new g.Vector3(
-      i.pose.orientation[0],
-      i.pose.orientation[1],
-      i.pose.orientation[2]
-    );
-    let c;
-    const y = i.shape.shape_type === "plane" ? { ...l, side: g.DoubleSide } : { ...l, side: g.FrontSide };
-    switch (i.shape.shape_type) {
-      /**
-       * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
-       */
-      case "plane":
-        c = /* @__PURE__ */ e.jsx("planeGeometry", { args: [s, s] });
-        break;
-      /**
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-        const x = (i == null ? void 0 : i.shape).radius / 1e3;
-        c = /* @__PURE__ */ e.jsx("sphereGeometry", { args: [x] });
-        break;
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-      /**
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-        c = /* @__PURE__ */ e.jsx("capsuleGeometry", { args: [x, w] });
-        break;
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-      /**
-       * Convex hull, checks at first if the vertices are coplanar - if yes, adds a small offset for
-       * renderer to be able to visualize the convex hull.
-       */
-      case "convex_hull": {
-        const x = (i == null ? void 0 : i.shape).vertices.map(
-          (b) => new g.Vector3(b[0] / 1e3, b[1] / 1e3, b[2] / 1e3)
-        ), w = Z(x);
-        if (w.isCoplanar && w.normal) {
-          const F = new g.Vector3().addVectors(
-            x[0],
-            w.normal.multiplyScalar(1e-4)
-          );
-          x.push(F);
-        }
-        try {
-          c = /* @__PURE__ */ e.jsx(
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-            {
-              object: new W(x),
-              attach: "geometry"
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-        } catch (b) {
-          return console.log("Error creating ConvexGeometry:", b), null;
-        }
-        break;
-      }
-      /**
-       * Convex hull around four spheres. Sphere center points in x/y-plane,
-       * offset by either combination "+/- sizeX" or "+/- sizeY".
-       * Alternative description: Rectangle in x/y-plane with a 3D padding (source: nova-api docs)
-       *
-       * Basically a rounded box with a rectangular cross-section.
-       */
-      case "rectangular_capsule": {
-        const x = i.shape, w = x.radius / 1e3, b = x.sphere_center_distance_x / 1e3, F = x.sphere_center_distance_y / 1e3, H = w * 2;
-        c = /* @__PURE__ */ e.jsx(
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-            object: new Ge(b, F, H, 2, w),
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-        break;
-      }
-      default:
-        console.warn(
-          "Unsupported safety zone shape type:",
-          i.shape.shape_type
-        ), c = null;
-    }
-    return /* @__PURE__ */ e.jsxs(
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-      {
-        renderOrder: p,
-        position: o,
-        quaternion: Se(a),
-        children: [
-          c,
-          /* @__PURE__ */ e.jsx("meshStandardMaterial", { ...y, polygonOffsetFactor: -p })
-        ]
-      },
-      `safety-zone-${i.shape.shape_type}-${p}`
-    );
-  }, u = () => Object.values(t ?? {}).map(
-    (p, i) => f(i, p)
-  ), h = () => Array.isArray(t) ? t.map(
-    (p, i) => {
-      let o = [];
-      return p.geometry && (p.geometry.compound ? o = p.geometry.compound.child_geometries : p.geometry.convex_hull && (o = [p.geometry])), o.map((a, c) => {
-        if (!a.convex_hull) return null;
-        const y = a.convex_hull.vertices.map(
-          (x) => new g.Vector3(x.x / 1e3, x.y / 1e3, x.z / 1e3)
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-          const w = new g.Vector3().addVectors(
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-                transparent: !0,
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-              i
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-  ...n
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-  var l;
-  const r = ((l = t.trajectory) == null ? void 0 : l.map((s) => s.tcp_pose ? new g.Vector3(
-    s.tcp_pose.position.x / 1e3,
-    s.tcp_pose.position.z / 1e3,
-    -s.tcp_pose.position.y / 1e3
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-  return /* @__PURE__ */ e.jsx("group", { ...n, children: r.length > 0 && /* @__PURE__ */ e.jsx(
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-      polygonOffsetFactor: 10,
-      polygonOffsetUnits: 10
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-}
-const J = /* @__PURE__ */ new Map();
-async function E(t, n) {
-  if (J.has(t))
-    return J.get(t);
-  const r = (async () => {
-    var u;
-    const l = n || "", s = new De({ instanceUrl: l }), f = s.api.motionGroupModels;
-    (u = f.axios) != null && u.interceptors && f.axios.interceptors.request.use((h) => {
-      var d;
-      return (d = h.url) != null && d.includes("/glb") && (h.responseType = "blob"), h;
-    });
-    try {
-      const h = await s.api.motionGroupModels.getMotionGroupGlbModel(t);
-      return URL.createObjectURL(h);
-    } catch (h) {
-      throw console.error("Failed to fetch model:", h), h;
-    }
-  })();
-  return J.set(t, r), r;
-}
-function fe(t) {
-  function n(r) {
-    return r.children.length === 0 ? [r] : [r, ...r.children.flatMap((l) => n(l))];
-  }
-  return n(t).filter((r) => me(r));
-}
-function he(t) {
-  return t.name.endsWith("_FLG");
-}
-function me(t) {
-  return /_J[0-9]+$/.test(t.name);
-}
-function Je(t, n) {
-  let r;
-  function l(s) {
-    if (he(s)) {
-      if (r)
-        throw Error(
-          `Found multiple flange groups in robot model ${n}; first ${r.name} then ${s.name}. Only one _FLG group is allowed.`
-        );
-      r = s;
-    }
-    me(s), s.children.map(l);
-  }
-  if (l(t.scene), !r)
-    throw Error(
-      `No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`
-    );
-  return { gltf: t };
-}
-function xe({
-  rapidlyChangingMotionState: t,
-  dhParameters: n,
-  onRotationChanged: r,
-  children: l
-}) {
-  const s = _([]), f = _([]), u = _(null), { invalidate: h } = ae();
-  M(() => {
-    const o = t.joint_position.filter(
-      (a) => a !== void 0
-    );
-    return u.current = new ue(o, {
-      tension: 120,
-      // Controls spring stiffness - higher values create faster, more responsive motion
-      friction: 20,
-      // Controls damping - higher values reduce oscillation and create smoother settling
-      threshold: 1e-3
-    }), () => {
-      var a;
-      (a = u.current) == null || a.destroy();
-    };
-  }, []), le((o, a) => {
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-      const c = u.current.update(a);
-      p(), c || h();
-    }
-  });
-  function d(o) {
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-  function p() {
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-      r(f.current, o);
-    else
-      for (const [c, y] of f.current.entries()) {
-        const m = n[c], j = m.theta || 0, x = m.reverse_rotation_direction ? -1 : 1;
-        y.rotation.y = x * (o[c] || 0) + j;
-      }
-  }
-  const i = G(() => {
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-    );
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-      var a;
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-    });
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-const Be = "line", We = "mesh";
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-  dhParameters: n,
-  ...r
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-  }, [n.length]);
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-    return l.multiply(m), l.decompose(o, a, c), { a: y, b: o };
-  }
-  function h(p, i, o, a) {
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-  }
-  function d(p, i) {
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-    r.length && f(r[0].type ?? O.RevoluteJoint);
-  }, [r]);
-  const u = C(() => n === null && s === O.RevoluteJoint, [n, s]), h = C(() => n === null && s === O.PrismaticJoint, [n, s]);
-  return C(() => !!n, [n]) || u ? /* @__PURE__ */ e.jsx(be, { dhParameters: r, ...l }) : h ? /* @__PURE__ */ e.jsx(_e, { dhParameters: r, ...l }) : /* @__PURE__ */ e.jsx(e.Fragment, {});
-});
-export {
-  at as C,
-  dt as L,
-  ie as M,
-  oe as P,
-  Ye as R,
-  lt as S,
-  ct as T,
-  ht as a,
-  ut as b,
-  _e as c,
-  be as d,
-  pt as e,
-  E as f,
-  Xe as g,
-  ft as h
-};
-//# sourceMappingURL=MotionGroupVisualizer-CPEIGXUC.js.map