@wandelbots/wandelbots-js-react-components 6.2.0 → 6.3.0

package/dist/chunks/MotionGroupVisualizer-CEiRJk_l.js

@@ -1,1423 +0,0 @@
-import { jsx as r, jsxs as w, Fragment as V } from "react/jsx-runtime";
-import * as x from "three";
-import { Matrix4 as M, Vector3 as P, Quaternion as N } from "three";
-import { ConvexGeometry as ue, RoundedBoxGeometry as Pe } from "three-stdlib";
-import ke, { useMemo as D, forwardRef as Le, useRef as v, useImperativeHandle as Ge, useEffect as I, useState as k, useCallback as L, Suspense as fe } from "react";
-import { d as Ie, v as Ae, o as Oe, e as A } from "./externalizeComponent-EDymnaGR.js";
-import { Environment as De, Lightformer as G, Line as H, useGLTF as Fe, Bounds as te } from "@react-three/drei";
-import { useTheme as Ee } from "@mui/material/styles";
-import S from "@mui/material/Box";
-import ne from "@mui/material/Button";
-import Ue from "@mui/material/Card";
-import re from "@mui/material/Divider";
-import oe from "@mui/material/Typography";
-import { useThree as he, Canvas as ie } from "@react-three/fiber";
-import { observer as Ce } from "mobx-react-lite";
-import { useTranslation as je } from "react-i18next";
-import { c as pe, g as Q, b as se } from "./useSmoothedMotionState-DyDgSVYX.js";
-import { Nova as Be, Manufacturer as _, JointTypeEnum as B } from "@wandelbots/nova-js/v2";
-import { ErrorBoundary as de } from "react-error-boundary";
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-            t[1] / 1e3,
-            t[2] / 1e3
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-        e.size_y / 1e3,
-        e.size_z / 1e3
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-    case "sphere":
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-    case "capsule":
-      return new x.CapsuleGeometry(
-        e.radius / 1e3,
-        e.cylinder_height / 1e3
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-    case "cylinder":
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-        e.radius / 1e3,
-        e.height / 1e3
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-  collider: n,
-  children: t
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-const ce = {
-  attach: "material",
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-  opacity: 0.2,
-  depthTest: !1,
-  depthWrite: !1,
-  transparent: !0,
-  polygonOffset: !0
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-      return null;
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-      o.pose.position[1] / 1e3,
-      o.pose.position[2] / 1e3
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-      o.pose.orientation[1],
-      o.pose.orientation[2]
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-      /**
-       * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
-       */
-      case "plane":
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-      /**
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-      case "convex_hull": {
-        const h = (o == null ? void 0 : o.shape).vertices.map(
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-        }
-        break;
-      }
-      /**
-       * Convex hull around four spheres. Sphere center points in x/y-plane,
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-       * 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 h = o.shape, u = h.radius / 1e3, b = h.sphere_center_distance_x / 1e3, g = h.sphere_center_distance_y / 1e3, R = u * 2;
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-    if (a.position && a.position.length >= 3) {
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-      if (Number.isFinite(i) && Number.isFinite(f) && Number.isFinite(l))
-        return new x.Vector3(i / 1e3, l / 1e3, -f / 1e3);
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-  return /* @__PURE__ */ r("group", { ...n, children: t.length > 0 && /* @__PURE__ */ r(
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-const J = /* @__PURE__ */ new Map();
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-  if (J.has(e))
-    return J.get(e);
-  const t = (async () => {
-    var l;
-    const a = n || "", i = new Be({ instanceUrl: a }), f = i.api.motionGroupModels;
-    (l = f.axios) != null && l.interceptors && f.axios.interceptors.request.use((o) => {
-      var p;
-      return (p = o.url) != null && p.includes("/glb") && (o.responseType = "blob"), o;
-    });
-    try {
-      const o = await i.api.motionGroupModels.getMotionGroupGlbModel(
-        e
-      );
-      return URL.createObjectURL(o);
-    } catch (o) {
-      throw console.error("Failed to fetch model:", o), o;
-    }
-  })();
-  return J.set(e, t), t;
-}
-function me(e) {
-  function n(t) {
-    return t.children.length === 0 ? [t] : [t, ...t.children.flatMap((a) => n(a))];
-  }
-  return n(e).filter((t) => ye(t));
-}
-function ge(e) {
-  return e.name.endsWith("_FLG");
-}
-function ye(e) {
-  return /_J[0-9]+$/.test(e.name);
-}
-function He(e, n) {
-  let t;
-  function a(i) {
-    if (ge(i)) {
-      if (t)
-        throw Error(
-          `Found multiple flange groups in robot model ${n}; first ${t.name} then ${i.name}. Only one _FLG group is allowed.`
-        );
-      t = i;
-    }
-    ye(i), i.children.map(a);
-  }
-  if (a(e.scene), !t)
-    throw Error(
-      `No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`
-    );
-  return { gltf: e };
-}
-const be = Le(
-  function({
-    rapidlyChangingMotionState: n,
-    dhParameters: t,
-    chainOffsetPosition: a,
-    chainOffsetQuaternion: i,
-    onRotationChanged: f,
-    children: l
-  }, o) {
-    const p = v(null), s = v([]), d = v(
-      n.joint_position.filter(
-        (g) => g !== void 0
-      )
-    ), { invalidate: c } = he(), y = v(n);
-    y.current = n;
-    function m(g) {
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-    function h() {
-      p.current && (s.current = me(p.current), u(), c());
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-    Ge(o, () => ({ recollectJoints: h }));
-    function u() {
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-          const F = t[R], q = F.theta || 0, $ = F.reverse_rotation_direction ? -1 : 1;
-          O.rotation.y = $ * (g[R] || 0) + q;
-        }
-    }
-    function b(g) {
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-        (R) => R !== void 0
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-    }
-    return pe(() => {
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-), Qe = "line", qe = "mesh";
-function Ye({
-  rapidlyChangingMotionState: e,
-  dhParameters: n,
-  ...t
-}) {
-  const a = new M(), i = v([]), f = v([]);
-  ke.useEffect(() => {
-    i.current = new Array(n.length).fill(null), f.current = new Array(n.length).fill(null);
-  }, [n.length]);
-  function l(s, d) {
-    const c = new P(), y = new N(), m = new P();
-    a.decompose(c, y, m);
-    const h = c.clone(), u = new M().makeRotationY(
-      s.theta + d * (s.reverse_rotation_direction ? -1 : 1)
-    ).multiply(new M().makeTranslation(0, s.d / 1e3, 0)).multiply(new M().makeTranslation(s.a / 1e3, 0, 0)).multiply(new M().makeRotationX(s.alpha));
-    return a.multiply(u), a.decompose(c, y, m), { a: h, b: c };
-  }
-  function o(s, d, c, y) {
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-      return;
-    const m = n[s];
-    if (!m)
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-  }
-  function p(s, d) {
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-function Ke(e) {
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-const Re = (e, n) => {
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-    const b = D(() => {
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