drone-camera 0.0.0-stage → 0.1.2

package/lib/drone-capture.d.ts

@@ -0,0 +1,380 @@
+import type { ExifData } from './drone-exif';
+import type { CaptureManifest, CaptureManifestOptions, CaptureValidationReport, CaptureValidatorOptions } from './drone-capture-manifest';
+/** 影像来源:场景渲染图 / 真实相机照片 */
+export type ImageSource = 'virtual-camera' | 'real-camera';
+/** 相机位姿所在的坐标框架 */
+export type CoordinateFrame = 'ecef' | 'local-enu' | 'project-local';
+/**
+ * 相机内参。
+ *
+ * `calibrationSource` 不是装饰字段:重建时「内参是已知的」和「内参是猜的」要用完全不同的
+ * 策略(SfM 可以固定内参、也可以让内参参与优化),混在一起必然出精度问题,所以必须逐张带上。
+ */
+export interface CameraIntrinsics {
+    width: number;
+    height: number;
+    fx?: number;
+    fy?: number;
+    cx?: number;
+    cy?: number;
+    horizontalFovDeg?: number;
+    verticalFovDeg?: number;
+    distortion?: number[];
+    calibrationSource: 'known' | 'exif' | 'estimated' | 'unknown';
+}
+/**
+ * 相机位姿。
+ *
+ * ⚠️ 两个隐性契约,换实现前必须一致:
+ * - `rotation` 是四元数,**分量顺序固定 `[x, y, z, w]`**(与 three 一致);
+ * - `coordinateFrame` 说明这套数字在哪个系里。库内约定:
+ *   · `local-enu` = 以起飞点(返航点)为原点,**x 东 / y 北 / z 上**,单位米;
+ *   · `ecef`      = 地心地固坐标,单位米(Cesium 后端)。
+ *   四元数表示「相机自身的 x 轴(光轴)指向」在该系中的旋转。
+ */
+export interface CameraPose {
+    position: [number, number, number];
+    /** 四元数 [x, y, z, w] */
+    rotation: [number, number, number, number];
+    coordinateFrame: CoordinateFrame;
+}
+/** 影像校验结论 */
+export interface ImageValidation {
+    status: 'pending' | 'valid' | 'warning' | 'invalid';
+    messages: string[];
+}
+/**
+ * 取景**俯仰**覆盖 —— 让取景相机临时偏离"云台当前俯仰"的常态。
+ *
+ * ⚠️ 这里**故意没有水平偏航**:水平视野覆盖不能靠云台转。DJI Mini 4 Pro 的云台 Pan
+ * 机械行程只有 ±30°(本库 `DRONE_SPEC.gimbalYawRange` 按 ±5° 建模),
+ * 靠云台转不出 180° 全景 —— 真机 180°/360° 是**机体原地自转**补水平、云台只做俯仰分层。
+ * 水平网格因此走 `VirtualCaptureProvider.spinBodyTo`(转机身),而不是在这里塞一个偏航角。
+ *
+ * 与库内"稳像 = 模型不动、相机侧解耦"是同一套思路 —— 不动飞控、不动用户视角,
+ * 只改这一张的取景俯仰,因此取景帧、拍照成片与记录的位姿天然同源。
+ */
+export interface CaptureViewOverride {
+    /**
+     * 俯仰(度):**替代**云台俯仰 —— 即该张照片相对水平面的绝对俯仰角。
+     * 不给则沿用云台当前俯仰。全景网格给的是绝对值,否则用户把云台压到 -90° 后全景会全朝地面。
+     */
+    pitch?: number;
+}
+/** 影像在一次全景扫描里的定位(写进 `metadata.panorama`) */
+export interface PanoramaShotRef {
+    /** 全景组 id:同一次扫描共用一个,拼接时按它聚合 */
+    group: string;
+    /** 全景模式标识(`pano-wide` / `pano-180` / `pano-360`);这里用 string 以免形成循环依赖 */
+    mode: string;
+    /** 组内序号(1 起) */
+    index: number;
+    /** 组内总张数 */
+    total: number;
+    /** 网格行列(0 起):row = 俯仰层, col = 机身水平方位 */
+    row: number;
+    col: number;
+    /** 该张的**机身航向偏移**(度,相对本组起始航向;正值 = 向右/顺时针) */
+    bodyYaw: number;
+    /** 该张的取景俯仰(度,绝对) */
+    pitch: number;
+}
+/** 虚拟采集的附加参数 */
+export interface VirtualCaptureOptions {
+    /** 本次取景的俯仰覆盖(用完自动复位;见 CaptureViewOverride) */
+    view?: CaptureViewOverride | null;
+    /** 本次取景属于哪个全景组 */
+    panorama?: PanoramaShotRef;
+}
+/** 统一影像条目(虚拟采集与真实导入共用) */
+export interface CapturedImage {
+    id: string;
+    source: ImageSource;
+    fileName: string;
+    mimeType: string;
+    sizeBytes: number;
+    /** ISO 8601;虚拟采集是快门时刻,真实照片优先取 EXIF 拍摄时间 */
+    capturedAt: string;
+    /** 预览地址:虚拟 = PNG data URL,真实 = Blob URL(仅浏览器内有效) */
+    imageUrl?: string;
+    /** 只用于浏览器内短期数据流,**不得写入服务端数据库**(见模块头) */
+    localBlob?: Blob;
+    cameraIntrinsics?: CameraIntrinsics;
+    cameraPose?: CameraPose;
+    metadata: {
+        latitude?: number;
+        longitude?: number;
+        altitude?: number;
+        cameraModel?: string;
+        sceneId?: string;
+        sceneVersion?: string;
+        dronePoseId?: string;
+        gimbalRotation?: [number, number, number, number];
+        gpsAccuracyMeters?: number;
+        rtkFixed?: boolean;
+        /** 虚拟影像的产出后端(three / cesium),便于区分同页两套后端的采集结果 */
+        engine?: string;
+        /** 全景扫描定位(属于某次 180°/360° 拍摄时才有) */
+        panorama?: PanoramaShotRef;
+        /** 真实照片的原始 EXIF(保留原始字段,避免二次解析丢信息) */
+        exif?: ExifData;
+    };
+    validation: ImageValidation;
+}
+/** 采集会话参数 */
+export interface CaptureSessionOptions {
+    source: ImageSource;
+    name: string;
+    /** 自动采集的时间间隔(毫秒);0 / 缺省 = 不按时间触发 */
+    captureIntervalMs?: number;
+    /** 自动采集的距离间隔(米);0 / 缺省 = 不按距离触发 */
+    distanceIntervalMeters?: number;
+    includeCameraMetadata?: boolean;
+    /** 虚拟场景标识(便于回溯「这批影像出自哪个版本的场景」) */
+    sceneId?: string;
+    sceneVersion?: string;
+    /** 地理参考原点:给了它,局部 ENU 坐标同时能换算成经纬度 */
+    georeference?: GeoreferenceOrigin;
+}
+/** 局部坐标 → 经纬高的原点(局部 ENU 的 (0,0,0) 落在这里) */
+export interface GeoreferenceOrigin {
+    longitude: number;
+    latitude: number;
+    altitude?: number;
+}
+/** 采集会话状态 */
+export type CaptureSessionStatus = 'created' | 'capturing' | 'paused' | 'finished' | 'failed';
+/** 采集会话 */
+export interface CaptureSession {
+    id: string;
+    options: CaptureSessionOptions;
+    status: CaptureSessionStatus;
+    images: CapturedImage[];
+    createdAt: string;
+    updatedAt: string;
+    /** 产出后端(虚拟采集时由 provider 提供) */
+    engine?: string;
+    /** 自动采集是否进行中 */
+    autoCapturing: boolean;
+}
+/**
+ * 取景成片的结构契约。
+ *
+ * 故意只声明结构、不从 drone-fly 引类型:这样 `drone-capture` 不依赖任何渲染模块
+ * (drone-fly / drone-cesium 反过来 `import type` 本模块,依赖方向单向,无循环)。
+ */
+export interface VirtualShot {
+    dataUrl: string;
+    width: number;
+    height: number;
+    /** 可选的同一渲染帧相机快照。渲染后端应优先提供它。 */
+    camera?: CaptureCameraState;
+}
+/**
+ * 虚拟取景相机状态 —— 由渲染后端提供(见 `VirtualCaptureProvider`)。
+ * 注意这必须是**取景相机**(云台镜头)而不是机身:两者朝向可能完全不同。
+ */
+export interface CaptureCameraState {
+    pose: CameraPose;
+    intrinsics: CameraIntrinsics;
+    /** 成片画幅(像素) */
+    frame: {
+        width: number;
+        height: number;
+    };
+    /** 场景标识 */
+    scene?: {
+        id?: string;
+        version?: string;
+    };
+    /** 机体真值(诊断 / 复现用) */
+    drone?: {
+        position: [number, number, number];
+        heading: number;
+        tiltPitch: number;
+        tiltRoll: number;
+        gimbalPitch: number;
+        gimbalYaw: number;
+    };
+    /** 相机的地理位置(地理坐标系后端提供;纯局部场景没有这个值) */
+    geo?: {
+        longitude: number;
+        latitude: number;
+        altitude: number;
+    };
+}
+/**
+ * 宿主渲染后端向采集服务暴露的能力。
+ *
+ * `DroneFly`(three)与 `CesiumDroneAdapter` 都天然满足:`requestPhoto()` 是既有的拍照入口,
+ * `getCaptureCamera()` 是为采集新增的只读快照。**采集服务不创建第二个 Viewer** ——
+ * 无论虚拟影像来自哪套后端,取景帧与相机状态都只有这一个来源。
+ */
+export interface VirtualCaptureProvider {
+    /** 后端标识,写进影像元数据 */
+    readonly engine?: string;
+    /** 取当前云台取景的一帧(与拍照完全同一条路径) */
+    requestPhoto(): Promise<VirtualShot | null>;
+    /** 取景相机的位姿与内参快照;模型 / 云台未就绪时返回 null */
+    getCaptureCamera(): CaptureCameraState | null;
+    /**
+     * 设置取景**俯仰**覆盖(全景分层用);传 `null` 复位。
+     *
+     * 可选方法:只做单张采集的后端可以不实现 —— 此时全景扫描仍会按预设逐张请求,
+     * 只是每张都沿用云台当前俯仰(采不到俯仰网格)。
+     */
+    setCaptureView?(override: CaptureViewOverride | null): void;
+    /**
+     * 让**机体原地自转**到绝对方位角 `headingDeg`(度,罗盘角);`null` 停止自转。
+     *
+     * 全景扫描的**水平**覆盖只有这条路可走:云台 Pan 机械行程只有 ±30°,
+     * 转不出 180°(见 `CaptureViewOverride` 的说明)。后端只负责下达目标,
+     * "转到位了没"由调用方用 `getBodyHeading()` 比对 —— 这样各后端不必各自实现等待逻辑。
+     */
+    spinBodyTo?(headingDeg: number | null): void;
+    /** 机体当前方位角(度,罗盘角);没实现的后端返回 undefined */
+    getBodyHeading?(): number;
+}
+/** 会话汇总(面板与导出共用) */
+export interface CaptureSessionSummary {
+    total: number;
+    valid: number;
+    warning: number;
+    invalid: number;
+    pending: number;
+    /** 真实照片里带 GPS 的张数 */
+    withGps: number;
+    /** 虚拟影像里带完整相机位姿的张数 */
+    withPose: number;
+}
+/** 导出格式 */
+export type CaptureExportFormat = 'json' | 'csv' | 'manifest';
+/** 会话导出文件标识 */
+export declare const CAPTURE_EXPORT_FORMAT = "drone-camera/capture-session";
+/** 导出结构版本 */
+export declare const CAPTURE_EXPORT_VERSION = 1;
+/** 逐张影像的校验规则 */
+export declare function validateCapturedImage(image: CapturedImage): ImageValidation;
+/** 会话汇总 */
+export declare function summarizeSession(session: CaptureSession): CaptureSessionSummary;
+/**
+ * 由 EXIF 推相机内参。
+ *
+ * 换算依据是 **35mm 等效焦距**:全画幅成像面宽 36mm,故水平视场角
+ * `fovX = 2·atan(36 / (2·f35))`,再按像素宽度反推 `fx = width / (2·tan(fovX/2))`。
+ * 像素为正方形,所以 `fx = fy`;主点按像面中心。
+ *
+ * 只有实际焦距而没有 35mm 等效值时无法反推传感器尺寸,此时返回 `unknown`
+ * —— 宁可让用户看到「内参未知」,也不要编一个假内参把误差带进重建。
+ */
+export declare function intrinsicsFromExif(exif: ExifData | null | undefined, width: number, height: number): CameraIntrinsics;
+/** `CaptureService` 构造选项 */
+export interface CaptureServiceOptions {
+    /** 虚拟取景帧来源(渲染后端) */
+    provider?: VirtualCaptureProvider | null;
+    /** 时间源,便于测试注入 */
+    now?: () => Date;
+    /** id 生成器,便于测试注入 */
+    createId?: () => string;
+}
+/**
+ * 影像采集服务:管理采集会话、把两类影像归一成 `CapturedImage`、并支持导出。
+ *
+ * ```ts
+ * const capture = new CaptureService({ provider: fly })
+ * const session = capture.createSession({ source: 'virtual-camera', name: '厂区绕飞' })
+ * await capture.captureVirtualImage(session.id)                 // 手动拍一张
+ * capture.startAutoCapture(session.id, { intervalMs: 2000 })    // 或按时间自动连拍
+ * capture.importRealImages(session.id, files)                   // 真实照片导入
+ * const csv = capture.exportSession(session.id, 'csv')
+ * ```
+ */
+export declare class CaptureService {
+    private readonly sessions;
+    private readonly listeners;
+    private readonly now;
+    private readonly createId;
+    private provider;
+    /** 自动采集句柄:按会话各存一份 */
+    private readonly auto;
+    /** 构造采集服务:管理拍摄会话与自动采集(每会话独立相册) */
+    constructor(options?: CaptureServiceOptions);
+    /** 换绑定后端(机体切换 / 引擎重建后重新挂) */
+    setProvider(provider: VirtualCaptureProvider | null): void;
+    /** 读取当前取景相机内参(未就绪或后端未提供时返回 null)。 */
+    getCaptureIntrinsics(): CameraIntrinsics | null;
+    /** 将浏览器会话转换为可交给离线重建任务的 CaptureManifest。 */
+    buildManifest(sessionId: string, options?: CaptureManifestOptions): CaptureManifest | null;
+    /** 导出文档约定的 manifest.json 文本。影像二进制仍由宿主按 file/imageUrl 落盘。 */
+    exportManifest(sessionId: string, options?: CaptureManifestOptions, space?: number): string;
+    /** 在提交离线重建前运行 Manifest 质量门禁。 */
+    validateSession(sessionId: string, options?: CaptureManifestOptions & CaptureValidatorOptions): CaptureValidationReport | null;
+    /** 新建拍摄会话(指定覆盖俯仰/张数等,返回会话) */
+    createSession(options: CaptureSessionOptions): CaptureSession;
+    /** 按 id 取会话(不存在返回 null) */
+    getSession(id: string): CaptureSession | null;
+    /** 列全部会话(按创建时间) */
+    listSessions(): CaptureSession[];
+    /** 当前会话(最近创建 / 最近操作的那个);面板默认展示它 */
+    get activeSession(): CaptureSession | null;
+    /** 暂停会话的自动采集 */
+    pauseSession(id: string): void;
+    /** 续跑被暂停的会话 */
+    resumeSession(id: string): void;
+    /** 结束会话(停止采集,照片保留;返回被结束的会话) */
+    finishSession(id: string): CaptureSession | null;
+    /** 删除会话及其全部照片 */
+    removeSession(id: string): void;
+    /** 移除单张影像(无效照片的常规处置) */
+    removeImage(sessionId: string, imageId: string): boolean;
+    /** 清空会话内全部照片(会话保留) */
+    clearImages(sessionId: string): void;
+    /** 订阅会话变更(面板用);返回退订函数 */
+    subscribe(listener: (session: CaptureSession) => void): () => void;
+    /**
+     * 采集一张虚拟影像。
+     *
+     * 顺序有讲究:先 `requestPhoto()` 拿到成片,再读相机状态 —— 因为渲染后端是**按帧**推进的,
+     * 成片用的是「取景那一帧」的机体真值;等 promise 落地时仿真还没走到下一帧,此刻读到的
+     * 位姿正好就是那张照片的位姿(反过来先读就会差一帧)。
+     *
+     * `options.view` 给的是**本次取景**的俯仰覆盖(全景分层用):设置 → 拍照 → 读位姿 →
+     * 无条件复位,全程在同一个 try/finally 里,调用方不可能忘记还原。
+     */
+    captureVirtualImage(sessionId: string, options?: VirtualCaptureOptions): Promise<CapturedImage | null>;
+    /** 后端是否支持"机体原地自转" —— 全景的水平覆盖只有它做得出来 */
+    get canSpinBody(): boolean;
+    /** 机体当前方位角(度,罗盘角);后端不支持时返回 null */
+    getBodyHeading(): number | null;
+    /** 让机体原地自转到绝对方位角 `headingDeg`;`null` 停止自转(后端不支持则什么都不做) */
+    spinBodyTo(headingDeg: number | null): void;
+    private buildVirtualImage;
+    /**
+     * 开始自动采集:在一条 200ms 的心跳上同时评估**时间**与**距离**两个触发条件,
+     * 谁先满足就先拍一张,并同时刷新两个基准 —— 避免时间与距离各自计时导致的重复连拍。
+     */
+    startAutoCapture(sessionId: string, options?: {
+        intervalMs?: number;
+        distanceMeters?: number;
+    }): boolean;
+    private tickAuto;
+    /** 停止会话的自动采集(会话与照片都保留) */
+    stopAutoCapture(sessionId: string): void;
+    /** 会话是否正在自动采集(定时按间隔拍照) */
+    isAutoCapturing(sessionId: string): boolean;
+    /**
+     * 导入真实照片。**尽力保留原始信息**:EXIF 全读,读不到就明确标记缺失,
+     * 但绝不因此拒绝文件 —— 「有没有元数据」本身是需要展示的信息(见 validateCapturedImage)。
+     */
+    importRealImages(sessionId: string, files: File[] | FileList): Promise<CapturedImage[]>;
+    private buildRealImage;
+    /** 导出会话清单为 JSON(完整存档)或 CSV(表格式,可直接进 Excel) */
+    exportSession(sessionId: string, format?: CaptureExportFormat): string;
+    private toJson;
+    /** 导出用的影像视图:剥掉 Blob / data URL(它们只对当前浏览器会话有意义) */
+    private toExportImage;
+    private toCsv;
+    private touch;
+    private emit;
+}
+//# sourceMappingURL=drone-capture.d.ts.map

package/lib/drone-capture.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"drone-capture.d.ts","sourceRoot":"","sources":["../../src/lib/drone-camera/drone-capture.ts"],"names":[],"mappings":"AA2BA,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,cAAc,CAAA;AAM5C,OAAO,KAAK,EACV,eAAe,EACf,sBAAsB,EACtB,uBAAuB,EACvB,uBAAuB,EACxB,MAAM,0BAA0B,CAAA;AAEjC,0BAA0B;AAC1B,MAAM,MAAM,WAAW,GAAG,gBAAgB,GAAG,aAAa,CAAA;AAE1D,kBAAkB;AAClB,MAAM,MAAM,eAAe,GAAG,MAAM,GAAG,WAAW,GAAG,eAAe,CAAA;AAEpE;;;;;GAKG;AACH,MAAM,WAAW,gBAAgB;IAC/B,KAAK,EAAE,MAAM,CAAA;IACb,MAAM,EAAE,MAAM,CAAA;IACd,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,gBAAgB,CAAC,EAAE,MAAM,CAAA;IACzB,cAAc,CAAC,EAAE,MAAM,CAAA;IACvB,UAAU,CAAC,EAAE,MAAM,EAAE,CAAA;IACrB,iBAAiB,EAAE,OAAO,GAAG,MAAM,GAAG,WAAW,GAAG,SAAS,CAAA;CAC9D;AAED;;;;;;;;;GASG;AACH,MAAM,WAAW,UAAU;IACzB,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IAClC,uBAAuB;IACvB,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IAC1C,eAAe,EAAE,eAAe,CAAA;CACjC;AAED,aAAa;AACb,MAAM,WAAW,eAAe;IAC9B,MAAM,EAAE,SAAS,GAAG,OAAO,GAAG,SAAS,GAAG,SAAS,CAAA;IACnD,QAAQ,EAAE,MAAM,EAAE,CAAA;CACnB;AAED;;;;;;;;;;GAUG;AACH,MAAM,WAAW,mBAAmB;IAClC;;;OAGG;IACH,KAAK,CAAC,EAAE,MAAM,CAAA;CACf;AAED,4CAA4C;AAC5C,MAAM,WAAW,eAAe;IAC9B,+BAA+B;IAC/B,KAAK,EAAE,MAAM,CAAA;IACb,wEAAwE;IACxE,IAAI,EAAE,MAAM,CAAA;IACZ,gBAAgB;IAChB,KAAK,EAAE,MAAM,CAAA;IACb,YAAY;IACZ,KAAK,EAAE,MAAM,CAAA;IACb,wCAAwC;IACxC,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,4CAA4C;IAC5C,OAAO,EAAE,MAAM,CAAA;IACf,oBAAoB;IACpB,KAAK,EAAE,MAAM,CAAA;CACd;AAED,gBAAgB;AAChB,MAAM,WAAW,qBAAqB;IACpC,8CAA8C;IAC9C,IAAI,CAAC,EAAE,mBAAmB,GAAG,IAAI,CAAA;IACjC,kBAAkB;IAClB,QAAQ,CAAC,EAAE,eAAe,CAAA;CAC3B;AAED,0BAA0B;AAC1B,MAAM,WAAW,aAAa;IAC5B,EAAE,EAAE,MAAM,CAAA;IACV,MAAM,EAAE,WAAW,CAAA;IACnB,QAAQ,EAAE,MAAM,CAAA;IAChB,QAAQ,EAAE,MAAM,CAAA;IAChB,SAAS,EAAE,MAAM,CAAA;IACjB,2CAA2C;IAC3C,UAAU,EAAE,MAAM,CAAA;IAClB,oDAAoD;IACpD,QAAQ,CAAC,EAAE,MAAM,CAAA;IACjB,wCAAwC;IACxC,SAAS,CAAC,EAAE,IAAI,CAAA;IAChB,gBAAgB,CAAC,EAAE,gBAAgB,CAAA;IACnC,UAAU,CAAC,EAAE,UAAU,CAAA;IACvB,QAAQ,EAAE;QACR,QAAQ,CAAC,EAAE,MAAM,CAAA;QACjB,SAAS,CAAC,EAAE,MAAM,CAAA;QAClB,QAAQ,CAAC,EAAE,MAAM,CAAA;QACjB,WAAW,CAAC,EAAE,MAAM,CAAA;QACpB,OAAO,CAAC,EAAE,MAAM,CAAA;QAChB,YAAY,CAAC,EAAE,MAAM,CAAA;QACrB,WAAW,CAAC,EAAE,MAAM,CAAA;QACpB,cAAc,CAAC,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;QACjD,iBAAiB,CAAC,EAAE,MAAM,CAAA;QAC1B,QAAQ,CAAC,EAAE,OAAO,CAAA;QAClB,gDAAgD;QAChD,MAAM,CAAC,EAAE,MAAM,CAAA;QACf,mCAAmC;QACnC,QAAQ,CAAC,EAAE,eAAe,CAAA;QAC1B,qCAAqC;QACrC,IAAI,CAAC,EAAE,QAAQ,CAAA;KAChB,CAAA;IACD,UAAU,EAAE,eAAe,CAAA;CAC5B;AAED,aAAa;AACb,MAAM,WAAW,qBAAqB;IACpC,MAAM,EAAE,WAAW,CAAA;IACnB,IAAI,EAAE,MAAM,CAAA;IACZ,oCAAoC;IACpC,iBAAiB,CAAC,EAAE,MAAM,CAAA;IAC1B,mCAAmC;IACnC,sBAAsB,CAAC,EAAE,MAAM,CAAA;IAC/B,qBAAqB,CAAC,EAAE,OAAO,CAAA;IAC/B,kCAAkC;IAClC,OAAO,CAAC,EAAE,MAAM,CAAA;IAChB,YAAY,CAAC,EAAE,MAAM,CAAA;IACrB,oCAAoC;IACpC,YAAY,CAAC,EAAE,kBAAkB,CAAA;CAClC;AAED,2CAA2C;AAC3C,MAAM,WAAW,kBAAkB;IACjC,SAAS,EAAE,MAAM,CAAA;IACjB,QAAQ,EAAE,MAAM,CAAA;IAChB,QAAQ,CAAC,EAAE,MAAM,CAAA;CAClB;AAED,aAAa;AACb,MAAM,MAAM,oBAAoB,GAAG,SAAS,GAAG,WAAW,GAAG,QAAQ,GAAG,UAAU,GAAG,QAAQ,CAAA;AAE7F,WAAW;AACX,MAAM,WAAW,cAAc;IAC7B,EAAE,EAAE,MAAM,CAAA;IACV,OAAO,EAAE,qBAAqB,CAAA;IAC9B,MAAM,EAAE,oBAAoB,CAAA;IAC5B,MAAM,EAAE,aAAa,EAAE,CAAA;IACvB,SAAS,EAAE,MAAM,CAAA;IACjB,SAAS,EAAE,MAAM,CAAA;IACjB,+BAA+B;IAC/B,MAAM,CAAC,EAAE,MAAM,CAAA;IACf,gBAAgB;IAChB,aAAa,EAAE,OAAO,CAAA;CACvB;AAED;;;;;GAKG;AACH,MAAM,WAAW,WAAW;IAC1B,OAAO,EAAE,MAAM,CAAA;IACf,KAAK,EAAE,MAAM,CAAA;IACb,MAAM,EAAE,MAAM,CAAA;IACd,+BAA+B;IAC/B,MAAM,CAAC,EAAE,kBAAkB,CAAA;CAC5B;AAED;;;GAGG;AACH,MAAM,WAAW,kBAAkB;IACjC,IAAI,EAAE,UAAU,CAAA;IAChB,UAAU,EAAE,gBAAgB,CAAA;IAC5B,eAAe;IACf,KAAK,EAAE;QAAE,KAAK,EAAE,MAAM,CAAC;QAAC,MAAM,EAAE,MAAM,CAAA;KAAE,CAAA;IACxC,WAAW;IACX,KAAK,CAAC,EAAE;QAAE,EAAE,CAAC,EAAE,MAAM,CAAC;QAAC,OAAO,CAAC,EAAE,MAAM,CAAA;KAAE,CAAA;IACzC,qBAAqB;IACrB,KAAK,CAAC,EAAE;QACN,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;QAClC,OAAO,EAAE,MAAM,CAAA;QACf,SAAS,EAAE,MAAM,CAAA;QACjB,QAAQ,EAAE,MAAM,CAAA;QAChB,WAAW,EAAE,MAAM,CAAA;QACnB,SAAS,EAAE,MAAM,CAAA;KAClB,CAAA;IACD,oCAAoC;IACpC,GAAG,CAAC,EAAE;QAAE,SAAS,EAAE,MAAM,CAAC;QAAC,QAAQ,EAAE,MAAM,CAAC;QAAC,QAAQ,EAAE,MAAM,CAAA;KAAE,CAAA;CAChE;AAED;;;;;;GAMG;AACH,MAAM,WAAW,sBAAsB;IACrC,mBAAmB;IACnB,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAA;IACxB,6BAA6B;IAC7B,YAAY,IAAI,OAAO,CAAC,WAAW,GAAG,IAAI,CAAC,CAAA;IAC3C,sCAAsC;IACtC,gBAAgB,IAAI,kBAAkB,GAAG,IAAI,CAAA;IAC7C;;;;;OAKG;IACH,cAAc,CAAC,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI,GAAG,IAAI,CAAA;IAC3D;;;;;;OAMG;IACH,UAAU,CAAC,CAAC,UAAU,EAAE,MAAM,GAAG,IAAI,GAAG,IAAI,CAAA;IAC5C,wCAAwC;IACxC,cAAc,CAAC,IAAI,MAAM,CAAA;CAC1B;AAED,oBAAoB;AACpB,MAAM,WAAW,qBAAqB;IACpC,KAAK,EAAE,MAAM,CAAA;IACb,KAAK,EAAE,MAAM,CAAA;IACb,OAAO,EAAE,MAAM,CAAA;IACf,OAAO,EAAE,MAAM,CAAA;IACf,OAAO,EAAE,MAAM,CAAA;IACf,qBAAqB;IACrB,OAAO,EAAE,MAAM,CAAA;IACf,sBAAsB;IACtB,QAAQ,EAAE,MAAM,CAAA;CACjB;AAED,WAAW;AACX,MAAM,MAAM,mBAAmB,GAAG,MAAM,GAAG,KAAK,GAAG,UAAU,CAAA;AAE7D,eAAe;AACf,eAAO,MAAM,qBAAqB,iCAAiC,CAAA;AACnE,aAAa;AACb,eAAO,MAAM,sBAAsB,IAAI,CAAA;AAKvC,gBAAgB;AAChB,wBAAgB,qBAAqB,CAAC,KAAK,EAAE,aAAa,GAAG,eAAe,CA2C3E;AAED,WAAW;AACX,wBAAgB,gBAAgB,CAAC,OAAO,EAAE,cAAc,GAAG,qBAAqB,CAkB/E;AAED;;;;;;;;;GASG;AACH,wBAAgB,kBAAkB,CAChC,IAAI,EAAE,QAAQ,GAAG,IAAI,GAAG,SAAS,EACjC,KAAK,EAAE,MAAM,EACb,MAAM,EAAE,MAAM,GACb,gBAAgB,CAmBlB;AAED,4BAA4B;AAC5B,MAAM,WAAW,qBAAqB;IACpC,oBAAoB;IACpB,QAAQ,CAAC,EAAE,sBAAsB,GAAG,IAAI,CAAA;IACxC,iBAAiB;IACjB,GAAG,CAAC,EAAE,MAAM,IAAI,CAAA;IAChB,oBAAoB;IACpB,QAAQ,CAAC,EAAE,MAAM,MAAM,CAAA;CACxB;AAeD;;;;;;;;;;;GAWG;AACH,qBAAa,cAAc;IACzB,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAoC;IAC7D,OAAO,CAAC,QAAQ,CAAC,SAAS,CAA+C;IACzE,OAAO,CAAC,QAAQ,CAAC,GAAG,CAAY;IAChC,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAc;IACvC,OAAO,CAAC,QAAQ,CAA+B;IAC/C,qBAAqB;IACrB,OAAO,CAAC,QAAQ,CAAC,IAAI,CAUlB;IAEH,kCAAkC;gBACtB,OAAO,GAAE,qBAA0B;IAM/C,6BAA6B;IAC7B,WAAW,CAAC,QAAQ,EAAE,sBAAsB,GAAG,IAAI,GAAG,IAAI;IAI1D,qCAAqC;IACrC,oBAAoB,IAAI,gBAAgB,GAAG,IAAI;IAK/C,2CAA2C;IAC3C,aAAa,CAAC,SAAS,EAAE,MAAM,EAAE,OAAO,GAAE,sBAA2B,GAAG,eAAe,GAAG,IAAI;IAK9F,4DAA4D;IAC5D,cAAc,CAAC,SAAS,EAAE,MAAM,EAAE,OAAO,GAAE,sBAA2B,EAAE,KAAK,SAAI,GAAG,MAAM;IAK1F,gCAAgC;IAChC,eAAe,CACb,SAAS,EAAE,MAAM,EACjB,OAAO,GAAE,sBAAsB,GAAG,uBAA4B,GAC7D,uBAAuB,GAAG,IAAI;IAOjC,8BAA8B;IAC9B,aAAa,CAAC,OAAO,EAAE,qBAAqB,GAAG,cAAc;IAiB7D,2BAA2B;IAC3B,UAAU,CAAC,EAAE,EAAE,MAAM,GAAG,cAAc,GAAG,IAAI;IAI7C,mBAAmB;IACnB,YAAY,IAAI,cAAc,EAAE;IAIhC,mCAAmC;IACnC,IAAI,aAAa,IAAI,cAAc,GAAG,IAAI,CAMzC;IAED,gBAAgB;IAChB,YAAY,CAAC,EAAE,EAAE,MAAM,GAAG,IAAI;IAQ9B,eAAe;IACf,aAAa,CAAC,EAAE,EAAE,MAAM,GAAG,IAAI;IAO/B,+BAA+B;IAC/B,aAAa,CAAC,EAAE,EAAE,MAAM,GAAG,cAAc,GAAG,IAAI;IAShD,iBAAiB;IACjB,aAAa,CAAC,EAAE,EAAE,MAAM,GAAG,IAAI;IAK/B,wBAAwB;IACxB,WAAW,CAAC,SAAS,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,GAAG,OAAO;IAkBxD,sBAAsB;IACtB,WAAW,CAAC,SAAS,EAAE,MAAM,GAAG,IAAI;IAgBpC,yBAAyB;IACzB,SAAS,CAAC,QAAQ,EAAE,CAAC,OAAO,EAAE,cAAc,KAAK,IAAI,GAAG,MAAM,IAAI;IAOlE;;;;;;;;;OASG;IACG,mBAAmB,CACvB,SAAS,EAAE,MAAM,EACjB,OAAO,GAAE,qBAA0B,GAClC,OAAO,CAAC,aAAa,GAAG,IAAI,CAAC;IA2BhC,uCAAuC;IACvC,IAAI,WAAW,IAAI,OAAO,CAEzB;IAED,mCAAmC;IACnC,cAAc,IAAI,MAAM,GAAG,IAAI;IAK/B,0DAA0D;IAC1D,UAAU,CAAC,UAAU,EAAE,MAAM,GAAG,IAAI,GAAG,IAAI;IAI3C,OAAO,CAAC,iBAAiB;IA4CzB;;;OAGG;IACH,gBAAgB,CACd,SAAS,EAAE,MAAM,EACjB,OAAO,GAAE;QAAE,UAAU,CAAC,EAAE,MAAM,CAAC;QAAC,cAAc,CAAC,EAAE,MAAM,CAAA;KAAO,GAC7D,OAAO;YA8BI,QAAQ;IAwBtB,0BAA0B;IAC1B,eAAe,CAAC,SAAS,EAAE,MAAM,GAAG,IAAI;IAYxC,0BAA0B;IAC1B,eAAe,CAAC,SAAS,EAAE,MAAM,GAAG,OAAO;IAM3C;;;OAGG;IACG,gBAAgB,CAAC,SAAS,EAAE,MAAM,EAAE,KAAK,EAAE,IAAI,EAAE,GAAG,QAAQ,GAAG,OAAO,CAAC,aAAa,EAAE,CAAC;YAe/E,cAAc;IAyC5B,8CAA8C;IAC9C,aAAa,CAAC,SAAS,EAAE,MAAM,EAAE,MAAM,GAAE,mBAA4B,GAAG,MAAM;IAO9E,OAAO,CAAC,MAAM;IAyBd,kDAAkD;IAClD,OAAO,CAAC,aAAa;IAKrB,OAAO,CAAC,KAAK;IAqFb,OAAO,CAAC,KAAK;IAKb,OAAO,CAAC,IAAI;CAGb"}

package/lib/drone-cesium-mission.d.ts

@@ -0,0 +1,120 @@
+import type { DroneSim, MissionWaypoint } from './drone-sim';
+import type { MissionEditLimits, MissionEditState } from './mission-editor';
+/** Cesium 由 /Cesium/Cesium.js 以全局脚本注入,这里只做一层薄封装取引用 */
+type CesiumNS = Record<string, any>;
+/**
+ * 编辑器依赖的宿主接口(由 CesiumDroneAdapter 实现):
+ * 航点数据以仿真内核为权威源,编辑器只通过它读写,不含任何渲染细节。
+ */
+export interface CesiumMissionHost {
+    /** 飞行内核:读 missionIndex(执行目标)等真值 */
+    readonly sim: DroneSim;
+    /** 当前是否可编辑:观察者视角 + 航线未在执行 */
+    canEdit(): boolean;
+    /** 航点列表(权威源 = 仿真内核) */
+    getWaypoints(): MissionWaypoint[];
+    /** 宿主查询当前选中航点索引(无选中返回 -1) */
+    getSelected(): number;
+    /** 宿主同步选中航点(编辑器点击/面板列表双向联动) */
+    setSelected(index: number): void;
+    /** 整表提交(新增 / 删除) */
+    commitWaypoints(waypoints: Array<Partial<MissionWaypoint>>, selected: number): void;
+    /** 拖动中的单点实时更新,返回夹紧后的航点(限高限距由宿主/内核生效) */
+    moveWaypoint(index: number, patch: Partial<MissionWaypoint>): MissionWaypoint | null;
+    /** 新航点的默认参数(高度与速度继承相邻航点) */
+    newWaypointTemplate(index: number): Partial<MissionWaypoint>;
+    /** 取编辑限制(限高/限距/返航点,供夹紧与插入位计算) */
+    getLimits(): MissionEditLimits;
+    /** sim 本地米坐标(x 东 / z 南 / y 为 AGL)→ ECEF 世界坐标 */
+    localToWorld(x: number, y: number, z: number): CesiumNS;
+    /** ECEF 世界坐标 → sim 本地水平坐标(双击拾取用);打不中返回 null */
+    worldToLocalXZ(world: CesiumNS): {
+        x: number;
+        z: number;
+    } | null;
+    /** 拖拽期间收起 / 恢复 Cesium 相机漫游输入 */
+    setCameraInputEnabled(enabled: boolean): void;
+    /** 编辑日志出口(宿主接到 sim.pushEvent) */
+    log(level: 'info' | 'warn', text: string): void;
+}
+/**
+ * Cesium 航线编辑器:航点/航线实体渲染 + 场景内拖拽编辑。
+ *
+ * 用法:构造传入宿主 → 每帧 `update()` → 面板开关 `setEnabled()` → 卸载 `destroy()`。
+ * 交互约定与 three 版 MissionEditor 一致,见文件头。
+ */
+export declare class CesiumMissionEditor {
+    private readonly host;
+    private readonly C;
+    private readonly viewer;
+    /** 事件挂在 viewer.container 的捕获段(见文件头"事件拦截") */
+    private readonly container;
+    private readonly canvas;
+    private enabled;
+    private hoverIndex;
+    private drag;
+    /** 在空白处按下:抬手时若没拖动过就取消选中 */
+    private emptyClick;
+    /** 上次同步过的航点签名:没变就不碰实体 */
+    private waypointSignature;
+    /** 上次同步过的返航点(起飞后才固定,之前可能还是 0,0) */
+    private homeKey;
+    /** 状态视觉(选中/执行目标)上次的值,变了才改实体 */
+    private lastSelected;
+    private lastActive;
+    private lastHover;
+    private disposed;
+    constructor(host: CesiumMissionHost, C: CesiumNS, viewer: CesiumNS);
+    /** 编辑模式是否开启(开启时点场景可加/拖航点) */
+    get isEnabled(): boolean;
+    /** 开关编辑模式;关闭时取消拖动、归还相机输入、清悬停 */
+    setEnabled(enabled: boolean): void;
+    /** 编辑器对外状态快照(面板"场景内编辑"区块据此渲染) */
+    getEditState(): MissionEditState;
+    private editable;
+    /** 每帧调用:签名变了才重建实体位置,选中/执行目标变化才改配色 */
+    update(): void;
+    /** 航点签名(坐标串)或返航点变了才动实体,避免逐帧重写 */
+    private syncEntities;
+    private rebuildWaypointEntities;
+    private rebuildPathEntity;
+    private rebuildHomeEntity;
+    /** 选中 / 执行目标 / 悬停 → 颜色与大小(只在变化时写实体) */
+    private syncStateVisuals;
+    /** 航点标记 + 航线折线总显隐(由宿主的 setMissionVisible 转发) */
+    setVisible(visible: boolean): void;
+    /** 航点标记显隐(不影响任务执行) */
+    setWaypointsVisible(visible: boolean): void;
+    /** 航线折线显隐 */
+    setPathVisible(visible: boolean): void;
+    private readonly onPointerDown;
+    private readonly onPointerMove;
+    private readonly onPointerUp;
+    private readonly onPointerLeave;
+    /** 双击地面新增航点(双击已有航点不处理,避免误插一个重合点) */
+    private readonly onDoubleClick;
+    private readonly onKeyDown;
+    /** 删除一个航点(面板按钮与 Delete 键共用) */
+    deleteWaypoint(index: number): boolean;
+    private createDrag;
+    private applyDrag;
+    /** 屏幕像素增量 → ENU 米增量(再换算成 sim 的 x 东 / z 南) */
+    private screenDeltaToLocal;
+    /** 拖拽起点处"一个屏幕像素"对应多少米 */
+    private metersPerPixel;
+    /**
+     * 屏幕坐标 → 命中的航点序号;没命中返回 -1。
+     *
+     * 几何法:每个航点投到屏幕,取指针 PICK_RADIUS_PX 内最近的那个(见文件头"拾取")。
+     * 相机背后的航点投影会 undefined / 跑飞,一律跳过。
+     */
+    private pickWaypoint;
+    /** 屏幕坐标 → 椭球上的世界点(双击插入用;瞄到天空返回 undefined) */
+    private pickEllipsoid;
+    /** client 坐标 → Cesium 的窗口坐标(相对画布左上角) */
+    private toWindowPosition;
+    private cancelDrag;
+    destroy(): void;
+}
+export {};
+//# sourceMappingURL=drone-cesium-mission.d.ts.map

package/lib/drone-cesium-mission.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"drone-cesium-mission.d.ts","sourceRoot":"","sources":["../../src/lib/drone-camera/drone-cesium-mission.ts"],"names":[],"mappings":"AAkDA,OAAO,KAAK,EAAE,QAAQ,EAAE,eAAe,EAAE,MAAM,aAAa,CAAA;AAC5D,OAAO,KAAK,EAAmB,iBAAiB,EAAE,gBAAgB,EAAE,MAAM,kBAAkB,CAAA;AAE5F,sDAAsD;AACtD,KAAK,QAAQ,GAAG,MAAM,CAAC,MAAM,EAAE,GAAG,CAAC,CAAA;AA0DnC;;;GAGG;AACH,MAAM,WAAW,iBAAiB;IAChC,mCAAmC;IACnC,QAAQ,CAAC,GAAG,EAAE,QAAQ,CAAA;IACtB,6BAA6B;IAC7B,OAAO,IAAI,OAAO,CAAA;IAClB,uBAAuB;IACvB,YAAY,IAAI,eAAe,EAAE,CAAA;IACjC,6BAA6B;IAC7B,WAAW,IAAI,MAAM,CAAA;IACrB,+BAA+B;IAC/B,WAAW,CAAC,KAAK,EAAE,MAAM,GAAG,IAAI,CAAA;IAChC,oBAAoB;IACpB,eAAe,CAAC,SAAS,EAAE,KAAK,CAAC,OAAO,CAAC,eAAe,CAAC,CAAC,EAAE,QAAQ,EAAE,MAAM,GAAG,IAAI,CAAA;IACnF,wCAAwC;IACxC,YAAY,CAAC,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,OAAO,CAAC,eAAe,CAAC,GAAG,eAAe,GAAG,IAAI,CAAA;IACpF,4BAA4B;IAC5B,mBAAmB,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO,CAAC,eAAe,CAAC,CAAA;IAC5D,iCAAiC;IACjC,SAAS,IAAI,iBAAiB,CAAA;IAC9B,gDAAgD;IAChD,YAAY,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,QAAQ,CAAA;IACvD,+CAA+C;IAC/C,cAAc,CAAC,KAAK,EAAE,QAAQ,GAAG;QAAE,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,EAAE,MAAM,CAAA;KAAE,GAAG,IAAI,CAAA;IAChE,gCAAgC;IAChC,qBAAqB,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI,CAAA;IAC7C,iCAAiC;IACjC,GAAG,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,IAAI,CAAA;CAChD;AAsCD;;;;;GAKG;AACH,qBAAa,mBAAmB;IAC9B,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAmB;IACxC,OAAO,CAAC,QAAQ,CAAC,CAAC,CAAU;IAC5B,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAU;IACjC,6CAA6C;IAC7C,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAa;IACvC,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAmB;IAC1C,OAAO,CAAC,OAAO,CAAQ;IACvB,OAAO,CAAC,UAAU,CAAK;IACvB,OAAO,CAAC,IAAI,CAAyB;IACrC,2BAA2B;IAC3B,OAAO,CAAC,UAAU,CAAwC;IAC1D,yBAAyB;IACzB,OAAO,CAAC,iBAAiB,CAAK;IAC9B,mCAAmC;IACnC,OAAO,CAAC,OAAO,CAAK;IACpB,+BAA+B;IAC/B,OAAO,CAAC,YAAY,CAAK;IACzB,OAAO,CAAC,UAAU,CAAK;IACvB,OAAO,CAAC,SAAS,CAAK;IACtB,OAAO,CAAC,QAAQ,CAAQ;gBAEZ,IAAI,EAAE,iBAAiB,EAAE,CAAC,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ;IAkBlE,6BAA6B;IAC7B,IAAI,SAAS,IAAI,OAAO,CAEvB;IAED,gCAAgC;IAChC,UAAU,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAUlC,iCAAiC;IACjC,YAAY,IAAI,gBAAgB;IAWhC,OAAO,CAAC,QAAQ;IAMhB,qCAAqC;IACrC,MAAM,IAAI,IAAI;IAMd,iCAAiC;IACjC,OAAO,CAAC,YAAY;IAmBpB,OAAO,CAAC,uBAAuB;IAuC/B,OAAO,CAAC,iBAAiB;IA2BzB,OAAO,CAAC,iBAAiB;IA6BzB,uCAAuC;IACvC,OAAO,CAAC,gBAAgB;IAgCxB,gDAAgD;IAChD,UAAU,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAYlC,sBAAsB;IACtB,mBAAmB,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAQ3C,aAAa;IACb,cAAc,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAOtC,OAAO,CAAC,QAAQ,CAAC,aAAa,CAmB7B;IAED,OAAO,CAAC,QAAQ,CAAC,aAAa,CAiB7B;IAED,OAAO,CAAC,QAAQ,CAAC,WAAW,CAwB3B;IAED,OAAO,CAAC,QAAQ,CAAC,cAAc,CAK9B;IAED,oCAAoC;IACpC,OAAO,CAAC,QAAQ,CAAC,aAAa,CA+B7B;IAED,OAAO,CAAC,QAAQ,CAAC,SAAS,CAczB;IAED,+BAA+B;IAC/B,cAAc,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO;IAYtC,OAAO,CAAC,UAAU;IAgClB,OAAO,CAAC,SAAS;IAoBjB,6CAA6C;IAC7C,OAAO,CAAC,kBAAkB;IAyB1B,yBAAyB;IACzB,OAAO,CAAC,cAAc;IAatB;;;;;OAKG;IACH,OAAO,CAAC,YAAY;IAuBpB,6CAA6C;IAC7C,OAAO,CAAC,aAAa;IAIrB,wCAAwC;IACxC,OAAO,CAAC,gBAAgB;IAKxB,OAAO,CAAC,UAAU;IAQlB,OAAO,IAAI,IAAI;CAwBhB"}

package/lib/drone-cesium-rig.d.ts

@@ -0,0 +1,50 @@
+import type { DroneSim } from './drone-sim';
+type CesiumNS = Record<string, any>;
+export declare class CesiumDroneRig {
+    private readonly sim;
+    private readonly C;
+    private joints;
+    /** 灯珠发光 shader(attach 时创建一次;每帧只改 uniform 颜色) */
+    private lightShader;
+    /** 当前绑定的模型(detach 时要摘掉 customShader) */
+    private modelRef;
+    /** 当前机体是否有语义节点(只有 DJI 机体启用本层) */
+    private enabled;
+    private timeMs;
+    /**
+     * @param sim    飞控内核(与适配器共用同一个实例,读到的永远是同一份真值)
+     * @param cesium Cesium 命名空间;缺省取 window.Cesium(全局脚本注入方式)
+     */
+    /** Cesium 机体表现层:把 DroneSim 真值映射到 Model 关节(桨叶自转/起落架/灯光) */
+    constructor(sim: DroneSim, cesium?: CesiumNS);
+    /**
+     * 绑定新机体:重绑自转关节、挂灯珠发光 shader。旧机体的关节矩阵先复位。
+     */
+    attach(model: CesiumNS): void;
+    /**
+     * 灯珠发光 shader:按 positionMC(GLB 原始 Y-up 坐标,实测见 probe-pmc-axis)判定
+     * 片元是否落在灯珠网格内,是则把 uniform 颜色写进 emissive。
+     * 灭灯 = uniform 为 0 = emissive 0 = 原贴图灯罩本色,与 three 版"换自发光材质"一致。
+     * 每帧只改 uniform 值,shader 本体在 attach 时创建一次。
+     */
+    private attachLightShader;
+    /** 拆卸:复位关节矩阵(含钟罩补偿)、摘掉发光 shader 与光晕集合 */
+    detach(): void;
+    /** 停止每帧同步并解除与 primitive 的绑定 */
+    dispose(): void;
+    /**
+     * 每帧驱动。调用时机:adapter 已推进 sim 并写完 model.modelMatrix ——
+     * 桨叶关节矩阵直接改模型内部节点,光晕位置复用同一份世界矩阵。
+     */
+    update(deltaSeconds: number): void;
+    /**
+     * 桨叶自转。转速公式与 three 版 DroneRig.updateProps 完全一致:
+     * 每分钟转速 = (3.8 + 负载×7) 转/秒,对角反转由 PROP_SPIN_SIGN 给出,
+     * 负载表直接取 DroneSim 的四电机混控输出(悬停 ≈ 1,前飞时后桨快前桨慢)。
+     */
+    private updateProps;
+    /** 灯光:灯珠 Mesh 本体发光(只写 shader uniform),灯语时序与 three 版同源 */
+    private updateLights;
+}
+export {};
+//# sourceMappingURL=drone-cesium-rig.d.ts.map

package/lib/drone-cesium-rig.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"drone-cesium-rig.d.ts","sourceRoot":"","sources":["../../src/lib/drone-camera/drone-cesium-rig.ts"],"names":[],"mappings":"AAsCA,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,aAAa,CAAA;AAE3C,KAAK,QAAQ,GAAG,MAAM,CAAC,MAAM,EAAE,GAAG,CAAC,CAAA;AA+GnC,qBAAa,cAAc;IACzB,OAAO,CAAC,QAAQ,CAAC,GAAG,CAAU;IAC9B,OAAO,CAAC,QAAQ,CAAC,CAAC,CAAU;IAE5B,OAAO,CAAC,MAAM,CAAkB;IAChC,gDAAgD;IAChD,OAAO,CAAC,WAAW,CAAwB;IAC3C,wCAAwC;IACxC,OAAO,CAAC,QAAQ,CAAwB;IACxC,iCAAiC;IACjC,OAAO,CAAC,OAAO,CAAQ;IACvB,OAAO,CAAC,MAAM,CAAI;IAElB;;;OAGG;IACH,0DAA0D;gBAC9C,GAAG,EAAE,QAAQ,EAAE,MAAM,CAAC,EAAE,QAAQ;IAW5C;;OAEG;IACH,MAAM,CAAC,KAAK,EAAE,QAAQ,GAAG,IAAI;IA2D7B;;;;;OAKG;IACH,OAAO,CAAC,iBAAiB;IA+CzB,yCAAyC;IACzC,MAAM,IAAI,IAAI;IAiBd,+BAA+B;IAC/B,OAAO,IAAI,IAAI;IAMf;;;OAGG;IACH,MAAM,CAAC,YAAY,EAAE,MAAM,GAAG,IAAI;IASlC;;;;OAIG;IACH,OAAO,CAAC,WAAW;IAiCnB,yDAAyD;IACzD,OAAO,CAAC,YAAY;CA0DrB"}