ss-component-new 1.1.1007 → 1.2.1

package/dist/threeSceneView-BxK4ycgs.js

@@ -1,1472 +0,0 @@
-import { defineComponent as Le, ref as _, watch as de, shallowRef as he, computed as _e, onUnmounted as Ie, resolveComponent as J, createElementBlock as ge, openBlock as ee, createElementVNode as o, createCommentVNode as ve, createVNode as t, withCtx as A, createBlock as Ce, unref as F, Fragment as Je, renderList as Ne, toDisplayString as fe, onBeforeUnmount as Ee, createTextVNode as qe, onMounted as He, nextTick as We, withDirectives as oe, vShow as me, renderSlot as be, isRef as ke, vModelRadio as Pe } from "vue";
-import { U as Ke, r as xe, s as Ye, u as Qe, a as et, W as tt } from "./useRayCaster-Y_Q5getG.js";
-import { u as Oe, a as lt, b as ot, S as U } from "./iconfont-pt17sMx3.js";
-import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DC4zFlOQ.js";
-import { R as at, c as nt, E as Z, a as st, aC as it, ak as rt } from "./index-CZEK1c2_.js";
-import "./index.vue_vue_type_style_index_1_lang-DgDibOnl.js";
-import "./index-BHtNKL1L.js";
-import { _ as ue, s as ut } from "./index-Hm2_zeiV.js";
-import "./index.vue_vue_type_style_index_1_lang-B1fiFPmj.js";
-import { m as Be, T as Me, V as X, k as ne, l as ct, n as pt, L as dt, e as we, o as mt, p as vt, q as ft, r as gt, s as ht, t as bt, u as yt, i as _t } from "./three-viewport-gizmo-CkQ98n-T.js";
-import "./index-B8xZFJ-x.js";
-import { f as wt, a as Ct } from "./animationData-Bu38Hl4M.js";
-import { o as kt, p as Pt } from "./index-BIg5JGtJ.js";
-import { _ as je } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-import { U as xt, J as Tt } from "./urdfTree-BuTtRGdl.js";
-const ae = 1e-3, ce = ct.degToRad, Xe = new mt({
-  // 灰色
-  color: 13421772,
-  metalness: 0.3,
-  roughness: 0.6,
-  side: _t
-}), Ze = (P) => P.reduce((w, T) => {
-  let i = 0;
-  const k = T.Y ?? 0, V = T.C ?? 0, v = T.R ?? 0;
-  return k > 0 && (i += k), V > 0 && v > 0 && (i += v * ce(V)), w + i;
-}, 0), Ge = (P) => {
-  const w = [], T = P.Y ?? 0, i = P.B ?? 0, k = P.C ?? 0, V = P.R ?? 0, v = {
-    pos: new X(0, 0, 0),
-    localY: new X(0, 1, 0),
-    localX: new X(1, 0, 0),
-    localZ: new X(0, 0, 1)
-  };
-  if (!T && !k) return w;
-  if (w.push(v.pos.clone()), i !== 0) {
-    const M = new ne().makeRotationAxis(v.localY, ce(i));
-    v.localX.applyMatrix4(M), v.localZ.applyMatrix4(M);
-  }
-  if (T > 0 && (v.pos.add(v.localY.clone().multiplyScalar(T * ae)), w.push(v.pos.clone())), k > 0 && V > 0) {
-    const M = ce(k), D = V * ae, u = v.pos.clone().add(v.localX.clone().multiplyScalar(-D)), r = Math.max(16, Math.ceil(k / 5));
-    for (let g = 1; g <= r; g++) {
-      const a = M * g / r, h = new ne().makeRotationAxis(v.localZ, a), b = v.localX.clone().multiplyScalar(D).applyMatrix4(h), f = u.clone().add(b);
-      w.push(f);
-    }
-  }
-  return w;
-};
-function Mt(P, w) {
-  const T = new pt();
-  T.name = "CompletePipe";
-  const i = {
-    pos: new X(0, 0, 0),
-    localX: new X(1, 0, 0),
-    localY: new X(0, 1, 0),
-    localZ: new X(0, 0, 1)
-  };
-  let k = 0, V = 1;
-  for (let v = 0; v < P.length; v++) {
-    const M = P[v], D = M.Y ?? 0, u = M.B ?? 0, r = M.C ?? 0, g = M.R ?? 0;
-    if (u !== 0) {
-      const a = new ne().makeRotationAxis(i.localY, ce(u));
-      i.localX.applyMatrix4(a), i.localZ.applyMatrix4(a);
-    }
-    if (D > 0) {
-      const a = i.pos.clone();
-      i.pos.add(i.localY.clone().multiplyScalar(D * ae));
-      const h = i.pos.clone(), s = Rt(a, h, w * ae);
-      s.userData = {
-        segmentType: "straight",
-        segmentIndex: k,
-        frameIndex: v,
-        length: D,
-        frame: { Y: D, B: u, C: r, R: g }
-      }, s.name = `直段_${k}`, T.add(s);
-      const b = a.clone();
-      Vt(T, V, b, w * ae), k++;
-    }
-    if (r > 0 && g > 0) {
-      const a = ce(r), h = g * ae, s = [];
-      s.push(i.pos.clone());
-      const b = i.pos.clone().add(i.localX.clone().multiplyScalar(-h)), f = Math.max(16, Math.ceil(r / 5));
-      for (let R = 1; R <= f; R++) {
-        const E = a * R / f, S = new ne().makeRotationAxis(i.localZ, E), G = i.localX.clone().multiplyScalar(h).applyMatrix4(S), te = b.clone().add(G);
-        s.push(te);
-      }
-      const x = Dt(s, w * ae);
-      x.userData = {
-        segmentType: "bend",
-        segmentIndex: k,
-        frameIndex: v,
-        angle: r,
-        radius: g,
-        centerPoint: b.toArray(),
-        frame: { Y: D, B: u, C: r, R: g }
-      }, x.name = `弯段_${k}`, T.add(x), Math.floor(s.length / 2), s[0], i.pos = s[s.length - 1].clone();
-      const m = new ne().makeRotationAxis(i.localZ, a);
-      i.localY.applyMatrix4(m), i.localX.applyMatrix4(m), k++, V++;
-    }
-  }
-  return T;
-}
-function Vt(P, w, T, i) {
-  const k = new X(0, i * 2, i * 5), V = T.clone().add(k), v = [T, V], M = new vt().setFromPoints(v), D = new ft({
-    color: 16711680,
-    dashSize: i * 0.5,
-    gapSize: i * 0.3,
-    linewidth: 1
-  }), u = new gt(M, D);
-  u.computeLineDistances(), P.add(u);
-  const r = document.createElement("canvas"), g = r.getContext("2d");
-  r.width = 128, r.height = 128, g.clearRect(0, 0, 128, 128), g.fillStyle = "#FF0000", g.font = "bold 80px Arial", g.textAlign = "center", g.textBaseline = "middle", g.fillText(w.toString(), 64, 64);
-  const a = new ht(r), h = new bt({
-    map: a,
-    transparent: !0,
-    depthTest: !1,
-    depthWrite: !1
-  }), s = new yt(h), b = i * 3;
-  s.scale.set(b, b, 1), s.position.copy(V), s.name = `Label_${w}`, s.userData = { labelNumber: w }, P.add(s);
-}
-function Rt(P, w, T) {
-  const i = new dt(P, w), k = new Me(i, 2, T, 18, !1);
-  return new we(k, Xe);
-}
-function Dt(P, w) {
-  const T = new Be(P, !1, "catmullrom", 0.01), i = new Me(T, Math.max(16, P.length * 2), w, 18, !1);
-  return new we(i, Xe);
-}
-function Te(P, w, T, i, k, V = 0) {
-  let v = w.slice(0, k + 1);
-  const M = w[k + 1];
-  if (M && V > 0) {
-    const s = {
-      ...M,
-      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
-      B: (M.B ?? 0) * V,
-      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
-      C: (M.C ?? 0) * V
-    };
-    v.push(s);
-  }
-  const D = Ze(v), u = Math.max(0, T - D), r = [];
-  r.push(new X(0, 0, 0));
-  const g = new X(0, u * ae, 0);
-  u > 0 && r.push(g);
-  let a = {
-    pos: g.clone(),
-    localY: new X(0, 1, 0),
-    localX: new X(1, 0, 0),
-    localZ: new X(0, 0, 1)
-  };
-  const h = [];
-  for (let s = v.length - 1; s >= 0; s--) {
-    const b = v[s], f = Ge(b);
-    if (f.length > 0) {
-      const x = f.map((S) => {
-        const $ = S.clone(), G = new ne();
-        return G.makeBasis(a.localX, a.localY, a.localZ), $.applyMatrix4(G), $.add(a.pos);
-      });
-      h.push(x);
-      const m = x[x.length - 1];
-      a.pos = m.clone();
-      const R = b.B ?? 0, E = b.C ?? 0;
-      if (R !== 0) {
-        const S = new ne().makeRotationAxis(a.localY, ce(R));
-        a.localX.applyMatrix4(S), a.localZ.applyMatrix4(S);
-      }
-      if (E > 0) {
-        const S = ce(E), $ = new ne().makeRotationAxis(a.localZ, S);
-        a.localY.applyMatrix4($), a.localX.applyMatrix4($);
-      }
-    }
-  }
-  for (const s of h)
-    s.length > 1 && r.push(...s.slice(1));
-  r.length < 2 && r.push(new X(0, 1e-3, 0));
-  try {
-    const s = new Be(r, !1, "catmullrom", 0.01), b = new Me(s, Math.max(2, r.length * 4), i * ae, 18, !1);
-    P.geometry.dispose(), P.geometry = b;
-  } catch (s) {
-    console.error("管件更新失败", s);
-  }
-}
-function Ue(P, w, T, i = 0) {
-  let k = P.slice(0, T + 1);
-  const V = P[T + 1];
-  if (V && i > 0) {
-    const a = {
-      ...V,
-      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
-      B: (V.B ?? 0) * i,
-      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
-      C: (V.C ?? 0) * i
-    };
-    k.push(a);
-  }
-  const v = Ze(k), M = Math.max(0, w - v), D = [];
-  D.push(new X(0, 0, 0));
-  const u = new X(0, M * ae, 0);
-  M > 0 && D.push(u);
-  let r = {
-    pos: u.clone(),
-    localY: new X(0, 1, 0),
-    localX: new X(1, 0, 0),
-    localZ: new X(0, 0, 1)
-  };
-  const g = [];
-  for (let a = k.length - 1; a >= 0; a--) {
-    const h = k[a], s = Ge(h);
-    if (s.length > 0) {
-      const b = s.map((R) => {
-        const E = R.clone(), S = new ne();
-        return S.makeBasis(r.localX, r.localY, r.localZ), E.applyMatrix4(S), E.add(r.pos);
-      });
-      g.push(b);
-      const f = b[b.length - 1];
-      r.pos = f.clone();
-      const x = h.B ?? 0, m = h.C ?? 0;
-      if (x !== 0) {
-        const R = new ne().makeRotationAxis(r.localY, ce(x));
-        r.localX.applyMatrix4(R), r.localZ.applyMatrix4(R);
-      }
-      if (m > 0) {
-        const R = ce(m), E = new ne().makeRotationAxis(r.localZ, R);
-        r.localY.applyMatrix4(E), r.localX.applyMatrix4(E);
-      }
-    }
-  }
-  for (const a of g)
-    a.length > 1 && D.push(...a.slice(1));
-  return D.length < 2 && D.push(new X(0, 1e-3, 0)), D;
-}
-function ye(P, w, T, i, k, V, v, M = 0, D = 0) {
-  const u = k - D, r = Ue(i, u, v, M);
-  let a = Ue(T, D, v, M);
-  a.forEach((s) => s.y = -s.y), a.reverse();
-  const h = [...a, ...r];
-  try {
-    const s = new Be(h, !1, "catmullrom", 0.01), b = new Me(s, Math.max(2, h.length * 4), V * ae, 18, !1);
-    w.geometry.dispose(), P.geometry.dispose(), w.parent && w.parent.remove(w), P.geometry = b;
-  } catch (s) {
-    console.error("管件更新失败", s);
-  }
-}
-const St = { class: "panel-content" }, $t = { class: "action-bar" }, At = {
-  key: 0,
-  class: "animation-controls"
-}, zt = { class: "control-row" }, Ft = { class: "control-row" }, Yt = { class: "control-row" }, Lt = { class: "frame-info" }, Bt = { class: "control-row" }, jt = { class: "progress-bar" }, Ut = { class: "dialog-footer" }, Et = /* @__PURE__ */ Le({
-  __name: "animationPanel",
-  props: {
-    model: {},
-    threeData: {}
-  },
-  emits: ["getThreeData"],
-  setup(P, { expose: w, emit: T }) {
-    const i = P, k = T, V = _(), v = _(), M = _("单机器人弯管");
-    de(() => i.threeData, (n) => {
-      const l = n == null ? void 0 : n.data;
-      M.value = l == null ? void 0 : l.任务类型;
-    }, {
-      immediate: !0
-    });
-    const D = async () => {
-      if (!sessionStorage.getItem("systemKey")) {
-        k("getThreeData");
-        return;
-      }
-      let l = {};
-      M.value === xe.SINGLE && (l = await wt()), M.value === xe.DOUBLE && (l = await Ct());
-      const {
-        initialPipeLength: c = 0,
-        pipeRadius: C = 0,
-        clampLength: d = 0,
-        animationData: L
-      } = l;
-      S.value = c, $.value = C, G.value = d, V.value = L;
-      const j = nt(V.value);
-      u.value = (j == null ? void 0 : j["输出（动画数据）"]) || [];
-      let I = (j == null ? void 0 : j["输出（动画数据）Content"]) ?? [];
-      I && (v.value = I);
-    }, u = _([]), r = _(!1), g = _(""), a = _(!1), h = _(0), s = _(0), b = _(1e3), f = _(null);
-    let x = !1;
-    const m = he(null), R = he(null), E = he(null), S = _(1302), $ = _(12.5), G = _(30), te = _([]), Y = _(null), y = _e(() => i.model ? Object.values(i.model.joints).filter((n) => n.jointType !== "fixed").map((n) => n.name) : []), N = _(["Y", "B", "C", "R"]), O = _e(() => [...y.value, ...N.value]), H = _e(() => O.value.length > 0 ? `请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
-${O.value.join("	")}
-0	0	0	...
-1	2	3	...` : "请先加载模型。"), le = (n, l) => {
-      if (!l)
-        return null;
-      const c = n.links[l];
-      if (!c)
-        return console.warn(`在模型中未找到名为 '${l}' 的 link`), console.log("可用的链接:", Object.keys(n.links)), null;
-      let C = null;
-      return c.traverse((d) => {
-        d instanceof we && !C && (C = d);
-      }), C || console.warn(`在 link '${l}' 中未找到可用的 Mesh 对象`), C;
-    }, se = () => {
-      E.value && (E.value.visible = !0), m.value && m.value.parent && m.value.parent.remove(m.value), E.value = null, m.value = null, R.value = null;
-    };
-    de(O, (n, l) => {
-      if (JSON.stringify(n) !== JSON.stringify(l))
-        if (n.length > 0) {
-          const c = n.reduce((C, d) => (C[d] = "0", C), {});
-          u.value = [c];
-        } else
-          u.value = [];
-    }, { immediate: !0 }), de(() => i.model, (n) => {
-      se(), n ? (f.value = new Ke(n), te.value = Object.keys(n.links), te.value.includes("Pipe_Link") ? Y.value = "Pipe_Link" : Y.value = null) : (f.value = null, te.value = [], Y.value = null);
-    }, { immediate: !0 }), de([Y, G], ([n, l]) => {
-      if (se(), i.model && n) {
-        const c = le(i.model, n);
-        if (console.log(c, "meshToReplace"), c && c.parent) {
-          E.value = c;
-          const C = new we(
-            c.geometry.clone(),
-            c.material
-          );
-          if (C.name = "managed_pipe_clone", c.parent.add(C), C.position.copy(c.position), C.rotation.copy(c.rotation), C.scale.copy(c.scale), c.visible = !1, M.value === xe.SINGLE && (C.position.y -= l * 1e-3), m.value = C, M.value === xe.DOUBLE) {
-            const d = new we(
-              c.geometry.clone(),
-              c.material
-            );
-            d.name = "managed_oppsite_pipe_clone", d.position.copy(c.position), d.rotation.copy(c.rotation), d.scale.copy(c.scale), c.parent.add(d), R.value = d;
-          }
-          m.value && R.value && ye(
-            m.value,
-            R.value,
-            [],
-            [],
-            S.value,
-            $.value,
-            0,
-            0,
-            G.value
-          );
-        } else
-          n && console.warn(`在 link '${n}' 中未找到可替换的网格或其没有父级。`);
-      }
-    });
-    const re = () => u.value.map((n) => ({
-      Y: parseFloat(n.Y) || 0,
-      B: parseFloat(n.B) || 0,
-      C: parseFloat(n.C) || 0,
-      R: parseFloat(n.R) || 0
-    })), W = () => {
-      const n = [], l = [];
-      return u.value.forEach((c) => {
-        const { Y1: C, B1: d, C1: L, R1: j, Y2: I, B2: K, C2: p, R2: e } = c;
-        n.push({
-          Y: parseFloat(C) || 0,
-          B: parseFloat(d) || 0,
-          C: parseFloat(L) || 0,
-          R: parseFloat(j) || 0
-        }), l.push({
-          Y: parseFloat(I) || 0,
-          B: parseFloat(K) || 0,
-          C: parseFloat(p) || 0,
-          R: parseFloat(e) || 0
-        });
-      }), {
-        posPipeYbcr: n,
-        negPipeYbcr: l
-      };
-    }, B = (n) => {
-      if (n < 0 || n >= u.value.length) {
-        console.error(`帧索引 ${n} 超出范围`);
-        return;
-      }
-      const l = u.value[n];
-      if (console.log(`应用第 ${n} 帧数据 ${l}`), h.value = n, f.value) {
-        const c = {};
-        y.value.forEach((C) => {
-          const d = parseFloat(l[C]);
-          isNaN(d) || (c[C] = d);
-        }), f.value.setJointAngles(c);
-      }
-      if (m.value && R.value) {
-        const c = W();
-        console.log("ybcr数据：", c), ye(
-          m.value,
-          R.value,
-          c.posPipeYbcr,
-          c.negPipeYbcr,
-          S.value,
-          $.value,
-          n,
-          0,
-          G.value
-        );
-        return;
-      }
-      if (m.value) {
-        const c = re();
-        console.log("ybcr数据：", c), Te(
-          m.value,
-          c,
-          S.value,
-          $.value,
-          n,
-          0
-        );
-        return;
-      }
-    }, pe = async () => {
-      if (u.value.length === 0) {
-        Z.error("无法播放动画：无数据");
-        return;
-      }
-      a.value = !0, x = !1;
-      const n = m.value ? re() : [];
-      try {
-        for (let l = h.value + 1; l < u.value.length && !x; l++) {
-          h.value = l;
-          const c = u.value[l], C = {};
-          f.value && y.value.forEach((d) => {
-            const L = parseFloat(c[d]);
-            isNaN(L) || (C[d] = L);
-          }), f.value ? await f.value.animateToState(
-            C,
-            b.value,
-            (d) => {
-              if (s.value = (l + d) / u.value.length * 100, m.value && R.value) {
-                const L = W();
-                console.log("ybcr数据：", n), ye(
-                  m.value,
-                  R.value,
-                  L.posPipeYbcr,
-                  L.negPipeYbcr,
-                  S.value,
-                  $.value,
-                  l - 1,
-                  d,
-                  G.value
-                );
-              } else m.value && Te(m.value, n, S.value, $.value, l - 1, d);
-            }
-          ) : m.value && R.value ? await new Promise((d) => {
-            const L = performance.now();
-            let j;
-            const I = (K) => {
-              if (x) {
-                cancelAnimationFrame(j), d();
-                return;
-              }
-              const p = K - L, e = Math.min(p / b.value, 1);
-              s.value = (l + e) / u.value.length * 100;
-              const ie = W();
-              ye(
-                m.value,
-                R.value,
-                ie.posPipeYbcr,
-                ie.negPipeYbcr,
-                S.value,
-                $.value,
-                l - 1,
-                e,
-                G.value
-              ), e < 1 ? j = requestAnimationFrame(I) : d();
-            };
-            j = requestAnimationFrame(I);
-          }) : m.value ? await new Promise((d) => {
-            const L = performance.now();
-            let j;
-            const I = (K) => {
-              if (x) {
-                cancelAnimationFrame(j), d();
-                return;
-              }
-              const p = K - L, e = Math.min(p / b.value, 1);
-              s.value = (l + e) / u.value.length * 100, Te(m.value, n, S.value, $.value, l - 1, e), e < 1 ? j = requestAnimationFrame(I) : d();
-            };
-            j = requestAnimationFrame(I);
-          }) : (await new Promise((d) => setTimeout(d, b.value)), s.value = (l + 1) / u.value.length * 100);
-        }
-        x || Z.success("动画播放完成");
-      } catch (l) {
-        console.error("动画播放出错:", l), Z.error("动画播放出错");
-      } finally {
-        a.value = !1, s.value = 0;
-      }
-    }, z = () => {
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