ss-component-new 1.1.1007 → 1.2.1

package/dist/threeSceneView-DK1eRng9.cjs

@@ -1,5 +0,0 @@
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N>0&&(s+=N),k>0&&v>0&&(s+=v*le(k)),b+s},0),Ne=C=>{const b=[],E=C.Y??0,s=C.B??0,N=C.C??0,k=C.R??0,v={pos:new r.Vector3(0,0,0),localY:new r.Vector3(0,1,0),localX:new r.Vector3(1,0,0),localZ:new r.Vector3(0,0,1)};if(!E&&!N)return b;if(b.push(v.pos.clone()),s!==0){const x=new r.Matrix4().makeRotationAxis(v.localY,le(s));v.localX.applyMatrix4(x),v.localZ.applyMatrix4(x)}if(E>0&&(v.pos.add(v.localY.clone().multiplyScalar(E*W)),b.push(v.pos.clone())),N>0&&k>0){const x=le(N),S=k*W,c=v.pos.clone().add(v.localX.clone().multiplyScalar(-S)),i=Math.max(16,Math.ceil(N/5));for(let g=1;g<=i;g++){const l=x*g/i,h=new r.Matrix4().makeRotationAxis(v.localZ,l),V=v.localX.clone().multiplyScalar(S).applyMatrix4(h),f=c.clone().add(V);b.push(f)}}return b};function Ce(C,b){const E=new r.Group;E.name="CompletePipe";const s={pos:new r.Vector3(0,0,0),localX:new r.Vector3(1,0,0),localY:new r.Vector3(0,1,0),localZ:new r.Vector3(0,0,1)};let N=0,k=1;for(let v=0;v<C.length;v++){const 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j=(A==null?void 0:A["输出（动画数据）Content"])??[];j&&(v.value=j)},c=e.ref([]),i=e.ref(!1),g=e.ref(""),l=e.ref(!1),h=e.ref(0),a=e.ref(0),V=e.ref(1e3),f=e.ref(null);let _=!1;const m=e.shallowRef(null),M=e.shallowRef(null),Y=e.shallowRef(null),P=e.ref(1302),D=e.ref(12.5),I=e.ref(30),J=e.ref([]),$=e.ref(null),y=e.computed(()=>s.model?Object.values(s.model.joints).filter(n=>n.jointType!=="fixed").map(n=>n.name):[]),U=e.ref(["Y","B","C","R"]),L=e.computed(()=>[...y.value,...U.value]),X=e.computed(()=>L.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
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-0	0	0	...
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e.openBlock(),e.createElementBlock("div",ke,[e.createElementVNode("div",Me,[e.createVNode(te._sfc_main,{onClick:S,modelValue:"获取数据"}),e.createVNode(te._sfc_main,{onClick:pe,disabled:L.value.length===0,modelValue:"导出表头"},null,8,["disabled"]),e.createVNode(te._sfc_main,{modelValue:"播放",onClick:ne,disabled:c.value.length===0||l.value,buttonType:"primary"},{default:e.withCtx(()=>[l.value?(e.openBlock(),e.createBlock(u,{key:0,class:"is-loading"},{default:e.withCtx(()=>[e.createVNode(e.unref(F.loading_default))]),_:1})):e.createCommentVNode("",!0)]),_:1},8,["disabled"]),e.createVNode(te._sfc_main,{onClick:T,modelValue:"停止",buttonType:"danger"}),e.createVNode(te._sfc_main,{onClick:re,modelValue:"重置",buttonType:"primary"}),e.createVNode(te._sfc_main,{onClick:ie,modelValue:"测试功能",buttonType:"primary"})]),c.value.length>0?(e.openBlock(),e.createElementBlock("div",Se,[e.createElementVNode("div",Pe,[e.createVNode(B,{"label-width":"auto",style:{width:"100%"}},{default:e.withCtx(()=>[e.createVNode(p,{label:"帧间隔 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package/dist/useRayCaster-BkcK_aF1.cjs

@@ -1 +0,0 @@
-"use strict";var te=Object.defineProperty;var oe=(r,i,o)=>i in r?te(r,i,{enumerable:!0,configurable:!0,writable:!0,value:o}):r[i]=o;var D=(r,i,o)=>oe(r,typeof i!="symbol"?i+"":i,o);const se=require("./index.vue_vue_type_style_index_1_lang-CwJCb_rE.cjs"),C=require("./STLLoader-RU7KqloS.cjs"),R=require("./three-viewport-gizmo-BV37JzRa.cjs"),e=require("vue"),ie=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),le={SINGLE:"单机器人弯管",DOUBLE:"双机器人弯管"},ne={ROBOT:1,PIPECOMPARSION:2},re="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function x(r){if(r==null||!isFinite(r))return"";const i=r/(1024*1024);if(i>=1)return`${i.toFixed(1)} MB`;const o=r/1024;return o>=1?`${o.toFixed(1)} KB`:`${r} B`}function ee(r){try{const i=r.split("?")[0].split("#")[0];return i.substring(i.lastIndexOf("/")+1)||i}catch{return r}}function ae(r){const{manager:i,baseFolderUrl:o,onFileProgress:l}=r,m=new se.URDFLoader(i);return m.packages=n=>`${o.endsWith("/")?o:o+"/"}${n}/`,m.loadMeshCb=(n,N,h)=>{const 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R.Mesh(u,f);E.castShadow=!0,E.receiveShadow=!0,h(E)},u=>l==null?void 0:l(n,u==null?void 0:u.loaded,u==null?void 0:u.total),u=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 STL 模型: ${n}`,u),h(new R.Group)});break}default:console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${g} (路径: ${n})`),h(new R.Group)}},m}function ce(r,i,o,l){return{loadSceneFromFile:n=>new Promise((N,h)=>{o.value=!0,l.value="正在初始化 URDF 加载器...";let g=0,_=0,u=null;const f=new R.LoadingManager;f.onStart=(w,c,v)=>{g=v||0,_=c||0,l.value=g>0?`开始下载资源: 0 / ${g}`:"开始下载资源...",o.value=!0},f.onProgress=(w,c,v)=>{_=c,g=v;const b=`正在加载 ${c} / ${v} 个文件: ${ee(w)}`;l.value=b,c===v&&(l.value="资源加载完成，正在处理模型...",setTimeout(()=>{if(u){u.updateMatrixWorld(!0);const p=new R.Box3().setFromObject(u);p.isEmpty()&&console.warn("模型加载完成，但所有可视化网格均加载失败，模型将不可见。"),u.userData.boundingBox=p,u.traverse(d=>{d.isMesh&&(d.castShadow=!0,d.receiveShadow=!0)}),N(u)}else h(new Error("URDF 文件本身加载失败。"));l.value="模型加载完成",setTimeout(()=>{l.value==="模型加载完成"&&(o.value=!1,l.value="")},500)},100))},f.onError=w=>{console.warn(`LoadingManager 报告一个资源加载失败: ${w}。加载流程将继续。`)};const E=(w,c,v)=>{const b=ee(w);let p;v&&v>0?p=`${b}（${x(c)} / ${x(v)}）`:c&&c>0?p=`${b}（已下载 ${x(c)}）`:p=`${b}`,l.value=`正在下载第 ${_+1} / ${g} 个文件: ${p}`};try{const w=URL.createObjectURL(n);ae({manager:f,baseFolderUrl:re,onFileProgress:E}).load(w,v=>{u=v},void 0,v=>{console.error(`加载 URDF 文件 (${n.name}) 时发生致命错误:`,v),l.value="URDF 文件解析失败",o.value=!1,h(new Error(`加载 URDF 文件失败: ${n.name}`,{cause:v}))})}catch(w){console.error("初始化 URDF 加载时发生致命错误:",w),l.value="模型加载失败",o.value=!1,h(w)}})}}class ue{constructor(i){D(this,"robot");D(this,"movableJoints");this.robot=i,this.movableJoints=this.getMovableJoints()}getMovableJoints(){return Object.values(this.robot.joints).filter(i=>i.jointType!=="fixed")}getMovableJointNames(){return this.movableJoints.map(i=>i.name)}setJointAngle(i,o){const l=this.robot.joints[i];if(!l||l.jointType==="fixed")return console.warn(`关节 ${i} 不存在或不可动`),!1;if(l.limit){const m=Math.max(l.limit.lower,Math.min(l.limit.upper,o));m!==o&&console.warn(`关节 ${i} 角度被限制在 [${l.limit.lower}, ${l.limit.upper}]`),l.setJointValue(m)}else l.setJointValue(o);return!0}setJointAngles(i){Object.entries(i).forEach(([o,l])=>{typeof l=="number"&&!isNaN(l)&&this.setJointAngle(o,l)})}getCurrentJointStates(){const i={};return this.movableJoints.forEach(o=>{i[o.name]=o.angle||0}),i}resetToZero(){this.movableJoints.forEach(i=>{i.setJointValue(0)})}getJointLimits(i){const o=this.robot.joints[i];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(i,o=1e3,l){const m=this.getCurrentJointStates(),n=Date.now();return new Promise(N=>{const h=()=>{const g=Date.now()-n,_=Math.min(g/o,1),u=this.easeInOutCubic(_),f={};Object.keys(i).forEach(E=>{const w=m[E]||0,c=i[E];f[E]=w+(c-w)*u}),this.setJointAngles(f),l&&l(_),_<1?requestAnimationFrame(h):N()};h()})}easeInOutCubic(i){return i<.5?4*i*i*i:1-Math.pow(-2*i+2,3)/2}async playSequence(i,o=1e3,l){for(let m=0;m<i.length;m++)await this.animateToState(i[m],o,n=>{l&&l(m,n)})}}const de=(r,i="YZX")=>{const o=new R.Vector3,l=new R.Quaternion,m=new R.Vector3,n=new R.Euler;r.getWorldPosition(o),r.getWorldQuaternion(l),r.getWorldScale(m),n.setFromQuaternion(l,i);const N={x:r.rotation.x*180/Math.PI,y:r.rotation.y*180/Math.PI,z:r.rotation.z*180/Math.PI},h={x:n.x*180/Math.PI,y:n.y*180/Math.PI,z:n.z*180/Math.PI};return{position:r.position,rotation:N,scale:r.scale,worldPosition:o,worldRotation:h,worldScale:m}},me=(r,i,o)=>{const l=parseFloat(o);isNaN(l)||(r.position[i]=l,r.updateMatrixWorld(!0))},pe=(r,i,o)=>{const l=parseFloat(o);isNaN(l)||(r.rotation[i]=l*Math.PI/180,r.updateMatrixWorld(!0))},ve={class:"panel-content"},fe={class:"obj"},we={key:0,class:"obj-base"},be=["title"],he=["title"],Ve={key:1},_e={class:"obj-position"},Ee={class:"coord-item"},Ne={class:"coord-item"},ge={class:"coord-item"},ye={class:"obj-rotation"},Re={class:"coord-item"},Se={class:"coord-item"},Me={class:"coord-item"},De={class:"world"},Ce={class:"coord-line"},xe={class:"coord-text"},Fe={class:"world-position-item"},$e={class:"world-position-item"},Le={class:"world-position-item"},Oe={class:"coord-line"},Ue={class:"coord-text"},je={class:"world-rotation-item"},Je={class:"world-rotation-item"},ke={class:"world-rotation-item"},Ie=e.defineComponent({__name:"workpieceTreePanel",props:{model:{},maxExpandCount:{default:10},expandStrategy:{default:"breadth"}},emits:["nodeClick","visibleChange","updatePosition","updateRotation"],setup(r,{emit:i}){const o=r,l=i,m=e.ref([]),n=e.ref({}),N=(t,s=0)=>{const V=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(a=>{if(!(a!=null&&a.isMesh)){const y={name:a==null?void 0:a.name,label:(a==null?void 0:a.name)||(a==null?void 0:a.type),show:!0,level:s+1,isPenultimate:!1,type:a==null?void 0:a.type,id:a==null?void 0:a.id,limit:(a==null?void 0:a.limit)??"",children:N(a==null?void 0:a.children,s+1),path:a==null?void 0:a.name};V.push(y)}}),V},h=t=>t?[{name:t==null?void 0:t.name,label:(t==null?void 0:t.name)||(t==null?void 0:t.type),show:!0,level:1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:N(t==null?void 0:t.children,1),path:t==null?void 0:t.name}]:[],g=(t,s)=>{const V=[],a=[...t];for(;a.length>0&&V.length<s;){const y=a.shift();y.children&&y.children.length>0&&(V.push(y.id),a.push(...y.children))}return V},_=(t,s)=>{const V=[];return t.forEach(a=>{if(a.children&&a.children.length>0){V.push(a.id);const 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e.watch(()=>o.model,()=>{o.model&&(n.value=de(o.model))},{deep:!0,immediate:!0}),e.watch(v,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var M,F,$,L,O,U,j,J,k,I,T,P,z,B,A,W,q,G,Q,X,Y,Z,K,H;const V=e.resolveComponent("el-divider"),a=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",ve,[e.createVNode(V,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",fe,[o.model?(e.openBlock(),e.createElementBlock("div",we,[e.createElementVNode("div",{class:"obj-name",title:b.value},e.toDisplayString(b.value),9,be),e.createElementVNode("div",{class:"obj-type",title:p.value},"["+e.toDisplayString(p.value)+"]",9,he)])):(e.openBlock(),e.createElementBlock("div",Ve,"空")),e.createVNode(a,{"model-value":d.value,onChange:c},null,8,["model-value"])]),e.createVNode(V,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",_e,[e.createElementVNode("div",Ee,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":u((F=(M=n.value)==null?void 0:M.position)==null?void 0:F.x),onChange:s[0]||(s[0]=S=>E(S,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Ne,[s[9]||(s[9]=e.createElementVNode("span",{class:"axis-label"},"Y",-1)),e.createVNode(y,{"model-value":u((L=($=n.value)==null?void 0:$.position)==null?void 0:L.y),onChange:s[1]||(s[1]=S=>E(S,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ge,[s[10]||(s[10]=e.createElementVNode("span",{class:"axis-label"},"Z",-1)),e.createVNode(y,{"model-value":u((U=(O=n.value)==null?void 0:O.position)==null?void 0:U.z),onChange:s[2]||(s[2]=S=>E(S,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(V,null,{default:e.withCtx(()=>s[11]||(s[11]=[e.createTextVNode("相对旋转")])),_:1,__:[11]}),e.createElementVNode("div",ye,[e.createElementVNode("div",Re,[s[12]||(s[12]=e.createElementVNode("span",{class:"axis-label"},"X°",-1)),e.createVNode(y,{"model-value":f((J=(j=n.value)==null?void 0:j.rotation)==null?void 0:J.x),onChange:s[3]||(s[3]=S=>w(S,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Se,[s[13]||(s[13]=e.createElementVNode("span",{class:"axis-label"},"Y°",-1)),e.createVNode(y,{"model-value":f((I=(k=n.value)==null?void 0:k.rotation)==null?void 0:I.y),onChange:s[4]||(s[4]=S=>w(S,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Me,[s[14]||(s[14]=e.createElementVNode("span",{class:"axis-label"},"Z°",-1)),e.createVNode(y,{"model-value":f((P=(T=n.value)==null?void 0:T.rotation)==null?void 0:P.z),onChange:s[5]||(s[5]=S=>w(S,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(V,null,{default:e.withCtx(()=>s[15]||(s[15]=[e.createTextVNode("世界信息")])),_:1,__:[15]}),e.createElementVNode("div",De,[e.createElementVNode("div",Ce,[s[16]||(s[16]=e.createElementVNode("span",{class:"coord-label"},"世界位置:",-1)),e.createElementVNode("span",xe,[e.createElementVNode("div",Fe,e.toDisplayString(u((B=(z=n.value)==null?void 0:z.worldPosition)==null?void 0:B.x))+", ",1),e.createElementVNode("div",$e,e.toDisplayString(u((W=(A=n.value)==null?void 0:A.worldPosition)==null?void 0:W.y))+", ",1),e.createElementVNode("div",Le,e.toDisplayString(u((G=(q=n.value)==null?void 0:q.worldPosition)==null?void 0:G.z)),1)])]),e.createElementVNode("div",Oe,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Ue,[e.createElementVNode("div",je,e.toDisplayString(f((X=(Q=n.value)==null?void 0:Q.worldRotation)==null?void 0:X.x))+"°, ",1),e.createElementVNode("div",Je,e.toDisplayString(f((Z=(Y=n.value)==null?void 0:Y.worldRotation)==null?void 0:Z.y))+"°, ",1),e.createElementVNode("div",ke,e.toDisplayString(f((H=(K=n.value)==null?void 0:K.worldRotation)==null?void 0:H.z))+"° ",1)])])])])}}}),Te=ie._export_sfc(Ie,[["__scopeId","data-v-00d48931"]]);function Pe(r,i,o,l=["URDFVisual"]){let m=null;const n=e.ref(null),N=new R.Raycaster,h=new R.Vector2,g=new Map;function _(){o.value.forEach(p=>{p.traverse(d=>{l!=null&&l.includes(d.type)&&g.set(d.id,{obj:d,axis:d.axis||new R.Vector3(1,0,0),limits:d.limits})})})}function u(p){n.value&&n.value.obj.traverse(d=>{var t;d.material&&((t=d.material.emissive)==null||t.set(0))}),n.value=p,p.obj.traverse(d=>{var t;d.material&&((t=d.material.emissive)==null||t.set(65280))})}function f(p){const d=r.value.getBoundingClientRect();h.x=(p.clientX-d.left)/d.width*2-1,h.y=-((p.clientY-d.top)/d.height)*2+1,N.setFromCamera(h,m);const t=N.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,V=null;for(;s;){if(g.has(s.id)){V=g.get(s.id);break}s=s.parent}V&&u(V)}function E(){r.value&&r.value.removeEventListener("click",f,!1)}function w(){const{scene:p,camera:d}=i();m=d,_(),r.value&&r.value.addEventListener("click",f,!1)}function c(p){n.value&&(n.value.obj.visible=p)}function v(p){var s;const{axis:d,value:t}=p;me((s=n.value)==null?void 0:s.obj,d,t)}function b(p){var s;const{axis:d,value:t}=p;pe((s=n.value)==null?void 0:s.obj,d,t)}return{initRaycaster:w,dispose:E,selectedObject3D:n,setSelectedObjVisible:c,updatePosition:v,updateRotation:b}}exports.URDFRobotController=ue;exports.WorkpieceTreePanel=Te;exports.robotMode=le;exports.sceneType=ne;exports.useRaycaster=Pe;exports.useUrdfLoader=ce;