ss-component-new 1.1.429 → 1.1.430

package/dist/{threeModel-DC6dUe7Z.js → threeModel-ClGUp5fG.js}

@@ -1,7 +1,7 @@
-import { defineComponent as Nt, resolveComponent as bt, createElementBlock as $, openBlock as U, createVNode as v, ref as S, computed as te, watch as Ut, createCommentVNode as Jt, createElementVNode as P, withCtx as Mt, withDirectives as ht, vShow as Tt, onMounted as Yt, onUnmounted as ee, Fragment as Ot, toDisplayString as tt, renderList as ne, normalizeStyle as oe, normalizeClass as ie, nextTick as ae, onBeforeUnmount as se, createBlock as re, unref as j, isRef as mt, vModelRadio as Gt } from "vue";
-import { C as le, V as u, M as it, T as dt, Q as Lt, S as Ht, a as q, R as he, P as gt, b as de, B as wt, c as ce, d as _e, e as Pe, W as Je, f as ue, A as pe, g as me, X as Ge, G as fe, h as yt, i as ge, j as St, k as ye, D as Bt, H as be, l as jt, m as Vt, n as Me, E as Et, o as xt, p as we, q as Re, _ as ve, r as Be } from "./threeModel.vue_vue_type_style_index_0_scoped_e7dd7d83_lang-DHvoNEJo.js";
-import { _ as ut } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-const Ee = { class: "tree-container" }, xe = /* @__PURE__ */ Nt({
+import { defineComponent as wt, resolveComponent as Rt, createElementBlock as j, openBlock as z, createVNode as B, ref as D, computed as Ht, watch as Bt, onMounted as Et, onUnmounted as jt, Fragment as ut, createElementVNode as p, toDisplayString as Y, renderList as It, createCommentVNode as q, normalizeClass as pt, normalizeStyle as Ft, nextTick as Nt, onBeforeUnmount as Ut, withDirectives as X, unref as A, withCtx as mt, createBlock as Gt, isRef as et, vModelRadio as it, vShow as ft } from "vue";
+import { C as Yt, V as y, M as $, T as W, Q as gt, S as yt, a as U, R as Vt, P as nt, b as Zt, B as st, c as $t, d as Kt, e as Xt, W as Wt, f as qt, A as Qt, g as te, X as ee, G as ie, h as at, i as oe, j as Dt, k as ne, D as rt, H as ae, l as bt, m as se, n as re, E as lt, _ as le, o as he } from "./threeModel.vue_vue_type_style_index_0_scoped_3e87dec6_lang-DYhzYEGg.js";
+import { _ as Q } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+const de = { class: "tree-container" }, _e = /* @__PURE__ */ wt({
   __name: "index",
   props: {
     treeData: Array,
@@ -11,102 +11,76 @@ const Ee = { class: "tree-container" }, xe = /* @__PURE__ */ Nt({
     }
   },
   emits: ["nodeClick"],
-  setup(s, { emit: t }) {
-    const e = t, i = s, r = {
+  setup(o, { emit: t }) {
+    const e = t, i = o, l = {
       children: "children",
       label: "label"
-    }, J = (G) => {
-      e("nodeClick", G);
+    }, u = (s) => {
+      e("nodeClick", s);
     };
-    return (G, o) => {
-      const p = bt("el-tree");
-      return U(), $("div", Ee, [
-        v(p, {
+    return (s, a) => {
+      const f = Rt("el-tree");
+      return z(), j("div", de, [
+        B(f, {
           data: i == null ? void 0 : i.treeData,
-          props: r,
-          "default-expand-all": s.expand,
-          onNodeClick: J
+          props: l,
+          "default-expand-all": o.expand,
+          onNodeClick: u
         }, null, 8, ["data", "default-expand-all"])
       ]);
     };
   }
-}), De = /* @__PURE__ */ ut(xe, [["__scopeId", "data-v-b4bd4658"]]), Te = {
-  key: 0,
-  class: "jointPanel-container"
-}, Se = { class: "panel-content" }, Ae = /* @__PURE__ */ Nt({
+}), ce = /* @__PURE__ */ Q(_e, [["__scopeId", "data-v-b4bd4658"]]), Pe = { class: "panel-content" }, Je = /* @__PURE__ */ wt({
   __name: "robotMenu",
   props: {
     model: Object
   },
-  setup(s) {
-    const t = s, e = S(!0), i = S([]), r = (o, p = 0) => {
-      const g = [];
-      return Array.isArray(o) && (o == null ? void 0 : o.length) > 0 && o.forEach((_) => {
-        if (!(_ != null && _.isMesh) && ((_ == null ? void 0 : _.type) === "URDFJoint" || (_ == null ? void 0 : _.type) === "URDFLink")) {
-          const Y = {
-            name: _ == null ? void 0 : _.name,
-            label: _ == null ? void 0 : _.name,
+  setup(o) {
+    const t = o, e = D([]), i = (s, a = 0) => {
+      const f = [];
+      return Array.isArray(s) && (s == null ? void 0 : s.length) > 0 && s.forEach((h) => {
+        if (!(h != null && h.isMesh) && ((h == null ? void 0 : h.type) === "URDFJoint" || (h == null ? void 0 : h.type) === "URDFLink")) {
+          const x = {
+            name: h == null ? void 0 : h.name,
+            label: h == null ? void 0 : h.name,
             show: !0,
-            level: p + 1,
+            level: a + 1,
             isPenultimate: !1,
-            type: _ == null ? void 0 : _.type,
-            id: _ == null ? void 0 : _.id,
-            limit: (_ == null ? void 0 : _.limit) ?? "",
-            children: r(_ == null ? void 0 : _.children, p + 1),
-            path: _ == null ? void 0 : _.name
+            type: h == null ? void 0 : h.type,
+            id: h == null ? void 0 : h.id,
+            limit: (h == null ? void 0 : h.limit) ?? "",
+            children: i(h == null ? void 0 : h.children, a + 1),
+            path: h == null ? void 0 : h.name
           };
-          g.push(Y);
+          f.push(x);
         }
-      }), g;
-    }, J = (o) => o ? [{
-      name: o == null ? void 0 : o.name,
-      label: o == null ? void 0 : o.name,
+      }), f;
+    }, l = (s) => s ? [{
+      name: s == null ? void 0 : s.name,
+      label: s == null ? void 0 : s.name,
       show: !0,
       level: 1,
       isPenultimate: !1,
-      type: o == null ? void 0 : o.type,
-      id: o == null ? void 0 : o.id,
-      limit: (o == null ? void 0 : o.limit) ?? "",
-      children: r(o == null ? void 0 : o.children, 1),
-      path: o == null ? void 0 : o.name
-    }] : [], G = te(() => t != null && t.model ? J(t.model) : []);
-    return Ut(
-      G,
-      (o) => {
-        i.value = JSON.parse(JSON.stringify(o));
+      type: s == null ? void 0 : s.type,
+      id: s == null ? void 0 : s.id,
+      limit: (s == null ? void 0 : s.limit) ?? "",
+      children: i(s == null ? void 0 : s.children, 1),
+      path: s == null ? void 0 : s.name
+    }] : [], u = Ht(() => t != null && t.model ? l(t.model) : []);
+    return Bt(
+      u,
+      (s) => {
+        e.value = JSON.parse(JSON.stringify(s));
       },
       { immediate: !0 }
-    ), (o, p) => {
-      const g = bt("el-scrollbar"), _ = bt("el-collapse-transition");
-      return s.model ? (U(), $("div", Te, [
-        P("div", {
-          class: "panel-header",
-          onClick: p[0] || (p[0] = (Y) => e.value = !e.value)
-        }, p[1] || (p[1] = [
-          P("h3", null, "URDF树", -1)
-        ])),
-        v(_, null, {
-          default: Mt(() => [
-            ht(v(g, { "max-height": "600px" }, {
-              default: Mt(() => [
-                P("div", Se, [
-                  v(De, {
-                    treeData: i.value,
-                    expand: !0
-                  }, null, 8, ["treeData"])
-                ])
-              ]),
-              _: 1
-            }, 512), [
-              [Tt, e.value]
-            ])
-          ]),
-          _: 1
-        })
-      ])) : Jt("", !0);
-    };
+    ), (s, a) => (z(), j("div", Pe, [
+      B(ce, {
+        treeData: e.value,
+        expand: !0
+      }, null, 8, ["treeData"])
+    ]));
   }
-}), Ce = /* @__PURE__ */ ut(Ae, [["__scopeId", "data-v-bc2f3f82"]]), It = { type: "change" }, At = { type: "start" }, Zt = { type: "end" }, ft = new he(), Ft = new gt(), ke = Math.cos(70 * de.DEG2RAD), C = new u(), N = 2 * Math.PI, b = {
+}), ue = /* @__PURE__ */ Q(Je, [["__scopeId", "data-v-b1177706"]]), Mt = { type: "change" }, dt = { type: "start" }, xt = { type: "end" }, ot = new Vt(), vt = new nt(), pe = Math.cos(70 * Zt.DEG2RAD), S = new y(), H = 2 * Math.PI, M = {
   NONE: -1,
   ROTATE: 0,
   DOLLY: 1,
@@ -115,8 +89,8 @@ const Ee = { class: "tree-container" }, xe = /* @__PURE__ */ Nt({
   TOUCH_PAN: 4,
   TOUCH_DOLLY_PAN: 5,
   TOUCH_DOLLY_ROTATE: 6
-}, Dt = 1e-6;
-class ze extends le {
+}, ht = 1e-6;
+class me extends Yt {
   /**
    * Constructs a new controls instance.
    *
@@ -124,7 +98,7 @@ class ze extends le {
    * @param {?HTMLDOMElement} domElement - The HTML element used for event listeners.
    */
   constructor(t, e = null) {
-    super(t, e), this.state = b.NONE, this.target = new u(), this.cursor = new u(), this.minDistance = 0, this.maxDistance = 1 / 0, this.minZoom = 0, this.maxZoom = 1 / 0, this.minTargetRadius = 0, this.maxTargetRadius = 1 / 0, this.minPolarAngle = 0, this.maxPolarAngle = Math.PI, this.minAzimuthAngle = -1 / 0, this.maxAzimuthAngle = 1 / 0, this.enableDamping = !1, this.dampingFactor = 0.05, this.enableZoom = !0, this.zoomSpeed = 1, this.enableRotate = !0, this.rotateSpeed = 1, this.keyRotateSpeed = 1, this.enablePan = !0, this.panSpeed = 1, this.screenSpacePanning = !0, this.keyPanSpeed = 7, this.zoomToCursor = !1, this.autoRotate = !1, this.autoRotateSpeed = 2, this.keys = { LEFT: "ArrowLeft", UP: "ArrowUp", RIGHT: "ArrowRight", BOTTOM: "ArrowDown" }, this.mouseButtons = { LEFT: it.ROTATE, MIDDLE: it.DOLLY, RIGHT: it.PAN }, this.touches = { ONE: dt.ROTATE, TWO: dt.DOLLY_PAN }, this.target0 = this.target.clone(), this.position0 = this.object.position.clone(), this.zoom0 = this.object.zoom, this._domElementKeyEvents = null, this._lastPosition = new u(), this._lastQuaternion = new Lt(), this._lastTargetPosition = new u(), this._quat = new Lt().setFromUnitVectors(t.up, new u(0, 1, 0)), this._quatInverse = this._quat.clone().invert(), this._spherical = new Ht(), this._sphericalDelta = new Ht(), this._scale = 1, this._panOffset = new u(), this._rotateStart = new q(), this._rotateEnd = new q(), this._rotateDelta = new q(), this._panStart = new q(), this._panEnd = new q(), this._panDelta = new q(), this._dollyStart = new q(), this._dollyEnd = new q(), this._dollyDelta = new q(), this._dollyDirection = new u(), this._mouse = new q(), this._performCursorZoom = !1, this._pointers = [], this._pointerPositions = {}, this._controlActive = !1, this._onPointerMove = Le.bind(this), this._onPointerDown = Oe.bind(this), this._onPointerUp = He.bind(this), this._onContextMenu = Ve.bind(this), this._onMouseWheel = Fe.bind(this), this._onKeyDown = Ne.bind(this), this._onTouchStart = Ue.bind(this), this._onTouchMove = Ye.bind(this), this._onMouseDown = je.bind(this), this._onMouseMove = Ie.bind(this), this._interceptControlDown = Ze.bind(this), this._interceptControlUp = $e.bind(this), this.domElement !== null && this.connect(this.domElement), this.update();
+    super(t, e), this.state = M.NONE, this.target = new y(), this.cursor = new y(), this.minDistance = 0, this.maxDistance = 1 / 0, this.minZoom = 0, this.maxZoom = 1 / 0, this.minTargetRadius = 0, this.maxTargetRadius = 1 / 0, this.minPolarAngle = 0, this.maxPolarAngle = Math.PI, this.minAzimuthAngle = -1 / 0, this.maxAzimuthAngle = 1 / 0, this.enableDamping = !1, this.dampingFactor = 0.05, this.enableZoom = !0, this.zoomSpeed = 1, this.enableRotate = !0, this.rotateSpeed = 1, this.keyRotateSpeed = 1, this.enablePan = !0, this.panSpeed = 1, this.screenSpacePanning = !0, this.keyPanSpeed = 7, this.zoomToCursor = !1, this.autoRotate = !1, this.autoRotateSpeed = 2, this.keys = { LEFT: "ArrowLeft", UP: "ArrowUp", RIGHT: "ArrowRight", BOTTOM: "ArrowDown" }, this.mouseButtons = { LEFT: $.ROTATE, MIDDLE: $.DOLLY, RIGHT: $.PAN }, this.touches = { ONE: W.ROTATE, TWO: W.DOLLY_PAN }, this.target0 = this.target.clone(), this.position0 = this.object.position.clone(), this.zoom0 = this.object.zoom, this._domElementKeyEvents = null, this._lastPosition = new y(), this._lastQuaternion = new gt(), this._lastTargetPosition = new y(), this._quat = new gt().setFromUnitVectors(t.up, new y(0, 1, 0)), this._quatInverse = this._quat.clone().invert(), this._spherical = new yt(), this._sphericalDelta = new yt(), this._scale = 1, this._panOffset = new y(), this._rotateStart = new U(), this._rotateEnd = new U(), this._rotateDelta = new U(), this._panStart = new U(), this._panEnd = new U(), this._panDelta = new U(), this._dollyStart = new U(), this._dollyEnd = new U(), this._dollyDelta = new U(), this._dollyDirection = new y(), this._mouse = new U(), this._performCursorZoom = !1, this._pointers = [], this._pointerPositions = {}, this._controlActive = !1, this._onPointerMove = fe.bind(this), this._onPointerDown = Ge.bind(this), this._onPointerUp = ge.bind(this), this._onContextMenu = Be.bind(this), this._onMouseWheel = Me.bind(this), this._onKeyDown = ve.bind(this), this._onTouchStart = we.bind(this), this._onTouchMove = Re.bind(this), this._onMouseDown = ye.bind(this), this._onMouseMove = be.bind(this), this._interceptControlDown = Ee.bind(this), this._interceptControlUp = De.bind(this), this.domElement !== null && this.connect(this.domElement), this.update();
   }
   connect(t) {
     super.connect(t), this.domElement.addEventListener("pointerdown", this._onPointerDown), this.domElement.addEventListener("pointercancel", this._onPointerUp), this.domElement.addEventListener("contextmenu", this._onContextMenu), this.domElement.addEventListener("wheel", this._onMouseWheel, { passive: !1 }), this.domElement.getRootNode().addEventListener("keydown", this._interceptControlDown, { passive: !0, capture: !0 }), this.domElement.style.touchAction = "none";
@@ -185,45 +159,45 @@ class ze extends le {
    * was called, or the initial state.
    */
   reset() {
-    this.target.copy(this.target0), this.object.position.copy(this.position0), this.object.zoom = this.zoom0, this.object.updateProjectionMatrix(), this.dispatchEvent(It), this.update(), this.state = b.NONE;
+    this.target.copy(this.target0), this.object.position.copy(this.position0), this.object.zoom = this.zoom0, this.object.updateProjectionMatrix(), this.dispatchEvent(Mt), this.update(), this.state = M.NONE;
   }
   update(t = null) {
     const e = this.object.position;
-    C.copy(e).sub(this.target), C.applyQuaternion(this._quat), this._spherical.setFromVector3(C), this.autoRotate && this.state === b.NONE && this._rotateLeft(this._getAutoRotationAngle(t)), this.enableDamping ? (this._spherical.theta += this._sphericalDelta.theta * this.dampingFactor, this._spherical.phi += this._sphericalDelta.phi * this.dampingFactor) : (this._spherical.theta += this._sphericalDelta.theta, this._spherical.phi += this._sphericalDelta.phi);
-    let i = this.minAzimuthAngle, r = this.maxAzimuthAngle;
-    isFinite(i) && isFinite(r) && (i < -Math.PI ? i += N : i > Math.PI && (i -= N), r < -Math.PI ? r += N : r > Math.PI && (r -= N), i <= r ? this._spherical.theta = Math.max(i, Math.min(r, this._spherical.theta)) : this._spherical.theta = this._spherical.theta > (i + r) / 2 ? Math.max(i, this._spherical.theta) : Math.min(r, this._spherical.theta)), this._spherical.phi = Math.max(this.minPolarAngle, Math.min(this.maxPolarAngle, this._spherical.phi)), this._spherical.makeSafe(), this.enableDamping === !0 ? this.target.addScaledVector(this._panOffset, this.dampingFactor) : this.target.add(this._panOffset), this.target.sub(this.cursor), this.target.clampLength(this.minTargetRadius, this.maxTargetRadius), this.target.add(this.cursor);
-    let J = !1;
+    S.copy(e).sub(this.target), S.applyQuaternion(this._quat), this._spherical.setFromVector3(S), this.autoRotate && this.state === M.NONE && this._rotateLeft(this._getAutoRotationAngle(t)), this.enableDamping ? (this._spherical.theta += this._sphericalDelta.theta * this.dampingFactor, this._spherical.phi += this._sphericalDelta.phi * this.dampingFactor) : (this._spherical.theta += this._sphericalDelta.theta, this._spherical.phi += this._sphericalDelta.phi);
+    let i = this.minAzimuthAngle, l = this.maxAzimuthAngle;
+    isFinite(i) && isFinite(l) && (i < -Math.PI ? i += H : i > Math.PI && (i -= H), l < -Math.PI ? l += H : l > Math.PI && (l -= H), i <= l ? this._spherical.theta = Math.max(i, Math.min(l, this._spherical.theta)) : this._spherical.theta = this._spherical.theta > (i + l) / 2 ? Math.max(i, this._spherical.theta) : Math.min(l, this._spherical.theta)), this._spherical.phi = Math.max(this.minPolarAngle, Math.min(this.maxPolarAngle, this._spherical.phi)), this._spherical.makeSafe(), this.enableDamping === !0 ? this.target.addScaledVector(this._panOffset, this.dampingFactor) : this.target.add(this._panOffset), this.target.sub(this.cursor), this.target.clampLength(this.minTargetRadius, this.maxTargetRadius), this.target.add(this.cursor);
+    let u = !1;
     if (this.zoomToCursor && this._performCursorZoom || this.object.isOrthographicCamera)
       this._spherical.radius = this._clampDistance(this._spherical.radius);
     else {
-      const G = this._spherical.radius;
-      this._spherical.radius = this._clampDistance(this._spherical.radius * this._scale), J = G != this._spherical.radius;
+      const s = this._spherical.radius;
+      this._spherical.radius = this._clampDistance(this._spherical.radius * this._scale), u = s != this._spherical.radius;
     }
-    if (C.setFromSpherical(this._spherical), C.applyQuaternion(this._quatInverse), e.copy(this.target).add(C), this.object.lookAt(this.target), this.enableDamping === !0 ? (this._sphericalDelta.theta *= 1 - this.dampingFactor, this._sphericalDelta.phi *= 1 - this.dampingFactor, this._panOffset.multiplyScalar(1 - this.dampingFactor)) : (this._sphericalDelta.set(0, 0, 0), this._panOffset.set(0, 0, 0)), this.zoomToCursor && this._performCursorZoom) {
-      let G = null;
+    if (S.setFromSpherical(this._spherical), S.applyQuaternion(this._quatInverse), e.copy(this.target).add(S), this.object.lookAt(this.target), this.enableDamping === !0 ? (this._sphericalDelta.theta *= 1 - this.dampingFactor, this._sphericalDelta.phi *= 1 - this.dampingFactor, this._panOffset.multiplyScalar(1 - this.dampingFactor)) : (this._sphericalDelta.set(0, 0, 0), this._panOffset.set(0, 0, 0)), this.zoomToCursor && this._performCursorZoom) {
+      let s = null;
       if (this.object.isPerspectiveCamera) {
-        const o = C.length();
-        G = this._clampDistance(o * this._scale);
-        const p = o - G;
-        this.object.position.addScaledVector(this._dollyDirection, p), this.object.updateMatrixWorld(), J = !!p;
+        const a = S.length();
+        s = this._clampDistance(a * this._scale);
+        const f = a - s;
+        this.object.position.addScaledVector(this._dollyDirection, f), this.object.updateMatrixWorld(), u = !!f;
       } else if (this.object.isOrthographicCamera) {
-        const o = new u(this._mouse.x, this._mouse.y, 0);
-        o.unproject(this.object);
-        const p = this.object.zoom;
-        this.object.zoom = Math.max(this.minZoom, Math.min(this.maxZoom, this.object.zoom / this._scale)), this.object.updateProjectionMatrix(), J = p !== this.object.zoom;
-        const g = new u(this._mouse.x, this._mouse.y, 0);
-        g.unproject(this.object), this.object.position.sub(g).add(o), this.object.updateMatrixWorld(), G = C.length();
+        const a = new y(this._mouse.x, this._mouse.y, 0);
+        a.unproject(this.object);
+        const f = this.object.zoom;
+        this.object.zoom = Math.max(this.minZoom, Math.min(this.maxZoom, this.object.zoom / this._scale)), this.object.updateProjectionMatrix(), u = f !== this.object.zoom;
+        const h = new y(this._mouse.x, this._mouse.y, 0);
+        h.unproject(this.object), this.object.position.sub(h).add(a), this.object.updateMatrixWorld(), s = S.length();
       } else
         console.warn("WARNING: OrbitControls.js encountered an unknown camera type - zoom to cursor disabled."), this.zoomToCursor = !1;
-      G !== null && (this.screenSpacePanning ? this.target.set(0, 0, -1).transformDirection(this.object.matrix).multiplyScalar(G).add(this.object.position) : (ft.origin.copy(this.object.position), ft.direction.set(0, 0, -1).transformDirection(this.object.matrix), Math.abs(this.object.up.dot(ft.direction)) < ke ? this.object.lookAt(this.target) : (Ft.setFromNormalAndCoplanarPoint(this.object.up, this.target), ft.intersectPlane(Ft, this.target))));
+      s !== null && (this.screenSpacePanning ? this.target.set(0, 0, -1).transformDirection(this.object.matrix).multiplyScalar(s).add(this.object.position) : (ot.origin.copy(this.object.position), ot.direction.set(0, 0, -1).transformDirection(this.object.matrix), Math.abs(this.object.up.dot(ot.direction)) < pe ? this.object.lookAt(this.target) : (vt.setFromNormalAndCoplanarPoint(this.object.up, this.target), ot.intersectPlane(vt, this.target))));
     } else if (this.object.isOrthographicCamera) {
-      const G = this.object.zoom;
-      this.object.zoom = Math.max(this.minZoom, Math.min(this.maxZoom, this.object.zoom / this._scale)), G !== this.object.zoom && (this.object.updateProjectionMatrix(), J = !0);
+      const s = this.object.zoom;
+      this.object.zoom = Math.max(this.minZoom, Math.min(this.maxZoom, this.object.zoom / this._scale)), s !== this.object.zoom && (this.object.updateProjectionMatrix(), u = !0);
     }
-    return this._scale = 1, this._performCursorZoom = !1, J || this._lastPosition.distanceToSquared(this.object.position) > Dt || 8 * (1 - this._lastQuaternion.dot(this.object.quaternion)) > Dt || this._lastTargetPosition.distanceToSquared(this.target) > Dt ? (this.dispatchEvent(It), this._lastPosition.copy(this.object.position), this._lastQuaternion.copy(this.object.quaternion), this._lastTargetPosition.copy(this.target), !0) : !1;
+    return this._scale = 1, this._performCursorZoom = !1, u || this._lastPosition.distanceToSquared(this.object.position) > ht || 8 * (1 - this._lastQuaternion.dot(this.object.quaternion)) > ht || this._lastTargetPosition.distanceToSquared(this.target) > ht ? (this.dispatchEvent(Mt), this._lastPosition.copy(this.object.position), this._lastQuaternion.copy(this.object.quaternion), this._lastTargetPosition.copy(this.target), !0) : !1;
   }
   _getAutoRotationAngle(t) {
-    return t !== null ? N / 60 * this.autoRotateSpeed * t : N / 60 / 60 * this.autoRotateSpeed;
+    return t !== null ? H / 60 * this.autoRotateSpeed * t : H / 60 / 60 * this.autoRotateSpeed;
   }
   _getZoomScale(t) {
     const e = Math.abs(t * 0.01);
@@ -236,19 +210,19 @@ class ze extends le {
     this._sphericalDelta.phi -= t;
   }
   _panLeft(t, e) {
-    C.setFromMatrixColumn(e, 0), C.multiplyScalar(-t), this._panOffset.add(C);
+    S.setFromMatrixColumn(e, 0), S.multiplyScalar(-t), this._panOffset.add(S);
   }
   _panUp(t, e) {
-    this.screenSpacePanning === !0 ? C.setFromMatrixColumn(e, 1) : (C.setFromMatrixColumn(e, 0), C.crossVectors(this.object.up, C)), C.multiplyScalar(t), this._panOffset.add(C);
+    this.screenSpacePanning === !0 ? S.setFromMatrixColumn(e, 1) : (S.setFromMatrixColumn(e, 0), S.crossVectors(this.object.up, S)), S.multiplyScalar(t), this._panOffset.add(S);
   }
   // deltaX and deltaY are in pixels; right and down are positive
   _pan(t, e) {
     const i = this.domElement;
     if (this.object.isPerspectiveCamera) {
-      const r = this.object.position;
-      C.copy(r).sub(this.target);
-      let J = C.length();
-      J *= Math.tan(this.object.fov / 2 * Math.PI / 180), this._panLeft(2 * t * J / i.clientHeight, this.object.matrix), this._panUp(2 * e * J / i.clientHeight, this.object.matrix);
+      const l = this.object.position;
+      S.copy(l).sub(this.target);
+      let u = S.length();
+      u *= Math.tan(this.object.fov / 2 * Math.PI / 180), this._panLeft(2 * t * u / i.clientHeight, this.object.matrix), this._panUp(2 * e * u / i.clientHeight, this.object.matrix);
     } else this.object.isOrthographicCamera ? (this._panLeft(t * (this.object.right - this.object.left) / this.object.zoom / i.clientWidth, this.object.matrix), this._panUp(e * (this.object.top - this.object.bottom) / this.object.zoom / i.clientHeight, this.object.matrix)) : (console.warn("WARNING: OrbitControls.js encountered an unknown camera type - pan disabled."), this.enablePan = !1);
   }
   _dollyOut(t) {
@@ -261,8 +235,8 @@ class ze extends le {
     if (!this.zoomToCursor)
       return;
     this._performCursorZoom = !0;
-    const i = this.domElement.getBoundingClientRect(), r = t - i.left, J = e - i.top, G = i.width, o = i.height;
-    this._mouse.x = r / G * 2 - 1, this._mouse.y = -(J / o) * 2 + 1, this._dollyDirection.set(this._mouse.x, this._mouse.y, 1).unproject(this.object).sub(this.object.position).normalize();
+    const i = this.domElement.getBoundingClientRect(), l = t - i.left, u = e - i.top, s = i.width, a = i.height;
+    this._mouse.x = l / s * 2 - 1, this._mouse.y = -(u / a) * 2 + 1, this._dollyDirection.set(this._mouse.x, this._mouse.y, 1).unproject(this.object).sub(this.object.position).normalize();
   }
   _clampDistance(t) {
     return Math.max(this.minDistance, Math.min(this.maxDistance, t));
@@ -282,7 +256,7 @@ class ze extends le {
   _handleMouseMoveRotate(t) {
     this._rotateEnd.set(t.clientX, t.clientY), this._rotateDelta.subVectors(this._rotateEnd, this._rotateStart).multiplyScalar(this.rotateSpeed);
     const e = this.domElement;
-    this._rotateLeft(N * this._rotateDelta.x / e.clientHeight), this._rotateUp(N * this._rotateDelta.y / e.clientHeight), this._rotateStart.copy(this._rotateEnd), this.update();
+    this._rotateLeft(H * this._rotateDelta.x / e.clientHeight), this._rotateUp(H * this._rotateDelta.y / e.clientHeight), this._rotateStart.copy(this._rotateEnd), this.update();
   }
   _handleMouseMoveDolly(t) {
     this._dollyEnd.set(t.clientX, t.clientY), this._dollyDelta.subVectors(this._dollyEnd, this._dollyStart), this._dollyDelta.y > 0 ? this._dollyOut(this._getZoomScale(this._dollyDelta.y)) : this._dollyDelta.y < 0 && this._dollyIn(this._getZoomScale(this._dollyDelta.y)), this._dollyStart.copy(this._dollyEnd), this.update();
@@ -297,16 +271,16 @@ class ze extends le {
     let e = !1;
     switch (t.code) {
       case this.keys.UP:
-        t.ctrlKey || t.metaKey || t.shiftKey ? this.enableRotate && this._rotateUp(N * this.keyRotateSpeed / this.domElement.clientHeight) : this.enablePan && this._pan(0, this.keyPanSpeed), e = !0;
+        t.ctrlKey || t.metaKey || t.shiftKey ? this.enableRotate && this._rotateUp(H * this.keyRotateSpeed / this.domElement.clientHeight) : this.enablePan && this._pan(0, this.keyPanSpeed), e = !0;
         break;
       case this.keys.BOTTOM:
-        t.ctrlKey || t.metaKey || t.shiftKey ? this.enableRotate && this._rotateUp(-N * this.keyRotateSpeed / this.domElement.clientHeight) : this.enablePan && this._pan(0, -this.keyPanSpeed), e = !0;
+        t.ctrlKey || t.metaKey || t.shiftKey ? this.enableRotate && this._rotateUp(-H * this.keyRotateSpeed / this.domElement.clientHeight) : this.enablePan && this._pan(0, -this.keyPanSpeed), e = !0;
         break;
       case this.keys.LEFT:
-        t.ctrlKey || t.metaKey || t.shiftKey ? this.enableRotate && this._rotateLeft(N * this.keyRotateSpeed / this.domElement.clientHeight) : this.enablePan && this._pan(this.keyPanSpeed, 0), e = !0;
+        t.ctrlKey || t.metaKey || t.shiftKey ? this.enableRotate && this._rotateLeft(H * this.keyRotateSpeed / this.domElement.clientHeight) : this.enablePan && this._pan(this.keyPanSpeed, 0), e = !0;
         break;
       case this.keys.RIGHT:
-        t.ctrlKey || t.metaKey || t.shiftKey ? this.enableRotate && this._rotateLeft(-N * this.keyRotateSpeed / this.domElement.clientHeight) : this.enablePan && this._pan(-this.keyPanSpeed, 0), e = !0;
+        t.ctrlKey || t.metaKey || t.shiftKey ? this.enableRotate && this._rotateLeft(-H * this.keyRotateSpeed / this.domElement.clientHeight) : this.enablePan && this._pan(-this.keyPanSpeed, 0), e = !0;
         break;
     }
     e && (t.preventDefault(), this.update());
@@ -315,21 +289,21 @@ class ze extends le {
     if (this._pointers.length === 1)
       this._rotateStart.set(t.pageX, t.pageY);
     else {
-      const e = this._getSecondPointerPosition(t), i = 0.5 * (t.pageX + e.x), r = 0.5 * (t.pageY + e.y);
-      this._rotateStart.set(i, r);
+      const e = this._getSecondPointerPosition(t), i = 0.5 * (t.pageX + e.x), l = 0.5 * (t.pageY + e.y);
+      this._rotateStart.set(i, l);
     }
   }
   _handleTouchStartPan(t) {
     if (this._pointers.length === 1)
       this._panStart.set(t.pageX, t.pageY);
     else {
-      const e = this._getSecondPointerPosition(t), i = 0.5 * (t.pageX + e.x), r = 0.5 * (t.pageY + e.y);
-      this._panStart.set(i, r);
+      const e = this._getSecondPointerPosition(t), i = 0.5 * (t.pageX + e.x), l = 0.5 * (t.pageY + e.y);
+      this._panStart.set(i, l);
     }
   }
   _handleTouchStartDolly(t) {
-    const e = this._getSecondPointerPosition(t), i = t.pageX - e.x, r = t.pageY - e.y, J = Math.sqrt(i * i + r * r);
-    this._dollyStart.set(0, J);
+    const e = this._getSecondPointerPosition(t), i = t.pageX - e.x, l = t.pageY - e.y, u = Math.sqrt(i * i + l * l);
+    this._dollyStart.set(0, u);
   }
   _handleTouchStartDollyPan(t) {
     this.enableZoom && this._handleTouchStartDolly(t), this.enablePan && this._handleTouchStartPan(t);
@@ -341,27 +315,27 @@ class ze extends le {
     if (this._pointers.length == 1)
       this._rotateEnd.set(t.pageX, t.pageY);
     else {
-      const i = this._getSecondPointerPosition(t), r = 0.5 * (t.pageX + i.x), J = 0.5 * (t.pageY + i.y);
-      this._rotateEnd.set(r, J);
+      const i = this._getSecondPointerPosition(t), l = 0.5 * (t.pageX + i.x), u = 0.5 * (t.pageY + i.y);
+      this._rotateEnd.set(l, u);
     }
     this._rotateDelta.subVectors(this._rotateEnd, this._rotateStart).multiplyScalar(this.rotateSpeed);
     const e = this.domElement;
-    this._rotateLeft(N * this._rotateDelta.x / e.clientHeight), this._rotateUp(N * this._rotateDelta.y / e.clientHeight), this._rotateStart.copy(this._rotateEnd);
+    this._rotateLeft(H * this._rotateDelta.x / e.clientHeight), this._rotateUp(H * this._rotateDelta.y / e.clientHeight), this._rotateStart.copy(this._rotateEnd);
   }
   _handleTouchMovePan(t) {
     if (this._pointers.length === 1)
       this._panEnd.set(t.pageX, t.pageY);
     else {
-      const e = this._getSecondPointerPosition(t), i = 0.5 * (t.pageX + e.x), r = 0.5 * (t.pageY + e.y);
-      this._panEnd.set(i, r);
+      const e = this._getSecondPointerPosition(t), i = 0.5 * (t.pageX + e.x), l = 0.5 * (t.pageY + e.y);
+      this._panEnd.set(i, l);
     }
     this._panDelta.subVectors(this._panEnd, this._panStart).multiplyScalar(this.panSpeed), this._pan(this._panDelta.x, this._panDelta.y), this._panStart.copy(this._panEnd);
   }
   _handleTouchMoveDolly(t) {
-    const e = this._getSecondPointerPosition(t), i = t.pageX - e.x, r = t.pageY - e.y, J = Math.sqrt(i * i + r * r);
-    this._dollyEnd.set(0, J), this._dollyDelta.set(0, Math.pow(this._dollyEnd.y / this._dollyStart.y, this.zoomSpeed)), this._dollyOut(this._dollyDelta.y), this._dollyStart.copy(this._dollyEnd);
-    const G = (t.pageX + e.x) * 0.5, o = (t.pageY + e.y) * 0.5;
-    this._updateZoomParameters(G, o);
+    const e = this._getSecondPointerPosition(t), i = t.pageX - e.x, l = t.pageY - e.y, u = Math.sqrt(i * i + l * l);
+    this._dollyEnd.set(0, u), this._dollyDelta.set(0, Math.pow(this._dollyEnd.y / this._dollyStart.y, this.zoomSpeed)), this._dollyOut(this._dollyDelta.y), this._dollyStart.copy(this._dollyEnd);
+    const s = (t.pageX + e.x) * 0.5, a = (t.pageY + e.y) * 0.5;
+    this._updateZoomParameters(s, a);
   }
   _handleTouchMoveDollyPan(t) {
     this.enableZoom && this._handleTouchMoveDolly(t), this.enablePan && this._handleTouchMovePan(t);
@@ -388,7 +362,7 @@ class ze extends le {
   }
   _trackPointer(t) {
     let e = this._pointerPositions[t.pointerId];
-    e === void 0 && (e = new q(), this._pointerPositions[t.pointerId] = e), e.set(t.pageX, t.pageY);
+    e === void 0 && (e = new U(), this._pointerPositions[t.pointerId] = e), e.set(t.pageX, t.pageY);
   }
   _getSecondPointerPosition(t) {
     const e = t.pointerId === this._pointers[0] ? this._pointers[1] : this._pointers[0];
@@ -412,16 +386,16 @@ class ze extends le {
     return t.ctrlKey && !this._controlActive && (i.deltaY *= 10), i;
   }
 }
-function Oe(s) {
-  this.enabled !== !1 && (this._pointers.length === 0 && (this.domElement.setPointerCapture(s.pointerId), this.domElement.addEventListener("pointermove", this._onPointerMove), this.domElement.addEventListener("pointerup", this._onPointerUp)), !this._isTrackingPointer(s) && (this._addPointer(s), s.pointerType === "touch" ? this._onTouchStart(s) : this._onMouseDown(s)));
+function Ge(o) {
+  this.enabled !== !1 && (this._pointers.length === 0 && (this.domElement.setPointerCapture(o.pointerId), this.domElement.addEventListener("pointermove", this._onPointerMove), this.domElement.addEventListener("pointerup", this._onPointerUp)), !this._isTrackingPointer(o) && (this._addPointer(o), o.pointerType === "touch" ? this._onTouchStart(o) : this._onMouseDown(o)));
 }
-function Le(s) {
-  this.enabled !== !1 && (s.pointerType === "touch" ? this._onTouchMove(s) : this._onMouseMove(s));
+function fe(o) {
+  this.enabled !== !1 && (o.pointerType === "touch" ? this._onTouchMove(o) : this._onMouseMove(o));
 }
-function He(s) {
-  switch (this._removePointer(s), this._pointers.length) {
+function ge(o) {
+  switch (this._removePointer(o), this._pointers.length) {
     case 0:
-      this.domElement.releasePointerCapture(s.pointerId), this.domElement.removeEventListener("pointermove", this._onPointerMove), this.domElement.removeEventListener("pointerup", this._onPointerUp), this.dispatchEvent(Zt), this.state = b.NONE;
+      this.domElement.releasePointerCapture(o.pointerId), this.domElement.removeEventListener("pointermove", this._onPointerMove), this.domElement.removeEventListener("pointerup", this._onPointerUp), this.dispatchEvent(xt), this.state = M.NONE;
       break;
     case 1:
       const t = this._pointers[0], e = this._pointerPositions[t];
@@ -429,9 +403,9 @@ function He(s) {
       break;
   }
 }
-function je(s) {
+function ye(o) {
   let t;
-  switch (s.button) {
+  switch (o.button) {
     case 0:
       t = this.mouseButtons.LEFT;
       break;
@@ -445,136 +419,136 @@ function je(s) {
       t = -1;
   }
   switch (t) {
-    case it.DOLLY:
+    case $.DOLLY:
       if (this.enableZoom === !1) return;
-      this._handleMouseDownDolly(s), this.state = b.DOLLY;
+      this._handleMouseDownDolly(o), this.state = M.DOLLY;
       break;
-    case it.ROTATE:
-      if (s.ctrlKey || s.metaKey || s.shiftKey) {
+    case $.ROTATE:
+      if (o.ctrlKey || o.metaKey || o.shiftKey) {
         if (this.enablePan === !1) return;
-        this._handleMouseDownPan(s), this.state = b.PAN;
+        this._handleMouseDownPan(o), this.state = M.PAN;
       } else {
         if (this.enableRotate === !1) return;
-        this._handleMouseDownRotate(s), this.state = b.ROTATE;
+        this._handleMouseDownRotate(o), this.state = M.ROTATE;
       }
       break;
-    case it.PAN:
-      if (s.ctrlKey || s.metaKey || s.shiftKey) {
+    case $.PAN:
+      if (o.ctrlKey || o.metaKey || o.shiftKey) {
         if (this.enableRotate === !1) return;
-        this._handleMouseDownRotate(s), this.state = b.ROTATE;
+        this._handleMouseDownRotate(o), this.state = M.ROTATE;
       } else {
         if (this.enablePan === !1) return;
-        this._handleMouseDownPan(s), this.state = b.PAN;
+        this._handleMouseDownPan(o), this.state = M.PAN;
       }
       break;
     default:
-      this.state = b.NONE;
+      this.state = M.NONE;
   }
-  this.state !== b.NONE && this.dispatchEvent(At);
+  this.state !== M.NONE && this.dispatchEvent(dt);
 }
-function Ie(s) {
+function be(o) {
   switch (this.state) {
-    case b.ROTATE:
+    case M.ROTATE:
       if (this.enableRotate === !1) return;
-      this._handleMouseMoveRotate(s);
+      this._handleMouseMoveRotate(o);
       break;
-    case b.DOLLY:
+    case M.DOLLY:
       if (this.enableZoom === !1) return;
-      this._handleMouseMoveDolly(s);
+      this._handleMouseMoveDolly(o);
       break;
-    case b.PAN:
+    case M.PAN:
       if (this.enablePan === !1) return;
-      this._handleMouseMovePan(s);
+      this._handleMouseMovePan(o);
       break;
   }
 }
-function Fe(s) {
-  this.enabled === !1 || this.enableZoom === !1 || this.state !== b.NONE || (s.preventDefault(), this.dispatchEvent(At), this._handleMouseWheel(this._customWheelEvent(s)), this.dispatchEvent(Zt));
+function Me(o) {
+  this.enabled === !1 || this.enableZoom === !1 || this.state !== M.NONE || (o.preventDefault(), this.dispatchEvent(dt), this._handleMouseWheel(this._customWheelEvent(o)), this.dispatchEvent(xt));
 }
-function Ne(s) {
-  this.enabled !== !1 && this._handleKeyDown(s);
+function ve(o) {
+  this.enabled !== !1 && this._handleKeyDown(o);
 }
-function Ue(s) {
-  switch (this._trackPointer(s), this._pointers.length) {
+function we(o) {
+  switch (this._trackPointer(o), this._pointers.length) {
     case 1:
       switch (this.touches.ONE) {
-        case dt.ROTATE:
+        case W.ROTATE:
           if (this.enableRotate === !1) return;
-          this._handleTouchStartRotate(s), this.state = b.TOUCH_ROTATE;
+          this._handleTouchStartRotate(o), this.state = M.TOUCH_ROTATE;
           break;
-        case dt.PAN:
+        case W.PAN:
           if (this.enablePan === !1) return;
-          this._handleTouchStartPan(s), this.state = b.TOUCH_PAN;
+          this._handleTouchStartPan(o), this.state = M.TOUCH_PAN;
           break;
         default:
-          this.state = b.NONE;
+          this.state = M.NONE;
       }
       break;
     case 2:
       switch (this.touches.TWO) {
-        case dt.DOLLY_PAN:
+        case W.DOLLY_PAN:
           if (this.enableZoom === !1 && this.enablePan === !1) return;
-          this._handleTouchStartDollyPan(s), this.state = b.TOUCH_DOLLY_PAN;
+          this._handleTouchStartDollyPan(o), this.state = M.TOUCH_DOLLY_PAN;
           break;
-        case dt.DOLLY_ROTATE:
+        case W.DOLLY_ROTATE:
           if (this.enableZoom === !1 && this.enableRotate === !1) return;
-          this._handleTouchStartDollyRotate(s), this.state = b.TOUCH_DOLLY_ROTATE;
+          this._handleTouchStartDollyRotate(o), this.state = M.TOUCH_DOLLY_ROTATE;
           break;
         default:
-          this.state = b.NONE;
+          this.state = M.NONE;
       }
       break;
     default:
-      this.state = b.NONE;
+      this.state = M.NONE;
   }
-  this.state !== b.NONE && this.dispatchEvent(At);
+  this.state !== M.NONE && this.dispatchEvent(dt);
 }
-function Ye(s) {
-  switch (this._trackPointer(s), this.state) {
-    case b.TOUCH_ROTATE:
+function Re(o) {
+  switch (this._trackPointer(o), this.state) {
+    case M.TOUCH_ROTATE:
       if (this.enableRotate === !1) return;
-      this._handleTouchMoveRotate(s), this.update();
+      this._handleTouchMoveRotate(o), this.update();
       break;
-    case b.TOUCH_PAN:
+    case M.TOUCH_PAN:
       if (this.enablePan === !1) return;
-      this._handleTouchMovePan(s), this.update();
+      this._handleTouchMovePan(o), this.update();
       break;
-    case b.TOUCH_DOLLY_PAN:
+    case M.TOUCH_DOLLY_PAN:
       if (this.enableZoom === !1 && this.enablePan === !1) return;
-      this._handleTouchMoveDollyPan(s), this.update();
+      this._handleTouchMoveDollyPan(o), this.update();
       break;
-    case b.TOUCH_DOLLY_ROTATE:
+    case M.TOUCH_DOLLY_ROTATE:
       if (this.enableZoom === !1 && this.enableRotate === !1) return;
-      this._handleTouchMoveDollyRotate(s), this.update();
+      this._handleTouchMoveDollyRotate(o), this.update();
       break;
     default:
-      this.state = b.NONE;
+      this.state = M.NONE;
   }
 }
-function Ve(s) {
-  this.enabled !== !1 && s.preventDefault();
+function Be(o) {
+  this.enabled !== !1 && o.preventDefault();
 }
-function Ze(s) {
-  s.key === "Control" && (this._controlActive = !0, this.domElement.getRootNode().addEventListener("keyup", this._interceptControlUp, { passive: !0, capture: !0 }));
+function Ee(o) {
+  o.key === "Control" && (this._controlActive = !0, this.domElement.getRootNode().addEventListener("keyup", this._interceptControlUp, { passive: !0, capture: !0 }));
 }
-function $e(s) {
-  s.key === "Control" && (this._controlActive = !1, this.domElement.getRootNode().removeEventListener("keyup", this._interceptControlUp, { passive: !0, capture: !0 }));
+function De(o) {
+  o.key === "Control" && (this._controlActive = !1, this.domElement.getRootNode().removeEventListener("keyup", this._interceptControlUp, { passive: !0, capture: !0 }));
 }
-function Ke(s) {
-  let t = null, e = null, i = null, r = null, J = null, G = null, o = null, p = null;
-  const g = S([]), _ = S(new u()), Y = S(new u()), V = () => {
-    if (!s.value) return;
-    t = new ce(), t.background = new _e(15790320);
-    const a = s.value;
-    e = new Pe(75, a.clientWidth / a.clientHeight, 0.1, 1e4), e.position.set(8, -8, 6), e.up.set(0, 0, 1), e.lookAt(0, 0, 0), i = new Je({
+function xe(o) {
+  let t = null, e = null, i = null, l = null, u = null, s = null, a = null, f = null;
+  const h = D([]), x = D(new y()), O = D(new y()), k = () => {
+    if (!o.value) return;
+    t = new $t(), t.background = new Kt(15790320);
+    const r = o.value;
+    e = new Xt(75, r.clientWidth / r.clientHeight, 0.1, 1e4), e.position.set(8, -8, 6), e.up.set(0, 0, 1), e.lookAt(0, 0, 0), i = new Wt({
       antialias: !0,
       alpha: !0
-    }), i.setSize(a.clientWidth, a.clientHeight), i.localClippingEnabled = !0, i.shadowMap.enabled = !0, i.shadowMap.type = ue, i.toneMapping = pe, i.toneMappingExposure = 1, i.outputColorSpace = me, a.appendChild(i.domElement), r = new ze(e, i.domElement), r.enableDamping = !0, r.dampingFactor = 0.05, r.mouseButtons = {
-      LEFT: it.ROTATE,
-      MIDDLE: it.PAN,
+    }), i.setSize(r.clientWidth, r.clientHeight), i.localClippingEnabled = !0, i.shadowMap.enabled = !0, i.shadowMap.type = qt, i.toneMapping = Qt, i.toneMappingExposure = 1, i.outputColorSpace = te, r.appendChild(i.domElement), l = new me(e, i.domElement), l.enableDamping = !0, l.dampingFactor = 0.05, l.mouseButtons = {
+      LEFT: $.ROTATE,
+      MIDDLE: $.PAN,
       RIGHT: null
-    }, r.panSpeed = 0.7, J = new Ge(e, i, {
-      container: a,
+    }, l.panSpeed = 0.7, u = new ee(e, i, {
+      container: r,
       type: "cube",
       placement: "top-right",
       offset: {
@@ -603,49 +577,49 @@ function Ke(s) {
       back: {
         label: "Bottom"
       }
-    }), J.attachControls(r), w(), d();
-  }, K = (a, n) => {
-    o && (t.remove(o), o.dispose()), p && (t.remove(p), p.geometry.dispose(), p.material.dispose());
-    const l = Math.min(Math.max(Math.floor(a / 20), 30), 40);
-    o = new fe(a, l, 13421772, 14540253), o.rotateX(Math.PI / 2), o.position.copy(n), t.add(o);
-    const y = new yt(a, a), M = new ge({
+    }), u.attachControls(l), v(), d();
+  }, I = (r, n) => {
+    a && (t.remove(a), a.dispose()), f && (t.remove(f), f.geometry.dispose(), f.material.dispose());
+    const b = Math.min(Math.max(Math.floor(r / 20), 30), 40);
+    a = new ie(r, b, 13421772, 14540253), a.rotateX(Math.PI / 2), a.position.copy(n), t.add(a);
+    const R = new at(r, r), L = new oe({
       opacity: 0.3,
       // 阴影透明度
       color: 0
     });
-    p = new St(y, M), p.position.copy(n), p.position.z -= 0.01, p.receiveShadow = !0, t.add(p);
-  }, I = () => {
-    if (g.value.length === 0)
+    f = new Dt(R, L), f.position.copy(n), f.position.z -= 0.01, f.receiveShadow = !0, t.add(f);
+  }, F = () => {
+    if (h.value.length === 0)
       return;
-    const a = new wt();
-    g.value.forEach((k) => {
-      a.expandByObject(k);
+    const r = new st();
+    h.value.forEach((V) => {
+      r.expandByObject(V);
     });
-    const n = a.getSize(new u()), l = a.getCenter(new u()), y = Math.max(n.x, n.y, n.z), M = Math.max(y * 8, 50), D = new u(
-      l.x,
-      l.y,
-      a.min.z
+    const n = r.getSize(new y()), b = r.getCenter(new y()), R = Math.max(n.x, n.y, n.z), L = Math.max(R * 8, 50), N = new y(
+      b.x,
+      b.y,
+      r.min.z
       // 模型的最底部
     );
-    K(M, D);
-  }, w = () => {
-    const a = new ye(4210752, 0.6);
-    t.add(a);
-    const n = new Bt(16777215, 2);
+    I(L, N);
+  }, v = () => {
+    const r = new ne(4210752, 0.6);
+    t.add(r);
+    const n = new rt(16777215, 2);
     n.position.set(10, 10, 8), n.castShadow = !0, n.shadow.mapSize.width = 4096, n.shadow.mapSize.height = 4096, n.shadow.camera.near = 0.5, n.shadow.camera.far = 50, n.shadow.camera.left = -50, n.shadow.camera.right = 50, n.shadow.camera.top = 50, n.shadow.camera.bottom = -50, t.add(n);
-    const l = new Bt(16777215, 0.8);
-    l.position.set(-8, -8, 6), t.add(l);
-    const y = new Bt(16777215, 0.6);
-    y.position.set(0, -15, 2), t.add(y);
-    const M = new be(16777215, 4473924, 0.8);
-    t.add(M);
-    const D = new jt(16777215, 1, 50);
-    D.position.set(15, 15, 15), t.add(D);
-    const k = new jt(16777215, 0.5, 50);
-    k.position.set(-15, -15, 15), t.add(k);
+    const b = new rt(16777215, 0.8);
+    b.position.set(-8, -8, 6), t.add(b);
+    const R = new rt(16777215, 0.6);
+    R.position.set(0, -15, 2), t.add(R);
+    const L = new ae(16777215, 4473924, 0.8);
+    t.add(L);
+    const N = new bt(16777215, 1, 50);
+    N.position.set(15, 15, 15), t.add(N);
+    const V = new bt(16777215, 0.5, 50);
+    V.position.set(-15, -15, 15), t.add(V);
   }, d = () => {
-    G = requestAnimationFrame(d), r && r.update(), i && t && e && i.render(t, e), J && J.render();
-  }, m = (a) => {
+    s = requestAnimationFrame(d), l && l.update(), i && t && e && i.render(t, e), u && u.render();
+  }, m = (r) => {
     [
       "map",
       "normalMap",
@@ -658,208 +632,208 @@ function Ke(s) {
       "lightMap",
       "aoMap",
       "displacementMap"
-    ].forEach((l) => {
-      a[l] && a[l].dispose && a[l].dispose();
-    }), a.dispose && a.dispose();
-  }, f = (a) => {
-    a == null || a.traverse((n) => {
-      n.geometry && n.geometry.dispose(), n.material && (Array.isArray(n.material) ? n.material.forEach((l) => {
-        m(l);
+    ].forEach((b) => {
+      r[b] && r[b].dispose && r[b].dispose();
+    }), r.dispose && r.dispose();
+  }, g = (r) => {
+    r == null || r.traverse((n) => {
+      n.geometry && n.geometry.dispose(), n.material && (Array.isArray(n.material) ? n.material.forEach((b) => {
+        m(b);
       }) : m(n.material));
     });
   };
   return {
     // 响应式数据
-    currentModels: g,
-    initialCameraPosition: _,
-    initialTargetPosition: Y,
+    currentModels: h,
+    initialCameraPosition: x,
+    initialTargetPosition: O,
     // 方法
-    initThreeJS: V,
+    initThreeJS: k,
     handleResize: () => {
-      if (!s.value || !e || !i || !J) return;
-      const a = s.value, n = a.clientWidth, l = a.clientHeight;
-      e.aspect = n / l, e.updateProjectionMatrix(), i.setSize(n, l), J.update();
+      if (!o.value || !e || !i || !u) return;
+      const r = o.value, n = r.clientWidth, b = r.clientHeight;
+      e.aspect = n / b, e.updateProjectionMatrix(), i.setSize(n, b), u.update();
     },
     fitCameraToAllModels: () => {
-      if (!e || !r || g.value.length === 0) return;
-      const a = new wt();
-      g.value.forEach((k) => {
-        a.expandByObject(k);
+      if (!e || !l || h.value.length === 0) return;
+      const r = new st();
+      h.value.forEach((V) => {
+        r.expandByObject(V);
       });
-      const n = a.getSize(new u()), l = a.getCenter(new u()), M = Math.max(n.x, n.y, n.z) * 0.8, D = new u(l.x + M, l.y - M, l.z + M);
-      e.position.copy(D), e.lookAt(l), r.target.copy(l), r.update(), _.value.copy(D), Y.value.copy(l), I();
+      const n = r.getSize(new y()), b = r.getCenter(new y()), L = Math.max(n.x, n.y, n.z) * 0.8, N = new y(b.x + L, b.y - L, b.z + L);
+      e.position.copy(N), e.lookAt(b), l.target.copy(b), l.update(), x.value.copy(N), O.value.copy(b), F();
     },
     getThreeJSObjects: () => ({
       scene: t,
       camera: e,
       renderer: i,
-      controls: r,
-      gizmo: J
+      controls: l,
+      gizmo: u
     }),
     clearAllModels: () => {
       if (!t) return;
-      g.value.forEach((n) => {
-        t.remove(n), f(n);
+      h.value.forEach((n) => {
+        t.remove(n), g(n);
       });
-      const a = [];
+      const r = [];
       t.children.forEach((n) => {
-        !n.isLight && !n.isCamera && n.type !== "GridHelper" && n !== p && a.push(n);
-      }), a.forEach((n) => {
-        t.remove(n), f(n);
-      }), g.value = [], I();
+        !n.isLight && !n.isCamera && n.type !== "GridHelper" && n !== f && r.push(n);
+      }), r.forEach((n) => {
+        t.remove(n), g(n);
+      }), h.value = [], F();
     },
     cleanup: () => {
-      G && cancelAnimationFrame(G), o && o.dispose(), p && (p.geometry.dispose(), p.material.dispose()), i && i.dispose(), r && r.dispose(), J && J.dispose();
+      s && cancelAnimationFrame(s), a && a.dispose(), f && (f.geometry.dispose(), f.material.dispose()), i && i.dispose(), l && l.dispose(), u && u.dispose();
     },
-    updateGridForModels: I
+    updateGridForModels: F
   };
 }
-function Xe(s, t) {
-  const e = S(!1);
-  let i = null, r = 12700, J = new u(), G = new u(), o = new u(), p = 0, g = null;
-  const _ = (d) => d < 0.5 ? 4 * d * d * d : 1 - Math.pow(-2 * d + 2, 3) / 2, Y = (d) => {
-    const m = new u(), f = p * 1.2, E = new u(o.x + f, o.y, o.z), R = new u(o.x, o.y + f, o.z), H = new u(o.x, o.y - f, o.z);
+function Te(o, t) {
+  const e = D(!1);
+  let i = null, l = 12700, u = new y(), s = new y(), a = new y(), f = 0, h = null;
+  const x = (d) => d < 0.5 ? 4 * d * d * d : 1 - Math.pow(-2 * d + 2, 3) / 2, O = (d) => {
+    const m = new y(), g = f * 1.2, E = new y(a.x + g, a.y, a.z), c = new y(a.x, a.y + g, a.z), G = new y(a.x, a.y - g, a.z);
     if (d <= 0.567) {
-      const h = d / 0.567 * Math.PI * 2;
-      m.x = o.x + Math.cos(h) * f, m.z = o.z + Math.sin(h) * f, m.y = o.y;
+      const J = d / 0.567 * Math.PI * 2;
+      m.x = a.x + Math.cos(J) * g, m.z = a.z + Math.sin(J) * g, m.y = a.y;
     } else if (d <= 0.724) {
-      const x = (d - 0.567) / 0.157, h = _(x);
-      m.lerpVectors(E, R, h);
+      const _ = (d - 0.567) / 0.157, J = x(_);
+      m.lerpVectors(E, c, J);
     } else if (d <= 0.881) {
-      const x = (d - 0.724) / 0.157, a = _(x) * Math.PI;
-      m.x = o.x + Math.sin(a) * f, m.y = o.y + Math.cos(a) * f, m.z = o.z;
+      const _ = (d - 0.724) / 0.157, r = x(_) * Math.PI;
+      m.x = a.x + Math.sin(r) * g, m.y = a.y + Math.cos(r) * g, m.z = a.z;
     } else {
-      const x = (d - 0.881) / 0.119, h = _(x);
-      m.lerpVectors(H, J, h);
+      const _ = (d - 0.881) / 0.119, J = x(_);
+      m.lerpVectors(G, u, J);
     }
     return m;
-  }, V = () => {
-    const { camera: d, controls: m } = s();
+  }, k = () => {
+    const { camera: d, controls: m } = o();
     if (!d || !m) return;
     i || (i = Date.now());
-    const f = Date.now() - i, E = Math.min(f / r, 1);
+    const g = Date.now() - i, E = Math.min(g / l, 1);
     if (E >= 1) {
-      I();
+      F();
       return;
     }
-    const R = Y(E);
-    d.position.copy(R), d.lookAt(o), m.target.copy(o), g = requestAnimationFrame(V);
-  }, K = () => {
+    const c = O(E);
+    d.position.copy(c), d.lookAt(a), m.target.copy(a), h = requestAnimationFrame(k);
+  }, I = () => {
     if (t.value.length === 0) return;
-    const { camera: d, controls: m } = s();
+    const { camera: d, controls: m } = o();
     if (!d || !m) return;
-    J.copy(d.position), G.copy(m.target);
-    const f = new wt();
+    u.copy(d.position), s.copy(m.target);
+    const g = new st();
     t.value.forEach((n) => {
-      f.expandByObject(n);
+      g.expandByObject(n);
     });
-    const E = f.getSize(new u());
-    o = f.getCenter(new u()), p = Math.max(E.x, E.y, E.z) * 1.2;
-    const R = new u(o.x + p * 1.2, o.y, o.z);
+    const E = g.getSize(new y());
+    a = g.getCenter(new y()), f = Math.max(E.x, E.y, E.z) * 1.2;
+    const c = new y(a.x + f * 1.2, a.y, a.z);
     m.enabled = !1;
-    const H = d.position.clone(), x = 1e3, h = Date.now(), a = () => {
-      const n = Date.now() - h, l = Math.min(n / x, 1), y = _(l);
-      d.position.lerpVectors(H, R, y), d.lookAt(o), m.target.copy(o), l < 1 ? requestAnimationFrame(a) : (e.value = !0, i = null, V());
+    const G = d.position.clone(), _ = 1e3, J = Date.now(), r = () => {
+      const n = Date.now() - J, b = Math.min(n / _, 1), R = x(b);
+      d.position.lerpVectors(G, c, R), d.lookAt(a), m.target.copy(a), b < 1 ? requestAnimationFrame(r) : (e.value = !0, i = null, k());
     };
-    a();
-  }, I = () => {
-    e.value = !1, i = null, g && (cancelAnimationFrame(g), g = null);
-    const { controls: d } = s();
-    d && (d.enabled = !0, d.target.copy(G));
+    r();
+  }, F = () => {
+    e.value = !1, i = null, h && (cancelAnimationFrame(h), h = null);
+    const { controls: d } = o();
+    d && (d.enabled = !0, d.target.copy(s));
   };
   return {
     isAnimating: e,
     toggleAnimation: () => {
       if (e.value) {
-        e.value = !1, i = null, g && (cancelAnimationFrame(g), g = null);
-        const { camera: d, controls: m } = s();
+        e.value = !1, i = null, h && (cancelAnimationFrame(h), h = null);
+        const { camera: d, controls: m } = o();
         if (!d || !m) return;
         m.enabled = !0;
-        const f = d.position.clone(), E = m.target.clone(), R = 1500, H = Date.now(), x = () => {
-          const h = Date.now() - H, a = Math.min(h / R, 1), n = _(a);
-          d.position.lerpVectors(f, J, n), m.target.lerpVectors(E, G, n), a < 1 && requestAnimationFrame(x);
+        const g = d.position.clone(), E = m.target.clone(), c = 1500, G = Date.now(), _ = () => {
+          const J = Date.now() - G, r = Math.min(J / c, 1), n = x(r);
+          d.position.lerpVectors(g, u, n), m.target.lerpVectors(E, s, n), r < 1 && requestAnimationFrame(_);
         };
-        x();
+        _();
       } else
-        K();
+        I();
     },
-    startAnimation: K,
-    stopAnimation: I
+    startAnimation: I,
+    stopAnimation: F
   };
 }
-function We(s, t) {
-  const e = S(!1), i = S("none");
-  let r = [], J = [], G = new wt(), o = new u();
-  const p = () => {
-    r = [
-      new gt(new u(1, 0, 0), 0),
+function Se(o, t) {
+  const e = D(!1), i = D("none");
+  let l = [], u = [], s = new st(), a = new y();
+  const f = () => {
+    l = [
+      new nt(new y(1, 0, 0), 0),
       // X轴平面
-      new gt(new u(0, 1, 0), 0),
+      new nt(new y(0, 1, 0), 0),
       // Y轴平面
-      new gt(new u(0, 0, 1), 0)
+      new nt(new y(0, 0, 1), 0)
       // Z轴平面
     ];
-  }, g = () => {
-    G.makeEmpty(), t.value.forEach((w) => {
-      G.expandByObject(w);
-    }), o = G.getCenter(new u());
-  }, _ = (w) => {
-    const d = G.getSize(new u());
-    let m, f, E;
-    w === "x" ? (m = new yt(d.z * 1.2, d.y * 1.2), f = new u(o.x, o.y, o.z), E = new Et(0, Math.PI / 2, 0)) : w === "y" ? (m = new yt(d.x * 1.2, d.z * 1.2), f = new u(o.x, o.y, o.z), E = new Et(Math.PI / 2, 0, 0)) : w === "z" && (m = new yt(d.x * 1.2, d.y * 1.2), f = new u(o.x, o.y, o.z), E = new Et(0, 0, 0));
-    const R = new Vt({
+  }, h = () => {
+    s.makeEmpty(), t.value.forEach((v) => {
+      s.expandByObject(v);
+    }), a = s.getCenter(new y());
+  }, x = (v) => {
+    const d = s.getSize(new y());
+    let m, g, E;
+    v === "x" ? (m = new at(d.z * 1.2, d.y * 1.2), g = new y(a.x, a.y, a.z), E = new lt(0, Math.PI / 2, 0)) : v === "y" ? (m = new at(d.x * 1.2, d.z * 1.2), g = new y(a.x, a.y, a.z), E = new lt(Math.PI / 2, 0, 0)) : v === "z" && (m = new at(d.x * 1.2, d.y * 1.2), g = new y(a.x, a.y, a.z), E = new lt(0, 0, 0));
+    const c = new se({
       color: 8900331,
       transparent: !0,
       opacity: 0.3,
-      side: Me,
+      side: re,
       depthWrite: !1
-    }), H = new St(m, R);
-    return H.position.copy(f), H.rotation.copy(E), H;
-  }, Y = () => {
-    if (V(), K(), i.value === "none")
+    }), G = new Dt(m, c);
+    return G.position.copy(g), G.rotation.copy(E), G;
+  }, O = () => {
+    if (k(), I(), i.value === "none")
       return;
-    g();
-    let w = null;
-    if (i.value === "x" ? (r[0].constant = -o.x, w = r[0]) : i.value === "y" ? (r[1].constant = -o.y, w = r[1]) : i.value === "z" && (r[2].constant = -o.z, w = r[2]), w) {
+    h();
+    let v = null;
+    if (i.value === "x" ? (l[0].constant = -a.x, v = l[0]) : i.value === "y" ? (l[1].constant = -a.y, v = l[1]) : i.value === "z" && (l[2].constant = -a.z, v = l[2]), v) {
       t.value.forEach((m) => {
-        m.traverse((f) => {
-          f.isMesh && f.material && (Array.isArray(f.material) ? f.material.forEach((E) => {
-            E.clippingPlanes = [w];
-          }) : f.material.clippingPlanes = [w]);
+        m.traverse((g) => {
+          g.isMesh && g.material && (Array.isArray(g.material) ? g.material.forEach((E) => {
+            E.clippingPlanes = [v];
+          }) : g.material.clippingPlanes = [v]);
         });
       });
-      const { scene: d } = s();
+      const { scene: d } = o();
       if (d) {
-        const m = _(i.value);
-        d.add(m), J.push(m);
+        const m = x(i.value);
+        d.add(m), u.push(m);
       }
     }
-  }, V = () => {
-    t.value.forEach((w) => {
-      w.traverse((d) => {
+  }, k = () => {
+    t.value.forEach((v) => {
+      v.traverse((d) => {
         d.isMesh && d.material && (Array.isArray(d.material) ? d.material.forEach((m) => {
           m.clippingPlanes = [];
         }) : d.material.clippingPlanes = []);
       });
     });
-  }, K = () => {
-    const { scene: w } = s();
-    w && J.forEach((d) => {
-      w.remove(d), d.geometry.dispose(), d.material.dispose();
-    }), J = [];
+  }, I = () => {
+    const { scene: v } = o();
+    v && u.forEach((d) => {
+      v.remove(d), d.geometry.dispose(), d.material.dispose();
+    }), u = [];
   };
   return {
     isClipping: e,
     activeClippingAxis: i,
     toggleClipping: () => {
-      e.value = !e.value, e.value ? (p(), t.value.length > 0 && g()) : (i.value = "none", V(), K());
+      e.value = !e.value, e.value ? (f(), t.value.length > 0 && h()) : (i.value = "none", k(), I());
     },
-    updateClippingPlanes: Y,
-    clearClippingPlanes: V,
-    clearClippingMeshes: K
+    updateClippingPlanes: O,
+    clearClippingPlanes: k,
+    clearClippingMeshes: I
   };
 }
-const qe = [
+const Ce = [
   {
     "J1_Joint(GP1)": -3172089e-9,
     "J2_Joint(GP1)": -0.096027484,
@@ -1484,569 +1458,471 @@ const qe = [
     "BendGuidePart_Joint(GP2)": -0.015,
     "HolderRoate_Joint(GP3)": 6.283185307
   }
-], Qe = { class: "panel-actions" }, tn = ["disabled"], en = { class: "panel-content" }, nn = {
+], Ae = { class: "panel-actions" }, ke = ["disabled"], ze = { class: "panel-content" }, Oe = {
   key: 0,
   class: "joints-list"
-}, on = { class: "joint-info-row" }, an = { class: "joint-left" }, sn = { class: "joint-name" }, rn = { class: "joint-range" }, ln = { class: "joint-type" }, hn = {
+}, Le = { class: "joint-info-row" }, He = { class: "joint-left" }, je = { class: "joint-name" }, Ie = { class: "joint-range" }, Fe = { class: "joint-type" }, Ne = {
   key: 0,
   class: "joint-control-row"
-}, dn = { class: "slider-container" }, cn = ["min", "max", "value", "onInput", "disabled"], _n = { class: "value-display" }, Pn = { class: "joint-value" }, Jn = { class: "unit" }, un = {
+}, Ue = { class: "slider-container" }, Ye = ["min", "max", "value", "onInput", "disabled"], Ve = { class: "value-display" }, Ze = { class: "joint-value" }, $e = { class: "unit" }, Ke = {
   key: 1,
   class: "empty-state"
-}, pn = 1e3, mn = {
+}, Xe = 1e3, We = {
   __name: "jointPanel",
   props: {
     model: Object,
     scene: Object
   },
-  setup(s) {
-    const t = s;
-    S(!0);
-    const e = S([]), i = S(null), r = S(!1), J = S(null), G = qe;
-    G.length > 0 && Object.keys(G[0]);
-    const o = (h, a = !1) => h === "revolute" ? a ? Math.PI : -Math.PI : h === "prismatic" ? a ? 1 : -1 : 0, p = (h) => {
-      if (!h || !h.joints)
+  setup(o) {
+    const t = o;
+    D(!0);
+    const e = D([]), i = D(null), l = D(!1), u = D(null), s = Ce;
+    s.length > 0 && Object.keys(s[0]);
+    const a = (c, G = !1) => c === "revolute" ? G ? Math.PI : -Math.PI : c === "prismatic" ? G ? 1 : -1 : 0, f = (c) => {
+      if (!c || !c.joints)
         return console.warn("URDF模型没有关节信息"), [];
-      const a = [];
-      return Object.keys(h.joints).forEach((n) => {
-        const l = h.joints[n];
-        if (l._jointType === "fixed")
+      const G = [];
+      return Object.keys(c.joints).forEach((_) => {
+        const J = c.joints[_];
+        if (J._jointType === "fixed")
           return;
-        const y = l.limit ? {
-          lower: l.limit.lower ?? o(l._jointType, !1),
-          upper: l.limit.upper ?? o(l._jointType, !0)
+        const r = J.limit ? {
+          lower: J.limit.lower ?? a(J._jointType, !1),
+          upper: J.limit.upper ?? a(J._jointType, !0)
         } : {
-          lower: o(l._jointType, !1),
-          upper: o(l._jointType, !0)
+          lower: a(J._jointType, !1),
+          upper: a(J._jointType, !0)
         };
-        a.push({
-          name: n,
-          type: l._jointType || "unknown",
-          limit: y,
-          currentValue: l.angle || 0,
-          urdfJoint: l
+        G.push({
+          name: _,
+          type: J._jointType || "unknown",
+          limit: r,
+          currentValue: J.angle || 0,
+          urdfJoint: J
         });
-      }), a.sort((n, l) => n.name.localeCompare(l.name));
-    }, g = (h, a) => {
-      const n = e.value.find((y) => y.name === h);
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-      const l = parseFloat(a);
-      if (n.limit) {
-        const y = Math.max(n.limit.lower, Math.min(n.limit.upper, l));
-        n.currentValue = y;
+      }), G.sort((_, J) => _.name.localeCompare(J.name));
+    }, h = (c, G) => {
+      const _ = e.value.find((r) => r.name === c);
+      if (!_) return;
+      const J = parseFloat(G);
+      if (_.limit) {
+        const r = Math.max(_.limit.lower, Math.min(_.limit.upper, J));
+        _.currentValue = r;
       } else
-        n.currentValue = l;
-      t.model && t.model.setJointValue ? t.model.setJointValue(h, n.currentValue) : n.urdfJoint && n.urdfJoint.setJointValue(n.currentValue);
-    }, _ = (h) => {
-      h && Object.keys(h).forEach((a) => {
-        const n = h[a], l = e.value.find((y) => y.name === a);
-        l && (l.currentValue = n, t.model && t.model.setJointValue ? t.model.setJointValue(a, n) : l.urdfJoint && l.urdfJoint.setJointValue(n));
+        _.currentValue = J;
+      t.model && t.model.setJointValue ? t.model.setJointValue(c, _.currentValue) : _.urdfJoint && _.urdfJoint.setJointValue(_.currentValue);
+    }, x = (c) => {
+      c && Object.keys(c).forEach((G) => {
+        const _ = c[G], J = e.value.find((r) => r.name === G);
+        J && (J.currentValue = _, t.model && t.model.setJointValue ? t.model.setJointValue(G, _) : J.urdfJoint && J.urdfJoint.setJointValue(_));
       });
-    }, Y = (h, a, n) => h + (a - h) * n, V = (h, a, n) => {
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-      const l = {};
-      return Object.keys(h).forEach((y) => {
-        const M = h[y], D = a[y];
-        l[y] = Y(M, D || M, n);
-      }), l;
-    }, K = () => {
-      r.value ? w() : I();
+    }, O = (c, G, _) => c + (G - c) * _, k = (c, G, _) => {
+      if (!c || !G) return c || G;
+      const J = {};
+      return Object.keys(c).forEach((r) => {
+        const n = c[r], b = G[r];
+        J[r] = O(n, b || n, _);
+      }), J;
     }, I = () => {
-      if (G.length === 0) {
+      l.value ? v() : F();
+    }, F = () => {
+      if (s.length === 0) {
         console.warn("没有动画数据");
         return;
       }
-      r.value = !0;
-      const h = G.length, a = 60, n = pn / a;
-      let l = 0, y = 0;
-      const M = () => {
-        if (!r.value) return;
-        const D = l / a, k = G[y], T = G[y + 1];
-        if (T) {
-          const c = V(k, T, D);
-          _(c);
+      l.value = !0;
+      const c = s.length, G = 60, _ = Xe / G;
+      let J = 0, r = 0;
+      const n = () => {
+        if (!l.value) return;
+        const b = J / G, R = s[r], L = s[r + 1];
+        if (L) {
+          const N = k(R, L, b);
+          x(N);
         } else
-          _(k);
-        if (l++, l >= a && (l = 0, y++, y >= h - 1)) {
-          w();
+          x(R);
+        if (J++, J >= G && (J = 0, r++, r >= c - 1)) {
+          v();
           return;
         }
-        J.value = setTimeout(M, n);
+        u.value = setTimeout(n, _);
       };
-      M();
-    }, w = () => {
-      r.value = !1, J.value && (clearTimeout(J.value), J.value = null);
+      n();
+    }, v = () => {
+      l.value = !1, u.value && (clearTimeout(u.value), u.value = null);
     }, d = () => {
-      e.value.forEach((h) => {
-        (h.type === "revolute" || h.type === "prismatic") && g(h.name, 0);
+      e.value.forEach((c) => {
+        (c.type === "revolute" || c.type === "prismatic") && h(c.name, 0);
       });
     };
-    Ut(
+    Bt(
       () => t.model,
-      (h) => {
-        h ? e.value = p(h) : e.value = [];
+      (c) => {
+        c ? e.value = f(c) : e.value = [];
       },
       { immediate: !0 }
     );
     const m = () => {
-      !t.model || r.value || e.value.forEach((h) => {
-        h.urdfJoint && h.urdfJoint.angle !== void 0 && (h.currentValue = h.urdfJoint.angle);
+      !t.model || l.value || e.value.forEach((c) => {
+        c.urdfJoint && c.urdfJoint.angle !== void 0 && (c.currentValue = c.urdfJoint.angle);
       });
-    }, f = () => {
-      const h = () => {
-        m(), i.value = requestAnimationFrame(h);
+    }, g = () => {
+      const c = () => {
+        m(), i.value = requestAnimationFrame(c);
       };
-      h();
+      c();
     }, E = () => {
       i.value && (cancelAnimationFrame(i.value), i.value = null);
     };
-    Yt(() => {
-      f();
-    }), ee(() => {
-      E(), w();
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-    const R = (h, a, n, l = {}) => {
-      const M = { ...{
-        segmentDuration: 3,
-        position: new u(1.128, -0.699, 0.378),
-        tubeSegments: 12
-      }, ...l }, D = [...h].reverse().map((z, A, L) => A === L.length - 1 ? { ...z, c: 0, r: 0 } : {
-        ...z,
-        c: L[A + 1].c,
-        r: L[A + 1].r
-      });
-      if (!t.scene) return;
-      const k = (z, A) => Math.abs(z) * Math.PI * A / 180, T = [];
-      for (let z = 0; z < D.length; z++) {
-        const { y: A, b: L, c: W, r: X } = D[z];
-        if (T.push({
-          type: "straight",
-          length: A,
-          segmentIndex: z,
-          twist: L
-        }), W !== 0 && X !== 0) {
-          const nt = k(W, X);
-          T.push({
-            type: "bend",
-            length: nt,
-            angle: W,
-            radius: X,
-            segmentIndex: z
-          });
-        }
-      }
-      const c = (z = []) => {
-        const A = [];
-        let L = new u(0, 0, 0), W = new u(1, 0, 0), X = new u(0, 1, 0), nt = new u(0, 0, 1);
-        A.push(L.clone());
-        for (let Z = 0; Z < T.length; Z++) {
-          const F = T[Z];
-          if (F.type === "straight") {
-            if (F.twist !== 0) {
-              const ot = F.twist * Math.PI / 180, Q = new xt().makeRotationAxis(X, ot);
-              W.applyMatrix4(Q), nt.applyMatrix4(Q);
-            }
-            const st = F.length / 1e3, rt = Math.max(8, Math.floor(F.length * 0.05));
-            for (let ot = 1; ot <= rt; ot++) {
-              const Q = ot / rt, lt = L.clone().add(X.clone().multiplyScalar(st * Q));
-              A.push(lt);
-            }
-            L.add(X.clone().multiplyScalar(st));
-          } else if (F.type === "bend") {
-            const st = z[F.segmentIndex] || 0, rt = F.angle * Math.PI / 180, ot = F.radius / 1e3;
-            if (st > 0) {
-              const Q = L.clone().add(W.clone().multiplyScalar(-ot)), lt = Math.max(16, Math.floor(Math.abs(F.angle) / 5));
-              for (let vt = 1; vt <= lt; vt++) {
-                const Xt = vt / lt, Wt = rt * st * Xt, qt = new xt().makeRotationAxis(nt, Wt), zt = W.clone().multiplyScalar(ot);
-                zt.applyMatrix4(qt);
-                const Qt = Q.clone().add(zt);
-                A.push(Qt);
-              }
-              const _t = rt * st, Pt = new xt().makeRotationAxis(nt, _t), pt = W.clone().multiplyScalar(ot);
-              pt.applyMatrix4(Pt), L = Q.clone().add(pt), W.applyMatrix4(Pt), X.applyMatrix4(Pt);
-            } else {
-              const Q = F.length / 1e3, lt = Math.max(8, Math.floor(F.length * 0.05));
-              for (let _t = 1; _t <= lt; _t++) {
-                const Pt = _t / lt, pt = L.clone().add(X.clone().multiplyScalar(Q * Pt));
-                A.push(pt);
-              }
-              L.add(X.clone().multiplyScalar(Q));
-            }
-          }
-        }
-        const Rt = new we(A);
-        return new Re(Rt, A.length * 2, n / 1e3, M.tubeSegments, !1);
-      }, et = new Vt({
-        color: 11119017,
-        shininess: 60
-      }), B = D.map(() => 0), $t = c(B), at = new St($t, et);
-      at.position.copy(M.position), t.scene.add(at);
-      const Ct = D.map((z, A) => z.c !== 0 && z.r !== 0 ? A : -1).filter((z) => z !== -1), ct = [...Ct].reverse(), Kt = Date.now(), kt = () => {
-        const A = (Date.now() - Kt) / 1e3, L = Math.min(Math.floor(A / M.segmentDuration), ct.length), W = A % M.segmentDuration, X = Math.min(W / M.segmentDuration, 1), nt = [...Array(D.length)].map(() => 0);
-        for (let Z = 0; Z < L; Z++)
-          nt[ct[Z]] = 1;
-        L < ct.length && (nt[ct[L]] = X);
-        try {
-          const Z = c(nt);
-          at.geometry.dispose(), at.geometry = Z;
-        } catch (Z) {
-          console.error("更新几何体失败:", Z);
-        }
-        const Rt = ct.length * M.segmentDuration;
-        if (A < Rt)
-          requestAnimationFrame(kt);
-        else {
-          const Z = [...Array(D.length)].map(
-            (st, rt) => Ct.includes(rt) ? 1 : 0
-          ), F = c(Z);
-          at.geometry.dispose(), at.geometry = F;
-        }
-      };
-      return kt(), at;
-    }, H = () => {
-      if (!t.scene) return;
-      const h = [];
-      t.scene.traverse((a) => {
-        a.isMesh && a.geometry && a.geometry.type === "TubeGeometry" && h.push(a);
-      }), h.forEach((a) => {
-        a.geometry.dispose(), a.material && a.material.dispose(), t.scene.remove(a);
-      });
-    }, x = () => {
-      H(), R(
-        [
-          { y: 88.61, b: 0, c: 90, r: 8 },
-          { y: 54.29, b: -90, c: 90, r: 8 },
-          { y: 460.1, b: 180, c: 90, r: 8 },
-          { y: 48.95, b: -90, c: 90, r: 8 },
-          { y: 27, b: 0, c: 0, r: 0 }
-        ],
-        // YBCR数据
-        729,
-        // 管道总长度(mm)
-        3.17,
-        // 管道半径(mm)
-        {
-          segmentDuration: 3,
-          position: new u(1.128, -0.699, 0.378)
-        }
-      );
-    };
-    return (h, a) => (U(), $(Ot, null, [
-      P("div", Qe, [
-        P("button", {
-          onClick: K,
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+      g();
+    }), jt(() => {
+      E(), v();
+    }), (c, G) => (z(), j(ut, null, [
+      p("div", Ae, [
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+          onClick: I,
           class: "animate-btn"
-        }, tt(r.value ? "停止动画" : "开始动画"), 1),
-        P("button", {
+        }, Y(l.value ? "停止动画" : "开始动画"), 1),
+        p("button", {
           onClick: d,
-          disabled: r.value
-        }, "重置所有关节", 8, tn),
-        P("button", { onClick: x }, "弯管"),
-        P("button", { onClick: H }, "清理管子")
+          disabled: l.value
+        }, "重置所有关节", 8, ke)
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-      P("div", en, [
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+      p("div", ze, [
+        e.value.length > 0 ? (z(), j("div", Oe, [
+          (z(!0), j(ut, null, It(e.value, (_) => {
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               class: "joint-item"
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                 ]),
-                P("span", ln, tt(n.type), 1)
+                p("span", Fe, Y(_.type), 1)
               ]),
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-                P("div", dn, [
-                  P("input", {
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                     type: "range",
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                     step: 0.01,
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-                  P("span", Jn, tt(n.type === "revolute" ? "rad" : "m"), 1)
+                p("div", Ve, [
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           }), 128))
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+        ])) : (z(), j("div", Ke, G[0] || (G[0] = [
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+    class: pt(["container", { active: o.active }])
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       "aria-hidden": "true"
     }, [
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+      initialTargetPosition: F,
+      initThreeJS: v,
+      handleResize: d,
+      fitCameraToAllModels: m,
+      getThreeJSObjects: g,
+      clearAllModels: E,
+      cleanup: c
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+      k
+    ), { addModelsFromUrls: L, loadModelByDefaultPath: N, urdfModel: V } = he(
+      g,
+      k,
+      u,
+      s,
+      E
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+      if (a.value || k.value.length === 0) return;
+      a.value = !0, G.value && J();
+      const { camera: T, controls: P } = g();
+      if (!T || !P) return;
+      P.enabled = !0;
+      const Z = (K) => K < 0.5 ? 4 * K * K * K : 1 - Math.pow(-2 * K + 2, 3) / 2, w = T.position.clone(), zt = P.target.clone(), Ot = 1500, Lt = Date.now(), ct = () => {
+        const K = Date.now() - Lt, Pt = Math.min(K / Ot, 1), Jt = Z(Pt);
+        T.position.lerpVectors(w, I.value, Jt), P.target.lerpVectors(zt, F.value, Jt), Pt < 1 ? requestAnimationFrame(ct) : a.value = !1;
       };
-      c();
-    }), y = async (T, c) => {
+      ct();
+    }, St = async () => i ? Promise.resolve() : new Promise((T) => {
+      const P = () => {
+        i ? T() : requestAnimationFrame(P);
+      };
+      P();
+    }), _t = async (T, P) => {
       try {
-        await l(), m.value && f(), E.value && H();
-        const et = await c(T);
-        return K(), et;
-      } catch (et) {
-        throw console.error("加载模型失败:", et), et;
+        await St(), G.value && J(), r.value && b();
+        const Z = await P(T);
+        return m(), Z;
+      } catch (Z) {
+        throw console.error("加载模型失败:", Z), Z;
       }
-    }, M = async (T) => y(T, h), D = async (T) => y(T, a), k = (T) => {
-      o.value = !0, p.value = T, T === "剖面图" && !E.value && H();
+    }, Ct = async (T) => _t(T, L), At = async (T) => _t(T, N), tt = (T) => {
+      f.value = !0, h.value = T, T === "剖面图" && !r.value && b();
+    }, kt = (T) => {
+      x.value = !0, O.value = T;
     };
-    return Yt(async () => {
-      await ae();
+    return Et(async () => {
+      await Nt();
       try {
-        Y(), e = I().scene, i = !0, window.addEventListener("resize", V);
+        v(), e = g().scene, i = !0, window.addEventListener("resize", d);
       } catch (T) {
         console.error("Three.js初始化失败:", T);
       }
-    }), se(() => {
-      i = !1, window.removeEventListener("resize", V), m.value && f(), d();
+    }), Ut(() => {
+      i = !1, h.value = "", O.value = "", window.removeEventListener("resize", d), G.value && J(), c();
     }), t({
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