ss-component-new 1.1.430 → 1.1.431

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

@@ -1,86 +1,7 @@
-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,
-    expand: {
-      type: Boolean,
-      default: !1
-    }
-  },
-  emits: ["nodeClick"],
-  setup(o, { emit: t }) {
-    const e = t, i = o, l = {
-      children: "children",
-      label: "label"
-    }, u = (s) => {
-      e("nodeClick", s);
-    };
-    return (s, a) => {
-      const f = Rt("el-tree");
-      return z(), j("div", de, [
-        B(f, {
-          data: i == null ? void 0 : i.treeData,
-          props: l,
-          "default-expand-all": o.expand,
-          onNodeClick: u
-        }, null, 8, ["data", "default-expand-all"])
-      ]);
-    };
-  }
-}), ce = /* @__PURE__ */ Q(_e, [["__scopeId", "data-v-b4bd4658"]]), Pe = { class: "panel-content" }, Je = /* @__PURE__ */ wt({
-  __name: "robotMenu",
-  props: {
-    model: Object
-  },
-  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: a + 1,
-            isPenultimate: !1,
-            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
-          };
-          f.push(x);
-        }
-      }), 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: 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 }
-    ), (s, a) => (z(), j("div", Pe, [
-      B(ce, {
-        treeData: e.value,
-        expand: !0
-      }, null, 8, ["treeData"])
-    ]));
-  }
-}), 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 = {
+import { ref as x, computed as Lt, watch as wt, resolveComponent as Rt, createElementBlock as F, openBlock as j, createVNode as D, onMounted as Bt, onUnmounted as Ht, Fragment as ut, createElementVNode as u, toDisplayString as Y, renderList as jt, createCommentVNode as q, normalizeClass as pt, normalizeStyle as It, nextTick as Ft, onBeforeUnmount as Nt, withDirectives as X, unref as O, withCtx as mt, createBlock as Gt, isRef as tt, vModelRadio as et, vShow as ft } from "vue";
+import { C as Ut, V as y, M as K, T as W, Q as gt, S as yt, a as U, R as Yt, P as ot, b as Vt, B as at, c as Zt, d as Kt, e as $t, W as Xt, f as Wt, A as qt, g as Qt, X as te, G as ee, h as nt, i as ie, j as Et, k as oe, D as rt, H as ne, l as bt, m as ae, n as se, E as lt, _ as re, o as le } from "./threeModel.vue_vue_type_style_index_0_scoped_506601a0_lang-BKIbj4w0.js";
+import { _ as st } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+const Mt = { type: "change" }, dt = { type: "start" }, Tt = { type: "end" }, it = new Yt(), vt = new ot(), he = Math.cos(70 * Vt.DEG2RAD), k = new y(), H = 2 * Math.PI, w = {
   NONE: -1,
   ROTATE: 0,
   DOLLY: 1,
@@ -90,7 +11,7 @@ const de = { class: "tree-container" }, _e = /* @__PURE__ */ wt({
   TOUCH_DOLLY_PAN: 5,
   TOUCH_DOLLY_ROTATE: 6
 }, ht = 1e-6;
-class me extends Yt {
+class de extends Ut {
   /**
    * Constructs a new controls instance.
    *
@@ -98,7 +19,7 @@ class me extends Yt {
    * @param {?HTMLDOMElement} domElement - The HTML element used for event listeners.
    */
   constructor(t, e = null) {
-    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();
+    super(t, e), this.state = w.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: K.ROTATE, MIDDLE: K.DOLLY, RIGHT: K.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 = ce.bind(this), this._onPointerDown = _e.bind(this), this._onPointerUp = Pe.bind(this), this._onContextMenu = ge.bind(this), this._onMouseWheel = pe.bind(this), this._onKeyDown = me.bind(this), this._onTouchStart = Ge.bind(this), this._onTouchMove = fe.bind(this), this._onMouseDown = Je.bind(this), this._onMouseMove = ue.bind(this), this._interceptControlDown = ye.bind(this), this._interceptControlUp = be.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";
@@ -159,42 +80,42 @@ class me extends Yt {
    * 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(Mt), this.update(), this.state = M.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 = w.NONE;
   }
   update(t = null) {
     const e = this.object.position;
-    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;
+    k.copy(e).sub(this.target), k.applyQuaternion(this._quat), this._spherical.setFromVector3(k), this.autoRotate && this.state === w.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 += H : i > Math.PI && (i -= H), r < -Math.PI ? r += H : r > Math.PI && (r -= H), 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;
     if (this.zoomToCursor && this._performCursorZoom || this.object.isOrthographicCamera)
       this._spherical.radius = this._clampDistance(this._spherical.radius);
     else {
-      const s = this._spherical.radius;
-      this._spherical.radius = this._clampDistance(this._spherical.radius * this._scale), u = s != this._spherical.radius;
+      const f = this._spherical.radius;
+      this._spherical.radius = this._clampDistance(this._spherical.radius * this._scale), J = f != this._spherical.radius;
     }
-    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 (k.setFromSpherical(this._spherical), k.applyQuaternion(this._quatInverse), e.copy(this.target).add(k), 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 f = null;
       if (this.object.isPerspectiveCamera) {
-        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;
+        const s = k.length();
+        f = this._clampDistance(s * this._scale);
+        const M = s - f;
+        this.object.position.addScaledVector(this._dollyDirection, M), this.object.updateMatrixWorld(), J = !!M;
       } else if (this.object.isOrthographicCamera) {
-        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();
+        const s = new y(this._mouse.x, this._mouse.y, 0);
+        s.unproject(this.object);
+        const M = this.object.zoom;
+        this.object.zoom = Math.max(this.minZoom, Math.min(this.maxZoom, this.object.zoom / this._scale)), this.object.updateProjectionMatrix(), J = M !== this.object.zoom;
+        const v = new y(this._mouse.x, this._mouse.y, 0);
+        v.unproject(this.object), this.object.position.sub(v).add(s), this.object.updateMatrixWorld(), f = k.length();
       } else
         console.warn("WARNING: OrbitControls.js encountered an unknown camera type - zoom to cursor disabled."), this.zoomToCursor = !1;
-      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))));
+      f !== null && (this.screenSpacePanning ? this.target.set(0, 0, -1).transformDirection(this.object.matrix).multiplyScalar(f).add(this.object.position) : (it.origin.copy(this.object.position), it.direction.set(0, 0, -1).transformDirection(this.object.matrix), Math.abs(this.object.up.dot(it.direction)) < he ? this.object.lookAt(this.target) : (vt.setFromNormalAndCoplanarPoint(this.object.up, this.target), it.intersectPlane(vt, this.target))));
     } else if (this.object.isOrthographicCamera) {
-      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);
+      const f = this.object.zoom;
+      this.object.zoom = Math.max(this.minZoom, Math.min(this.maxZoom, this.object.zoom / this._scale)), f !== this.object.zoom && (this.object.updateProjectionMatrix(), J = !0);
     }
-    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;
+    return this._scale = 1, this._performCursorZoom = !1, J || 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 ? H / 60 * this.autoRotateSpeed * t : H / 60 / 60 * this.autoRotateSpeed;
@@ -210,19 +131,19 @@ class me extends Yt {
     this._sphericalDelta.phi -= t;
   }
   _panLeft(t, e) {
-    S.setFromMatrixColumn(e, 0), S.multiplyScalar(-t), this._panOffset.add(S);
+    k.setFromMatrixColumn(e, 0), k.multiplyScalar(-t), this._panOffset.add(k);
   }
   _panUp(t, e) {
-    this.screenSpacePanning === !0 ? S.setFromMatrixColumn(e, 1) : (S.setFromMatrixColumn(e, 0), S.crossVectors(this.object.up, S)), S.multiplyScalar(t), this._panOffset.add(S);
+    this.screenSpacePanning === !0 ? k.setFromMatrixColumn(e, 1) : (k.setFromMatrixColumn(e, 0), k.crossVectors(this.object.up, k)), k.multiplyScalar(t), this._panOffset.add(k);
   }
   // deltaX and deltaY are in pixels; right and down are positive
   _pan(t, e) {
     const i = this.domElement;
     if (this.object.isPerspectiveCamera) {
-      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);
+      const r = this.object.position;
+      k.copy(r).sub(this.target);
+      let J = k.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);
     } 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) {
@@ -235,8 +156,8 @@ class me extends Yt {
     if (!this.zoomToCursor)
       return;
     this._performCursorZoom = !0;
-    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();
+    const i = this.domElement.getBoundingClientRect(), r = t - i.left, J = e - i.top, f = i.width, s = i.height;
+    this._mouse.x = r / f * 2 - 1, this._mouse.y = -(J / s) * 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));
@@ -289,21 +210,21 @@ class me extends Yt {
     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), l = 0.5 * (t.pageY + e.y);
-      this._rotateStart.set(i, l);
+      const e = this._getSecondPointerPosition(t), i = 0.5 * (t.pageX + e.x), r = 0.5 * (t.pageY + e.y);
+      this._rotateStart.set(i, r);
     }
   }
   _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), l = 0.5 * (t.pageY + e.y);
-      this._panStart.set(i, l);
+      const e = this._getSecondPointerPosition(t), i = 0.5 * (t.pageX + e.x), r = 0.5 * (t.pageY + e.y);
+      this._panStart.set(i, r);
     }
   }
   _handleTouchStartDolly(t) {
-    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);
+    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);
   }
   _handleTouchStartDollyPan(t) {
     this.enableZoom && this._handleTouchStartDolly(t), this.enablePan && this._handleTouchStartPan(t);
@@ -315,8 +236,8 @@ class me extends Yt {
     if (this._pointers.length == 1)
       this._rotateEnd.set(t.pageX, t.pageY);
     else {
-      const i = this._getSecondPointerPosition(t), l = 0.5 * (t.pageX + i.x), u = 0.5 * (t.pageY + i.y);
-      this._rotateEnd.set(l, u);
+      const i = this._getSecondPointerPosition(t), r = 0.5 * (t.pageX + i.x), J = 0.5 * (t.pageY + i.y);
+      this._rotateEnd.set(r, J);
     }
     this._rotateDelta.subVectors(this._rotateEnd, this._rotateStart).multiplyScalar(this.rotateSpeed);
     const e = this.domElement;
@@ -326,16 +247,16 @@ class me extends Yt {
     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), l = 0.5 * (t.pageY + e.y);
-      this._panEnd.set(i, l);
+      const e = this._getSecondPointerPosition(t), i = 0.5 * (t.pageX + e.x), r = 0.5 * (t.pageY + e.y);
+      this._panEnd.set(i, r);
     }
     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, 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);
+    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 f = (t.pageX + e.x) * 0.5, s = (t.pageY + e.y) * 0.5;
+    this._updateZoomParameters(f, s);
   }
   _handleTouchMoveDollyPan(t) {
     this.enableZoom && this._handleTouchMoveDolly(t), this.enablePan && this._handleTouchMovePan(t);
@@ -386,16 +307,16 @@ class me extends Yt {
     return t.ctrlKey && !this._controlActive && (i.deltaY *= 10), i;
   }
 }
-function Ge(o) {
+function _e(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 fe(o) {
+function ce(o) {
   this.enabled !== !1 && (o.pointerType === "touch" ? this._onTouchMove(o) : this._onMouseMove(o));
 }
-function ge(o) {
+function Pe(o) {
   switch (this._removePointer(o), this._pointers.length) {
     case 0:
-      this.domElement.releasePointerCapture(o.pointerId), this.domElement.removeEventListener("pointermove", this._onPointerMove), this.domElement.removeEventListener("pointerup", this._onPointerUp), this.dispatchEvent(xt), this.state = M.NONE;
+      this.domElement.releasePointerCapture(o.pointerId), this.domElement.removeEventListener("pointermove", this._onPointerMove), this.domElement.removeEventListener("pointerup", this._onPointerUp), this.dispatchEvent(Tt), this.state = w.NONE;
       break;
     case 1:
       const t = this._pointers[0], e = this._pointerPositions[t];
@@ -403,7 +324,7 @@ function ge(o) {
       break;
   }
 }
-function ye(o) {
+function Je(o) {
   let t;
   switch (o.button) {
     case 0:
@@ -419,136 +340,136 @@ function ye(o) {
       t = -1;
   }
   switch (t) {
-    case $.DOLLY:
+    case K.DOLLY:
       if (this.enableZoom === !1) return;
-      this._handleMouseDownDolly(o), this.state = M.DOLLY;
+      this._handleMouseDownDolly(o), this.state = w.DOLLY;
       break;
-    case $.ROTATE:
+    case K.ROTATE:
       if (o.ctrlKey || o.metaKey || o.shiftKey) {
         if (this.enablePan === !1) return;
-        this._handleMouseDownPan(o), this.state = M.PAN;
+        this._handleMouseDownPan(o), this.state = w.PAN;
       } else {
         if (this.enableRotate === !1) return;
-        this._handleMouseDownRotate(o), this.state = M.ROTATE;
+        this._handleMouseDownRotate(o), this.state = w.ROTATE;
       }
       break;
-    case $.PAN:
+    case K.PAN:
       if (o.ctrlKey || o.metaKey || o.shiftKey) {
         if (this.enableRotate === !1) return;
-        this._handleMouseDownRotate(o), this.state = M.ROTATE;
+        this._handleMouseDownRotate(o), this.state = w.ROTATE;
       } else {
         if (this.enablePan === !1) return;
-        this._handleMouseDownPan(o), this.state = M.PAN;
+        this._handleMouseDownPan(o), this.state = w.PAN;
       }
       break;
     default:
-      this.state = M.NONE;
+      this.state = w.NONE;
   }
-  this.state !== M.NONE && this.dispatchEvent(dt);
+  this.state !== w.NONE && this.dispatchEvent(dt);
 }
-function be(o) {
+function ue(o) {
   switch (this.state) {
-    case M.ROTATE:
+    case w.ROTATE:
       if (this.enableRotate === !1) return;
       this._handleMouseMoveRotate(o);
       break;
-    case M.DOLLY:
+    case w.DOLLY:
       if (this.enableZoom === !1) return;
       this._handleMouseMoveDolly(o);
       break;
-    case M.PAN:
+    case w.PAN:
       if (this.enablePan === !1) return;
       this._handleMouseMovePan(o);
       break;
   }
 }
-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 pe(o) {
+  this.enabled === !1 || this.enableZoom === !1 || this.state !== w.NONE || (o.preventDefault(), this.dispatchEvent(dt), this._handleMouseWheel(this._customWheelEvent(o)), this.dispatchEvent(Tt));
 }
-function ve(o) {
+function me(o) {
   this.enabled !== !1 && this._handleKeyDown(o);
 }
-function we(o) {
+function Ge(o) {
   switch (this._trackPointer(o), this._pointers.length) {
     case 1:
       switch (this.touches.ONE) {
         case W.ROTATE:
           if (this.enableRotate === !1) return;
-          this._handleTouchStartRotate(o), this.state = M.TOUCH_ROTATE;
+          this._handleTouchStartRotate(o), this.state = w.TOUCH_ROTATE;
           break;
         case W.PAN:
           if (this.enablePan === !1) return;
-          this._handleTouchStartPan(o), this.state = M.TOUCH_PAN;
+          this._handleTouchStartPan(o), this.state = w.TOUCH_PAN;
           break;
         default:
-          this.state = M.NONE;
+          this.state = w.NONE;
       }
       break;
     case 2:
       switch (this.touches.TWO) {
         case W.DOLLY_PAN:
           if (this.enableZoom === !1 && this.enablePan === !1) return;
-          this._handleTouchStartDollyPan(o), this.state = M.TOUCH_DOLLY_PAN;
+          this._handleTouchStartDollyPan(o), this.state = w.TOUCH_DOLLY_PAN;
           break;
         case W.DOLLY_ROTATE:
           if (this.enableZoom === !1 && this.enableRotate === !1) return;
-          this._handleTouchStartDollyRotate(o), this.state = M.TOUCH_DOLLY_ROTATE;
+          this._handleTouchStartDollyRotate(o), this.state = w.TOUCH_DOLLY_ROTATE;
           break;
         default:
-          this.state = M.NONE;
+          this.state = w.NONE;
       }
       break;
     default:
-      this.state = M.NONE;
+      this.state = w.NONE;
   }
-  this.state !== M.NONE && this.dispatchEvent(dt);
+  this.state !== w.NONE && this.dispatchEvent(dt);
 }
-function Re(o) {
+function fe(o) {
   switch (this._trackPointer(o), this.state) {
-    case M.TOUCH_ROTATE:
+    case w.TOUCH_ROTATE:
       if (this.enableRotate === !1) return;
       this._handleTouchMoveRotate(o), this.update();
       break;
-    case M.TOUCH_PAN:
+    case w.TOUCH_PAN:
       if (this.enablePan === !1) return;
       this._handleTouchMovePan(o), this.update();
       break;
-    case M.TOUCH_DOLLY_PAN:
+    case w.TOUCH_DOLLY_PAN:
       if (this.enableZoom === !1 && this.enablePan === !1) return;
       this._handleTouchMoveDollyPan(o), this.update();
       break;
-    case M.TOUCH_DOLLY_ROTATE:
+    case w.TOUCH_DOLLY_ROTATE:
       if (this.enableZoom === !1 && this.enableRotate === !1) return;
       this._handleTouchMoveDollyRotate(o), this.update();
       break;
     default:
-      this.state = M.NONE;
+      this.state = w.NONE;
   }
 }
-function Be(o) {
+function ge(o) {
   this.enabled !== !1 && o.preventDefault();
 }
-function Ee(o) {
+function ye(o) {
   o.key === "Control" && (this._controlActive = !0, this.domElement.getRootNode().addEventListener("keyup", this._interceptControlUp, { passive: !0, capture: !0 }));
 }
-function De(o) {
+function be(o) {
   o.key === "Control" && (this._controlActive = !1, this.domElement.getRootNode().removeEventListener("keyup", this._interceptControlUp, { passive: !0, capture: !0 }));
 }
-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 = () => {
+function Me(o) {
+  let t = null, e = null, i = null, r = null, J = null, f = null, s = null, M = null;
+  const v = x([]), _ = x(new y()), C = x(new y()), S = () => {
     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({
+    t = new Zt(), t.background = new Kt(15790320);
+    const a = o.value;
+    e = new $t(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 Xt({
       antialias: !0,
       alpha: !0
-    }), 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,
+    }), i.setSize(a.clientWidth, a.clientHeight), i.localClippingEnabled = !0, i.shadowMap.enabled = !0, i.shadowMap.type = Wt, i.toneMapping = qt, i.toneMappingExposure = 1, i.outputColorSpace = Qt, a.appendChild(i.domElement), r = new de(e, i.domElement), r.enableDamping = !0, r.dampingFactor = 0.05, r.mouseButtons = {
+      LEFT: K.ROTATE,
+      MIDDLE: K.PAN,
       RIGHT: null
-    }, l.panSpeed = 0.7, u = new ee(e, i, {
-      container: r,
+    }, r.panSpeed = 0.7, J = new te(e, i, {
+      container: a,
       type: "cube",
       placement: "top-right",
       offset: {
@@ -577,49 +498,49 @@ function xe(o) {
       back: {
         label: "Bottom"
       }
-    }), 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({
+    }), J.attachControls(r), R(), l();
+  }, p = (a, n) => {
+    s && (t.remove(s), s.dispose()), M && (t.remove(M), M.geometry.dispose(), M.material.dispose());
+    const b = Math.min(Math.max(Math.floor(a / 20), 30), 40);
+    s = new ee(a, b, 13421772, 14540253), s.rotateX(Math.PI / 2), s.position.copy(n), t.add(s);
+    const E = new nt(a, a), L = new ie({
       opacity: 0.3,
       // 阴影透明度
       color: 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)
+    M = new Et(E, L), M.position.copy(n), M.position.z -= 0.01, M.receiveShadow = !0, t.add(M);
+  }, I = () => {
+    if (v.value.length === 0)
       return;
-    const r = new st();
-    h.value.forEach((V) => {
-      r.expandByObject(V);
+    const a = new at();
+    v.value.forEach((Z) => {
+      a.expandByObject(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(
+    const n = a.getSize(new y()), b = a.getCenter(new y()), E = Math.max(n.x, n.y, n.z), L = Math.max(E * 8, 50), N = new y(
       b.x,
       b.y,
-      r.min.z
+      a.min.z
       // 模型的最底部
     );
-    I(L, N);
-  }, v = () => {
-    const r = new ne(4210752, 0.6);
-    t.add(r);
+    p(L, N);
+  }, R = () => {
+    const a = new oe(4210752, 0.6);
+    t.add(a);
     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 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);
+    const E = new rt(16777215, 0.6);
+    E.position.set(0, -15, 2), t.add(E);
+    const L = new ne(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 = () => {
-    s = requestAnimationFrame(d), l && l.update(), i && t && e && i.render(t, e), u && u.render();
-  }, m = (r) => {
+    const Z = new bt(16777215, 0.5, 50);
+    Z.position.set(-15, -15, 15), t.add(Z);
+  }, l = () => {
+    f = requestAnimationFrame(l), r && r.update(), i && t && e && i.render(t, e), J && J.render();
+  }, m = (a) => {
     [
       "map",
       "normalMap",
@@ -633,10 +554,10 @@ function xe(o) {
       "aoMap",
       "displacementMap"
     ].forEach((b) => {
-      r[b] && r[b].dispose && r[b].dispose();
-    }), r.dispose && r.dispose();
-  }, g = (r) => {
-    r == null || r.traverse((n) => {
+      a[b] && a[b].dispose && a[b].dispose();
+    }), a.dispose && a.dispose();
+  }, g = (a) => {
+    a == null || a.traverse((n) => {
       n.geometry && n.geometry.dispose(), n.material && (Array.isArray(n.material) ? n.material.forEach((b) => {
         m(b);
       }) : m(n.material));
@@ -644,196 +565,257 @@ function xe(o) {
   };
   return {
     // 响应式数据
-    currentModels: h,
-    initialCameraPosition: x,
-    initialTargetPosition: O,
+    currentModels: v,
+    initialCameraPosition: _,
+    initialTargetPosition: C,
     // 方法
-    initThreeJS: k,
+    initThreeJS: S,
     handleResize: () => {
-      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();
+      if (!o.value || !e || !i || !J) return;
+      const a = o.value, n = a.clientWidth, b = a.clientHeight;
+      e.aspect = n / b, e.updateProjectionMatrix(), i.setSize(n, b), J.update();
     },
     fitCameraToAllModels: () => {
-      if (!e || !l || h.value.length === 0) return;
-      const r = new st();
-      h.value.forEach((V) => {
-        r.expandByObject(V);
+      if (!e || !r || v.value.length === 0) return;
+      const a = new at();
+      v.value.forEach((Z) => {
+        a.expandByObject(Z);
       });
-      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();
+      const n = a.getSize(new y()), b = a.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), r.target.copy(b), r.update(), _.value.copy(N), C.value.copy(b), I();
     },
     getThreeJSObjects: () => ({
       scene: t,
       camera: e,
       renderer: i,
-      controls: l,
-      gizmo: u
+      controls: r,
+      gizmo: J
     }),
     clearAllModels: () => {
       if (!t) return;
-      h.value.forEach((n) => {
+      v.value.forEach((n) => {
         t.remove(n), g(n);
       });
-      const r = [];
+      const a = [];
       t.children.forEach((n) => {
-        !n.isLight && !n.isCamera && n.type !== "GridHelper" && n !== f && r.push(n);
-      }), r.forEach((n) => {
+        !n.isLight && !n.isCamera && n.type !== "GridHelper" && n !== M && a.push(n);
+      }), a.forEach((n) => {
         t.remove(n), g(n);
-      }), h.value = [], F();
+      }), v.value = [], I();
     },
     cleanup: () => {
-      s && cancelAnimationFrame(s), a && a.dispose(), f && (f.geometry.dispose(), f.material.dispose()), i && i.dispose(), l && l.dispose(), u && u.dispose();
+      f && cancelAnimationFrame(f), s && s.dispose(), M && (M.geometry.dispose(), M.material.dispose()), i && i.dispose(), r && r.dispose(), J && J.dispose();
     },
-    updateGridForModels: F
+    updateGridForModels: I
   };
 }
-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 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 _ = (d - 0.567) / 0.157, J = x(_);
-      m.lerpVectors(E, c, J);
-    } else if (d <= 0.881) {
-      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;
+function ve(o, t) {
+  const e = x(!1);
+  let i = null, r = 12700, J = new y(), f = new y(), s = new y(), M = 0, v = null;
+  const _ = (l) => l < 0.5 ? 4 * l * l * l : 1 - Math.pow(-2 * l + 2, 3) / 2, C = (l) => {
+    const m = new y(), g = M * 1.2, T = new y(s.x + g, s.y, s.z), d = new y(s.x, s.y + g, s.z), G = new y(s.x, s.y - g, s.z);
+    if (l <= 0.567) {
+      const P = l / 0.567 * Math.PI * 2;
+      m.x = s.x + Math.cos(P) * g, m.z = s.z + Math.sin(P) * g, m.y = s.y;
+    } else if (l <= 0.724) {
+      const h = (l - 0.567) / 0.157, P = _(h);
+      m.lerpVectors(T, d, P);
+    } else if (l <= 0.881) {
+      const h = (l - 0.724) / 0.157, a = _(h) * Math.PI;
+      m.x = s.x + Math.sin(a) * g, m.y = s.y + Math.cos(a) * g, m.z = s.z;
     } else {
-      const _ = (d - 0.881) / 0.119, J = x(_);
-      m.lerpVectors(G, u, J);
+      const h = (l - 0.881) / 0.119, P = _(h);
+      m.lerpVectors(G, J, P);
     }
     return m;
-  }, k = () => {
-    const { camera: d, controls: m } = o();
-    if (!d || !m) return;
+  }, S = () => {
+    const { camera: l, controls: m } = o();
+    if (!l || !m) return;
     i || (i = Date.now());
-    const g = Date.now() - i, E = Math.min(g / l, 1);
-    if (E >= 1) {
-      F();
+    const g = Date.now() - i, T = Math.min(g / r, 1);
+    if (T >= 1) {
+      I();
       return;
     }
-    const c = O(E);
-    d.position.copy(c), d.lookAt(a), m.target.copy(a), h = requestAnimationFrame(k);
-  }, I = () => {
+    const d = C(T);
+    l.position.copy(d), l.lookAt(s), m.target.copy(s), v = requestAnimationFrame(S);
+  }, p = () => {
     if (t.value.length === 0) return;
-    const { camera: d, controls: m } = o();
-    if (!d || !m) return;
-    u.copy(d.position), s.copy(m.target);
-    const g = new st();
+    const { camera: l, controls: m } = o();
+    if (!l || !m) return;
+    J.copy(l.position), f.copy(m.target);
+    const g = new at();
     t.value.forEach((n) => {
       g.expandByObject(n);
     });
-    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);
+    const T = g.getSize(new y());
+    s = g.getCenter(new y()), M = Math.max(T.x, T.y, T.z) * 1.2;
+    const d = new y(s.x + M * 1.2, s.y, s.z);
     m.enabled = !1;
-    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());
+    const G = l.position.clone(), h = 1e3, P = Date.now(), a = () => {
+      const n = Date.now() - P, b = Math.min(n / h, 1), E = _(b);
+      l.position.lerpVectors(G, d, E), l.lookAt(s), m.target.copy(s), b < 1 ? requestAnimationFrame(a) : (e.value = !0, i = null, S());
     };
-    r();
-  }, F = () => {
-    e.value = !1, i = null, h && (cancelAnimationFrame(h), h = null);
-    const { controls: d } = o();
-    d && (d.enabled = !0, d.target.copy(s));
+    a();
+  }, I = () => {
+    e.value = !1, i = null, v && (cancelAnimationFrame(v), v = null);
+    const { controls: l } = o();
+    l && (l.enabled = !0, l.target.copy(f));
   };
   return {
     isAnimating: e,
     toggleAnimation: () => {
       if (e.value) {
-        e.value = !1, i = null, h && (cancelAnimationFrame(h), h = null);
-        const { camera: d, controls: m } = o();
-        if (!d || !m) return;
+        e.value = !1, i = null, v && (cancelAnimationFrame(v), v = null);
+        const { camera: l, controls: m } = o();
+        if (!l || !m) return;
         m.enabled = !0;
-        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(_);
+        const g = l.position.clone(), T = m.target.clone(), d = 1500, G = Date.now(), h = () => {
+          const P = Date.now() - G, a = Math.min(P / d, 1), n = _(a);
+          l.position.lerpVectors(g, J, n), m.target.lerpVectors(T, f, n), a < 1 && requestAnimationFrame(h);
         };
-        _();
+        h();
       } else
-        I();
+        p();
     },
-    startAnimation: I,
-    stopAnimation: F
+    startAnimation: p,
+    stopAnimation: I
   };
 }
-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),
+function we(o, t) {
+  const e = x(!1), i = x("none");
+  let r = [], J = [], f = new at(), s = new y();
+  const M = () => {
+    r = [
+      new ot(new y(1, 0, 0), 0),
       // X轴平面
-      new nt(new y(0, 1, 0), 0),
+      new ot(new y(0, 1, 0), 0),
       // Y轴平面
-      new nt(new y(0, 0, 1), 0)
+      new ot(new y(0, 0, 1), 0)
       // Z轴平面
     ];
-  }, 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({
+  }, v = () => {
+    f.makeEmpty(), t.value.forEach((R) => {
+      f.expandByObject(R);
+    }), s = f.getCenter(new y());
+  }, _ = (R) => {
+    const l = f.getSize(new y());
+    let m, g, T;
+    R === "x" ? (m = new nt(l.z * 1.2, l.y * 1.2), g = new y(s.x, s.y, s.z), T = new lt(0, Math.PI / 2, 0)) : R === "y" ? (m = new nt(l.x * 1.2, l.z * 1.2), g = new y(s.x, s.y, s.z), T = new lt(Math.PI / 2, 0, 0)) : R === "z" && (m = new nt(l.x * 1.2, l.y * 1.2), g = new y(s.x, s.y, s.z), T = new lt(0, 0, 0));
+    const d = new ae({
       color: 8900331,
       transparent: !0,
       opacity: 0.3,
-      side: re,
+      side: se,
       depthWrite: !1
-    }), G = new Dt(m, c);
-    return G.position.copy(g), G.rotation.copy(E), G;
-  }, O = () => {
-    if (k(), I(), i.value === "none")
+    }), G = new Et(m, d);
+    return G.position.copy(g), G.rotation.copy(T), G;
+  }, C = () => {
+    if (S(), p(), i.value === "none")
       return;
-    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) {
+    v();
+    let R = null;
+    if (i.value === "x" ? (r[0].constant = -s.x, R = r[0]) : i.value === "y" ? (r[1].constant = -s.y, R = r[1]) : i.value === "z" && (r[2].constant = -s.z, R = r[2]), R) {
       t.value.forEach((m) => {
         m.traverse((g) => {
-          g.isMesh && g.material && (Array.isArray(g.material) ? g.material.forEach((E) => {
-            E.clippingPlanes = [v];
-          }) : g.material.clippingPlanes = [v]);
+          g.isMesh && g.material && (Array.isArray(g.material) ? g.material.forEach((T) => {
+            T.clippingPlanes = [R];
+          }) : g.material.clippingPlanes = [R]);
         });
       });
-      const { scene: d } = o();
-      if (d) {
-        const m = x(i.value);
-        d.add(m), u.push(m);
+      const { scene: l } = o();
+      if (l) {
+        const m = _(i.value);
+        l.add(m), J.push(m);
       }
     }
-  }, k = () => {
-    t.value.forEach((v) => {
-      v.traverse((d) => {
-        d.isMesh && d.material && (Array.isArray(d.material) ? d.material.forEach((m) => {
+  }, S = () => {
+    t.value.forEach((R) => {
+      R.traverse((l) => {
+        l.isMesh && l.material && (Array.isArray(l.material) ? l.material.forEach((m) => {
           m.clippingPlanes = [];
-        }) : d.material.clippingPlanes = []);
+        }) : l.material.clippingPlanes = []);
       });
     });
-  }, I = () => {
-    const { scene: v } = o();
-    v && u.forEach((d) => {
-      v.remove(d), d.geometry.dispose(), d.material.dispose();
-    }), u = [];
+  }, p = () => {
+    const { scene: R } = o();
+    R && J.forEach((l) => {
+      R.remove(l), l.geometry.dispose(), l.material.dispose();
+    }), J = [];
   };
   return {
     isClipping: e,
     activeClippingAxis: i,
     toggleClipping: () => {
-      e.value = !e.value, e.value ? (f(), t.value.length > 0 && h()) : (i.value = "none", k(), I());
+      e.value = !e.value, e.value ? (M(), t.value.length > 0 && v()) : (i.value = "none", S(), p());
     },
-    updateClippingPlanes: O,
-    clearClippingPlanes: k,
-    clearClippingMeshes: I
+    updateClippingPlanes: C,
+    clearClippingPlanes: S,
+    clearClippingMeshes: p
   };
 }
-const Ce = [
+const Re = { class: "panel-content" }, Be = {
+  __name: "urdfTree",
+  props: {
+    model: Object
+  },
+  emits: ["nodeClick"],
+  setup(o, { emit: t }) {
+    const e = o, i = t, r = x([]), J = {
+      children: "children",
+      label: "label"
+    }, f = (_) => {
+      i("nodeClick", _);
+    }, s = (_, C = 0) => {
+      const S = [];
+      return Array.isArray(_) && (_ == null ? void 0 : _.length) > 0 && _.forEach((p) => {
+        if (!(p != null && p.isMesh) && ((p == null ? void 0 : p.type) === "URDFJoint" || (p == null ? void 0 : p.type) === "URDFLink")) {
+          const I = {
+            name: p == null ? void 0 : p.name,
+            label: p == null ? void 0 : p.name,
+            show: !0,
+            level: C + 1,
+            isPenultimate: !1,
+            type: p == null ? void 0 : p.type,
+            id: p == null ? void 0 : p.id,
+            limit: (p == null ? void 0 : p.limit) ?? "",
+            children: s(p == null ? void 0 : p.children, C + 1),
+            path: p == null ? void 0 : p.name
+          };
+          S.push(I);
+        }
+      }), S;
+    }, M = (_) => _ ? [{
+      name: _ == null ? void 0 : _.name,
+      label: _ == null ? void 0 : _.name,
+      show: !0,
+      level: 1,
+      isPenultimate: !1,
+      type: _ == null ? void 0 : _.type,
+      id: _ == null ? void 0 : _.id,
+      limit: (_ == null ? void 0 : _.limit) ?? "",
+      children: s(_ == null ? void 0 : _.children, 1),
+      path: _ == null ? void 0 : _.name
+    }] : [], v = Lt(() => e != null && e.model ? M(e.model) : []);
+    return wt(
+      v,
+      (_) => {
+        r.value = JSON.parse(JSON.stringify(_));
+      },
+      { immediate: !0 }
+    ), (_, C) => {
+      const S = Rt("el-tree");
+      return j(), F("div", Re, [
+        D(S, {
+          data: r.value,
+          props: J,
+          "default-expand-all": !1,
+          onNodeClick: f
+        }, null, 8, ["data"])
+      ]);
+    };
+  }
+}, Ee = /* @__PURE__ */ st(Be, [["__scopeId", "data-v-6cd6079b"]]), Te = [
   {
     "J1_Joint(GP1)": -3172089e-9,
     "J2_Joint(GP1)": -0.096027484,
@@ -1458,16 +1440,16 @@ const Ce = [
     "BendGuidePart_Joint(GP2)": -0.015,
     "HolderRoate_Joint(GP3)": 6.283185307
   }
-], Ae = { class: "panel-actions" }, ke = ["disabled"], ze = { class: "panel-content" }, Oe = {
+], De = { class: "panel-actions" }, xe = ["disabled"], Se = { class: "panel-content" }, Ce = {
   key: 0,
   class: "joints-list"
-}, Le = { class: "joint-info-row" }, He = { class: "joint-left" }, je = { class: "joint-name" }, Ie = { class: "joint-range" }, Fe = { class: "joint-type" }, Ne = {
+}, Ae = { class: "joint-info-row" }, ke = { class: "joint-left" }, ze = { class: "joint-name" }, Oe = { class: "joint-range" }, Le = { class: "joint-type" }, He = {
   key: 0,
   class: "joint-control-row"
-}, Ue = { class: "slider-container" }, Ye = ["min", "max", "value", "onInput", "disabled"], Ve = { class: "value-display" }, Ze = { class: "joint-value" }, $e = { class: "unit" }, Ke = {
+}, je = { class: "slider-container" }, Ie = ["min", "max", "value", "onInput", "disabled"], Fe = { class: "value-display" }, Ne = { class: "joint-value" }, Ue = { class: "unit" }, Ye = {
   key: 1,
   class: "empty-state"
-}, Xe = 1e3, We = {
+}, Ve = 1e3, Ze = {
   __name: "jointPanel",
   props: {
     model: Object,
@@ -1475,416 +1457,413 @@ const Ce = [
   },
   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)
+    x(!0);
+    const e = x([]), i = x(null), r = x(!1), J = x(null), f = Te;
+    f.length > 0 && Object.keys(f[0]);
+    const s = (d, G = !1) => d === "revolute" ? G ? Math.PI : -Math.PI : d === "prismatic" ? G ? 1 : -1 : 0, M = (d) => {
+      if (!d || !d.joints)
         return console.warn("URDF模型没有关节信息"), [];
       const G = [];
-      return Object.keys(c.joints).forEach((_) => {
-        const J = c.joints[_];
-        if (J._jointType === "fixed")
+      return Object.keys(d.joints).forEach((h) => {
+        const P = d.joints[h];
+        if (P._jointType === "fixed")
           return;
-        const r = J.limit ? {
-          lower: J.limit.lower ?? a(J._jointType, !1),
-          upper: J.limit.upper ?? a(J._jointType, !0)
+        const a = P.limit ? {
+          lower: P.limit.lower ?? s(P._jointType, !1),
+          upper: P.limit.upper ?? s(P._jointType, !0)
         } : {
-          lower: a(J._jointType, !1),
-          upper: a(J._jointType, !0)
+          lower: s(P._jointType, !1),
+          upper: s(P._jointType, !0)
         };
         G.push({
-          name: _,
-          type: J._jointType || "unknown",
-          limit: r,
-          currentValue: J.angle || 0,
-          urdfJoint: J
+          name: h,
+          type: P._jointType || "unknown",
+          limit: a,
+          currentValue: P.angle || 0,
+          urdfJoint: P
         });
-      }), 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;
+      }), G.sort((h, P) => h.name.localeCompare(P.name));
+    }, v = (d, G) => {
+      const h = e.value.find((a) => a.name === d);
+      if (!h) return;
+      const P = parseFloat(G);
+      if (h.limit) {
+        const a = Math.max(h.limit.lower, Math.min(h.limit.upper, P));
+        h.currentValue = a;
       } else
-        _.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(_));
+        h.currentValue = P;
+      t.model && t.model.setJointValue ? t.model.setJointValue(d, h.currentValue) : h.urdfJoint && h.urdfJoint.setJointValue(h.currentValue);
+    }, _ = (d) => {
+      d && Object.keys(d).forEach((G) => {
+        const h = d[G], P = e.value.find((a) => a.name === G);
+        P && (P.currentValue = h, t.model && t.model.setJointValue ? t.model.setJointValue(G, h) : P.urdfJoint && P.urdfJoint.setJointValue(h));
       });
-    }, 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;
+    }, C = (d, G, h) => d + (G - d) * h, S = (d, G, h) => {
+      if (!d || !G) return d || G;
+      const P = {};
+      return Object.keys(d).forEach((a) => {
+        const n = d[a], b = G[a];
+        P[a] = C(n, b || n, h);
+      }), P;
+    }, p = () => {
+      r.value ? R() : I();
     }, I = () => {
-      l.value ? v() : F();
-    }, F = () => {
-      if (s.length === 0) {
+      if (f.length === 0) {
         console.warn("没有动画数据");
         return;
       }
-      l.value = !0;
-      const c = s.length, G = 60, _ = Xe / G;
-      let J = 0, r = 0;
+      r.value = !0;
+      const d = f.length, G = 60, h = Ve / G;
+      let P = 0, a = 0;
       const n = () => {
-        if (!l.value) return;
-        const b = J / G, R = s[r], L = s[r + 1];
+        if (!r.value) return;
+        const b = P / G, E = f[a], L = f[a + 1];
         if (L) {
-          const N = k(R, L, b);
-          x(N);
+          const N = S(E, L, b);
+          _(N);
         } else
-          x(R);
-        if (J++, J >= G && (J = 0, r++, r >= c - 1)) {
-          v();
+          _(E);
+        if (P++, P >= G && (P = 0, a++, a >= d - 1)) {
+          R();
           return;
         }
-        u.value = setTimeout(n, _);
+        J.value = setTimeout(n, h);
       };
       n();
-    }, v = () => {
-      l.value = !1, u.value && (clearTimeout(u.value), u.value = null);
-    }, d = () => {
-      e.value.forEach((c) => {
-        (c.type === "revolute" || c.type === "prismatic") && h(c.name, 0);
+    }, R = () => {
+      r.value = !1, J.value && (clearTimeout(J.value), J.value = null);
+    }, l = () => {
+      e.value.forEach((d) => {
+        (d.type === "revolute" || d.type === "prismatic") && v(d.name, 0);
       });
     };
-    Bt(
+    wt(
       () => t.model,
-      (c) => {
-        c ? e.value = f(c) : e.value = [];
+      (d) => {
+        d ? e.value = M(d) : e.value = [];
       },
       { immediate: !0 }
     );
     const m = () => {
-      !t.model || l.value || e.value.forEach((c) => {
-        c.urdfJoint && c.urdfJoint.angle !== void 0 && (c.currentValue = c.urdfJoint.angle);
+      !t.model || r.value || e.value.forEach((d) => {
+        d.urdfJoint && d.urdfJoint.angle !== void 0 && (d.currentValue = d.urdfJoint.angle);
       });
     }, g = () => {
-      const c = () => {
-        m(), i.value = requestAnimationFrame(c);
+      const d = () => {
+        m(), i.value = requestAnimationFrame(d);
       };
-      c();
-    }, E = () => {
+      d();
+    }, T = () => {
       i.value && (cancelAnimationFrame(i.value), i.value = null);
     };
-    return Et(() => {
+    return Bt(() => {
       g();
-    }), jt(() => {
-      E(), v();
-    }), (c, G) => (z(), j(ut, null, [
-      p("div", Ae, [
-        p("button", {
-          onClick: I,
+    }), Ht(() => {
+      T(), R();
+    }), (d, G) => (j(), F(ut, null, [
+      u("div", De, [
+        u("button", {
+          onClick: p,
           class: "animate-btn"
-        }, Y(l.value ? "停止动画" : "开始动画"), 1),
-        p("button", {
-          onClick: d,
-          disabled: l.value
-        }, "重置所有关节", 8, ke)
+        }, Y(r.value ? "停止动画" : "开始动画"), 1),
+        u("button", {
+          onClick: l,
+          disabled: r.value
+        }, "重置所有关节", 8, xe)
       ]),
-      p("div", ze, [
-        e.value.length > 0 ? (z(), j("div", Oe, [
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