ss-component-new 1.1.586 → 1.1.587

package/dist/{threeModel-Dy62X6VA.js → threeModel-DTfSO1TZ.js}

@@ -1,4 +1,4 @@
-import { ref as D, watch as xe, createElementBlock as J, openBlock as B, createBlock as Ze, computed as ue, resolveComponent as Ke, createVNode as T, onMounted as Be, onUnmounted as We, Fragment as qe, renderList as Qe, createElementVNode as g, createCommentVNode as we, toDisplayString as ie, defineComponent as et, normalizeStyle as Le, normalizeClass as je, nextTick as Ie, onBeforeUnmount as tt, withDirectives as ne, unref as Y, withCtx as Fe, isRef as ge, vModelRadio as ye, vShow as ve } from "vue";
+import { ref as D, watch as xe, createElementBlock as J, openBlock as B, createBlock as Ze, computed as ue, resolveComponent as Ke, createVNode as T, onMounted as Be, onUnmounted as We, Fragment as qe, renderList as Qe, createElementVNode as g, createCommentVNode as we, toDisplayString as ie, defineComponent as et, normalizeStyle as Le, normalizeClass as je, nextTick as Ie, onBeforeUnmount as tt, withDirectives as ne, unref as U, withCtx as Fe, isRef as ge, vModelRadio as ye, vShow as ve } from "vue";
 import { C as st, V as y, M as ae, T as ce, Q as Ne, D as Ue, E as ee, R as it, P as Pe, F as $e, G as Ee, H as ot, J as nt, K as at, W as lt, L as rt, N as ht, O as ct, X as ut, U as pt, Y as Me, Z as dt, _ as Xe, $ as mt, a0 as Te, a1 as ft, a2 as Ye, a3 as _t, a4 as gt, a5 as Ce, B as yt, a6 as Se, a7 as vt, a8 as bt, a9 as wt } from "./index-Bqwsx3he.js";
 import { _ as fe } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { c as Ge } from "./menu-Qw1eGtzq.js";
@@ -100,15 +100,15 @@ class Mt extends st {
       if (this.object.isPerspectiveCamera) {
         const a = N.length();
         m = this._clampDistance(a * this._scale);
-        const w = a - m;
-        this.object.position.addScaledVector(this._dollyDirection, w), this.object.updateMatrixWorld(), d = !!w;
+        const b = a - m;
+        this.object.position.addScaledVector(this._dollyDirection, b), this.object.updateMatrixWorld(), d = !!b;
       } else if (this.object.isOrthographicCamera) {
         const a = new y(this._mouse.x, this._mouse.y, 0);
         a.unproject(this.object);
-        const w = this.object.zoom;
-        this.object.zoom = Math.max(this.minZoom, Math.min(this.maxZoom, this.object.zoom / this._scale)), this.object.updateProjectionMatrix(), d = w !== this.object.zoom;
-        const x = new y(this._mouse.x, this._mouse.y, 0);
-        x.unproject(this.object), this.object.position.sub(x).add(a), this.object.updateMatrixWorld(), m = N.length();
+        const b = this.object.zoom;
+        this.object.zoom = Math.max(this.minZoom, Math.min(this.maxZoom, this.object.zoom / this._scale)), this.object.updateProjectionMatrix(), d = b !== this.object.zoom;
+        const P = new y(this._mouse.x, this._mouse.y, 0);
+        P.unproject(this.object), this.object.position.sub(P).add(a), this.object.updateMatrixWorld(), m = N.length();
       } else
         console.warn("WARNING: OrbitControls.js encountered an unknown camera type - zoom to cursor disabled."), this.zoomToCursor = !1;
       m !== null && (this.screenSpacePanning ? this.target.set(0, 0, -1).transformDirection(this.object.matrix).multiplyScalar(m).add(this.object.position) : (be.origin.copy(this.object.position), be.direction.set(0, 0, -1).transformDirection(this.object.matrix), Math.abs(this.object.up.dot(be.direction)) < Pt ? this.object.lookAt(this.target) : (He.setFromNormalAndCoplanarPoint(this.object.up, this.target), be.intersectPlane(He, this.target))));
@@ -457,20 +457,20 @@ function Lt(o) {
   o.key === "Control" && (this._controlActive = !1, this.domElement.getRootNode().removeEventListener("keyup", this._interceptControlUp, { passive: !0, capture: !0 }));
 }
 function jt(o) {
-  let e = null, t = null, i = null, n = null, d = null, m = null, a = null, w = null;
-  const x = D([]), O = D(new y()), L = D(new y()), j = () => {
+  let e = null, t = null, i = null, n = null, d = null, m = null, a = null, b = null;
+  const P = D([]), O = D(new y()), L = D(new y()), j = () => {
     if (!o.value) return;
     e = new ot(), e.background = new nt(15790320);
-    const u = o.value;
-    t = new at(75, u.clientWidth / u.clientHeight, 0.1, 1e4), t.position.set(8, -8, 6), t.up.set(0, 0, 1), t.lookAt(0, 0, 0), i = new lt({
+    const p = o.value;
+    t = new at(75, p.clientWidth / p.clientHeight, 0.1, 1e4), t.position.set(8, -8, 6), t.up.set(0, 0, 1), t.lookAt(0, 0, 0), i = new lt({
       antialias: !0,
       alpha: !0
-    }), i.setSize(u.clientWidth, u.clientHeight), i.localClippingEnabled = !0, i.shadowMap.enabled = !0, i.shadowMap.type = rt, i.toneMapping = ht, i.toneMappingExposure = 1, i.outputColorSpace = ct, u.appendChild(i.domElement), n = new Mt(t, i.domElement), n.enableDamping = !0, n.dampingFactor = 0.05, n.mouseButtons = {
+    }), i.setSize(p.clientWidth, p.clientHeight), i.localClippingEnabled = !0, i.shadowMap.enabled = !0, i.shadowMap.type = rt, i.toneMapping = ht, i.toneMappingExposure = 1, i.outputColorSpace = ct, p.appendChild(i.domElement), n = new Mt(t, i.domElement), n.enableDamping = !0, n.dampingFactor = 0.05, n.mouseButtons = {
       LEFT: ae.ROTATE,
       MIDDLE: ae.PAN,
       RIGHT: null
     }, n.panSpeed = 0.7, d = new ut(t, i, {
-      container: u,
+      container: p,
       type: "cube",
       placement: "top-right",
       offset: {
@@ -500,37 +500,37 @@ function jt(o) {
         label: "Bottom"
       }
     }), d.attachControls(n), f(), s();
-  }, l = (u, r) => {
-    a && (e.remove(a), a.dispose()), w && (e.remove(w), w.geometry.dispose(), w.material.dispose());
-    const P = Math.min(Math.max(Math.floor(u / 20), 30), 40);
-    a = new pt(u, P, 13421772, 14540253), a.rotateX(Math.PI / 2), a.position.copy(r), e.add(a);
-    const $ = new Me(u, u), G = new dt({
+  }, l = (p, r) => {
+    a && (e.remove(a), a.dispose()), b && (e.remove(b), b.geometry.dispose(), b.material.dispose());
+    const M = Math.min(Math.max(Math.floor(p / 20), 30), 40);
+    a = new pt(p, M, 13421772, 14540253), a.rotateX(Math.PI / 2), a.position.copy(r), e.add(a);
+    const $ = new Me(p, p), G = new dt({
       opacity: 0.3,
       // 阴影透明度
       color: 0
     });
-    w = new Xe($, G), w.position.copy(r), w.position.z -= 0.01, w.receiveShadow = !0, e.add(w);
+    b = new Xe($, G), b.position.copy(r), b.position.z -= 0.01, b.receiveShadow = !0, e.add(b);
   }, k = () => {
-    if (x.value.length === 0)
+    if (P.value.length === 0)
       return;
-    const u = new Ee();
-    x.value.forEach((W) => {
-      u.expandByObject(W);
+    const p = new Ee();
+    P.value.forEach((W) => {
+      p.expandByObject(W);
     });
-    const r = u.getSize(new y()), P = u.getCenter(new y()), $ = Math.max(r.x, r.y, r.z), G = Math.max($ * 8, 50), I = new y(
-      P.x,
-      P.y,
-      u.min.z
+    const r = p.getSize(new y()), M = p.getCenter(new y()), $ = Math.max(r.x, r.y, r.z), G = Math.max($ * 8, 50), I = new y(
+      M.x,
+      M.y,
+      p.min.z
       // 模型的最底部
     );
     l(G, I);
   }, f = () => {
-    const u = new mt(4210752, 0.6);
-    e.add(u);
+    const p = new mt(4210752, 0.6);
+    e.add(p);
     const r = new Te(16777215, 2);
     r.position.set(10, 10, 8), r.castShadow = !0, r.shadow.mapSize.width = 4096, r.shadow.mapSize.height = 4096, r.shadow.camera.near = 0.5, r.shadow.camera.far = 50, r.shadow.camera.left = -50, r.shadow.camera.right = 50, r.shadow.camera.top = 50, r.shadow.camera.bottom = -50, e.add(r);
-    const P = new Te(16777215, 0.8);
-    P.position.set(-8, -8, 6), e.add(P);
+    const M = new Te(16777215, 0.8);
+    M.position.set(-8, -8, 6), e.add(M);
     const $ = new Te(16777215, 0.6);
     $.position.set(0, -15, 2), e.add($);
     const G = new ft(16777215, 4473924, 0.8);
@@ -541,7 +541,7 @@ function jt(o) {
     W.position.set(-15, -15, 15), e.add(W);
   }, s = () => {
     m = requestAnimationFrame(s), n && n.update(), i && e && t && i.render(e, t), d && d.render();
-  }, c = (u) => {
+  }, u = (p) => {
     [
       "map",
       "normalMap",
@@ -554,36 +554,36 @@ function jt(o) {
       "lightMap",
       "aoMap",
       "displacementMap"
-    ].forEach((P) => {
-      u[P] && u[P].dispose && u[P].dispose();
-    }), u.dispose && u.dispose();
-  }, b = (u) => {
-    u == null || u.traverse((r) => {
-      r.geometry && r.geometry.dispose(), r.material && (Array.isArray(r.material) ? r.material.forEach((P) => {
-        c(P);
-      }) : c(r.material));
+    ].forEach((M) => {
+      p[M] && p[M].dispose && p[M].dispose();
+    }), p.dispose && p.dispose();
+  }, v = (p) => {
+    p == null || p.traverse((r) => {
+      r.geometry && r.geometry.dispose(), r.material && (Array.isArray(r.material) ? r.material.forEach((M) => {
+        u(M);
+      }) : u(r.material));
     });
   };
   return {
     // 响应式数据
-    currentModels: x,
+    currentModels: P,
     initialCameraPosition: O,
     initialTargetPosition: L,
     // 方法
     initThreeJS: j,
     handleResize: () => {
       if (!o.value || !t || !i || !d) return;
-      const u = o.value, r = u.clientWidth, P = u.clientHeight;
-      t.aspect = r / P, t.updateProjectionMatrix(), i.setSize(r, P), d.update();
+      const p = o.value, r = p.clientWidth, M = p.clientHeight;
+      t.aspect = r / M, t.updateProjectionMatrix(), i.setSize(r, M), d.update();
     },
     fitCameraToAllModels: () => {
-      if (!t || !n || x.value.length === 0) return;
-      const u = new Ee();
-      x.value.forEach((W) => {
-        u.expandByObject(W);
+      if (!t || !n || P.value.length === 0) return;
+      const p = new Ee();
+      P.value.forEach((W) => {
+        p.expandByObject(W);
       });
-      const r = u.getSize(new y()), P = u.getCenter(new y()), G = Math.max(r.x, r.y, r.z) * 0.8, I = new y(P.x + G, P.y - G, P.z + G);
-      t.position.copy(I), t.lookAt(P), n.target.copy(P), n.update(), O.value.copy(I), L.value.copy(P), k();
+      const r = p.getSize(new y()), M = p.getCenter(new y()), G = Math.max(r.x, r.y, r.z) * 0.8, I = new y(M.x + G, M.y - G, M.z + G);
+      t.position.copy(I), t.lookAt(M), n.target.copy(M), n.update(), O.value.copy(I), L.value.copy(M), k();
     },
     getThreeJSObjects: () => ({
       scene: e,
@@ -594,72 +594,72 @@ function jt(o) {
     }),
     clearAllModels: () => {
       if (!e) return;
-      x.value.forEach((r) => {
-        e.remove(r), b(r);
+      P.value.forEach((r) => {
+        e.remove(r), v(r);
       });
-      const u = [];
+      const p = [];
       e.children.forEach((r) => {
-        !r.isLight && !r.isCamera && r.type !== "GridHelper" && r !== w && u.push(r);
-      }), u.forEach((r) => {
-        e.remove(r), b(r);
-      }), x.value = [], k();
+        !r.isLight && !r.isCamera && r.type !== "GridHelper" && r !== b && p.push(r);
+      }), p.forEach((r) => {
+        e.remove(r), v(r);
+      }), P.value = [], k();
     },
     cleanup: () => {
-      m && cancelAnimationFrame(m), a && a.dispose(), w && (w.geometry.dispose(), w.material.dispose()), i && i.dispose(), n && n.dispose(), d && d.dispose();
+      m && cancelAnimationFrame(m), a && a.dispose(), b && (b.geometry.dispose(), b.material.dispose()), i && i.dispose(), n && n.dispose(), d && d.dispose();
     },
     updateGridForModels: k
   };
 }
 function It(o, e) {
   const t = D(!1);
-  let i = null, n = 12700, d = new y(), m = new y(), a = new y(), w = 0, x = null;
+  let i = null, n = 12700, d = new y(), m = new y(), a = new y(), b = 0, P = null;
   const O = (s) => s < 0.5 ? 4 * s * s * s : 1 - Math.pow(-2 * s + 2, 3) / 2, L = (s) => {
-    const c = new y(), b = w * 1.2, R = new y(a.x + b, a.y, a.z), H = new y(a.x, a.y + b, a.z), Z = new y(a.x, a.y - b, a.z);
+    const u = new y(), v = b * 1.2, R = new y(a.x + v, a.y, a.z), V = new y(a.x, a.y + v, a.z), H = new y(a.x, a.y - v, a.z);
     if (s <= 0.567) {
-      const V = s / 0.567 * Math.PI * 2;
-      c.x = a.x + Math.cos(V) * b, c.z = a.z + Math.sin(V) * b, c.y = a.y;
+      const Y = s / 0.567 * Math.PI * 2;
+      u.x = a.x + Math.cos(Y) * v, u.z = a.z + Math.sin(Y) * v, u.y = a.y;
     } else if (s <= 0.724) {
-      const F = (s - 0.567) / 0.157, V = O(F);
-      c.lerpVectors(R, H, V);
+      const F = (s - 0.567) / 0.157, Y = O(F);
+      u.lerpVectors(R, V, Y);
     } else if (s <= 0.881) {
-      const F = (s - 0.724) / 0.157, u = O(F) * Math.PI;
-      c.x = a.x + Math.sin(u) * b, c.y = a.y + Math.cos(u) * b, c.z = a.z;
+      const F = (s - 0.724) / 0.157, p = O(F) * Math.PI;
+      u.x = a.x + Math.sin(p) * v, u.y = a.y + Math.cos(p) * v, u.z = a.z;
     } else {
-      const F = (s - 0.881) / 0.119, V = O(F);
-      c.lerpVectors(Z, d, V);
+      const F = (s - 0.881) / 0.119, Y = O(F);
+      u.lerpVectors(H, d, Y);
     }
-    return c;
+    return u;
   }, j = () => {
-    const { camera: s, controls: c } = o();
-    if (!s || !c) return;
+    const { camera: s, controls: u } = o();
+    if (!s || !u) return;
     i || (i = Date.now());
-    const b = Date.now() - i, R = Math.min(b / n, 1);
+    const v = Date.now() - i, R = Math.min(v / n, 1);
     if (R >= 1) {
       k();
       return;
     }
-    const H = L(R);
-    s.position.copy(H), s.lookAt(a), c.target.copy(a), x = requestAnimationFrame(j);
+    const V = L(R);
+    s.position.copy(V), s.lookAt(a), u.target.copy(a), P = requestAnimationFrame(j);
   }, l = () => {
     if (e.value.length === 0) return;
-    const { camera: s, controls: c } = o();
-    if (!s || !c) return;
-    d.copy(s.position), m.copy(c.target);
-    const b = new Ee();
+    const { camera: s, controls: u } = o();
+    if (!s || !u) return;
+    d.copy(s.position), m.copy(u.target);
+    const v = new Ee();
     e.value.forEach((r) => {
-      b.expandByObject(r);
+      v.expandByObject(r);
     });
-    const R = b.getSize(new y());
-    a = b.getCenter(new y()), w = Math.max(R.x, R.y, R.z) * 1.2;
-    const H = new y(a.x + w * 1.2, a.y, a.z);
-    c.enabled = !1;
-    const Z = s.position.clone(), F = 1e3, V = Date.now(), u = () => {
-      const r = Date.now() - V, P = Math.min(r / F, 1), $ = O(P);
-      s.position.lerpVectors(Z, H, $), s.lookAt(a), c.target.copy(a), P < 1 ? requestAnimationFrame(u) : (t.value = !0, i = null, j());
+    const R = v.getSize(new y());
+    a = v.getCenter(new y()), b = Math.max(R.x, R.y, R.z) * 1.2;
+    const V = new y(a.x + b * 1.2, a.y, a.z);
+    u.enabled = !1;
+    const H = s.position.clone(), F = 1e3, Y = Date.now(), p = () => {
+      const r = Date.now() - Y, M = Math.min(r / F, 1), $ = O(M);
+      s.position.lerpVectors(H, V, $), s.lookAt(a), u.target.copy(a), M < 1 ? requestAnimationFrame(p) : (t.value = !0, i = null, j());
     };
-    u();
+    p();
   }, k = () => {
-    t.value = !1, i = null, x && (cancelAnimationFrame(x), x = null);
+    t.value = !1, i = null, P && (cancelAnimationFrame(P), P = null);
     const { controls: s } = o();
     s && (s.enabled = !0, s.target.copy(m));
   };
@@ -667,13 +667,13 @@ function It(o, e) {
     isAnimating: t,
     toggleAnimation: () => {
       if (t.value) {
-        t.value = !1, i = null, x && (cancelAnimationFrame(x), x = null);
-        const { camera: s, controls: c } = o();
-        if (!s || !c) return;
-        c.enabled = !0;
-        const b = s.position.clone(), R = c.target.clone(), H = 1500, Z = Date.now(), F = () => {
-          const V = Date.now() - Z, u = Math.min(V / H, 1), r = O(u);
-          s.position.lerpVectors(b, d, r), c.target.lerpVectors(R, m, r), u < 1 && requestAnimationFrame(F);
+        t.value = !1, i = null, P && (cancelAnimationFrame(P), P = null);
+        const { camera: s, controls: u } = o();
+        if (!s || !u) return;
+        u.enabled = !0;
+        const v = s.position.clone(), R = u.target.clone(), V = 1500, H = Date.now(), F = () => {
+          const Y = Date.now() - H, p = Math.min(Y / V, 1), r = O(p);
+          s.position.lerpVectors(v, d, r), u.target.lerpVectors(R, m, r), p < 1 && requestAnimationFrame(F);
         };
         F();
       } else
@@ -686,7 +686,7 @@ function It(o, e) {
 function Ft(o, e) {
   const t = D(!1), i = D("none");
   let n = [], d = [], m = new Ee(), a = new y();
-  const w = () => {
+  const b = () => {
     n = [
       new Pe(new y(1, 0, 0), 0),
       // X轴平面
@@ -695,46 +695,46 @@ function Ft(o, e) {
       new Pe(new y(0, 0, 1), 0)
       // Z轴平面
     ];
-  }, x = () => {
+  }, P = () => {
     m.makeEmpty(), e.value.forEach((f) => {
       m.expandByObject(f);
     }), a = m.getCenter(new y());
   }, O = (f) => {
     const s = m.getSize(new y());
-    let c, b, R;
-    f === "x" ? (c = new Me(s.z * 1.2, s.y * 1.2), b = new y(a.x, a.y, a.z), R = new Ce(0, Math.PI / 2, 0)) : f === "y" ? (c = new Me(s.x * 1.2, s.z * 1.2), b = new y(a.x, a.y, a.z), R = new Ce(Math.PI / 2, 0, 0)) : f === "z" && (c = new Me(s.x * 1.2, s.y * 1.2), b = new y(a.x, a.y, a.z), R = new Ce(0, 0, 0));
-    const H = new _t({
+    let u, v, R;
+    f === "x" ? (u = new Me(s.z * 1.2, s.y * 1.2), v = new y(a.x, a.y, a.z), R = new Ce(0, Math.PI / 2, 0)) : f === "y" ? (u = new Me(s.x * 1.2, s.z * 1.2), v = new y(a.x, a.y, a.z), R = new Ce(Math.PI / 2, 0, 0)) : f === "z" && (u = new Me(s.x * 1.2, s.y * 1.2), v = new y(a.x, a.y, a.z), R = new Ce(0, 0, 0));
+    const V = new _t({
       color: 8900331,
       transparent: !0,
       opacity: 0.3,
       side: gt,
       depthWrite: !1
-    }), Z = new Xe(c, H);
-    return Z.position.copy(b), Z.rotation.copy(R), Z;
+    }), H = new Xe(u, V);
+    return H.position.copy(v), H.rotation.copy(R), H;
   }, L = () => {
     if (j(), l(), i.value === "none")
       return;
-    x();
+    P();
     let f = null;
     if (i.value === "x" ? (n[0].constant = -a.x, f = n[0]) : i.value === "y" ? (n[1].constant = -a.y, f = n[1]) : i.value === "z" && (n[2].constant = -a.z, f = n[2]), f) {
-      e.value.forEach((c) => {
-        c.traverse((b) => {
-          b.isMesh && b.material && (Array.isArray(b.material) ? b.material.forEach((R) => {
+      e.value.forEach((u) => {
+        u.traverse((v) => {
+          v.isMesh && v.material && (Array.isArray(v.material) ? v.material.forEach((R) => {
             R.clippingPlanes = [f];
-          }) : b.material.clippingPlanes = [f]);
+          }) : v.material.clippingPlanes = [f]);
         });
       });
       const { scene: s } = o();
       if (s) {
-        const c = O(i.value);
-        s.add(c), d.push(c);
+        const u = O(i.value);
+        s.add(u), d.push(u);
       }
     }
   }, j = () => {
     e.value.forEach((f) => {
       f.traverse((s) => {
-        s.isMesh && s.material && (Array.isArray(s.material) ? s.material.forEach((c) => {
-          c.clippingPlanes = [];
+        s.isMesh && s.material && (Array.isArray(s.material) ? s.material.forEach((u) => {
+          u.clippingPlanes = [];
         }) : s.material.clippingPlanes = []);
       });
     });
@@ -748,7 +748,7 @@ function Ft(o, e) {
     isClipping: t,
     activeClippingAxis: i,
     toggleClipping: () => {
-      t.value = !t.value, t.value ? (w(), e.value.length > 0 && x()) : (i.value = "none", j(), l());
+      t.value = !t.value, t.value ? (b(), e.value.length > 0 && P()) : (i.value = "none", j(), l());
     },
     updateClippingPlanes: L,
     clearClippingPlanes: j,
@@ -810,7 +810,7 @@ const Nt = { class: "panel-content" }, Ut = {
       const f = [];
       return Array.isArray(l) && (l == null ? void 0 : l.length) > 0 && l.forEach((s) => {
         if (!(s != null && s.isMesh) && ((s == null ? void 0 : s.type) === "URDFJoint" || (s == null ? void 0 : s.type) === "URDFLink")) {
-          const c = {
+          const u = {
             name: s == null ? void 0 : s.name,
             label: s == null ? void 0 : s.name,
             show: !0,
@@ -822,10 +822,10 @@ const Nt = { class: "panel-content" }, Ut = {
             children: a(s == null ? void 0 : s.children, k + 1),
             path: s == null ? void 0 : s.name
           };
-          f.push(c);
+          f.push(u);
         }
       }), f;
-    }, w = (l) => l ? [{
+    }, b = (l) => l ? [{
       name: l == null ? void 0 : l.name,
       label: l == null ? void 0 : l.name,
       show: !0,
@@ -836,11 +836,11 @@ const Nt = { class: "panel-content" }, Ut = {
       limit: (l == null ? void 0 : l.limit) ?? "",
       children: a(l == null ? void 0 : l.children, 1),
       path: l == null ? void 0 : l.name
-    }] : [], x = (l, k) => {
+    }] : [], P = (l, k) => {
       const f = [], s = [...l];
       for (; s.length > 0 && f.length < k; ) {
-        const c = s.shift();
-        c.children && c.children.length > 0 && (f.push(c.id), s.push(...c.children));
+        const u = s.shift();
+        u.children && u.children.length > 0 && (f.push(u.id), s.push(...u.children));
       }
       return f;
     }, O = (l, k) => {
@@ -848,11 +848,11 @@ const Nt = { class: "panel-content" }, Ut = {
       return l.forEach((s) => {
         if (s.children && s.children.length > 0) {
           f.push(s.id);
-          const c = s.children.filter((b) => b.children && b.children.length > 0).slice(0, k).map((b) => b.id);
-          f.push(...c);
+          const u = s.children.filter((v) => v.children && v.children.length > 0).slice(0, k).map((v) => v.id);
+          f.push(...u);
         }
       }), f.slice(0, k + 1);
-    }, L = ue(() => !n.value || n.value.length === 0 ? [] : t.expandStrategy === "firstLevel" ? O(n.value, t.maxExpandCount) : x(n.value, t.maxExpandCount)), j = ue(() => t != null && t.model ? w(t.model) : []);
+    }, L = ue(() => !n.value || n.value.length === 0 ? [] : t.expandStrategy === "firstLevel" ? O(n.value, t.maxExpandCount) : P(n.value, t.maxExpandCount)), j = ue(() => t != null && t.model ? b(t.model) : []);
     return xe(
       j,
       (l) => {
@@ -893,97 +893,97 @@ const Nt = { class: "panel-content" }, Ut = {
     D(!0);
     const i = D([]), n = D(null), d = D(12.5), m = D();
     D(1302);
-    const a = D(!1), w = D(!1), x = D(0), O = D(0), L = D(null), j = $e.degToRad, l = D(1), k = () => as / ze / l.value;
+    const a = D(!1), b = D(!1), P = D(0), O = D(0), L = D(null), j = $e.degToRad, l = D(1), k = () => as / ze / l.value;
     let f = [];
     xe(
       () => t.animationData,
       (_) => {
-        var p;
-        let M = ((p = Ge(_)) == null ? void 0 : p.动画输出) ?? [];
-        M && M.length > 0 && (f = M, u());
+        var c;
+        let x = ((c = Ge(_)) == null ? void 0 : c.动画输出) ?? [];
+        x && x.length > 0 && (f = x, p());
       },
       { deep: !0 }
     );
-    const s = ue(() => f.length > 0), c = (_, M = !1) => _ === "revolute" ? M ? Math.PI : -Math.PI : _ === "prismatic" ? M ? 1 : -1 : 0, b = (_) => {
+    const s = ue(() => f.length > 0), u = (_, x = !1) => _ === "revolute" ? x ? Math.PI : -Math.PI : _ === "prismatic" ? x ? 1 : -1 : 0, v = (_) => {
       if (!_ || !_.joints)
         return console.warn("URDF模型没有关节信息"), [];
-      let M = null;
+      let x = null;
       if (_.traverse((E) => {
-        E.name === "Pipe_Link" && !M && (M = E);
-      }), M)
-        m.value = M;
+        E.name === "Pipe_Link" && !x && (x = E);
+      }), x)
+        m.value = x;
       else
         return console.warn("未找到管子模型"), [];
-      const p = [];
+      const c = [];
       return Object.keys(_.joints).forEach((E) => {
-        const v = _.joints[E];
-        if (v._jointType === "fixed")
+        const w = _.joints[E];
+        if (w._jointType === "fixed")
           return;
-        const U = v.limit ? {
-          lower: v.limit.lower ?? c(v._jointType, !1),
-          upper: v.limit.upper ?? c(v._jointType, !0)
+        const Z = w.limit ? {
+          lower: w.limit.lower ?? u(w._jointType, !1),
+          upper: w.limit.upper ?? u(w._jointType, !0)
         } : {
-          lower: c(v._jointType, !1),
-          upper: c(v._jointType, !0)
+          lower: u(w._jointType, !1),
+          upper: u(w._jointType, !0)
         };
-        p.push({
+        c.push({
           name: E,
-          type: v._jointType || "unknown",
-          limit: U,
-          currentValue: v.angle || 0,
-          urdfJoint: v
+          type: w._jointType || "unknown",
+          limit: Z,
+          currentValue: w.angle || 0,
+          urdfJoint: w
         });
-      }), p.sort((E, v) => E.name.localeCompare(v.name));
-    }, R = (_, M) => {
-      const p = i.value.find((v) => v.name === _);
-      if (!p) return;
-      const E = parseFloat(M);
-      if (p.limit) {
-        const v = Math.max(p.limit.lower, Math.min(p.limit.upper, E));
-        p.currentValue = v;
+      }), c.sort((E, w) => E.name.localeCompare(w.name));
+    }, R = (_, x) => {
+      const c = i.value.find((w) => w.name === _);
+      if (!c) return;
+      const E = parseFloat(x);
+      if (c.limit) {
+        const w = Math.max(c.limit.lower, Math.min(c.limit.upper, E));
+        c.currentValue = w;
       } else
-        p.currentValue = E;
-      t.model && t.model.setJointValue ? t.model.setJointValue(_, p.currentValue) : p.urdfJoint && p.urdfJoint.setJointValue(p.currentValue);
-    }, H = (_) => {
+        c.currentValue = E;
+      t.model && t.model.setJointValue ? t.model.setJointValue(_, c.currentValue) : c.urdfJoint && c.urdfJoint.setJointValue(c.currentValue);
+    }, V = (_) => {
       if (!m.value || !s.value) return;
-      const M = f.slice(0, _ + 1), p = [];
-      let E = new y(0, 0, 0), v = new y(0, 1, 0), U = new y(1, 0, 0);
-      p.push(E.clone());
-      for (const K of M) {
+      const x = f.slice(0, _ + 1), c = [];
+      let E = new y(0, 0, 0), w = new y(0, 1, 0), Z = new y(1, 0, 0);
+      c.push(E.clone());
+      for (const K of x) {
         const q = K.Y ?? 0, pe = K.B ?? 0, de = K.C ?? 0, A = K.R ?? 0;
         if (pe !== 0) {
-          const h = new Se().makeRotationAxis(v, j(pe));
-          U.applyMatrix4(h);
+          const h = new Se().makeRotationAxis(w, j(pe));
+          Z.applyMatrix4(h);
         }
         if (q > 0) {
-          const h = v.clone().multiplyScalar(q * Ae);
-          E.add(h), p.push(E.clone());
+          const h = w.clone().multiplyScalar(q * Ae);
+          E.add(h), c.push(E.clone());
         }
         if (de > 0 && A > 0) {
           const h = j(de), Q = A * Ae, le = Math.max(16, Math.ceil(de / 5)), re = E.clone().add(
-            U.clone().multiplyScalar(-Q)
+            Z.clone().multiplyScalar(-Q)
           );
           for (let oe = 1; oe <= le; oe++) {
             const C = oe / le, se = h * C, _e = new Se().makeRotationAxis(
-              v.clone().cross(U).normalize(),
+              w.clone().cross(Z).normalize(),
               se
             ), me = E.clone().sub(re);
             me.applyMatrix4(_e);
             const Oe = re.clone().add(me);
-            p.push(Oe), E.copy(Oe);
+            c.push(Oe), E.copy(Oe);
           }
           const he = new Se().makeRotationAxis(
-            v.clone().cross(U).normalize(),
+            w.clone().cross(Z).normalize(),
             h
           );
-          U.applyMatrix4(he);
+          Z.applyMatrix4(he);
         }
       }
-      p.length < 2 && p.push(new y(0, 1e-3, 0));
+      c.length < 2 && c.push(new y(0, 1e-3, 0));
       try {
-        const K = new vt(p), q = new bt(
+        const K = new vt(c), q = new bt(
           K,
-          Math.max(2, p.length * 4),
+          Math.max(2, c.length * 4),
           d.value * Ae,
           18,
           !1
@@ -992,50 +992,52 @@ const Nt = { class: "panel-content" }, Ut = {
       } catch (K) {
         console.error("更新管子几何体失败:", K);
       }
-    }, Z = (_) => {
-      _ && (Object.keys(_).forEach((M, p) => {
-        const E = _[M], v = i.value.find((U) => U.name === M);
-        v && (v.currentValue = E, t.model && t.model.setJointValue ? t.model.setJointValue(M, E) : v.urdfJoint && v.urdfJoint.setJointValue(E));
-      }), console.log(232, index), H(index));
-    }, F = (_, M, p) => _ + (M - _) * p, V = (_, M, p) => {
-      if (!_ || !M) return _ || M;
+    }, H = (_) => {
+      _ && (Object.keys(_).forEach((x) => {
+        const c = _[x], E = i.value.find((w) => w.name === x);
+        E && (E.currentValue = c, t.model && t.model.setJointValue ? t.model.setJointValue(x, c) : E.urdfJoint && E.urdfJoint.setJointValue(c));
+      }), console.log(232, index), V(index));
+    }, F = (_, x, c) => _ + (x - _) * c, Y = (_, x, c) => {
+      if (!_ || !x) return _ || x;
       const E = {};
-      return Object.keys(_).forEach((v) => {
-        const U = _[v], K = M[v];
-        E[v] = F(U, K || U, p);
+      return Object.keys(_).forEach((w) => {
+        const Z = _[w], K = x[w];
+        E[w] = F(Z, K || Z, c);
       }), E;
-    }, u = () => {
+    }, p = () => {
       if (f.length === 0) {
         console.warn("没有动画数据");
         return;
       }
-      a.value = !0, w.value = !1;
+      a.value = !0, b.value = !1;
       const _ = () => {
-        if (!a.value || w.value) return;
-        const M = O.value / ze, p = f[x.value], E = f[x.value + 1];
+        if (!a.value || b.value) return;
+        const x = O.value / ze;
+        P.value;
+        const c = f[P.value], E = f[P.value + 1];
         if (E) {
-          const v = V(p, E, M);
-          Z(v);
+          const w = Y(c, E, x);
+          H(w);
         } else
-          Z(p);
-        if (O.value++, O.value >= ze && (O.value = 0, x.value++, x.value >= f.length - 1)) {
-          P();
+          H(c);
+        if (O.value++, O.value >= ze && (O.value = 0, P.value++, P.value >= f.length - 1)) {
+          M();
           return;
         }
         L.value = setTimeout(_, k());
       };
       _();
     }, r = () => {
-      w.value = !0, L.value && (clearTimeout(L.value), L.value = null);
-    }, P = () => {
-      a.value = !1, w.value = !1, l.value = 1, L.value && (clearTimeout(L.value), L.value = null);
+      b.value = !0, L.value && (clearTimeout(L.value), L.value = null);
+    }, M = () => {
+      a.value = !1, b.value = !1, l.value = 1, L.value && (clearTimeout(L.value), L.value = null);
     };
     e({
-      startAnimation: u,
+      startAnimation: p,
       pauseAnimation: r,
-      stopAnimation: P,
+      stopAnimation: M,
       resetAll: () => {
-        P(), x.value = 0, O.value = 0, i.value.forEach((_) => {
+        M(), P.value = 0, O.value = 0, i.value.forEach((_) => {
           (_.type === "revolute" || _.type === "prismatic") && R(_.name, 0);
         });
       },
@@ -1048,12 +1050,12 @@ const Nt = { class: "panel-content" }, Ut = {
     }), xe(
       () => t.model,
       (_) => {
-        _ ? i.value = b(_) : i.value = [];
+        _ ? i.value = v(_) : i.value = [];
       },
       { immediate: !0 }
     );
     const W = () => {
-      !t.model || a.value && !w.value || i.value.forEach((_) => {
+      !t.model || a.value && !b.value || i.value.forEach((_) => {
         _.urdfJoint && _.urdfJoint.angle !== void 0 && (_.currentValue = _.urdfJoint.angle);
       });
     }, te = () => {
@@ -1067,48 +1069,48 @@ const Nt = { class: "panel-content" }, Ut = {
     return Be(() => {
       te();
     }), We(() => {
-      De(), P();
-    }), (_, M) => (B(), J("div", Bt, [
+      De(), M();
+    }), (_, x) => (B(), J("div", Bt, [
       i.value.length > 0 ? (B(), J("div", $t, [
-        (B(!0), J(qe, null, Qe(i.value, (p) => {
-          var E, v, U, K;
+        (B(!0), J(qe, null, Qe(i.value, (c) => {
+          var E, w, Z, K;
           return B(), J("div", {
-            key: p.name,
+            key: c.name,
             class: "joint-item"
           }, [
             g("div", Xt, [
               g("div", Gt, [
-                g("span", Jt, ie(p.name), 1),
-                g("span", Wt, " [" + ie(((E = p.limit) == null ? void 0 : E.lower.toFixed(2)) ?? (p.type === "revolute" ? "-3.14" : "-1.00")) + ", " + ie(((v = p.limit) == null ? void 0 : v.upper.toFixed(2)) ?? (p.type === "revolute" ? "3.14" : "1.00")) + "] ", 1)
+                g("span", Jt, ie(c.name), 1),
+                g("span", Wt, " [" + ie(((E = c.limit) == null ? void 0 : E.lower.toFixed(2)) ?? (c.type === "revolute" ? "-3.14" : "-1.00")) + ", " + ie(((w = c.limit) == null ? void 0 : w.upper.toFixed(2)) ?? (c.type === "revolute" ? "3.14" : "1.00")) + "] ", 1)
               ]),
-              g("span", qt, ie(p.type), 1)
+              g("span", qt, ie(c.type), 1)
             ]),
-            p.type === "revolute" || p.type === "prismatic" ? (B(), J("div", Qt, [
+            c.type === "revolute" || c.type === "prismatic" ? (B(), J("div", Qt, [
               g("div", es, [
                 g("input", {
                   type: "range",
-                  min: ((U = p.limit) == null ? void 0 : U.lower) ?? (p.type === "revolute" ? -Math.PI : -1),
-                  max: ((K = p.limit) == null ? void 0 : K.upper) ?? (p.type === "revolute" ? Math.PI : 1),
+                  min: ((Z = c.limit) == null ? void 0 : Z.lower) ?? (c.type === "revolute" ? -Math.PI : -1),
+                  max: ((K = c.limit) == null ? void 0 : K.upper) ?? (c.type === "revolute" ? Math.PI : 1),
                   step: 0.01,
-                  value: p.currentValue,
-                  onInput: (q) => R(p.name, q.target.value),
+                  value: c.currentValue,
+                  onInput: (q) => R(c.name, q.target.value),
                   class: "joint-slider",
-                  disabled: a.value && !w.value
+                  disabled: a.value && !b.value
                 }, null, 40, ts)
               ]),
               g("div", ss, [
-                g("span", is, ie(p.currentValue.toFixed(3)), 1),
-                g("span", os, ie(p.type === "revolute" ? "rad" : "m"), 1)
+                g("span", is, ie(c.currentValue.toFixed(3)), 1),
+                g("span", os, ie(c.type === "revolute" ? "rad" : "m"), 1)
               ])
             ])) : we("", !0)
           ]);
         }), 128))
-      ])) : (B(), J("div", ns, M[0] || (M[0] = [
+      ])) : (B(), J("div", ns, x[0] || (x[0] = [
         g("p", null, "未检测到可控制的关节", -1)
       ])))
     ]));
   }
-}, rs = /* @__PURE__ */ fe(ls, [["__scopeId", "data-v-64bf81e0"]]), hs = ["xlink:href"], cs = /* @__PURE__ */ et({
+}, rs = /* @__PURE__ */ fe(ls, [["__scopeId", "data-v-1d84cea4"]]), hs = ["xlink:href"], cs = /* @__PURE__ */ et({
   __name: "svgIcon",
   props: {
     backgroundColor: { default: "#f0f0f0" },
@@ -1163,28 +1165,28 @@ const Nt = { class: "panel-content" }, Ut = {
   setup(o, { expose: e, emit: t }) {
     const i = t, n = o;
     let d = null, m = !1;
-    const a = D(null), w = D(!1), x = D("");
+    const a = D(null), b = D(!1), P = D("");
     D(!1);
     const O = D(!1), L = D(!1), j = D(""), l = D(!1), k = D(""), f = D(), {
       currentModels: s,
-      initialCameraPosition: c,
-      initialTargetPosition: b,
+      initialCameraPosition: u,
+      initialTargetPosition: v,
       initThreeJS: R,
-      handleResize: H,
-      fitCameraToAllModels: Z,
+      handleResize: V,
+      fitCameraToAllModels: H,
       getThreeJSObjects: F,
-      clearAllModels: V,
-      cleanup: u
-    } = jt(a), { isAnimating: r, toggleAnimation: P, stopAnimation: $ } = It(F, s), { isClipping: G, activeClippingAxis: I, toggleClipping: W, updateClippingPlanes: te } = Ft(
+      clearAllModels: Y,
+      cleanup: p
+    } = jt(a), { isAnimating: r, toggleAnimation: M, stopAnimation: $ } = It(F, s), { isClipping: G, activeClippingAxis: I, toggleClipping: W, updateClippingPlanes: te } = Ft(
       F,
       s
-    ), { addModelsFromUrls: De, loadModelByDefaultPath: _, urdfModel: M } = wt(
+    ), { addModelsFromUrls: De, loadModelByDefaultPath: _, urdfModel: x } = wt(
       F,
       s,
-      w,
-      x,
-      V
-    ), p = () => {
+      b,
+      P,
+      Y
+    ), c = () => {
       if (O.value || s.value.length === 0) return;
       O.value = !0, r.value && $();
       const { camera: A, controls: h } = F();
@@ -1192,7 +1194,7 @@ const Nt = { class: "panel-content" }, Ut = {
       h.enabled = !0;
       const Q = (se) => se < 0.5 ? 4 * se * se * se : 1 - Math.pow(-2 * se + 2, 3) / 2, le = A.position.clone(), re = h.target.clone(), he = 1500, oe = Date.now(), C = () => {
         const se = Date.now() - oe, _e = Math.min(se / he, 1), me = Q(_e);
-        A.position.lerpVectors(le, c.value, me), h.target.lerpVectors(re, b.value, me), _e < 1 ? requestAnimationFrame(C) : O.value = !1;
+        A.position.lerpVectors(le, u.value, me), h.target.lerpVectors(re, v.value, me), _e < 1 ? requestAnimationFrame(C) : O.value = !1;
       };
       C();
     }, E = async () => m ? Promise.resolve() : new Promise((A) => {
@@ -1200,15 +1202,15 @@ const Nt = { class: "panel-content" }, Ut = {
         m ? A() : requestAnimationFrame(h);
       };
       h();
-    }), v = async (A, h) => {
+    }), w = async (A, h) => {
       try {
         await E(), r.value && $(), G.value && W();
         const Q = await h(A);
-        return Z(), Q;
+        return H(), Q;
       } catch (Q) {
         throw console.error("加载模型失败:", Q), Q;
       }
-    }, U = async (A) => v(A, De), K = async (A) => v(A, _), q = (A) => {
+    }, Z = async (A) => w(A, De), K = async (A) => w(A, _), q = (A) => {
       L.value = !0, j.value = A, A === "剖面视图" && !G.value && W();
     }, pe = (A) => {
       l.value = !0, k.value = A;
@@ -1221,14 +1223,14 @@ const Nt = { class: "panel-content" }, Ut = {
     return Be(async () => {
       await Ie();
       try {
-        R(), d = F().scene, m = !0, window.addEventListener("resize", H);
+        R(), d = F().scene, m = !0, window.addEventListener("resize", V);
       } catch (A) {
         console.error("Three.js初始化失败:", A);
       }
     }), tt(() => {
-      m = !1, j.value = "", k.value = "", window.removeEventListener("resize", H), r.value && $(), u();
+      m = !1, j.value = "", k.value = "", window.removeEventListener("resize", V), r.value && $(), p();
     }), e({
-      addModelsFromUrls: U,
+      addModelsFromUrls: Z,
       loadModelByDefaultPath: K
     }), (A, h) => {
       var le, re, he, oe;
@@ -1265,7 +1267,7 @@ const Nt = { class: "panel-content" }, Ut = {
           T(z, {
             name: "viewReset",
             size: "24",
-            onClick: p,
+            onClick: c,
             title: "重置"
           }),
           T(z, {
@@ -1281,8 +1283,8 @@ const Nt = { class: "panel-content" }, Ut = {
           T(z, {
             name: "lookAround",
             size: "24",
-            onClick: Y(P),
-            title: Y(r) ? "停止动画" : "动画视图"
+            onClick: U(M),
+            title: U(r) ? "停止动画" : "动画视图"
           }, null, 8, ["onClick", "title"])
         ]),
         g("div", ms, [
@@ -1392,7 +1394,7 @@ const Nt = { class: "panel-content" }, Ut = {
             default: Fe(() => [
               j.value === "场景树" ? (B(), Ze(Kt, {
                 key: 0,
-                model: Y(M)
+                model: U(x)
               }, null, 8, ["model"])) : we("", !0),
               j.value === "剖面视图" ? (B(), J("div", vs, [
                 g("div", bs, [
@@ -1402,9 +1404,9 @@ const Nt = { class: "panel-content" }, Ut = {
                       name: "clipping-axis",
                       value: "none",
                       "onUpdate:modelValue": h[7] || (h[7] = (C) => ge(I) ? I.value = C : null),
-                      onChange: h[8] || (h[8] = (...C) => Y(te) && Y(te)(...C))
+                      onChange: h[8] || (h[8] = (...C) => U(te) && U(te)(...C))
                     }, null, 544), [
-                      [ye, Y(I)]
+                      [ye, U(I)]
                     ]),
                     h[16] || (h[16] = g("span", { class: "radio-text" }, "无切割", -1))
                   ]),
@@ -1414,9 +1416,9 @@ const Nt = { class: "panel-content" }, Ut = {
                       name: "clipping-axis",
                       value: "x",
                       "onUpdate:modelValue": h[9] || (h[9] = (C) => ge(I) ? I.value = C : null),
-                      onChange: h[10] || (h[10] = (...C) => Y(te) && Y(te)(...C))
+                      onChange: h[10] || (h[10] = (...C) => U(te) && U(te)(...C))
                     }, null, 544), [
-                      [ye, Y(I)]
+                      [ye, U(I)]
                     ]),
                     h[17] || (h[17] = g("span", { class: "radio-text" }, "X轴切割", -1))
                   ]),
@@ -1426,9 +1428,9 @@ const Nt = { class: "panel-content" }, Ut = {
                       name: "clipping-axis",
                       value: "y",
                       "onUpdate:modelValue": h[11] || (h[11] = (C) => ge(I) ? I.value = C : null),
-                      onChange: h[12] || (h[12] = (...C) => Y(te) && Y(te)(...C))
+                      onChange: h[12] || (h[12] = (...C) => U(te) && U(te)(...C))
                     }, null, 544), [
-                      [ye, Y(I)]
+                      [ye, U(I)]
                     ]),
                     h[18] || (h[18] = g("span", { class: "radio-text" }, "Y轴切割", -1))
                   ]),
@@ -1438,9 +1440,9 @@ const Nt = { class: "panel-content" }, Ut = {
                       name: "clipping-axis",
                       value: "z",
                       "onUpdate:modelValue": h[13] || (h[13] = (C) => ge(I) ? I.value = C : null),
-                      onChange: h[14] || (h[14] = (...C) => Y(te) && Y(te)(...C))
+                      onChange: h[14] || (h[14] = (...C) => U(te) && U(te)(...C))
                     }, null, 544), [
-                      [ye, Y(I)]
+                      [ye, U(I)]
                     ]),
                     h[19] || (h[19] = g("span", { class: "radio-text" }, "Z轴切割", -1))
                   ])
@@ -1465,8 +1467,8 @@ const Nt = { class: "panel-content" }, Ut = {
               ne(T(rs, {
                 ref_key: "jointRef",
                 ref: f,
-                model: Y(M),
-                scene: Y(d),
+                model: U(x),
+                scene: U(d),
                 animationData: n == null ? void 0 : n.animationData
               }, null, 8, ["model", "scene", "animationData"]), [
                 [ve, k.value === "关节控制"]
@@ -1482,9 +1484,9 @@ const Nt = { class: "panel-content" }, Ut = {
         ], 512), [
           [ve, l.value]
         ]),
-        w.value ? (B(), J("div", Ts, [
+        b.value ? (B(), J("div", Ts, [
           h[20] || (h[20] = g("div", { class: "loading-spinner" }, null, -1)),
-          g("p", null, ie(x.value), 1)
+          g("p", null, ie(P.value), 1)
         ])) : we("", !0)
       ]);
     };