ss-component-new 1.1.591 → 1.1.593

package/dist/{threeModel-BYcGqARO.js → threeModel-WNFRijN4.js}

@@ -1,5 +1,5 @@
-import { ref as E, watch as ke, createElementBlock as W, openBlock as B, createBlock as Ke, computed as ue, resolveComponent as Xe, createVNode as k, onMounted as Be, onUnmounted as Qe, Fragment as et, renderList as tt, createElementVNode as w, createCommentVNode as be, toDisplayString as ne, defineComponent as st, normalizeStyle as je, normalizeClass as Ie, nextTick as Fe, onBeforeUnmount as it, withDirectives as re, unref as V, withCtx as Ne, isRef as fe, vModelRadio as _e, vShow as ge } from "vue";
-import { D as ot, V as y, M as ce, T as he, Q as Ue, E as Ye, F as se, R as at, P as we, G as $e, H as Me, J as nt, K as lt, L as rt, W as ct, N as ht, O as ut, U as pt, X as dt, Y as mt, Z as Pe, _ as ft, $ as Ae, a0 as _t, a1 as De, a2 as gt, a3 as Ve, a4 as Ge, a5 as Je, a6 as Te, C as yt, a7 as pe, a8 as vt, a9 as bt, aa as wt } from "./index-D-GfvBb0.js";
+import { ref as E, watch as Me, createElementBlock as W, openBlock as $, createBlock as Ke, computed as ue, resolveComponent as Xe, createVNode as k, onMounted as Be, onUnmounted as Qe, Fragment as et, renderList as tt, createElementVNode as P, createCommentVNode as be, toDisplayString as ne, defineComponent as st, normalizeStyle as je, normalizeClass as Ie, nextTick as Fe, onBeforeUnmount as it, withDirectives as re, unref as V, withCtx as Ne, isRef as fe, vModelRadio as _e, vShow as ge } from "vue";
+import { D as ot, V as y, M as ce, T as he, Q as Ue, E as Ye, F as se, R as at, P as we, G as $e, H as xe, J as nt, K as lt, L as rt, W as ct, N as ht, O as ut, U as pt, X as dt, Y as mt, Z as Pe, _ as ft, $ as Ae, a0 as _t, a1 as Te, a2 as gt, a3 as Ve, a4 as Ge, a5 as Je, a6 as Ce, C as yt, a7 as pe, a8 as vt, a9 as bt, aa as wt } from "./index-D-GfvBb0.js";
 import { _ as de } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { c as We } from "./menu-Qw1eGtzq.js";
 const Ze = { type: "change" }, Re = { type: "start" }, qe = { type: "end" }, ye = new at(), He = new we(), Pt = Math.cos(70 * $e.DEG2RAD), Y = new y(), J = 2 * Math.PI, A = {
@@ -11,7 +11,7 @@ const Ze = { type: "change" }, Re = { type: "start" }, qe = { type: "end" }, ye
   TOUCH_PAN: 4,
   TOUCH_DOLLY_PAN: 5,
   TOUCH_DOLLY_ROTATE: 6
-}, Ce = 1e-6;
+}, Se = 1e-6;
 class Mt extends ot {
   /**
    * Constructs a new controls instance.
@@ -116,7 +116,7 @@ class Mt extends ot {
       const v = this.object.zoom;
       this.object.zoom = Math.max(this.minZoom, Math.min(this.maxZoom, this.object.zoom / this._scale)), v !== this.object.zoom && (this.object.updateProjectionMatrix(), d = !0);
     }
-    return this._scale = 1, this._performCursorZoom = !1, d || this._lastPosition.distanceToSquared(this.object.position) > Ce || 8 * (1 - this._lastQuaternion.dot(this.object.quaternion)) > Ce || this._lastTargetPosition.distanceToSquared(this.target) > Ce ? (this.dispatchEvent(Ze), 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, d || this._lastPosition.distanceToSquared(this.object.position) > Se || 8 * (1 - this._lastQuaternion.dot(this.object.quaternion)) > Se || this._lastTargetPosition.distanceToSquared(this.target) > Se ? (this.dispatchEvent(Ze), this._lastPosition.copy(this.object.position), this._lastQuaternion.copy(this.object.quaternion), this._lastTargetPosition.copy(this.target), !0) : !1;
   }
   _getAutoRotationAngle(e) {
     return e !== null ? J / 60 * this.autoRotateSpeed * e : J / 60 / 60 * this.autoRotateSpeed;
@@ -504,37 +504,37 @@ function jt(o) {
     n && (e.remove(n), n.dispose()), D && (e.remove(D), D.geometry.dispose(), D.material.dispose());
     const S = Math.min(Math.max(Math.floor(f / 20), 30), 40);
     n = new mt(f, S, 13421772, 14540253), n.rotateX(Math.PI / 2), n.position.copy(h), e.add(n);
-    const X = new Pe(f, f), $ = new ft({
+    const X = new Pe(f, f), B = new ft({
       opacity: 0.3,
       // 阴影透明度
       color: 0
     });
-    D = new Ae(X, $), D.position.copy(h), D.position.z -= 0.01, D.receiveShadow = !0, e.add(D);
+    D = new Ae(X, B), D.position.copy(h), D.position.z -= 0.01, D.receiveShadow = !0, e.add(D);
   }, T = () => {
     if (x.value.length === 0)
       return;
-    const f = new Me();
+    const f = new xe();
     x.value.forEach((G) => {
       f.expandByObject(G);
     });
-    const h = f.getSize(new y()), S = f.getCenter(new y()), X = Math.max(h.x, h.y, h.z), $ = Math.max(X * 8, 50), I = new y(
+    const h = f.getSize(new y()), S = f.getCenter(new y()), X = Math.max(h.x, h.y, h.z), B = Math.max(X * 8, 50), I = new y(
       S.x,
       S.y,
       f.min.z
       // 模型的最底部
     );
-    c($, I);
+    c(B, I);
   }, g = () => {
     const f = new _t(4210752, 0.6);
     e.add(f);
-    const h = new De(16777215, 2);
+    const h = new Te(16777215, 2);
     h.position.set(10, 10, 8), h.castShadow = !0, h.shadow.mapSize.width = 4096, h.shadow.mapSize.height = 4096, h.shadow.camera.near = 0.5, h.shadow.camera.far = 50, h.shadow.camera.left = -50, h.shadow.camera.right = 50, h.shadow.camera.top = 50, h.shadow.camera.bottom = -50, e.add(h);
-    const S = new De(16777215, 0.8);
+    const S = new Te(16777215, 0.8);
     S.position.set(-8, -8, 6), e.add(S);
-    const X = new De(16777215, 0.6);
+    const X = new Te(16777215, 0.6);
     X.position.set(0, -15, 2), e.add(X);
-    const $ = new gt(16777215, 4473924, 0.8);
-    e.add($);
+    const B = new gt(16777215, 4473924, 0.8);
+    e.add(B);
     const I = new Ve(16777215, 1, 50);
     I.position.set(15, 15, 15), e.add(I);
     const G = new Ve(16777215, 0.5, 50);
@@ -557,7 +557,7 @@ function jt(o) {
     ].forEach((S) => {
       f[S] && f[S].dispose && f[S].dispose();
     }), f.dispose && f.dispose();
-  }, b = (f) => {
+  }, w = (f) => {
     f == null || f.traverse((h) => {
       h.geometry && h.geometry.dispose(), h.material && (Array.isArray(h.material) ? h.material.forEach((S) => {
         p(S);
@@ -578,11 +578,11 @@ function jt(o) {
     },
     fitCameraToAllModels: () => {
       if (!t || !a || x.value.length === 0) return;
-      const f = new Me();
+      const f = new xe();
       x.value.forEach((G) => {
         f.expandByObject(G);
       });
-      const h = f.getSize(new y()), S = f.getCenter(new y()), $ = Math.max(h.x, h.y, h.z) * 0.8, I = new y(S.x + $, S.y - $, S.z + $);
+      const h = f.getSize(new y()), S = f.getCenter(new y()), B = Math.max(h.x, h.y, h.z) * 0.8, I = new y(S.x + B, S.y - B, S.z + B);
       t.position.copy(I), t.lookAt(S), a.target.copy(S), a.update(), L.value.copy(I), N.value.copy(S), T();
     },
     getThreeJSObjects: () => ({
@@ -595,13 +595,13 @@ function jt(o) {
     clearAllModels: () => {
       if (!e) return;
       x.value.forEach((h) => {
-        e.remove(h), b(h);
+        e.remove(h), w(h);
       });
       const f = [];
       e.children.forEach((h) => {
         !h.isLight && !h.isCamera && h.type !== "GridHelper" && h !== D && f.push(h);
       }), f.forEach((h) => {
-        e.remove(h), b(h);
+        e.remove(h), w(h);
       }), x.value = [], T();
     },
     cleanup: () => {
@@ -614,16 +614,16 @@ function It(o, e) {
   const t = E(!1);
   let i = null, a = 12700, d = new y(), v = new y(), n = new y(), D = 0, x = null;
   const L = (s) => s < 0.5 ? 4 * s * s * s : 1 - Math.pow(-2 * s + 2, 3) / 2, N = (s) => {
-    const p = new y(), b = D * 1.2, j = new y(n.x + b, n.y, n.z), H = new y(n.x, n.y + b, n.z), K = new y(n.x, n.y - b, n.z);
+    const p = new y(), w = D * 1.2, j = new y(n.x + w, n.y, n.z), H = new y(n.x, n.y + w, n.z), K = new y(n.x, n.y - w, n.z);
     if (s <= 0.567) {
       const Z = s / 0.567 * Math.PI * 2;
-      p.x = n.x + Math.cos(Z) * b, p.z = n.z + Math.sin(Z) * b, p.y = n.y;
+      p.x = n.x + Math.cos(Z) * w, p.z = n.z + Math.sin(Z) * w, p.y = n.y;
     } else if (s <= 0.724) {
       const U = (s - 0.567) / 0.157, Z = L(U);
       p.lerpVectors(j, H, Z);
     } else if (s <= 0.881) {
       const U = (s - 0.724) / 0.157, f = L(U) * Math.PI;
-      p.x = n.x + Math.sin(f) * b, p.y = n.y + Math.cos(f) * b, p.z = n.z;
+      p.x = n.x + Math.sin(f) * w, p.y = n.y + Math.cos(f) * w, p.z = n.z;
     } else {
       const U = (s - 0.881) / 0.119, Z = L(U);
       p.lerpVectors(K, d, Z);
@@ -633,7 +633,7 @@ function It(o, e) {
     const { camera: s, controls: p } = o();
     if (!s || !p) return;
     i || (i = Date.now());
-    const b = Date.now() - i, j = Math.min(b / a, 1);
+    const w = Date.now() - i, j = Math.min(w / a, 1);
     if (j >= 1) {
       T();
       return;
@@ -645,12 +645,12 @@ function It(o, e) {
     const { camera: s, controls: p } = o();
     if (!s || !p) return;
     d.copy(s.position), v.copy(p.target);
-    const b = new Me();
+    const w = new xe();
     e.value.forEach((h) => {
-      b.expandByObject(h);
+      w.expandByObject(h);
     });
-    const j = b.getSize(new y());
-    n = b.getCenter(new y()), D = Math.max(j.x, j.y, j.z) * 1.2;
+    const j = w.getSize(new y());
+    n = w.getCenter(new y()), D = Math.max(j.x, j.y, j.z) * 1.2;
     const H = new y(n.x + D * 1.2, n.y, n.z);
     p.enabled = !1;
     const K = s.position.clone(), U = 1e3, Z = Date.now(), f = () => {
@@ -671,9 +671,9 @@ function It(o, e) {
         const { camera: s, controls: p } = o();
         if (!s || !p) return;
         p.enabled = !0;
-        const b = s.position.clone(), j = p.target.clone(), H = 1500, K = Date.now(), U = () => {
+        const w = s.position.clone(), j = p.target.clone(), H = 1500, K = Date.now(), U = () => {
           const Z = Date.now() - K, f = Math.min(Z / H, 1), h = L(f);
-          s.position.lerpVectors(b, d, h), p.target.lerpVectors(j, v, h), f < 1 && requestAnimationFrame(U);
+          s.position.lerpVectors(w, d, h), p.target.lerpVectors(j, v, h), f < 1 && requestAnimationFrame(U);
         };
         U();
       } else
@@ -685,7 +685,7 @@ function It(o, e) {
 }
 function Ft(o, e) {
   const t = E(!1), i = E("none");
-  let a = [], d = [], v = new Me(), n = new y();
+  let a = [], d = [], v = new xe(), n = new y();
   const D = () => {
     a = [
       new we(new y(1, 0, 0), 0),
@@ -701,8 +701,8 @@ function Ft(o, e) {
     }), n = v.getCenter(new y());
   }, L = (g) => {
     const s = v.getSize(new y());
-    let p, b, j;
-    g === "x" ? (p = new Pe(s.z * 1.2, s.y * 1.2), b = new y(n.x, n.y, n.z), j = new Te(0, Math.PI / 2, 0)) : g === "y" ? (p = new Pe(s.x * 1.2, s.z * 1.2), b = new y(n.x, n.y, n.z), j = new Te(Math.PI / 2, 0, 0)) : g === "z" && (p = new Pe(s.x * 1.2, s.y * 1.2), b = new y(n.x, n.y, n.z), j = new Te(0, 0, 0));
+    let p, w, j;
+    g === "x" ? (p = new Pe(s.z * 1.2, s.y * 1.2), w = new y(n.x, n.y, n.z), j = new Ce(0, Math.PI / 2, 0)) : g === "y" ? (p = new Pe(s.x * 1.2, s.z * 1.2), w = new y(n.x, n.y, n.z), j = new Ce(Math.PI / 2, 0, 0)) : g === "z" && (p = new Pe(s.x * 1.2, s.y * 1.2), w = new y(n.x, n.y, n.z), j = new Ce(0, 0, 0));
     const H = new Ge({
       color: 8900331,
       transparent: !0,
@@ -710,7 +710,7 @@ function Ft(o, e) {
       side: Je,
       depthWrite: !1
     }), K = new Ae(p, H);
-    return K.position.copy(b), K.rotation.copy(j), K;
+    return K.position.copy(w), K.rotation.copy(j), K;
   }, N = () => {
     if (R(), c(), i.value === "none")
       return;
@@ -718,10 +718,10 @@ function Ft(o, e) {
     let g = null;
     if (i.value === "x" ? (a[0].constant = -n.x, g = a[0]) : i.value === "y" ? (a[1].constant = -n.y, g = a[1]) : i.value === "z" && (a[2].constant = -n.z, g = a[2]), g) {
       e.value.forEach((p) => {
-        p.traverse((b) => {
-          b.isMesh && b.material && (Array.isArray(b.material) ? b.material.forEach((j) => {
+        p.traverse((w) => {
+          w.isMesh && w.material && (Array.isArray(w.material) ? w.material.forEach((j) => {
             j.clippingPlanes = [g];
-          }) : b.material.clippingPlanes = [g]);
+          }) : w.material.clippingPlanes = [g]);
         });
       });
       const { scene: s } = o();
@@ -765,7 +765,7 @@ const Nt = { class: "panel-content" }, Ut = {
     const e = o;
     E();
     const t = E();
-    return ke(
+    return Me(
       () => [e == null ? void 0 : e.animationData],
       () => {
         var a;
@@ -775,8 +775,8 @@ const Nt = { class: "panel-content" }, Ut = {
       { deep: !0, immediate: !0 }
     ), (i, a) => {
       var d, v, n;
-      return B(), W("div", Nt, [
-        (B(), Ke(yt, {
+      return $(), W("div", Nt, [
+        ($(), Ke(yt, {
           itemData: (d = t.value) == null ? void 0 : d.compData,
           key: (v = t.value) == null ? void 0 : v.id,
           index: (n = t.value) == null ? void 0 : n.id,
@@ -848,12 +848,12 @@ const Nt = { class: "panel-content" }, Ut = {
       return c.forEach((s) => {
         if (s.children && s.children.length > 0) {
           g.push(s.id);
-          const p = s.children.filter((b) => b.children && b.children.length > 0).slice(0, T).map((b) => b.id);
+          const p = s.children.filter((w) => w.children && w.children.length > 0).slice(0, T).map((w) => w.id);
           g.push(...p);
         }
       }), g.slice(0, T + 1);
     }, N = ue(() => !a.value || a.value.length === 0 ? [] : t.expandStrategy === "firstLevel" ? L(a.value, t.maxExpandCount) : x(a.value, t.maxExpandCount)), R = ue(() => t != null && t.model ? D(t.model) : []);
-    return ke(
+    return Me(
       R,
       (c) => {
         a.value = JSON.parse(JSON.stringify(c));
@@ -861,7 +861,7 @@ const Nt = { class: "panel-content" }, Ut = {
       { immediate: !0 }
     ), (c, T) => {
       const g = Xe("el-tree");
-      return B(), W("div", Vt, [
+      return $(), W("div", Vt, [
         k(g, {
           data: a.value,
           props: d,
@@ -881,7 +881,7 @@ const Nt = { class: "panel-content" }, Ut = {
 }, es = { class: "slider-container" }, ts = ["min", "max", "value", "onInput", "disabled"], ss = { class: "value-display" }, is = { class: "joint-value" }, os = { class: "unit" }, as = {
   key: 1,
   class: "empty-state"
-}, ve = 1e-3, ns = 1e3, Se = 60, ls = {
+}, ve = 1e-3, ns = 1e3, ke = 60, ls = {
   __name: "jointPanel",
   props: {
     model: Object,
@@ -891,15 +891,23 @@ const Nt = { class: "panel-content" }, Ut = {
   setup(o, { expose: e }) {
     const t = o;
     E(!0);
-    const i = E([]), a = E(null), d = E(null), v = E(12.5), n = E(), D = E(1302), x = E(!1), L = E(!1), N = E(0), R = E(0), c = E(null), T = $e.degToRad, g = E(1), s = () => ns / Se / g.value;
+    const i = E([]), a = E(null), d = E(null), v = E(12.5), n = E(), D = E(1302), x = E(!1), L = E(!1), N = E(0), R = E(0), c = E(null), T = $e.degToRad, g = E(1), s = () => ns / ke / g.value;
     let p = [];
-    p.value = We(presetAnimationData2), ue(() => p.length > 0);
-    const b = (l, P = !1) => l === "revolute" ? P ? Math.PI : -Math.PI : l === "prismatic" ? P ? 1 : -1 : 0, j = () => {
+    Me(
+      () => t.animationData,
+      (l) => {
+        var u;
+        let b = ((u = We(l)) == null ? void 0 : u.动画输出) ?? [];
+        b && b.length > 0 && (p = b, B());
+      },
+      { deep: !0 }
+    ), ue(() => p.length > 0);
+    const w = (l, b = !1) => l === "revolute" ? b ? Math.PI : -Math.PI : l === "prismatic" ? b ? 1 : -1 : 0, j = () => {
       if (!a.value)
         return ElMessage.error("未加载 URDF"), !1;
       let l = null;
-      return a.value.traverse((P) => {
-        P.name === "Pipe_Link" && !l && P.traverse((u) => {
+      return a.value.traverse((b) => {
+        b.name === "Pipe_Link" && !l && b.traverse((u) => {
           u instanceof Ae && !l && (l = u);
         });
       }), l ? (n.value = l, l.material = new Ge({
@@ -910,11 +918,11 @@ const Nt = { class: "panel-content" }, Ut = {
     }, H = (l) => {
       if (!l || !l.joints)
         return console.warn("URDF模型没有关节信息"), [];
-      let P = null;
+      let b = null;
       if (l.traverse((M) => {
-        M.name === "Pipe_Link" && !P && (P = M);
-      }), P)
-        n.value = P;
+        M.name === "Pipe_Link" && !b && (b = M);
+      }), b)
+        n.value = b;
       else
         return console.warn("未找到管子模型"), [];
       const u = [];
@@ -923,11 +931,11 @@ const Nt = { class: "panel-content" }, Ut = {
         if (_._jointType === "fixed")
           return;
         const F = _.limit ? {
-          lower: _.limit.lower ?? b(_._jointType, !1),
-          upper: _.limit.upper ?? b(_._jointType, !0)
+          lower: _.limit.lower ?? w(_._jointType, !1),
+          upper: _.limit.upper ?? w(_._jointType, !0)
         } : {
-          lower: b(_._jointType, !1),
-          upper: b(_._jointType, !0)
+          lower: w(_._jointType, !1),
+          upper: w(_._jointType, !0)
         };
         u.push({
           name: M,
@@ -937,42 +945,42 @@ const Nt = { class: "panel-content" }, Ut = {
           urdfJoint: _
         });
       }), u.sort((M, _) => M.name.localeCompare(_.name));
-    }, K = (l, P) => {
+    }, K = (l, b) => {
       const u = i.value.find((_) => _.name === l);
       if (!u) return;
-      const M = parseFloat(P);
+      const M = parseFloat(b);
       if (u.limit) {
         const _ = Math.max(u.limit.lower, Math.min(u.limit.upper, M));
         u.currentValue = _;
       } else
         u.currentValue = M;
       t.model && t.model.setJointValue ? t.model.setJointValue(l, u.currentValue) : u.urdfJoint && u.urdfJoint.setJointValue(u.currentValue);
-    }, U = (l) => l.reduce((P, u) => {
+    }, U = (l) => l.reduce((b, u) => {
       let M = 0;
       const _ = u.Y ?? 0, F = u.C ?? 0, m = u.R ?? 0;
-      return _ > 0 && (M += _), F > 0 && m > 0 && (M += m * T(F)), P + M;
+      return _ > 0 && (M += _), F > 0 && m > 0 && (M += m * T(F)), b + M;
     }, 0), Z = (l) => {
-      const P = [], u = l.Y ?? 0, M = l.B ?? 0, _ = l.C ?? 0, F = l.R ?? 0, m = {
+      const b = [], u = l.Y ?? 0, M = l.B ?? 0, _ = l.C ?? 0, F = l.R ?? 0, m = {
         pos: new y(0, 0, 0),
         localY: new y(0, 1, 0),
         localX: new y(1, 0, 0),
         localZ: new y(0, 0, 1)
       };
-      if (!u && !_) return P;
-      if (P.push(m.pos.clone()), M !== 0) {
+      if (!u && !_) return b;
+      if (b.push(m.pos.clone()), M !== 0) {
         const r = new pe().makeRotationAxis(m.localY, T(M));
         m.localX.applyMatrix4(r), m.localZ.applyMatrix4(r);
       }
-      if (u > 0 && (m.pos.add(m.localY.clone().multiplyScalar(u * ve)), P.push(m.pos.clone())), _ > 0 && F > 0) {
+      if (u > 0 && (m.pos.add(m.localY.clone().multiplyScalar(u * ve)), b.push(m.pos.clone())), _ > 0 && F > 0) {
         const r = T(_), O = F * ve, q = m.pos.clone().add(m.localX.clone().multiplyScalar(-O)), ie = Math.max(16, Math.ceil(_ / 5));
         for (let Q = 1; Q <= ie; Q++) {
           const le = r * Q / ie, C = new pe().makeRotationAxis(m.localZ, le), te = m.localX.clone().multiplyScalar(O).applyMatrix4(C), oe = q.clone().add(te);
-          P.push(oe);
+          b.push(oe);
         }
       }
-      return P;
+      return b;
     }, f = (l) => {
-      const P = p.value.slice(0, l + 1), u = U(P), M = Math.max(0, D.value - u), _ = [];
+      const b = p.slice(0, l + 1), u = U(b), M = Math.max(0, D.value - u), _ = [];
       _.push(new y(0, 0, 0));
       const F = new y(0, M * ve, 0);
       M > 0 && _.push(F);
@@ -983,8 +991,8 @@ const Nt = { class: "panel-content" }, Ut = {
         localZ: new y(0, 0, 1)
       };
       const r = [];
-      for (let O = P.length - 1; O >= 0; O--) {
-        const q = P[O], ie = Z(q);
+      for (let O = b.length - 1; O >= 0; O--) {
+        const q = b[O], ie = Z(q);
         if (ie.length > 0) {
           const Q = ie.map((te) => {
             const oe = te.clone(), Oe = new pe();
@@ -1013,19 +1021,19 @@ const Nt = { class: "panel-content" }, Ut = {
       } catch (O) {
         console.error("管件更新失败", O);
       }
-    }, h = (l, P) => {
+    }, h = (l, b) => {
       l && (Object.keys(l).forEach((u) => {
         const M = l[u], _ = i.value.find((F) => F.name === u);
         _ && (_.currentValue = M, t.model && t.model.setJointValue ? t.model.setJointValue(u, M) : _.urdfJoint && _.urdfJoint.setJointValue(M));
-      }), f(P));
-    }, S = (l, P, u) => l + (P - l) * u, X = (l, P, u) => {
-      if (!l || !P) return l || P;
+      }), f(b));
+    }, S = (l, b, u) => l + (b - l) * u, X = (l, b, u) => {
+      if (!l || !b) return l || b;
       const M = {};
       return Object.keys(l).forEach((_) => {
-        const F = l[_], m = P[_];
+        const F = l[_], m = b[_];
         M[_] = S(F, m || F, u);
       }), M;
-    }, $ = () => {
+    }, B = () => {
       if (p.length === 0) {
         console.warn("没有动画数据");
         return;
@@ -1033,13 +1041,13 @@ const Nt = { class: "panel-content" }, Ut = {
       j(), x.value = !0, L.value = !1;
       const l = () => {
         if (!x.value || L.value) return;
-        const P = R.value / Se, u = N.value, M = p[N.value], _ = p[N.value + 1];
+        const b = R.value / ke, u = N.value, M = p[N.value], _ = p[N.value + 1];
         if (_) {
-          const F = X(M, _, P);
+          const F = X(M, _, b);
           h(F, u);
         } else
           h(M, u);
-        if (R.value++, R.value >= Se && (R.value = 0, N.value++, N.value >= p.length - 1)) {
+        if (R.value++, R.value >= ke && (R.value = 0, N.value++, N.value >= p.length - 1)) {
           G();
           return;
         }
@@ -1052,7 +1060,7 @@ const Nt = { class: "panel-content" }, Ut = {
       x.value = !1, L.value = !1, g.value = 1, c.value && (clearTimeout(c.value), c.value = null);
     };
     e({
-      startAnimation: $,
+      startAnimation: B,
       pauseAnimation: I,
       stopAnimation: G,
       resetAll: () => {
@@ -1066,7 +1074,7 @@ const Nt = { class: "panel-content" }, Ut = {
       fastBackward: () => {
         g.value > 0.25 && (g.value = Math.max(0.25, g.value / 2));
       }
-    }), ke(
+    }), Me(
       () => t.model,
       (l) => {
         l ? (a.value = l, i.value = H(l)) : i.value = [];
@@ -1077,36 +1085,36 @@ const Nt = { class: "panel-content" }, Ut = {
       !t.model || x.value && !L.value || i.value.forEach((l) => {
         l.urdfJoint && l.urdfJoint.angle !== void 0 && (l.currentValue = l.urdfJoint.angle);
       });
-    }, xe = () => {
+    }, Ee = () => {
       const l = () => {
         me(), d.value = requestAnimationFrame(l);
       };
       l();
-    }, Ee = () => {
+    }, De = () => {
       d.value && (cancelAnimationFrame(d.value), d.value = null);
     };
     return Be(() => {
-      xe();
+      Ee();
     }), Qe(() => {
-      Ee(), G();
-    }), (l, P) => (B(), W("div", Xt, [
-      i.value.length > 0 ? (B(), W("div", Bt, [
-        (B(!0), W(et, null, tt(i.value, (u) => {
+      De(), G();
+    }), (l, b) => ($(), W("div", Xt, [
+      i.value.length > 0 ? ($(), W("div", Bt, [
+        ($(!0), W(et, null, tt(i.value, (u) => {
           var M, _, F, m;
-          return B(), W("div", {
+          return $(), W("div", {
             key: u.name,
             class: "joint-item"
           }, [
-            w("div", $t, [
-              w("div", Gt, [
-                w("span", Jt, ne(u.name), 1),
-                w("span", Wt, " [" + ne(((M = u.limit) == null ? void 0 : M.lower.toFixed(2)) ?? (u.type === "revolute" ? "-3.14" : "-1.00")) + ", " + ne(((_ = u.limit) == null ? void 0 : _.upper.toFixed(2)) ?? (u.type === "revolute" ? "3.14" : "1.00")) + "] ", 1)
+            P("div", $t, [
+              P("div", Gt, [
+                P("span", Jt, ne(u.name), 1),
+                P("span", Wt, " [" + ne(((M = u.limit) == null ? void 0 : M.lower.toFixed(2)) ?? (u.type === "revolute" ? "-3.14" : "-1.00")) + ", " + ne(((_ = u.limit) == null ? void 0 : _.upper.toFixed(2)) ?? (u.type === "revolute" ? "3.14" : "1.00")) + "] ", 1)
               ]),
-              w("span", qt, ne(u.type), 1)
+              P("span", qt, ne(u.type), 1)
             ]),
-            u.type === "revolute" || u.type === "prismatic" ? (B(), W("div", Qt, [
-              w("div", es, [
-                w("input", {
+            u.type === "revolute" || u.type === "prismatic" ? ($(), W("div", Qt, [
+              P("div", es, [
+                P("input", {
                   type: "range",
                   min: ((F = u.limit) == null ? void 0 : F.lower) ?? (u.type === "revolute" ? -Math.PI : -1),
                   max: ((m = u.limit) == null ? void 0 : m.upper) ?? (u.type === "revolute" ? Math.PI : 1),
@@ -1117,19 +1125,19 @@ const Nt = { class: "panel-content" }, Ut = {
                   disabled: x.value && !L.value
                 }, null, 40, ts)
               ]),
-              w("div", ss, [
-                w("span", is, ne(u.currentValue.toFixed(3)), 1),
-                w("span", os, ne(u.type === "revolute" ? "rad" : "m"), 1)
+              P("div", ss, [
+                P("span", is, ne(u.currentValue.toFixed(3)), 1),
+                P("span", os, ne(u.type === "revolute" ? "rad" : "m"), 1)
               ])
             ])) : be("", !0)
           ]);
         }), 128))
-      ])) : (B(), W("div", as, P[0] || (P[0] = [
-        w("p", null, "未检测到可控制的关节", -1)
+      ])) : ($(), W("div", as, b[0] || (b[0] = [
+        P("p", null, "未检测到可控制的关节", -1)
       ])))
     ]));
   }
-}, rs = /* @__PURE__ */ de(ls, [["__scopeId", "data-v-29cb0a79"]]), cs = ["xlink:href"], hs = /* @__PURE__ */ st({
+}, rs = /* @__PURE__ */ de(ls, [["__scopeId", "data-v-efaa40d4"]]), cs = ["xlink:href"], hs = /* @__PURE__ */ st({
   __name: "svgIcon",
   props: {
     backgroundColor: { default: "#f0f0f0" },
@@ -1152,16 +1160,16 @@ const Nt = { class: "panel-content" }, Ut = {
         height: v
       };
     });
-    return (d, v) => (B(), W("div", {
+    return (d, v) => ($(), W("div", {
       class: Ie(["container", { active: d.active }]),
       style: je(t.value)
     }, [
-      (B(), W("svg", {
+      ($(), W("svg", {
         class: Ie(["svg-icon", [d.$attrs.class, d.spin && "svg-icon-spin"]]),
         style: je(a.value),
         "aria-hidden": "true"
       }, [
-        w("use", { "xlink:href": i.value }, null, 8, cs)
+        P("use", { "xlink:href": i.value }, null, 8, cs)
       ], 6))
     ], 6));
   }
@@ -1189,14 +1197,14 @@ const Nt = { class: "panel-content" }, Ut = {
     const L = E(!1), N = E(!1), R = E(""), c = E(!1), T = E(""), g = E(), {
       currentModels: s,
       initialCameraPosition: p,
-      initialTargetPosition: b,
+      initialTargetPosition: w,
       initThreeJS: j,
       handleResize: H,
       fitCameraToAllModels: K,
       getThreeJSObjects: U,
       clearAllModels: Z,
       cleanup: f
-    } = jt(n), { isAnimating: h, toggleAnimation: S, stopAnimation: X } = It(U, s), { isClipping: $, activeClippingAxis: I, toggleClipping: G, updateClippingPlanes: ae } = Ft(
+    } = jt(n), { isAnimating: h, toggleAnimation: S, stopAnimation: X } = It(U, s), { isClipping: B, activeClippingAxis: I, toggleClipping: G, updateClippingPlanes: ae } = Ft(
       U,
       s
     ), { addModelsFromUrls: ze, loadModelByDefaultPath: Le, urdfModel: me } = wt(
@@ -1205,7 +1213,7 @@ const Nt = { class: "panel-content" }, Ut = {
       D,
       x,
       Z
-    ), xe = () => {
+    ), Ee = () => {
       if (L.value || s.value.length === 0) return;
       L.value = !0, h.value && X();
       const { camera: m, controls: r } = U();
@@ -1213,24 +1221,24 @@ const Nt = { class: "panel-content" }, Ut = {
       r.enabled = !0;
       const O = (ee) => ee < 0.5 ? 4 * ee * ee * ee : 1 - Math.pow(-2 * ee + 2, 3) / 2, q = m.position.clone(), ie = r.target.clone(), Q = 1500, le = Date.now(), C = () => {
         const ee = Date.now() - le, te = Math.min(ee / Q, 1), oe = O(te);
-        m.position.lerpVectors(q, p.value, oe), r.target.lerpVectors(ie, b.value, oe), te < 1 ? requestAnimationFrame(C) : L.value = !1;
+        m.position.lerpVectors(q, p.value, oe), r.target.lerpVectors(ie, w.value, oe), te < 1 ? requestAnimationFrame(C) : L.value = !1;
       };
       C();
-    }, Ee = async () => v ? Promise.resolve() : new Promise((m) => {
+    }, De = async () => v ? Promise.resolve() : new Promise((m) => {
       const r = () => {
         v ? m() : requestAnimationFrame(r);
       };
       r();
     }), l = async (m, r) => {
       try {
-        await Ee(), h.value && X(), $.value && G();
+        await De(), h.value && X(), B.value && G();
         const O = await r(m);
         return K(), O;
       } catch (O) {
         throw console.error("加载模型失败:", O), O;
       }
-    }, P = async (m) => l(m, ze), u = async (m) => l(m, Le), M = (m) => {
-      N.value = !0, R.value = m, m === "剖面视图" && !$.value && G();
+    }, b = async (m) => l(m, ze), u = async (m) => l(m, Le), M = (m) => {
+      N.value = !0, R.value = m, m === "剖面视图" && !B.value && G();
     }, _ = (m) => {
       c.value = !0, T.value = m;
     }, F = () => {
@@ -1249,18 +1257,18 @@ const Nt = { class: "panel-content" }, Ut = {
     }), it(() => {
       v = !1, R.value = "", T.value = "", window.removeEventListener("resize", H), h.value && X(), f();
     }), e({
-      addModelsFromUrls: P,
+      addModelsFromUrls: b,
       loadModelByDefaultPath: u
     }), (m, r) => {
       var q, ie, Q, le;
       const O = Xe("el-scrollbar");
-      return B(), W("div", us, [
-        w("div", {
+      return $(), W("div", us, [
+        P("div", {
           ref_key: "threejsContainer",
           ref: n,
           class: "threejs-container"
         }, null, 512),
-        w("div", ps, [
+        P("div", ps, [
           k(z, {
             name: "guanjianjiexi",
             size: "34"
@@ -1282,11 +1290,11 @@ const Nt = { class: "panel-content" }, Ut = {
             size: "34"
           })
         ]),
-        w("div", ds, [
+        P("div", ds, [
           k(z, {
             name: "viewReset",
             size: "24",
-            onClick: xe,
+            onClick: Ee,
             title: "重置"
           }),
           k(z, {
@@ -1306,7 +1314,7 @@ const Nt = { class: "panel-content" }, Ut = {
             title: V(h) ? "停止动画" : "动画视图"
           }, null, 8, ["onClick", "title"])
         ]),
-        w("div", ms, [
+        P("div", ms, [
           k(z, {
             name: "jiegoushu",
             size: "24",
@@ -1332,7 +1340,7 @@ const Nt = { class: "panel-content" }, Ut = {
             onClick: r[3] || (r[3] = (C) => M("场景4"))
           })
         ]),
-        w("div", fs, [
+        P("div", fs, [
           k(z, {
             name: "donghuafangzhen",
             size: "24"
@@ -1364,7 +1372,7 @@ const Nt = { class: "panel-content" }, Ut = {
             size: "24"
           })
         ]),
-        w("div", _s, [
+        P("div", _s, [
           k(z, {
             name: "kuaitui",
             size: "24",
@@ -1401,24 +1409,24 @@ const Nt = { class: "panel-content" }, Ut = {
             onClick: (le = g.value) == null ? void 0 : le.resetAll
           }, null, 8, ["onClick"])
         ]),
-        re(w("div", gs, [
-          w("div", ys, [
-            w("span", null, ne(R.value), 1),
-            w("span", {
+        re(P("div", gs, [
+          P("div", ys, [
+            P("span", null, ne(R.value), 1),
+            P("span", {
               class: "close",
               onClick: r[6] || (r[6] = (C) => N.value = !1)
             }, " X ")
           ]),
           k(O, { "max-height": "650px" }, {
             default: Ne(() => [
-              R.value === "场景树" ? (B(), Ke(Kt, {
+              R.value === "场景树" ? ($(), Ke(Kt, {
                 key: 0,
                 model: V(me)
               }, null, 8, ["model"])) : be("", !0),
-              R.value === "剖面视图" ? (B(), W("div", vs, [
-                w("div", bs, [
-                  w("label", ws, [
-                    re(w("input", {
+              R.value === "剖面视图" ? ($(), W("div", vs, [
+                P("div", bs, [
+                  P("label", ws, [
+                    re(P("input", {
                       type: "radio",
                       name: "clipping-axis",
                       value: "none",
@@ -1427,10 +1435,10 @@ const Nt = { class: "panel-content" }, Ut = {
                     }, null, 544), [
                       [_e, V(I)]
                     ]),
-                    r[16] || (r[16] = w("span", { class: "radio-text" }, "无切割", -1))
+                    r[16] || (r[16] = P("span", { class: "radio-text" }, "无切割", -1))
                   ]),
-                  w("label", Ps, [
-                    re(w("input", {
+                  P("label", Ps, [
+                    re(P("input", {
                       type: "radio",
                       name: "clipping-axis",
                       value: "x",
@@ -1439,10 +1447,10 @@ const Nt = { class: "panel-content" }, Ut = {
                     }, null, 544), [
                       [_e, V(I)]
                     ]),
-                    r[17] || (r[17] = w("span", { class: "radio-text" }, "X轴切割", -1))
+                    r[17] || (r[17] = P("span", { class: "radio-text" }, "X轴切割", -1))
                   ]),
-                  w("label", Ms, [
-                    re(w("input", {
+                  P("label", Ms, [
+                    re(P("input", {
                       type: "radio",
                       name: "clipping-axis",
                       value: "y",
@@ -1451,10 +1459,10 @@ const Nt = { class: "panel-content" }, Ut = {
                     }, null, 544), [
                       [_e, V(I)]
                     ]),
-                    r[18] || (r[18] = w("span", { class: "radio-text" }, "Y轴切割", -1))
+                    r[18] || (r[18] = P("span", { class: "radio-text" }, "Y轴切割", -1))
                   ]),
-                  w("label", xs, [
-                    re(w("input", {
+                  P("label", xs, [
+                    re(P("input", {
                       type: "radio",
                       name: "clipping-axis",
                       value: "z",
@@ -1463,7 +1471,7 @@ const Nt = { class: "panel-content" }, Ut = {
                     }, null, 544), [
                       [_e, V(I)]
                     ]),
-                    r[19] || (r[19] = w("span", { class: "radio-text" }, "Z轴切割", -1))
+                    r[19] || (r[19] = P("span", { class: "radio-text" }, "Z轴切割", -1))
                   ])
                 ])
               ])) : be("", !0)
@@ -1473,10 +1481,10 @@ const Nt = { class: "panel-content" }, Ut = {
         ], 512), [
           [ge, N.value]
         ]),
-        re(w("div", Es, [
-          w("div", Ds, [
-            w("span", null, ne(T.value), 1),
-            w("span", {
+        re(P("div", Es, [
+          P("div", Ds, [
+            P("span", null, ne(T.value), 1),
+            P("span", {
               class: "close",
               onClick: r[15] || (r[15] = (C) => c.value = !1)
             }, " X ")
@@ -1503,9 +1511,9 @@ const Nt = { class: "panel-content" }, Ut = {
         ], 512), [
           [ge, c.value]
         ]),
-        D.value ? (B(), W("div", Ts, [
-          r[20] || (r[20] = w("div", { class: "loading-spinner" }, null, -1)),
-          w("p", null, ne(x.value), 1)
+        D.value ? ($(), W("div", Ts, [
+          r[20] || (r[20] = P("div", { class: "loading-spinner" }, null, -1)),
+          P("p", null, ne(x.value), 1)
         ])) : be("", !0)
       ]);
     };