ss-component-new 1.1.821 → 1.1.822

package/dist/threeSceneView-BVbVe_Et.js

@@ -0,0 +1,1277 @@
+var Ne = Object.defineProperty;
+var qe = (y, o, a) => o in y ? Ne(y, o, { enumerable: !0, configurable: !0, writable: !0, value: a }) : y[o] = a;
+var Fe = (y, o, a) => qe(y, typeof o != "symbol" ? o + "" : o, a);
+import { defineComponent as Se, watch as oe, ref as M, shallowRef as be, computed as me, onUnmounted as Pe, resolveComponent as ae, createElementBlock as B, openBlock as E, createElementVNode as p, createCommentVNode as se, createBlock as de, createVNode as f, withCtx as H, unref as J, Fragment as Ie, renderList as Be, toDisplayString as K, onMounted as Ye, nextTick as Ee, onBeforeUnmount as We, withDirectives as ne, isRef as ve, vModelRadio as ge, vShow as he } from "vue";
+import { u as He, a as Qe, b as et, S as D } from "./iconfont-DQodgJo8.js";
+import { U as tt, s as lt } from "./index-ChtmIuBu.js";
+import { L as nt, n as Me, o as at, h as ot, e as De, p as st, O as it, B as rt, V as G, k as pe, l as ut, m as ct, T as dt } from "./STLLoader-DofhZbOw.js";
+import { a as W } from "./index-uvns6W6E.js";
+import { i as Ue, j as mt } from "./index.vue_vue_type_style_index_1_lang-hffXwR3x.js";
+import { c as je, E as j, R as Ae } from "./index-Dt2McMki.js";
+import { o as pt, p as ft } from "./index-D8Msszln.js";
+import { _ as _e } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+const vt = "http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";
+function Re(y) {
+  if (y == null || !isFinite(y)) return "";
+  const o = y / (1024 * 1024);
+  if (o >= 1) return `${o.toFixed(1)} MB`;
+  const a = y / 1024;
+  return a >= 1 ? `${a.toFixed(1)} KB` : `${y} B`;
+}
+function Oe(y) {
+  try {
+    const o = y.split("?")[0].split("#")[0];
+    return o.substring(o.lastIndexOf("/") + 1) || o;
+  } catch {
+    return y;
+  }
+}
+function gt(y) {
+  const { manager: o, baseFolderUrl: a, onFileProgress: r } = y, g = new tt(o);
+  return g.packages = (v) => `${a.endsWith("/") ? a : a + "/"}${v}/`, g.loadMeshCb = (v, b, c) => {
+    const $ = (() => {
+      const w = v.split("?")[0].split("#")[0], d = w.lastIndexOf(".");
+      return d >= 0 ? w.slice(d + 1).toLowerCase() : void 0;
+    })();
+    switch ($) {
+      // OBJ+MTL
+      case "obj": {
+        const w = (() => {
+          try {
+            return new URL(".", v).toString();
+          } catch {
+            const e = v.lastIndexOf("/");
+            return e >= 0 ? v.slice(0, e + 1) : v;
+          }
+        })(), d = (() => {
+          var i;
+          return (((i = v.split("/").pop()) == null ? void 0 : i.split("?")[0].split("#")[0]) ?? "").replace(/\.[^/.?#]+$/, "");
+        })(), h = `${w}${d}.mtl`, s = (e) => {
+          const i = new it(b);
+          e && i.setMaterials(e), i.load(
+            v,
+            (t) => c(t),
+            (t) => r == null ? void 0 : r(v, t == null ? void 0 : t.loaded, t == null ? void 0 : t.total),
+            (t) => {
+              console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${v}`, t), c(new Me());
+            }
+          );
+        }, l = new st(b);
+        l.setResourcePath(w), l.load(
+          h,
+          (e) => {
+            try {
+              e.preload();
+            } catch {
+            }
+            s(e);
+          },
+          (e) => r == null ? void 0 : r(h, e == null ? void 0 : e.loaded, e == null ? void 0 : e.total),
+          (e) => {
+            console.warn(`[URDF 资源警告] 未找到或加载材质失败: ${h}。将尝试无材质加载。`), s(void 0);
+          }
+        );
+        break;
+      }
+      case "stl": {
+        new at(b).load(
+          v,
+          (d) => {
+            const h = new ot({ color: 12303291, shininess: 30 }), s = new De(d, h);
+            s.castShadow = !0, s.receiveShadow = !0, c(s);
+          },
+          (d) => r == null ? void 0 : r(v, d == null ? void 0 : d.loaded, d == null ? void 0 : d.total),
+          (d) => {
+            console.error(`[URDF 资源加载失败，已跳过] 无法加载 STL 模型: ${v}`, d), c(new Me());
+          }
+        );
+        break;
+      }
+      default:
+        console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${$} (路径: ${v})`), c(new Me());
+    }
+  }, g;
+}
+function ht(y, o, a, r) {
+  return { loadSceneFromFile: (v) => new Promise((b, c) => {
+    a.value = !0, r.value = "正在初始化 URDF 加载器...";
+    let $ = 0, w = 0, d = null;
+    const h = new nt();
+    h.onStart = (l, e, i) => {
+      $ = i || 0, w = e || 0, r.value = $ > 0 ? `开始下载资源: 0 / ${$}` : "开始下载资源...", a.value = !0;
+    }, h.onProgress = (l, e, i) => {
+      w = e, $ = i;
+      const t = `正在加载 ${e} / ${i} 个文件: ${Oe(l)}`;
+      r.value = t, e === i && (r.value = "资源加载完成，正在处理模型...", setTimeout(() => {
+        if (d) {
+          d.updateMatrixWorld(!0);
+          const _ = new rt().setFromObject(d);
+          _.isEmpty() && console.warn("模型加载完成，但所有可视化网格均加载失败，模型将不可见。"), d.userData.boundingBox = _, d.traverse((x) => {
+            x.isMesh && (x.castShadow = !0, x.receiveShadow = !0);
+          }), b(d);
+        } else
+          c(new Error("URDF 文件本身加载失败。"));
+        r.value = "模型加载完成", setTimeout(() => {
+          r.value === "模型加载完成" && (a.value = !1, r.value = "");
+        }, 500);
+      }, 100));
+    }, h.onError = (l) => {
+      console.warn(`LoadingManager 报告一个资源加载失败: ${l}。加载流程将继续。`);
+    };
+    const s = (l, e, i) => {
+      const t = Oe(l);
+      let _;
+      i && i > 0 ? _ = `${t}（${Re(e)} / ${Re(i)}）` : e && e > 0 ? _ = `${t}（已下载 ${Re(e)}）` : _ = `${t}`, r.value = `正在下载第 ${w + 1} / ${$} 个文件: ${_}`;
+    };
+    try {
+      const l = URL.createObjectURL(v);
+      gt({
+        manager: h,
+        baseFolderUrl: vt,
+        onFileProgress: s
+      }).load(
+        l,
+        (i) => {
+          d = i;
+        },
+        void 0,
+        (i) => {
+          console.error(`加载 URDF 文件 (${v.name}) 时发生致命错误:`, i), r.value = "URDF 文件解析失败", a.value = !1, c(new Error(`加载 URDF 文件失败: ${v.name}`, { cause: i }));
+        }
+      );
+    } catch (l) {
+      console.error("初始化 URDF 加载时发生致命错误:", l), r.value = "模型加载失败", a.value = !1, c(l);
+    }
+  }) };
+}
+class yt {
+  constructor(o) {
+    Fe(this, "robot");
+    Fe(this, "movableJoints");
+    this.robot = o, this.movableJoints = this.getMovableJoints();
+  }
+  /**
+   * 获取所有可动关节
+   */
+  getMovableJoints() {
+    return Object.values(this.robot.joints).filter((o) => o.jointType !== "fixed");
+  }
+  /**
+   * 获取可动关节名称列表
+   */
+  getMovableJointNames() {
+    return this.movableJoints.map((o) => o.name);
+  }
+  /**
+   * 设置单个关节角度
+   */
+  setJointAngle(o, a) {
+    const r = this.robot.joints[o];
+    if (!r || r.jointType === "fixed")
+      return console.warn(`关节 ${o} 不存在或不可动`), !1;
+    if (r.limit) {
+      const g = Math.max(r.limit.lower, Math.min(r.limit.upper, a));
+      g !== a && console.warn(`关节 ${o} 角度被限制在 [${r.limit.lower}, ${r.limit.upper}]`), r.setJointValue(g);
+    } else
+      r.setJointValue(a);
+    return !0;
+  }
+  /**
+   * 批量设置关节角度
+   */
+  setJointAngles(o) {
+    Object.entries(o).forEach(([a, r]) => {
+      typeof r == "number" && !isNaN(r) && this.setJointAngle(a, r);
+    });
+  }
+  /**
+   * 获取当前所有关节状态
+   */
+  getCurrentJointStates() {
+    const o = {};
+    return this.movableJoints.forEach((a) => {
+      o[a.name] = a.angle || 0;
+    }), o;
+  }
+  /**
+   * 重置所有关节到零位
+   */
+  resetToZero() {
+    this.movableJoints.forEach((o) => {
+      o.setJointValue(0);
+    });
+  }
+  /**
+   * 获取关节限制信息
+   */
+  getJointLimits(o) {
+    const a = this.robot.joints[o];
+    return !a || !a.limit ? null : {
+      lower: a.limit.lower,
+      upper: a.limit.upper
+    };
+  }
+  /**
+   * 线性插值动画到目标状态
+   */
+  async animateToState(o, a = 1e3, r) {
+    const g = this.getCurrentJointStates(), v = Date.now();
+    return new Promise((b) => {
+      const c = () => {
+        const $ = Date.now() - v, w = Math.min($ / a, 1), d = this.easeInOutCubic(w), h = {};
+        Object.keys(o).forEach((s) => {
+          const l = g[s] || 0, e = o[s];
+          h[s] = l + (e - l) * d;
+        }), this.setJointAngles(h), r && r(w), w < 1 ? requestAnimationFrame(c) : b();
+      };
+      c();
+    });
+  }
+  /**
+   * 缓动函数
+   */
+  easeInOutCubic(o) {
+    return o < 0.5 ? 4 * o * o * o : 1 - Math.pow(-2 * o + 2, 3) / 2;
+  }
+  /**
+   * 播放关键帧动画序列
+   */
+  async playSequence(o, a = 1e3, r) {
+    for (let g = 0; g < o.length; g++)
+      await this.animateToState(o[g], a, (v) => {
+        r && r(g, v);
+      });
+  }
+}
+const we = 1e-3, fe = ut.degToRad, bt = (y) => y.reduce((o, a) => {
+  let r = 0;
+  const g = a.Y ?? 0, v = a.C ?? 0, b = a.R ?? 0;
+  return g > 0 && (r += g), v > 0 && b > 0 && (r += b * fe(v)), o + r;
+}, 0), wt = (y) => {
+  const o = [], a = y.Y ?? 0, r = y.B ?? 0, g = y.C ?? 0, v = y.R ?? 0, b = {
+    pos: new G(0, 0, 0),
+    localY: new G(0, 1, 0),
+    localX: new G(1, 0, 0),
+    localZ: new G(0, 0, 1)
+  };
+  if (!a && !g) return o;
+  if (o.push(b.pos.clone()), r !== 0) {
+    const c = new pe().makeRotationAxis(b.localY, fe(r));
+    b.localX.applyMatrix4(c), b.localZ.applyMatrix4(c);
+  }
+  if (a > 0 && (b.pos.add(b.localY.clone().multiplyScalar(a * we)), o.push(b.pos.clone())), g > 0 && v > 0) {
+    const c = fe(g), $ = v * we, w = b.pos.clone().add(b.localX.clone().multiplyScalar(-$)), d = Math.max(16, Math.ceil(g / 5));
+    for (let h = 1; h <= d; h++) {
+      const s = c * h / d, l = new pe().makeRotationAxis(b.localZ, s), i = b.localX.clone().multiplyScalar($).applyMatrix4(l), t = w.clone().add(i);
+      o.push(t);
+    }
+  }
+  return o;
+};
+function ye(y, o, a, r, g, v = 0) {
+  let b = o.slice(0, g + 1);
+  const c = o[g + 1];
+  if (c && v > 0) {
+    const e = {
+      ...c,
+      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
+      B: (c.B ?? 0) * v,
+      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
+      C: (c.C ?? 0) * v
+    };
+    b.push(e);
+  }
+  const $ = bt(b), w = Math.max(0, a - $), d = [];
+  d.push(new G(0, 0, 0));
+  const h = new G(0, w * we, 0);
+  w > 0 && d.push(h);
+  let s = {
+    pos: h.clone(),
+    localY: new G(0, 1, 0),
+    localX: new G(1, 0, 0),
+    localZ: new G(0, 0, 1)
+  };
+  const l = [];
+  for (let e = b.length - 1; e >= 0; e--) {
+    const i = b[e], t = wt(i);
+    if (t.length > 0) {
+      const _ = t.map((P) => {
+        const I = P.clone(), Q = new pe();
+        return Q.makeBasis(s.localX, s.localY, s.localZ), I.applyMatrix4(Q), I.add(s.pos);
+      });
+      l.push(_);
+      const x = _[_.length - 1];
+      s.pos = x.clone();
+      const O = i.B ?? 0, re = i.C ?? 0;
+      if (O !== 0) {
+        const P = new pe().makeRotationAxis(s.localY, fe(O));
+        s.localX.applyMatrix4(P), s.localZ.applyMatrix4(P);
+      }
+      if (re > 0) {
+        const P = fe(re), I = new pe().makeRotationAxis(s.localZ, P);
+        s.localY.applyMatrix4(I), s.localX.applyMatrix4(I);
+      }
+    }
+  }
+  for (const e of l)
+    e.length > 1 && d.push(...e.slice(1));
+  d.length < 2 && d.push(new G(0, 1e-3, 0));
+  try {
+    const e = new ct(d, !1, "catmullrom", 0.01), i = new dt(e, Math.max(2, d.length * 4), r * we, 18, !1);
+    y.geometry.dispose(), y.geometry = i;
+  } catch (e) {
+    console.error("管件更新失败", e);
+  }
+}
+const _t = { class: "panel-content" }, kt = { class: "action-bar" }, $t = {
+  key: 0,
+  class: "animation-controls"
+}, Ct = { class: "control-row" }, Vt = { class: "control-row" }, xt = { class: "control-row" }, Tt = { class: "frame-info" }, Ft = { class: "control-row" }, Mt = { class: "progress-bar" }, Rt = {
+  key: 1,
+  class: "table-footer"
+}, Dt = { class: "dialog-footer" }, St = /* @__PURE__ */ Se({
+  __name: "animationPanel",
+  props: {
+    model: {},
+    threeData: {}
+  },
+  emits: ["getThreeData"],
+  setup(y, { emit: o }) {
+    const a = y, r = o;
+    oe(() => a.threeData, () => {
+      if (a.threeData) {
+        const u = je(a.threeData);
+        c.value = (u == null ? void 0 : u["输出（动画数据）"]) || [], console.log("aniamtion tableData", c.value);
+        const n = (u == null ? void 0 : u.extra) || {};
+        console.log("aniamtion extraForm", n);
+        let k = n.管长, F = n.外径;
+        console.log("管长", k, "外径", F, n), x.value = k, O.value = F / 2;
+      }
+    });
+    const g = M(), v = M(), b = async () => {
+      if (!sessionStorage.getItem("systemKey")) {
+        r("getThreeData");
+        return;
+      }
+      const n = await Ue("弯管仿真加工分析/管件解析", sessionStorage.getItem("systemKey"), "");
+      let k = ["管长", "外径"], F = {};
+      n == null || n.forEach((C) => {
+        var R;
+        (C == null ? void 0 : C.comp) === "Form" && ((R = C == null ? void 0 : C.compData) == null || R.forEach((q) => {
+          var ue;
+          (q == null ? void 0 : q.key) === "formContent" && ((ue = q == null ? void 0 : q.contents) == null || ue.forEach((le) => {
+            k.includes(le == null ? void 0 : le.key) && (F[le.key] = le.value);
+          }));
+        }));
+      });
+      let V = F.管长, U = F.外径;
+      console.log("管长", V, "外径", U, F), x.value = V, O.value = U / 2;
+      let Y = {};
+      const X = await Ue("弯管仿真加工分析/仿真动画生成", sessionStorage.getItem("systemKey"), "");
+      X == null || X.forEach((C) => {
+        var R, q, ue, le, Le, ze;
+        if ((C == null ? void 0 : C.comp) === "Table") {
+          let Je = [], xe = (ue = (q = (R = C == null ? void 0 : C.compData) == null ? void 0 : R.find((z) => (z == null ? void 0 : z.key) === "header")) == null ? void 0 : q.contents) == null ? void 0 : ue.map((z) => z == null ? void 0 : z.label), Te = (ze = (Le = (le = C == null ? void 0 : C.compData) == null ? void 0 : le.find((z) => (z == null ? void 0 : z.key) === "tableContents")) == null ? void 0 : Le.contents) == null ? void 0 : ze.map((z) => (z = z == null ? void 0 : z.filter((ce) => !(ce != null && ce.id)), z));
+          Te == null || Te.forEach((z) => {
+            Je.push(mt(z, xe == null ? void 0 : xe.filter((ce) => ce !== "操作")));
+          }), Y[C.name] = Je, Y[C.name + "Content"] = C;
+        }
+      }), g.value = Y;
+      const A = je(g.value);
+      c.value = (A == null ? void 0 : A["输出（动画数据）"]) || [];
+      let N = (A == null ? void 0 : A["输出（动画数据）Content"]) ?? [];
+      N && (v.value = N);
+    }, c = M([]), $ = M(!1), w = M(""), d = M(!1), h = M(0), s = M(0), l = M(1e3), e = M(null);
+    let i = !1;
+    const t = be(null), _ = be(null), x = M(1302), O = M(12.5), re = M(30), P = M([]), I = M(null), Q = me(() => a.model ? Object.values(a.model.joints).filter((u) => u.jointType !== "fixed").map((u) => u.name) : []), ke = M(["Y", "B", "C", "R"]), S = me(() => [...Q.value, ...ke.value]), $e = me(() => S.value.length > 0 ? `请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
+${S.value.join("	")}
+0	0	0	...
+1	2	3	...` : "请先加载模型。"), Z = (u, n) => {
+      if (!n)
+        return null;
+      const k = u.links[n];
+      if (!k)
+        return console.warn(`在模型中未找到名为 '${n}' 的 link`), console.log("可用的链接:", Object.keys(u.links)), null;
+      let F = null;
+      return k.traverse((V) => {
+        V instanceof De && !F && (F = V);
+      }), F || console.warn(`在 link '${n}' 中未找到可用的 Mesh 对象`), F;
+    }, ee = () => {
+      _.value && (_.value.visible = !0), t.value && t.value.parent && t.value.parent.remove(t.value), _.value = null, t.value = null;
+    };
+    oe(S, (u, n) => {
+      if (JSON.stringify(u) !== JSON.stringify(n))
+        if (u.length > 0) {
+          const k = u.reduce((F, V) => (F[V] = "0", F), {});
+          c.value = [k];
+        } else
+          c.value = [];
+    }, { immediate: !0 }), oe(() => a.model, (u) => {
+      ee(), u ? (e.value = new yt(u), P.value = Object.keys(u.links), P.value.includes("Pipe_Link") ? I.value = "Pipe_Link" : I.value = null) : (e.value = null, P.value = [], I.value = null);
+    }, { immediate: !0 }), oe(I, (u) => {
+      if (ee(), a.model && u) {
+        const n = Z(a.model, u);
+        if (console.log(n, "meshToReplace"), n && n.parent) {
+          _.value = n;
+          const k = new De(
+            n.geometry.clone(),
+            n.material
+          );
+          k.name = "managed_pipe_clone", n.parent.add(k), k.position.copy(n.position), k.rotation.copy(n.rotation), k.scale.copy(n.scale), n.visible = !1, k.position.y -= re.value * 1e-3, t.value = k, j.success(`已将 Link: "${u}" 设置为当前管件`);
+        } else
+          u && console.warn(`在 link '${u}' 中未找到可替换的网格或其没有父级。`);
+      }
+    });
+    const ie = () => c.value.map((u) => ({
+      Y: parseFloat(u.Y) || 0,
+      B: parseFloat(u.B) || 0,
+      C: parseFloat(u.C) || 0,
+      R: parseFloat(u.R) || 0
+    })), Ce = (u) => {
+      if (u < 0 || u >= c.value.length) {
+        console.error(`帧索引 ${u} 超出范围`);
+        return;
+      }
+      const n = c.value[u];
+      if (console.log(`应用第 ${u} 帧数据 ${n.value}`), e.value) {
+        const k = {};
+        Q.value.forEach((F) => {
+          const V = parseFloat(n[F]);
+          isNaN(V) || (k[F] = V);
+        }), e.value.setJointAngles(k);
+      }
+      if (t.value) {
+        const k = ie();
+        console.log("ybcr数据：", k), ye(
+          t.value,
+          k,
+          x.value,
+          O.value,
+          u,
+          0
+        );
+      }
+      h.value = u;
+    }, Ve = async () => {
+      if (c.value.length === 0) {
+        j.error("无法播放动画：无数据");
+        return;
+      }
+      d.value = !0, i = !1, h.value = 0;
+      const u = t.value ? ie() : [];
+      try {
+        for (let n = 0; n < c.value.length && !i; n++) {
+          h.value = n;
+          const k = c.value[n], F = {};
+          e.value && Q.value.forEach((V) => {
+            const U = parseFloat(k[V]);
+            isNaN(U) || (F[V] = U);
+          }), e.value ? await e.value.animateToState(
+            F,
+            l.value,
+            (V) => {
+              s.value = (n + V) / c.value.length * 100, t.value && ye(t.value, u, x.value, O.value, n - 1, V);
+            }
+          ) : t.value ? await new Promise((V) => {
+            const U = performance.now();
+            let Y;
+            const X = (A) => {
+              if (i) {
+                cancelAnimationFrame(Y), V();
+                return;
+              }
+              const N = A - U, C = Math.min(N / l.value, 1);
+              s.value = (n + C) / c.value.length * 100, ye(t.value, u, x.value, O.value, n - 1, C), C < 1 ? Y = requestAnimationFrame(X) : V();
+            };
+            Y = requestAnimationFrame(X);
+          }) : (await new Promise((V) => setTimeout(V, l.value)), s.value = (n + 1) / c.value.length * 100);
+        }
+        i || j.success("动画播放完成");
+      } catch (n) {
+        console.error("动画播放出错:", n), j.error("动画播放出错");
+      } finally {
+        d.value = !1, s.value = 0;
+      }
+    }, L = () => {
+      i = !0, d.value = !1, s.value = 0, j.info("动画已停止");
+    }, m = () => {
+      if (e.value && e.value.resetToZero(), console.log("pipeMesh.value", t.value), t.value) {
+        const u = ie();
+        ye(
+          t.value,
+          u,
+          x.value,
+          O.value,
+          -1,
+          0
+        );
+      }
+      h.value = 0, j.success("机器人和管件已重置");
+    }, te = () => {
+      console.log("当前管件Mesh:", t.value);
+    }, T = (u) => {
+      d.value && L(), Ce(u);
+    }, Xe = async () => {
+      if (S.value.length === 0) {
+        j.warning("没有可导出的表头");
+        return;
+      }
+      const u = S.value.join("	");
+      try {
+        await navigator.clipboard.writeText(u), j.success("表头已成功复制到剪贴板！");
+      } catch (n) {
+        console.error("复制失败:", n), j.error("复制失败，请检查浏览器权限或手动复制。");
+      }
+    }, Ke = () => {
+      if (!w.value.trim()) {
+        j.warning("导入内容不能为空");
+        return;
+      }
+      const u = w.value.trim().split(`
+`).filter((U) => U.trim() !== "");
+      if (u.length < 2) {
+        j.error("导入数据至少需要包含表头行和一行数据");
+        return;
+      }
+      const n = u[0].split("	").map((U) => U.trim()), k = {};
+      if (n.forEach((U, Y) => {
+        S.value.includes(U) && (k[Y] = U);
+      }), Object.keys(k).length === 0) {
+        j.error("没有找到匹配的表头，请检查表头名称是否正确");
+        return;
+      }
+      const V = u.slice(1).map((U) => {
+        const Y = U.split("	"), X = {};
+        return S.value.forEach((A) => {
+          X[A] = "0";
+        }), Object.entries(k).forEach(([A, N]) => {
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+        }), X;
+      });
+      V.length > 0 ? (c.value = V, j.success(`成功导入 ${V.length} 行数据！`), $.value = !1, w.value = "") : j.error("未能解析到有效数据，请检查格式。");
+    }, Ze = () => {
+      const u = S.value.reduce((n, k) => (n[k] = "0", n), {});
+      c.value.push(u);
+    }, Ge = (u) => `第 ${u + 1} 帧`;
+    return Pe(() => {
+      ee(), i = !0;
+    }), (u, n) => {
+      var A, N, C;
+      const k = ae("el-icon"), F = ae("el-input-number"), V = ae("el-slider"), U = ae("el-progress"), Y = ae("el-input"), X = ae("el-dialog");
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+            disabled: c.value.length === 0 || d.value,
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+          f(W, {
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+            modelValue: "重置",
+            buttonType: "primary"
+          }),
+          f(W, {
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+        }, null, 512),
+        p("div", tl, [
+          f(D, {
+            name: "guanjianjiexi",
+            size: "34"
+          }),
+          f(D, {
+            name: "guanjiekongzhi",
+            size: "34"
+          }),
+          f(D, {
+            name: "gongyishengcheng",
+            size: "34"
+          }),
+          f(D, {
+            name: "buchangshezhi",
+            size: "34"
+          }),
+          f(D, {
+            name: "shuchujiagongchengxu",
+            size: "34"
+          })
+        ]),
+        p("div", ll, [
+          f(D, {
+            name: "viewReset",
+            size: "24",
+            onClick: J(e),
+            title: "重置"
+          }, null, 8, ["onClick"]),
+          f(D, {
+            name: "fangda",
+            size: "24",
+            title: "放大"
+          }),
+          f(D, {
+            name: "suoxiao",
+            size: "24",
+            title: "缩小"
+          }),
+          f(D, {
+            name: "lookAround",
+            size: "24",
+            onClick: J(I),
+            title: J(P) ? "停止动画" : "动画视图"
+          }, null, 8, ["onClick", "title"])
+        ]),
+        p("div", nl, [
+          f(D, {
+            name: "jiegoushu",
+            size: "24",
+            onClick: m[0] || (m[0] = (T) => ee("场景树")),
+            active: c.value && $.value === "场景树",
+            title: "场景树"
+          }, null, 8, ["active"]),
+          f(D, {
+            name: "clipping",
+            size: "24",
+            onClick: m[1] || (m[1] = (T) => ee("剖面视图")),
+            active: c.value && $.value === "剖面视图",
+            title: "剖面视图"
+          }, null, 8, ["active"]),
+          f(D, {
+            name: "donghuafangzhen",
+            size: "24",
+            onClick: m[2] || (m[2] = (T) => ee("场景树3"))
+          }),
+          f(D, {
+            name: "donghuafangzhen",
+            size: "24",
+            onClick: m[3] || (m[3] = (T) => ee("场景4"))
+          })
+        ]),
+        p("div", al, [
+          f(D, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          f(D, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          f(D, {
+            name: "guanjiekongzhi",
+            size: "24",
+            onClick: m[4] || (m[4] = (T) => ie("关节控制")),
+            active: w.value && d.value === "关节控制",
+            title: "关节控制"
+          }, null, 8, ["active"]),
+          f(D, {
+            name: "donghuafangzhen",
+            size: "24",
+            title: "动画仿真",
+            onClick: m[5] || (m[5] = (T) => ie("动画仿真")),
+            active: w.value && d.value === "动画仿真"
+          }, null, 8, ["active"]),
+          f(D, {
+            name: "donghuafangzhen",
+            size: "24",
+            title: "urdf动画",
+            onClick: m[6] || (m[6] = (T) => ie("urdf动画")),
+            active: w.value && d.value === "urdf动画"
+          }, null, 8, ["active"]),
+          f(D, {
+            name: "donghuafangzhen",
+            size: "24"
+          })
+        ]),
+        p("div", ol, [
+          f(D, {
+            name: "kuaitui",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快退",
+            onClick: m[7] || (m[7] = () => {
+            })
+          }),
+          f(D, {
+            name: "bofang",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "播放",
+            onClick: Ve
+          }),
+          f(D, {
+            name: "kuaijin",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快进",
+            onClick: m[8] || (m[8] = () => {
+            })
+          }),
+          f(D, {
+            name: "zanting",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "暂停",
+            onClick: m[9] || (m[9] = () => {
+            })
+          }),
+          f(D, {
+            name: "zhongzhi",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "停止",
+            onClick: m[10] || (m[10] = () => {
+            })
+          })
+        ]),
+        ne(p("div", sl, [
+          p("div", il, [
+            p("span", null, K($.value), 1),
+            p("span", {
+              class: "close",
+              onClick: m[11] || (m[11] = (T) => c.value = !1)
+            }, " X ")
+          ]),
+          p("div", rl, [
+            f(te, { height: "100%" }, {
+              default: H(() => [
+                $.value === "场景树" ? (E(), de(Qt, {
+                  key: 0,
+                  model: h.value
+                }, null, 8, ["model"])) : se("", !0),
+                $.value === "剖面视图" ? (E(), B("div", ul, [
+                  p("div", cl, [
+                    p("label", dl, [
+                      ne(p("input", {
+                        type: "radio",
+                        name: "clipping-axis",
+                        value: "none",
+                        "onUpdate:modelValue": m[12] || (m[12] = (T) => ve(S) ? S.value = T : null),
+                        onChange: m[13] || (m[13] = //@ts-ignore
+                        (...T) => J(Z) && J(Z)(...T))
+                      }, null, 544), [
+                        [ge, J(S)]
+                      ]),
+                      m[21] || (m[21] = p("span", { class: "radio-text" }, "无切割", -1))
+                    ]),
+                    p("label", ml, [
+                      ne(p("input", {
+                        type: "radio",
+                        name: "clipping-axis",
+                        value: "x",
+                        "onUpdate:modelValue": m[14] || (m[14] = (T) => ve(S) ? S.value = T : null),
+                        onChange: m[15] || (m[15] = //@ts-ignore
+                        (...T) => J(Z) && J(Z)(...T))
+                      }, null, 544), [
+                        [ge, J(S)]
+                      ]),
+                      m[22] || (m[22] = p("span", { class: "radio-text" }, "X轴切割", -1))
+                    ]),
+                    p("label", pl, [
+                      ne(p("input", {
+                        type: "radio",
+                        name: "clipping-axis",
+                        value: "y",
+                        "onUpdate:modelValue": m[16] || (m[16] = (T) => ve(S) ? S.value = T : null),
+                        onChange: m[17] || (m[17] = //@ts-ignore
+                        (...T) => J(Z) && J(Z)(...T))
+                      }, null, 544), [
+                        [ge, J(S)]
+                      ]),
+                      m[23] || (m[23] = p("span", { class: "radio-text" }, "Y轴切割", -1))
+                    ]),
+                    p("label", fl, [
+                      ne(p("input", {
+                        type: "radio",
+                        name: "clipping-axis",
+                        value: "z",
+                        "onUpdate:modelValue": m[18] || (m[18] = (T) => ve(S) ? S.value = T : null),
+                        onChange: m[19] || (m[19] = //@ts-ignore
+                        (...T) => J(Z) && J(Z)(...T))
+                      }, null, 544), [
+                        [ge, J(S)]
+                      ]),
+                      m[24] || (m[24] = p("span", { class: "radio-text" }, "Z轴切割", -1))
+                    ])
+                  ])
+                ])) : se("", !0)
+              ]),
+              _: 1
+            })
+          ])
+        ], 512), [
+          [he, c.value]
+        ]),
+        ne(p("div", vl, [
+          p("div", gl, [
+            p("span", null, K(d.value), 1),
+            p("span", {
+              class: "close",
+              onClick: m[20] || (m[20] = (T) => w.value = !1)
+            }, " X ")
+          ]),
+          p("div", hl, [
+            f(te, { height: "100%" }, {
+              default: H(() => [
+                ne(f(Nt, { model: h.value }, null, 8, ["model"]), [
+                  [he, d.value === "关节控制"]
+                ]),
+                ne(f(Lt, {
+                  model: h.value,
+                  onGetThreeData: Ce,
+                  threeData: r.threeData
+                }, null, 8, ["model", "threeData"]), [
+                  [he, d.value === "动画仿真"]
+                ])
+              ]),
+              _: 1
+            })
+          ])
+        ], 512), [
+          [he, w.value]
+        ]),
+        v.value ? (E(), B("div", yl, [
+          m[25] || (m[25] = p("div", { class: "loading-spinner" }, null, -1)),
+          p("p", null, K(b.value), 1)
+        ])) : se("", !0)
+      ]);
+    };
+  }
+}), Rl = /* @__PURE__ */ _e(bl, [["__scopeId", "data-v-2598a604"]]);
+export {
+  Rl as default
+};