ss-component-new 1.1.821 → 1.1.823

package/dist/threeSceneView-BZx98QgN.js

@@ -1,1450 +0,0 @@
-var Ne = Object.defineProperty;
-var We = (w, s, o) => s in w ? Ne(w, s, { enumerable: !0, configurable: !0, writable: !0, value: o }) : w[s] = o;
-var ke = (w, s, o) => We(w, typeof s != "symbol" ? s + "" : s, o);
-import { defineComponent as Pe, ref as P, watch as ne, shallowRef as fe, computed as ge, onUnmounted as Te, resolveComponent as le, createElementBlock as Z, openBlock as U, createElementVNode as m, createCommentVNode as ae, createBlock as ve, createVNode as b, withCtx as H, unref as J, Fragment as Ve, renderList as Ae, toDisplayString as N, onMounted as Ee, nextTick as Se, onBeforeUnmount as qe, withDirectives as te, isRef as he, vModelRadio as be, vShow as ye } from "vue";
-import { u as Ke, a as He, b as Qe, S as T } from "./iconfont-v9CcCMwF.js";
-import { U as et, B as tt } from "./index-VWNqRYy9.js";
-import { L as lt, n as Re, o as nt, h as at, e as _e, p as ot, O as st, B as it, m as ze, T as Je, V as X, k as oe, l as rt } from "./STLLoader-LGKv5i3H.js";
-import { a as K } from "./index-DEU-pXeW.js";
-import { c as Me } from "./index.vue_vue_type_style_index_1_lang-Rs1M3B8e.js";
-import { E as Y, H as xe } from "./index-C2bI4adc.js";
-import { f as ut, a as ct } from "./animationData-B2T3Oamw.js";
-import { o as dt, p as pt } from "./index-Cw95lvvp.js";
-import { _ as Ce } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-const mt = "http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";
-function De(w) {
-  if (w == null || !isFinite(w)) return "";
-  const s = w / (1024 * 1024);
-  if (s >= 1) return `${s.toFixed(1)} MB`;
-  const o = w / 1024;
-  return o >= 1 ? `${o.toFixed(1)} KB` : `${w} B`;
-}
-function Le(w) {
-  try {
-    const s = w.split("?")[0].split("#")[0];
-    return s.substring(s.lastIndexOf("/") + 1) || s;
-  } catch {
-    return w;
-  }
-}
-function vt(w) {
-  const { manager: s, baseFolderUrl: o, onFileProgress: r } = w, g = new et(s);
-  return g.packages = (f) => `${o.endsWith("/") ? o : o + "/"}${f}/`, g.loadMeshCb = (f, y, C) => {
-    const p = (() => {
-      const k = f.split("?")[0].split("#")[0], c = k.lastIndexOf(".");
-      return c >= 0 ? k.slice(c + 1).toLowerCase() : void 0;
-    })();
-    switch (p) {
-      // OBJ+MTL
-      case "obj": {
-        const k = (() => {
-          try {
-            return new URL(".", f).toString();
-          } catch {
-            const e = f.lastIndexOf("/");
-            return e >= 0 ? f.slice(0, e + 1) : f;
-          }
-        })(), c = (() => {
-          var i;
-          return (((i = f.split("/").pop()) == null ? void 0 : i.split("?")[0].split("#")[0]) ?? "").replace(/\.[^/.?#]+$/, "");
-        })(), _ = `${k}${c}.mtl`, n = (e) => {
-          const i = new st(y);
-          e && i.setMaterials(e), i.load(
-            f,
-            (l) => C(l),
-            (l) => r == null ? void 0 : r(f, l == null ? void 0 : l.loaded, l == null ? void 0 : l.total),
-            (l) => {
-              console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${f}`, l), C(new Re());
-            }
-          );
-        }, t = new ot(y);
-        t.setResourcePath(k), t.load(
-          _,
-          (e) => {
-            try {
-              e.preload();
-            } catch {
-            }
-            n(e);
-          },
-          (e) => r == null ? void 0 : r(_, 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: ${_}。将尝试无材质加载。`), n(void 0);
-          }
-        );
-        break;
-      }
-      case "stl": {
-        new nt(y).load(
-          f,
-          (c) => {
-            const _ = new at({ color: 12303291, shininess: 30 }), n = new _e(c, _);
-            n.castShadow = !0, n.receiveShadow = !0, C(n);
-          },
-          (c) => r == null ? void 0 : r(f, c == null ? void 0 : c.loaded, c == null ? void 0 : c.total),
-          (c) => {
-            console.error(`[URDF 资源加载失败，已跳过] 无法加载 STL 模型: ${f}`, c), C(new Re());
-          }
-        );
-        break;
-      }
-      default:
-        console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${p} (路径: ${f})`), C(new Re());
-    }
-  }, g;
-}
-function ft(w, s, o, r) {
-  return { loadSceneFromFile: (f) => new Promise((y, C) => {
-    o.value = !0, r.value = "正在初始化 URDF 加载器...";
-    let p = 0, k = 0, c = null;
-    const _ = new lt();
-    _.onStart = (t, e, i) => {
-      p = i || 0, k = e || 0, r.value = p > 0 ? `开始下载资源: 0 / ${p}` : "开始下载资源...", o.value = !0;
-    }, _.onProgress = (t, e, i) => {
-      k = e, p = i;
-      const l = `正在加载 ${e} / ${i} 个文件: ${Le(t)}`;
-      r.value = l, e === i && (r.value = "资源加载完成，正在处理模型...", setTimeout(() => {
-        if (c) {
-          c.updateMatrixWorld(!0);
-          const d = new it().setFromObject(c);
-          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。"), c.userData.boundingBox = d, c.traverse((R) => {
-            R.isMesh && (R.castShadow = !0, R.receiveShadow = !0);
-          }), y(c);
-        } 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" && (o.value = !1, r.value = "");
-        }, 500);
-      }, 100));
-    }, _.onError = (t) => {
-      console.warn(`LoadingManager 报告一个资源加载失败: ${t}。加载流程将继续。`);
-    };
-    const n = (t, e, i) => {
-      const l = Le(t);
-      let d;
-      i && i > 0 ? d = `${l}（${De(e)} / ${De(i)}）` : e && e > 0 ? d = `${l}（已下载 ${De(e)}）` : d = `${l}`, r.value = `正在下载第 ${k + 1} / ${p} 个文件: ${d}`;
-    };
-    try {
-      const t = URL.createObjectURL(f);
-      vt({
-        manager: _,
-        baseFolderUrl: mt,
-        onFileProgress: n
-      }).load(
-        t,
-        (i) => {
-          c = i;
-        },
-        void 0,
-        (i) => {
-          console.error(`加载 URDF 文件 (${f.name}) 时发生致命错误:`, i), r.value = "URDF 文件解析失败", o.value = !1, C(new Error(`加载 URDF 文件失败: ${f.name}`, { cause: i }));
-        }
-      );
-    } catch (t) {
-      console.error("初始化 URDF 加载时发生致命错误:", t), r.value = "模型加载失败", o.value = !1, C(t);
-    }
-  }) };
-}
-class gt {
-  constructor(s) {
-    ke(this, "robot");
-    ke(this, "movableJoints");
-    this.robot = s, this.movableJoints = this.getMovableJoints();
-  }
-  /**
-   * 获取所有可动关节
-   */
-  getMovableJoints() {
-    return Object.values(this.robot.joints).filter((s) => s.jointType !== "fixed");
-  }
-  /**
-   * 获取可动关节名称列表
-   */
-  getMovableJointNames() {
-    return this.movableJoints.map((s) => s.name);
-  }
-  /**
-   * 设置单个关节角度
-   */
-  setJointAngle(s, o) {
-    const r = this.robot.joints[s];
-    if (!r || r.jointType === "fixed")
-      return console.warn(`关节 ${s} 不存在或不可动`), !1;
-    if (r.limit) {
-      const g = Math.max(r.limit.lower, Math.min(r.limit.upper, o));
-      g !== o && console.warn(`关节 ${s} 角度被限制在 [${r.limit.lower}, ${r.limit.upper}]`), r.setJointValue(g);
-    } else
-      r.setJointValue(o);
-    return !0;
-  }
-  /**
-   * 批量设置关节角度
-   */
-  setJointAngles(s) {
-    Object.entries(s).forEach(([o, r]) => {
-      typeof r == "number" && !isNaN(r) && this.setJointAngle(o, r);
-    });
-  }
-  /**
-   * 获取当前所有关节状态
-   */
-  getCurrentJointStates() {
-    const s = {};
-    return this.movableJoints.forEach((o) => {
-      s[o.name] = o.angle || 0;
-    }), s;
-  }
-  /**
-   * 重置所有关节到零位
-   */
-  resetToZero() {
-    this.movableJoints.forEach((s) => {
-      s.setJointValue(0);
-    });
-  }
-  /**
-   * 获取关节限制信息
-   */
-  getJointLimits(s) {
-    const o = this.robot.joints[s];
-    return !o || !o.limit ? null : {
-      lower: o.limit.lower,
-      upper: o.limit.upper
-    };
-  }
-  /**
-   * 线性插值动画到目标状态
-   */
-  async animateToState(s, o = 1e3, r) {
-    const g = this.getCurrentJointStates(), f = Date.now();
-    return new Promise((y) => {
-      const C = () => {
-        const p = Date.now() - f, k = Math.min(p / o, 1), c = this.easeInOutCubic(k), _ = {};
-        Object.keys(s).forEach((n) => {
-          const t = g[n] || 0, e = s[n];
-          _[n] = t + (e - t) * c;
-        }), this.setJointAngles(_), r && r(k), k < 1 ? requestAnimationFrame(C) : y();
-      };
-      C();
-    });
-  }
-  /**
-   * 缓动函数
-   */
-  easeInOutCubic(s) {
-    return s < 0.5 ? 4 * s * s * s : 1 - Math.pow(-2 * s + 2, 3) / 2;
-  }
-  /**
-   * 播放关键帧动画序列
-   */
-  async playSequence(s, o = 1e3, r) {
-    for (let g = 0; g < s.length; g++)
-      await this.animateToState(s[g], o, (f) => {
-        r && r(g, f);
-      });
-  }
-}
-const ue = 1e-3, se = rt.degToRad, Ue = (w) => w.reduce((s, o) => {
-  let r = 0;
-  const g = o.Y ?? 0, f = o.C ?? 0, y = o.R ?? 0;
-  return g > 0 && (r += g), f > 0 && y > 0 && (r += y * se(f)), s + r;
-}, 0), Oe = (w) => {
-  const s = [], o = w.Y ?? 0, r = w.B ?? 0, g = w.C ?? 0, f = w.R ?? 0, y = {
-    pos: new X(0, 0, 0),
-    localY: new X(0, 1, 0),
-    localX: new X(1, 0, 0),
-    localZ: new X(0, 0, 1)
-  };
-  if (!o && !g) return s;
-  if (s.push(y.pos.clone()), r !== 0) {
-    const C = new oe().makeRotationAxis(y.localY, se(r));
-    y.localX.applyMatrix4(C), y.localZ.applyMatrix4(C);
-  }
-  if (o > 0 && (y.pos.add(y.localY.clone().multiplyScalar(o * ue)), s.push(y.pos.clone())), g > 0 && f > 0) {
-    const C = se(g), p = f * ue, k = y.pos.clone().add(y.localX.clone().multiplyScalar(-p)), c = Math.max(16, Math.ceil(g / 5));
-    for (let _ = 1; _ <= c; _++) {
-      const n = C * _ / c, t = new oe().makeRotationAxis(y.localZ, n), i = y.localX.clone().multiplyScalar(p).applyMatrix4(t), l = k.clone().add(i);
-      s.push(l);
-    }
-  }
-  return s;
-};
-function we(w, s, o, r, g, f = 0) {
-  let y = s.slice(0, g + 1);
-  const C = s[g + 1];
-  if (C && f > 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) * f,
-      // 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) * f
-    };
-    y.push(e);
-  }
-  const p = Ue(y), k = Math.max(0, o - p), c = [];
-  c.push(new X(0, 0, 0));
-  const _ = new X(0, k * ue, 0);
-  k > 0 && c.push(_);
-  let n = {
-    pos: _.clone(),
-    localY: new X(0, 1, 0),
-    localX: new X(1, 0, 0),
-    localZ: new X(0, 0, 1)
-  };
-  const t = [];
-  for (let e = y.length - 1; e >= 0; e--) {
-    const i = y[e], l = Oe(i);
-    if (l.length > 0) {
-      const d = l.map((S) => {
-        const O = S.clone(), q = new oe();
-        return q.makeBasis(n.localX, n.localY, n.localZ), O.applyMatrix4(q), O.add(n.pos);
-      });
-      t.push(d);
-      const R = d[d.length - 1];
-      n.pos = R.clone();
-      const j = i.B ?? 0, L = i.C ?? 0;
-      if (j !== 0) {
-        const S = new oe().makeRotationAxis(n.localY, se(j));
-        n.localX.applyMatrix4(S), n.localZ.applyMatrix4(S);
-      }
-      if (L > 0) {
-        const S = se(L), O = new oe().makeRotationAxis(n.localZ, S);
-        n.localY.applyMatrix4(O), n.localX.applyMatrix4(O);
-      }
-    }
-  }
-  for (const e of t)
-    e.length > 1 && c.push(...e.slice(1));
-  c.length < 2 && c.push(new X(0, 1e-3, 0));
-  try {
-    const e = new ze(c, !1, "catmullrom", 0.01), i = new Je(e, Math.max(2, c.length * 4), r * ue, 18, !1);
-    w.geometry.dispose(), w.geometry = i;
-  } catch (e) {
-    console.error("管件更新失败", e);
-  }
-}
-function Fe(w, s, o, r = 0) {
-  let g = w.slice(0, o + 1);
-  const f = w[o + 1];
-  if (f && r > 0) {
-    const n = {
-      ...f,
-      // 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: (f.B ?? 0) * r,
-      // 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: (f.C ?? 0) * r
-    };
-    g.push(n);
-  }
-  const y = Ue(g), C = Math.max(0, s - y), p = [];
-  p.push(new X(0, 0, 0));
-  const k = new X(0, C * ue, 0);
-  C > 0 && p.push(k);
-  let c = {
-    pos: k.clone(),
-    localY: new X(0, 1, 0),
-    localX: new X(1, 0, 0),
-    localZ: new X(0, 0, 1)
-  };
-  const _ = [];
-  for (let n = g.length - 1; n >= 0; n--) {
-    const t = g[n], e = Oe(t);
-    if (e.length > 0) {
-      const i = e.map((j) => {
-        const L = j.clone(), S = new oe();
-        return S.makeBasis(c.localX, c.localY, c.localZ), L.applyMatrix4(S), L.add(c.pos);
-      });
-      _.push(i);
-      const l = i[i.length - 1];
-      c.pos = l.clone();
-      const d = t.B ?? 0, R = t.C ?? 0;
-      if (d !== 0) {
-        const j = new oe().makeRotationAxis(c.localY, se(d));
-        c.localX.applyMatrix4(j), c.localZ.applyMatrix4(j);
-      }
-      if (R > 0) {
-        const j = se(R), L = new oe().makeRotationAxis(c.localZ, j);
-        c.localY.applyMatrix4(L), c.localX.applyMatrix4(L);
-      }
-    }
-  }
-  for (const n of _)
-    n.length > 1 && p.push(...n.slice(1));
-  return p.length < 2 && p.push(new X(0, 1e-3, 0)), p;
-}
-function me(w, s, o, r, g, f, y, C = 0, p = 0) {
-  const k = g - p, c = Fe(o, k, y, C);
-  let n = Fe(r, p, y, C);
-  n.forEach((e) => e.y = -e.y), n.reverse();
-  const t = [...n, ...c];
-  try {
-    const e = new ze(t, !1, "catmullrom", 0.01), i = new Je(e, Math.max(2, t.length * 4), f * ue, 18, !1);
-    s.geometry.dispose(), w.geometry.dispose(), s.parent && s.parent.remove(s), w.geometry = i;
-  } catch (e) {
-    console.error("管件更新失败", e);
-  }
-}
-const re = {
-  SINGLE: "单机器人弯管",
-  DOUBLE: "双机器人弯管"
-}, ht = { class: "panel-content" }, bt = { class: "action-bar" }, yt = {
-  key: 0,
-  class: "animation-controls"
-}, wt = { class: "control-row" }, _t = { class: "control-row" }, Ct = { class: "control-row" }, $t = { class: "frame-info" }, kt = { class: "control-row" }, Rt = { class: "progress-bar" }, Mt = {
-  key: 1,
-  class: "table-footer"
-}, Dt = { class: "dialog-footer" }, Pt = /* @__PURE__ */ Pe({
-  __name: "animationPanel",
-  props: {
-    model: {},
-    threeData: {},
-    isSelfWindow: { type: Boolean }
-  },
-  emits: ["getThreeData"],
-  setup(w, { emit: s }) {
-    const o = w, r = s, g = P(), f = P(), y = P("单机器人弯管");
-    ne(() => o.threeData, () => {
-      const u = Me(o.threeData), a = u == null ? void 0 : u.data;
-      if (y.value = a == null ? void 0 : a.任务类型, !o.isSelfWindow && o.threeData) {
-        let h = {};
-        y.value === re.SINGLE && (h = u == null ? void 0 : u.singleRobotData), y.value === re.DOUBLE && (h = u == null ? void 0 : u.doubleRobotData);
-        const {
-          initialPipeLength: M = 0,
-          pipeRadius: $ = 0,
-          clampLength: x = 0,
-          animationData: F
-        } = h;
-        L.value = M, S.value = $, O.value = x, g.value = F;
-        const V = Me(g.value);
-        p.value = (V == null ? void 0 : V["输出（动画数据）"]) || [];
-        let G = (V == null ? void 0 : V["输出（动画数据）Content"]) ?? [];
-        G && (f.value = G);
-      }
-    }, {
-      immediate: !0
-    });
-    const C = async () => {
-      if (!sessionStorage.getItem("systemKey")) {
-        r("getThreeData");
-        return;
-      }
-      let a = {};
-      y.value === re.SINGLE && (a = await ut()), y.value === re.DOUBLE && (a = await ct());
-      const {
-        initialPipeLength: h = 0,
-        pipeRadius: M = 0,
-        clampLength: $ = 0,
-        animationData: x
-      } = a;
-      L.value = h, S.value = M, O.value = $, g.value = x;
-      const F = Me(g.value);
-      p.value = (F == null ? void 0 : F["输出（动画数据）"]) || [];
-      let V = (F == null ? void 0 : F["输出（动画数据）Content"]) ?? [];
-      V && (f.value = V);
-    }, p = P([]), k = P(!1), c = P(""), _ = P(!1), n = P(0), t = P(0), e = P(1e3), i = P(null);
-    let l = !1;
-    const d = fe(null), R = fe(null), j = fe(null), L = P(1302), S = P(12.5), O = P(30), q = P([]), Q = P(null), B = ge(() => o.model ? Object.values(o.model.joints).filter((u) => u.jointType !== "fixed").map((u) => u.name) : []), $e = P(["Y", "B", "C", "R"]), z = ge(() => [...B.value, ...$e.value]), ie = ge(() => z.value.length > 0 ? `请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
-${z.value.join("	")}
-0	0	0	...
-1	2	3	...` : "请先加载模型。"), ce = (u, a) => {
-      if (!a)
-        return null;
-      const h = u.links[a];
-      if (!h)
-        return console.warn(`在模型中未找到名为 '${a}' 的 link`), console.log("可用的链接:", Object.keys(u.links)), null;
-      let M = null;
-      return h.traverse(($) => {
-        $ instanceof _e && !M && (M = $);
-      }), M || console.warn(`在 link '${a}' 中未找到可用的 Mesh 对象`), M;
-    }, de = () => {
-      j.value && (j.value.visible = !0), d.value && d.value.parent && d.value.parent.remove(d.value), j.value = null, d.value = null, R.value = null;
-    };
-    ne(z, (u, a) => {
-      if (JSON.stringify(u) !== JSON.stringify(a))
-        if (u.length > 0) {
-          const h = u.reduce((M, $) => (M[$] = "0", M), {});
-          p.value = [h];
-        } else
-          p.value = [];
-    }, { immediate: !0 }), ne(() => o.model, (u) => {
-      de(), u ? (i.value = new gt(u), q.value = Object.keys(u.links), q.value.includes("Pipe_Link") ? Q.value = "Pipe_Link" : Q.value = null) : (i.value = null, q.value = [], Q.value = null);
-    }, { immediate: !0 }), ne([Q, O], ([u, a]) => {
-      if (de(), o.model && u) {
-        const h = ce(o.model, u);
-        if (console.log(h, "meshToReplace"), h && h.parent) {
-          j.value = h;
-          const M = new _e(
-            h.geometry.clone(),
-            h.material
-          );
-          if (M.name = "managed_pipe_clone", h.parent.add(M), M.position.copy(h.position), M.rotation.copy(h.rotation), M.scale.copy(h.scale), h.visible = !1, y.value === re.SINGLE && (M.position.y -= a * 1e-3), d.value = M, y.value === re.DOUBLE) {
-            const $ = new _e(
-              h.geometry.clone(),
-              h.material
-            );
-            $.name = "managed_oppsite_pipe_clone", $.position.copy(h.position), $.rotation.copy(h.rotation), $.scale.copy(h.scale), h.parent.add($), R.value = $;
-          }
-          d.value && R.value && me(
-            d.value,
-            R.value,
-            [],
-            [],
-            L.value,
-            S.value,
-            0,
-            0,
-            O.value
-          ), Y.success(`已将 Link: "${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 pe = () => p.value.map((u) => ({
-      Y: parseFloat(u.Y) || 0,
-      B: parseFloat(u.B) || 0,
-      C: parseFloat(u.C) || 0,
-      R: parseFloat(u.R) || 0
-    })), E = () => {
-      const u = [], a = [];
-      return p.value.forEach((h) => {
-        const { Y1: M, B1: $, C1: x, R1: F, Y2: V, B2: G, C2: W, R2: I } = h;
-        u.push({
-          Y: parseFloat(M) || 0,
-          B: parseFloat($) || 0,
-          C: parseFloat(x) || 0,
-          R: parseFloat(F) || 0
-        }), a.push({
-          Y: parseFloat(V) || 0,
-          B: parseFloat(G) || 0,
-          C: parseFloat(W) || 0,
-          R: parseFloat(I) || 0
-        });
-      }), {
-        posPipeYbcr: u,
-        negPipeYbcr: a
-      };
-    }, v = (u) => {
-      if (u < 0 || u >= p.value.length) {
-        console.error(`帧索引 ${u} 超出范围`);
-        return;
-      }
-      const a = p.value[u];
-      if (console.log(`应用第 ${u} 帧数据 ${a.value}`), i.value) {
-        const h = {};
-        B.value.forEach((M) => {
-          const $ = parseFloat(a[M]);
-          isNaN($) || (h[M] = $);
-        }), i.value.setJointAngles(h);
-      }
-      if (d.value && R.value) {
-        const h = E();
-        console.log("ybcr数据：", h), me(
-          d.value,
-          R.value,
-          h.posPipeYbcr,
-          h.negPipeYbcr,
-          L.value,
-          S.value,
-          u,
-          0,
-          O.value
-        );
-        return;
-      }
-      if (d.value) {
-        const h = pe();
-        console.log("ybcr数据：", h), we(
-          d.value,
-          h,
-          L.value,
-          S.value,
-          u,
-          0
-        );
-        return;
-      }
-      n.value = u;
-    }, ee = async () => {
-      if (p.value.length === 0) {
-        Y.error("无法播放动画：无数据");
-        return;
-      }
-      _.value = !0, l = !1, n.value = 0;
-      const u = d.value ? pe() : [];
-      try {
-        for (let a = 0; a < p.value.length && !l; a++) {
-          n.value = a;
-          const h = p.value[a], M = {};
-          i.value && B.value.forEach(($) => {
-            const x = parseFloat(h[$]);
-            isNaN(x) || (M[$] = x);
-          }), i.value ? await i.value.animateToState(
-            M,
-            e.value,
-            ($) => {
-              if (t.value = (a + $) / p.value.length * 100, d.value && R.value) {
-                const x = E();
-                console.log("ybcr数据：", u), me(
-                  d.value,
-                  R.value,
-                  x.posPipeYbcr,
-                  x.negPipeYbcr,
-                  L.value,
-                  S.value,
-                  a - 1,
-                  $,
-                  O.value
-                );
-              } else d.value && we(d.value, u, L.value, S.value, a - 1, $);
-            }
-          ) : d.value && R.value ? await new Promise(($) => {
-            const x = performance.now();
-            let F;
-            const V = (G) => {
-              if (l) {
-                cancelAnimationFrame(F), $();
-                return;
-              }
-              const W = G - x, I = Math.min(W / e.value, 1);
-              t.value = (a + I) / p.value.length * 100;
-              const A = E();
-              me(
-                d.value,
-                R.value,
-                A.posPipeYbcr,
-                A.negPipeYbcr,
-                L.value,
-                S.value,
-                a - 1,
-                I,
-                O.value
-              ), I < 1 ? F = requestAnimationFrame(V) : $();
-            };
-            F = requestAnimationFrame(V);
-          }) : d.value ? await new Promise(($) => {
-            const x = performance.now();
-            let F;
-            const V = (G) => {
-              if (l) {
-                cancelAnimationFrame(F), $();
-                return;
-              }
-              const W = G - x, I = Math.min(W / e.value, 1);
-              t.value = (a + I) / p.value.length * 100, we(d.value, u, L.value, S.value, a - 1, I), I < 1 ? F = requestAnimationFrame(V) : $();
-            };
-            F = requestAnimationFrame(V);
-          }) : (await new Promise(($) => setTimeout($, e.value)), t.value = (a + 1) / p.value.length * 100);
-        }
-        l || Y.success("动画播放完成");
-      } catch (a) {
-        console.error("动画播放出错:", a), Y.error("动画播放出错");
-      } finally {
-        _.value = !1, t.value = 0;
-      }
-    }, D = () => {
-      l = !0, _.value = !1, t.value = 0, Y.info("动画已停止");
-    }, je = () => {
-      if (i.value && i.value.resetToZero(), console.log("pipeMesh.value", d.value), d.value && R.value) {
-        const u = E();
-        me(
-          d.value,
-          R.value,
-          u.posPipeYbcr,
-          u.negPipeYbcr,
-          L.value,
-          S.value,
-          -1,
-          0,
-          O.value
-        );
-      } else if (d.value) {
-        const u = pe();
-        we(
-          d.value,
-          u,
-          L.value,
-          S.value,
-          -1,
-          0
-        );
-      }
-      n.value = 0, Y.success("机器人和管件已重置");
-    }, Ye = () => {
-      console.log("当前管件Mesh:", d.value);
-    }, Be = (u) => {
-      _.value && D(), v(u);
-    }, Ie = async () => {
-      if (z.value.length === 0) {
-        Y.warning("没有可导出的表头");
-        return;
-      }
-      const u = z.value.join("	");
-      try {
-        await navigator.clipboard.writeText(u), Y.success("表头已成功复制到剪贴板！");
-      } catch (a) {
-        console.error("复制失败:", a), Y.error("复制失败，请检查浏览器权限或手动复制。");
-      }
-    }, Xe = () => {
-      if (!c.value.trim()) {
-        Y.warning("导入内容不能为空");
-        return;
-      }
-      const u = c.value.trim().split(`
-`).filter((x) => x.trim() !== "");
-      if (u.length < 2) {
-        Y.error("导入数据至少需要包含表头行和一行数据");
-        return;
-      }
-      const a = u[0].split("	").map((x) => x.trim()), h = {};
-      if (a.forEach((x, F) => {
-        z.value.includes(x) && (h[F] = x);
-      }), Object.keys(h).length === 0) {
-        Y.error("没有找到匹配的表头，请检查表头名称是否正确");
-        return;
-      }
-      const $ = u.slice(1).map((x) => {
-        const F = x.split("	"), V = {};
-        return z.value.forEach((G) => {
-          V[G] = "0";
-        }), Object.entries(h).forEach(([G, W]) => {
-          const I = F[parseInt(G)];
-          I !== void 0 && I.trim() !== "" && (V[W] = I.trim());
-        }), V;
-      });
-      $.length > 0 ? (p.value = $, Y.success(`成功导入 ${$.length} 行数据！`), k.value = !1, c.value = "") : Y.error("未能解析到有效数据，请检查格式。");
-    }, Ge = () => {
-      const u = z.value.reduce((a, h) => (a[h] = "0", a), {});
-      p.value.push(u);
-    }, Ze = (u) => `第 ${u + 1} 帧`;
-    return Te(() => {
-      de(), l = !0;
-    }), (u, a) => {
-      var G, W, I;
-      const h = le("el-icon"), M = le("el-input-number"), $ = le("el-slider"), x = le("el-progress"), F = le("el-input"), V = le("el-dialog");
-      return U(), Z("div", ht, [
-        m("div", bt, [
-          b(K, {
-            onClick: C,
-            modelValue: "获取数据"
-          }),
-          b(K, {
-            onClick: Ie,
-            disabled: z.value.length === 0,
-            modelValue: "导出表头"
-          }, null, 8, ["disabled"]),
-          b(K, {
-            modelValue: "播放",
-            onClick: ee,
-            disabled: p.value.length === 0 || _.value,
-            buttonType: "primary"
-          }, {
-            default: H(() => [
-              _.value ? (U(), ve(h, {
-                key: 0,
-                class: "is-loading"
-              }, {
-                default: H(() => [
-                  b(J(xe))
-                ]),
-                _: 1
-              })) : ae("", !0)
-            ]),
-            _: 1
-          }, 8, ["disabled"]),
-          b(K, {
-            onClick: D,
-            modelValue: "停止",
-            buttonType: "danger"
-          }),
-          b(K, {
-            onClick: je,
-            modelValue: "重置",
-            buttonType: "primary"
-          }),
-          b(K, {
-            onClick: Ye,
-            modelValue: "测试功能",
-            buttonType: "primary"
-          })
-        ]),
-        p.value.length > 0 ? (U(), Z("div", yt, [
-          m("div", wt, [
-            a[9] || (a[9] = m("label", null, "帧间隔 (ms):", -1)),
-            b(M, {
-              modelValue: e.value,
-              "onUpdate:modelValue": a[0] || (a[0] = (A) => e.value = A),
-              min: 100,
-              max: 5e3,
-              step: 100,
-              size: "small",
-              style: { width: "120px" }
-            }, null, 8, ["modelValue"]),
-            a[10] || (a[10] = m("label", null, "管件总长 (mm):", -1)),
-            b(M, {
-              modelValue: L.value,
-              "onUpdate:modelValue": a[1] || (a[1] = (A) => L.value = A),
-              min: 0,
-              size: "small",
-              style: { width: "120px" }
-            }, null, 8, ["modelValue"]),
-            a[11] || (a[11] = m("label", null, "管件半径 (mm):", -1)),
-            b(M, {
-              modelValue: S.value,
-              "onUpdate:modelValue": a[2] || (a[2] = (A) => S.value = A),
-              min: 0,
-              size: "small",
-              style: { width: "120px" }
-            }, null, 8, ["modelValue"]),
-            a[12] || (a[12] = m("label", null, "夹持长度 (mm):", -1)),
-            b(M, {
-              modelValue: O.value,
-              "onUpdate:modelValue": a[3] || (a[3] = (A) => O.value = A),
-              min: 0,
-              size: "small",
-              style: { width: "120px" }
-            }, null, 8, ["modelValue"])
-          ]),
-          m("div", _t, [
-            a[13] || (a[13] = m("label", null, "管件 Mesh:", -1)),
-            b(J(dt), {
-              modelValue: Q.value,
-              "onUpdate:modelValue": a[4] || (a[4] = (A) => Q.value = A),
-              placeholder: "选择管件Link",
-              size: "small",
-              disabled: "",
-              style: { width: "180px" }
-            }, {
-              default: H(() => [
-                (U(!0), Z(Ve, null, Ae(q.value, (A) => (U(), ve(J(pt), {
-                  key: A,
-                  label: A,
-                  value: A
-                }, null, 8, ["label", "value"]))), 128))
-              ]),
-              _: 1
-            }, 8, ["modelValue", "disabled"])
-          ]),
-          m("div", Ct, [
-            a[14] || (a[14] = m("label", null, "当前帧:", -1)),
-            m("span", $t, N(n.value + 1) + " / " + N(p.value.length), 1)
-          ]),
-          m("div", kt, [
-            a[15] || (a[15] = m("label", null, "动画进度:", -1)),
-            b($, {
-              modelValue: n.value,
-              "onUpdate:modelValue": a[5] || (a[5] = (A) => n.value = A),
-              min: 0,
-              max: p.value.length > 0 ? p.value.length - 1 : 0,
-              step: 1,
-              "format-tooltip": Ze,
-              onInput: Be,
-              disabled: p.value.length === 0,
-              style: { "flex-grow": "1", margin: "0 10px" }
-            }, null, 8, ["modelValue", "max", "disabled"])
-          ]),
-          m("div", Rt, [
-            b(x, {
-              percentage: t.value,
-              "show-text": !1,
-              "stroke-width": 6
-            }, null, 8, ["percentage"])
-          ])
-        ])) : ae("", !0),
-        (U(), ve(tt, {
-          itemData: (G = f.value) == null ? void 0 : G.compData,
-          key: (W = f.value) == null ? void 0 : W.id,
-          index: (I = f.value) == null ? void 0 : I.id,
-          showHeader: !1
-        }, null, 8, ["itemData", "index"])),
-        z.value.length > 0 ? (U(), Z("div", Mt, [
-          b(K, {
-            modelValue: "添加新行",
-            onClick: Ge,
-            buttonType: "primary"
-          }, {
-            default: H(() => [
-              _.value ? (U(), ve(h, {
-                key: 0,
-                class: "is-loading"
-              }, {
-                default: H(() => [
-                  b(J(xe))
-                ]),
-                _: 1
-              })) : ae("", !0)
-            ]),
-            _: 1
-          })
-        ])) : ae("", !0),
-        b(V, {
-          modelValue: k.value,
-          "onUpdate:modelValue": a[8] || (a[8] = (A) => k.value = A),
-          title: "导入数据",
-          width: "500px"
-        }, {
-          footer: H(() => [
-            m("span", Dt, [
-              b(K, {
-                modelValue: "取消",
-                onClick: a[7] || (a[7] = (A) => k.value = !1)
-              }),
-              b(K, {
-                modelValue: "确认导入",
-                onClick: Xe,
-                type: "primary"
-              })
-            ])
-          ]),
-          default: H(() => [
-            a[16] || (a[16] = m("p", { class: "import-instructions" }, " 请从Excel或csv中复制数据 (首行为表头, Tab分隔) ", -1)),
-            b(F, {
-              modelValue: c.value,
-              "onUpdate:modelValue": a[6] || (a[6] = (A) => c.value = A),
-              type: "textarea",
-              rows: 10,
-              placeholder: ie.value
-            }, null, 8, ["modelValue", "placeholder"])
-          ]),
-          _: 1,
-          __: [16]
-        }, 8, ["modelValue"])
-      ]);
-    };
-  }
-}), St = /* @__PURE__ */ Ce(Pt, [["__scopeId", "data-v-3736fa93"]]), xt = { class: "panel-content" }, Lt = {
-  key: 0,
-  class: "joints-list"
-}, Ft = { class: "joint-info-row" }, Tt = { class: "joint-left" }, Vt = { class: "joint-name" }, At = { class: "joint-range" }, Et = { class: "joint-type" }, zt = {
-  key: 0,
-  class: "joint-control-row"
-}, Jt = { class: "slider-container" }, Ut = ["min", "max", "value", "onInput"], Ot = { class: "value-display" }, jt = { class: "joint-value" }, Yt = { class: "unit" }, Bt = {
-  key: 1,
-  class: "empty-state"
-}, It = /* @__PURE__ */ Pe({
-  __name: "urdfJointPanel",
-  props: {
-    model: {}
-  },
-  setup(w, { expose: s }) {
-    const o = w, r = P([]), g = P(null), f = (n, t = !1) => n === "revolute" ? t ? Math.PI : -Math.PI : n === "prismatic" ? t ? 1 : -1 : 0, y = (n) => {
-      if (!n || !n.joints)
-        return console.warn("URDF模型无效或不包含关节信息"), [];
-      const t = [];
-      return Object.keys(n.joints).forEach((e) => {
-        var d, R;
-        const i = n.joints[e];
-        if (i.jointType === "fixed")
-          return;
-        const l = {
-          lower: ((d = i.limit) == null ? void 0 : d.lower) ?? f(i.jointType, !1),
-          upper: ((R = i.limit) == null ? void 0 : R.upper) ?? f(i.jointType, !0)
-        };
-        t.push({
-          name: e,
-          type: i.jointType || "unknown",
-          limit: l,
-          currentValue: i.angle || 0,
-          urdfJoint: i
-        });
-      }), t.sort((e, i) => e.name.localeCompare(i.name));
-    }, C = (n, t) => {
-      var d;
-      const e = r.value.find((R) => R.name === n);
-      if (!e) return;
-      const i = parseFloat(t), l = Math.max(e.limit.lower, Math.min(e.limit.upper, i));
-      e.currentValue = l, (d = o.model) != null && d.setJointValue ? o.model.setJointValue(n, l) : e.urdfJoint.setJointValue(l);
-    }, p = () => {
-      r.value.forEach((n) => {
-        (n.type === "revolute" || n.type === "prismatic") && C(n.name, 0);
-      });
-    }, k = () => {
-      o.model && r.value.forEach((n) => {
-        n.urdfJoint.angle !== void 0 && n.currentValue !== n.urdfJoint.angle && (n.currentValue = n.urdfJoint.angle);
-      });
-    }, c = () => {
-      const n = () => {
-        k(), g.value = requestAnimationFrame(n);
-      };
-      n();
-    }, _ = () => {
-      g.value && (cancelAnimationFrame(g.value), g.value = null);
-    };
-    return ne(
-      () => o.model,
-      (n) => {
-        n ? r.value = y(n) : r.value = [];
-      },
-      { immediate: !0 }
-    ), Ee(() => {
-      c();
-    }), Te(() => {
-      _();
-    }), s({
-      resetAllJoints: p
-    }), (n, t) => (U(), Z("div", xt, [
-      r.value.length > 0 ? (U(), Z("div", Lt, [
-        (U(!0), Z(Ve, null, Ae(r.value, (e) => (U(), Z("div", {
-          key: e.name,
-          class: "joint-item"
-        }, [
-          m("div", Ft, [
-            m("div", Tt, [
-              m("span", Vt, N(e.name), 1),
-              m("span", At, " [" + N(e.limit.lower.toFixed(2)) + ", " + N(e.limit.upper.toFixed(2)) + "] ", 1)
-            ]),
-            m("span", Et, N(e.type), 1)
-          ]),
-          e.type === "revolute" || e.type === "prismatic" ? (U(), Z("div", zt, [
-            m("div", Jt, [
-              m("input", {
-                type: "range",
-                min: e.limit.lower,
-                max: e.limit.upper,
-                step: "0.01",
-                value: e.currentValue,
-                onInput: (i) => C(e.name, i.target.value),
-                class: "joint-slider"
-              }, null, 40, Ut)
-            ]),
-            m("div", Ot, [
-              m("span", jt, N(e.currentValue ? Number(e.currentValue).toFixed(3) : "0.000"), 1),
-              m("span", Yt, N(e.type === "revolute" ? "rad" : "m"), 1)
-            ])
-          ])) : ae("", !0)
-        ]))), 128))
-      ])) : (U(), Z("div", Bt, t[0] || (t[0] = [
-        m("p", null, "未检测到可控制的关节", -1)
-      ])))
-    ]));
-  }
-}), Xt = /* @__PURE__ */ Ce(It, [["__scopeId", "data-v-9adcbc67"]]), Gt = { class: "panel-content" }, Zt = "id", Nt = {
-  __name: "urdfTree",
-  props: {
-    model: Object,
-    maxExpandCount: {
-      type: Number,
-      default: 10
-    },
-    expandStrategy: {
-      type: String,
-      default: "breadth",
-      validator: (w) => ["breadth", "firstLevel"].includes(w)
-    }
-  },
-  emits: ["nodeClick"],
-  setup(w, { emit: s }) {
-    const o = w, r = s, g = P([]), f = {
-      children: "children",
-      label: "label"
-    }, y = (t) => {
-      r("nodeClick", t);
-    }, C = (t, e = 0) => {
-      const i = [];
-      return Array.isArray(t) && (t == null ? void 0 : t.length) > 0 && t.forEach((l) => {
-        if (!(l != null && l.isMesh) && ((l == null ? void 0 : l.type) === "URDFJoint" || (l == null ? void 0 : l.type) === "URDFLink")) {
-          const d = {
-            name: l == null ? void 0 : l.name,
-            label: l == null ? void 0 : l.name,
-            show: !0,
-            level: e + 1,
-            isPenultimate: !1,
-            type: l == null ? void 0 : l.type,
-            id: l == null ? void 0 : l.id,
-            limit: (l == null ? void 0 : l.limit) ?? "",
-            children: C(l == null ? void 0 : l.children, e + 1),
-            path: l == null ? void 0 : l.name
-          };
-          i.push(d);
-        }
-      }), i;
-    }, p = (t) => t ? [{
-      name: t == null ? void 0 : t.name,
-      label: t == null ? void 0 : t.name,
-      show: !0,
-      level: 1,
-      isPenultimate: !1,
-      type: t == null ? void 0 : t.type,
-      id: t == null ? void 0 : t.id,
-      limit: (t == null ? void 0 : t.limit) ?? "",
-      children: C(t == null ? void 0 : t.children, 1),
-      path: t == null ? void 0 : t.name
-    }] : [], k = (t, e) => {
-      const i = [], l = [...t];
-      for (; l.length > 0 && i.length < e; ) {
-        const d = l.shift();
-        d.children && d.children.length > 0 && (i.push(d.id), l.push(...d.children));
-      }
-      return i;
-    }, c = (t, e) => {
-      const i = [];
-      return t.forEach((l) => {
-        if (l.children && l.children.length > 0) {
-          i.push(l.id);
-          const d = l.children.filter((R) => R.children && R.children.length > 0).slice(0, e).map((R) => R.id);
-          i.push(...d);
-        }
-      }), i.slice(0, e + 1);
-    }, _ = ge(() => !g.value || g.value.length === 0 ? [] : o.expandStrategy === "firstLevel" ? c(g.value, o.maxExpandCount) : k(g.value, o.maxExpandCount)), n = ge(() => o != null && o.model ? p(o.model) : []);
-    return ne(
-      n,
-      (t) => {
-        g.value = JSON.parse(JSON.stringify(t));
-      },
-      { immediate: !0 }
-    ), (t, e) => {
-      const i = le("el-tree");
-      return U(), Z("div", Gt, [
-        b(i, {
-          data: g.value,
-          props: f,
-          "default-expanded-keys": _.value,
-          "node-key": Zt,
-          onNodeClick: y
-        }, null, 8, ["data", "default-expanded-keys"])
-      ]);
-    };
-  }
-}, Wt = /* @__PURE__ */ Ce(Nt, [["__scopeId", "data-v-0dda287c"]]), qt = { class: "obj-viewer-container" }, Kt = { class: "buttonGroup-top" }, Ht = { class: "buttonGroup-topLeft" }, Qt = { class: "buttonGroup-left" }, el = { class: "buttonGroup-right" }, tl = { class: "buttonGroup-bottom" }, ll = { class: "left-panel" }, nl = { class: "panel-header" }, al = { class: "panel-body" }, ol = {
-  key: 1,
-  class: "clipping-content"
-}, sl = { class: "radio-group" }, il = { class: "radio-label" }, rl = { class: "radio-label" }, ul = { class: "radio-label" }, cl = { class: "radio-label" }, dl = { class: "right-panel" }, pl = { class: "panel-header" }, ml = { class: "panel-body" }, vl = {
-  key: 0,
-  class: "loading-overlay"
-}, fl = /* @__PURE__ */ Pe({
-  __name: "threeSceneView",
-  props: {
-    fileBlobs: { default: () => [] },
-    animationData: { default: () => ({}) },
-    threeData: {},
-    isSelfWindow: { type: Boolean }
-  },
-  emits: ["getAnimationData", "getThreeData"],
-  setup(w, { emit: s }) {
-    const o = s, r = w, g = P(null), f = P(!1), y = P(""), C = P(!1), p = P(""), k = P(!1), c = P(""), _ = fe(null), n = fe(null), {
-      currentModels: t,
-      resetView: e,
-      initThreeJS: i,
-      handleResize: l,
-      getThreeJSObjects: d,
-      cleanup: R,
-      setModels: j
-    } = Ke(g), { loadSceneFromFile: L } = ft(
-      d,
-      t,
-      f,
-      y
-    ), { isAnimating: S, toggleAnimation: O, stopAnimation: q } = He(d, t), { isClipping: Q, activeClippingAxis: B, toggleClipping: $e, updateClippingPlanes: z } = Qe(d, t), ie = (E) => {
-      C.value = !0, p.value = E, E === "剖面视图" && !Q.value && $e();
-    }, ce = (E) => {
-      k.value = !0, c.value = E, E === "动画仿真" && o("getAnimationData");
-    }, de = () => {
-      o("getThreeData");
-    }, pe = () => {
-      Se(() => {
-      });
-    };
-    return ne(() => r.fileBlobs, (E) => {
-      if (E && E.length > 0) {
-        const v = E[0];
-        if (!v.name.toLowerCase().endsWith(".urdf")) {
-          Y.warning("提供的文件不是有效的 urdf 文件。");
-          return;
-        }
-        L(v).then((ee) => {
-          _.value = ee;
-        }).catch((ee) => {
-          console.error("加载URDF文件时发生错误:", ee), Y.error("加载urdf模型失败"), _.value = null;
-        });
-      } else
-        _.value = null;
-    }, {
-      immediate: !0,
-      deep: !0
-    }), ne(_, (E) => {
-      j(E ? [E] : []);
-    }), Ee(async () => {
-      await Se();
-      try {
-        i(), window.addEventListener("resize", l);
-        const E = d();
-        n.value = E.scene;
-      } catch (E) {
-        console.error("Three.js 初始化失败:", E), Y.error("渲染引擎初始化失败！");
-      }
-    }), qe(() => {
-      p.value = "", c.value = "", window.removeEventListener("resize", l), S.value && q(), R();
-    }), (E, v) => {
-      const ee = le("el-scrollbar");
-      return U(), Z("div", qt, [
-        m("div", {
-          ref_key: "threejsContainer",
-          ref: g,
-          class: "threejs-container"
-        }, null, 512),
-        m("div", Kt, [
-          b(T, {
-            name: "guanjianjiexi",
-            size: "34"
-          }),
-          b(T, {
-            name: "guanjiekongzhi",
-            size: "34"
-          }),
-          b(T, {
-            name: "gongyishengcheng",
-            size: "34"
-          }),
-          b(T, {
-            name: "buchangshezhi",
-            size: "34"
-          }),
-          b(T, {
-            name: "shuchujiagongchengxu",
-            size: "34"
-          })
-        ]),
-        m("div", Ht, [
-          b(T, {
-            name: "viewReset",
-            size: "24",
-            onClick: J(e),
-            title: "重置"
-          }, null, 8, ["onClick"]),
-          b(T, {
-            name: "fangda",
-            size: "24",
-            title: "放大"
-          }),
-          b(T, {
-            name: "suoxiao",
-            size: "24",
-            title: "缩小"
-          }),
-          b(T, {
-            name: "lookAround",
-            size: "24",
-            onClick: J(O),
-            title: J(S) ? "停止动画" : "动画视图"
-          }, null, 8, ["onClick", "title"])
-        ]),
-        m("div", Qt, [
-          b(T, {
-            name: "jiegoushu",
-            size: "24",
-            onClick: v[0] || (v[0] = (D) => ie("场景树")),
-            active: C.value && p.value === "场景树",
-            title: "场景树"
-          }, null, 8, ["active"]),
-          b(T, {
-            name: "clipping",
-            size: "24",
-            onClick: v[1] || (v[1] = (D) => ie("剖面视图")),
-            active: C.value && p.value === "剖面视图",
-            title: "剖面视图"
-          }, null, 8, ["active"]),
-          b(T, {
-            name: "donghuafangzhen",
-            size: "24",
-            onClick: v[2] || (v[2] = (D) => ie("场景树3"))
-          }),
-          b(T, {
-            name: "donghuafangzhen",
-            size: "24",
-            onClick: v[3] || (v[3] = (D) => ie("场景4"))
-          })
-        ]),
-        m("div", el, [
-          b(T, {
-            name: "donghuafangzhen",
-            size: "24"
-          }),
-          b(T, {
-            name: "donghuafangzhen",
-            size: "24"
-          }),
-          b(T, {
-            name: "guanjiekongzhi",
-            size: "24",
-            onClick: v[4] || (v[4] = (D) => ce("关节控制")),
-            active: k.value && c.value === "关节控制",
-            title: "关节控制"
-          }, null, 8, ["active"]),
-          b(T, {
-            name: "donghuafangzhen",
-            size: "24",
-            title: "动画仿真",
-            onClick: v[5] || (v[5] = (D) => ce("动画仿真")),
-            active: k.value && c.value === "动画仿真"
-          }, null, 8, ["active"]),
-          b(T, {
-            name: "donghuafangzhen",
-            size: "24",
-            title: "urdf动画",
-            onClick: v[6] || (v[6] = (D) => ce("urdf动画")),
-            active: k.value && c.value === "urdf动画"
-          }, null, 8, ["active"]),
-          b(T, {
-            name: "donghuafangzhen",
-            size: "24"
-          })
-        ]),
-        m("div", tl, [
-          b(T, {
-            name: "kuaitui",
-            size: "24",
-            backgroundColor: "#ffffff",
-            title: "快退",
-            onClick: v[7] || (v[7] = () => {
-            })
-          }),
-          b(T, {
-            name: "bofang",
-            size: "24",
-            backgroundColor: "#ffffff",
-            title: "播放",
-            onClick: pe
-          }),
-          b(T, {
-            name: "kuaijin",
-            size: "24",
-            backgroundColor: "#ffffff",
-            title: "快进",
-            onClick: v[8] || (v[8] = () => {
-            })
-          }),
-          b(T, {
-            name: "zanting",
-            size: "24",
-            backgroundColor: "#ffffff",
-            title: "暂停",
-            onClick: v[9] || (v[9] = () => {
-            })
-          }),
-          b(T, {
-            name: "zhongzhi",
-            size: "24",
-            backgroundColor: "#ffffff",
-            title: "停止",
-            onClick: v[10] || (v[10] = () => {
-            })
-          })
-        ]),
-        te(m("div", ll, [
-          m("div", nl, [
-            m("span", null, N(p.value), 1),
-            m("span", {
-              class: "close",
-              onClick: v[11] || (v[11] = (D) => C.value = !1)
-            }, " X ")
-          ]),
-          m("div", al, [
-            b(ee, { height: "100%" }, {
-              default: H(() => [
-                p.value === "场景树" ? (U(), ve(Wt, {
-                  key: 0,
-                  model: _.value
-                }, null, 8, ["model"])) : ae("", !0),
-                p.value === "剖面视图" ? (U(), Z("div", ol, [
-                  m("div", sl, [
-                    m("label", il, [
-                      te(m("input", {
-                        type: "radio",
-                        name: "clipping-axis",
-                        value: "none",
-                        "onUpdate:modelValue": v[12] || (v[12] = (D) => he(B) ? B.value = D : null),
-                        onChange: v[13] || (v[13] = //@ts-ignore
-                        (...D) => J(z) && J(z)(...D))
-                      }, null, 544), [
-                        [be, J(B)]
-                      ]),
-                      v[21] || (v[21] = m("span", { class: "radio-text" }, "无切割", -1))
-                    ]),
-                    m("label", rl, [
-                      te(m("input", {
-                        type: "radio",
-                        name: "clipping-axis",
-                        value: "x",
-                        "onUpdate:modelValue": v[14] || (v[14] = (D) => he(B) ? B.value = D : null),
-                        onChange: v[15] || (v[15] = //@ts-ignore
-                        (...D) => J(z) && J(z)(...D))
-                      }, null, 544), [
-                        [be, J(B)]
-                      ]),
-                      v[22] || (v[22] = m("span", { class: "radio-text" }, "X轴切割", -1))
-                    ]),
-                    m("label", ul, [
-                      te(m("input", {
-                        type: "radio",
-                        name: "clipping-axis",
-                        value: "y",
-                        "onUpdate:modelValue": v[16] || (v[16] = (D) => he(B) ? B.value = D : null),
-                        onChange: v[17] || (v[17] = //@ts-ignore
-                        (...D) => J(z) && J(z)(...D))
-                      }, null, 544), [
-                        [be, J(B)]
-                      ]),
-                      v[23] || (v[23] = m("span", { class: "radio-text" }, "Y轴切割", -1))
-                    ]),
-                    m("label", cl, [
-                      te(m("input", {
-                        type: "radio",
-                        name: "clipping-axis",
-                        value: "z",
-                        "onUpdate:modelValue": v[18] || (v[18] = (D) => he(B) ? B.value = D : null),
-                        onChange: v[19] || (v[19] = //@ts-ignore
-                        (...D) => J(z) && J(z)(...D))
-                      }, null, 544), [
-                        [be, J(B)]
-                      ]),
-                      v[24] || (v[24] = m("span", { class: "radio-text" }, "Z轴切割", -1))
-                    ])
-                  ])
-                ])) : ae("", !0)
-              ]),
-              _: 1
-            })
-          ])
-        ], 512), [
-          [ye, C.value]
-        ]),
-        te(m("div", dl, [
-          m("div", pl, [
-            m("span", null, N(c.value), 1),
-            m("span", {
-              class: "close",
-              onClick: v[20] || (v[20] = (D) => k.value = !1)
-            }, " X ")
-          ]),
-          m("div", ml, [
-            b(ee, { height: "100%" }, {
-              default: H(() => [
-                te(b(Xt, { model: _.value }, null, 8, ["model"]), [
-                  [ye, c.value === "关节控制"]
-                ]),
-                te(b(St, {
-                  model: _.value,
-                  onGetThreeData: de,
-                  threeData: r.threeData,
-                  isSelfWindow: r.isSelfWindow
-                }, null, 8, ["model", "threeData", "isSelfWindow"]), [
-                  [ye, c.value === "动画仿真"]
-                ])
-              ]),
-              _: 1
-            })
-          ])
-        ], 512), [
-          [ye, k.value]
-        ]),
-        f.value ? (U(), Z("div", vl, [
-          v[25] || (v[25] = m("div", { class: "loading-spinner" }, null, -1)),
-          m("p", null, N(y.value), 1)
-        ])) : ae("", !0)
-      ]);
-    };
-  }
-}), Dl = /* @__PURE__ */ Ce(fl, [["__scopeId", "data-v-c64ef635"]]);
-export {
-  Dl as default
-};