ss-component-new 1.2.12 → 1.2.13

package/dist/urdfTree-CCktg0FK.cjs

@@ -1 +0,0 @@
-"use strict";const t=require("vue"),E=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),V={class:"panel-content"},x={key:0,class:"joints-list"},J={class:"joint-info-row"},N={class:"joint-left"},w={class:"joint-name"},B={class:"joint-range"},F={class:"joint-type"},b={key:0,class:"joint-control-row"},C={class:"slider-container"},I=["min","max","value","onInput"],L={class:"value-display"},S={class:"joint-value"},D={class:"unit"},P={key:1,class:"empty-state"},M=t.defineComponent({__name:"urdfJointPanel",props:{model:{}},setup(d,{expose:f}){const r=d,c=t.ref([]),o=t.ref(null),m=(s,u=!1)=>s==="revolute"?u?Math.PI:-Math.PI:s==="prismatic"?u?1:-1:0,_=s=>{if(!s||!s.joints)return console.warn("URDF模型无效或不包含关节信息"),[];const u=[];return Object.keys(s.joints).forEach(e=>{var l,i;const a=s.joints[e];if(a.jointType==="fixed")return;let n={lower:((l=a.limit)==null?void 0:l.lower)??m(a.jointType,!1),upper:((i=a.limit)==null?void 0:i.upper)??m(a.jointType,!0)};a.jointType==="continuous"&&(n={lower:-10*Math.PI,upper:10*Math.PI}),u.push({name:e,type:a.jointType||"unknown",limit:n,currentValue:a.angle||0,urdfJoint:a})}),u.sort((e,a)=>e.name.localeCompare(a.name))},p=(s,u)=>{var l;const e=c.value.find(i=>i.name===s);if(!e)return;const a=parseFloat(u),n=Math.max(e.limit.lower,Math.min(e.limit.upper,a));e.currentValue=n,(l=r.model)!=null&&l.setJointValue?r.model.setJointValue(s,n):e.urdfJoint.setJointValue(n)},y=()=>{c.value.forEach(s=>{(s.type==="revolute"||s.type==="continuous"||s.type==="prismatic")&&p(s.name,0)})},v=()=>{r.model&&c.value.forEach(s=>{s.urdfJoint.angle!==void 0&&s.currentValue!==s.urdfJoint.angle&&(s.currentValue=s.urdfJoint.angle)})},g=()=>{const s=()=>{v(),o.value=requestAnimationFrame(s)};s()},k=()=>{o.value&&(cancelAnimationFrame(o.value),o.value=null)};return t.watch(()=>r.model,s=>{s?c.value=_(s):c.value=[]},{immediate:!0}),t.onMounted(()=>{g()}),t.onUnmounted(()=>{k()}),f({resetAllJoints:y}),(s,u)=>(t.openBlock(),t.createElementBlock("div",V,[c.value.length>0?(t.openBlock(),t.createElementBlock("div",x,[(t.openBlock(!0),t.createElementBlock(t.Fragment,null,t.renderList(c.value,e=>(t.openBlock(),t.createElementBlock("div",{key:e.name,class:"joint-item"},[t.createElementVNode("div",J,[t.createElementVNode("div",N,[t.createElementVNode("span",w,t.toDisplayString(e.name),1),t.createElementVNode("span",B," ["+t.toDisplayString(e.limit.lower.toFixed(2))+", "+t.toDisplayString(e.limit.upper.toFixed(2))+"] ",1)]),t.createElementVNode("span",F,t.toDisplayString(e.type),1)]),e.type==="revolute"||e.type==="prismatic"||e.type==="continuous"?(t.openBlock(),t.createElementBlock("div",b,[t.createElementVNode("div",C,[t.createElementVNode("input",{type:"range",min:e.limit.lower,max:e.limit.upper,step:"0.01",value:e.currentValue,onInput:a=>p(e.name,a.target.value),class:"joint-slider"},null,40,I)]),t.createElementVNode("div",L,[t.createElementVNode("span",S,t.toDisplayString(e.currentValue?Number(e.currentValue).toFixed(3):"0.000"),1),t.createElementVNode("span",D,t.toDisplayString(e.type==="prismatic"?"m":"rad"),1)])])):t.createCommentVNode("",!0)]))),128))])):(t.openBlock(),t.createElementBlock("div",P,u[0]||(u[0]=[t.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}}),U=E._export_sfc(M,[["__scopeId","data-v-66bb0e66"]]),T={class:"panel-content"},A="id",R={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:d=>["breadth","firstLevel"].includes(d)},extraNodes:{type:Array,default:[]}},emits:["nodeClick"],setup(d,{emit:f}){const r=d,c=f,o=t.ref([]),m={children:"children",label:"label"},_=e=>{c("nodeClick",e)},p=(e,a=0)=>{const n=[];return Array.isArray(e)&&(e==null?void 0:e.length)>0&&e.forEach(l=>{if(!(l!=null&&l.isMesh)&&((l==null?void 0:l.type)==="URDFJoint"||(l==null?void 0:l.type)==="URDFLink")){const i={name:l==null?void 0:l.name,label:l==null?void 0:l.name,show:!0,level:a+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:p(l==null?void 0:l.children,a+1),path:l==null?void 0:l.name};n.push(i)}}),n},y=e=>e?[{name:e==null?void 0:e.name,label:e==null?void 0:e.name,show:!0,level:1,isPenultimate:!1,type:e==null?void 0:e.type,id:e==null?void 0:e.id,limit:(e==null?void 0:e.limit)??"",children:p(e==null?void 0:e.children,1)||[],path:e==null?void 0:e.name}]:[],v=(e,a)=>{const n=[],l=[...e];for(;l.length>0&&n.length<a;){const i=l.shift();i.children&&i.children.length>0&&(n.push(i.id),l.push(...i.children))}return n},g=(e,a)=>{const n=[];return e.forEach(l=>{if(l.children&&l.children.length>0){n.push(l.id);const i=l.children.filter(h=>h.children&&h.children.length>0).slice(0,a).map(h=>h.id);n.push(...i)}}),n.slice(0,a+1)},k=t.computed(()=>!o.value||o.value.length===0?[]:r.expandStrategy==="firstLevel"?g(o.value,r.maxExpandCount):v(o.value,r.maxExpandCount)),s=t.computed(()=>[{name:"场景",label:"场景",show:!0,level:1,isPenultimate:!1,type:"场景",id:"场景",children:r!=null&&r.model?y(r.model):[],path:"场景"}]),u=()=>{const e=r.extraNodes||[],a=e==null?void 0:e.map(n=>({...n,level:0}));o.value.push(...a)};return t.watch(s,e=>{o.value=JSON.parse(JSON.stringify(e)),u()},{immediate:!0}),(e,a)=>{const n=t.resolveComponent("el-tree");return t.openBlock(),t.createElementBlock("div",T,[t.createVNode(n,{data:o.value,props:m,"default-expanded-keys":k.value,"node-key":A,onNodeClick:_},null,8,["data","default-expanded-keys"])])}}},q=E._export_sfc(R,[["__scopeId","data-v-3503cf34"]]);exports.JointPanel=U;exports.UrdfTree=q;

package/public/obj/model.mtl

@@ -1,42 +0,0 @@
-# CAD Exchanger 3.24.0 (cadexchanger.com)
-# Material Count: 5
-
-newmtl Material_1
-Ns 0.000000
-Ka 0.200000 0.200000 0.200000
-Kd 0.666667 0.666667 0.666667
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-d 1.000000
-
-newmtl Material_2
-Ns 0.000000
-Ka 0.200000 0.200000 0.200000
-Kd 0.133333 0.133333 0.133333
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-d 1.000000
-
-newmtl Material_3
-Ns 0.000000
-Ka 0.200000 0.200000 0.200000
-Kd 0.733333 0.733333 0.733333
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-d 1.000000
-
-newmtl Material_5
-Ns 0.000000
-Ka 0.200000 0.200000 0.200000
-Kd 0.396078 0.941176 0.450980
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-d 1.000000
-
-newmtl Material_4
-Ns 0.000000
-Ka 0.200000 0.200000 0.200000
-Kd 1.000000 1.000000 0.000000
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-d 1.000000