ss-component-new 1.2.2 → 1.2.4

package/dist/{threeSceneView-DT-STxuj.cjs → threeSceneView-mhrcH0WG.cjs}

@@ -1,4 +1,4 @@
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a.Mesh(s,N)}const be=C=>C.reduce((g,E)=>{let s=0;const N=E.Y??0,S=E.C??0,f=E.R??0;return N>0&&(s+=N),S>0&&f>0&&(s+=f*te(S)),g+s},0),we=C=>{const g=[],E=C.Y??0,s=C.B??0,N=C.C??0,S=C.R??0,f={pos:new a.Vector3(0,0,0),localY:new a.Vector3(0,1,0),localX:new a.Vector3(1,0,0),localZ:new a.Vector3(0,0,1)};if(!E&&!N)return g;if(g.push(f.pos.clone()),s!==0){const M=new a.Matrix4().makeRotationAxis(f.localY,te(s));f.localX.applyMatrix4(M),f.localZ.applyMatrix4(M)}if(E>0&&(f.pos.add(f.localY.clone().multiplyScalar(E*J)),g.push(f.pos.clone())),N>0&&S>0){const M=te(N),P=S*J,d=f.pos.clone().add(f.localX.clone().multiplyScalar(-P)),c=Math.max(16,Math.ceil(N/5));for(let V=1;V<=c;V++){const n=M*V/c,y=new a.Matrix4().makeRotationAxis(f.localZ,n),b=f.localX.clone().multiplyScalar(P).applyMatrix4(y),h=d.clone().add(b);g.push(h)}}return g};function Ce(C,g){const E=new a.Group;E.name="CompletePipe";const s={pos:new a.Vector3(0,0,0),localX:new a.Vector3(1,0,0),localY:new a.Vector3(0,1,0),localZ:new 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a.Sprite(y),b=s*3;r.scale.set(b,b,1),r.position.copy(S),r.name=`Label_${g}`,r.userData={labelNumber:g},C.add(r)}function Ee(C,g,E){const s=new a.LineCurve3(C,g),N=new a.TubeGeometry(s,2,E,18,!1);return new a.Mesh(N,ge)}function xe(C,g){const E=new a.CatmullRomCurve3(C,!1,"catmullrom",.01),s=new a.TubeGeometry(E,Math.max(16,C.length*2),g,18,!1);return new a.Mesh(s,ge)}function re(C,g,E,s,N,S=0){let f=g.slice(0,N+1);const M=g[N+1];if(M&&S>0){const r={...M,B:(M.B??0)*S,C:(M.C??0)*S};f.push(r)}const P=be(f),d=Math.max(0,E-P),c=[];c.push(new a.Vector3(0,0,0));const V=new a.Vector3(0,d*J,0);d>0&&c.push(V);let n={pos:V.clone(),localY:new a.Vector3(0,1,0),localX:new a.Vector3(1,0,0),localZ:new a.Vector3(0,0,1)};const y=[];for(let r=f.length-1;r>=0;r--){const b=f[r],h=we(b);if(h.length>0){const x=h.map(D=>{const R=D.clone(),j=new a.Matrix4;return j.makeBasis(n.localX,n.localY,n.localZ),R.applyMatrix4(j),R.add(n.pos)});y.push(x);const m=x[x.length-1];n.pos=m.clone();const 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0:F["输出（动画数据）Content"])??[];i&&(f.value=i)},d=e.ref([]),c=e.ref(!1),V=e.ref(""),n=e.ref(!1),y=e.ref(0),r=e.ref(0),b=e.ref(1e3),h=e.ref(null);let x=!1;const m=e.shallowRef(null),k=e.shallowRef(null),I=e.shallowRef(null),D=e.ref(1302),R=e.ref(12.5),j=e.ref(30),Q=e.ref([]),A=e.ref(null),w=e.computed(()=>s.model?Object.values(s.model.joints).filter(o=>o.jointType!=="fixed").map(o=>o.name):[]),X=e.ref(["Y","B","C","R"]),L=e.computed(()=>[...w.value,...X.value]),G=e.computed(()=>L.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
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Me={class:"panel-content"},Se={class:"action-bar"},ke={key:0,class:"animation-controls"},Pe={class:"control-row"},De={class:"control-row"},Re={class:"frame-info"},Te={class:"control-row"},$e={class:"progress-bar"},Be={class:"dialog-footer"},Ae=e.defineComponent({__name:"animationPanel",props:{model:{},threeData:{}},emits:["getThreeData"],setup(C,{expose:g,emit:E}){const s=C,N=E,S=e.ref(),f=e.ref(),M=e.ref();e.watch(()=>s.threeData,o=>{const t=o==null?void 0:o.data;M.value=t==null?void 0:t.type},{immediate:!0});const P=async()=>{if(!sessionStorage.getItem("systemKey")){N("getThreeData");return}let t={};M.value===Z.robotMode.SINGLE&&(t=await he.fetchSingleRobotAnimationData()),M.value===Z.robotMode.DOUBLE&&(t=await he.fetchDoubleRobotAnimationData());const{initialPipeLength:u=0,pipeRadius:_=0,clampLength:p=0,animationData:$}=t;D.value=u,R.value=_,j.value=p,S.value=$;const F=Y.cloneDeep(S.value);d.value=(F==null?void 0:F["输出（动画数据）"])||[];let i=(F==null?void 0:F["输出（动画数据）Content"])??[];i&&(f.value=i)},d=e.ref([]),c=e.ref(!1),V=e.ref(""),n=e.ref(!1),y=e.ref(0),r=e.ref(0),b=e.ref(1e3),h=e.ref(null);let x=!1;const m=e.shallowRef(null),k=e.shallowRef(null),I=e.shallowRef(null),D=e.ref(1302),R=e.ref(12.5),j=e.ref(30),Q=e.ref([]),A=e.ref(null),w=e.computed(()=>s.model?Object.values(s.model.joints).filter(o=>o.jointType!=="fixed").map(o=>o.name):[]),X=e.ref(["Y","B","C","R"]),L=e.computed(()=>[...w.value,...X.value]),G=e.computed(()=>L.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
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 1	2	3	...`:"请先加载模型。"),q=(o,t)=>{if(!t)return null;const u=o.joints[t];if(!u)return console.warn(`在模型中未找到名为 '${t}' 的 Joint`),null;let _=null;return u.traverse(p=>{p instanceof a.Mesh&&!_&&(_=p)}),_||console.warn(`在 Joint '${t}' 中未找到可用的 Mesh 对象`),_},oe=(o,t)=>{if(!t)return null;const u=o.joints[t];return u||(console.warn(`在模型中未找到名为 '${t}' 的 Joint`),console.log("可用的链接:",Object.keys(o.links)),null)},ee=()=>{I.value&&(I.value.visible=!0),m.value&&m.value.parent&&m.value.parent.remove(m.value),I.value=null,m.value=null,k.value=null};e.watch(L,(o,t)=>{if(JSON.stringify(o)!==JSON.stringify(t))if(o.length>0){const u=o.reduce((_,p)=>(_[p]="0",_),{});d.value=[u]}else d.value=[]},{immediate:!0});const H=(o,t)=>{const u=oe(o,t),_=Ne();_.visible=!1,u==null||u.add(_)};e.watch(()=>s.model,o=>{ee(),o?(h.value=new Z.URDFRobotController(o),Q.value=Object.keys(o.links),A.value="Pipe_Joint",H(o,A.value)):(h.value=null,Q.value=[],A.value=null)},{immediate:!0}),e.watch([A,j],([o,t])=>{if(ee(),s.model&&o){const u=q(s.model,o);if(console.log(u,"meshToReplace"),u&&u.parent){I.value=u;const _=new a.Mesh(u.geometry.clone(),u.material);if(_.name="managed_pipe_clone",u.parent.add(_),_.position.copy(u.position),_.rotation.copy(u.rotation),_.scale.copy(u.scale),u.visible=!1,M.value===Z.robotMode.SINGLE&&(_.position.y-=t*.001),m.value=_,M.value===Z.robotMode.DOUBLE){const p=new a.Mesh(u.geometry.clone(),u.material);p.name="managed_oppsite_pipe_clone",p.position.copy(u.position),p.rotation.copy(u.rotation),p.scale.copy(u.scale),u.parent.add(p),k.value=p}m.value&&k.value&&ne(m.value,k.value,[],[],D.value,R.value,0,0,j.value)}else o&&console.warn(`在 link '${o}' 中未找到可替换的网格或其没有父级。`)}});const z=()=>d.value.map(o=>({Y:parseFloat(o.Y)||0,B:parseFloat(o.B)||0,C:parseFloat(o.C)||0,R:parseFloat(o.R)||0})),K=()=>{const o=[],t=[];return d.value.forEach(u=>{const{Y1:_,B1:p,C1:$,R1:F,Y2:i,B2:l,C2:O,R2:v}=u;o.push({Y:parseFloat(_)||0,B:parseFloat(p)||0,C:parseFloat($)||0,R:parseFloat(F)||0}),t.push({Y:parseFloat(i)||0,B:parseFloat(l)||0,C:parseFloat(O)||0,R:parseFloat(v)||0})}),{posPipeYbcr:o,negPipeYbcr:t}},B=o=>{if(o<0||o>=d.value.length){console.error(`帧索引 ${o} 超出范围`);return}const t=d.value[o];if(console.log(`应用第 ${o} 帧数据 ${t}`),y.value=o,h.value){const u={};w.value.forEach(_=>{const p=parseFloat(t[_]);isNaN(p)||(u[_]=p)}),h.value.setJointAngles(u)}if(m.value&&k.value){const u=K();console.log("ybcr数据：",u),ne(m.value,k.value,u.posPipeYbcr,u.negPipeYbcr,D.value,R.value,o,0,j.value);return}if(m.value){const u=z();console.log("ybcr数据：",u),re(m.value,u,D.value,R.value,o,0);return}},ae=async()=>{if(d.value.length===0){Y.ElMessage.error("无法播放动画：无数据");return}n.value=!0,x=!1;const o=m.value?z():[];try{for(let t=y.value+1;t<d.value.length&&!x;t++){y.value=t;const u=d.value[t],_={};h.value&&w.value.forEach(p=>{const $=parseFloat(u[p]);isNaN($)||(_[p]=$)}),h.value?await h.value.animateToState(_,b.value,p=>{if(r.value=(t+p)/d.value.length*100,m.value&&k.value){const $=K();console.log("ybcr数据：",o),ne(m.value,k.value,$.posPipeYbcr,$.negPipeYbcr,D.value,R.value,t-1,p,j.value)}else m.value&&re(m.value,o,D.value,R.value,t-1,p)}):m.value&&k.value?await new Promise(p=>{const $=performance.now();let F;const i=l=>{if(x){cancelAnimationFrame(F),p();return}const O=l-$,v=Math.min(O/b.value,1);r.value=(t+v)/d.value.length*100;const U=K();ne(m.value,k.value,U.posPipeYbcr,U.negPipeYbcr,D.value,R.value,t-1,v,j.value),v<1?F=requestAnimationFrame(i):p()};F=requestAnimationFrame(i)}):m.value?await new Promise(p=>{const $=performance.now();let F;const i=l=>{if(x){cancelAnimationFrame(F),p();return}const O=l-$,v=Math.min(O/b.value,1);r.value=(t+v)/d.value.length*100,re(m.value,o,D.value,R.value,t-1,v),v<1?F=requestAnimationFrame(i):p()};F=requestAnimationFrame(i)}):(await new Promise(p=>setTimeout(p,b.value)),r.value=(t+1)/d.value.length*100)}x||Y.ElMessage.success("动画播放完成")}catch(t){console.error("动画播放出错:",t),Y.ElMessage.error("动画播放出错")}finally{n.value=!1,r.value=0}},le=()=>{x=!0,n.value=!1,r.value=0,Y.ElMessage.info("动画已停止")},ie=()=>{if(h.value&&h.value.resetToZero(),console.log("pipeMesh.value",m.value),m.value&&k.value){const o=K();ne(m.value,k.value,o.posPipeYbcr,o.negPipeYbcr,D.value,R.value,-1,0,j.value)}else if(m.value){const o=z();re(m.value,o,D.value,R.value,-1,0)}y.value=0,Y.ElMessage.success("机器人和管件已重置")},ce=()=>{console.log("当前管件Mesh:",m.value)},ue=o=>{n.value&&le(),B(o)},de=()=>{n.value&&le(),!(y.value+1>=d.value.length)&&B(y.value+1)},pe=()=>{n.value&&le(),y.value!==0&&B(y.value-1)},me=async()=>{if(L.value.length===0){Y.ElMessage.warning("没有可导出的表头");return}const o=L.value.join("	");try{await navigator.clipboard.writeText(o),Y.ElMessage.success("表头已成功复制到剪贴板！")}catch(t){console.error("复制失败:",t),Y.ElMessage.error("复制失败，请检查浏览器权限或手动复制。")}},ve=()=>{if(!V.value.trim()){Y.ElMessage.warning("导入内容不能为空");return}const o=V.value.trim().split(`

package/dist/{threeSceneView-Bwed326O.js → threeSceneView-zvyCHrp1.js}

@@ -1,23 +1,23 @@
 import { defineComponent as Le, ref as C, watch as ce, shallowRef as fe, computed as _e, onUnmounted as Ge, resolveComponent as N, createElementBlock as ge, openBlock as ne, createElementVNode as o, createCommentVNode as me, createVNode as e, withCtx as z, createBlock as De, unref as B, toDisplayString as ve, onBeforeUnmount as Oe, createTextVNode as Ie, onMounted as Ne, nextTick as qe, withDirectives as Q, vShow as de, renderSlot as be, isRef as ke, vModelRadio as xe } from "vue";
-import { U as He, r as Te, s as Be, u as We, a as Ke, W as Qe } from "./useRayCaster-TCYe6KMI.js";
-import { u as Xe, a as et, b as tt, S as E } from "./iconfont-7cEds3Xj.js";
-import { m as Ve, T as we, V as O, e as he, n as lt, k as te, l as ot, o as nt, i as at, L as st, p as it, q as rt, r as ut, s as ct, t as pt, u as dt } from "./three-viewport-gizmo-BxFHxv_x.js";
-import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Dmm4yqcc.js";
-import { a9 as mt, c as vt, E as J, a as ft, aM as gt, ao as ht } from "./index-CYp77kPp.js";
-import "./index.vue_vue_type_style_index_1_lang-AXp5rRSK.js";
+import { U as He, r as Te, s as Be, u as We, a as Ke, W as Qe } from "./useRayCaster-CAqupK7D.js";
+import { u as Xe, a as et, b as tt, S as E } from "./iconfont-ljBfzBSE.js";
+import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BTu7I4mn.js";
+import { a9 as lt, c as ot, E as J, a as nt, aM as at, ao as st } from "./index-UN4JU0ly.js";
+import "./index.vue_vue_type_style_index_1_lang-Exyt6qTf.js";
 import "./index-BHtNKL1L.js";
-import { _ as ie, s as bt } from "./index-DVvt9_w0.js";
-import "./index.vue_vue_type_style_index_1_lang-BxEXAMMV.js";
-import "./index-C6Uddqal.js";
-import { f as yt, a as _t } from "./animationData-BDq02_ir.js";
+import { _ as ie, s as it } from "./index-Dk8D9SRm.js";
+import "./index.vue_vue_type_style_index_1_lang-D1n_3_F6.js";
+import { m as Ve, T as we, V as O, e as he, n as rt, k as te, l as ut, o as ct, i as pt, L as dt, p as mt, q as vt, r as ft, s as gt, t as ht, u as bt } from "./three-viewport-gizmo-BHznJ6W3.js";
+import "./index-B5gNufYw.js";
+import { f as yt, a as _t } from "./animationData-9n1X4UvO.js";
 import { _ as je } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { U as wt, J as Ct } from "./urdfTree-BuTtRGdl.js";
-const ee = 1e-3, re = ot.degToRad, Ue = new lt({
+const ee = 1e-3, re = ut.degToRad, Ue = new rt({
   // 灰色
   color: 13421772,
   metalness: 0.3,
   roughness: 0.6,
-  side: at
+  side: pt
 });
 function Pt(k = 5e-3, g = 64) {
   const T = new Ve([new O(0, 0, 0), new O(0, 0, 0)]), s = new we(T, g, k, 16, !1), P = Ue;
@@ -49,7 +49,7 @@ const Ze = (k) => k.reduce((g, T) => {
   return g;
 };
 function kt(k, g) {
-  const T = new nt();
+  const T = new ct();
   T.name = "CompletePipe";
   const s = {
     pos: new O(0, 0, 0),
@@ -103,25 +103,25 @@ function kt(k, g) {
   return T;
 }
 function xt(k, g, T, s) {
-  const P = new O(0, s * 2, s * 5), V = T.clone().add(P), f = [T, V], D = new it().setFromPoints(f), S = new rt({
+  const P = new O(0, s * 2, s * 5), V = T.clone().add(P), f = [T, V], D = new mt().setFromPoints(f), S = new vt({
     color: 16711680,
     dashSize: s * 0.5,
     gapSize: s * 0.3,
     linewidth: 1
-  }), p = new ut(D, S);
+  }), p = new ft(D, S);
   p.computeLineDistances(), k.add(p);
   const u = document.createElement("canvas"), b = u.getContext("2d");
   u.width = 128, u.height = 128, b.clearRect(0, 0, 128, 128), b.fillStyle = "#FF0000", b.font = "bold 80px Arial", b.textAlign = "center", b.textBaseline = "middle", b.fillText(g.toString(), 64, 64);
-  const a = new ct(u), y = new pt({
+  const a = new gt(u), y = new ht({
     map: a,
     transparent: !0,
     depthTest: !1,
     depthWrite: !1
-  }), i = new dt(y), _ = s * 3;
+  }), i = new bt(y), _ = s * 3;
   i.scale.set(_, _, 1), i.position.copy(V), i.name = `Label_${g}`, i.userData = { labelNumber: g }, k.add(i);
 }
 function Tt(k, g, T) {
-  const s = new st(k, g), P = new we(s, 2, T, 18, !1);
+  const s = new dt(k, g), P = new we(s, 2, T, 18, !1);
   return new he(P, Ue);
 }
 function Mt(k, g) {
@@ -276,7 +276,7 @@ const Dt = { class: "panel-content" }, Vt = { class: "action-bar" }, Rt = {
         animationData: F
       } = t;
       $.value = c, A.value = x, G.value = d, V.value = F;
-      const U = vt(V.value);
+      const U = ot(V.value);
       p.value = (U == null ? void 0 : U["输出（动画数据）"]) || [];
       let r = (U == null ? void 0 : U["输出（动画数据）Content"]) ?? [];
       r && (f.value = r);
@@ -592,7 +592,7 @@ ${Z.value.join("	")}
                 class: "is-loading"
               }, {
                 default: z(() => [
-                  e(B(mt))
+                  e(B(lt))
                 ]),
                 _: 1
               })) : me("", !0)
@@ -750,7 +750,7 @@ ${Z.value.join("	")}
   }
 }), Lt = /* @__PURE__ */ je(Bt, [["__scopeId", "data-v-e955dfd2"]]), jt = "http://139.196.154.85:20018";
 function Ut(k, g = !1) {
-  return console.log(k, "data"), ft({
+  return console.log(k, "data"), nt({
     url: `${jt}/api/pipeBendingTraditional/pipeAnsys/${g}`,
     method: "post",
     data: k
@@ -847,7 +847,7 @@ const Et = { class: "pipe-analysis-dialog-header" }, Ot = { class: "header-right
       window.removeEventListener("resize", f), D();
     }), g({ openDialog: ae }), (L, w) => {
       const H = N("el-icon"), Z = N("el-button"), W = N("el-form-item"), K = N("el-form"), ue = N("el-option"), se = N("el-select"), le = N("el-input"), j = N("el-table-column"), oe = N("el-table");
-      return ne(), De(bt, {
+      return ne(), De(it, {
         class: "pipe-analysis-dialog",
         visible: A.value,
         onBeforeDestroy: L.onDestroy,
@@ -863,13 +863,13 @@ const Et = { class: "pipe-analysis-dialog-header" }, Ot = { class: "header-right
             o("div", Ot, [
               e(H, null, {
                 default: z(() => [
-                  e(B(gt), { onClick: $ })
+                  e(B(at), { onClick: $ })
                 ]),
                 _: 1
               }),
               e(H, null, {
                 default: z(() => [
-                  e(B(ht), { onClick: G })
+                  e(B(st), { onClick: G })
                 ]),
                 _: 1
               })

package/dist/{threeSceneViewForCPMPIP-RRDb_tZ0.cjs → threeSceneViewForCPMPIP-DA-twBdG.cjs}

@@ -1,5 +1,5 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),Le=require("./three-viewport-gizmo-CwaL5sMV.cjs"),u=require("./index-1z9RrjZc.cjs"),Q=require("./index.vue_vue_type_style_index_1_lang-j5HrYuvy.cjs"),R=require("./useRayCaster-CLcetetd.cjs"),m=require("./iconfont-CsuwJCas.cjs"),ne=require("./index-CrWFG4Wb.cjs");require("./index.vue_vue_type_style_index_1_lang-CXwGS60-.cjs");const de=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),re=require("./urdfTree-CCktg0FK.cjs"),Ue=require("./animationData-BRDoJBuV.cjs"),Ae=require("./STLLoader-KxFIlfhN.cjs"),ue=require("./index-TXrydBPq.cjs"),Oe={class:"panel-content"},Ie={class:"action-bar"},qe={key:0,class:"animation-controls"},Fe={class:"control-row"},Ge={class:"control-row"},Je={class:"frame-info"},He={class:"control-row"},Xe={key:1,class:"empty-state"},Ke={class:"dialog-footer"},We=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(L,{expose:J}){const w=L,a=e.ref([]),D=e.ref(!1),$=e.ref(""),h=e.ref("stopped"),b=e.ref(0),T=e.ref(0),U=e.ref(10),N=e.ref(null);let f=0;const k=e.ref([]),M=e.computed(()=>w.model?Object.values(w.model.joints).filter(s=>s.jointType!=="fixed").map(s=>s.name):[]),j=e.computed(()=>[...M.value]),z=e.computed(()=>j.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),u=require("./index-d6tSWKtY.cjs"),Q=require("./index.vue_vue_type_style_index_1_lang-zN5mc8b0.cjs"),R=require("./useRayCaster-ClcofJkf.cjs"),m=require("./iconfont-t5epssvu.cjs"),ne=require("./index-CK_O7QdV.cjs");require("./index.vue_vue_type_style_index_1_lang-Bn7P4fYM.cjs");const de=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),re=require("./urdfTree-CCktg0FK.cjs"),Le=require("./animationData-CfT99nMO.cjs"),Ue=require("./STLLoader-RU7KqloS.cjs"),ue=require("./index-5hLZZ6t-.cjs"),Ae=require("./three-viewport-gizmo-BV37JzRa.cjs"),Oe={class:"panel-content"},Ie={class:"action-bar"},qe={key:0,class:"animation-controls"},Fe={class:"control-row"},Ge={class:"control-row"},Je={class:"frame-info"},He={class:"control-row"},Xe={key:1,class:"empty-state"},Ke={class:"dialog-footer"},We=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(L,{expose:J}){const w=L,a=e.ref([]),D=e.ref(!1),$=e.ref(""),h=e.ref("stopped"),b=e.ref(0),T=e.ref(0),U=e.ref(10),N=e.ref(null);let f=0;const k=e.ref([]),M=e.computed(()=>w.model?Object.values(w.model.joints).filter(s=>s.jointType!=="fixed").map(s=>s.name):[]),j=e.computed(()=>[...M.value]),z=e.computed(()=>j.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
 ${j.value.join("	")}
 0	0	0	...
 1	2	3	...`:"请先加载模型。"),C=e.computed(()=>a.value[b.value]||{});e.watch(()=>w.model,s=>{s?(N.value=new R.URDFRobotController(s),k.value=Object.keys(s.links),b.value=0):(N.value=null,k.value=[])},{immediate:!0});const S=s=>{if(s<0||s>=a.value.length){console.error(`帧索引 ${s} 超出范围`);return}const l=a.value[s];if(N.value){const p={};M.value.forEach(d=>{const r=parseFloat(l[d]);isNaN(r)||(p[d]=r)}),N.value.setJointAngles(p)}b.value=s,T.value=a.value.length>1?s/(a.value.length-1)*100:100},H=async s=>{try{for(let l=b.value;l<a.value.length;l++){if(s!==f)return;const p=a.value[l],d={};if(N.value)M.value.forEach(r=>{const i=parseFloat(p[r]);isNaN(i)||(d[r]=i)}),await N.value.animateToState(d,U.value,r=>{s===f&&(T.value=(l+r)/a.value.length*100)});else{if(await new Promise(r=>setTimeout(r,U.value)),s!==f)return;T.value=(l+1)/a.value.length*100}b.value=l}s===f&&(u.ElMessage.success("动画播放完成"),h.value="stopped",T.value=100)}catch(l){console.error("动画播放出错:",l),u.ElMessage.error("动画播放出错"),h.value="stopped"}},X=()=>{if(a.value.length===0){u.ElMessage.error("无动画数据");return}h.value==="stopped"&&(b.value=0,S(0)),h.value="playing",f++,H(f),u.ElMessage.info("动画播放中")},K=()=>{h.value==="playing"&&(f++,h.value="paused",u.ElMessage.info("动画已暂停"))},A=()=>{f++,h.value="stopped",b.value=0,T.value=0,S(0),u.ElMessage.info("动画已停止并重置")},B=()=>{h.value==="playing"?K():X()},O=s=>{f++,h.value="paused",S(s)},W=()=>{if(!$.value.trim()){u.ElMessage.warning("导入内容不能为空");return}const s=$.value.trim().split(`
-`).filter(i=>i.trim()!=="");if(s.length<2){u.ElMessage.error("导入数据至少需要包含表头行和一行数据");return}const l=s[0].split("	").map(i=>i.trim()),p={};if(l.forEach((i,c)=>{j.value.includes(i)&&(p[c]=i)}),Object.keys(p).length===0){u.ElMessage.error("没有找到匹配的表头，请检查表头名称是否正确");return}const r=s.slice(1).map(i=>{const c=i.split("	"),E={};return j.value.forEach(y=>{E[y]="0"}),Object.entries(p).forEach(([y,q])=>{const F=c[parseInt(y)];F!==void 0&&F.trim()!==""&&(E[q]=F.trim())}),E});r.length>0?(a.value=r,u.ElMessage.success(`成功导入 ${r.length} 行数据！`),D.value=!1,$.value="",A()):u.ElMessage.error("未能解析到有效数据，请检查格式。")};e.watch(()=>w.xyzbcList,()=>{w.xyzbcList&&(a.value=u.cloneDeep(w.xyzbcList))},{immediate:!0});const I=s=>`第 ${s+1} 帧`;return J({handlePlayPause:B,playAnimation:X,pauseAnimation:K,stopAnimation:A}),e.onUnmounted(()=>{f++}),(s,l)=>{const p=e.resolveComponent("el-input-number"),d=e.resolveComponent("el-slider"),r=e.resolveComponent("el-input"),i=e.resolveComponent("el-dialog");return 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w=J,a=L,D=Q.useOriginalState(u.pinia),{originalPath:$}=u.storeToRefs(D);Q.useModelComp(u.pinia);const h=Q.useMenuState(),{activeMenuPath:b}=u.storeToRefs(h),T=u.useLoginState(u.pinia),{loginUserInfo:U}=u.storeToRefs(T),N=e.inject("managementPageVisible"),f=e.inject("setManagementPageTitle"),k=e.inject("setManagementPageVisible"),M=e.inject("setPositionType"),j=()=>{k==null||k(!(N!=null&&N.value))},z=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.machine}),C=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.workpieceInfo}),S=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.knife}),H=e.ref([]),X=async n=>{!n||!n.isExtra||(await K(n),M==null||M("right"),f==null||f(n==null?void 0:n.pageName),k==null||k(!0))},K=ue.debounce(async n=>{await ue.onPageBack();const{mainKey:t,baseMenuPath:o}=n||{};Q.copyAdd(o,t)},500);e.watch(()=>[z.value,C.value,S.value],()=>{var x,g,v,ie;const n=[],t={pageName:"机床",name:"机床",label:"机床",type:"机床",id:"机床",path:"机床",baseMenuPath:"设备库/机床",children:[],show:!0,isPenultimate:!1};z.value&&t.children.push({isExtra:!0,pageName:"机床",mainKey:z.value,label:z.value,baseMenuPath:"设备库/机床"});const o={pageName:"工件",name:"工件",label:"工件",type:"工件",id:"工件",path:"工件",baseMenuPath:"设备库/机床",children:[],show:!0,isPenultimate:!1};C.value&&o.children.push({isExtra:!0,type:(x=C.value)==null?void 0:x.type,pageName:"工件",mainKey:(g=C.value)==null?void 0:g.name,label:(v=C.value)==null?void 0:v.name,baseMenuPath:`工件库/${(ie=C.value)==null?void 0:ie.type}`});const P={pageName:"刀具",name:"刀具",label:"刀具",type:"刀具",id:"刀具",path:"刀具",children:[],show:!0,isPenultimate:!1};S.value&&P.children.push({isExtra:!0,pageName:"刀具",mainKey:S.value,label:S.value,baseMenuPath:"设备库/刀具"}),n.push(t,o,P),H.value=n},{immediate:!0});const A=e.ref([]),B=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.csvUrl});e.watch(()=>B.value,async()=>{if(console.log("three data",a==null?void 0:a.threeData),console.log("csvUrl",B.value),B.value){const n=await Le.initXYZBCList(B.value);A.value=n}},{immediate:!0});const O=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.bladeObjUrl}),W=e.ref(R.sceneType.ROBOT),I=e.ref(null),s=e.ref(!1),l=e.ref(""),p=e.ref(!1),d=e.ref(""),r=e.ref(!1),i=e.ref(""),c=e.ref(!1),E=e.ref(""),y=e.shallowRef(null),q=e.ref("叶片模型"),F=e.shallowRef(null),ve=e.shallowRef(null),le=e.shallowRef(null),Y=e.ref(ce),{currentModels:Z,resetView:pe,initThreeJS:me,handleResize:oe,getThreeJSObjects:G,cleanup:fe,setModels:ae,axesHelperVisible:ge,toggleAxesVisibility:he}=m.useThreeJS(I),{loadSceneFromFile:Ve}=R.useUrdfLoader(G,Z,s,l),{isAnimating:se,toggleAnimation:be,stopAnimation:Ne}=m.useAnimation(G,Z),{isClipping:ye,activeClippingAxis:V,toggleClipping:Ee,updateClippingPlanes:_}=m.useClipping(G,Z),{initRaycaster:we,selectedObject3D:ke,setSelectedObjVisible:Ce,updatePosition:Pe,updateRotation:Se,dispose:_e}=R.useRaycaster(I,G,Z),xe=()=>{he()},De=e.computed(()=>W.value===R.sceneType.ROBOT),Te=e.computed(()=>W.value===R.sceneType.PIPECOMPARSION),Me=n=>{E.value=n,c.value=!0},ee=n=>{p.value=!0,d.value=n,n==="剖面视图"&&!ye.value&&Ee()},te=n=>{r.value=!0,i.value=n,n==="动画仿真"&&w("getAnimationData")},je=()=>{var n;(n=Y.value)==null||n.handlePlayPause()},Re=()=>{var n;(n=Y.value)==null||n.pauseAnimation()},$e=()=>{var n;(n=Y.value)==null||n.stopAnimation()},ze=(n,t)=>{if(!t)return null;const o=n.links[t];if(!o)return console.warn(`在模型中未找到名为 '${t}' 的 link`),console.log("可用的链接:",Object.keys(n.links)),null;let P=null;return o.traverse(x=>{x instanceof Ae.Mesh&&!P&&(P=x)}),P||console.warn(`在 link '${t}' 中未找到可用的 Mesh 对象`),P},Be=async n=>{const t=ze(n,q.value);if(ve.value=t,console.log("bladeObjUrl",O.value),t&&t.parent&&O.value){const o=await Ye(O.value);o.name="blade_clone",t.parent.add(o),o.position.copy(t.position),o.rotation.copy(t.rotation),o.scale.copy(t.scale),t.visible=!1,F.value=o}else q.value&&console.warn(`在 Blade '${q.value}' 中未找到可替换的网格或其没有父级。`)};return e.watch(()=>a.fileBlobs,n=>{if(n&&n.length>0){const t=n[0];if(!t.name.toLowerCase().endsWith(".urdf"))return;Ve(t).then(o=>{y.value=o,o&&Be(o)}).catch(o=>{console.error("加载URDF文件时发生错误:",o),u.ElMessage.error("加载urdf模型失败"),y.value=null})}else y.value=null},{immediate:!0,deep:!0}),e.watch(y,n=>{ae(n?[n]:[]),we()}),e.onMounted(async()=>{await e.nextTick();try{me(),window.addEventListener("resize",oe);const n=G();le.value=n.scene}catch(n){console.error("Three.js 初始化失败:",n),u.ElMessage.error("渲染引擎初始化失败！")}}),e.onBeforeUnmount(()=>{d.value="",i.value="",window.removeEventListener("resize",oe),se.value&&Ne(),fe(),_e()}),(n,t)=>{var x;const o=e.resolveComponent("el-scrollbar"),P=e.resolveComponent("PipeAnalysisPanel");return e.openBlock(),e.createElementBlock("div",Ze,[e.withDirectives(e.createElementVNode("div",{ref_key:"threejsContainer",ref:I,class:"threejs-container"},null,512),[[e.vShow,De.value]]),e.withDirectives(e.createElementVNode("div",Qe,[e.createElementVNode("div",et,null,512),e.createElementVNode("div",tt,null,512)],512),[[e.vShow,Te.value]]),e.createElementVNode("div",nt,[e.renderSlot(n.$slots,"button-top",{switchTopPanel:Me},void 0,!0),e.renderSlot(n.$slots,"logout",{},void 0,!0)]),e.createElementVNode("div",lt,[e.createVNode(m.SvgIcon,{name:"viewReset",size:"24",onClick:e.unref(pe),title:"重置"},null,8,["onClick"]),e.createVNode(m.SvgIcon,{name:"fangda",size:"24",title:"放大"}),e.createVNode(m.SvgIcon,{name:"suoxiao",size:"24",title:"缩小"}),e.createVNode(m.SvgIcon,{name:"lookAround",size:"24",onClick:e.unref(be),title:e.unref(se)?"停止动画":"动画视图"},null,8,["onClick","title"]),e.createVNode(m.SvgIcon,{name:"zuobiaoxi",size:"24",active:e.unref(ge),onClick:xe,title:"显隐坐标轴"},null,8,["active"])]),e.createElementVNode("div",ot,[e.createVNode(m.SvgIcon,{name:"jiegoushu",size:"24",onClick:t[0]||(t[0]=g=>ee("场景树")),active:p.value&&d.value==="场景树",title:"场景树"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"clipping",size:"24",onClick:t[1]||(t[1]=g=>ee("剖面视图")),active:p.value&&d.value==="剖面视图",title:"剖面视图"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"donghuafangzhen",size:"24",onClick:t[2]||(t[2]=g=>ee("工件树")),active:p.value&&d.value==="工件树"},null,8,["active"])]),e.createElementVNode("div",at,[e.renderSlot(n.$slots,"button-right",{switchRightPanel:te},void 0,!0),e.createVNode(m.SvgIcon,{name:"yemian",size:"24",onClick:j,active:(x=e.unref(N))==null?void 0:x.value,title:"数据管理"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"jichuangxuanze",size:"24",onClick:t[3]||(t[3]=g=>te("机床控制")),active:r.value&&i.value==="机床控制",title:"机床控制"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"donghuafangzhen",size:"24",title:"动画仿真",onClick:t[4]||(t[4]=g=>te("动画仿真")),active:r.value&&i.value==="动画仿真"},null,8,["active"])]),e.createElementVNode("div",st,[e.createVNode(m.SvgIcon,{name:"bofang",size:"24",backgroundColor:"#ffffff",title:"播放",onClick:je}),e.createVNode(m.SvgIcon,{name:"zanting",size:"24",backgroundColor:"#ffffff",title:"暂停",onClick:Re}),e.createVNode(m.SvgIcon,{name:"zhongzhi",size:"24",backgroundColor:"#ffffff",title:"停止",onClick:$e})]),e.withDirectives(e.createElementVNode("div",it,[e.createElementVNode("div",rt,[e.createElementVNode("span",null,e.toDisplayString(E.value),1),e.createElementVNode("span",{class:"close",onClick:t[5]||(t[5]=g=>c.value=!1)}," X ")]),e.createElementVNode("div",ut,[e.createVNode(o,{height:"100%"},{default:e.withCtx(()=>[e.renderSlot(n.$slots,"top-panel",{topPanelType:E.value},void 0,!0)]),_:3})])],512),[[e.vShow,c.value]]),e.withDirectives(e.createElementVNode("div",ct,[e.createElementVNode("div",dt,[e.createElementVNode("span",null,e.toDisplayString(d.value),1),e.createElementVNode("span",{class:"close",onClick:t[6]||(t[6]=g=>p.value=!1)}," X ")]),e.createElementVNode("div",vt,[e.createVNode(o,{height:"100%"},{default:e.withCtx(()=>{var g;return[d.value==="场景树"?(e.openBlock(),e.createBlock(re.UrdfTree,{key:0,model:y.value,extraNodes:H.value,onNodeClick:X},null,8,["model","extraNodes"])):e.createCommentVNode("",!0),d.value==="剖面视图"?(e.openBlock(),e.createElementBlock("div",pt,[e.createElementVNode("div",mt,[e.createElementVNode("label",ft,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"none","onUpdate:modelValue":t[7]||(t[7]=v=>e.isRef(V)?V.value=v:null),onChange:t[8]||(t[8]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[16]||(t[16]=e.createElementVNode("span",{class:"radio-text"},"无切割",-1))]),e.createElementVNode("label",gt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"x","onUpdate:modelValue":t[9]||(t[9]=v=>e.isRef(V)?V.value=v:null),onChange:t[10]||(t[10]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[17]||(t[17]=e.createElementVNode("span",{class:"radio-text"},"X轴切割",-1))]),e.createElementVNode("label",ht,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"y","onUpdate:modelValue":t[11]||(t[11]=v=>e.isRef(V)?V.value=v:null),onChange:t[12]||(t[12]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[18]||(t[18]=e.createElementVNode("span",{class:"radio-text"},"Y轴切割",-1))]),e.createElementVNode("label",Vt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"z","onUpdate:modelValue":t[13]||(t[13]=v=>e.isRef(V)?V.value=v:null),onChange:t[14]||(t[14]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[19]||(t[19]=e.createElementVNode("span",{class:"radio-text"},"Z轴切割",-1))])])])):e.createCommentVNode("",!0),d.value==="工件树"?(e.openBlock(),e.createBlock(R.WorkpieceTreePanel,{key:2,model:(g=e.unref(ke))==null?void 0:g.obj,onVisibleChange:e.unref(Ce),onUpdatePosition:e.unref(Pe),onUpdateRotation:e.unref(Se)},null,8,["model","onVisibleChange","onUpdatePosition","onUpdateRotation"])):e.createCommentVNode("",!0)]}),_:1})])],512),[[e.vShow,p.value]]),e.withDirectives(e.createElementVNode("div",bt,[e.createElementVNode("div",Nt,[e.createElementVNode("span",null,e.toDisplayString(i.value),1),e.createElementVNode("span",{class:"close",onClick:t[15]||(t[15]=g=>r.value=!1)}," X ")]),e.createElementVNode("div",yt,[e.createVNode(o,{height:"100%"},{default:e.withCtx(()=>[e.withDirectives(e.createVNode(re.JointPanel,{model:y.value},null,8,["model"]),[[e.vShow,i.value==="机床控制"]]),e.withDirectives(e.createVNode(ce,{model:y.value,scene:le.value,xyzbcList:A.value,ref_key:"urdfAnimationPanelRef",ref:Y},null,8,["model","scene","xyzbcList"]),[[e.vShow,i.value==="动画仿真"]]),e.renderSlot(n.$slots,"right-panel",{rightPanelType:i.value},void 0,!0)]),_:3})])],512),[[e.vShow,r.value]]),s.value?(e.openBlock(),e.createElementBlock("div",Et,[t[20]||(t[20]=e.createElementVNode("div",{class:"loading-spinner"},null,-1)),e.createElementVNode("p",null,e.toDisplayString(l.value),1)])):e.createCommentVNode("",!0),e.createVNode(P,{ref:"pipeAnalysisPanelRef"},null,512)])}}}),kt=de._export_sfc(wt,[["__scopeId","data-v-d9156359"]]);exports.default=kt;

package/dist/{threeSceneViewForCPMPIP-PgPPGBxu.js → threeSceneViewForCPMPIP-axjwKt9X.js}

@@ -1,16 +1,16 @@
 import { defineComponent as ze, ref as u, computed as T, watch as H, onUnmounted as at, resolveComponent as K, createElementBlock as O, openBlock as j, createElementVNode as l, createCommentVNode as I, createVNode as i, toDisplayString as R, Fragment as nt, renderList as ot, withCtx as ne, inject as ve, shallowRef as pe, onMounted as st, nextTick as it, onBeforeUnmount as ut, withDirectives as x, vShow as F, renderSlot as ae, unref as d, createBlock as $e, isRef as me, vModelRadio as fe } from "vue";
-import { e as rt } from "./three-viewport-gizmo-BxFHxv_x.js";
-import { c as ct, E as y, p as be, s as ye, u as dt } from "./index-CYp77kPp.js";
-import { j as vt, a as pt, u as mt, aD as ft } from "./index.vue_vue_type_style_index_1_lang-AXp5rRSK.js";
-import { U as gt, s as ke, u as ht, a as bt, W as yt } from "./useRayCaster-TCYe6KMI.js";
-import { u as kt, a as Pt, b as Ct, S as h } from "./iconfont-7cEds3Xj.js";
-import { _ as Pe } from "./index-DVvt9_w0.js";
-import "./index.vue_vue_type_style_index_1_lang-BxEXAMMV.js";
+import { c as rt, E as y, p as be, s as ye, u as ct } from "./index-UN4JU0ly.js";
+import { j as dt, a as vt, u as pt, aD as mt } from "./index.vue_vue_type_style_index_1_lang-Exyt6qTf.js";
+import { U as ft, s as ke, u as gt, a as ht, W as bt } from "./useRayCaster-CAqupK7D.js";
+import { u as yt, a as kt, b as Pt, S as h } from "./iconfont-ljBfzBSE.js";
+import { _ as Pe } from "./index-Dk8D9SRm.js";
+import "./index.vue_vue_type_style_index_1_lang-D1n_3_F6.js";
 import { _ as Ue } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-import { U as wt, J as _t } from "./urdfTree-BuTtRGdl.js";
-import { i as xt } from "./animationData-BDq02_ir.js";
-import { O as Tt } from "./STLLoader-memlq1bT.js";
-import { t as $t, h as jt } from "./index-BxPnA2or.js";
+import { U as Ct, J as wt } from "./urdfTree-BuTtRGdl.js";
+import { i as _t } from "./animationData-9n1X4UvO.js";
+import { O as xt } from "./STLLoader-DmGTF0Nv.js";
+import { t as Tt, h as $t } from "./index-CdPbJekh.js";
+import { e as jt } from "./three-viewport-gizmo-BHznJ6W3.js";
 const zt = { class: "panel-content" }, Ut = { class: "action-bar" }, Vt = {
   key: 0,
   class: "animation-controls"
@@ -32,7 +32,7 @@ ${B.value.join("	")}
 0	0	0	...
 1	2	3	...` : "请先加载模型。"), V = T(() => o.value[C.value] || {});
     H(() => z.model, (s) => {
-      s ? (w.value = new gt(s), U.value = Object.keys(s.links), C.value = 0) : (w.value = null, U.value = []);
+      s ? (w.value = new ft(s), U.value = Object.keys(s.links), C.value = 0) : (w.value = null, U.value = []);
     }, { immediate: !0 });
     const S = (s) => {
       if (s < 0 || s >= o.value.length) {
@@ -118,7 +118,7 @@ ${B.value.join("	")}
       c.length > 0 ? (o.value = c, y.success(`成功导入 ${c.length} 行数据！`), M.value = !1, J.value = "", Z()) : y.error("未能解析到有效数据，请检查格式。");
     };
     H(() => z.xyzbcList, () => {
-      z.xyzbcList && (o.value = ct(z.xyzbcList));
+      z.xyzbcList && (o.value = rt(z.xyzbcList));
     }, {
       immediate: !0
     });
@@ -216,7 +216,7 @@ ${B.value.join("	")}
       ]);
     };
   }
-}), je = /* @__PURE__ */ Ue(Mt, [["__scopeId", "data-v-0833d9bc"]]), Nt = async (W) => await new Tt().loadAsync(W), Et = { class: "obj-viewer-container" }, Bt = { class: "pipe-comparison" }, Ft = {
+}), je = /* @__PURE__ */ Ue(Mt, [["__scopeId", "data-v-0833d9bc"]]), Nt = async (W) => await new xt().loadAsync(W), Et = { class: "obj-viewer-container" }, Bt = { class: "pipe-comparison" }, Ft = {
   ref: "pipe1",
   class: "pipe-container"
 }, It = {
@@ -238,9 +238,9 @@ ${B.value.join("	")}
   },
   emits: ["getAnimationData", "getThreeData"],
   setup(W, { emit: oe }) {
-    const z = oe, o = W, M = vt(be), { originalPath: J } = ye(M);
-    pt(be);
-    const k = mt(), { activeMenuPath: C } = ye(k), N = dt(be), { loginUserInfo: Y } = ye(N), w = ve("managementPageVisible"), g = ve("setManagementPageTitle"), U = ve("setManagementPageVisible"), E = ve("setPositionType"), B = () => {
+    const z = oe, o = W, M = dt(be), { originalPath: J } = ye(M);
+    vt(be);
+    const k = pt(), { activeMenuPath: C } = ye(k), N = ct(be), { loginUserInfo: Y } = ye(N), w = ve("managementPageVisible"), g = ve("setManagementPageTitle"), U = ve("setManagementPageVisible"), E = ve("setPositionType"), B = () => {
       U == null || U(!(w != null && w.value));
     }, G = T(() => {
       var e, n;
@@ -253,10 +253,10 @@ ${B.value.join("	")}
       return (n = (e = o == null ? void 0 : o.threeData) == null ? void 0 : e.data) == null ? void 0 : n.knife;
     }), se = u([]), ie = async (t) => {
       !t || !t.isExtra || (await ue(t), E == null || E("right"), g == null || g(t == null ? void 0 : t.pageName), U == null || U(!0));
-    }, ue = $t(async (t) => {
-      await jt();
+    }, ue = Tt(async (t) => {
+      await $t();
       const { mainKey: e, baseMenuPath: n } = t || {};
-      ft(n, e);
+      mt(n, e);
     }, 500);
     H(
       () => [G.value, V.value, S.value],
@@ -330,7 +330,7 @@ ${B.value.join("	")}
     });
     H(() => X.value, async () => {
       if (console.log("three data", o == null ? void 0 : o.threeData), console.log("csvUrl", X.value), X.value) {
-        const t = await xt(X.value);
+        const t = await _t(X.value);
         Z.value = t;
       }
     }, {
@@ -349,12 +349,12 @@ ${B.value.join("	")}
       setModels: _e,
       axesHelperVisible: De,
       toggleAxesVisibility: Oe
-    } = kt(Q), { loadSceneFromFile: Re } = bt(
+    } = yt(Q), { loadSceneFromFile: Re } = ht(
       le,
       de,
       s,
       a
-    ), { isAnimating: xe, toggleAnimation: Me, stopAnimation: Ne } = Pt(le, de), { isClipping: Ee, activeClippingAxis: P, toggleClipping: Be, updateClippingPlanes: A } = Ct(le, de), { initRaycaster: Fe, selectedObject3D: Ie, setSelectedObjVisible: Je, updatePosition: Ge, updateRotation: Xe, dispose: He } = ht(Q, le, de), Ke = () => {
+    ), { isAnimating: xe, toggleAnimation: Me, stopAnimation: Ne } = kt(le, de), { isClipping: Ee, activeClippingAxis: P, toggleClipping: Be, updateClippingPlanes: A } = Pt(le, de), { initRaycaster: Fe, selectedObject3D: Ie, setSelectedObjVisible: Je, updatePosition: Ge, updateRotation: Xe, dispose: He } = gt(Q, le, de), Ke = () => {
       Oe();
     }, We = T(() => re.value === ke.ROBOT), Ye = T(() => re.value === ke.PIPECOMPARSION), Ze = (t) => {
       $.value = t, v.value = !0;
@@ -379,7 +379,7 @@ ${B.value.join("	")}
         return console.warn(`在模型中未找到名为 '${e}' 的 link`), console.log("可用的链接:", Object.keys(t.links)), null;
       let L = null;
       return n.traverse((D) => {
-        D instanceof rt && !L && (L = D);
+        D instanceof jt && !L && (L = D);
       }), L || console.warn(`在 link '${e}' 中未找到可用的 Mesh 对象`), L;
     }, lt = async (t) => {
       const e = tt(t, ee.value);
@@ -570,7 +570,7 @@ ${B.value.join("	")}
               default: ne(() => {
                 var b;
                 return [
-                  p.value === "场景树" ? (j(), $e(wt, {
+                  p.value === "场景树" ? (j(), $e(Ct, {
                     key: 0,
                     model: _.value,
                     extraNodes: se.value,
@@ -632,7 +632,7 @@ ${B.value.join("	")}
                       ])
                     ])
                   ])) : I("", !0),
-                  p.value === "工件树" ? (j(), $e(yt, {
+                  p.value === "工件树" ? (j(), $e(bt, {
                     key: 2,
                     model: (b = d(Ie)) == null ? void 0 : b.obj,
                     onVisibleChange: d(Je),
@@ -658,7 +658,7 @@ ${B.value.join("	")}
           l("div", rl, [
             i(n, { height: "100%" }, {
               default: ne(() => [
-                x(i(_t, { model: _.value }, null, 8, ["model"]), [
+                x(i(wt, { model: _.value }, null, 8, ["model"]), [
                   [F, r.value === "机床控制"]
                 ]),
                 x(i(je, {

package/dist/{threeViewerHost-Brgx-J3Q.cjs → threeViewerHost-B02OtfCk.cjs}

@@ -1 +1 @@
-"use strict";const t=require("vue"),m=require("./index-1z9RrjZc.cjs"),B=require("./index.vue_vue_type_style_index_1_lang-j5HrYuvy.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-CzcK5mCc.cjs");const L=require("./_plugin-vue_export-helper-BHFhmbuH.cjs");function O(f){const T=sessionStorage.getItem("loginToken")??"123456";return m.service({url:"/api/sysFile/uploadFile",method:"post",data:f,headers:{Authorization:T,"Content-Type":"multipart/form-data"}})}function R(f){const T=sessionStorage.getItem("loginToken")??"123456";return m.service({url:"/api/sysFile/downloadFile",method:"post",data:f,headers:{Authorization:T,Accept:"application/octet-stream"},responseType:"blob"})}const I=m.defineStore("threeState",{state:()=>({data:{extension:"",url:[],data:{},isThreeScene:!0}}),actions:{setData(f){this.data=f},getData(){return this.data}}});function A(){const f=B.useMenuState(m.pinia),{platform:T}=m.storeToRefs(f),y=I(m.pinia),F=t.computed(()=>{var e;return(e=y==null?void 0:y.data)==null?void 0:e.extension}),p=["uv","cpt","cyd"],v=["urdf"],s=["obj","stl"],o=[...p,...v,...s],P=e=>{if(!E())throw new Error("不是三维系统");y.setData(e)},d=()=>y.getData(),E=()=>T.value==="three",l=e=>{const i=e==null?void 0:e.toLowerCase(),c=i==null?void 0:i.lastIndexOf(".");let h=i;return c>=0&&(h=h==null?void 0:h.slice(c+1)),h},w=e=>{if(!e)return!1;const i=l(e);return o==null?void 0:o.includes(i)};return{getData:d,setData:P,isThreeSystem:E,isUrdf:e=>{if(!e)return!1;const i=l(e);return v==null?void 0:v.includes(i)},isGeneralFile:e=>{if(!e)return!1;const i=l(e);return s==null?void 0:s.includes(i)},isTrackPathFile:e=>{if(!e)return!1;const i=l(e);return p==null?void 0:p.includes(i)},isThreeFile:w,isUseBackdrop:e=>E()&&w(e),initTrackFileType:e=>{if(!e)return{isCpt:!1,isCyd:!1,isUv:!1};const i=l(e),c=p==null?void 0:p.find(b=>b===i);return{isCpt:c==="cpt",isCyd:c==="cyd",isUv:c==="uv"}},getFileExtension:l,extraExtension:F}}const q={key:4,class:"loading"},x=t.defineComponent({__name:"threeViewerHost",props:{fileUrls:{default:()=>[]},host:{default:"inline"},extension:{},animationData:{default:()=>({})},width:{default:"100%"},height:{default:"100%"},threeData:{},componentType:{}},emits:["getThreeData"],setup(f,{emit:T}){const y=t.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-DT-STxuj.cjs"))),F=t.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-Cy7NY-gw.cjs"))),p=t.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeLatheView-BzHB-t_G.cjs"))),v=t.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-RRDb_tZ0.cjs"))),s={ROBOT_SCENE:"robot",LATHE_SCENE:"latheScene",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},o=f,P=B.useMenuState(m.pinia),{platName:d}=m.storeToRefs(P),{isGeneralFile:E,isUrdf:l,isTrackPathFile:w,extraExtension:D}=A(),S=t.computed(()=>(o==null?void 0:o.extension)||D.value),k=t.computed(()=>{var r,n;return(n=(r=o==null?void 0:o.threeData)==null?void 0:r.data)==null?void 0:n.trackFileType}),C=t.computed(()=>{var n;if(o.componentType)switch(o.componentType){case"robot":return s.ROBOT_SCENE;case"latheScene":return s.LATHE_SCENE;case"cpmpip":return s.CPMPIP_SCENE;case"preview":return s.PREVIEW}const r=(n=o==null?void 0:o.fileUrls)==null?void 0:n[0];return E(r)?s.PREVIEW:(d==null?void 0:d.value)==="CPMPIP"&&(l(r)||l(S.value))?s.CPMPIP_SCENE:(d==null?void 0:d.value)==="SFRTubeBend"&&(l(r)||l(S.value))?s.ROBOT_SCENE:w(S.value)&&k.value?s.LATHE_SCENE:s.PREVIEW}),g=T,e=t.ref([]),i=t.ref(!1);function c(r){try{const n=new URL(r).pathname,u=n.substring(n.lastIndexOf("/")+1);return decodeURIComponent(u)}catch(n){return console.error("无法解析URL以提取文件名:",r,n),"未知文件名"}}async function h(r){let n,u;if(/^https?:\/\//.test(r))try{const a=await fetch(r);if(!a.ok)throw new Error(`下载文件失败: ${a.statusText} (URL: ${r})`);n=await a.blob(),u=c(r)}catch(a){throw console.error("使用 fetch 下载文件时出错:",a),a}else try{const a=await R({url:r});if(a.status!==200)throw new Error(`下载失败: ${a.status}`);const _=a.headers["content-disposition"];u=b(_)||"无文件名",n=a.data}catch(a){throw console.error("通过 API 下载文件时出错:",a),a}return new File([n],u,{type:n.type})}function b(r){if(!r)return;const n=r.match(/filename\*\s*=\s*([^;]+)/i);if(n){let a=n[1].trim();a=a.replace(/^"(.*)"$/,"$1");const _=a.split("''");if(_.length===2){const H=_[0].toUpperCase(),U=_[1];try{if(H==="UTF-8")return decodeURIComponent(U)}catch{}return U}try{return decodeURIComponent(a)}catch{return a}}const u=r.match(/filename\s*=\s*("?)([^";]+)\1/i);if(u)return u[2].trim()}async function N(r){if(!r||!r.length){e.value=[];return}i.value=!0;try{const n=await Promise.all(r.map(u=>h(u)));e.value=n}catch(n){console.error("文件下载时发生错误:",n),e.value=[]}finally{i.value=!1}}const M=()=>{g("getThreeData")};return t.watch(()=>o.fileUrls,async r=>{await N(r??[])},{immediate:!0,deep:!0}),(r,n)=>(t.openBlock(),t.createElementBlock("div",{class:t.normalizeClass([o.host==="electron"?"mv-electron":"mv-inline","three-platform"])},[C.value===s.ROBOT_SCENE?(t.openBlock(),t.createBlock(t.unref(y),{key:0,"file-blobs":e.value,"animation-data":r.animationData,onGetThreeData:M,threeData:o.threeData},null,8,["file-blobs","animation-data","threeData"])):C.value===s.LATHE_SCENE?(t.openBlock(),t.createBlock(t.unref(p),{key:1,fileUrls:r.fileUrls,threeData:o.threeData,trackFileType:k.value},null,8,["fileUrls","threeData","trackFileType"])):C.value===s.CPMPIP_SCENE?(t.openBlock(),t.createBlock(t.unref(v),{key:2,"file-blobs":e.value,threeData:o.threeData},null,8,["file-blobs","threeData"])):C.value===s.PREVIEW?(t.openBlock(),t.createBlock(t.unref(F),{key:3,"file-blobs":e.value,"animation-data":r.animationData},null,8,["file-blobs","animation-data"])):t.createCommentVNode("",!0),i.value?(t.openBlock(),t.createElementBlock("div",q," 文件下载中，请稍候... ")):t.createCommentVNode("",!0)],2))}}),V=L._export_sfc(x,[["__scopeId","data-v-5e37b1fe"]]),W=Object.freeze(Object.defineProperty({__proto__:null,default:V},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=V;exports.downloadAvatarApi=R;exports.threeViewerHost=W;exports.uploadFile=O;exports.useThreeState=I;exports.useThreeSystem=A;
+"use strict";const t=require("vue"),m=require("./index-d6tSWKtY.cjs"),B=require("./index.vue_vue_type_style_index_1_lang-zN5mc8b0.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Cmc1oALS.cjs");const L=require("./_plugin-vue_export-helper-BHFhmbuH.cjs");function O(f){const T=sessionStorage.getItem("loginToken")??"123456";return m.service({url:"/api/sysFile/uploadFile",method:"post",data:f,headers:{Authorization:T,"Content-Type":"multipart/form-data"}})}function R(f){const T=sessionStorage.getItem("loginToken")??"123456";return m.service({url:"/api/sysFile/downloadFile",method:"post",data:f,headers:{Authorization:T,Accept:"application/octet-stream"},responseType:"blob"})}const I=m.defineStore("threeState",{state:()=>({data:{extension:"",url:[],data:{},isThreeScene:!0}}),actions:{setData(f){this.data=f},getData(){return this.data}}});function A(){const f=B.useMenuState(m.pinia),{platform:T}=m.storeToRefs(f),y=I(m.pinia),F=t.computed(()=>{var e;return(e=y==null?void 0:y.data)==null?void 0:e.extension}),p=["uv","cpt","cyd"],v=["urdf"],s=["obj","stl"],o=[...p,...v,...s],P=e=>{if(!E())throw new Error("不是三维系统");y.setData(e)},d=()=>y.getData(),E=()=>T.value==="three",l=e=>{const i=e==null?void 0:e.toLowerCase(),c=i==null?void 0:i.lastIndexOf(".");let h=i;return c>=0&&(h=h==null?void 0:h.slice(c+1)),h},w=e=>{if(!e)return!1;const i=l(e);return o==null?void 0:o.includes(i)};return{getData:d,setData:P,isThreeSystem:E,isUrdf:e=>{if(!e)return!1;const i=l(e);return v==null?void 0:v.includes(i)},isGeneralFile:e=>{if(!e)return!1;const i=l(e);return s==null?void 0:s.includes(i)},isTrackPathFile:e=>{if(!e)return!1;const i=l(e);return p==null?void 0:p.includes(i)},isThreeFile:w,isUseBackdrop:e=>E()&&w(e),initTrackFileType:e=>{if(!e)return{isCpt:!1,isCyd:!1,isUv:!1};const i=l(e),c=p==null?void 0:p.find(b=>b===i);return{isCpt:c==="cpt",isCyd:c==="cyd",isUv:c==="uv"}},getFileExtension:l,extraExtension:F}}const q={key:4,class:"loading"},x=t.defineComponent({__name:"threeViewerHost",props:{fileUrls:{default:()=>[]},host:{default:"inline"},extension:{},animationData:{default:()=>({})},width:{default:"100%"},height:{default:"100%"},threeData:{},componentType:{}},emits:["getThreeData"],setup(f,{emit:T}){const y=t.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-mhrcH0WG.cjs"))),F=t.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-ByUYJkts.cjs"))),p=t.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeLatheView-DfSxRY8B.cjs"))),v=t.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-DA-twBdG.cjs"))),s={ROBOT_SCENE:"robot",LATHE_SCENE:"latheScene",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},o=f,P=B.useMenuState(m.pinia),{platName:d}=m.storeToRefs(P),{isGeneralFile:E,isUrdf:l,isTrackPathFile:w,extraExtension:D}=A(),S=t.computed(()=>(o==null?void 0:o.extension)||D.value),k=t.computed(()=>{var r,n;return(n=(r=o==null?void 0:o.threeData)==null?void 0:r.data)==null?void 0:n.trackFileType}),C=t.computed(()=>{var n;if(o.componentType)switch(o.componentType){case"robot":return s.ROBOT_SCENE;case"latheScene":return s.LATHE_SCENE;case"cpmpip":return s.CPMPIP_SCENE;case"preview":return s.PREVIEW}const r=(n=o==null?void 0:o.fileUrls)==null?void 0:n[0];return E(r)?s.PREVIEW:(d==null?void 0:d.value)==="CPMPIP"&&(l(r)||l(S.value))?s.CPMPIP_SCENE:(d==null?void 0:d.value)==="SFRTubeBend"&&(l(r)||l(S.value))?s.ROBOT_SCENE:w(S.value)&&k.value?s.LATHE_SCENE:s.PREVIEW}),g=T,e=t.ref([]),i=t.ref(!1);function c(r){try{const n=new URL(r).pathname,u=n.substring(n.lastIndexOf("/")+1);return decodeURIComponent(u)}catch(n){return console.error("无法解析URL以提取文件名:",r,n),"未知文件名"}}async function h(r){let n,u;if(/^https?:\/\//.test(r))try{const a=await fetch(r);if(!a.ok)throw new Error(`下载文件失败: ${a.statusText} (URL: ${r})`);n=await a.blob(),u=c(r)}catch(a){throw console.error("使用 fetch 下载文件时出错:",a),a}else try{const a=await R({url:r});if(a.status!==200)throw new Error(`下载失败: ${a.status}`);const _=a.headers["content-disposition"];u=b(_)||"无文件名",n=a.data}catch(a){throw console.error("通过 API 下载文件时出错:",a),a}return new File([n],u,{type:n.type})}function b(r){if(!r)return;const n=r.match(/filename\*\s*=\s*([^;]+)/i);if(n){let a=n[1].trim();a=a.replace(/^"(.*)"$/,"$1");const _=a.split("''");if(_.length===2){const H=_[0].toUpperCase(),U=_[1];try{if(H==="UTF-8")return decodeURIComponent(U)}catch{}return U}try{return decodeURIComponent(a)}catch{return a}}const u=r.match(/filename\s*=\s*("?)([^";]+)\1/i);if(u)return u[2].trim()}async function N(r){if(!r||!r.length){e.value=[];return}i.value=!0;try{const n=await Promise.all(r.map(u=>h(u)));e.value=n}catch(n){console.error("文件下载时发生错误:",n),e.value=[]}finally{i.value=!1}}const M=()=>{g("getThreeData")};return t.watch(()=>o.fileUrls,async r=>{await N(r??[])},{immediate:!0,deep:!0}),(r,n)=>(t.openBlock(),t.createElementBlock("div",{class:t.normalizeClass([o.host==="electron"?"mv-electron":"mv-inline","three-platform"])},[C.value===s.ROBOT_SCENE?(t.openBlock(),t.createBlock(t.unref(y),{key:0,"file-blobs":e.value,"animation-data":r.animationData,onGetThreeData:M,threeData:o.threeData},null,8,["file-blobs","animation-data","threeData"])):C.value===s.LATHE_SCENE?(t.openBlock(),t.createBlock(t.unref(p),{key:1,fileUrls:r.fileUrls,threeData:o.threeData,trackFileType:k.value},null,8,["fileUrls","threeData","trackFileType"])):C.value===s.CPMPIP_SCENE?(t.openBlock(),t.createBlock(t.unref(v),{key:2,"file-blobs":e.value,threeData:o.threeData},null,8,["file-blobs","threeData"])):C.value===s.PREVIEW?(t.openBlock(),t.createBlock(t.unref(F),{key:3,"file-blobs":e.value,"animation-data":r.animationData},null,8,["file-blobs","animation-data"])):t.createCommentVNode("",!0),i.value?(t.openBlock(),t.createElementBlock("div",q," 文件下载中，请稍候... ")):t.createCommentVNode("",!0)],2))}}),V=L._export_sfc(x,[["__scopeId","data-v-5e37b1fe"]]),W=Object.freeze(Object.defineProperty({__proto__:null,default:V},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=V;exports.downloadAvatarApi=R;exports.threeViewerHost=W;exports.uploadFile=O;exports.useThreeState=I;exports.useThreeSystem=A;

package/dist/{threeViewerHost-k5I66uBW.js → threeViewerHost-D7L1FW__.js}

@@ -1,7 +1,7 @@
 import { computed as _, defineComponent as z, defineAsyncComponent as S, ref as A, watch as G, createElementBlock as M, openBlock as E, normalizeClass as j, createBlock as b, createCommentVNode as B, unref as P } from "vue";
-import { a as L, b$ as Y, p as I, s as O } from "./index-CYp77kPp.js";
-import { u as H } from "./index.vue_vue_type_style_index_1_lang-AXp5rRSK.js";
-import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Dmm4yqcc.js";
+import { a as L, b$ as Y, p as I, s as O } from "./index-UN4JU0ly.js";
+import { u as H } from "./index.vue_vue_type_style_index_1_lang-Exyt6qTf.js";
+import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BTu7I4mn.js";
 import { _ as q } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 function se(u) {
   const d = sessionStorage.getItem("loginToken") ?? "123456";
@@ -125,7 +125,7 @@ const X = {
   },
   emits: ["getThreeData"],
   setup(u, { emit: d }) {
-    const h = S(() => import("./threeSceneView-Bwed326O.js")), D = S(() => import("./threePreview-DPyqhBkJ.js")), f = S(() => import("./threeLatheView-sTBlm0tt.js")), T = S(() => import("./threeSceneViewForCPMPIP-PgPPGBxu.js")), o = {
+    const h = S(() => import("./threeSceneView-zvyCHrp1.js")), D = S(() => import("./threePreview-CyYfnbB6.js")), f = S(() => import("./threeLatheView-DcuDjVv0.js")), T = S(() => import("./threeSceneViewForCPMPIP-axjwKt9X.js")), o = {
       ROBOT_SCENE: "robot",
       // 机器人场景
       LATHE_SCENE: "latheScene",

package/dist/{useRayCaster-TCYe6KMI.js → useRayCaster-CAqupK7D.js}

@@ -1,9 +1,9 @@
 var de = Object.defineProperty;
 var me = (n, s, t) => s in n ? de(n, s, { enumerable: !0, configurable: !0, writable: !0, value: t }) : n[s] = t;
 var x = (n, s, t) => me(n, typeof s != "symbol" ? s + "" : s, t);
-import { ay as pe, o as E, h as ve, e as fe, B as be, V as z, Q as we, E as he, az as _e, J as ge } from "./three-viewport-gizmo-BxFHxv_x.js";
-import { U as Me } from "./index.vue_vue_type_style_index_1_lang-BxEXAMMV.js";
-import { S as ye, M as Re, O as Se } from "./STLLoader-memlq1bT.js";
+import { U as pe } from "./index.vue_vue_type_style_index_1_lang-D1n_3_F6.js";
+import { S as ve, M as fe, O as be } from "./STLLoader-DmGTF0Nv.js";
+import { ay as we, o as E, h as he, e as _e, B as ge, V as z, Q as Me, E as ye, az as Re, J as Se } from "./three-viewport-gizmo-BHznJ6W3.js";
 import { defineComponent as $e, ref as V, computed as D, watch as ue, resolveComponent as J, createElementBlock as j, openBlock as I, createVNode as F, createElementVNode as c, withCtx as L, createTextVNode as U, toDisplayString as C } from "vue";
 import { _ as Fe } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const ct = {
@@ -29,7 +29,7 @@ function ce(n) {
   }
 }
 function Oe(n) {
-  const { manager: s, baseFolderUrl: t, onFileProgress: i } = n, m = new Me(s);
+  const { manager: s, baseFolderUrl: t, onFileProgress: i } = n, m = new pe(s);
   return m.packages = (l) => `${t.endsWith("/") ? t : t + "/"}${l}/`, m.loadMeshCb = (l, y, h) => {
     const R = (() => {
       const g = l.split("?")[0].split("#")[0], u = g.lastIndexOf(".");
@@ -49,7 +49,7 @@ function Oe(n) {
           var v;
           return (((v = l.split("/").pop()) == null ? void 0 : v.split("?")[0].split("#")[0]) ?? "").replace(/\.[^/.?#]+$/, "");
         })(), f = `${g}${u}.mtl`, M = (r) => {
-          const v = new Se(y);
+          const v = new be(y);
           r && v.setMaterials(r), v.load(
             l,
             (w) => h(w),
@@ -58,7 +58,7 @@ function Oe(n) {
               console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${l}`, w), h(new E());
             }
           );
-        }, b = new Re(y);
+        }, b = new fe(y);
         b.setResourcePath(g), b.load(
           f,
           (r) => {
@@ -76,10 +76,10 @@ function Oe(n) {
         break;
       }
       case "stl": {
-        new ye(y).load(
+        new ve(y).load(
           l,
           (u) => {
-            const f = new ve({ color: 12303291, shininess: 30 }), M = new fe(u, f);
+            const f = new he({ color: 12303291, shininess: 30 }), M = new _e(u, f);
             M.castShadow = !0, M.receiveShadow = !0, h(M);
           },
           (u) => i == null ? void 0 : i(l, u == null ? void 0 : u.loaded, u == null ? void 0 : u.total),
@@ -98,7 +98,7 @@ function mt(n, s, t, i) {
   return { loadSceneFromFile: (l) => new Promise((y, h) => {
     t.value = !0, i.value = "正在初始化 URDF 加载器...";
     let R = 0, g = 0, u = null;
-    const f = new pe();
+    const f = new we();
     f.onStart = (b, r, v) => {
       R = v || 0, g = r || 0, i.value = R > 0 ? `开始下载资源: 0 / ${R}` : "开始下载资源...", t.value = !0;
     }, f.onProgress = (b, r, v) => {
@@ -107,7 +107,7 @@ function mt(n, s, t, i) {
       i.value = w, r === v && (i.value = "资源加载完成，正在处理模型...", setTimeout(() => {
         if (u) {
           u.updateMatrixWorld(!0);
-          const p = new be().setFromObject(u);
+          const p = new ge().setFromObject(u);
           p.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。"), u.userData.boundingBox = p, u.traverse((d) => {
             d.isMesh && (d.castShadow = !0, d.receiveShadow = !0);
           }), y(u);
@@ -246,7 +246,7 @@ class pt {
   }
 }
 const De = (n, s = "YZX") => {
-  const t = new z(), i = new we(), m = new z(), l = new he();
+  const t = new z(), i = new Me(), m = new z(), l = new ye();
   n.getWorldPosition(t), n.getWorldQuaternion(i), n.getWorldScale(m), l.setFromQuaternion(i, s);
   const y = {
     x: n.rotation.x * 180 / Math.PI,
@@ -520,7 +520,7 @@ const De = (n, s = "YZX") => {
 }), vt = /* @__PURE__ */ Fe(st, [["__scopeId", "data-v-00d48931"]]);
 function ft(n, s, t, i = ["URDFVisual"]) {
   let m = null;
-  const l = V(null), y = new _e(), h = new ge(), R = /* @__PURE__ */ new Map();
+  const l = V(null), y = new Re(), h = new Se(), R = /* @__PURE__ */ new Map();
   function g() {
     t.value.forEach((p) => {
       p.traverse((d) => {