ss-component-new 1.2.26 → 1.2.28

package/dist/{threeViewerHost-bQqnJLh9.cjs → threeViewerHost-D3WDKrIQ.cjs}

@@ -1 +1 @@
-"use strict";const e=require("vue"),f=require("./index-Dv1G67_Q.cjs"),A=require("./index.vue_vue_type_style_index_1_lang-f2wxl9Ai.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BWh0GUiI.cjs");const H=require("./_plugin-vue_export-helper-BHFhmbuH.cjs");function O(c){const m=sessionStorage.getItem("loginToken")??"123456";return f.service({url:"/api/sysFile/uploadFile",method:"post",data:c,headers:{Authorization:m,"Content-Type":"multipart/form-data"}})}function B(c){const m=sessionStorage.getItem("loginToken")??"123456";return f.service({url:"/api/sysFile/downloadFile",method:"post",data:c,headers:{Authorization:m,Accept:"application/octet-stream"},responseType:"blob"})}function q(c){const m=sessionStorage.getItem("loginToken")??"123456";return f.service({url:"/api/sysFile/uploadFiles",method:"post",data:c,headers:{Authorization:m,"Content-Type":"multipart/form-data"}})}const I=f.defineStore("threeState",{state:()=>({data:{extension:"",url:[],data:{},isThreeScene:!0}}),actions:{setData(c){this.data=c},getData(){return this.data}}});function R(){const c=A.useMenuState(f.pinia),{platform:m}=f.storeToRefs(c),T=I(f.pinia),b=e.computed(()=>{var n;return(n=T==null?void 0:T.data)==null?void 0:n.extension}),p=["uv","cpt","cyd"],y=["urdf"],s=["obj","stl"],o=[...p,...y,...s],F=n=>{if(!C())throw new Error("不是三维系统");T.setData(n)},h=()=>T.getData(),C=()=>m.value==="three",u=n=>{const i=n==null?void 0:n.toLowerCase(),l=i==null?void 0:i.lastIndexOf(".");let v=i;return l>=0&&(v=v==null?void 0:v.slice(l+1)),v},S=n=>{if(!n)return!1;const i=u(n);return o==null?void 0:o.includes(i)};return{getData:h,setData:F,isThreeSystem:C,isUrdf:n=>{if(!n)return!1;const i=u(n);return y==null?void 0:y.includes(i)},isGeneralFile:n=>{if(!n)return!1;const i=u(n);return s==null?void 0:s.includes(i)},isTrackPathFile:n=>{if(!n)return!1;const i=u(n);return p==null?void 0:p.includes(i)},isThreeFile:S,isUseBackdrop:n=>C()&&S(n),initTrackFileType:n=>{if(!n)return{isCpt:!1,isCyd:!1,isUv:!1};const i=u(n),l=p==null?void 0:p.find(k=>k===i);return{isCpt:l==="cpt",isCyd:l==="cyd",isUv:l==="uv"}},getFileExtension:u,extraExtension:b}}const L={class:"top-menu"},x={key:4,class:"loading"},z=e.defineComponent({__name:"threeViewerHost",props:{fileUrls:{default:()=>[]},host:{default:"inline"},extension:{},animationData:{default:()=>({})},width:{default:"100%"},height:{default:"100%"},threeData:{},componentType:{}},emits:["getThreeData"],setup(c,{emit:m}){const T=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-Dv2uGsTN.cjs"))),b=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-DSMFTIuC.cjs"))),p=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-BGePzJh4.cjs"))),y=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-DfaTaroP.cjs"))),s={ROBOT_SCENE:"robot",LATHE_SCENE:"latheScene",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},o=c,F=A.useMenuState(f.pinia),{platName:h}=f.storeToRefs(F),{isGeneralFile:C,isUrdf:u,isTrackPathFile:S,extraExtension:_}=R(),w=e.computed(()=>(o==null?void 0:o.extension)||_.value),P=e.computed(()=>{var t,r;return(r=(t=o==null?void 0:o.threeData)==null?void 0:t.data)==null?void 0:r.trackFileType}),E=e.computed(()=>{var r;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 t=(r=o==null?void 0:o.fileUrls)==null?void 0:r[0];return C(t)?s.PREVIEW:(h==null?void 0:h.value)==="CPMPIP"&&(u(t)||u(w.value))?s.CPMPIP_SCENE:(h==null?void 0:h.value)==="SFRTubeBend"&&(u(t)||u(w.value))?s.ROBOT_SCENE:S(w.value)&&P.value?s.LATHE_SCENE:s.PREVIEW}),D=m,n=e.ref([]),i=e.ref(!1);function l(t){try{const r=new URL(t).pathname,d=r.substring(r.lastIndexOf("/")+1);return decodeURIComponent(d)}catch(r){return console.error("无法解析URL以提取文件名:",t,r),"未知文件名"}}async function v(t){let r,d;if(/^https?:\/\//.test(t))try{const a=await fetch(t);if(!a.ok)throw new Error(`下载文件失败: ${a.statusText} (URL: ${t})`);r=await a.blob(),d=l(t)}catch(a){throw console.error("使用 fetch 下载文件时出错:",a),a}else try{const a=await B({url:t});if(a.status!==200)throw new Error(`下载失败: ${a.status}`);const g=a.headers["content-disposition"];d=k(g)||"无文件名",r=a.data}catch(a){throw console.error("通过 API 下载文件时出错:",a),a}return new File([r],d,{type:r.type})}function k(t){if(!t)return;const r=t.match(/filename\*\s*=\s*([^;]+)/i);if(r){let a=r[1].trim();a=a.replace(/^"(.*)"$/,"$1");const g=a.split("''");if(g.length===2){const M=g[0].toUpperCase(),U=g[1];try{if(M==="UTF-8")return decodeURIComponent(U)}catch{}return U}try{return decodeURIComponent(a)}catch{return a}}const d=t.match(/filename\s*=\s*("?)([^";]+)\1/i);if(d)return d[2].trim()}async function N(t){if(!t||!t.length){n.value=[];return}i.value=!0;try{const r=await Promise.all(t.map(d=>v(d)));n.value=r}catch(r){console.error("文件下载时发生错误:",r),n.value=[]}finally{i.value=!1}}const $=()=>{D("getThreeData")};return e.watch(()=>o.fileUrls,async t=>{await N(t??[])},{immediate:!0,deep:!0}),(t,r)=>(e.openBlock(),e.createElementBlock("div",{class:e.normalizeClass([o.host==="electron"?"mv-electron":"mv-inline","three-platform"])},[e.createElementVNode("div",L,[e.renderSlot(t.$slots,"top-menu",{},void 0,!0)]),E.value===s.ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(T),{key:0,"file-blobs":n.value,"animation-data":t.animationData,onGetThreeData:$,threeData:o.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","animation-data","threeData"])):E.value===s.LATHE_SCENE?(e.openBlock(),e.createBlock(e.unref(p),{key:1,fileUrls:t.fileUrls,threeData:o.threeData,trackFileType:P.value},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileUrls","threeData","trackFileType"])):E.value===s.CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(y),{key:2,"file-blobs":n.value,threeData:o.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","threeData"])):E.value===s.PREVIEW?(e.openBlock(),e.createBlock(e.unref(b),{key:3,"file-blobs":n.value,"animation-data":t.animationData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","animation-data"])):e.createCommentVNode("",!0),i.value?(e.openBlock(),e.createElementBlock("div",x," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)],2))}}),V=H._export_sfc(z,[["__scopeId","data-v-a4f0efb1"]]),W=Object.freeze(Object.defineProperty({__proto__:null,default:V},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=V;exports.downloadAvatarApi=B;exports.threeViewerHost=W;exports.uploadAmountApi=q;exports.uploadFile=O;exports.useThreeState=I;exports.useThreeSystem=R;
+"use strict";const e=require("vue"),f=require("./index-Dv1G67_Q.cjs"),A=require("./index.vue_vue_type_style_index_1_lang-CrmWclPR.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-TDoJ17os.cjs");const H=require("./_plugin-vue_export-helper-BHFhmbuH.cjs");function O(c){const m=sessionStorage.getItem("loginToken")??"123456";return f.service({url:"/api/sysFile/uploadFile",method:"post",data:c,headers:{Authorization:m,"Content-Type":"multipart/form-data"}})}function B(c){const m=sessionStorage.getItem("loginToken")??"123456";return f.service({url:"/api/sysFile/downloadFile",method:"post",data:c,headers:{Authorization:m,Accept:"application/octet-stream"},responseType:"blob"})}function q(c){const m=sessionStorage.getItem("loginToken")??"123456";return f.service({url:"/api/sysFile/uploadFiles",method:"post",data:c,headers:{Authorization:m,"Content-Type":"multipart/form-data"}})}const I=f.defineStore("threeState",{state:()=>({data:{extension:"",url:[],data:{},isThreeScene:!0}}),actions:{setData(c){this.data=c},getData(){return this.data}}});function R(){const c=A.useMenuState(f.pinia),{platform:m}=f.storeToRefs(c),T=I(f.pinia),b=e.computed(()=>{var n;return(n=T==null?void 0:T.data)==null?void 0:n.extension}),p=["uv","cpt","cyd"],y=["urdf"],s=["obj","stl"],o=[...p,...y,...s],F=n=>{if(!C())throw new Error("不是三维系统");T.setData(n)},h=()=>T.getData(),C=()=>m.value==="three",u=n=>{const i=n==null?void 0:n.toLowerCase(),l=i==null?void 0:i.lastIndexOf(".");let v=i;return l>=0&&(v=v==null?void 0:v.slice(l+1)),v},S=n=>{if(!n)return!1;const i=u(n);return o==null?void 0:o.includes(i)};return{getData:h,setData:F,isThreeSystem:C,isUrdf:n=>{if(!n)return!1;const i=u(n);return y==null?void 0:y.includes(i)},isGeneralFile:n=>{if(!n)return!1;const i=u(n);return s==null?void 0:s.includes(i)},isTrackPathFile:n=>{if(!n)return!1;const i=u(n);return p==null?void 0:p.includes(i)},isThreeFile:S,isUseBackdrop:n=>C()&&S(n),initTrackFileType:n=>{if(!n)return{isCpt:!1,isCyd:!1,isUv:!1};const i=u(n),l=p==null?void 0:p.find(k=>k===i);return{isCpt:l==="cpt",isCyd:l==="cyd",isUv:l==="uv"}},getFileExtension:u,extraExtension:b}}const L={class:"top-menu"},x={key:4,class:"loading"},z=e.defineComponent({__name:"threeViewerHost",props:{fileUrls:{default:()=>[]},host:{default:"inline"},extension:{},animationData:{default:()=>({})},width:{default:"100%"},height:{default:"100%"},threeData:{},componentType:{}},emits:["getThreeData"],setup(c,{emit:m}){const T=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-f1V-z4jr.cjs"))),b=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-CUGoEzKf.cjs"))),p=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-BGHiOyJo.cjs"))),y=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-CojHDVHC.cjs"))),s={ROBOT_SCENE:"robot",LATHE_SCENE:"latheScene",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},o=c,F=A.useMenuState(f.pinia),{platName:h}=f.storeToRefs(F),{isGeneralFile:C,isUrdf:u,isTrackPathFile:S,extraExtension:_}=R(),w=e.computed(()=>(o==null?void 0:o.extension)||_.value),P=e.computed(()=>{var t,r;return(r=(t=o==null?void 0:o.threeData)==null?void 0:t.data)==null?void 0:r.trackFileType}),E=e.computed(()=>{var r;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 t=(r=o==null?void 0:o.fileUrls)==null?void 0:r[0];return C(t)?s.PREVIEW:(h==null?void 0:h.value)==="CPMPIP"&&(u(t)||u(w.value))?s.CPMPIP_SCENE:(h==null?void 0:h.value)==="SFRTubeBend"&&(u(t)||u(w.value))?s.ROBOT_SCENE:S(w.value)&&P.value?s.LATHE_SCENE:s.PREVIEW}),D=m,n=e.ref([]),i=e.ref(!1);function l(t){try{const r=new URL(t).pathname,d=r.substring(r.lastIndexOf("/")+1);return decodeURIComponent(d)}catch(r){return console.error("无法解析URL以提取文件名:",t,r),"未知文件名"}}async function v(t){let r,d;if(/^https?:\/\//.test(t))try{const a=await fetch(t);if(!a.ok)throw new Error(`下载文件失败: ${a.statusText} (URL: ${t})`);r=await a.blob(),d=l(t)}catch(a){throw console.error("使用 fetch 下载文件时出错:",a),a}else try{const a=await B({url:t});if(a.status!==200)throw new Error(`下载失败: ${a.status}`);const g=a.headers["content-disposition"];d=k(g)||"无文件名",r=a.data}catch(a){throw console.error("通过 API 下载文件时出错:",a),a}return new File([r],d,{type:r.type})}function k(t){if(!t)return;const r=t.match(/filename\*\s*=\s*([^;]+)/i);if(r){let a=r[1].trim();a=a.replace(/^"(.*)"$/,"$1");const g=a.split("''");if(g.length===2){const M=g[0].toUpperCase(),U=g[1];try{if(M==="UTF-8")return decodeURIComponent(U)}catch{}return U}try{return decodeURIComponent(a)}catch{return a}}const d=t.match(/filename\s*=\s*("?)([^";]+)\1/i);if(d)return d[2].trim()}async function N(t){if(!t||!t.length){n.value=[];return}i.value=!0;try{const r=await Promise.all(t.map(d=>v(d)));n.value=r}catch(r){console.error("文件下载时发生错误:",r),n.value=[]}finally{i.value=!1}}const $=()=>{D("getThreeData")};return e.watch(()=>o.fileUrls,async t=>{await N(t??[])},{immediate:!0,deep:!0}),(t,r)=>(e.openBlock(),e.createElementBlock("div",{class:e.normalizeClass([o.host==="electron"?"mv-electron":"mv-inline","three-platform"])},[e.createElementVNode("div",L,[e.renderSlot(t.$slots,"top-menu",{},void 0,!0)]),E.value===s.ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(T),{key:0,"file-blobs":n.value,"animation-data":t.animationData,onGetThreeData:$,threeData:o.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","animation-data","threeData"])):E.value===s.LATHE_SCENE?(e.openBlock(),e.createBlock(e.unref(p),{key:1,fileUrls:t.fileUrls,threeData:o.threeData,trackFileType:P.value},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileUrls","threeData","trackFileType"])):E.value===s.CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(y),{key:2,"file-blobs":n.value,threeData:o.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","threeData"])):E.value===s.PREVIEW?(e.openBlock(),e.createBlock(e.unref(b),{key:3,"file-blobs":n.value,"animation-data":t.animationData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","animation-data"])):e.createCommentVNode("",!0),i.value?(e.openBlock(),e.createElementBlock("div",x," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)],2))}}),V=H._export_sfc(z,[["__scopeId","data-v-a4f0efb1"]]),W=Object.freeze(Object.defineProperty({__proto__:null,default:V},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=V;exports.downloadAvatarApi=B;exports.threeViewerHost=W;exports.uploadAmountApi=q;exports.uploadFile=O;exports.useThreeState=I;exports.useThreeSystem=R;

package/dist/{urdfTree-nXEMcLFV.cjs → urdfTree-CWStzmk2.cjs}

@@ -1 +1 @@
-"use strict";const t=require("vue"),x=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BWh0GUiI.cjs"),J=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),E=(o,i)=>{if(!i)return null;const l=o.joints[i];return l||null},F=(o,i)=>{if(!i)return null;const l=E(o,i);if(!l)return null;let u=null;return l.traverse(c=>{c instanceof x.Mesh&&!u&&(u=c)}),u},N=(o,i)=>{if(!i)return null;const l=o.links[i];return l||null},L=(o,i)=>{if(!i)return null;const l=N(o,i);if(!l)return null;let u=null;return l.traverse(c=>{c instanceof x.Mesh&&!u&&(u=c)}),u},V=o=>{const i=o.joints;return Object.values(i)},M=o=>V(o).filter(u=>u.jointType!=="fixed"),w=o=>{const i=o.links;return Object.keys(i)},B={class:"panel-content"},b={key:0,class:"joints-list"},I={class:"joint-info-row"},S={class:"joint-left"},C={class:"joint-name"},D={class:"joint-range"},P={class:"joint-type"},T={key:0,class:"joint-control-row"},A={class:"slider-container"},U=["min","max","value","onInput"],R={class:"value-display"},q={class:"joint-value"},O={class:"unit"},K={key:1,class:"empty-state"},$=t.defineComponent({__name:"urdfJointPanel",props:{model:{}},setup(o,{expose:i}){const l=o,u=t.ref([]),c=t.ref(null),f=(s,p=!1)=>s==="revolute"?p?Math.PI:-Math.PI:s==="prismatic"?p?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 p=[];return V(s).forEach(r=>{var n,d;if(r.jointType==="fixed")return;let a={lower:((n=r.limit)==null?void 0:n.lower)??f(r.jointType,!1),upper:((d=r.limit)==null?void 0:d.upper)??f(r.jointType,!0)};r.jointType==="continuous"&&(a={lower:-10*Math.PI,upper:10*Math.PI}),p.push({name:r.name,type:r.jointType||"unknown",limit:a,currentValue:r.angle||0,urdfJoint:r})}),p},m=(s,p)=>{var n;const e=u.value.find(d=>d.name===s);if(!e)return;const r=parseFloat(p),a=Math.max(e.limit.lower,Math.min(e.limit.upper,r));e.currentValue=a,(n=l.model)!=null&&n.setJointValue?l.model.setJointValue(s,a):e.urdfJoint.setJointValue(a)},v=()=>{u.value.forEach(s=>{(s.type==="revolute"||s.type==="continuous"||s.type==="prismatic")&&m(s.name,0)})},y=()=>{l.model&&u.value.forEach(s=>{s.urdfJoint.angle!==void 0&&s.currentValue!==s.urdfJoint.angle&&(s.currentValue=s.urdfJoint.angle)})},g=()=>{const s=()=>{y(),c.value=requestAnimationFrame(s)};s()},k=()=>{c.value&&(cancelAnimationFrame(c.value),c.value=null)};return t.watch(()=>l.model,s=>{s?u.value=_(s):u.value=[]},{immediate:!0}),t.onMounted(()=>{g()}),t.onUnmounted(()=>{k()}),i({resetAllJoints:v}),(s,p)=>(t.openBlock(),t.createElementBlock("div",B,[u.value.length>0?(t.openBlock(),t.createElementBlock("div",b,[(t.openBlock(!0),t.createElementBlock(t.Fragment,null,t.renderList(u.value,e=>(t.openBlock(),t.createElementBlock("div",{key:e.name,class:"joint-item"},[t.createElementVNode("div",I,[t.createElementVNode("div",S,[t.createElementVNode("span",C,t.toDisplayString(e.name),1),t.createElementVNode("span",D," ["+t.toDisplayString(e.limit.lower.toFixed(2))+", "+t.toDisplayString(e.limit.upper.toFixed(2))+"] ",1)]),t.createElementVNode("span",P,t.toDisplayString(e.type),1)]),e.type==="revolute"||e.type==="prismatic"||e.type==="continuous"?(t.openBlock(),t.createElementBlock("div",T,[t.createElementVNode("div",A,[t.createElementVNode("input",{type:"range",min:e.limit.lower,max:e.limit.upper,step:"0.001",value:e.currentValue,onInput:r=>m(e.name,r.target.value),class:"joint-slider"},null,40,U)]),t.createElementVNode("div",R,[t.createElementVNode("span",q,t.toDisplayString(e.currentValue?Number(e.currentValue).toFixed(3):"0.000"),1),t.createElementVNode("span",O,t.toDisplayString(e.type==="prismatic"?"m":"rad"),1)])])):t.createCommentVNode("",!0)]))),128))])):(t.openBlock(),t.createElementBlock("div",K,p[0]||(p[0]=[t.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}}),H=J._export_sfc($,[["__scopeId","data-v-750b831d"]]),z={class:"panel-content"},G="id",Q={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:o=>["breadth","firstLevel"].includes(o)},extraNodes:{type:Array,default:[]}},emits:["nodeClick"],setup(o,{emit:i}){const l=o,u=i,c=t.ref([]),f={children:"children",label:"label"},_=e=>{u("nodeClick",e)},m=(e,r=0)=>{const a=[];return Array.isArray(e)&&(e==null?void 0:e.length)>0&&e.forEach(n=>{if(!(n!=null&&n.isMesh)&&((n==null?void 0:n.type)==="URDFJoint"||(n==null?void 0:n.type)==="URDFLink")){const d={name:n==null?void 0:n.name,label:n==null?void 0:n.name,show:!0,level:r+1,isPenultimate:!1,type:n==null?void 0:n.type,id:n==null?void 0:n.id,limit:(n==null?void 0:n.limit)??"",children:m(n==null?void 0:n.children,r+1),path:n==null?void 0:n.name};a.push(d)}}),a},v=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:m(e==null?void 0:e.children,1)||[],path:e==null?void 0:e.name}]:[],y=(e,r)=>{const a=[],n=[...e];for(;n.length>0&&a.length<r;){const d=n.shift();d.children&&d.children.length>0&&(a.push(d.id),n.push(...d.children))}return a},g=(e,r)=>{const a=[];return e.forEach(n=>{if(n.children&&n.children.length>0){a.push(n.id);const d=n.children.filter(h=>h.children&&h.children.length>0).slice(0,r).map(h=>h.id);a.push(...d)}}),a.slice(0,r+1)},k=t.computed(()=>!c.value||c.value.length===0?[]:l.expandStrategy==="firstLevel"?g(c.value,l.maxExpandCount):y(c.value,l.maxExpandCount)),s=t.computed(()=>[{name:"场景",label:"场景",show:!0,level:1,isPenultimate:!1,type:"场景",id:"场景",children:l!=null&&l.model?v(l.model):[],path:"场景"}]),p=()=>{const e=l.extraNodes||[],r=e==null?void 0:e.map(a=>({...a,level:0}));c.value.push(...r)};return t.watch(s,e=>{c.value=JSON.parse(JSON.stringify(e)),p()},{immediate:!0}),(e,r)=>{const a=t.resolveComponent("el-tree");return t.openBlock(),t.createElementBlock("div",z,[t.createVNode(a,{data:c.value,props:f,"default-expanded-keys":k.value,"node-key":G,onNodeClick:_},null,8,["data","default-expanded-keys"])])}}},W=J._export_sfc(Q,[["__scopeId","data-v-7f54bf51"]]);exports.JointPanel=H;exports.UrdfTree=W;exports.getAllLinkName=w;exports.getMeshFromJoint=F;exports.getMeshFromLink=L;exports.getNonFixedJoints=M;exports.getTargetJoint=E;
+"use strict";const t=require("vue"),x=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-TDoJ17os.cjs"),J=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),E=(o,i)=>{if(!i)return null;const l=o.joints[i];return l||null},F=(o,i)=>{if(!i)return null;const l=E(o,i);if(!l)return null;let u=null;return l.traverse(c=>{c instanceof x.Mesh&&!u&&(u=c)}),u},N=(o,i)=>{if(!i)return null;const l=o.links[i];return l||null},L=(o,i)=>{if(!i)return null;const l=N(o,i);if(!l)return null;let u=null;return l.traverse(c=>{c instanceof x.Mesh&&!u&&(u=c)}),u},V=o=>{const i=o.joints;return Object.values(i)},M=o=>V(o).filter(u=>u.jointType!=="fixed"),w=o=>{const i=o.links;return Object.keys(i)},B={class:"panel-content"},b={key:0,class:"joints-list"},I={class:"joint-info-row"},S={class:"joint-left"},C={class:"joint-name"},D={class:"joint-range"},P={class:"joint-type"},T={key:0,class:"joint-control-row"},A={class:"slider-container"},U=["min","max","value","onInput"],R={class:"value-display"},q={class:"joint-value"},O={class:"unit"},K={key:1,class:"empty-state"},$=t.defineComponent({__name:"urdfJointPanel",props:{model:{}},setup(o,{expose:i}){const l=o,u=t.ref([]),c=t.ref(null),f=(s,p=!1)=>s==="revolute"?p?Math.PI:-Math.PI:s==="prismatic"?p?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 p=[];return V(s).forEach(r=>{var n,d;if(r.jointType==="fixed")return;let a={lower:((n=r.limit)==null?void 0:n.lower)??f(r.jointType,!1),upper:((d=r.limit)==null?void 0:d.upper)??f(r.jointType,!0)};r.jointType==="continuous"&&(a={lower:-10*Math.PI,upper:10*Math.PI}),p.push({name:r.name,type:r.jointType||"unknown",limit:a,currentValue:r.angle||0,urdfJoint:r})}),p},m=(s,p)=>{var n;const e=u.value.find(d=>d.name===s);if(!e)return;const r=parseFloat(p),a=Math.max(e.limit.lower,Math.min(e.limit.upper,r));e.currentValue=a,(n=l.model)!=null&&n.setJointValue?l.model.setJointValue(s,a):e.urdfJoint.setJointValue(a)},v=()=>{u.value.forEach(s=>{(s.type==="revolute"||s.type==="continuous"||s.type==="prismatic")&&m(s.name,0)})},y=()=>{l.model&&u.value.forEach(s=>{s.urdfJoint.angle!==void 0&&s.currentValue!==s.urdfJoint.angle&&(s.currentValue=s.urdfJoint.angle)})},g=()=>{const s=()=>{y(),c.value=requestAnimationFrame(s)};s()},k=()=>{c.value&&(cancelAnimationFrame(c.value),c.value=null)};return t.watch(()=>l.model,s=>{s?u.value=_(s):u.value=[]},{immediate:!0}),t.onMounted(()=>{g()}),t.onUnmounted(()=>{k()}),i({resetAllJoints:v}),(s,p)=>(t.openBlock(),t.createElementBlock("div",B,[u.value.length>0?(t.openBlock(),t.createElementBlock("div",b,[(t.openBlock(!0),t.createElementBlock(t.Fragment,null,t.renderList(u.value,e=>(t.openBlock(),t.createElementBlock("div",{key:e.name,class:"joint-item"},[t.createElementVNode("div",I,[t.createElementVNode("div",S,[t.createElementVNode("span",C,t.toDisplayString(e.name),1),t.createElementVNode("span",D," ["+t.toDisplayString(e.limit.lower.toFixed(2))+", "+t.toDisplayString(e.limit.upper.toFixed(2))+"] ",1)]),t.createElementVNode("span",P,t.toDisplayString(e.type),1)]),e.type==="revolute"||e.type==="prismatic"||e.type==="continuous"?(t.openBlock(),t.createElementBlock("div",T,[t.createElementVNode("div",A,[t.createElementVNode("input",{type:"range",min:e.limit.lower,max:e.limit.upper,step:"0.001",value:e.currentValue,onInput:r=>m(e.name,r.target.value),class:"joint-slider"},null,40,U)]),t.createElementVNode("div",R,[t.createElementVNode("span",q,t.toDisplayString(e.currentValue?Number(e.currentValue).toFixed(3):"0.000"),1),t.createElementVNode("span",O,t.toDisplayString(e.type==="prismatic"?"m":"rad"),1)])])):t.createCommentVNode("",!0)]))),128))])):(t.openBlock(),t.createElementBlock("div",K,p[0]||(p[0]=[t.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}}),H=J._export_sfc($,[["__scopeId","data-v-750b831d"]]),z={class:"panel-content"},G="id",Q={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:o=>["breadth","firstLevel"].includes(o)},extraNodes:{type:Array,default:[]}},emits:["nodeClick"],setup(o,{emit:i}){const l=o,u=i,c=t.ref([]),f={children:"children",label:"label"},_=e=>{u("nodeClick",e)},m=(e,r=0)=>{const a=[];return Array.isArray(e)&&(e==null?void 0:e.length)>0&&e.forEach(n=>{if(!(n!=null&&n.isMesh)&&((n==null?void 0:n.type)==="URDFJoint"||(n==null?void 0:n.type)==="URDFLink")){const d={name:n==null?void 0:n.name,label:n==null?void 0:n.name,show:!0,level:r+1,isPenultimate:!1,type:n==null?void 0:n.type,id:n==null?void 0:n.id,limit:(n==null?void 0:n.limit)??"",children:m(n==null?void 0:n.children,r+1),path:n==null?void 0:n.name};a.push(d)}}),a},v=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:m(e==null?void 0:e.children,1)||[],path:e==null?void 0:e.name}]:[],y=(e,r)=>{const a=[],n=[...e];for(;n.length>0&&a.length<r;){const d=n.shift();d.children&&d.children.length>0&&(a.push(d.id),n.push(...d.children))}return a},g=(e,r)=>{const a=[];return e.forEach(n=>{if(n.children&&n.children.length>0){a.push(n.id);const d=n.children.filter(h=>h.children&&h.children.length>0).slice(0,r).map(h=>h.id);a.push(...d)}}),a.slice(0,r+1)},k=t.computed(()=>!c.value||c.value.length===0?[]:l.expandStrategy==="firstLevel"?g(c.value,l.maxExpandCount):y(c.value,l.maxExpandCount)),s=t.computed(()=>[{name:"场景",label:"场景",show:!0,level:1,isPenultimate:!1,type:"场景",id:"场景",children:l!=null&&l.model?v(l.model):[],path:"场景"}]),p=()=>{const e=l.extraNodes||[],r=e==null?void 0:e.map(a=>({...a,level:0}));c.value.push(...r)};return t.watch(s,e=>{c.value=JSON.parse(JSON.stringify(e)),p()},{immediate:!0}),(e,r)=>{const a=t.resolveComponent("el-tree");return t.openBlock(),t.createElementBlock("div",z,[t.createVNode(a,{data:c.value,props:f,"default-expanded-keys":k.value,"node-key":G,onNodeClick:_},null,8,["data","default-expanded-keys"])])}}},W=J._export_sfc(Q,[["__scopeId","data-v-7f54bf51"]]);exports.JointPanel=H;exports.UrdfTree=W;exports.getAllLinkName=w;exports.getMeshFromJoint=F;exports.getMeshFromLink=L;exports.getNonFixedJoints=M;exports.getTargetJoint=E;

package/dist/{urdfTree-B2Zs54qS.js → urdfTree-CnkPddyT.js}

@@ -1,5 +1,5 @@
 import { defineComponent as I, ref as L, watch as b, onMounted as C, onUnmounted as P, createElementBlock as m, openBlock as f, Fragment as T, renderList as N, createElementVNode as p, createCommentVNode as U, toDisplayString as h, computed as M, resolveComponent as A, createVNode as S } from "vue";
-import { k as V } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DGl2lQmW.js";
+import { k as V } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-CuWDdCiy.js";
 import { _ as w } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const D = (i, l) => {
   if (!l)

package/dist/{workpieceTreePanel-CXD_XizT.js → workpieceTreePanel-BvhFt3Xw.js}

@@ -1,12 +1,12 @@
 var ce = Object.defineProperty;
 var de = (b, l, o) => l in b ? ce(b, l, { enumerable: !0, configurable: !0, writable: !0, value: o }) : b[l] = o;
 var E = (b, l, o) => de(b, typeof l != "symbol" ? l + "" : l, o);
-import { U as me } from "./index.vue_vue_type_style_index_1_lang-BHt4rvMd.js";
-import { S as ve, M as pe, O as fe } from "./MTLLoader-j7rSXeZy.js";
-import { g as re, f as F } from "./fileUtil-BVzW5lTY.js";
-import { aZ as be, u as J, o as we, k as he, B as _e, a_ as ge, Y as ye, V as Le } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DGl2lQmW.js";
+import { U as me } from "./index.vue_vue_type_style_index_1_lang-9ANlnWKt.js";
+import { S as ve, M as pe, O as fe } from "./MTLLoader-BreJsr54.js";
+import { g as re, f as F } from "./fileUtil-D7XVXEhb.js";
+import { aZ as be, u as J, o as we, k as he, B as _e, a_ as ge, Y as ye, V as Le } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-CuWDdCiy.js";
 import { ref as T, defineComponent as je, computed as O, watch as ue, resolveComponent as x, createElementBlock as k, openBlock as P, createVNode as S, createElementVNode as c, withCtx as $, createTextVNode as D, toDisplayString as C } from "vue";
-import { c as Re, e as Se, g as Ue } from "./iconfont-J7S-v_zE.js";
+import { c as Re, e as Se, g as Ue } from "./iconfont-B9Cj3DQM.js";
 import { _ as Ce } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const Me = "http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";
 function Oe(b) {

package/dist/{workpieceTreePanel-Brforhya.cjs → workpieceTreePanel-DXyb_Wnw.cjs}

@@ -1 +1 @@
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m.packages=i=>`${o.endsWith("/")?o:o+"/"}${i}/`,m.loadMeshCb=(i,w,p)=>{const g=(()=>{const E=i.split("?")[0].split("#")[0],c=E.lastIndexOf(".");return c>=0?E.slice(c+1).toLowerCase():void 0})();switch(g){case"obj":{const E=(()=>{try{return new URL(".",i).toString()}catch{const a=i.lastIndexOf("/");return a>=0?i.slice(0,a+1):i}})(),c=(()=>{var d;return(((d=i.split("/").pop())==null?void 0:d.split("?")[0].split("#")[0])??"").replace(/\.[^/.?#]+$/,"")})(),f=`${E}${c}.mtl`,h=a=>{re({objUrl:i,manager:w,materials:a,onLoad:d=>p(d),onProgress:d=>l==null?void 0:l(i,d==null?void 0:d.loaded,d==null?void 0:d.total),onError:d=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${i}`,d),p(new R.Group)}})};ne({mtlUrl:f,manager:w,resourcePath:E,onLoad:a=>{try{a.preload()}catch{}h(a)},onProgress:a=>l==null?void 0:l(f,a==null?void 0:a.loaded,a==null?void 0:a.total),onError:a=>{console.warn(`[URDF 资源警告] 未找到或加载材质失败: ${f}。将尝试无材质加载。`),h(void 0)}});break}case"stl":{new U.STLLoader(w).load(i,c=>{const f=new R.MeshPhongMaterial({color:12303291,shininess:30}),h=new R.Mesh(c,f);h.castShadow=!0,h.receiveShadow=!0,p(h)},c=>l==null?void 0:l(i,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: ${i}`,c),p(new R.Group)});break}default:console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${g} (路径: ${i})`),p(new R.Group)}},m}function ce(b,n,o,l){return{loadSceneFromFile:i=>new Promise((w,p)=>{o.value=!0,l.value="正在初始化 URDF 加载器...";let g=0,E=0,c=null;const f=new R.LoadingManager;f.onStart=(a,d,V)=>{g=V||0,E=d||0,l.value=g>0?`开始下载资源: 0 / ${g}`:"开始下载资源...",o.value=!0},f.onProgress=(a,d,V)=>{E=d,g=V;const L=`正在加载 ${d} / ${V} 个文件: ${C.getFilenameFromUrl(a)}`;l.value=L,d===V&&(l.value="资源加载完成，正在处理模型...",setTimeout(()=>{if(c){c.updateMatrixWorld(!0);const v=new R.Box3().setFromObject(c);v.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=v,c.traverse(u=>{u.isMesh&&(u.castShadow=!0,u.receiveShadow=!0)}),w(c)}else p(new Error("URDF 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c(v){i.value&&i.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),i.value=v,v.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(65280))})}function f(v){const u=b.value.getBoundingClientRect();p.x=(v.clientX-u.left)/u.width*2-1,p.y=-((v.clientY-u.top)/u.height)*2+1,w.setFromCamera(p,m);const t=w.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,_=null;for(;s;){if(g.has(s.id)){_=g.get(s.id);break}s=s.parent}_&&c(_)}function h(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=n();m=u,E(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){i.value&&(i.value.obj.visible=v)}function V(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=i.value)==null?void 0:s.obj,u,t)}function L(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=i.value)==null?void 0:s.obj,u,t)}return{initRaycaster:a,dispose:h,selectedObject3D:i,setSelectedObjVisible:d,updatePosition:V,updateRotation:L}}const ue={SINGLE:"单机",DOUBLE:"双机"},me={ROBOT:1,PIPECOMPARSION:2};class pe{constructor(n){j(this,"robot");j(this,"movableJoints");this.robot=n,this.movableJoints=this.getMovableJoints()}getMovableJoints(){return Object.values(this.robot.joints).filter(n=>n.jointType!=="fixed")}getMovableJointNames(){return this.movableJoints.map(n=>n.name)}setJointAngle(n,o){const l=this.robot.joints[n];if(!l||l.jointType==="fixed")return console.warn(`关节 ${n} 不存在或不可动`),!1;if(l.limit){const m=Math.max(l.limit.lower,Math.min(l.limit.upper,o));m!==o&&console.warn(`关节 ${n} 角度被限制在 [${l.limit.lower}, ${l.limit.upper}]`),l.setJointValue(m)}else l.setJointValue(o);return!0}setJointAngles(n){Object.entries(n).forEach(([o,l])=>{typeof l=="number"&&!isNaN(l)&&this.setJointAngle(o,l)})}getCurrentJointStates(){const n={};return this.movableJoints.forEach(o=>{n[o.name]=o.angle||0}),n}resetToZero(){this.movableJoints.forEach(n=>{n.setJointValue(0)})}getJointLimits(n){const o=this.robot.joints[n];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(n,o=1e3,l){const m=this.getCurrentJointStates(),i=Date.now();return new Promise(w=>{const p=()=>{const g=Date.now()-i,E=Math.min(g/o,1),c=this.easeInOutCubic(E),f={};Object.keys(n).forEach(h=>{const a=m[h]||0,d=n[h];f[h]=a+(d-a)*c}),this.setJointAngles(f),l&&l(E),E<1?requestAnimationFrame(p):w()};p()})}easeInOutCubic(n){return n<.5?4*n*n*n:1-Math.pow(-2*n+2,3)/2}async playSequence(n,o=1e3,l){for(let m=0;m<n.length;m++)await this.animateToState(n[m],o,i=>{l&&l(m,i)})}}const ve={class:"panel-content"},fe={class:"obj"},be={key:0,class:"obj-base"},_e=["title"],we=["title"],Ee={key:1},he={class:"obj-position"},Ve={class:"coord-item"},ge={class:"coord-item"},ye={class:"coord-item"},Ne={class:"obj-rotation"},Le={class:"coord-item"},Re={class:"coord-item"},Se={class:"coord-item"},Ce={class:"world"},je={class:"coord-line"},De={class:"coord-text"},Ue={class:"world-position-item"},Me={class:"world-position-item"},Fe={class:"world-position-item"},$e={class:"coord-line"},Oe={class:"coord-text"},xe={class:"world-rotation-item"},Je={class:"world-rotation-item"},Te={class:"world-rotation-item"},ke=e.defineComponent({__name:"workpieceTreePanel",props:{model:{},maxExpandCount:{default:10},expandStrategy:{default:"breadth"}},emits:["nodeClick","visibleChange","updatePosition","updateRotation"],setup(b,{emit:n}){const o=b,l=n,m=e.ref([]),i=e.ref({}),w=(t,s=0)=>{const _=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(r=>{if(!(r!=null&&r.isMesh)){const y={name:r==null?void 0:r.name,label:(r==null?void 0:r.name)||(r==null?void 0:r.type),show:!0,level:s+1,isPenultimate:!1,type:r==null?void 0:r.type,id:r==null?void 0:r.id,limit:(r==null?void 0:r.limit)??"",children:w(r==null?void 0:r.children,s+1),path:r==null?void 0:r.name};_.push(y)}}),_},p=t=>t?[{name:t==null?void 0:t.name,label:(t==null?void 0:t.name)||(t==null?void 0:t.type),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:w(t==null?void 0:t.children,1),path:t==null?void 0:t.name}]:[],g=(t,s)=>{const _=[],r=[...t];for(;r.length>0&&_.length<s;){const y=r.shift();y.children&&y.children.length>0&&(_.push(y.id),r.push(...y.children))}return _},E=(t,s)=>{const _=[];return t.forEach(r=>{if(r.children&&r.children.length>0){_.push(r.id);const y=r.children.filter(S=>S.children&&S.children.length>0).slice(0,s).map(S=>S.id);_.push(...y)}}),_.slice(0,s+1)};e.computed(()=>!m.value||m.value.length===0?[]:o.expandStrategy==="firstLevel"?E(m.value,o.maxExpandCount):g(m.value,o.maxExpandCount));const c=t=>t?parseFloat(t.toFixed(3)):0,f=t=>t?parseFloat(t.toFixed(1)):0,h=(t,s)=>{l("updatePosition",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},a=(t,s)=>{l("updateRotation",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},d=t=>{l("visibleChange",t)},V=e.computed(()=>o!=null&&o.model?p(o.model):[]),L=e.computed(()=>{var t,s;return((t=o==null?void 0:o.model)==null?void 0:t.name)||((s=o==null?void 0:o.model)==null?void 0:s.type)}),v=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.type}),u=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.visible});return e.watch(()=>o.model,()=>{o.model&&(i.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(V,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var S,M,F,$,O,x,J,T,k,P,B,z,I,A,q,W,G,X,Y,Z,K,H,Q,ee;const _=e.resolveComponent("el-divider"),r=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",ve,[e.createVNode(_,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",fe,[o.model?(e.openBlock(),e.createElementBlock("div",be,[e.createElementVNode("div",{class:"obj-name",title:L.value},e.toDisplayString(L.value),9,_e),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,we)])):(e.openBlock(),e.createElementBlock("div",Ee,"空")),e.createVNode(r,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(_,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",he,[e.createElementVNode("div",Ve,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((M=(S=i.value)==null?void 0:S.position)==null?void 0:M.x),onChange:s[0]||(s[0]=N=>h(N,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ge,[s[9]||(s[9]=e.createElementVNode("span",{class:"axis-label"},"Y",-1)),e.createVNode(y,{"model-value":c(($=(F=i.value)==null?void 0:F.position)==null?void 0:$.y),onChange:s[1]||(s[1]=N=>h(N,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ye,[s[10]||(s[10]=e.createElementVNode("span",{class:"axis-label"},"Z",-1)),e.createVNode(y,{"model-value":c((x=(O=i.value)==null?void 0:O.position)==null?void 0:x.z),onChange:s[2]||(s[2]=N=>h(N,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(_,null,{default:e.withCtx(()=>s[11]||(s[11]=[e.createTextVNode("相对旋转")])),_:1,__:[11]}),e.createElementVNode("div",Ne,[e.createElementVNode("div",Le,[s[12]||(s[12]=e.createElementVNode("span",{class:"axis-label"},"X°",-1)),e.createVNode(y,{"model-value":f((T=(J=i.value)==null?void 0:J.rotation)==null?void 0:T.x),onChange:s[3]||(s[3]=N=>a(N,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Re,[s[13]||(s[13]=e.createElementVNode("span",{class:"axis-label"},"Y°",-1)),e.createVNode(y,{"model-value":f((P=(k=i.value)==null?void 0:k.rotation)==null?void 0:P.y),onChange:s[4]||(s[4]=N=>a(N,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Se,[s[14]||(s[14]=e.createElementVNode("span",{class:"axis-label"},"Z°",-1)),e.createVNode(y,{"model-value":f((z=(B=i.value)==null?void 0:B.rotation)==null?void 0:z.z),onChange:s[5]||(s[5]=N=>a(N,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(_,null,{default:e.withCtx(()=>s[15]||(s[15]=[e.createTextVNode("世界信息")])),_:1,__:[15]}),e.createElementVNode("div",Ce,[e.createElementVNode("div",je,[s[16]||(s[16]=e.createElementVNode("span",{class:"coord-label"},"世界位置:",-1)),e.createElementVNode("span",De,[e.createElementVNode("div",Ue,e.toDisplayString(c((A=(I=i.value)==null?void 0:I.worldPosition)==null?void 0:A.x))+", ",1),e.createElementVNode("div",Me,e.toDisplayString(c((W=(q=i.value)==null?void 0:q.worldPosition)==null?void 0:W.y))+", ",1),e.createElementVNode("div",Fe,e.toDisplayString(c((X=(G=i.value)==null?void 0:G.worldPosition)==null?void 0:X.z)),1)])]),e.createElementVNode("div",$e,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Oe,[e.createElementVNode("div",xe,e.toDisplayString(f((Z=(Y=i.value)==null?void 0:Y.worldRotation)==null?void 0:Z.x))+"°, ",1),e.createElementVNode("div",Je,e.toDisplayString(f((H=(K=i.value)==null?void 0:K.worldRotation)==null?void 0:H.y))+"°, ",1),e.createElementVNode("div",Te,e.toDisplayString(f((ee=(Q=i.value)==null?void 0:Q.worldRotation)==null?void 0:ee.z))+"° ",1)])])])])}}}),Pe=le._export_sfc(ke,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=pe;exports.WorkpieceTreePanel=Pe;exports.robotMode=ue;exports.sceneType=me;exports.useRaycaster=de;exports.useUrdfLoader=ce;
+"use strict";var te=Object.defineProperty;var oe=(b,n,o)=>n in b?te(b,n,{enumerable:!0,configurable:!0,writable:!0,value:o}):b[n]=o;var j=(b,n,o)=>oe(b,typeof n!="symbol"?n+"":n,o);const se=require("./index.vue_vue_type_style_index_1_lang-D4RvHwPS.cjs"),U=require("./MTLLoader-Cqv49Ps8.cjs"),C=require("./fileUtil-BFtJHTM0.cjs"),R=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-TDoJ17os.cjs"),e=require("vue"),D=require("./iconfont-BDfcbq2v.cjs"),le=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),ie="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function ne(b){const{mtlUrl:n,manager:o,resourcePath:l,onLoad:m,onProgress:i,onError:w}=b,p=new U.MTLLoader(o);return l&&p.setResourcePath(l),p.load(n,m,i,w),p}function re(b){const{objUrl:n,manager:o,materials:l,onLoad:m,onProgress:i,onError:w}=b,p=new U.OBJLoader(o);return l&&p.setMaterials(l),p.load(n,m,i,w),p}function ae(b){const{manager:n,baseFolderUrl:o,onFileProgress:l}=b,m=new se.URDFLoader(n);return m.packages=i=>`${o.endsWith("/")?o:o+"/"}${i}/`,m.loadMeshCb=(i,w,p)=>{const g=(()=>{const E=i.split("?")[0].split("#")[0],c=E.lastIndexOf(".");return c>=0?E.slice(c+1).toLowerCase():void 0})();switch(g){case"obj":{const E=(()=>{try{return new URL(".",i).toString()}catch{const a=i.lastIndexOf("/");return a>=0?i.slice(0,a+1):i}})(),c=(()=>{var d;return(((d=i.split("/").pop())==null?void 0:d.split("?")[0].split("#")[0])??"").replace(/\.[^/.?#]+$/,"")})(),f=`${E}${c}.mtl`,h=a=>{re({objUrl:i,manager:w,materials:a,onLoad:d=>p(d),onProgress:d=>l==null?void 0:l(i,d==null?void 0:d.loaded,d==null?void 0:d.total),onError:d=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${i}`,d),p(new R.Group)}})};ne({mtlUrl:f,manager:w,resourcePath:E,onLoad:a=>{try{a.preload()}catch{}h(a)},onProgress:a=>l==null?void 0:l(f,a==null?void 0:a.loaded,a==null?void 0:a.total),onError:a=>{console.warn(`[URDF 资源警告] 未找到或加载材质失败: ${f}。将尝试无材质加载。`),h(void 0)}});break}case"stl":{new U.STLLoader(w).load(i,c=>{const f=new R.MeshPhongMaterial({color:12303291,shininess:30}),h=new R.Mesh(c,f);h.castShadow=!0,h.receiveShadow=!0,p(h)},c=>l==null?void 0:l(i,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: ${i}`,c),p(new R.Group)});break}default:console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${g} (路径: ${i})`),p(new R.Group)}},m}function ce(b,n,o,l){return{loadSceneFromFile:i=>new Promise((w,p)=>{o.value=!0,l.value="正在初始化 URDF 加载器...";let g=0,E=0,c=null;const f=new R.LoadingManager;f.onStart=(a,d,V)=>{g=V||0,E=d||0,l.value=g>0?`开始下载资源: 0 / ${g}`:"开始下载资源...",o.value=!0},f.onProgress=(a,d,V)=>{E=d,g=V;const L=`正在加载 ${d} / ${V} 个文件: ${C.getFilenameFromUrl(a)}`;l.value=L,d===V&&(l.value="资源加载完成，正在处理模型...",setTimeout(()=>{if(c){c.updateMatrixWorld(!0);const v=new R.Box3().setFromObject(c);v.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=v,c.traverse(u=>{u.isMesh&&(u.castShadow=!0,u.receiveShadow=!0)}),w(c)}else p(new Error("URDF 文件本身加载失败。"));l.value="模型加载完成",setTimeout(()=>{l.value==="模型加载完成"&&(o.value=!1,l.value="")},500)},100))},f.onError=a=>{console.warn(`LoadingManager 报告一个资源加载失败: ${a}。加载流程将继续。`)};const h=(a,d,V)=>{const L=C.getFilenameFromUrl(a);let v;V&&V>0?v=`${L}（${C.formatBytes(d)} / ${C.formatBytes(V)}）`:d&&d>0?v=`${L}（已下载 ${C.formatBytes(d)}）`:v=`${L}`,l.value=`正在下载第 ${E+1} / ${g} 个文件: ${v}`};try{const a=URL.createObjectURL(i);ae({manager:f,baseFolderUrl:ie,onFileProgress:h}).load(a,V=>{c=V},void 0,V=>{console.error(`加载 URDF 文件 (${i.name}) 时发生致命错误:`,V),l.value="URDF 文件解析失败",o.value=!1,p(new Error(`加载 URDF 文件失败: ${i.name}`))})}catch(a){console.error("初始化 URDF 加载时发生致命错误:",a),l.value="模型加载失败",o.value=!1,p(a)}})}}function de(b,n,o,l=["URDFVisual"]){let m=null;const i=e.ref(null),w=new R.Raycaster,p=new R.Vector2,g=new Map;function E(){o.value.forEach(v=>{v.traverse(u=>{l!=null&&l.includes(u.type)&&g.set(u.id,{obj:u,axis:u.axis||new R.Vector3(1,0,0),limits:u.limits})})})}function c(v){i.value&&i.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),i.value=v,v.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(65280))})}function f(v){const u=b.value.getBoundingClientRect();p.x=(v.clientX-u.left)/u.width*2-1,p.y=-((v.clientY-u.top)/u.height)*2+1,w.setFromCamera(p,m);const t=w.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,_=null;for(;s;){if(g.has(s.id)){_=g.get(s.id);break}s=s.parent}_&&c(_)}function h(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=n();m=u,E(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){i.value&&(i.value.obj.visible=v)}function V(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=i.value)==null?void 0:s.obj,u,t)}function L(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=i.value)==null?void 0:s.obj,u,t)}return{initRaycaster:a,dispose:h,selectedObject3D:i,setSelectedObjVisible:d,updatePosition:V,updateRotation:L}}const ue={SINGLE:"单机",DOUBLE:"双机"},me={ROBOT:1,PIPECOMPARSION:2};class pe{constructor(n){j(this,"robot");j(this,"movableJoints");this.robot=n,this.movableJoints=this.getMovableJoints()}getMovableJoints(){return Object.values(this.robot.joints).filter(n=>n.jointType!=="fixed")}getMovableJointNames(){return this.movableJoints.map(n=>n.name)}setJointAngle(n,o){const l=this.robot.joints[n];if(!l||l.jointType==="fixed")return console.warn(`关节 ${n} 不存在或不可动`),!1;if(l.limit){const m=Math.max(l.limit.lower,Math.min(l.limit.upper,o));m!==o&&console.warn(`关节 ${n} 角度被限制在 [${l.limit.lower}, ${l.limit.upper}]`),l.setJointValue(m)}else l.setJointValue(o);return!0}setJointAngles(n){Object.entries(n).forEach(([o,l])=>{typeof l=="number"&&!isNaN(l)&&this.setJointAngle(o,l)})}getCurrentJointStates(){const n={};return this.movableJoints.forEach(o=>{n[o.name]=o.angle||0}),n}resetToZero(){this.movableJoints.forEach(n=>{n.setJointValue(0)})}getJointLimits(n){const o=this.robot.joints[n];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(n,o=1e3,l){const m=this.getCurrentJointStates(),i=Date.now();return new Promise(w=>{const p=()=>{const g=Date.now()-i,E=Math.min(g/o,1),c=this.easeInOutCubic(E),f={};Object.keys(n).forEach(h=>{const a=m[h]||0,d=n[h];f[h]=a+(d-a)*c}),this.setJointAngles(f),l&&l(E),E<1?requestAnimationFrame(p):w()};p()})}easeInOutCubic(n){return n<.5?4*n*n*n:1-Math.pow(-2*n+2,3)/2}async playSequence(n,o=1e3,l){for(let m=0;m<n.length;m++)await this.animateToState(n[m],o,i=>{l&&l(m,i)})}}const ve={class:"panel-content"},fe={class:"obj"},be={key:0,class:"obj-base"},_e=["title"],we=["title"],Ee={key:1},he={class:"obj-position"},Ve={class:"coord-item"},ge={class:"coord-item"},ye={class:"coord-item"},Ne={class:"obj-rotation"},Le={class:"coord-item"},Re={class:"coord-item"},Se={class:"coord-item"},Ce={class:"world"},je={class:"coord-line"},De={class:"coord-text"},Ue={class:"world-position-item"},Me={class:"world-position-item"},Fe={class:"world-position-item"},$e={class:"coord-line"},Oe={class:"coord-text"},xe={class:"world-rotation-item"},Je={class:"world-rotation-item"},Te={class:"world-rotation-item"},ke=e.defineComponent({__name:"workpieceTreePanel",props:{model:{},maxExpandCount:{default:10},expandStrategy:{default:"breadth"}},emits:["nodeClick","visibleChange","updatePosition","updateRotation"],setup(b,{emit:n}){const o=b,l=n,m=e.ref([]),i=e.ref({}),w=(t,s=0)=>{const _=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(r=>{if(!(r!=null&&r.isMesh)){const y={name:r==null?void 0:r.name,label:(r==null?void 0:r.name)||(r==null?void 0:r.type),show:!0,level:s+1,isPenultimate:!1,type:r==null?void 0:r.type,id:r==null?void 0:r.id,limit:(r==null?void 0:r.limit)??"",children:w(r==null?void 0:r.children,s+1),path:r==null?void 0:r.name};_.push(y)}}),_},p=t=>t?[{name:t==null?void 0:t.name,label:(t==null?void 0:t.name)||(t==null?void 0:t.type),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:w(t==null?void 0:t.children,1),path:t==null?void 0:t.name}]:[],g=(t,s)=>{const _=[],r=[...t];for(;r.length>0&&_.length<s;){const y=r.shift();y.children&&y.children.length>0&&(_.push(y.id),r.push(...y.children))}return _},E=(t,s)=>{const _=[];return t.forEach(r=>{if(r.children&&r.children.length>0){_.push(r.id);const y=r.children.filter(S=>S.children&&S.children.length>0).slice(0,s).map(S=>S.id);_.push(...y)}}),_.slice(0,s+1)};e.computed(()=>!m.value||m.value.length===0?[]:o.expandStrategy==="firstLevel"?E(m.value,o.maxExpandCount):g(m.value,o.maxExpandCount));const c=t=>t?parseFloat(t.toFixed(3)):0,f=t=>t?parseFloat(t.toFixed(1)):0,h=(t,s)=>{l("updatePosition",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},a=(t,s)=>{l("updateRotation",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},d=t=>{l("visibleChange",t)},V=e.computed(()=>o!=null&&o.model?p(o.model):[]),L=e.computed(()=>{var t,s;return((t=o==null?void 0:o.model)==null?void 0:t.name)||((s=o==null?void 0:o.model)==null?void 0:s.type)}),v=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.type}),u=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.visible});return e.watch(()=>o.model,()=>{o.model&&(i.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(V,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var S,M,F,$,O,x,J,T,k,P,B,z,I,A,q,W,G,X,Y,Z,K,H,Q,ee;const _=e.resolveComponent("el-divider"),r=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",ve,[e.createVNode(_,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",fe,[o.model?(e.openBlock(),e.createElementBlock("div",be,[e.createElementVNode("div",{class:"obj-name",title:L.value},e.toDisplayString(L.value),9,_e),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,we)])):(e.openBlock(),e.createElementBlock("div",Ee,"空")),e.createVNode(r,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(_,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",he,[e.createElementVNode("div",Ve,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((M=(S=i.value)==null?void 0:S.position)==null?void 0:M.x),onChange:s[0]||(s[0]=N=>h(N,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ge,[s[9]||(s[9]=e.createElementVNode("span",{class:"axis-label"},"Y",-1)),e.createVNode(y,{"model-value":c(($=(F=i.value)==null?void 0:F.position)==null?void 0:$.y),onChange:s[1]||(s[1]=N=>h(N,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ye,[s[10]||(s[10]=e.createElementVNode("span",{class:"axis-label"},"Z",-1)),e.createVNode(y,{"model-value":c((x=(O=i.value)==null?void 0:O.position)==null?void 0:x.z),onChange:s[2]||(s[2]=N=>h(N,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(_,null,{default:e.withCtx(()=>s[11]||(s[11]=[e.createTextVNode("相对旋转")])),_:1,__:[11]}),e.createElementVNode("div",Ne,[e.createElementVNode("div",Le,[s[12]||(s[12]=e.createElementVNode("span",{class:"axis-label"},"X°",-1)),e.createVNode(y,{"model-value":f((T=(J=i.value)==null?void 0:J.rotation)==null?void 0:T.x),onChange:s[3]||(s[3]=N=>a(N,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Re,[s[13]||(s[13]=e.createElementVNode("span",{class:"axis-label"},"Y°",-1)),e.createVNode(y,{"model-value":f((P=(k=i.value)==null?void 0:k.rotation)==null?void 0:P.y),onChange:s[4]||(s[4]=N=>a(N,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Se,[s[14]||(s[14]=e.createElementVNode("span",{class:"axis-label"},"Z°",-1)),e.createVNode(y,{"model-value":f((z=(B=i.value)==null?void 0:B.rotation)==null?void 0:z.z),onChange:s[5]||(s[5]=N=>a(N,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(_,null,{default:e.withCtx(()=>s[15]||(s[15]=[e.createTextVNode("世界信息")])),_:1,__:[15]}),e.createElementVNode("div",Ce,[e.createElementVNode("div",je,[s[16]||(s[16]=e.createElementVNode("span",{class:"coord-label"},"世界位置:",-1)),e.createElementVNode("span",De,[e.createElementVNode("div",Ue,e.toDisplayString(c((A=(I=i.value)==null?void 0:I.worldPosition)==null?void 0:A.x))+", ",1),e.createElementVNode("div",Me,e.toDisplayString(c((W=(q=i.value)==null?void 0:q.worldPosition)==null?void 0:W.y))+", ",1),e.createElementVNode("div",Fe,e.toDisplayString(c((X=(G=i.value)==null?void 0:G.worldPosition)==null?void 0:X.z)),1)])]),e.createElementVNode("div",$e,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Oe,[e.createElementVNode("div",xe,e.toDisplayString(f((Z=(Y=i.value)==null?void 0:Y.worldRotation)==null?void 0:Z.x))+"°, ",1),e.createElementVNode("div",Je,e.toDisplayString(f((H=(K=i.value)==null?void 0:K.worldRotation)==null?void 0:H.y))+"°, ",1),e.createElementVNode("div",Te,e.toDisplayString(f((ee=(Q=i.value)==null?void 0:Q.worldRotation)==null?void 0:ee.z))+"° ",1)])])])])}}}),Pe=le._export_sfc(ke,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=pe;exports.WorkpieceTreePanel=Pe;exports.robotMode=ue;exports.sceneType=me;exports.useRaycaster=de;exports.useUrdfLoader=ce;

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "ss-component-new",
   "private": false,
-  "version": "1.2.26",
+  "version": "1.2.28",
   "type": "module",
   "files": [
     "dist",

package/public/icons/svg//344/272/272/345/203/217.svg

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