ss-component-new 1.2.294 → 1.2.296
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/{OBJLoader-CB9WJT82.cjs → OBJLoader-8gDmNV2i.cjs} +1 -1
- package/dist/{OBJLoader-BNv6XCtP.js → OBJLoader-Ck9W3Ir7.js} +1 -1
- package/dist/{OrbitControls-Csw6mD-P.js → OrbitControls-BIGKrhyi.js} +1 -1
- package/dist/{OrbitControls-R243A2UI.cjs → OrbitControls-BWF5w18E.cjs} +1 -1
- package/dist/{PCDLoader-cSzkUgjw.js → PCDLoader-CkJ5aJWh.js} +1 -1
- package/dist/{PCDLoader-BsFAYeJ2.cjs → PCDLoader-D-K96lwY.cjs} +1 -1
- package/dist/{animationData-BNWYvI2q.js → animationData-BlzkiZT-.js} +1 -1
- package/dist/{animationData-j8m9iee2.cjs → animationData-Dzb7SwCQ.cjs} +1 -1
- package/dist/{iconfont-CGucCJqY.js → iconfont-B8t8JT6z.js} +2 -2
- package/dist/{iconfont-BELvOiht.cjs → iconfont-Btynh8XG.cjs} +1 -1
- package/dist/{index-CHxAiQtk.js → index-0uGvrFMJ.js} +3 -3
- package/dist/{index-SnOaE90Y.js → index-8iIO_ocM.js} +3 -3
- package/dist/{index-Cvo0V0hW.cjs → index-B-SQuycq.cjs} +1 -1
- package/dist/{index-DBYidyLi.js → index-B-qFtrGT.js} +1 -1
- package/dist/{index-gW_IQxDq.cjs → index-B2nCv699.cjs} +1 -1
- package/dist/{index-w2CRXMRQ.js → index-B7DZXq3g.js} +6 -6
- package/dist/{index-79I_iorC.js → index-B8yivODj.js} +1 -1
- package/dist/{index-CZm0g4PU.js → index-BVXIOYWQ.js} +9 -7
- package/dist/{index-DQqCL4ju.cjs → index-B_qXEQkF.cjs} +1 -1
- package/dist/{index-Cuz9ELzW.js → index-Bgw0FBZB.js} +1 -1
- package/dist/{index-C0igWyW4.js → index-BsQ-qwMF.js} +13 -13
- package/dist/{index-71M6SFRc.js → index-BtwkxysC.js} +1 -1
- package/dist/{index-CmRzCos6.js → index-Bu1pHSKB.js} +843 -823
- package/dist/index-BwavyD4W.cjs +1 -0
- package/dist/{index-DKofIQfe.js → index-CIZi1SsV.js} +1 -1
- package/dist/{index-B0OE5_Ny.js → index-CJ-zljKi.js} +1 -1
- package/dist/{index-BkSFOSV8.cjs → index-CQn_Bk7v.cjs} +1 -1
- package/dist/{index-_yqtp0Dh.cjs → index-CSrPyW_f.cjs} +1 -1
- package/dist/{index-CZSaHDnf.js → index-CYPJ4mm3.js} +1 -1
- package/dist/{index-ByJJvmV6.js → index-CtbAPra-.js} +3 -3
- package/dist/{index-IClu4Xf8.cjs → index-D0jGNd-H.cjs} +1 -1
- package/dist/{index-9Nz7Dg2Z.js → index-D6bXtF73.js} +1 -1
- package/dist/{index-BC4uFre2.cjs → index-D9i7wZaC.cjs} +1 -1
- package/dist/{index-gHB9TMLI.cjs → index-DGVafVuW.cjs} +1 -1
- package/dist/{index-C5SNPyky.cjs → index-DKCWuetb.cjs} +1 -1
- package/dist/{index-LT5l3lP1.cjs → index-DO9bzS7t.cjs} +1 -1
- package/dist/{index-DU8A2Rcx.js → index-DOsxjhUA.js} +2 -2
- package/dist/{index-CkSlNi8L.js → index-DQTWAF7D.js} +2 -2
- package/dist/{index-BD9p0Xlt.js → index-DT0pnWzT.js} +2 -2
- package/dist/{index-D12kMfBu.cjs → index-DTjWhnIF.cjs} +1 -1
- package/dist/{index-C98tDP8u.cjs → index-DjaN4VhG.cjs} +1 -1
- package/dist/index-DvfqgYXo.cjs +1 -0
- package/dist/{index-DL8dLTof.cjs → index-DyDrPMvD.cjs} +1 -1
- package/dist/{index-_2EYJgni.cjs → index-K4Aol2cP.cjs} +1 -1
- package/dist/{index-CmcomRyN.js → index-_kvrccCu.js} +1 -1
- package/dist/{index-CvykFWHw.cjs → index-_wyT2-AA.cjs} +1 -1
- package/dist/{index-Dq3HNSET.js → index-dTA9hAgr.js} +3261 -3248
- package/dist/{index-CGoPD35H.cjs → index-hBEZJTBK.cjs} +1 -1
- package/dist/{index-DsOj_EOL.cjs → index-hKbFMqEu.cjs} +12 -12
- package/dist/{index-C4efuh6q.cjs → index-hORaVIHc.cjs} +1 -1
- package/dist/{index-D5O3A6Fx.js → index-jfKxOdn1.js} +1 -1
- package/dist/{index-xpsuJRYD.cjs → index-l7UB2yUy.cjs} +1 -1
- package/dist/{index.vue_vue_type_style_index_0_scoped_0b6f1a18_lang-BqQN_vwd.js → index.vue_vue_type_style_index_0_scoped_0b6f1a18_lang-BNPzwHXs.js} +6 -6
- package/dist/{index.vue_vue_type_style_index_0_scoped_0b6f1a18_lang-B_3YixjC.cjs → index.vue_vue_type_style_index_0_scoped_0b6f1a18_lang-CNiwHtU5.cjs} +1 -1
- package/dist/{index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BAniHexV.cjs → index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Bgts3--T.cjs} +59 -59
- package/dist/{index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-B8FQIQZU.js → index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-h7N9rXk9.js} +1643 -1648
- package/dist/{index.vue_vue_type_style_index_0_scoped_92477073_lang-DRUxrXlC.cjs → index.vue_vue_type_style_index_0_scoped_92477073_lang-BOzovrSr.cjs} +1 -1
- package/dist/{index.vue_vue_type_style_index_0_scoped_92477073_lang-Dg0WsT5i.js → index.vue_vue_type_style_index_0_scoped_92477073_lang-BuwJQ9eE.js} +19 -19
- package/dist/{index.vue_vue_type_style_index_1_lang-C-HS1nJI.cjs → index.vue_vue_type_style_index_1_lang-CDoOP6Aw.cjs} +1 -1
- package/dist/{index.vue_vue_type_style_index_1_lang--VeL916J.js → index.vue_vue_type_style_index_1_lang-ZmTqB1dO.js} +4 -4
- package/dist/{main-Dx_m6QdJ.cjs → main-CBor783N.cjs} +1 -1
- package/dist/{main-BKAAdzBm.js → main-Yx9pP1an.js} +2 -2
- package/dist/{pointTrack-05CcPzgf.cjs → pointTrack-BkpbGc8n.cjs} +1 -1
- package/dist/{pointTrack-BRZj2fRP.js → pointTrack-CMyadDzE.js} +2 -2
- package/dist/{robotUtil-DGZFmHa1.js → robotUtil-BAK-GNOJ.js} +1 -1
- package/dist/{robotUtil-_esgRFP3.cjs → robotUtil-BtBh1-GY.cjs} +1 -1
- package/dist/ss-component.cjs +1 -1
- package/dist/ss-component.css +1 -1
- package/dist/ss-component.js +31 -31
- package/dist/ss-component2.cjs +1 -1
- package/dist/ss-component2.js +10 -10
- package/dist/{threeModel-euHdSZWK.cjs → threeModel-C0vGemcj.cjs} +1 -1
- package/dist/{threeModel-WVUvmnEU.js → threeModel-C44vcdqj.js} +5 -5
- package/dist/{threePreview-BvzwkKZR.js → threePreview-CKjG0F-q.js} +4 -4
- package/dist/{threePreview-B3amehMf.cjs → threePreview-PffN5Aiq.cjs} +1 -1
- package/dist/{threeSceneView-BV580zYO.js → threeSceneView-4FffGfEx.js} +7 -7
- package/dist/{threeSceneView-BYYPjbrf.cjs → threeSceneView-BI__dTV5.cjs} +1 -1
- package/dist/{threeSceneViewForCPMPIP-BcL1uoBQ.js → threeSceneViewForCPMPIP-Bo1U2avY.js} +9 -9
- package/dist/{threeSceneViewForCPMPIP-CSKEFRk_.cjs → threeSceneViewForCPMPIP-DZddF3u8.cjs} +1 -1
- package/dist/{threeTrackPathView-BpunMIGZ.js → threeTrackPathView-DzU4AIwq.js} +5 -5
- package/dist/{threeTrackPathView-CGEH2zTP.cjs → threeTrackPathView-oMFtTDLX.cjs} +1 -1
- package/dist/{threeViewerHost-BPu_LZha.cjs → threeViewerHost-BcIsHd7R.cjs} +2 -2
- package/dist/{threeViewerHost-CiYZBM4H.js → threeViewerHost-DUzh9-TD.js} +2 -2
- package/dist/{urdfTree-CoHIn4kK.js → urdfTree-BVGBRI7Z.js} +1 -1
- package/dist/{urdfTree-BjckM2-i.cjs → urdfTree-C_RPoplj.cjs} +1 -1
- package/dist/{workpieceTreePanel-CbsK-tey.cjs → workpieceTreePanel-B1eC1Q8u.cjs} +1 -1
- package/dist/{workpieceTreePanel-CtLKTnWz.js → workpieceTreePanel-_Vo2EKuP.js} +6 -6
- package/package.json +1 -1
- package/dist/index-CslSvatz.cjs +0 -1
- package/dist/index-IvJ1OjwT.cjs +0 -1
- package/dist/obj/model.mtl +0 -42
- package/dist/obj/model.obj +0 -26110
- package/public/obj/model.mtl +0 -42
- package/public/obj/model.obj +0 -26110
package/dist/ss-component.js
CHANGED
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@@ -1,72 +1,72 @@
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import { defineAsyncComponent as o } from "vue";
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import { S as
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import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-
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import { u } from "./index.vue_vue_type_style_index_1_lang-BKgS2iFu.js";
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import { S as $ } from "./index-BHtNKL1L.js";
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import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-h7N9rXk9.js";
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import { u as C } from "./index.vue_vue_type_style_index_1_lang-BKgS2iFu.js";
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import "./index-CA0SFykF.js";
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import
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import { t as g, c as T, b as
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const n = o(() => import("./main-
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import u from "./ss-component2.js";
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import { t as g, c as T, b as P } from "./index-CAPx0_D4.js";
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const n = o(() => import("./main-Yx9pP1an.js"));
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n.install = (t) => {
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t.component("ssComponent", n);
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};
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const s = o(() => import("./index-
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const s = o(() => import("./index-BVXIOYWQ.js").then((t) => t.l));
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s.install = (t) => {
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t.component("ssTab", s);
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};
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const r = o(() => import("./index-
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const r = o(() => import("./index-DT0pnWzT.js"));
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r.install = (t) => {
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t.component("ssMenu", r);
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};
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const m = o(() => import("./index-
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const m = o(() => import("./index-B7DZXq3g.js"));
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m.install = (t) => {
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t.component("ssMenuComponent", m);
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};
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const
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c.install = (t) => {
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t.component("ssCanvas", c);
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};
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const i = o(() => import("./index-rlStojTL.js"));
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const i = o(() => import("./index-BtwkxysC.js"));
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i.install = (t) => {
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t.component("
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t.component("ssCanvas", i);
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};
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const
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t.component("
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const c = o(() => import("./index-rlStojTL.js"));
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c.install = (t) => {
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t.component("ssFold", c);
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};
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const l = o(() => import("./
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const l = o(() => import("./index-CJ-zljKi.js").then((t) => t.i));
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l.install = (t) => {
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t.component("
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t.component("ssAvatar", l);
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};
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const a = o(() => import("./threeModel-C44vcdqj.js"));
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a.install = (t) => {
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t.component("ssThree", a);
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};
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const p = o(() => import("./threeViewerHost-
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const p = o(() => import("./threeViewerHost-DUzh9-TD.js").then((t) => t.t));
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p.install = (t) => {
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t.component("threeViewerHost", p);
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};
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const f =
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const f = C(), d = [n, s, r, m, i, c, l, a, p], F = (t) => {
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d.forEach((e) => {
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t.use(e);
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}), t.use(
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},
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}), t.use(u), t.config.globalProperties.$router = u;
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}, b = (t) => {
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switch (t) {
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case "browser":
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return
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return P;
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case "client":
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return T;
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case "three":
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return g;
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}
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},
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}, v = (t) => {
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const e = document.documentElement;
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t == null || t.forEach((h) => {
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e.style.setProperty(h.name, h.value);
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});
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}, w = (t) => {
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f.setPlatform(t);
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const e =
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const e = b(t);
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v(e);
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}, H = { getPlatform: f.getPlatform, setPlatform: f.setPlatform, initPlatform: w };
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export {
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$ as SvgIcon,
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F as default,
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H as platformApi,
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u as router
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};
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package/dist/ss-component2.cjs
CHANGED
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"use strict";const n=require("vue-router"),t=[{path:"/tenant",name:"Tenant",component:async()=>Promise.resolve().then(()=>require("./index-A1rieWA1.cjs"))},{path:"/login",name:"Login",component:async()=>Promise.resolve().then(()=>require("./index-DWKwaPfH.cjs"))},{path:"/",name:"Model",component:async()=>Promise.resolve().then(()=>require("./index-
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"use strict";const n=require("vue-router"),t=[{path:"/tenant",name:"Tenant",component:async()=>Promise.resolve().then(()=>require("./index-A1rieWA1.cjs"))},{path:"/login",name:"Login",component:async()=>Promise.resolve().then(()=>require("./index-DWKwaPfH.cjs"))},{path:"/",name:"Model",component:async()=>Promise.resolve().then(()=>require("./index-B-SQuycq.cjs")),children:[{path:"系统配置/站内信",name:"Message",component:async()=>Promise.resolve().then(()=>require("./index-DPIg2S6M.cjs"))},{path:"系统配置/自动生成",name:"Automatic",component:async()=>Promise.resolve().then(()=>require("./index-B2BAJXIH.cjs"))},{path:"平台管理/菜单管理",name:"Menu",component:async()=>Promise.resolve().then(()=>require("./index-DTjWhnIF.cjs"))},{path:"平台管理/主菜单管理",name:"MainMenu",component:async()=>Promise.resolve().then(()=>require("./index-DKCWuetb.cjs"))},{path:"系统管理/个人中心",name:"PersonalCenter",component:async()=>Promise.resolve().then(()=>require("./index-DO9bzS7t.cjs"))},{path:"系统管理/职位管理",name:"Post",component:async()=>Promise.resolve().then(()=>require("./index-DyDrPMvD.cjs"))},{path:"系统管理/用户管理",name:"User",component:async()=>Promise.resolve().then(()=>require("./index-_wyT2-AA.cjs"))},{path:"系统管理/角色管理",name:"Role",component:async()=>Promise.resolve().then(()=>require("./index-DjaN4VhG.cjs"))},{path:"系统管理/部门管理",name:"Dept",component:async()=>Promise.resolve().then(()=>require("./index-DGVafVuW.cjs"))},{path:"系统维护/登录日志",name:"LoginLog",component:async()=>Promise.resolve().then(()=>require("./index-B2nCv699.cjs"))},{path:"系统维护/操作日志",name:"OperateLog",component:async()=>Promise.resolve().then(()=>require("./index-CQn_Bk7v.cjs"))}]}],o=n.createRouter({history:n.createWebHashHistory(),routes:t});o.beforeEach((r,s,e)=>{!sessionStorage.getItem("loginToken")&&r.path!=="/login"?e("/login"):e()});module.exports=o;
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package/dist/ss-component2.js
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{
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path: "/",
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name: "Model",
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component: async () => import("./index-
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component: async () => import("./index-BsQ-qwMF.js"),
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// component: async ()=>import('@/components/views/model/component/main.vue'),
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// component: async ()=>import('@/components/views/canvas/index.vue'),
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// component: async ()=>import('@/components/views/test/index.vue'),
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{
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path: "平台管理/菜单管理",
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name: "Menu",
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component: async () => import("./index-
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component: async () => import("./index-CtbAPra-.js")
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},
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{
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path: "平台管理/主菜单管理",
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name: "MainMenu",
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component: async () => import("./index-
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component: async () => import("./index-D6bXtF73.js")
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},
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{
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path: "系统管理/个人中心",
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name: "PersonalCenter",
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component: async () => import("./index-
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component: async () => import("./index-8iIO_ocM.js")
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},
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{
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path: "系统管理/职位管理",
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name: "Post",
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component: async () => import("./index-
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component: async () => import("./index-B-qFtrGT.js")
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},
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{
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path: "系统管理/用户管理",
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name: "User",
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component: async () => import("./index-
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// {
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@@ -1 +1 @@
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"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),n=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BAniHexV.cjs"),pe=require("./OrbitControls-R243A2UI.cjs"),me=require("./index-CslSvatz.cjs"),fe=require("./index.vue_vue_type_style_index_1_lang-C-HS1nJI.cjs"),oe=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),re=require("./index-CEwxrYB-.cjs"),ae=require("./robotUtil-_esgRFP3.cjs");function ve(z){let g=null,u=null,d=null,h=null,x=null,P=null,c=null,C=null;const D=1e3/30;let S=0;const b=e.ref([]),r=e.ref(new n.Vector3),k=e.ref(new n.Vector3),y=()=>{if(!z.value)return;g=new n.Scene,g.background=new n.Color(15790320);const f=z.value;u=new n.PerspectiveCamera(75,f.clientWidth/f.clientHeight,.1,1e4),u.position.set(8,-8,6),u.up.set(0,0,1),u.lookAt(0,0,0),d=new n.WebGLRenderer({antialias:!0,alpha:!0}),d.setSize(f.clientWidth,f.clientHeight),d.localClippingEnabled=!0,d.shadowMap.enabled=!0,d.shadowMap.type=n.PCFSoftShadowMap,d.toneMapping=n.ACESFilmicToneMapping,d.toneMappingExposure=1,d.outputColorSpace=n.SRGBColorSpace,f.appendChild(d.domElement),h=new pe.OrbitControls(u,d.domElement),h.enableDamping=!0,h.dampingFactor=.05,h.mouseButtons={LEFT:null,MIDDLE:n.MOUSE.PAN,RIGHT:n.MOUSE.ROTATE},h.panSpeed=.7,x=new n.Xe(u,d,{container:f,type:"cube",placement:"top-right",offset:{top:10,right:10},background:{color:"#D1D1D1",opacity:1},front:{label:"Top"},bottom:{label:"Front"},left:{label:"Left"},right:{label:"Right"},top:{label:"Back"},back:{label:"Bottom"}}),x.attachControls(h),m(),_()},t=(f,l)=>{c&&(g.remove(c),c.dispose()),C&&(g.remove(C),C.geometry.dispose(),C.material.dispose());const E=Math.min(Math.max(Math.floor(f/20),30),40);c=new n.GridHelper(f,E,13421772,14540253),c.rotateX(Math.PI/2),c.position.copy(l),g.add(c);const B=new n.PlaneGeometry(f,f),O=new n.ShadowMaterial({opacity:.3,color:0});C=new n.Mesh(B,O),C.position.copy(l),C.position.z-=.01,C.receiveShadow=!0,g.add(C)},p=()=>{if(b.value.length===0)return;const f=new n.Box3;let l=!1;if(b.value.forEach(X=>{if(X.userData.boundingBox)f.union(X.userData.boundingBox),l=!0;else if(X.userData.modelId&&modelBoundingBoxes.has(X.userData.modelId)){const Z=modelBoundingBoxes.get(X.userData.modelId);f.union(Z.box),l=!0}else f.expandByObject(X),l=!0}),!l){console.warn("无法计算包围盒,网格更新失败");return}const E=f.getSize(new n.Vector3),B=f.getCenter(new n.Vector3),O=Math.max(E.x,E.y,E.z),j=Math.max(O*8,50),q=new n.Vector3(B.x,B.y,f.min.z);t(j,q)},m=()=>{const f=new n.AmbientLight(4210752,.6);g.add(f);const l=new n.DirectionalLight(16777215,2);l.position.set(10,10,8),l.castShadow=!0,l.shadow.mapSize.width=4096,l.shadow.mapSize.height=4096,l.shadow.camera.near=.5,l.shadow.camera.far=50,l.shadow.camera.left=-50,l.shadow.camera.right=50,l.shadow.camera.top=50,l.shadow.camera.bottom=-50,g.add(l);const E=new n.DirectionalLight(16777215,.8);E.position.set(-8,-8,6),g.add(E);const B=new n.DirectionalLight(16777215,.6);B.position.set(0,-15,2),g.add(B);const O=new n.HemisphereLight(16777215,4473924,.8);g.add(O);const j=new n.PointLight(16777215,1,50);j.position.set(15,15,15),g.add(j);const q=new n.PointLight(16777215,.5,50);q.position.set(-15,-15,15),g.add(q)},_=()=>{P=requestAnimationFrame(_),h&&h.update();const f=performance.now(),l=f-S;l<D||(S=f-l%D,d&&g&&u&&d.render(g,u),x&&x.render())},I=f=>{["map","normalMap","bumpMap","roughnessMap","metalnessMap","emissiveMap","specularMap","envMap","lightMap","aoMap","displacementMap"].forEach(E=>{f[E]&&f[E].dispose&&f[E].dispose()}),f.dispose&&f.dispose()},A=f=>{f==null||f.traverse(l=>{l.geometry&&l.geometry.dispose(),l.material&&(Array.isArray(l.material)?l.material.forEach(E=>{I(E)}):I(l.material))})};return{currentModels:b,initialCameraPosition:r,initialTargetPosition:k,initThreeJS:y,handleResize:()=>{if(!z.value||!u||!d||!x)return;const f=z.value,l=f.clientWidth,E=f.clientHeight;u.aspect=l/E,u.updateProjectionMatrix(),d.setSize(l,E),x.update()},fitCameraToAllModels:f=>{if(!u||!h||b.value.length===0)return;const l=new n.Box3;let E=!1;if(b.value.forEach(Z=>{if(Z.userData.boundingBox)l.union(Z.userData.boundingBox),E=!0;else if(Z.userData.modelId&&f.has(Z.userData.modelId)){const ee=f.get(Z.userData.modelId);l.union(ee.box),E=!0}else 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w=e.resolveComponent("el-scrollbar");return e.openBlock(),e.createElementBlock("div",Ge,[e.createElementVNode("div",{ref_key:"threejsContainer",ref:P,class:"threejs-container"},null,512),e.createElementVNode("div",je,[e.createVNode(N,{name:"guanjianjiexi",size:"34"}),e.createVNode(N,{name:"guanjiekongzhi",size:"34"}),e.createVNode(N,{name:"gongyishengcheng",size:"34"}),e.createVNode(N,{name:"buchangshezhi",size:"34"}),e.createVNode(N,{name:"shuchujiagongchengxu",size:"34"})]),e.createElementVNode("div",qe,[e.createVNode(N,{name:"viewReset",size:"24",onClick:Z,title:"重置"}),e.createVNode(N,{name:"fangda",size:"24",title:"放大"}),e.createVNode(N,{name:"suoxiao",size:"24",title:"缩小"}),e.createVNode(N,{name:"lookAround",size:"24",onClick:e.unref(G),title:e.unref(J)?"停止动画":"动画视图"},null,8,["onClick","title"])]),e.createElementVNode("div",Xe,[e.createVNode(N,{name:"jiegoushu",size:"24",onClick:a[0]||(a[0]=M=>v("场景树")),active:D.value&&S.value==="场景树",title:"场景树"},null,8,["active"]),e.createVNode(N,{name:"clipping",size:"24",onClick:a[1]||(a[1]=M=>v("剖面视图")),active:D.value&&S.value==="剖面视图",title:"剖面视图"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24",onClick:a[2]||(a[2]=M=>v("场景树3"))}),e.createVNode(N,{name:"donghuafangzhen",size:"24",onClick:a[3]||(a[3]=M=>v("场景4"))})]),e.createElementVNode("div",He,[e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"guanjiekongzhi",size:"24",onClick:a[4]||(a[4]=M=>i("关节控制")),active:b.value&&r.value==="关节控制",title:"关节控制"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24",title:"动画仿真",onClick:a[5]||(a[5]=M=>i("动画仿真")),active:b.value&&r.value==="动画仿真"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"donghuafangzhen",size:"24"})]),e.createElementVNode("div",Ye,[e.createVNode(N,{name:"kuaitui",size:"24",backgroundColor:"#ffffff",title:"快退",onClick:(U=k.value)==null?void 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X ")]),e.createVNode(w,{"max-height":"650px"},{default:e.withCtx(()=>[e.withDirectives(e.createVNode(Te,{ref_key:"jointRef",ref:k,model:e.unref(q),scene:e.unref(h),animationData:z.animationData},null,8,["model","scene","animationData"]),[[e.vShow,r.value==="关节控制"]]),e.withDirectives(e.createVNode(xe,{animationData:z.animationData},null,8,["animationData"]),[[e.vShow,r.value==="动画仿真"]])]),_:1})],512),[[e.vShow,b.value]]),c.value?(e.openBlock(),e.createElementBlock("div",st,[a[20]||(a[20]=e.createElementVNode("div",{class:"loading-spinner"},null,-1)),e.createElementVNode("p",null,e.toDisplayString(C.value),1)])):e.createCommentVNode("",!0)])}}},rt=oe._export_sfc(it,[["__scopeId","data-v-7bc47bb3"]]);exports.default=rt;
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1
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+
"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),n=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Bgts3--T.cjs"),pe=require("./OrbitControls-BWF5w18E.cjs"),me=require("./index-BwavyD4W.cjs"),fe=require("./index.vue_vue_type_style_index_1_lang-CDoOP6Aw.cjs"),oe=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),re=require("./index-CEwxrYB-.cjs"),ae=require("./robotUtil-BtBh1-GY.cjs");function ve(z){let g=null,u=null,d=null,h=null,x=null,P=null,c=null,C=null;const D=1e3/30;let S=0;const b=e.ref([]),r=e.ref(new n.Vector3),k=e.ref(new n.Vector3),y=()=>{if(!z.value)return;g=new n.Scene,g.background=new n.Color(15790320);const f=z.value;u=new n.PerspectiveCamera(75,f.clientWidth/f.clientHeight,.1,1e4),u.position.set(8,-8,6),u.up.set(0,0,1),u.lookAt(0,0,0),d=new n.WebGLRenderer({antialias:!0,alpha:!0}),d.setSize(f.clientWidth,f.clientHeight),d.localClippingEnabled=!0,d.shadowMap.enabled=!0,d.shadowMap.type=n.PCFSoftShadowMap,d.toneMapping=n.ACESFilmicToneMapping,d.toneMappingExposure=1,d.outputColorSpace=n.SRGBColorSpace,f.appendChild(d.domElement),h=new pe.OrbitControls(u,d.domElement),h.enableDamping=!0,h.dampingFactor=.05,h.mouseButtons={LEFT:null,MIDDLE:n.MOUSE.PAN,RIGHT:n.MOUSE.ROTATE},h.panSpeed=.7,x=new n.Xe(u,d,{container:f,type:"cube",placement:"top-right",offset:{top:10,right:10},background:{color:"#D1D1D1",opacity:1},front:{label:"Top"},bottom:{label:"Front"},left:{label:"Left"},right:{label:"Right"},top:{label:"Back"},back:{label:"Bottom"}}),x.attachControls(h),m(),_()},t=(f,l)=>{c&&(g.remove(c),c.dispose()),C&&(g.remove(C),C.geometry.dispose(),C.material.dispose());const E=Math.min(Math.max(Math.floor(f/20),30),40);c=new n.GridHelper(f,E,13421772,14540253),c.rotateX(Math.PI/2),c.position.copy(l),g.add(c);const B=new 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g=z,u=e.computed(()=>({backgroundColor:g.backgroundColor})),d=e.computed(()=>`#${g.prefix}-${g.name}`),h=e.computed(()=>{const{size:x}=g;let P=`${x}`;return P=`${P.replace("px","")}px`,{width:P,height:P}});return(x,P)=>(e.openBlock(),e.createElementBlock("div",{class:e.normalizeClass(["container",{active:x.active}]),style:e.normalizeStyle(u.value)},[(e.openBlock(),e.createElementBlock("svg",{class:e.normalizeClass(["svg-icon",[x.$attrs.class,x.spin&&"svg-icon-spin"]]),style:e.normalizeStyle(h.value),"aria-hidden":"true"},[e.createElementVNode("use",{"xlink:href":d.value},null,8,Oe)],6))],6))}}),N=oe._export_sfc(Ue,[["__scopeId","data-v-6b1132f4"]]),Ge={class:"obj-viewer-container"},je={class:"buttonGroup-top"},qe={class:"buttonGroup-topLeft"},Xe={class:"buttonGroup-left"},He={class:"buttonGroup-right"},Ye={class:"buttonGroup-bottom"},Ze={class:"left-panel"},We={class:"panel-header"},Ke={key:1,class:"clipping-content"},Qe={class:"radio-group"},et={class:"radio-label"},tt={class:"radio-label"},nt={class:"radio-label"},at={class:"radio-label"},ot={class:"right-panel"},lt={class:"panel-header"},st={key:0,class:"loading-overlay"},it={__name:"threeModel",props:{animationData:{type:Object,default:()=>{}}},emits:["getAnimationData"],setup(z,{expose:g,emit:u}){const d=u;let h=null,x=!1;const P=e.ref(null),c=e.ref(!1),C=e.ref("");e.ref(!1);const F=e.ref(!1),D=e.ref(!1),S=e.ref(""),b=e.ref(!1),r=e.ref(""),k=e.ref(),{currentModels:y,initialCameraPosition:t,initialTargetPosition:p,initThreeJS:m,handleResize:_,fitCameraToAllModels:I,getThreeJSObjects:A,clearAllModels:L,cleanup:$}=ve(P),{isAnimating:J,toggleAnimation:G,stopAnimation:Y}=ge(A,y),{isClipping:f,activeClippingAxis:l,toggleClipping:E,updateClippingPlanes:B}=he(A,y),{addModelsFromUrls:O,loadModelByDefaultPath:j,urdfModel:q,modelBoundingBoxes:X}=fe.useModelLoader(A,y,c,C,L),Z=()=>{if(F.value||y.value.length===0)return;F.value=!0,J.value&&Y();const{camera:s,controls:a}=A();if(!s||!a)return;a.enabled=!0;const w=H=>H<.5?4*H*H*H:1-Math.pow(-2*H+2,3)/2,U=s.position.clone(),T=a.target.clone(),W=1500,R=Date.now(),M=()=>{const H=Date.now()-R,K=Math.min(H/W,1),te=w(K);s.position.lerpVectors(U,t.value,te),a.target.lerpVectors(T,p.value,te),K<1?requestAnimationFrame(M):F.value=!1};M()},ee=async()=>x?Promise.resolve():new Promise(s=>{const a=()=>{x?s():requestAnimationFrame(a)};a()}),le=async(s,a)=>{try{await ee(),J.value&&Y(),f.value&&E();const w=await a(s);return I(X),w}catch(w){throw console.error("加载模型失败:",w),w}},ce=async s=>le(s,O),o=async s=>le(s,j),v=s=>{D.value=!0,S.value=s,s==="剖面视图"&&!f.value&&E()},i=s=>{b.value=!0,r.value=s,s==="动画仿真"&&d("getAnimationData")},V=()=>{e.nextTick(()=>{var s;(s=k.value)==null||s.startAnimation()})};return e.onMounted(async()=>{await e.nextTick();try{m(),h=A().scene,x=!0,window.addEventListener("resize",_)}catch(s){console.error("Three.js初始化失败:",s)}}),e.onBeforeUnmount(()=>{x=!1,S.value="",r.value="",window.removeEventListener("resize",_),J.value&&Y(),$()}),g({addModelsFromUrls:ce,loadModelByDefaultPath:o}),(s,a)=>{var U,T,W,R;const w=e.resolveComponent("el-scrollbar");return e.openBlock(),e.createElementBlock("div",Ge,[e.createElementVNode("div",{ref_key:"threejsContainer",ref:P,class:"threejs-container"},null,512),e.createElementVNode("div",je,[e.createVNode(N,{name:"guanjianjiexi",size:"34"}),e.createVNode(N,{name:"guanjiekongzhi",size:"34"}),e.createVNode(N,{name:"gongyishengcheng",size:"34"}),e.createVNode(N,{name:"buchangshezhi",size:"34"}),e.createVNode(N,{name:"shuchujiagongchengxu",size:"34"})]),e.createElementVNode("div",qe,[e.createVNode(N,{name:"viewReset",size:"24",onClick:Z,title:"重置"}),e.createVNode(N,{name:"fangda",size:"24",title:"放大"}),e.createVNode(N,{name:"suoxiao",size:"24",title:"缩小"}),e.createVNode(N,{name:"lookAround",size:"24",onClick:e.unref(G),title:e.unref(J)?"停止动画":"动画视图"},null,8,["onClick","title"])]),e.createElementVNode("div",Xe,[e.createVNode(N,{name:"jiegoushu",size:"24",onClick:a[0]||(a[0]=M=>v("场景树")),active:D.value&&S.value==="场景树",title:"场景树"},null,8,["active"]),e.createVNode(N,{name:"clipping",size:"24",onClick:a[1]||(a[1]=M=>v("剖面视图")),active:D.value&&S.value==="剖面视图",title:"剖面视图"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24",onClick:a[2]||(a[2]=M=>v("场景树3"))}),e.createVNode(N,{name:"donghuafangzhen",size:"24",onClick:a[3]||(a[3]=M=>v("场景4"))})]),e.createElementVNode("div",He,[e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"guanjiekongzhi",size:"24",onClick:a[4]||(a[4]=M=>i("关节控制")),active:b.value&&r.value==="关节控制",title:"关节控制"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24",title:"动画仿真",onClick:a[5]||(a[5]=M=>i("动画仿真")),active:b.value&&r.value==="动画仿真"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"donghuafangzhen",size:"24"})]),e.createElementVNode("div",Ye,[e.createVNode(N,{name:"kuaitui",size:"24",backgroundColor:"#ffffff",title:"快退",onClick:(U=k.value)==null?void 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")]),e.createVNode(w,{"max-height":"650px"},{default:e.withCtx(()=>[S.value==="场景树"?(e.openBlock(),e.createBlock(Je,{key:0,model:e.unref(q)},null,8,["model"])):e.createCommentVNode("",!0),S.value==="剖面视图"?(e.openBlock(),e.createElementBlock("div",Ke,[e.createElementVNode("div",Qe,[e.createElementVNode("label",et,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"none","onUpdate:modelValue":a[7]||(a[7]=M=>e.isRef(l)?l.value=M:null),onChange:a[8]||(a[8]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[16]||(a[16]=e.createElementVNode("span",{class:"radio-text"},"无切割",-1))]),e.createElementVNode("label",tt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"x","onUpdate:modelValue":a[9]||(a[9]=M=>e.isRef(l)?l.value=M:null),onChange:a[10]||(a[10]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[17]||(a[17]=e.createElementVNode("span",{class:"radio-text"},"X轴切割",-1))]),e.createElementVNode("label",nt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"y","onUpdate:modelValue":a[11]||(a[11]=M=>e.isRef(l)?l.value=M:null),onChange:a[12]||(a[12]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[18]||(a[18]=e.createElementVNode("span",{class:"radio-text"},"Y轴切割",-1))]),e.createElementVNode("label",at,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"z","onUpdate:modelValue":a[13]||(a[13]=M=>e.isRef(l)?l.value=M:null),onChange:a[14]||(a[14]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[19]||(a[19]=e.createElementVNode("span",{class:"radio-text"},"Z轴切割",-1))])])])):e.createCommentVNode("",!0)]),_:1})],512),[[e.vShow,D.value]]),e.withDirectives(e.createElementVNode("div",ot,[e.createElementVNode("div",lt,[e.createElementVNode("span",null,e.toDisplayString(r.value),1),e.createElementVNode("span",{class:"close",onClick:a[15]||(a[15]=M=>b.value=!1)}," X ")]),e.createVNode(w,{"max-height":"650px"},{default:e.withCtx(()=>[e.withDirectives(e.createVNode(Te,{ref_key:"jointRef",ref:k,model:e.unref(q),scene:e.unref(h),animationData:z.animationData},null,8,["model","scene","animationData"]),[[e.vShow,r.value==="关节控制"]]),e.withDirectives(e.createVNode(xe,{animationData:z.animationData},null,8,["animationData"]),[[e.vShow,r.value==="动画仿真"]])]),_:1})],512),[[e.vShow,b.value]]),c.value?(e.openBlock(),e.createElementBlock("div",st,[a[20]||(a[20]=e.createElementVNode("div",{class:"loading-spinner"},null,-1)),e.createElementVNode("p",null,e.toDisplayString(C.value),1)])):e.createCommentVNode("",!0)])}}},rt=oe._export_sfc(it,[["__scopeId","data-v-7bc47bb3"]]);exports.default=rt;
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import { ref as b, watch as Pe, createElementBlock as q, openBlock as H, createBlock as Ie, computed as le, onMounted as $e, onUnmounted as je, Fragment as Xe, renderList as He, createElementVNode as h, createCommentVNode as xe, toDisplayString as ae, resolveComponent as Je, createVNode as k, defineComponent as Ye, normalizeStyle as Ee, normalizeClass as Fe, nextTick as Be, onBeforeUnmount as qe, withDirectives as se, unref as O, withCtx as Te, isRef as he, vModelRadio as ye, vShow as we } from "vue";
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import { V as M, B as be, S as Ze, C as We, P as Ke, W as Ne, n as Qe, A as et, o as tt, M as Le, X as nt, G as at, p as Me, q as ot, r as De, s as st, D as ze, H as it, t as Re, u as Oe, v as Ue, w as ke, E as _e, x as pe, y as lt, z as rt, T as ct } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-
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import { O as ut } from "./OrbitControls-
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import { u as dt } from "./index.vue_vue_type_style_index_1_lang
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import { V as M, B as be, S as Ze, C as We, P as Ke, W as Ne, n as Qe, A as et, o as tt, M as Le, X as nt, G as at, p as Me, q as ot, r as De, s as st, D as ze, H as it, t as Re, u as Oe, v as Ue, w as ke, E as _e, x as pe, y as lt, z as rt, T as ct } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-h7N9rXk9.js";
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import { O as ut } from "./OrbitControls-BIGKrhyi.js";
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import { s as pt } from "./index-Bu1pHSKB.js";
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import { u as dt } from "./index.vue_vue_type_style_index_1_lang-ZmTqB1dO.js";
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import { _ as me } from "./_plugin-vue_export-helper-CHgC5LLL.js";
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import { c as Ge, E as Ve } from "./index-CA0SFykF.js";
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import { m as de } from "./robotUtil-
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import { m as de } from "./robotUtil-BAK-GNOJ.js";
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function mt(E) {
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let f = null, r = null, c = null, v = null, w = null, z = null, l = null, A = null;
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const F = 1e3 / 30;
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@@ -1,9 +1,9 @@
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import { ref as K, shallowRef as Xe, defineComponent as qe, watch as ie, onMounted as $e, nextTick as We, onBeforeUnmount as Ye, resolveComponent as Je, createElementBlock as oe, openBlock as ae, createElementVNode as b, withDirectives as z, createCommentVNode as xe, createVNode as j, unref as S, renderSlot as Re, toDisplayString as Ee, withCtx as Qe, isRef as ee, vModelRadio as te, vShow as Ze } from "vue";
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import { c as et, u as tt, a as nt, b as st } from "./iconfont-
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import { U as rt, Y as de, Z as Oe, _ as it, $ as W, a0 as ve, a1 as D, a2 as Pe, C as G, a3 as F, o as Y, a4 as ot, t as at, D as ct, x as re, V as B, a5 as lt, a6 as De, a7 as ut, a8 as ke, a9 as ft, aa as dt, ab as ne, ac as ht, ad as Fe, ae as pt, af as mt, ag as gt, ah as he, ai as He, aj as pe, ak as Tt, al as xt, am as Ue, an as ce, ao as Rt, I as Ge, v as Et, ap as $, aq as At, J as _t, ar as Lt, r as je, as as wt, N as yt, at as Mt, au as bt, F as se, P as St, y as Nt, av as Ct, aw as It, ax as Ot, ay as vt, az as Pt, aA as Be, aB as Dt, aC as Ae, aD as _e, aE as Le, aF as we, aG as ye, aH as kt, aI as Ft, B as me, aJ as Ht, u as Ut } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-
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import { c as et, u as tt, a as nt, b as st } from "./iconfont-B8t8JT6z.js";
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import { U as rt, Y as de, Z as Oe, _ as it, $ as W, a0 as ve, a1 as D, a2 as Pe, C as G, a3 as F, o as Y, a4 as ot, t as at, D as ct, x as re, V as B, a5 as lt, a6 as De, a7 as ut, a8 as ke, a9 as ft, aa as dt, ab as ne, ac as ht, ad as Fe, ae as pt, af as mt, ag as gt, ah as he, ai as He, aj as pe, ak as Tt, al as xt, am as Ue, an as ce, ao as Rt, I as Ge, v as Et, ap as $, aq as At, J as _t, ar as Lt, r as je, as as wt, N as yt, at as Mt, au as bt, F as se, P as St, y as Nt, av as Ct, aw as It, ax as Ot, ay as vt, az as Pt, aA as Be, aB as Dt, aC as Ae, aD as _e, aE as Le, aF as we, aG as ye, aH as kt, aI as Ft, B as me, aJ as Ht, u as Ut } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-h7N9rXk9.js";
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import { E as Me } from "./index-CA0SFykF.js";
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import { O as Gt } from "./OBJLoader-
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import { M as jt, S as Bt, P as Kt } from "./PCDLoader-
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import { O as Gt } from "./OBJLoader-Ck9W3Ir7.js";
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import { M as jt, S as Bt, P as Kt } from "./PCDLoader-CkJ5aJWh.js";
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import { T as X } from "./svgIcon-OBhwktPM.js";
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import { _ as Vt } from "./_plugin-vue_export-helper-CHgC5LLL.js";
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function be(f, t) {
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