ss-component-new 1.2.3 → 1.2.4

package/dist/threeSceneView-zvyCHrp1.js

@@ -0,0 +1,1469 @@
+import { defineComponent as Le, ref as C, watch as ce, shallowRef as fe, computed as _e, onUnmounted as Ge, resolveComponent as N, createElementBlock as ge, openBlock as ne, createElementVNode as o, createCommentVNode as me, createVNode as e, withCtx as z, createBlock as De, unref as B, toDisplayString as ve, onBeforeUnmount as Oe, createTextVNode as Ie, onMounted as Ne, nextTick as qe, withDirectives as Q, vShow as de, renderSlot as be, isRef as ke, vModelRadio as xe } from "vue";
+import { U as He, r as Te, s as Be, u as We, a as Ke, W as Qe } from "./useRayCaster-CAqupK7D.js";
+import { u as Xe, a as et, b as tt, S as E } from "./iconfont-ljBfzBSE.js";
+import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BTu7I4mn.js";
+import { a9 as lt, c as ot, E as J, a as nt, aM as at, ao as st } from "./index-UN4JU0ly.js";
+import "./index.vue_vue_type_style_index_1_lang-Exyt6qTf.js";
+import "./index-BHtNKL1L.js";
+import { _ as ie, s as it } from "./index-Dk8D9SRm.js";
+import "./index.vue_vue_type_style_index_1_lang-D1n_3_F6.js";
+import { m as Ve, T as we, V as O, e as he, n as rt, k as te, l as ut, o as ct, i as pt, L as dt, p as mt, q as vt, r as ft, s as gt, t as ht, u as bt } from "./three-viewport-gizmo-BHznJ6W3.js";
+import "./index-B5gNufYw.js";
+import { f as yt, a as _t } from "./animationData-9n1X4UvO.js";
+import { _ as je } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+import { U as wt, J as Ct } from "./urdfTree-BuTtRGdl.js";
+const ee = 1e-3, re = ut.degToRad, Ue = new rt({
+  // 灰色
+  color: 13421772,
+  metalness: 0.3,
+  roughness: 0.6,
+  side: pt
+});
+function Pt(k = 5e-3, g = 64) {
+  const T = new Ve([new O(0, 0, 0), new O(0, 0, 0)]), s = new we(T, g, k, 16, !1), P = Ue;
+  return new he(s, P);
+}
+const Ze = (k) => k.reduce((g, T) => {
+  let s = 0;
+  const P = T.Y ?? 0, V = T.C ?? 0, f = T.R ?? 0;
+  return P > 0 && (s += P), V > 0 && f > 0 && (s += f * re(V)), g + s;
+}, 0), Je = (k) => {
+  const g = [], T = k.Y ?? 0, s = k.B ?? 0, P = k.C ?? 0, V = k.R ?? 0, f = {
+    pos: new O(0, 0, 0),
+    localY: new O(0, 1, 0),
+    localX: new O(1, 0, 0),
+    localZ: new O(0, 0, 1)
+  };
+  if (!T && !P) return g;
+  if (g.push(f.pos.clone()), s !== 0) {
+    const D = new te().makeRotationAxis(f.localY, re(s));
+    f.localX.applyMatrix4(D), f.localZ.applyMatrix4(D);
+  }
+  if (T > 0 && (f.pos.add(f.localY.clone().multiplyScalar(T * ee)), g.push(f.pos.clone())), P > 0 && V > 0) {
+    const D = re(P), S = V * ee, p = f.pos.clone().add(f.localX.clone().multiplyScalar(-S)), u = Math.max(16, Math.ceil(P / 5));
+    for (let b = 1; b <= u; b++) {
+      const a = D * b / u, y = new te().makeRotationAxis(f.localZ, a), _ = f.localX.clone().multiplyScalar(S).applyMatrix4(y), h = p.clone().add(_);
+      g.push(h);
+    }
+  }
+  return g;
+};
+function kt(k, g) {
+  const T = new ct();
+  T.name = "CompletePipe";
+  const s = {
+    pos: new O(0, 0, 0),
+    localX: new O(1, 0, 0),
+    localY: new O(0, 1, 0),
+    localZ: new O(0, 0, 1)
+  };
+  let P = 0, V = 1;
+  for (let f = 0; f < k.length; f++) {
+    const D = k[f], S = D.Y ?? 0, p = D.B ?? 0, u = D.C ?? 0, b = D.R ?? 0;
+    if (p !== 0) {
+      const a = new te().makeRotationAxis(s.localY, re(p));
+      s.localX.applyMatrix4(a), s.localZ.applyMatrix4(a);
+    }
+    if (S > 0) {
+      const a = s.pos.clone();
+      s.pos.add(s.localY.clone().multiplyScalar(S * ee));
+      const y = s.pos.clone(), i = Tt(a, y, g * ee);
+      i.userData = {
+        segmentType: "straight",
+        segmentIndex: P,
+        frameIndex: f,
+        length: S,
+        frame: { Y: S, B: p, C: u, R: b }
+      }, i.name = `直段_${P}`, T.add(i);
+      const _ = a.clone();
+      xt(T, V, _, g * ee), P++;
+    }
+    if (u > 0 && b > 0) {
+      const a = re(u), y = b * ee, i = [];
+      i.push(s.pos.clone());
+      const _ = s.pos.clone().add(s.localX.clone().multiplyScalar(-y)), h = Math.max(16, Math.ceil(u / 5));
+      for (let R = 1; R <= h; R++) {
+        const X = a * R / h, $ = new te().makeRotationAxis(s.localZ, X), G = s.localX.clone().multiplyScalar(y).applyMatrix4($), ae = _.clone().add(G);
+        i.push(ae);
+      }
+      const M = Mt(i, g * ee);
+      M.userData = {
+        segmentType: "bend",
+        segmentIndex: P,
+        frameIndex: f,
+        angle: u,
+        radius: b,
+        centerPoint: _.toArray(),
+        frame: { Y: S, B: p, C: u, R: b }
+      }, M.name = `弯段_${P}`, T.add(M), Math.floor(i.length / 2), i[0], s.pos = i[i.length - 1].clone();
+      const m = new te().makeRotationAxis(s.localZ, a);
+      s.localY.applyMatrix4(m), s.localX.applyMatrix4(m), P++, V++;
+    }
+  }
+  return T;
+}
+function xt(k, g, T, s) {
+  const P = new O(0, s * 2, s * 5), V = T.clone().add(P), f = [T, V], D = new mt().setFromPoints(f), S = new vt({
+    color: 16711680,
+    dashSize: s * 0.5,
+    gapSize: s * 0.3,
+    linewidth: 1
+  }), p = new ft(D, S);
+  p.computeLineDistances(), k.add(p);
+  const u = document.createElement("canvas"), b = u.getContext("2d");
+  u.width = 128, u.height = 128, b.clearRect(0, 0, 128, 128), b.fillStyle = "#FF0000", b.font = "bold 80px Arial", b.textAlign = "center", b.textBaseline = "middle", b.fillText(g.toString(), 64, 64);
+  const a = new gt(u), y = new ht({
+    map: a,
+    transparent: !0,
+    depthTest: !1,
+    depthWrite: !1
+  }), i = new bt(y), _ = s * 3;
+  i.scale.set(_, _, 1), i.position.copy(V), i.name = `Label_${g}`, i.userData = { labelNumber: g }, k.add(i);
+}
+function Tt(k, g, T) {
+  const s = new dt(k, g), P = new we(s, 2, T, 18, !1);
+  return new he(P, Ue);
+}
+function Mt(k, g) {
+  const T = new Ve(k, !1, "catmullrom", 0.01), s = new we(T, Math.max(16, k.length * 2), g, 18, !1);
+  return new he(s, Ue);
+}
+function Me(k, g, T, s, P, V = 0) {
+  let f = g.slice(0, P + 1);
+  const D = g[P + 1];
+  if (D && V > 0) {
+    const i = {
+      ...D,
+      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
+      B: (D.B ?? 0) * V,
+      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
+      C: (D.C ?? 0) * V
+    };
+    f.push(i);
+  }
+  const S = Ze(f), p = Math.max(0, T - S), u = [];
+  u.push(new O(0, 0, 0));
+  const b = new O(0, p * ee, 0);
+  p > 0 && u.push(b);
+  let a = {
+    pos: b.clone(),
+    localY: new O(0, 1, 0),
+    localX: new O(1, 0, 0),
+    localZ: new O(0, 0, 1)
+  };
+  const y = [];
+  for (let i = f.length - 1; i >= 0; i--) {
+    const _ = f[i], h = Je(_);
+    if (h.length > 0) {
+      const M = h.map(($) => {
+        const A = $.clone(), G = new te();
+        return G.makeBasis(a.localX, a.localY, a.localZ), A.applyMatrix4(G), A.add(a.pos);
+      });
+      y.push(M);
+      const m = M[M.length - 1];
+      a.pos = m.clone();
+      const R = _.B ?? 0, X = _.C ?? 0;
+      if (R !== 0) {
+        const $ = new te().makeRotationAxis(a.localY, re(R));
+        a.localX.applyMatrix4($), a.localZ.applyMatrix4($);
+      }
+      if (X > 0) {
+        const $ = re(X), A = new te().makeRotationAxis(a.localZ, $);
+        a.localY.applyMatrix4(A), a.localX.applyMatrix4(A);
+      }
+    }
+  }
+  for (const i of y)
+    i.length > 1 && u.push(...i.slice(1));
+  u.length < 2 && u.push(new O(0, 1e-3, 0));
+  try {
+    const i = new Ve(u, !1, "catmullrom", 0.01), _ = new we(i, Math.max(2, u.length * 4), s * ee, 18, !1);
+    k.geometry.dispose(), k.geometry = _;
+  } catch (i) {
+    console.error("管件更新失败", i);
+  }
+}
+function Ee(k, g, T, s = 0) {
+  let P = k.slice(0, T + 1);
+  const V = k[T + 1];
+  if (V && s > 0) {
+    const a = {
+      ...V,
+      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
+      B: (V.B ?? 0) * s,
+      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
+      C: (V.C ?? 0) * s
+    };
+    P.push(a);
+  }
+  const f = Ze(P), D = Math.max(0, g - f), S = [];
+  S.push(new O(0, 0, 0));
+  const p = new O(0, D * ee, 0);
+  D > 0 && S.push(p);
+  let u = {
+    pos: p.clone(),
+    localY: new O(0, 1, 0),
+    localX: new O(1, 0, 0),
+    localZ: new O(0, 0, 1)
+  };
+  const b = [];
+  for (let a = P.length - 1; a >= 0; a--) {
+    const y = P[a], i = Je(y);
+    if (i.length > 0) {
+      const _ = i.map((R) => {
+        const X = R.clone(), $ = new te();
+        return $.makeBasis(u.localX, u.localY, u.localZ), X.applyMatrix4($), X.add(u.pos);
+      });
+      b.push(_);
+      const h = _[_.length - 1];
+      u.pos = h.clone();
+      const M = y.B ?? 0, m = y.C ?? 0;
+      if (M !== 0) {
+        const R = new te().makeRotationAxis(u.localY, re(M));
+        u.localX.applyMatrix4(R), u.localZ.applyMatrix4(R);
+      }
+      if (m > 0) {
+        const R = re(m), X = new te().makeRotationAxis(u.localZ, R);
+        u.localY.applyMatrix4(X), u.localX.applyMatrix4(X);
+      }
+    }
+  }
+  for (const a of b)
+    a.length > 1 && S.push(...a.slice(1));
+  return S.length < 2 && S.push(new O(0, 1e-3, 0)), S;
+}
+function ye(k, g, T, s, P, V, f, D = 0, S = 0) {
+  const p = P - S, u = Ee(s, p, f, D);
+  let a = Ee(T, S, f, D);
+  a.forEach((i) => i.y = -i.y), a.reverse();
+  const y = [...a, ...u];
+  try {
+    const i = new Ve(y, !1, "catmullrom", 0.01), _ = new we(i, Math.max(2, y.length * 4), V * ee, 18, !1);
+    g.geometry.dispose(), k.geometry.dispose(), g.parent && g.parent.remove(g), k.geometry = _;
+  } catch (i) {
+    console.error("管件更新失败", i);
+  }
+}
+const Dt = { class: "panel-content" }, Vt = { class: "action-bar" }, Rt = {
+  key: 0,
+  class: "animation-controls"
+}, St = { class: "control-row" }, $t = { class: "control-row" }, At = { class: "frame-info" }, zt = { class: "control-row" }, Ft = { class: "progress-bar" }, Yt = { class: "dialog-footer" }, Bt = /* @__PURE__ */ Le({
+  __name: "animationPanel",
+  props: {
+    model: {},
+    threeData: {}
+  },
+  emits: ["getThreeData"],
+  setup(k, { expose: g, emit: T }) {
+    const s = k, P = T, V = C(), f = C(), D = C();
+    ce(() => s.threeData, (l) => {
+      const t = l == null ? void 0 : l.data;
+      D.value = t == null ? void 0 : t.type;
+    }, {
+      immediate: !0
+    });
+    const S = async () => {
+      if (!sessionStorage.getItem("systemKey")) {
+        P("getThreeData");
+        return;
+      }
+      let t = {};
+      D.value === Te.SINGLE && (t = await yt()), D.value === Te.DOUBLE && (t = await _t());
+      const {
+        initialPipeLength: c = 0,
+        pipeRadius: x = 0,
+        clampLength: d = 0,
+        animationData: F
+      } = t;
+      $.value = c, A.value = x, G.value = d, V.value = F;
+      const U = ot(V.value);
+      p.value = (U == null ? void 0 : U["输出（动画数据）"]) || [];
+      let r = (U == null ? void 0 : U["输出（动画数据）Content"]) ?? [];
+      r && (f.value = r);
+    }, p = C([]), u = C(!1), b = C(""), a = C(!1), y = C(0), i = C(0), _ = C(1e3), h = C(null);
+    let M = !1;
+    const m = fe(null), R = fe(null), X = fe(null), $ = C(1302), A = C(12.5), G = C(30), ae = C([]), L = C(null), w = _e(() => s.model ? Object.values(s.model.joints).filter((l) => l.jointType !== "fixed").map((l) => l.name) : []), H = C(["Y", "B", "C", "R"]), Z = _e(() => [...w.value, ...H.value]), W = _e(() => Z.value.length > 0 ? `请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
+${Z.value.join("	")}
+0	0	0	...
+1	2	3	...` : "请先加载模型。"), K = (l, t) => {
+      if (!t)
+        return null;
+      const c = l.joints[t];
+      if (!c)
+        return console.warn(`在模型中未找到名为 '${t}' 的 Joint`), null;
+      let x = null;
+      return c.traverse((d) => {
+        d instanceof he && !x && (x = d);
+      }), x || console.warn(`在 Joint '${t}' 中未找到可用的 Mesh 对象`), x;
+    }, ue = (l, t) => {
+      if (!t)
+        return null;
+      const c = l.joints[t];
+      return c || (console.warn(`在模型中未找到名为 '${t}' 的 Joint`), console.log("可用的链接:", Object.keys(l.links)), null);
+    }, se = () => {
+      X.value && (X.value.visible = !0), m.value && m.value.parent && m.value.parent.remove(m.value), X.value = null, m.value = null, R.value = null;
+    };
+    ce(Z, (l, t) => {
+      if (JSON.stringify(l) !== JSON.stringify(t))
+        if (l.length > 0) {
+          const c = l.reduce((x, d) => (x[d] = "0", x), {});
+          p.value = [c];
+        } else
+          p.value = [];
+    }, { immediate: !0 });
+    const le = (l, t) => {
+      const c = ue(l, t), x = Pt();
+      x.visible = !1, c == null || c.add(x);
+    };
+    ce(() => s.model, (l) => {
+      se(), l ? (h.value = new He(l), ae.value = Object.keys(l.links), L.value = "Pipe_Joint", le(l, L.value)) : (h.value = null, ae.value = [], L.value = null);
+    }, { immediate: !0 }), ce([L, G], ([l, t]) => {
+      if (se(), s.model && l) {
+        const c = K(s.model, l);
+        if (console.log(c, "meshToReplace"), c && c.parent) {
+          X.value = c;
+          const x = new he(
+            c.geometry.clone(),
+            c.material
+          );
+          if (x.name = "managed_pipe_clone", c.parent.add(x), x.position.copy(c.position), x.rotation.copy(c.rotation), x.scale.copy(c.scale), c.visible = !1, D.value === Te.SINGLE && (x.position.y -= t * 1e-3), m.value = x, D.value === Te.DOUBLE) {
+            const d = new he(
+              c.geometry.clone(),
+              c.material
+            );
+            d.name = "managed_oppsite_pipe_clone", d.position.copy(c.position), d.rotation.copy(c.rotation), d.scale.copy(c.scale), c.parent.add(d), R.value = d;
+          }
+          m.value && R.value && ye(
+            m.value,
+            R.value,
+            [],
+            [],
+            $.value,
+            A.value,
+            0,
+            0,
+            G.value
+          );
+        } else
+          l && console.warn(`在 link '${l}' 中未找到可替换的网格或其没有父级。`);
+      }
+    });
+    const j = () => p.value.map((l) => ({
+      Y: parseFloat(l.Y) || 0,
+      B: parseFloat(l.B) || 0,
+      C: parseFloat(l.C) || 0,
+      R: parseFloat(l.R) || 0
+    })), oe = () => {
+      const l = [], t = [];
+      return p.value.forEach((c) => {
+        const { Y1: x, B1: d, C1: F, R1: U, Y2: r, B2: n, C2: q, R2: v } = c;
+        l.push({
+          Y: parseFloat(x) || 0,
+          B: parseFloat(d) || 0,
+          C: parseFloat(F) || 0,
+          R: parseFloat(U) || 0
+        }), t.push({
+          Y: parseFloat(r) || 0,
+          B: parseFloat(n) || 0,
+          C: parseFloat(q) || 0,
+          R: parseFloat(v) || 0
+        });
+      }), {
+        posPipeYbcr: l,
+        negPipeYbcr: t
+      };
+    }, Y = (l) => {
+      if (l < 0 || l >= p.value.length) {
+        console.error(`帧索引 ${l} 超出范围`);
+        return;
+      }
+      const t = p.value[l];
+      if (console.log(`应用第 ${l} 帧数据 ${t}`), y.value = l, h.value) {
+        const c = {};
+        w.value.forEach((x) => {
+          const d = parseFloat(t[x]);
+          isNaN(d) || (c[x] = d);
+        }), h.value.setJointAngles(c);
+      }
+      if (m.value && R.value) {
+        const c = oe();
+        console.log("ybcr数据：", c), ye(
+          m.value,
+          R.value,
+          c.posPipeYbcr,
+          c.negPipeYbcr,
+          $.value,
+          A.value,
+          l,
+          0,
+          G.value
+        );
+        return;
+      }
+      if (m.value) {
+        const c = j();
+        console.log("ybcr数据：", c), Me(
+          m.value,
+          c,
+          $.value,
+          A.value,
+          l,
+          0
+        );
+        return;
+      }
+    }, Ce = async () => {
+      if (p.value.length === 0) {
+        J.error("无法播放动画：无数据");
+        return;
+      }
+      a.value = !0, M = !1;
+      const l = m.value ? j() : [];
+      try {
+        for (let t = y.value + 1; t < p.value.length && !M; t++) {
+          y.value = t;
+          const c = p.value[t], x = {};
+          h.value && w.value.forEach((d) => {
+            const F = parseFloat(c[d]);
+            isNaN(F) || (x[d] = F);
+          }), h.value ? await h.value.animateToState(
+            x,
+            _.value,
+            (d) => {
+              if (i.value = (t + d) / p.value.length * 100, m.value && R.value) {
+                const F = oe();
+                console.log("ybcr数据：", l), ye(
+                  m.value,
+                  R.value,
+                  F.posPipeYbcr,
+                  F.negPipeYbcr,
+                  $.value,
+                  A.value,
+                  t - 1,
+                  d,
+                  G.value
+                );
+              } else m.value && Me(m.value, l, $.value, A.value, t - 1, d);
+            }
+          ) : m.value && R.value ? await new Promise((d) => {
+            const F = performance.now();
+            let U;
+            const r = (n) => {
+              if (M) {
+                cancelAnimationFrame(U), d();
+                return;
+              }
+              const q = n - F, v = Math.min(q / _.value, 1);
+              i.value = (t + v) / p.value.length * 100;
+              const I = oe();
+              ye(
+                m.value,
+                R.value,
+                I.posPipeYbcr,
+                I.negPipeYbcr,
+                $.value,
+                A.value,
+                t - 1,
+                v,
+                G.value
+              ), v < 1 ? U = requestAnimationFrame(r) : d();
+            };
+            U = requestAnimationFrame(r);
+          }) : m.value ? await new Promise((d) => {
+            const F = performance.now();
+            let U;
+            const r = (n) => {
+              if (M) {
+                cancelAnimationFrame(U), d();
+                return;
+              }
+              const q = n - F, v = Math.min(q / _.value, 1);
+              i.value = (t + v) / p.value.length * 100, Me(m.value, l, $.value, A.value, t - 1, v), v < 1 ? U = requestAnimationFrame(r) : d();
+            };
+            U = requestAnimationFrame(r);
+          }) : (await new Promise((d) => setTimeout(d, _.value)), i.value = (t + 1) / p.value.length * 100);
+        }
+        M || J.success("动画播放完成");
+      } catch (t) {
+        console.error("动画播放出错:", t), J.error("动画播放出错");
+      } finally {
+        a.value = !1, i.value = 0;
+      }
+    }, pe = () => {
+      M = !0, a.value = !1, i.value = 0, J.info("动画已停止");
+    }, Re = () => {
+      if (h.value && h.value.resetToZero(), console.log("pipeMesh.value", m.value), m.value && R.value) {
+        const l = oe();
+        ye(
+          m.value,
+          R.value,
+          l.posPipeYbcr,
+          l.negPipeYbcr,
+          $.value,
+          A.value,
+          -1,
+          0,
+          G.value
+        );
+      } else if (m.value) {
+        const l = j();
+        Me(
+          m.value,
+          l,
+          $.value,
+          A.value,
+          -1,
+          0
+        );
+      }
+      y.value = 0, J.success("机器人和管件已重置");
+    }, Se = () => {
+      console.log("当前管件Mesh:", m.value);
+    }, $e = (l) => {
+      a.value && pe(), Y(l);
+    }, Ae = () => {
+      a.value && pe(), !(y.value + 1 >= p.value.length) && Y(y.value + 1);
+    }, ze = () => {
+      a.value && pe(), y.value !== 0 && Y(y.value - 1);
+    }, Fe = async () => {
+      if (Z.value.length === 0) {
+        J.warning("没有可导出的表头");
+        return;
+      }
+      const l = Z.value.join("	");
+      try {
+        await navigator.clipboard.writeText(l), J.success("表头已成功复制到剪贴板！");
+      } catch (t) {
+        console.error("复制失败:", t), J.error("复制失败，请检查浏览器权限或手动复制。");
+      }
+    }, Ye = () => {
+      if (!b.value.trim()) {
+        J.warning("导入内容不能为空");
+        return;
+      }
+      const l = b.value.trim().split(`
+`).filter((F) => F.trim() !== "");
+      if (l.length < 2) {
+        J.error("导入数据至少需要包含表头行和一行数据");
+        return;
+      }
+      const t = l[0].split("	").map((F) => F.trim()), c = {};
+      if (t.forEach((F, U) => {
+        Z.value.includes(F) && (c[U] = F);
+      }), Object.keys(c).length === 0) {
+        J.error("没有找到匹配的表头，请检查表头名称是否正确");
+        return;
+      }
+      const d = l.slice(1).map((F) => {
+        const U = F.split("	"), r = {};
+        return Z.value.forEach((n) => {
+          r[n] = "0";
+        }), Object.entries(c).forEach(([n, q]) => {
+          const v = U[parseInt(n)];
+          v !== void 0 && v.trim() !== "" && (r[q] = v.trim());
+        }), r;
+      });
+      d.length > 0 ? (p.value = d, J.success(`成功导入 ${d.length} 行数据！`), u.value = !1, b.value = "") : J.error("未能解析到有效数据，请检查格式。");
+    }, Pe = (l) => `第 ${l + 1} 帧`;
+    return Ge(() => {
+      se(), M = !0;
+    }), g({ playAnimation: Ce, stopAnimation: pe, forwardFrame: Ae, backwardFrame: ze }), (l, t) => {
+      const c = N("el-icon"), x = N("el-input-number"), d = N("el-form-item"), F = N("el-form"), U = N("el-slider"), r = N("el-progress"), n = N("el-input"), q = N("el-dialog");
+      return ne(), ge("div", Dt, [
+        o("div", Vt, [
+          e(ie, {
+            onClick: S,
+            modelValue: "获取数据"
+          }),
+          e(ie, {
+            onClick: Fe,
+            disabled: Z.value.length === 0,
+            modelValue: "导出表头"
+          }, null, 8, ["disabled"]),
+          e(ie, {
+            modelValue: "播放",
+            onClick: Ce,
+            disabled: p.value.length === 0 || a.value,
+            buttonType: "primary"
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+            default: z(() => [
+              a.value ? (ne(), De(c, {
+                key: 0,
+                class: "is-loading"
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+                default: z(() => [
+                  e(B(lt))
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+                _: 1
+              })) : me("", !0)
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+            _: 1
+          }, 8, ["disabled"]),
+          e(ie, {
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+            modelValue: "停止",
+            buttonType: "danger"
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+          e(ie, {
+            onClick: Re,
+            modelValue: "重置",
+            buttonType: "primary"
+          }),
+          e(ie, {
+            onClick: Se,
+            modelValue: "测试功能",
+            buttonType: "primary"
+          })
+        ]),
+        p.value.length > 0 ? (ne(), ge("div", Rt, [
+          o("div", St, [
+            e(F, {
+              "label-width": "auto",
+              style: { width: "100%" }
+            }, {
+              default: z(() => [
+                e(d, {
+                  label: "帧间隔 (ms):",
+                  prop: "frameDuration"
+                }, {
+                  default: z(() => [
+                    e(x, {
+                      modelValue: _.value,
+                      "onUpdate:modelValue": t[0] || (t[0] = (v) => _.value = v),
+                      min: 100,
+                      max: 5e3,
+                      step: 100,
+                      style: { width: "100%" }
+                    }, null, 8, ["modelValue"])
+                  ]),
+                  _: 1
+                }),
+                e(d, {
+                  label: "管件总长 (mm):",
+                  prop: "initialPipeLength"
+                }, {
+                  default: z(() => [
+                    e(x, {
+                      modelValue: $.value,
+                      "onUpdate:modelValue": t[1] || (t[1] = (v) => $.value = v),
+                      min: 0,
+                      style: { width: "100%" }
+                    }, null, 8, ["modelValue"])
+                  ]),
+                  _: 1
+                }),
+                e(d, {
+                  label: "管件半径 (mm):",
+                  prop: "pipeRadius"
+                }, {
+                  default: z(() => [
+                    e(x, {
+                      modelValue: A.value,
+                      "onUpdate:modelValue": t[2] || (t[2] = (v) => A.value = v),
+                      min: 0,
+                      style: { width: "100%" }
+                    }, null, 8, ["modelValue"])
+                  ]),
+                  _: 1
+                }),
+                e(d, {
+                  label: "夹持长度 (mm):",
+                  prop: "clampLength"
+                }, {
+                  default: z(() => [
+                    e(x, {
+                      modelValue: G.value,
+                      "onUpdate:modelValue": t[3] || (t[3] = (v) => G.value = v),
+                      min: 0,
+                      style: { width: "100%" }
+                    }, null, 8, ["modelValue"])
+                  ]),
+                  _: 1
+                })
+              ]),
+              _: 1
+            })
+          ]),
+          t[10] || (t[10] = o("div", { class: "control-row" }, [
+            o("label", null, "管件 Mesh:")
+          ], -1)),
+          o("div", $t, [
+            t[8] || (t[8] = o("label", null, "当前帧:", -1)),
+            o("span", At, ve(y.value + 1) + " / " + ve(p.value.length), 1)
+          ]),
+          o("div", zt, [
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+            e(U, {
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+              "onUpdate:modelValue": t[4] || (t[4] = (v) => y.value = v),
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+              max: p.value.length > 0 ? p.value.length - 1 : 0,
+              step: 1,
+              "format-tooltip": Pe,
+              onInput: $e,
+              disabled: p.value.length === 0,
+              style: { "flex-grow": "1", margin: "0 10px" }
+            }, null, 8, ["modelValue", "max", "disabled"])
+          ]),
+          o("div", Ft, [
+            e(r, {
+              percentage: i.value,
+              "show-text": !1,
+              "stroke-width": 6
+            }, null, 8, ["percentage"])
+          ])
+        ])) : me("", !0),
+        e(q, {
+          modelValue: u.value,
+          "onUpdate:modelValue": t[7] || (t[7] = (v) => u.value = v),
+          title: "导入数据",
+          width: "500px"
+        }, {
+          footer: z(() => [
+            o("span", Yt, [
+              e(ie, {
+                modelValue: "取消",
+                onClick: t[6] || (t[6] = (v) => u.value = !1)
+              }),
+              e(ie, {
+                modelValue: "确认导入",
+                onClick: Ye,
+                type: "primary"
+              })
+            ])
+          ]),
+          default: z(() => [
+            t[11] || (t[11] = o("p", { class: "import-instructions" }, " 请从Excel或csv中复制数据 (首行为表头, Tab分隔) ", -1)),
+            e(n, {
+              modelValue: b.value,
+              "onUpdate:modelValue": t[5] || (t[5] = (v) => b.value = v),
+              type: "textarea",
+              rows: 10,
+              placeholder: W.value
+            }, null, 8, ["modelValue", "placeholder"])
+          ]),
+          _: 1,
+          __: [11]
+        }, 8, ["modelValue"])
+      ]);
+    };
+  }
+}), Lt = /* @__PURE__ */ je(Bt, [["__scopeId", "data-v-e955dfd2"]]), jt = "http://139.196.154.85:20018";
+function Ut(k, g = !1) {
+  return console.log(k, "data"), nt({
+    url: `${jt}/api/pipeBendingTraditional/pipeAnsys/${g}`,
+    method: "post",
+    data: k
+  });
+}
+const Et = { class: "pipe-analysis-dialog-header" }, Ot = { class: "header-right" }, Xt = { class: "pipe-analysis-dialog-body" }, Zt = { class: "panel-left" }, Jt = { class: "pipe-analysis-input" }, Gt = { class: "input-params" }, It = { class: "step-label" }, Nt = { class: "button-group" }, qt = { class: "upload-content" }, Ht = { class: "file-item" }, Wt = { key: 0 }, Kt = { class: "pipe-analysis-output" }, Qt = { class: "ouput-params" }, el = /* @__PURE__ */ Le({
+  __name: "pipeAnalysisPanel",
+  emits: ["nodeClick", "visibleChange", "updatePosition", "updateRotation"],
+  setup(k, { expose: g, emit: T }) {
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+      initThreeJS: V,
+      handleResize: f,
+      cleanup: D,
+      clearAllModels: S,
+      addModelAndFit: p
+    } = Xe(s), u = C(null), b = C({ file: null }), a = C(null), y = C(!1), i = () => {
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+      (L = u.value) == null || L.click();
+    }, _ = async (L) => {
+      var Z;
+      const H = (Z = L.target.files) == null ? void 0 : Z[0];
+      H && (a.value = H);
+    };
+    C("ybcr");
+    const h = C({
+      form: {},
+      list: [],
+      reverse: !1
+    }), M = async () => {
+      var L;
+      if (!a.value) {
+        J.warning("请先选择文件");
+        return;
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+      try {
+        y.value = !0;
+        const w = new FormData();
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+        ((L = h.value) == null ? void 0 : L.reverse) == !0 && (H = !0);
+        const { data: { data: Z } = {} } = await Ut(w, H);
+        m(Z), J.success("提交成功");
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+        J.error("提交失败，请重试"), console.error("提交错误:", w);
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+        y.value = !1;
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+    }, m = (L) => {
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+        length: w,
+        outerDiameter: H,
+        innerDiameter: Z,
+        thickness: W
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+    }, R = () => {
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+          B: le,
+          C: j,
+          R: oe
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+      p(K);
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+    return ce(() => h, () => {
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+    }, {
+      deep: !0
+    }), ce(() => s, () => {
+      try {
+        if (P.value)
+          return;
+        V(), window.addEventListener("resize", f);
+      } catch (L) {
+        console.error("Three.js 初始化失败:", L), J.error("渲染引擎初始化失败！");
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+    }, {
+      deep: !0
+    }), Oe(() => {
+      window.removeEventListener("resize", f), D();
+    }), g({ openDialog: ae }), (L, w) => {
+      const H = N("el-icon"), Z = N("el-button"), W = N("el-form-item"), K = N("el-form"), ue = N("el-option"), se = N("el-select"), le = N("el-input"), j = N("el-table-column"), oe = N("el-table");
+      return ne(), De(it, {
+        class: "pipe-analysis-dialog",
+        visible: A.value,
+        onBeforeDestroy: L.onDestroy,
+        showClose: !1,
+        fullScreen: X.value
+      }, {
+        header: z(() => [
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+              title: "管件解析"
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+                default: z(() => [
+                  e(B(at), { onClick: $ })
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+              e(H, null, {
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+          o("div", Xt, [
+            o("div", Zt, [
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+                    model: b.value,
+                    "label-width": "auto",
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+                    default: z(() => [
+                      e(W, { label: "step文件" }, {
+                        label: z(() => [
+                          o("div", It, [
+                            w[7] || (w[7] = o("div", null, " step文件 ", -1)),
+                            o("div", Nt, [
+                              e(ie, {
+                                emptyColor: !0,
+                                onClickTrigger: i,
+                                modelValue: "上传"
+                              }),
+                              o("input", {
+                                type: "file",
+                                ref_key: "fileInput",
+                                ref: u,
+                                accept: ".step,.csv",
+                                onChange: _,
+                                style: { display: "none" }
+                              }, null, 544),
+                              e(Z, {
+                                type: "primary",
+                                onClick: M,
+                                loading: y.value,
+                                disabled: !a.value
+                              }, {
+                                default: z(() => w[6] || (w[6] = [
+                                  Ie(" 解析 ")
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+                                _: 1,
+                                __: [6]
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+                        default: z(() => {
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+                          return [
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+                              o("div", Ht, [
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+                      "onUpdate:modelValue": w[0] || (w[0] = (Y) => h.value.reverse = Y),
+                      placeholder: "请选择加工方向"
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+                      default: z(() => [
+                        e(ue, {
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+                          value: !1
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+                        e(ue, {
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+                      _: 1
+                    }, 8, ["modelValue"])
+                  ]),
+                  _: 1
+                }),
+                w[9] || (w[9] = o("span", { class: "item-view-group" }, [
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+                o("div", Qt, [
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+                    model: h.value.form,
+                    "label-width": "auto",
+                    "label-position": "top",
+                    inline: !0
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+                    default: z(() => [
+                      e(W, { label: "管长" }, {
+                        default: z(() => [
+                          e(le, {
+                            modelValue: h.value.form.length,
+                            "onUpdate:modelValue": w[1] || (w[1] = (Y) => h.value.form.length = Y)
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+                        default: z(() => [
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+                            "onUpdate:modelValue": w[4] || (w[4] = (Y) => h.value.form.thickness = Y)
+                          }, null, 8, ["modelValue"])
+                        ]),
+                        _: 1
+                      })
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+                  e(oe, {
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+                    "highlight-current-rowstyle": "width: 100%"
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+                        width: "50"
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+              class: "panel-right",
+              ref_key: "threejsContainer",
+              ref: s
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+  class: "pipe-container"
+}, al = {
+  ref: "pipe2",
+  class: "pipe-container"
+}, sl = { class: "buttonGroup-top" }, il = { class: "buttonGroup-topLeft" }, rl = { class: "buttonGroup-left" }, ul = { class: "buttonGroup-right" }, cl = { class: "buttonGroup-bottom" }, pl = { class: "top-panel" }, dl = { class: "panel-header" }, ml = { class: "panel-body" }, vl = { class: "left-panel" }, fl = { class: "panel-header" }, gl = { class: "panel-body" }, hl = {
+  key: 1,
+  class: "clipping-content"
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+  key: 0,
+  class: "loading-overlay"
+}, Ml = /* @__PURE__ */ Le({
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+  emits: ["getAnimationData", "getThreeData"],
+  setup(k, { emit: g }) {
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+      resetView: R,
+      initThreeJS: X,
+      handleResize: $,
+      getThreeJSObjects: A,
+      cleanup: G,
+      setModels: ae,
+      axesHelperVisible: L,
+      toggleAxesVisibility: w,
+      zoomIn: H,
+      zoomOut: Z
+    } = Xe(V), { loadSceneFromFile: W } = Ke(
+      A,
+      m,
+      D,
+      S
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+    }, l = (r) => {
+      p.value = !0, u.value = r, r === "剖面视图" && !le.value && oe();
+    }, t = (r) => {
+      b.value = !0, a.value = r, r === "动画仿真" && T("getAnimationData");
+    }, c = () => {
+      T("getThreeData");
+    }, x = () => {
+      var r;
+      (r = M == null ? void 0 : M.value) == null || r.playAnimation();
+    }, d = () => {
+      var r;
+      (r = M == null ? void 0 : M.value) == null || r.stopAnimation();
+    }, F = () => {
+      var r;
+      (r = M == null ? void 0 : M.value) == null || r.forwardFrame();
+    }, U = () => {
+      var r;
+      (r = M == null ? void 0 : M.value) == null || r.backwardFrame();
+    };
+    return ce(() => s.fileBlobs, (r) => {
+      if (r && r.length > 0) {
+        const n = r[0];
+        if (!n.name.toLowerCase().endsWith(".urdf"))
+          return;
+        W(n).then((q) => {
+          _.value = q;
+        }).catch((q) => {
+          console.error("加载URDF文件时发生错误:", q), J.error("加载urdf模型失败"), _.value = null;
+        });
+      } else
+        _.value = null;
+    }, {
+      immediate: !0,
+      deep: !0
+    }), ce(_, (r) => {
+      ae(r ? [r] : []), Ce();
+    }), Ne(async () => {
+      await qe();
+      try {
+        X(), window.addEventListener("resize", $);
+        const r = A();
+        h.value = r.scene;
+      } catch (r) {
+        console.error("Three.js 初始化失败:", r), J.error("渲染引擎初始化失败！");
+      }
+    }), Oe(() => {
+      u.value = "", a.value = "", window.removeEventListener("resize", $), K.value && se(), G(), Ae();
+    }), (r, n) => {
+      const q = N("el-scrollbar");
+      return ne(), ge("div", ll, [
+        Q(o("div", {
+          ref_key: "threejsContainer",
+          ref: V,
+          class: "threejs-container"
+        }, null, 512), [
+          [de, Fe.value]
+        ]),
+        Q(o("div", ol, [
+          o("div", nl, null, 512),
+          o("div", al, null, 512)
+        ], 512), [
+          [de, Ye.value]
+        ]),
+        o("div", sl, [
+          be(r.$slots, "button-top", { switchTopPanel: Pe }, void 0, !0),
+          e(E, {
+            name: "guanjianjiexi",
+            size: "34",
+            onClick: n[0] || (n[0] = (v) => Pe("弯管解析"))
+          }),
+          e(E, {
+            name: "guanjiekongzhi",
+            size: "34"
+          }),
+          e(E, {
+            name: "gongyishengcheng",
+            size: "34"
+          }),
+          e(E, {
+            name: "buchangshezhi",
+            size: "34"
+          }),
+          e(E, {
+            name: "shuchujiagongchengxu",
+            size: "34"
+          }),
+          be(r.$slots, "logout", {}, void 0, !0)
+        ]),
+        o("div", il, [
+          e(E, {
+            name: "viewReset",
+            size: "24",
+            onClick: B(R),
+            title: "重置"
+          }, null, 8, ["onClick"]),
+          e(E, {
+            name: "fangda",
+            size: "24",
+            title: "放大",
+            onClick: B(H)
+          }, null, 8, ["onClick"]),
+          e(E, {
+            name: "suoxiao",
+            size: "24",
+            title: "缩小",
+            onClick: B(Z)
+          }, null, 8, ["onClick"]),
+          e(E, {
+            name: "lookAround",
+            size: "24",
+            onClick: B(ue),
+            title: B(K) ? "停止动画" : "动画视图"
+          }, null, 8, ["onClick", "title"]),
+          e(E, {
+            name: "zuobiaoxi",
+            size: "24",
+            active: B(L),
+            onClick: ze,
+            title: "显隐坐标轴"
+          }, null, 8, ["active"])
+        ]),
+        o("div", rl, [
+          e(E, {
+            name: "jiegoushu",
+            size: "24",
+            onClick: n[1] || (n[1] = (v) => l("场景树")),
+            active: p.value && u.value === "场景树",
+            title: "场景树"
+          }, null, 8, ["active"]),
+          e(E, {
+            name: "clipping",
+            size: "24",
+            onClick: n[2] || (n[2] = (v) => l("剖面视图")),
+            active: p.value && u.value === "剖面视图",
+            title: "剖面视图"
+          }, null, 8, ["active"]),
+          e(E, {
+            name: "zhaozi",
+            size: "24",
+            onClick: n[3] || (n[3] = (v) => l("工件树")),
+            active: p.value && u.value === "工件树",
+            title: "工件 "
+          }, null, 8, ["active"]),
+          e(E, {
+            name: "donghuafangzhen",
+            size: "24",
+            onClick: n[4] || (n[4] = (v) => l("场景4"))
+          })
+        ]),
+        o("div", ul, [
+          be(r.$slots, "button-right", { switchRightPanel: t }, void 0, !0),
+          e(E, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          e(E, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          e(E, {
+            name: "guanjiekongzhi",
+            size: "24",
+            onClick: n[5] || (n[5] = (v) => t("关节控制")),
+            active: b.value && a.value === "关节控制",
+            title: "关节控制"
+          }, null, 8, ["active"]),
+          e(E, {
+            name: "donghuafangzhen",
+            size: "24",
+            title: "动画仿真",
+            onClick: n[6] || (n[6] = (v) => t("动画仿真")),
+            active: b.value && a.value === "动画仿真"
+          }, null, 8, ["active"]),
+          e(E, {
+            name: "donghuafangzhen",
+            size: "24",
+            title: "urdf动画",
+            onClick: n[7] || (n[7] = (v) => t("urdf动画")),
+            active: b.value && a.value === "urdf动画"
+          }, null, 8, ["active"]),
+          e(E, {
+            name: "donghuafangzhen",
+            size: "24"
+          })
+        ]),
+        o("div", cl, [
+          e(E, {
+            name: "kuaitui",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快退",
+            onClick: U
+          }),
+          e(E, {
+            name: "bofang",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "播放",
+            onClick: x
+          }),
+          e(E, {
+            name: "kuaijin",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快进",
+            onClick: F
+          }),
+          e(E, {
+            name: "zanting",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "暂停",
+            onClick: d
+          })
+        ]),
+        Q(o("div", pl, [
+          o("div", dl, [
+            o("span", null, ve(i.value), 1),
+            o("span", {
+              class: "close",
+              onClick: n[8] || (n[8] = (v) => y.value = !1)
+            }, " X ")
+          ]),
+          o("div", ml, [
+            e(q, { height: "100%" }, {
+              default: z(() => [
+                be(r.$slots, "top-panel", { topPanelType: i.value }, void 0, !0)
+              ]),
+              _: 3
+            })
+          ])
+        ], 512), [
+          [de, y.value]
+        ]),
+        Q(o("div", vl, [
+          o("div", fl, [
+            o("span", null, ve(u.value), 1),
+            o("span", {
+              class: "close",
+              onClick: n[9] || (n[9] = (v) => p.value = !1)
+            }, " X ")
+          ]),
+          o("div", gl, [
+            e(q, { height: "100%" }, {
+              default: z(() => {
+                var v;
+                return [
+                  u.value === "场景树" ? (ne(), De(wt, {
+                    key: 0,
+                    model: _.value
+                  }, null, 8, ["model"])) : me("", !0),
+                  u.value === "剖面视图" ? (ne(), ge("div", hl, [
+                    o("div", bl, [
+                      o("label", yl, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "none",
+                          "onUpdate:modelValue": n[10] || (n[10] = (I) => ke(j) ? j.value = I : null),
+                          onChange: n[11] || (n[11] = //@ts-ignore
+                          (...I) => B(Y) && B(Y)(...I))
+                        }, null, 544), [
+                          [xe, B(j)]
+                        ]),
+                        n[19] || (n[19] = o("span", { class: "radio-text" }, "无切割", -1))
+                      ]),
+                      o("label", _l, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "x",
+                          "onUpdate:modelValue": n[12] || (n[12] = (I) => ke(j) ? j.value = I : null),
+                          onChange: n[13] || (n[13] = //@ts-ignore
+                          (...I) => B(Y) && B(Y)(...I))
+                        }, null, 544), [
+                          [xe, B(j)]
+                        ]),
+                        n[20] || (n[20] = o("span", { class: "radio-text" }, "X轴切割", -1))
+                      ]),
+                      o("label", wl, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "y",
+                          "onUpdate:modelValue": n[14] || (n[14] = (I) => ke(j) ? j.value = I : null),
+                          onChange: n[15] || (n[15] = //@ts-ignore
+                          (...I) => B(Y) && B(Y)(...I))
+                        }, null, 544), [
+                          [xe, B(j)]
+                        ]),
+                        n[21] || (n[21] = o("span", { class: "radio-text" }, "Y轴切割", -1))
+                      ]),
+                      o("label", Cl, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "z",
+                          "onUpdate:modelValue": n[16] || (n[16] = (I) => ke(j) ? j.value = I : null),
+                          onChange: n[17] || (n[17] = //@ts-ignore
+                          (...I) => B(Y) && B(Y)(...I))
+                        }, null, 544), [
+                          [xe, B(j)]
+                        ]),
+                        n[22] || (n[22] = o("span", { class: "radio-text" }, "Z轴切割", -1))
+                      ])
+                    ])
+                  ])) : me("", !0),
+                  u.value === "工件树" ? (ne(), De(Qe, {
+                    key: 2,
+                    model: (v = B(pe)) == null ? void 0 : v.obj,
+                    onVisibleChange: B(Re),
+                    onUpdatePosition: B(Se),
+                    onUpdateRotation: B($e)
+                  }, null, 8, ["model", "onVisibleChange", "onUpdatePosition", "onUpdateRotation"])) : me("", !0)
+                ];
+              }),
+              _: 1
+            })
+          ])
+        ], 512), [
+          [de, p.value]
+        ]),
+        Q(o("div", Pl, [
+          o("div", kl, [
+            o("span", null, ve(a.value), 1),
+            o("span", {
+              class: "close",
+              onClick: n[18] || (n[18] = (v) => b.value = !1)
+            }, " X ")
+          ]),
+          o("div", xl, [
+            e(q, { height: "100%" }, {
+              default: z(() => [
+                Q(e(Ct, { model: _.value }, null, 8, ["model"]), [
+                  [de, a.value === "关节控制"]
+                ]),
+                Q(e(Lt, {
+                  ref_key: "animationPanelRef",
+                  ref: M,
+                  model: _.value,
+                  onGetThreeData: c,
+                  threeData: s.threeData
+                }, null, 8, ["model", "threeData"]), [
+                  [de, a.value === "动画仿真"]
+                ]),
+                be(r.$slots, "right-panel", { rightPanelType: a.value }, void 0, !0)
+              ]),
+              _: 3
+            })
+          ])
+        ], 512), [
+          [de, b.value]
+        ]),
+        D.value ? (ne(), ge("div", Tl, [
+          n[23] || (n[23] = o("div", { class: "loading-spinner" }, null, -1)),
+          o("p", null, ve(S.value), 1)
+        ])) : me("", !0),
+        e(tl, {
+          ref_key: "pipeAnalysisPanelRef",
+          ref: f
+        }, null, 512)
+      ]);
+    };
+  }
+}), Ol = /* @__PURE__ */ je(Ml, [["__scopeId", "data-v-3bada747"]]);
+export {
+  Ol as default
+};