ss-component-new 1.2.4 → 1.2.6

package/dist/threeSceneView-DV5dsTZZ.js

@@ -0,0 +1,1471 @@
+import { defineComponent as je, ref as h, watch as re, shallowRef as he, computed as Pe, onUnmounted as Ne, resolveComponent as N, createElementBlock as be, openBlock as le, createElementVNode as o, createCommentVNode as de, createVNode as e, withCtx as z, createBlock as $e, unref as L, toDisplayString as me, onBeforeUnmount as Ze, createTextVNode as qe, onMounted as He, nextTick as We, withDirectives as Q, vShow as pe, renderSlot as we, isRef as De, vModelRadio as Ve } from "vue";
+import { U as Ke, r as Re, s as Le, u as Qe, a as et, W as tt } from "./useRayCaster-D0_7oJan.js";
+import { u as Je, a as lt, b as ot, S as E } from "./iconfont-ljBfzBSE.js";
+import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DIMJusrg.js";
+import { E as G, a9 as nt, c as at, a as st, aM as it, ao as rt } from "./index-DV_ZZQBO.js";
+import "./index.vue_vue_type_style_index_1_lang-D5Hjs-g0.js";
+import "./index-BHtNKL1L.js";
+import { _ as ae, s as ut } from "./index-BMMYAqF1.js";
+import "./index.vue_vue_type_style_index_1_lang-hBa3nAgx.js";
+import { m as Ae, T as ke, V as O, k as te, l as ct, e as ye, n as pt, o as dt, i as mt, L as vt, p as ft, q as gt, r as ht, s as bt, t as yt, u as _t } from "./three-viewport-gizmo-BHznJ6W3.js";
+import "./index-CbDu4gfZ.js";
+import { f as wt, a as Ct } from "./animationData-GqECkAbz.js";
+import { _ as Ue } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+import { U as Pt, J as kt } from "./urdfTree-BuTtRGdl.js";
+const ee = 1e-3, se = ct.degToRad, Ee = new pt({
+  // 灰色
+  color: 13421772,
+  metalness: 0.3,
+  roughness: 0.6,
+  side: mt
+});
+function xt(P = 5e-3, f = 64) {
+  const x = new Ae([new O(0, 0, 0), new O(0, 0, 0)]), i = new ke(x, f, P, 16, !1), C = Ee;
+  return new ye(i, C);
+}
+const Ge = (P) => P.reduce((f, x) => {
+  let i = 0;
+  const C = x.Y ?? 0, D = x.C ?? 0, v = x.R ?? 0;
+  return C > 0 && (i += C), D > 0 && v > 0 && (i += v * se(D)), f + i;
+}, 0), Ie = (P) => {
+  const f = [], x = P.Y ?? 0, i = P.B ?? 0, C = P.C ?? 0, D = P.R ?? 0, v = {
+    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 (!x && !C) return f;
+  if (f.push(v.pos.clone()), i !== 0) {
+    const M = new te().makeRotationAxis(v.localY, se(i));
+    v.localX.applyMatrix4(M), v.localZ.applyMatrix4(M);
+  }
+  if (x > 0 && (v.pos.add(v.localY.clone().multiplyScalar(x * ee)), f.push(v.pos.clone())), C > 0 && D > 0) {
+    const M = se(C), R = D * ee, p = v.pos.clone().add(v.localX.clone().multiplyScalar(-R)), u = Math.max(16, Math.ceil(C / 5));
+    for (let b = 1; b <= u; b++) {
+      const a = M * b / u, y = new te().makeRotationAxis(v.localZ, a), _ = v.localX.clone().multiplyScalar(R).applyMatrix4(y), g = p.clone().add(_);
+      f.push(g);
+    }
+  }
+  return f;
+};
+function Tt(P, f) {
+  const x = new dt();
+  x.name = "CompletePipe";
+  const i = {
+    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 C = 0, D = 1;
+  for (let v = 0; v < P.length; v++) {
+    const M = P[v], R = M.Y ?? 0, p = M.B ?? 0, u = M.C ?? 0, b = M.R ?? 0;
+    if (p !== 0) {
+      const a = new te().makeRotationAxis(i.localY, se(p));
+      i.localX.applyMatrix4(a), i.localZ.applyMatrix4(a);
+    }
+    if (R > 0) {
+      const a = i.pos.clone();
+      i.pos.add(i.localY.clone().multiplyScalar(R * ee));
+      const y = i.pos.clone(), r = Dt(a, y, f * ee);
+      r.userData = {
+        segmentType: "straight",
+        segmentIndex: C,
+        frameIndex: v,
+        length: R,
+        frame: { Y: R, B: p, C: u, R: b }
+      }, r.name = `直段_${C}`, x.add(r);
+      const _ = a.clone();
+      Mt(x, D, _, f * ee), C++;
+    }
+    if (u > 0 && b > 0) {
+      const a = se(u), y = b * ee, r = [];
+      r.push(i.pos.clone());
+      const _ = i.pos.clone().add(i.localX.clone().multiplyScalar(-y)), g = Math.max(16, Math.ceil(u / 5));
+      for (let V = 1; V <= g; V++) {
+        const Z = a * V / g, S = new te().makeRotationAxis(i.localZ, Z), I = i.localX.clone().multiplyScalar(y).applyMatrix4(S), oe = _.clone().add(I);
+        r.push(oe);
+      }
+      const T = Vt(r, f * ee);
+      T.userData = {
+        segmentType: "bend",
+        segmentIndex: C,
+        frameIndex: v,
+        angle: u,
+        radius: b,
+        centerPoint: _.toArray(),
+        frame: { Y: R, B: p, C: u, R: b }
+      }, T.name = `弯段_${C}`, x.add(T), Math.floor(r.length / 2), r[0], i.pos = r[r.length - 1].clone();
+      const m = new te().makeRotationAxis(i.localZ, a);
+      i.localY.applyMatrix4(m), i.localX.applyMatrix4(m), C++, D++;
+    }
+  }
+  return x;
+}
+function Mt(P, f, x, i) {
+  const C = new O(0, i * 2, i * 5), D = x.clone().add(C), v = [x, D], M = new ft().setFromPoints(v), R = new gt({
+    color: 16711680,
+    dashSize: i * 0.5,
+    gapSize: i * 0.3,
+    linewidth: 1
+  }), p = new ht(M, R);
+  p.computeLineDistances(), P.add(p);
+  const u = document.createElement("canvas"), b = u.getContext("2d");
+  u.width = 128, u.height = 128, b.clearRect(0, 0, 128, 128), b.fillStyle = "#FF0000", b.font = "bold 80px Arial", b.textAlign = "center", b.textBaseline = "middle", b.fillText(f.toString(), 64, 64);
+  const a = new bt(u), y = new yt({
+    map: a,
+    transparent: !0,
+    depthTest: !1,
+    depthWrite: !1
+  }), r = new _t(y), _ = i * 3;
+  r.scale.set(_, _, 1), r.position.copy(D), r.name = `Label_${f}`, r.userData = { labelNumber: f }, P.add(r);
+}
+function Dt(P, f, x) {
+  const i = new vt(P, f), C = new ke(i, 2, x, 18, !1);
+  return new ye(C, Ee);
+}
+function Vt(P, f) {
+  const x = new Ae(P, !1, "catmullrom", 0.01), i = new ke(x, Math.max(16, P.length * 2), f, 18, !1);
+  return new ye(i, Ee);
+}
+function Se(P, f, x, i, C, D = 0) {
+  let v = f.slice(0, C + 1);
+  const M = f[C + 1];
+  if (M && D > 0) {
+    const r = {
+      ...M,
+      // 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: (M.B ?? 0) * 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
+      C: (M.C ?? 0) * D
+    };
+    v.push(r);
+  }
+  const R = Ge(v), p = Math.max(0, x - R), 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 r = v.length - 1; r >= 0; r--) {
+    const _ = v[r], g = Ie(_);
+    if (g.length > 0) {
+      const T = g.map((S) => {
+        const $ = S.clone(), I = new te();
+        return I.makeBasis(a.localX, a.localY, a.localZ), $.applyMatrix4(I), $.add(a.pos);
+      });
+      y.push(T);
+      const m = T[T.length - 1];
+      a.pos = m.clone();
+      const V = _.B ?? 0, Z = _.C ?? 0;
+      if (V !== 0) {
+        const S = new te().makeRotationAxis(a.localY, se(V));
+        a.localX.applyMatrix4(S), a.localZ.applyMatrix4(S);
+      }
+      if (Z > 0) {
+        const S = se(Z), $ = new te().makeRotationAxis(a.localZ, S);
+        a.localY.applyMatrix4($), a.localX.applyMatrix4($);
+      }
+    }
+  }
+  for (const r of y)
+    r.length > 1 && u.push(...r.slice(1));
+  u.length < 2 && u.push(new O(0, 1e-3, 0));
+  try {
+    const r = new Ae(u, !1, "catmullrom", 0.01), _ = new ke(r, Math.max(2, u.length * 4), i * ee, 18, !1);
+    P.geometry.dispose(), P.geometry = _;
+  } catch (r) {
+    console.error("管件更新失败", r);
+  }
+}
+function Xe(P, f, x, i = 0) {
+  let C = P.slice(0, x + 1);
+  const D = P[x + 1];
+  if (D && i > 0) {
+    const a = {
+      ...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) * i,
+      // 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) * i
+    };
+    C.push(a);
+  }
+  const v = Ge(C), M = Math.max(0, f - v), R = [];
+  R.push(new O(0, 0, 0));
+  const p = new O(0, M * ee, 0);
+  M > 0 && R.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 = C.length - 1; a >= 0; a--) {
+    const y = C[a], r = Ie(y);
+    if (r.length > 0) {
+      const _ = r.map((V) => {
+        const Z = V.clone(), S = new te();
+        return S.makeBasis(u.localX, u.localY, u.localZ), Z.applyMatrix4(S), Z.add(u.pos);
+      });
+      b.push(_);
+      const g = _[_.length - 1];
+      u.pos = g.clone();
+      const T = y.B ?? 0, m = y.C ?? 0;
+      if (T !== 0) {
+        const V = new te().makeRotationAxis(u.localY, se(T));
+        u.localX.applyMatrix4(V), u.localZ.applyMatrix4(V);
+      }
+      if (m > 0) {
+        const V = se(m), Z = new te().makeRotationAxis(u.localZ, V);
+        u.localY.applyMatrix4(Z), u.localX.applyMatrix4(Z);
+      }
+    }
+  }
+  for (const a of b)
+    a.length > 1 && R.push(...a.slice(1));
+  return R.length < 2 && R.push(new O(0, 1e-3, 0)), R;
+}
+function Ce(P, f, x, i, C, D, v, M = 0, R = 0) {
+  const p = C - R, u = Xe(i, p, v, M);
+  let a = Xe(x, R, v, M);
+  a.forEach((r) => r.y = -r.y), a.reverse();
+  const y = [...a, ...u];
+  try {
+    const r = new Ae(y, !1, "catmullrom", 0.01), _ = new ke(r, Math.max(2, y.length * 4), D * ee, 18, !1);
+    f.geometry.dispose(), P.geometry.dispose(), f.parent && f.parent.remove(f), P.geometry = _;
+  } catch (r) {
+    console.error("管件更新失败", r);
+  }
+}
+const Rt = { class: "panel-content" }, St = { class: "action-bar" }, $t = {
+  key: 0,
+  class: "animation-controls"
+}, At = { class: "control-row" }, zt = { class: "control-row" }, Ft = { class: "frame-info" }, Yt = { class: "control-row" }, Bt = { class: "progress-bar" }, Lt = { class: "dialog-footer" }, jt = /* @__PURE__ */ je({
+  __name: "animationPanel",
+  props: {
+    model: {},
+    threeData: {}
+  },
+  emits: ["getThreeData"],
+  setup(P, { expose: f, emit: x }) {
+    const i = P, C = x, D = h(), v = h(), M = h();
+    re(() => i.threeData, (n) => {
+      const l = n == null ? void 0 : n.data;
+      M.value = l == null ? void 0 : l.type;
+    }, {
+      immediate: !0
+    });
+    const R = async () => {
+      if (!sessionStorage.getItem("systemKey")) {
+        C("getThreeData");
+        return;
+      }
+      let l = {};
+      M.value === Re.SINGLE && (l = await wt()), M.value === Re.DOUBLE && (l = await Ct());
+      const {
+        initialPipeLength: c = 0,
+        pipeRadius: k = 0,
+        clampLength: d = 0,
+        animationData: s
+      } = l;
+      S.value = c, $.value = k, I.value = d, D.value = s;
+      const t = at(D.value);
+      p.value = (t == null ? void 0 : t["输出（动画数据）"]) || [];
+      let U = (t == null ? void 0 : t["输出（动画数据）Content"]) ?? [];
+      U && (v.value = U);
+    }, p = h([]), u = h(!1), b = h(""), a = h(!1), y = h(0), r = h(0), _ = h(1e3), g = h(null);
+    let T = !1;
+    const m = he(null), V = he(null), Z = he(null), S = h(1302), $ = h(12.5), I = h(30), oe = h([]), j = h(null), w = Pe(() => i.model ? Object.values(i.model.joints).filter((n) => n.jointType !== "fixed").map((n) => n.name) : []), q = h(["Y", "B", "C", "R"]), J = Pe(() => [...w.value, ...q.value]), H = Pe(() => J.value.length > 0 ? `请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
+${J.value.join("	")}
+0	0	0	...
+1	2	3	...` : "请先加载模型。"), K = (n, l) => {
+      if (!l)
+        return null;
+      const c = n.joints[l];
+      if (!c)
+        return console.warn(`在模型中未找到名为 '${l}' 的 Joint`), null;
+      let k = null;
+      return c.traverse((d) => {
+        d instanceof ye && !k && (k = d);
+      }), k || console.warn(`在 Joint '${l}' 中未找到可用的 Mesh 对象`), k;
+    }, ie = (n, l) => {
+      if (!l)
+        return null;
+      const c = n.joints[l];
+      return c || (console.warn(`在模型中未找到名为 '${l}' 的 Joint`), console.log("可用的链接:", Object.keys(n.links)), null);
+    }, ne = () => {
+      Z.value && (Z.value.visible = !0), m.value && m.value.parent && m.value.parent.remove(m.value), Z.value = null, m.value = null, V.value = null;
+    };
+    re(J, (n, l) => {
+      if (JSON.stringify(n) !== JSON.stringify(l))
+        if (n.length > 0) {
+          const c = n.reduce((k, d) => (k[d] = "0", k), {});
+          p.value = [c];
+        } else
+          p.value = [];
+    }, { immediate: !0 });
+    const W = h(0), X = (n) => {
+      W.value = n;
+    }, ue = (n, l) => {
+      const c = ie(n, l), k = xt();
+      k.visible = !1, c == null || c.add(k), X(W.value + 1);
+    };
+    re(() => i.model, (n) => {
+      ne(), n ? (g.value = new Ke(n), oe.value = Object.keys(n.links), j.value = "Pipe_Joint", ue(n, j.value), Te()) : (g.value = null, oe.value = [], j.value = null);
+    }, { immediate: !0 }), re([j, I, W], ([n, l]) => {
+      if (ne(), i.model && n) {
+        const c = K(i.model, n);
+        if (console.log(c, "meshToReplace"), c && c.parent) {
+          Z.value = c;
+          const k = new ye(
+            c.geometry.clone(),
+            c.material
+          );
+          if (k.name = "managed_pipe_clone", c.parent.add(k), k.position.copy(c.position), k.rotation.copy(c.rotation), k.scale.copy(c.scale), c.visible = !1, M.value === Re.SINGLE && (k.position.y -= l * 1e-3), m.value = k, M.value === Re.DOUBLE) {
+            const d = new ye(
+              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), V.value = d;
+          }
+          m.value && V.value && Ce(
+            m.value,
+            V.value,
+            [],
+            [],
+            S.value,
+            $.value,
+            0,
+            0,
+            I.value
+          );
+        } else
+          n && console.warn(`在 link '${n}' 中未找到可替换的网格或其没有父级。`);
+      }
+    });
+    const F = () => p.value.map((n) => ({
+      Y: parseFloat(n.Y) || 0,
+      B: parseFloat(n.B) || 0,
+      C: parseFloat(n.C) || 0,
+      R: parseFloat(n.R) || 0
+    })), ve = () => {
+      const n = [], l = [];
+      return p.value.forEach((c) => {
+        const { Y1: k, B1: d, C1: s, R1: t, Y2: U, B2: Y, C2: B, R2: A } = c;
+        n.push({
+          Y: parseFloat(k) || 0,
+          B: parseFloat(d) || 0,
+          C: parseFloat(s) || 0,
+          R: parseFloat(t) || 0
+        }), l.push({
+          Y: parseFloat(U) || 0,
+          B: parseFloat(Y) || 0,
+          C: parseFloat(B) || 0,
+          R: parseFloat(A) || 0
+        });
+      }), {
+        posPipeYbcr: n,
+        negPipeYbcr: l
+      };
+    }, _e = (n) => {
+      if (n < 0 || n >= p.value.length) {
+        console.error(`帧索引 ${n} 超出范围`);
+        return;
+      }
+      const l = p.value[n];
+      if (console.log(`应用第 ${n} 帧数据 ${l}`), y.value = n, g.value) {
+        const c = {};
+        w.value.forEach((k) => {
+          const d = parseFloat(l[k]);
+          isNaN(d) || (c[k] = d);
+        }), g.value.setJointAngles(c);
+      }
+      if (m.value && V.value) {
+        const c = ve();
+        console.log("ybcr数据：", c), Ce(
+          m.value,
+          V.value,
+          c.posPipeYbcr,
+          c.negPipeYbcr,
+          S.value,
+          $.value,
+          n,
+          0,
+          I.value
+        );
+        return;
+      }
+      if (m.value) {
+        const c = F();
+        console.log("ybcr数据：", c), Se(
+          m.value,
+          c,
+          S.value,
+          $.value,
+          n,
+          0
+        );
+        return;
+      }
+    }, xe = async () => {
+      if (p.value.length === 0) {
+        G.error("无法播放动画：无数据");
+        return;
+      }
+      a.value = !0, T = !1;
+      const n = m.value ? F() : [];
+      try {
+        for (let l = y.value + 1; l < p.value.length && !T; l++) {
+          y.value = l;
+          const c = p.value[l], k = {};
+          g.value && w.value.forEach((d) => {
+            const s = parseFloat(c[d]);
+            isNaN(s) || (k[d] = s);
+          }), g.value ? await g.value.animateToState(
+            k,
+            _.value,
+            (d) => {
+              if (r.value = (l + d) / p.value.length * 100, m.value && V.value) {
+                const s = ve();
+                console.log("ybcr数据：", n), Ce(
+                  m.value,
+                  V.value,
+                  s.posPipeYbcr,
+                  s.negPipeYbcr,
+                  S.value,
+                  $.value,
+                  l - 1,
+                  d,
+                  I.value
+                );
+              } else m.value && Se(m.value, n, S.value, $.value, l - 1, d);
+            }
+          ) : m.value && V.value ? await new Promise((d) => {
+            const s = performance.now();
+            let t;
+            const U = (Y) => {
+              if (T) {
+                cancelAnimationFrame(t), d();
+                return;
+              }
+              const B = Y - s, A = Math.min(B / _.value, 1);
+              r.value = (l + A) / p.value.length * 100;
+              const Oe = ve();
+              Ce(
+                m.value,
+                V.value,
+                Oe.posPipeYbcr,
+                Oe.negPipeYbcr,
+                S.value,
+                $.value,
+                l - 1,
+                A,
+                I.value
+              ), A < 1 ? t = requestAnimationFrame(U) : d();
+            };
+            t = requestAnimationFrame(U);
+          }) : m.value ? await new Promise((d) => {
+            const s = performance.now();
+            let t;
+            const U = (Y) => {
+              if (T) {
+                cancelAnimationFrame(t), d();
+                return;
+              }
+              const B = Y - s, A = Math.min(B / _.value, 1);
+              r.value = (l + A) / p.value.length * 100, Se(m.value, n, S.value, $.value, l - 1, A), A < 1 ? t = requestAnimationFrame(U) : d();
+            };
+            t = requestAnimationFrame(U);
+          }) : (await new Promise((d) => setTimeout(d, _.value)), r.value = (l + 1) / p.value.length * 100);
+        }
+        T || G.success("动画播放完成");
+      } catch (l) {
+        console.error("动画播放出错:", l), G.error("动画播放出错");
+      } finally {
+        a.value = !1, r.value = 0;
+      }
+    }, ce = () => {
+      T = !0, a.value = !1, r.value = 0, G.info("动画已停止");
+    }, Te = () => {
+      if (g.value && g.value.resetToZero(), console.log("pipeMesh.value", m.value), m.value && V.value) {
+        const n = ve();
+        Ce(
+          m.value,
+          V.value,
+          n.posPipeYbcr,
+          n.negPipeYbcr,
+          S.value,
+          $.value,
+          -1,
+          0,
+          I.value
+        );
+      } else if (m.value) {
+        const n = F();
+        Se(
+          m.value,
+          n,
+          S.value,
+          $.value,
+          -1,
+          0
+        );
+      }
+      y.value = 0, G.success("机器人和管件已重置");
+    }, ze = () => {
+      console.log("当前管件Mesh:", m.value);
+    }, Fe = (n) => {
+      a.value && ce(), _e(n);
+    }, Ye = () => {
+      a.value && ce(), !(y.value + 1 >= p.value.length) && _e(y.value + 1);
+    }, Be = () => {
+      a.value && ce(), y.value !== 0 && _e(y.value - 1);
+    }, Me = async () => {
+      if (J.value.length === 0) {
+        G.warning("没有可导出的表头");
+        return;
+      }
+      const n = J.value.join("	");
+      try {
+        await navigator.clipboard.writeText(n), G.success("表头已成功复制到剪贴板！");
+      } catch (l) {
+        console.error("复制失败:", l), G.error("复制失败，请检查浏览器权限或手动复制。");
+      }
+    }, fe = () => {
+      if (!b.value.trim()) {
+        G.warning("导入内容不能为空");
+        return;
+      }
+      const n = b.value.trim().split(`
+`).filter((s) => s.trim() !== "");
+      if (n.length < 2) {
+        G.error("导入数据至少需要包含表头行和一行数据");
+        return;
+      }
+      const l = n[0].split("	").map((s) => s.trim()), c = {};
+      if (l.forEach((s, t) => {
+        J.value.includes(s) && (c[t] = s);
+      }), Object.keys(c).length === 0) {
+        G.error("没有找到匹配的表头，请检查表头名称是否正确");
+        return;
+      }
+      const d = n.slice(1).map((s) => {
+        const t = s.split("	"), U = {};
+        return J.value.forEach((Y) => {
+          U[Y] = "0";
+        }), Object.entries(c).forEach(([Y, B]) => {
+          const A = t[parseInt(Y)];
+          A !== void 0 && A.trim() !== "" && (U[B] = A.trim());
+        }), U;
+      });
+      d.length > 0 ? (p.value = d, G.success(`成功导入 ${d.length} 行数据！`), u.value = !1, b.value = "") : G.error("未能解析到有效数据，请检查格式。");
+    }, ge = (n) => `第 ${n + 1} 帧`;
+    return Ne(() => {
+      ne(), T = !0;
+    }), f({ playAnimation: xe, stopAnimation: ce, forwardFrame: Ye, backwardFrame: Be }), (n, l) => {
+      const c = N("el-icon"), k = N("el-input-number"), d = N("el-form-item"), s = N("el-form"), t = N("el-slider"), U = N("el-progress"), Y = N("el-input"), B = N("el-dialog");
+      return le(), be("div", Rt, [
+        o("div", St, [
+          e(ae, {
+            onClick: R,
+            modelValue: "获取数据"
+          }),
+          e(ae, {
+            onClick: Me,
+            disabled: J.value.length === 0,
+            modelValue: "导出表头"
+          }, null, 8, ["disabled"]),
+          e(ae, {
+            modelValue: "播放",
+            onClick: xe,
+            disabled: p.value.length === 0 || a.value,
+            buttonType: "primary"
+          }, {
+            default: z(() => [
+              a.value ? (le(), $e(c, {
+                key: 0,
+                class: "is-loading"
+              }, {
+                default: z(() => [
+                  e(L(nt))
+                ]),
+                _: 1
+              })) : de("", !0)
+            ]),
+            _: 1
+          }, 8, ["disabled"]),
+          e(ae, {
+            onClick: ce,
+            modelValue: "停止",
+            buttonType: "danger"
+          }),
+          e(ae, {
+            onClick: Te,
+            modelValue: "重置",
+            buttonType: "primary"
+          }),
+          e(ae, {
+            onClick: ze,
+            modelValue: "测试功能",
+            buttonType: "primary"
+          })
+        ]),
+        p.value.length > 0 ? (le(), be("div", $t, [
+          o("div", At, [
+            e(s, {
+              "label-width": "auto",
+              style: { width: "100%" }
+            }, {
+              default: z(() => [
+                e(d, {
+                  label: "帧间隔 (ms):",
+                  prop: "frameDuration"
+                }, {
+                  default: z(() => [
+                    e(k, {
+                      modelValue: _.value,
+                      "onUpdate:modelValue": l[0] || (l[0] = (A) => _.value = A),
+                      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(k, {
+                      modelValue: S.value,
+                      "onUpdate:modelValue": l[1] || (l[1] = (A) => S.value = A),
+                      min: 0,
+                      style: { width: "100%" }
+                    }, null, 8, ["modelValue"])
+                  ]),
+                  _: 1
+                }),
+                e(d, {
+                  label: "管件半径 (mm):",
+                  prop: "pipeRadius"
+                }, {
+                  default: z(() => [
+                    e(k, {
+                      modelValue: $.value,
+                      "onUpdate:modelValue": l[2] || (l[2] = (A) => $.value = A),
+                      min: 0,
+                      style: { width: "100%" }
+                    }, null, 8, ["modelValue"])
+                  ]),
+                  _: 1
+                }),
+                e(d, {
+                  label: "夹持长度 (mm):",
+                  prop: "clampLength"
+                }, {
+                  default: z(() => [
+                    e(k, {
+                      modelValue: I.value,
+                      "onUpdate:modelValue": l[3] || (l[3] = (A) => I.value = A),
+                      min: 0,
+                      style: { width: "100%" }
+                    }, null, 8, ["modelValue"])
+                  ]),
+                  _: 1
+                })
+              ]),
+              _: 1
+            })
+          ]),
+          l[10] || (l[10] = o("div", { class: "control-row" }, [
+            o("label", null, "管件 Mesh:")
+          ], -1)),
+          o("div", zt, [
+            l[8] || (l[8] = o("label", null, "当前帧:", -1)),
+            o("span", Ft, me(y.value + 1) + " / " + me(p.value.length), 1)
+          ]),
+          o("div", Yt, [
+            l[9] || (l[9] = o("label", null, "动画进度:", -1)),
+            e(t, {
+              modelValue: y.value,
+              "onUpdate:modelValue": l[4] || (l[4] = (A) => y.value = A),
+              min: 0,
+              max: p.value.length > 0 ? p.value.length - 1 : 0,
+              step: 1,
+              "format-tooltip": ge,
+              onInput: Fe,
+              disabled: p.value.length === 0,
+              style: { "flex-grow": "1", margin: "0 10px" }
+            }, null, 8, ["modelValue", "max", "disabled"])
+          ]),
+          o("div", Bt, [
+            e(U, {
+              percentage: r.value,
+              "show-text": !1,
+              "stroke-width": 6
+            }, null, 8, ["percentage"])
+          ])
+        ])) : de("", !0),
+        e(B, {
+          modelValue: u.value,
+          "onUpdate:modelValue": l[7] || (l[7] = (A) => u.value = A),
+          title: "导入数据",
+          width: "500px"
+        }, {
+          footer: z(() => [
+            o("span", Lt, [
+              e(ae, {
+                modelValue: "取消",
+                onClick: l[6] || (l[6] = (A) => u.value = !1)
+              }),
+              e(ae, {
+                modelValue: "确认导入",
+                onClick: fe,
+                type: "primary"
+              })
+            ])
+          ]),
+          default: z(() => [
+            l[11] || (l[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(Y, {
+              modelValue: b.value,
+              "onUpdate:modelValue": l[5] || (l[5] = (A) => b.value = A),
+              type: "textarea",
+              rows: 10,
+              placeholder: H.value
+            }, null, 8, ["modelValue", "placeholder"])
+          ]),
+          _: 1,
+          __: [11]
+        }, 8, ["modelValue"])
+      ]);
+    };
+  }
+}), Ut = /* @__PURE__ */ Ue(jt, [["__scopeId", "data-v-5c10c71a"]]), Et = "http://139.196.154.85:20018";
+function Ot(P, f = !1) {
+  return console.log(P, "data"), st({
+    url: `${Et}/api/pipeBendingTraditional/pipeAnsys/${f}`,
+    method: "post",
+    data: P
+  });
+}
+const Xt = { class: "pipe-analysis-dialog-header" }, Zt = { class: "header-right" }, Jt = { class: "pipe-analysis-dialog-body" }, Gt = { class: "panel-left" }, It = { class: "pipe-analysis-input" }, Nt = { class: "input-params" }, qt = { class: "step-label" }, Ht = { class: "button-group" }, Wt = { class: "upload-content" }, Kt = { class: "file-item" }, Qt = { key: 0 }, el = { class: "pipe-analysis-output" }, tl = { class: "ouput-params" }, ll = /* @__PURE__ */ je({
+  __name: "pipeAnalysisPanel",
+  emits: ["nodeClick", "visibleChange", "updatePosition", "updateRotation"],
+  setup(P, { expose: f, emit: x }) {
+    const i = h(null), C = he(null), {
+      initThreeJS: D,
+      handleResize: v,
+      cleanup: M,
+      clearAllModels: R,
+      addModelAndFit: p
+    } = Je(i), u = h(null), b = h({ file: null }), a = h(null), y = h(!1), r = () => {
+      var j;
+      (j = u.value) == null || j.click();
+    }, _ = async (j) => {
+      var J;
+      const q = (J = j.target.files) == null ? void 0 : J[0];
+      q && (a.value = q);
+    };
+    h("ybcr");
+    const g = h({
+      form: {},
+      list: [],
+      reverse: !1
+    }), T = async () => {
+      var j;
+      if (!a.value) {
+        G.warning("请先选择文件");
+        return;
+      }
+      try {
+        y.value = !0;
+        const w = new FormData();
+        w.set("file", a.value);
+        let q = !1;
+        ((j = g.value) == null ? void 0 : j.reverse) == !0 && (q = !0);
+        const { data: { data: J } = {} } = await Ot(w, q);
+        m(J), G.success("提交成功");
+      } catch (w) {
+        G.error("提交失败，请重试"), console.error("提交错误:", w);
+      } finally {
+        y.value = !1;
+      }
+    }, m = (j) => {
+      const { length: w, outerDiameter: q, innerDiameter: J, thickness: H, ybcrList: K } = j || {};
+      g.value.form = {
+        length: w,
+        outerDiameter: q,
+        innerDiameter: J,
+        thickness: H
+      }, g.value.list = K;
+    }, V = () => {
+      const { form: j, list: w } = g.value, {
+        outerDiameter: q
+      } = j, J = q / 2, H = w == null ? void 0 : w.map((ie) => {
+        const { y: ne, b: W, c: X, r: ue } = ie;
+        return {
+          Y: ne,
+          B: W,
+          C: X,
+          R: ue
+        };
+      });
+      R();
+      const K = Tt(H, J);
+      p(K);
+    }, Z = h(!1), S = () => {
+      const j = Z.value;
+      Z.value = !j;
+    }, $ = h(!1), I = () => {
+      $.value = !1;
+    }, oe = () => {
+      $.value = !0;
+    };
+    return re(() => g, () => {
+      V();
+    }, {
+      deep: !0
+    }), re(() => i, () => {
+      try {
+        if (C.value)
+          return;
+        D(), window.addEventListener("resize", v);
+      } catch (j) {
+        console.error("Three.js 初始化失败:", j), G.error("渲染引擎初始化失败！");
+      }
+    }, {
+      deep: !0
+    }), Ze(() => {
+      window.removeEventListener("resize", v), M();
+    }), f({ openDialog: oe }), (j, w) => {
+      const q = N("el-icon"), J = N("el-button"), H = N("el-form-item"), K = N("el-form"), ie = N("el-option"), ne = N("el-select"), W = N("el-input"), X = N("el-table-column"), ue = N("el-table");
+      return le(), $e(ut, {
+        class: "pipe-analysis-dialog",
+        visible: $.value,
+        onBeforeDestroy: j.onDestroy,
+        showClose: !1,
+        fullScreen: Z.value
+      }, {
+        header: z(() => [
+          o("div", Xt, [
+            w[5] || (w[5] = o("div", {
+              class: "header-left",
+              title: "管件解析"
+            }, " 管件解析 ", -1)),
+            o("div", Zt, [
+              e(q, null, {
+                default: z(() => [
+                  e(L(it), { onClick: S })
+                ]),
+                _: 1
+              }),
+              e(q, null, {
+                default: z(() => [
+                  e(L(rt), { onClick: I })
+                ]),
+                _: 1
+              })
+            ])
+          ])
+        ]),
+        default: z(() => [
+          o("div", Jt, [
+            o("div", Gt, [
+              o("div", It, [
+                w[8] || (w[8] = o("span", { class: "item-view-group" }, [
+                  o("span", { class: "group-name-wrap" }, "输入")
+                ], -1)),
+                o("div", Nt, [
+                  e(K, {
+                    model: b.value,
+                    "label-width": "auto",
+                    "label-position": "top"
+                  }, {
+                    default: z(() => [
+                      e(H, { label: "step文件" }, {
+                        label: z(() => [
+                          o("div", qt, [
+                            w[7] || (w[7] = o("div", null, " step文件 ", -1)),
+                            o("div", Ht, [
+                              e(ae, {
+                                emptyColor: !0,
+                                onClickTrigger: r,
+                                modelValue: "上传"
+                              }),
+                              o("input", {
+                                type: "file",
+                                ref_key: "fileInput",
+                                ref: u,
+                                accept: ".step,.csv",
+                                onChange: _,
+                                style: { display: "none" }
+                              }, null, 544),
+                              e(J, {
+                                type: "primary",
+                                onClick: T,
+                                loading: y.value,
+                                disabled: !a.value
+                              }, {
+                                default: z(() => w[6] || (w[6] = [
+                                  qe(" 解析 ")
+                                ])),
+                                _: 1,
+                                __: [6]
+                              }, 8, ["loading", "disabled"])
+                            ])
+                          ])
+                        ]),
+                        default: z(() => {
+                          var F;
+                          return [
+                            o("div", Wt, [
+                              o("div", Kt, [
+                                a.value ? (le(), be("div", Qt, me((F = a.value) == null ? void 0 : F.name), 1)) : de("", !0)
+                              ])
+                            ])
+                          ];
+                        }),
+                        _: 1
+                      })
+                    ]),
+                    _: 1
+                  }, 8, ["model"])
+                ])
+              ]),
+              o("div", el, [
+                e(H, { label: "加工方向" }, {
+                  default: z(() => [
+                    e(ne, {
+                      modelValue: g.value.reverse,
+                      "onUpdate:modelValue": w[0] || (w[0] = (F) => g.value.reverse = F),
+                      placeholder: "请选择加工方向"
+                    }, {
+                      default: z(() => [
+                        e(ie, {
+                          label: "正向",
+                          value: !1
+                        }),
+                        e(ie, {
+                          label: "反向",
+                          value: !0
+                        })
+                      ]),
+                      _: 1
+                    }, 8, ["modelValue"])
+                  ]),
+                  _: 1
+                }),
+                w[9] || (w[9] = o("span", { class: "item-view-group" }, [
+                  o("span", { class: "group-name-wrap" }, "输出（弯管基础参数）")
+                ], -1)),
+                o("div", tl, [
+                  e(K, {
+                    model: g.value.form,
+                    "label-width": "auto",
+                    "label-position": "top",
+                    inline: !0
+                  }, {
+                    default: z(() => [
+                      e(H, { label: "管长" }, {
+                        default: z(() => [
+                          e(W, {
+                            modelValue: g.value.form.length,
+                            "onUpdate:modelValue": w[1] || (w[1] = (F) => g.value.form.length = F)
+                          }, null, 8, ["modelValue"])
+                        ]),
+                        _: 1
+                      }),
+                      e(H, { label: "外径" }, {
+                        default: z(() => [
+                          e(W, {
+                            modelValue: g.value.form.outerDiameter,
+                            "onUpdate:modelValue": w[2] || (w[2] = (F) => g.value.form.outerDiameter = F)
+                          }, null, 8, ["modelValue"])
+                        ]),
+                        _: 1
+                      }),
+                      e(H, { label: "内径" }, {
+                        default: z(() => [
+                          e(W, {
+                            modelValue: g.value.form.innerDiameter,
+                            "onUpdate:modelValue": w[3] || (w[3] = (F) => g.value.form.innerDiameter = F)
+                          }, null, 8, ["modelValue"])
+                        ]),
+                        _: 1
+                      }),
+                      e(H, { label: "壁厚" }, {
+                        default: z(() => [
+                          e(W, {
+                            modelValue: g.value.form.thickness,
+                            "onUpdate:modelValue": w[4] || (w[4] = (F) => g.value.form.thickness = F)
+                          }, null, 8, ["modelValue"])
+                        ]),
+                        _: 1
+                      })
+                    ]),
+                    _: 1
+                  }, 8, ["model"]),
+                  e(ue, {
+                    ref: "singleTableRef",
+                    data: g.value.list,
+                    "highlight-current-rowstyle": "width: 100%"
+                  }, {
+                    default: z(() => [
+                      e(X, {
+                        type: "index",
+                        width: "50"
+                      }),
+                      e(X, {
+                        property: "y",
+                        label: "Y"
+                      }),
+                      e(X, {
+                        property: "b",
+                        label: "B"
+                      }),
+                      e(X, {
+                        property: "c",
+                        label: "C"
+                      }),
+                      e(X, {
+                        property: "r",
+                        label: "R"
+                      })
+                    ]),
+                    _: 1
+                  }, 8, ["data"])
+                ])
+              ])
+            ]),
+            o("div", {
+              class: "panel-right",
+              ref_key: "threejsContainer",
+              ref: i
+            }, null, 512)
+          ])
+        ]),
+        _: 1
+      }, 8, ["visible", "onBeforeDestroy", "fullScreen"]);
+    };
+  }
+}), ol = /* @__PURE__ */ Ue(ll, [["__scopeId", "data-v-577e5f83"]]), nl = { class: "obj-viewer-container" }, al = { class: "pipe-comparison" }, sl = {
+  ref: "pipe1",
+  class: "pipe-container"
+}, il = {
+  ref: "pipe2",
+  class: "pipe-container"
+}, rl = { class: "buttonGroup-top" }, ul = { class: "buttonGroup-topLeft" }, cl = { class: "buttonGroup-left" }, pl = { class: "buttonGroup-right" }, dl = { class: "buttonGroup-bottom" }, ml = { class: "top-panel" }, vl = { class: "panel-header" }, fl = { class: "panel-body" }, gl = { class: "left-panel" }, hl = { class: "panel-header" }, bl = { class: "panel-body" }, yl = {
+  key: 1,
+  class: "clipping-content"
+}, _l = { class: "radio-group" }, wl = { class: "radio-label" }, Cl = { class: "radio-label" }, Pl = { class: "radio-label" }, kl = { class: "radio-label" }, xl = { class: "right-panel" }, Tl = { class: "panel-header" }, Ml = { class: "panel-body" }, Dl = {
+  key: 0,
+  class: "loading-overlay"
+}, Vl = /* @__PURE__ */ je({
+  __name: "threeSceneView",
+  props: {
+    fileBlobs: { default: () => [] },
+    animationData: { default: () => ({}) },
+    threeData: {}
+  },
+  emits: ["getAnimationData", "getThreeData"],
+  setup(P, { emit: f }) {
+    const x = f, i = P, C = h(Le.ROBOT), D = h(null), v = h(), M = h(!1), R = h(""), p = h(!1), u = h(""), b = h(!1), a = h(""), y = h(!1), r = h(""), _ = he(null), g = he(null), T = h(), {
+      currentModels: m,
+      resetView: V,
+      initThreeJS: Z,
+      handleResize: S,
+      getThreeJSObjects: $,
+      cleanup: I,
+      setModels: oe,
+      axesHelperVisible: j,
+      toggleAxesVisibility: w,
+      zoomIn: q,
+      zoomOut: J
+    } = Je(D), { loadSceneFromFile: H } = et(
+      $,
+      m,
+      M,
+      R
+    ), { isAnimating: K, toggleAnimation: ie, stopAnimation: ne } = lt($, m), { isClipping: W, activeClippingAxis: X, toggleClipping: ue, updateClippingPlanes: F } = ot($, m), { initRaycaster: ve, selectedObject3D: _e, setSelectedObjVisible: xe, updatePosition: ce, updateRotation: Te, dispose: ze } = Qe(D, $, m), Fe = () => {
+      w();
+    }, Ye = Pe(() => C.value === Le.ROBOT), Be = Pe(() => C.value === Le.PIPECOMPARSION), Me = (s) => {
+      var t;
+      r.value = s, r.value === "弯管解析" ? (t = v.value) == null || t.openDialog() : y.value = !0;
+    }, fe = (s) => {
+      p.value = !0, u.value = s, s === "剖面视图" && !W.value && ue();
+    }, ge = (s) => {
+      b.value = !0, a.value = s, s === "动画仿真" && x("getAnimationData");
+    }, n = () => {
+      x("getThreeData");
+    }, l = () => {
+      var s;
+      (s = T == null ? void 0 : T.value) == null || s.playAnimation();
+    }, c = () => {
+      var s;
+      (s = T == null ? void 0 : T.value) == null || s.stopAnimation();
+    }, k = () => {
+      var s;
+      (s = T == null ? void 0 : T.value) == null || s.forwardFrame();
+    }, d = () => {
+      var s;
+      (s = T == null ? void 0 : T.value) == null || s.backwardFrame();
+    };
+    return re(() => i.fileBlobs, (s) => {
+      if (s && s.length > 0) {
+        const t = s[0];
+        if (!t.name.toLowerCase().endsWith(".urdf"))
+          return;
+        H(t).then((U) => {
+          _.value = U;
+        }).catch((U) => {
+          console.error("加载URDF文件时发生错误:", U), G.error("加载urdf模型失败"), _.value = null;
+        });
+      } else
+        _.value = null;
+    }, {
+      immediate: !0,
+      deep: !0
+    }), re(_, (s) => {
+      oe(s ? [s] : []), ve();
+    }), He(async () => {
+      await We();
+      try {
+        Z(), window.addEventListener("resize", S);
+        const s = $();
+        g.value = s.scene;
+      } catch (s) {
+        console.error("Three.js 初始化失败:", s), G.error("渲染引擎初始化失败！");
+      }
+    }), Ze(() => {
+      u.value = "", a.value = "", window.removeEventListener("resize", S), K.value && ne(), I(), ze();
+    }), (s, t) => {
+      const U = N("el-scrollbar");
+      return le(), be("div", nl, [
+        Q(o("div", {
+          ref_key: "threejsContainer",
+          ref: D,
+          class: "threejs-container"
+        }, null, 512), [
+          [pe, Ye.value]
+        ]),
+        Q(o("div", al, [
+          o("div", sl, null, 512),
+          o("div", il, null, 512)
+        ], 512), [
+          [pe, Be.value]
+        ]),
+        o("div", rl, [
+          we(s.$slots, "button-top", { switchTopPanel: Me }, void 0, !0),
+          e(E, {
+            name: "guanjianjiexi",
+            size: "34",
+            onClick: t[0] || (t[0] = (Y) => Me("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"
+          }),
+          we(s.$slots, "logout", {}, void 0, !0)
+        ]),
+        o("div", ul, [
+          e(E, {
+            name: "viewReset",
+            size: "24",
+            onClick: L(V),
+            title: "重置"
+          }, null, 8, ["onClick"]),
+          e(E, {
+            name: "fangda",
+            size: "24",
+            title: "放大",
+            onClick: L(q)
+          }, null, 8, ["onClick"]),
+          e(E, {
+            name: "suoxiao",
+            size: "24",
+            title: "缩小",
+            onClick: L(J)
+          }, null, 8, ["onClick"]),
+          e(E, {
+            name: "lookAround",
+            size: "24",
+            onClick: L(ie),
+            title: L(K) ? "停止动画" : "动画视图"
+          }, null, 8, ["onClick", "title"]),
+          e(E, {
+            name: "zuobiaoxi",
+            size: "24",
+            active: L(j),
+            onClick: Fe,
+            title: "显隐坐标轴"
+          }, null, 8, ["active"])
+        ]),
+        o("div", cl, [
+          e(E, {
+            name: "jiegoushu",
+            size: "24",
+            onClick: t[1] || (t[1] = (Y) => fe("场景树")),
+            active: p.value && u.value === "场景树",
+            title: "场景树"
+          }, null, 8, ["active"]),
+          e(E, {
+            name: "clipping",
+            size: "24",
+            onClick: t[2] || (t[2] = (Y) => fe("剖面视图")),
+            active: p.value && u.value === "剖面视图",
+            title: "剖面视图"
+          }, null, 8, ["active"]),
+          e(E, {
+            name: "zhaozi",
+            size: "24",
+            onClick: t[3] || (t[3] = (Y) => fe("工件树")),
+            active: p.value && u.value === "工件树",
+            title: "工件 "
+          }, null, 8, ["active"]),
+          e(E, {
+            name: "donghuafangzhen",
+            size: "24",
+            onClick: t[4] || (t[4] = (Y) => fe("场景4"))
+          })
+        ]),
+        o("div", pl, [
+          we(s.$slots, "button-right", { switchRightPanel: ge }, void 0, !0),
+          e(E, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          e(E, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          e(E, {
+            name: "guanjiekongzhi",
+            size: "24",
+            onClick: t[5] || (t[5] = (Y) => ge("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: t[6] || (t[6] = (Y) => ge("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: t[7] || (t[7] = (Y) => ge("urdf动画")),
+            active: b.value && a.value === "urdf动画"
+          }, null, 8, ["active"]),
+          e(E, {
+            name: "donghuafangzhen",
+            size: "24"
+          })
+        ]),
+        o("div", dl, [
+          e(E, {
+            name: "kuaitui",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快退",
+            onClick: d
+          }),
+          e(E, {
+            name: "bofang",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "播放",
+            onClick: l
+          }),
+          e(E, {
+            name: "kuaijin",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快进",
+            onClick: k
+          }),
+          e(E, {
+            name: "zanting",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "暂停",
+            onClick: c
+          })
+        ]),
+        Q(o("div", ml, [
+          o("div", vl, [
+            o("span", null, me(r.value), 1),
+            o("span", {
+              class: "close",
+              onClick: t[8] || (t[8] = (Y) => y.value = !1)
+            }, " X ")
+          ]),
+          o("div", fl, [
+            e(U, { height: "100%" }, {
+              default: z(() => [
+                we(s.$slots, "top-panel", { topPanelType: r.value }, void 0, !0)
+              ]),
+              _: 3
+            })
+          ])
+        ], 512), [
+          [pe, y.value]
+        ]),
+        Q(o("div", gl, [
+          o("div", hl, [
+            o("span", null, me(u.value), 1),
+            o("span", {
+              class: "close",
+              onClick: t[9] || (t[9] = (Y) => p.value = !1)
+            }, " X ")
+          ]),
+          o("div", bl, [
+            e(U, { height: "100%" }, {
+              default: z(() => {
+                var Y;
+                return [
+                  u.value === "场景树" ? (le(), $e(Pt, {
+                    key: 0,
+                    model: _.value
+                  }, null, 8, ["model"])) : de("", !0),
+                  u.value === "剖面视图" ? (le(), be("div", yl, [
+                    o("div", _l, [
+                      o("label", wl, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "none",
+                          "onUpdate:modelValue": t[10] || (t[10] = (B) => De(X) ? X.value = B : null),
+                          onChange: t[11] || (t[11] = //@ts-ignore
+                          (...B) => L(F) && L(F)(...B))
+                        }, null, 544), [
+                          [Ve, L(X)]
+                        ]),
+                        t[19] || (t[19] = o("span", { class: "radio-text" }, "无切割", -1))
+                      ]),
+                      o("label", Cl, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "x",
+                          "onUpdate:modelValue": t[12] || (t[12] = (B) => De(X) ? X.value = B : null),
+                          onChange: t[13] || (t[13] = //@ts-ignore
+                          (...B) => L(F) && L(F)(...B))
+                        }, null, 544), [
+                          [Ve, L(X)]
+                        ]),
+                        t[20] || (t[20] = o("span", { class: "radio-text" }, "X轴切割", -1))
+                      ]),
+                      o("label", Pl, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "y",
+                          "onUpdate:modelValue": t[14] || (t[14] = (B) => De(X) ? X.value = B : null),
+                          onChange: t[15] || (t[15] = //@ts-ignore
+                          (...B) => L(F) && L(F)(...B))
+                        }, null, 544), [
+                          [Ve, L(X)]
+                        ]),
+                        t[21] || (t[21] = o("span", { class: "radio-text" }, "Y轴切割", -1))
+                      ]),
+                      o("label", kl, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "z",
+                          "onUpdate:modelValue": t[16] || (t[16] = (B) => De(X) ? X.value = B : null),
+                          onChange: t[17] || (t[17] = //@ts-ignore
+                          (...B) => L(F) && L(F)(...B))
+                        }, null, 544), [
+                          [Ve, L(X)]
+                        ]),
+                        t[22] || (t[22] = o("span", { class: "radio-text" }, "Z轴切割", -1))
+                      ])
+                    ])
+                  ])) : de("", !0),
+                  u.value === "工件树" ? (le(), $e(tt, {
+                    key: 2,
+                    model: (Y = L(_e)) == null ? void 0 : Y.obj,
+                    onVisibleChange: L(xe),
+                    onUpdatePosition: L(ce),
+                    onUpdateRotation: L(Te)
+                  }, null, 8, ["model", "onVisibleChange", "onUpdatePosition", "onUpdateRotation"])) : de("", !0)
+                ];
+              }),
+              _: 1
+            })
+          ])
+        ], 512), [
+          [pe, p.value]
+        ]),
+        Q(o("div", xl, [
+          o("div", Tl, [
+            o("span", null, me(a.value), 1),
+            o("span", {
+              class: "close",
+              onClick: t[18] || (t[18] = (Y) => b.value = !1)
+            }, " X ")
+          ]),
+          o("div", Ml, [
+            e(U, { height: "100%" }, {
+              default: z(() => [
+                Q(e(kt, { model: _.value }, null, 8, ["model"]), [
+                  [pe, a.value === "关节控制"]
+                ]),
+                Q(e(Ut, {
+                  ref_key: "animationPanelRef",
+                  ref: T,
+                  model: _.value,
+                  onGetThreeData: n,
+                  threeData: i.threeData
+                }, null, 8, ["model", "threeData"]), [
+                  [pe, a.value === "动画仿真"]
+                ]),
+                we(s.$slots, "right-panel", { rightPanelType: a.value }, void 0, !0)
+              ]),
+              _: 3
+            })
+          ])
+        ], 512), [
+          [pe, b.value]
+        ]),
+        M.value ? (le(), be("div", Dl, [
+          t[23] || (t[23] = o("div", { class: "loading-spinner" }, null, -1)),
+          o("p", null, me(R.value), 1)
+        ])) : de("", !0),
+        e(ol, {
+          ref_key: "pipeAnalysisPanelRef",
+          ref: v
+        }, null, 512)
+      ]);
+    };
+  }
+}), Zl = /* @__PURE__ */ Ue(Vl, [["__scopeId", "data-v-3bada747"]]);
+export {
+  Zl as default
+};