ss-component-new 1.2.57 → 1.2.59

package/dist/threeViewerHost-DvAkN_z-.js

@@ -1,322 +0,0 @@
-import { computed as _, defineComponent as Y, defineAsyncComponent as S, ref as B, watch as q, createElementBlock as O, openBlock as y, normalizeClass as J, createElementVNode as K, createBlock as P, createCommentVNode as L, renderSlot as p, unref as D, withCtx as T } from "vue";
-import { a as A, c3 as Q, p as N, s as H } from "./index-DsSA-OiE.js";
-import { u as z } from "./index-Ce_gZ72y.js";
-import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BZPnZF-N.js";
-import { _ as X } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-function ue(l) {
-  const m = sessionStorage.getItem("loginToken") ?? "123456";
-  return A({
-    url: "/api/sysFile/uploadFile",
-    method: "post",
-    data: l,
-    headers: {
-      Authorization: m,
-      "Content-Type": "multipart/form-data"
-    }
-  });
-}
-function Z(l) {
-  const m = sessionStorage.getItem("loginToken") ?? "123456";
-  return A({
-    url: "/api/sysFile/downloadFile",
-    method: "post",
-    data: l,
-    headers: {
-      Authorization: m,
-      Accept: "application/octet-stream"
-      // 明确要求返回二进制流
-    },
-    responseType: "blob"
-  });
-}
-function me(l) {
-  const m = sessionStorage.getItem("loginToken") ?? "123456";
-  return A({
-    url: "/api/sysFile/uploadFiles",
-    method: "post",
-    data: l,
-    headers: {
-      Authorization: m,
-      "Content-Type": "multipart/form-data"
-    }
-  });
-}
-const x = Q("threeState", {
-  state: () => ({
-    data: {
-      extension: "",
-      // 当url为blobUrl时，需以此作为判断依据
-      url: [],
-      data: {},
-      isThreeScene: !0
-    }
-  }),
-  actions: {
-    setData(l) {
-      this.data = l;
-    },
-    getData() {
-      return this.data;
-    }
-  }
-});
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-  }), f = ["uv", "cpt", "cyd"], E = ["urdf"], o = ["obj", "stl"], r = [...f, ...E, ...o], U = (t) => {
-    if (!g())
-      throw new Error("不是三维系统");
-    v.setData(t);
-  }, d = () => v.getData(), g = () => m.value === "three", c = (t) => {
-    const s = t == null ? void 0 : t.toLowerCase(), i = s == null ? void 0 : s.lastIndexOf(".");
-    let h = s;
-    return i >= 0 && (h = h == null ? void 0 : h.slice(i + 1)), h;
-  }, F = (t) => {
-    if (!t)
-      return !1;
-    const s = c(t);
-    return r == null ? void 0 : r.includes(s);
-  };
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-    setData: U,
-    isThreeSystem: g,
-    isUrdf: (t) => {
-      if (!t)
-        return !1;
-      const s = c(t);
-      return E == null ? void 0 : E.includes(s);
-    },
-    isGeneralFile: (t) => {
-      if (!t)
-        return !1;
-      const s = c(t);
-      return o == null ? void 0 : o.includes(s);
-    },
-    isTrackPathFile: (t) => {
-      if (!t)
-        return !1;
-      const s = c(t);
-      return f == null ? void 0 : f.includes(s);
-    },
-    isThreeFile: F,
-    isUseBackdrop: (t) => g() && F(t),
-    initTrackFileType: (t) => {
-      if (!t)
-        return {
-          isCpt: !1,
-          isCyd: !1,
-          isUv: !1
-        };
-      const s = c(t), i = f == null ? void 0 : f.find((R) => R === s);
-      return {
-        isCpt: i === "cpt",
-        isCyd: i === "cyd",
-        isUv: i === "uv"
-      };
-    },
-    getFileExtension: c,
-    extraExtension: k
-  };
-}
-const te = { class: "top-menu" }, ne = {
-  key: 4,
-  class: "loading"
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-  __name: "threeViewerHost",
-  props: {
-    fileUrls: { default: () => [] },
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-    extension: {},
-    animationData: { default: () => ({}) },
-    width: { default: "100%" },
-    height: { default: "100%" },
-    threeData: {},
-    componentType: {}
-  },
-  emits: ["getThreeData"],
-  setup(l, { emit: m }) {
-    const v = S(() => import("./threeSceneView-BYl4rYgi.js")), k = S(() => import("./threePreview-L8T-JdQL.js")), f = S(() => import("./threeTrackPathView-gTDb6Ckq.js")), E = S(() => import("./threeSceneViewForCPMPIP-C-o-rOZ9.js")), o = {
-      ROBOT_SCENE: "robot",
-      // 机器人场景
-      LATHE_SCENE: "latheScene",
-      // 机床场景  
-      CPMPIP_SCENE: "cpmpip",
-      // 重大专项场景
-      PREVIEW: "preview"
-      // 预览模式
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-    }), V = m, t = B([]), s = B(!1);
-    function i(e) {
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-        return console.error("无法解析URL以提取文件名:", e, n), "未知文件名";
-      }
-    }
-    async function h(e) {
-      let n, u;
-      if (/^https?:\/\//.test(e))
-        try {
-          const a = await fetch(e);
-          if (!a.ok)
-            throw new Error(`下载文件失败: ${a.statusText} (URL: ${e})`);
-          n = await a.blob(), u = i(e);
-        } catch (a) {
-          throw console.error("使用 fetch 下载文件时出错:", a), a;
-        }
-      else
-        try {
-          const a = await Z({ url: e });
-          if (a.status !== 200)
-            throw new Error(`下载失败: ${a.status}`);
-          const b = a.headers["content-disposition"];
-          u = R(b) || "无文件名", n = a.data;
-        } catch (a) {
-          throw console.error("通过 API 下载文件时出错:", a), a;
-        }
-      return new File([n], u, { type: n.type });
-    }
-    function R(e) {
-      if (!e) return;
-      const n = e.match(/filename\*\s*=\s*([^;]+)/i);
-      if (n) {
-        let a = n[1].trim();
-        a = a.replace(/^"(.*)"$/, "$1");
-        const b = a.split("''");
-        if (b.length === 2) {
-          const j = b[0].toUpperCase(), M = b[1];
-          try {
-            if (j === "UTF-8")
-              return decodeURIComponent(M);
-          } catch {
-          }
-          return M;
-        }
-        try {
-          return decodeURIComponent(a);
-        } catch {
-          return a;
-        }
-      }
-      const u = e.match(/filename\s*=\s*("?)([^";]+)\1/i);
-      if (u)
-        return u[2].trim();
-    }
-    async function W(e) {
-      if (!e || !e.length) {
-        t.value = [];
-        return;
-      }
-      s.value = !0;
-      try {
-        const n = await Promise.all(e.map((u) => h(u)));
-        t.value = n;
-      } catch (n) {
-        console.error("文件下载时发生错误:", n), t.value = [];
-      } finally {
-        s.value = !1;
-      }
-    }
-    const G = () => {
-      V("getThreeData");
-    };
-    return q(
-      () => r.fileUrls,
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-        await W(e ?? []);
-      },
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-      class: J([r.host === "electron" ? "mv-electron" : "mv-inline", "three-platform"])
-    }, [
-      K("div", te, [
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-      ]),
-      C.value === o.ROBOT_SCENE ? (y(), P(D(v), {
-        key: 0,
-        "file-blobs": t.value,
-        "animation-data": e.animationData,
-        onGetThreeData: G,
-        threeData: r.threeData
-      }, {
-        "button-left": T(() => [
-          p(e.$slots, "management-menu", {}, void 0, !0)
-        ]),
-        "button-right": T(() => [
-          p(e.$slots, "management-page", {}, void 0, !0)
-        ]),
-        _: 3
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-        fileUrls: e.fileUrls,
-        threeData: r.threeData,
-        trackFileType: I.value
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-        "button-left": T(() => [
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-        ]),
-        "button-right": T(() => [
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-        ]),
-        _: 3
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-        "file-blobs": t.value,
-        threeData: r.threeData
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-        "button-left": T(() => [
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-        ]),
-        "button-right": T(() => [
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-        _: 3
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-        key: 3,
-        "file-blobs": t.value,
-        "animation-data": e.animationData
-      }, {
-        "button-left": T(() => [
-          p(e.$slots, "management-menu", {}, void 0, !0)
-        ]),
-        "button-right": T(() => [
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-        ]),
-        _: 3
-      }, 8, ["file-blobs", "animation-data"])) : L("", !0),
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-    ], 2));
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-  default: ae
-}, Symbol.toStringTag, { value: "Module" }));
-export {
-  ae as T,
-  x as a,
-  ee as b,
-  me as c,
-  Z as d,
-  fe as t,
-  ue as u
-};

package/dist/threeViewerHost-PGblwq3d.cjs

@@ -1 +0,0 @@
-"use strict";const e=require("vue"),f=require("./index-C8qRkCgn.cjs"),A=require("./index-CX2C-kjD.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-fAuSnfOH.cjs");const H=require("./_plugin-vue_export-helper-BHFhmbuH.cjs");function O(c){const m=sessionStorage.getItem("loginToken")??"123456";return f.service({url:"/api/sysFile/uploadFile",method:"post",data:c,headers:{Authorization:m,"Content-Type":"multipart/form-data"}})}function B(c){const m=sessionStorage.getItem("loginToken")??"123456";return f.service({url:"/api/sysFile/downloadFile",method:"post",data:c,headers:{Authorization:m,Accept:"application/octet-stream"},responseType:"blob"})}function q(c){const m=sessionStorage.getItem("loginToken")??"123456";return f.service({url:"/api/sysFile/uploadFiles",method:"post",data:c,headers:{Authorization:m,"Content-Type":"multipart/form-data"}})}const I=f.defineStore("threeState",{state:()=>({data:{extension:"",url:[],data:{},isThreeScene:!0}}),actions:{setData(c){this.data=c},getData(){return this.data}}});function R(){const c=A.useMenuState(f.pinia),{platform:m}=f.storeToRefs(c),v=I(f.pinia),b=e.computed(()=>{var n;return(n=v==null?void 0:v.data)==null?void 0:n.extension}),p=["uv","cpt","cyd"],y=["urdf"],s=["obj","stl"],o=[...p,...y,...s],F=n=>{if(!C())throw new Error("不是三维系统");v.setData(n)},h=()=>v.getData(),C=()=>m.value==="three",u=n=>{const i=n==null?void 0:n.toLowerCase(),l=i==null?void 0:i.lastIndexOf(".");let T=i;return l>=0&&(T=T==null?void 0:T.slice(l+1)),T},g=n=>{if(!n)return!1;const i=u(n);return o==null?void 0:o.includes(i)};return{getData:h,setData:F,isThreeSystem:C,isUrdf:n=>{if(!n)return!1;const i=u(n);return y==null?void 0:y.includes(i)},isGeneralFile:n=>{if(!n)return!1;const i=u(n);return s==null?void 0:s.includes(i)},isTrackPathFile:n=>{if(!n)return!1;const i=u(n);return p==null?void 0:p.includes(i)},isThreeFile:g,isUseBackdrop:n=>C()&&g(n),initTrackFileType:n=>{if(!n)return{isCpt:!1,isCyd:!1,isUv:!1};const i=u(n),l=p==null?void 0:p.find(k=>k===i);return{isCpt:l==="cpt",isCyd:l==="cyd",isUv:l==="uv"}},getFileExtension:u,extraExtension:b}}const L={class:"top-menu"},x={key:4,class:"loading"},z=e.defineComponent({__name:"threeViewerHost",props:{fileUrls:{default:()=>[]},host:{default:"inline"},extension:{},animationData:{default:()=>({})},width:{default:"100%"},height:{default:"100%"},threeData:{},componentType:{}},emits:["getThreeData"],setup(c,{emit:m}){const v=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-igg9HZ8X.cjs"))),b=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-5-O-sZIc.cjs"))),p=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-CgjLFXmL.cjs"))),y=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-DfPj5iau.cjs"))),s={ROBOT_SCENE:"robot",LATHE_SCENE:"latheScene",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},o=c,F=A.useMenuState(f.pinia),{platName:h}=f.storeToRefs(F),{isGeneralFile:C,isUrdf:u,isTrackPathFile:g,extraExtension:D}=R(),w=e.computed(()=>(o==null?void 0:o.extension)||D.value),P=e.computed(()=>{var t,r;return(r=(t=o==null?void 0:o.threeData)==null?void 0:t.data)==null?void 0:r.trackFileType}),E=e.computed(()=>{var r;if(o.componentType)switch(o.componentType){case"robot":return s.ROBOT_SCENE;case"latheScene":return s.LATHE_SCENE;case"cpmpip":return s.CPMPIP_SCENE;case"preview":return s.PREVIEW}const t=(r=o==null?void 0:o.fileUrls)==null?void 0:r[0];return C(t)?s.PREVIEW:(h==null?void 0:h.value)==="CPMPIP"&&(u(t)||u(w.value))?s.CPMPIP_SCENE:(h==null?void 0:h.value)==="SFRTubeBend"&&(u(t)||u(w.value))?s.ROBOT_SCENE:g(w.value)&&P.value?s.LATHE_SCENE:s.PREVIEW}),_=m,n=e.ref([]),i=e.ref(!1);function l(t){try{const r=new URL(t).pathname,d=r.substring(r.lastIndexOf("/")+1);return decodeURIComponent(d)}catch(r){return console.error("无法解析URL以提取文件名:",t,r),"未知文件名"}}async function T(t){let r,d;if(/^https?:\/\//.test(t))try{const a=await fetch(t);if(!a.ok)throw new Error(`下载文件失败: ${a.statusText} (URL: ${t})`);r=await a.blob(),d=l(t)}catch(a){throw console.error("使用 fetch 下载文件时出错:",a),a}else try{const a=await B({url:t});if(a.status!==200)throw new Error(`下载失败: ${a.status}`);const S=a.headers["content-disposition"];d=k(S)||"无文件名",r=a.data}catch(a){throw console.error("通过 API 下载文件时出错:",a),a}return new File([r],d,{type:r.type})}function k(t){if(!t)return;const r=t.match(/filename\*\s*=\s*([^;]+)/i);if(r){let a=r[1].trim();a=a.replace(/^"(.*)"$/,"$1");const S=a.split("''");if(S.length===2){const M=S[0].toUpperCase(),U=S[1];try{if(M==="UTF-8")return decodeURIComponent(U)}catch{}return U}try{return decodeURIComponent(a)}catch{return a}}const d=t.match(/filename\s*=\s*("?)([^";]+)\1/i);if(d)return d[2].trim()}async function N(t){if(!t||!t.length){n.value=[];return}i.value=!0;try{const r=await Promise.all(t.map(d=>T(d)));n.value=r}catch(r){console.error("文件下载时发生错误:",r),n.value=[]}finally{i.value=!1}}const $=()=>{_("getThreeData")};return e.watch(()=>o.fileUrls,async t=>{await N(t??[])},{immediate:!0,deep:!0}),(t,r)=>(e.openBlock(),e.createElementBlock("div",{class:e.normalizeClass([o.host==="electron"?"mv-electron":"mv-inline","three-platform"])},[e.createElementVNode("div",L,[e.renderSlot(t.$slots,"top-menu",{},void 0,!0)]),E.value===s.ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(v),{key:0,"file-blobs":n.value,"animation-data":t.animationData,onGetThreeData:$,threeData:o.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","animation-data","threeData"])):E.value===s.LATHE_SCENE?(e.openBlock(),e.createBlock(e.unref(p),{key:1,fileUrls:t.fileUrls,threeData:o.threeData,trackFileType:P.value},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileUrls","threeData","trackFileType"])):E.value===s.CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(y),{key:2,"file-blobs":n.value,threeData:o.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","threeData"])):E.value===s.PREVIEW?(e.openBlock(),e.createBlock(e.unref(b),{key:3,"file-blobs":n.value,"animation-data":t.animationData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","animation-data"])):e.createCommentVNode("",!0),i.value?(e.openBlock(),e.createElementBlock("div",x," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)],2))}}),V=H._export_sfc(z,[["__scopeId","data-v-a4f0efb1"]]),W=Object.freeze(Object.defineProperty({__proto__:null,default:V},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=V;exports.downloadAvatarApi=B;exports.threeViewerHost=W;exports.uploadAmountApi=q;exports.uploadFile=O;exports.useThreeState=I;exports.useThreeSystem=R;

package/dist/workpieceTreePanel-Cr4nTOQE.cjs

@@ -1 +0,0 @@
-"use strict";var te=Object.defineProperty;var oe=(b,n,o)=>n in b?te(b,n,{enumerable:!0,configurable:!0,writable:!0,value:o}):b[n]=o;var j=(b,n,o)=>oe(b,typeof n!="symbol"?n+"":n,o);const se=require("./index.vue_vue_type_style_index_1_lang-Dsas9C9w.cjs"),U=require("./MTLLoader-BlLfoBce.cjs"),C=require("./fileUtil-DugRTZPB.cjs"),R=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-fAuSnfOH.cjs"),e=require("vue"),D=require("./iconfont-BUDQryy4.cjs"),le=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),ie="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function ne(b){const{mtlUrl:n,manager:o,resourcePath:l,onLoad:m,onProgress:i,onError:w}=b,p=new U.MTLLoader(o);return l&&p.setResourcePath(l),p.load(n,m,i,w),p}function re(b){const{objUrl:n,manager:o,materials:l,onLoad:m,onProgress:i,onError:w}=b,p=new U.OBJLoader(o);return l&&p.setMaterials(l),p.load(n,m,i,w),p}function ae(b){const{manager:n,baseFolderUrl:o,onFileProgress:l}=b,m=new se.URDFLoader(n);return m.packages=i=>`${o.endsWith("/")?o:o+"/"}${i}/`,m.loadMeshCb=(i,w,p)=>{const g=(()=>{const E=i.split("?")[0].split("#")[0],c=E.lastIndexOf(".");return c>=0?E.slice(c+1).toLowerCase():void 0})();switch(g){case"obj":{const E=(()=>{try{return new URL(".",i).toString()}catch{const a=i.lastIndexOf("/");return a>=0?i.slice(0,a+1):i}})(),c=(()=>{var d;return(((d=i.split("/").pop())==null?void 0:d.split("?")[0].split("#")[0])??"").replace(/\.[^/.?#]+$/,"")})(),f=`${E}${c}.mtl`,h=a=>{re({objUrl:i,manager:w,materials:a,onLoad:d=>p(d),onProgress:d=>l==null?void 0:l(i,d==null?void 0:d.loaded,d==null?void 0:d.total),onError:d=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${i}`,d),p(new R.Group)}})};ne({mtlUrl:f,manager:w,resourcePath:E,onLoad:a=>{try{a.preload()}catch{}h(a)},onProgress:a=>l==null?void 0:l(f,a==null?void 0:a.loaded,a==null?void 0:a.total),onError:a=>{console.warn(`[URDF 资源警告] 未找到或加载材质失败: ${f}。将尝试无材质加载。`),h(void 0)}});break}case"stl":{new U.STLLoader(w).load(i,c=>{const f=new R.MeshPhongMaterial({color:12303291,shininess:30}),h=new R.Mesh(c,f);h.castShadow=!0,h.receiveShadow=!0,p(h)},c=>l==null?void 0:l(i,c==null?void 0:c.loaded,c==null?void 0:c.total),c=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 STL 模型: ${i}`,c),p(new R.Group)});break}default:console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${g} (路径: ${i})`),p(new R.Group)}},m}function ce(b,n,o,l){return{loadSceneFromFile:i=>new Promise((w,p)=>{o.value=!0,l.value="正在初始化 URDF 加载器...";let g=0,E=0,c=null;const f=new R.LoadingManager;f.onStart=(a,d,V)=>{g=V||0,E=d||0,l.value=g>0?`开始下载资源: 0 / ${g}`:"开始下载资源...",o.value=!0},f.onProgress=(a,d,V)=>{E=d,g=V;const L=`正在加载 ${d} / ${V} 个文件: ${C.getFilenameFromUrl(a)}`;l.value=L,d===V&&(l.value="资源加载完成，正在处理模型...",setTimeout(()=>{if(c){c.updateMatrixWorld(!0);const v=new R.Box3().setFromObject(c);v.isEmpty()&&console.warn("模型加载完成，但所有可视化网格均加载失败，模型将不可见。"),c.userData.boundingBox=v,c.traverse(u=>{u.isMesh&&(u.castShadow=!0,u.receiveShadow=!0)}),w(c)}else p(new Error("URDF 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c(v){i.value&&i.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),i.value=v,v.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(65280))})}function f(v){const u=b.value.getBoundingClientRect();p.x=(v.clientX-u.left)/u.width*2-1,p.y=-((v.clientY-u.top)/u.height)*2+1,w.setFromCamera(p,m);const t=w.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,_=null;for(;s;){if(g.has(s.id)){_=g.get(s.id);break}s=s.parent}_&&c(_)}function h(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=n();m=u,E(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){i.value&&(i.value.obj.visible=v)}function V(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=i.value)==null?void 0:s.obj,u,t)}function L(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=i.value)==null?void 0:s.obj,u,t)}return{initRaycaster:a,dispose:h,selectedObject3D:i,setSelectedObjVisible:d,updatePosition:V,updateRotation:L}}const ue={SINGLE:"单机",DOUBLE:"双机"},me={ROBOT:1,PIPECOMPARSION:2};class pe{constructor(n){j(this,"robot");j(this,"movableJoints");this.robot=n,this.movableJoints=this.getMovableJoints()}getMovableJoints(){return Object.values(this.robot.joints).filter(n=>n.jointType!=="fixed")}getMovableJointNames(){return this.movableJoints.map(n=>n.name)}setJointAngle(n,o){const l=this.robot.joints[n];if(!l||l.jointType==="fixed")return console.warn(`关节 ${n} 不存在或不可动`),!1;if(l.limit){const m=Math.max(l.limit.lower,Math.min(l.limit.upper,o));m!==o&&console.warn(`关节 ${n} 角度被限制在 [${l.limit.lower}, ${l.limit.upper}]`),l.setJointValue(m)}else l.setJointValue(o);return!0}setJointAngles(n){Object.entries(n).forEach(([o,l])=>{typeof l=="number"&&!isNaN(l)&&this.setJointAngle(o,l)})}getCurrentJointStates(){const n={};return this.movableJoints.forEach(o=>{n[o.name]=o.angle||0}),n}resetToZero(){this.movableJoints.forEach(n=>{n.setJointValue(0)})}getJointLimits(n){const o=this.robot.joints[n];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(n,o=1e3,l){const m=this.getCurrentJointStates(),i=Date.now();return new Promise(w=>{const p=()=>{const g=Date.now()-i,E=Math.min(g/o,1),c=this.easeInOutCubic(E),f={};Object.keys(n).forEach(h=>{const a=m[h]||0,d=n[h];f[h]=a+(d-a)*c}),this.setJointAngles(f),l&&l(E),E<1?requestAnimationFrame(p):w()};p()})}easeInOutCubic(n){return n<.5?4*n*n*n:1-Math.pow(-2*n+2,3)/2}async playSequence(n,o=1e3,l){for(let m=0;m<n.length;m++)await this.animateToState(n[m],o,i=>{l&&l(m,i)})}}const ve={class:"panel-content"},fe={class:"obj"},be={key:0,class:"obj-base"},_e=["title"],we=["title"],Ee={key:1},he={class:"obj-position"},Ve={class:"coord-item"},ge={class:"coord-item"},ye={class:"coord-item"},Ne={class:"obj-rotation"},Le={class:"coord-item"},Re={class:"coord-item"},Se={class:"coord-item"},Ce={class:"world"},je={class:"coord-line"},De={class:"coord-text"},Ue={class:"world-position-item"},Me={class:"world-position-item"},Fe={class:"world-position-item"},$e={class:"coord-line"},Oe={class:"coord-text"},xe={class:"world-rotation-item"},Je={class:"world-rotation-item"},Te={class:"world-rotation-item"},ke=e.defineComponent({__name:"workpieceTreePanel",props:{model:{},maxExpandCount:{default:10},expandStrategy:{default:"breadth"}},emits:["nodeClick","visibleChange","updatePosition","updateRotation"],setup(b,{emit:n}){const o=b,l=n,m=e.ref([]),i=e.ref({}),w=(t,s=0)=>{const _=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(r=>{if(!(r!=null&&r.isMesh)){const y={name:r==null?void 0:r.name,label:(r==null?void 0:r.name)||(r==null?void 0:r.type),show:!0,level:s+1,isPenultimate:!1,type:r==null?void 0:r.type,id:r==null?void 0:r.id,limit:(r==null?void 0:r.limit)??"",children:w(r==null?void 0:r.children,s+1),path:r==null?void 0:r.name};_.push(y)}}),_},p=t=>t?[{name:t==null?void 0:t.name,label:(t==null?void 0:t.name)||(t==null?void 0:t.type),show:!0,level:1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:w(t==null?void 0:t.children,1),path:t==null?void 0:t.name}]:[],g=(t,s)=>{const _=[],r=[...t];for(;r.length>0&&_.length<s;){const y=r.shift();y.children&&y.children.length>0&&(_.push(y.id),r.push(...y.children))}return _},E=(t,s)=>{const _=[];return t.forEach(r=>{if(r.children&&r.children.length>0){_.push(r.id);const y=r.children.filter(S=>S.children&&S.children.length>0).slice(0,s).map(S=>S.id);_.push(...y)}}),_.slice(0,s+1)};e.computed(()=>!m.value||m.value.length===0?[]:o.expandStrategy==="firstLevel"?E(m.value,o.maxExpandCount):g(m.value,o.maxExpandCount));const c=t=>t?parseFloat(t.toFixed(3)):0,f=t=>t?parseFloat(t.toFixed(1)):0,h=(t,s)=>{l("updatePosition",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},a=(t,s)=>{l("updateRotation",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},d=t=>{l("visibleChange",t)},V=e.computed(()=>o!=null&&o.model?p(o.model):[]),L=e.computed(()=>{var t,s;return((t=o==null?void 0:o.model)==null?void 0:t.name)||((s=o==null?void 0:o.model)==null?void 0:s.type)}),v=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.type}),u=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.visible});return e.watch(()=>o.model,()=>{o.model&&(i.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(V,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var S,M,F,$,O,x,J,T,k,P,B,z,I,A,q,W,G,X,Y,Z,K,H,Q,ee;const _=e.resolveComponent("el-divider"),r=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",ve,[e.createVNode(_,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",fe,[o.model?(e.openBlock(),e.createElementBlock("div",be,[e.createElementVNode("div",{class:"obj-name",title:L.value},e.toDisplayString(L.value),9,_e),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,we)])):(e.openBlock(),e.createElementBlock("div",Ee,"空")),e.createVNode(r,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(_,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",he,[e.createElementVNode("div",Ve,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((M=(S=i.value)==null?void 0:S.position)==null?void 0:M.x),onChange:s[0]||(s[0]=N=>h(N,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ge,[s[9]||(s[9]=e.createElementVNode("span",{class:"axis-label"},"Y",-1)),e.createVNode(y,{"model-value":c(($=(F=i.value)==null?void 0:F.position)==null?void 0:$.y),onChange:s[1]||(s[1]=N=>h(N,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ye,[s[10]||(s[10]=e.createElementVNode("span",{class:"axis-label"},"Z",-1)),e.createVNode(y,{"model-value":c((x=(O=i.value)==null?void 0:O.position)==null?void 0:x.z),onChange:s[2]||(s[2]=N=>h(N,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(_,null,{default:e.withCtx(()=>s[11]||(s[11]=[e.createTextVNode("相对旋转")])),_:1,__:[11]}),e.createElementVNode("div",Ne,[e.createElementVNode("div",Le,[s[12]||(s[12]=e.createElementVNode("span",{class:"axis-label"},"X°",-1)),e.createVNode(y,{"model-value":f((T=(J=i.value)==null?void 0:J.rotation)==null?void 0:T.x),onChange:s[3]||(s[3]=N=>a(N,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Re,[s[13]||(s[13]=e.createElementVNode("span",{class:"axis-label"},"Y°",-1)),e.createVNode(y,{"model-value":f((P=(k=i.value)==null?void 0:k.rotation)==null?void 0:P.y),onChange:s[4]||(s[4]=N=>a(N,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Se,[s[14]||(s[14]=e.createElementVNode("span",{class:"axis-label"},"Z°",-1)),e.createVNode(y,{"model-value":f((z=(B=i.value)==null?void 0:B.rotation)==null?void 0:z.z),onChange:s[5]||(s[5]=N=>a(N,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(_,null,{default:e.withCtx(()=>s[15]||(s[15]=[e.createTextVNode("世界信息")])),_:1,__:[15]}),e.createElementVNode("div",Ce,[e.createElementVNode("div",je,[s[16]||(s[16]=e.createElementVNode("span",{class:"coord-label"},"世界位置:",-1)),e.createElementVNode("span",De,[e.createElementVNode("div",Ue,e.toDisplayString(c((A=(I=i.value)==null?void 0:I.worldPosition)==null?void 0:A.x))+", ",1),e.createElementVNode("div",Me,e.toDisplayString(c((W=(q=i.value)==null?void 0:q.worldPosition)==null?void 0:W.y))+", ",1),e.createElementVNode("div",Fe,e.toDisplayString(c((X=(G=i.value)==null?void 0:G.worldPosition)==null?void 0:X.z)),1)])]),e.createElementVNode("div",$e,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Oe,[e.createElementVNode("div",xe,e.toDisplayString(f((Z=(Y=i.value)==null?void 0:Y.worldRotation)==null?void 0:Z.x))+"°, ",1),e.createElementVNode("div",Je,e.toDisplayString(f((H=(K=i.value)==null?void 0:K.worldRotation)==null?void 0:H.y))+"°, ",1),e.createElementVNode("div",Te,e.toDisplayString(f((ee=(Q=i.value)==null?void 0:Q.worldRotation)==null?void 0:ee.z))+"° ",1)])])])])}}}),Pe=le._export_sfc(ke,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=pe;exports.WorkpieceTreePanel=Pe;exports.robotMode=ue;exports.sceneType=me;exports.useRaycaster=de;exports.useUrdfLoader=ce;