ss-component-new 1.2.6 → 1.2.7

package/dist/threeSceneView-CUBwHIv3.js

@@ -0,0 +1,1472 @@
+import { defineComponent as Le, ref as _, watch as de, shallowRef as he, computed as _e, onUnmounted as Ie, resolveComponent as J, createElementBlock as ge, openBlock as ee, createElementVNode as o, createCommentVNode as ve, createVNode as t, withCtx as A, createBlock as Ce, unref as F, Fragment as Je, renderList as Ne, toDisplayString as fe, onBeforeUnmount as Ee, createTextVNode as qe, onMounted as He, nextTick as We, withDirectives as oe, vShow as me, renderSlot as be, isRef as ke, vModelRadio as Pe } from "vue";
+import { U as Ke, r as xe, s as Ye, u as Qe, a as et, W as tt } from "./useRayCaster-CF6KDZ1R.js";
+import { u as Oe, a as lt, b as ot, S as U } from "./iconfont-pt17sMx3.js";
+import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DULpc85o.js";
+import { R as at, c as nt, E as Z, a as st, aC as it, ak as rt } from "./index-DbzvXPKu.js";
+import "./index.vue_vue_type_style_index_1_lang-Dy1Zc_t-.js";
+import "./index-BHtNKL1L.js";
+import { _ as ue, s as ut } from "./index-MqvNXMd6.js";
+import "./index.vue_vue_type_style_index_1_lang-D909xoIu.js";
+import { m as Be, T as Me, V as X, k as ne, l as ct, n as pt, L as dt, e as we, o as mt, p as vt, q as ft, r as gt, s as ht, t as bt, u as yt, i as _t } from "./three-viewport-gizmo-CkQ98n-T.js";
+import "./index-IknA4u4L.js";
+import { f as wt, a as Ct } from "./animationData-CMKGpOzN.js";
+import { o as kt, p as Pt } from "./index-d3F4mRMM.js";
+import { _ as je } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+import { U as xt, J as Tt } from "./urdfTree-BuTtRGdl.js";
+const ae = 1e-3, ce = ct.degToRad, Xe = new mt({
+  // 灰色
+  color: 13421772,
+  metalness: 0.3,
+  roughness: 0.6,
+  side: _t
+}), Ze = (P) => P.reduce((w, T) => {
+  let i = 0;
+  const k = T.Y ?? 0, V = T.C ?? 0, v = T.R ?? 0;
+  return k > 0 && (i += k), V > 0 && v > 0 && (i += v * ce(V)), w + i;
+}, 0), Ge = (P) => {
+  const w = [], T = P.Y ?? 0, i = P.B ?? 0, k = P.C ?? 0, V = P.R ?? 0, v = {
+    pos: new X(0, 0, 0),
+    localY: new X(0, 1, 0),
+    localX: new X(1, 0, 0),
+    localZ: new X(0, 0, 1)
+  };
+  if (!T && !k) return w;
+  if (w.push(v.pos.clone()), i !== 0) {
+    const M = new ne().makeRotationAxis(v.localY, ce(i));
+    v.localX.applyMatrix4(M), v.localZ.applyMatrix4(M);
+  }
+  if (T > 0 && (v.pos.add(v.localY.clone().multiplyScalar(T * ae)), w.push(v.pos.clone())), k > 0 && V > 0) {
+    const M = ce(k), D = V * ae, u = v.pos.clone().add(v.localX.clone().multiplyScalar(-D)), r = Math.max(16, Math.ceil(k / 5));
+    for (let g = 1; g <= r; g++) {
+      const a = M * g / r, h = new ne().makeRotationAxis(v.localZ, a), b = v.localX.clone().multiplyScalar(D).applyMatrix4(h), f = u.clone().add(b);
+      w.push(f);
+    }
+  }
+  return w;
+};
+function Mt(P, w) {
+  const T = new pt();
+  T.name = "CompletePipe";
+  const i = {
+    pos: new X(0, 0, 0),
+    localX: new X(1, 0, 0),
+    localY: new X(0, 1, 0),
+    localZ: new X(0, 0, 1)
+  };
+  let k = 0, V = 1;
+  for (let v = 0; v < P.length; v++) {
+    const M = P[v], D = M.Y ?? 0, u = M.B ?? 0, r = M.C ?? 0, g = M.R ?? 0;
+    if (u !== 0) {
+      const a = new ne().makeRotationAxis(i.localY, ce(u));
+      i.localX.applyMatrix4(a), i.localZ.applyMatrix4(a);
+    }
+    if (D > 0) {
+      const a = i.pos.clone();
+      i.pos.add(i.localY.clone().multiplyScalar(D * ae));
+      const h = i.pos.clone(), s = Rt(a, h, w * ae);
+      s.userData = {
+        segmentType: "straight",
+        segmentIndex: k,
+        frameIndex: v,
+        length: D,
+        frame: { Y: D, B: u, C: r, R: g }
+      }, s.name = `直段_${k}`, T.add(s);
+      const b = a.clone();
+      Vt(T, V, b, w * ae), k++;
+    }
+    if (r > 0 && g > 0) {
+      const a = ce(r), h = g * ae, s = [];
+      s.push(i.pos.clone());
+      const b = i.pos.clone().add(i.localX.clone().multiplyScalar(-h)), f = Math.max(16, Math.ceil(r / 5));
+      for (let R = 1; R <= f; R++) {
+        const E = a * R / f, S = new ne().makeRotationAxis(i.localZ, E), G = i.localX.clone().multiplyScalar(h).applyMatrix4(S), te = b.clone().add(G);
+        s.push(te);
+      }
+      const x = Dt(s, w * ae);
+      x.userData = {
+        segmentType: "bend",
+        segmentIndex: k,
+        frameIndex: v,
+        angle: r,
+        radius: g,
+        centerPoint: b.toArray(),
+        frame: { Y: D, B: u, C: r, R: g }
+      }, x.name = `弯段_${k}`, T.add(x), Math.floor(s.length / 2), s[0], i.pos = s[s.length - 1].clone();
+      const m = new ne().makeRotationAxis(i.localZ, a);
+      i.localY.applyMatrix4(m), i.localX.applyMatrix4(m), k++, V++;
+    }
+  }
+  return T;
+}
+function Vt(P, w, T, i) {
+  const k = new X(0, i * 2, i * 5), V = T.clone().add(k), v = [T, V], M = new vt().setFromPoints(v), D = new ft({
+    color: 16711680,
+    dashSize: i * 0.5,
+    gapSize: i * 0.3,
+    linewidth: 1
+  }), u = new gt(M, D);
+  u.computeLineDistances(), P.add(u);
+  const r = document.createElement("canvas"), g = r.getContext("2d");
+  r.width = 128, r.height = 128, g.clearRect(0, 0, 128, 128), g.fillStyle = "#FF0000", g.font = "bold 80px Arial", g.textAlign = "center", g.textBaseline = "middle", g.fillText(w.toString(), 64, 64);
+  const a = new ht(r), h = new bt({
+    map: a,
+    transparent: !0,
+    depthTest: !1,
+    depthWrite: !1
+  }), s = new yt(h), b = i * 3;
+  s.scale.set(b, b, 1), s.position.copy(V), s.name = `Label_${w}`, s.userData = { labelNumber: w }, P.add(s);
+}
+function Rt(P, w, T) {
+  const i = new dt(P, w), k = new Me(i, 2, T, 18, !1);
+  return new we(k, Xe);
+}
+function Dt(P, w) {
+  const T = new Be(P, !1, "catmullrom", 0.01), i = new Me(T, Math.max(16, P.length * 2), w, 18, !1);
+  return new we(i, Xe);
+}
+function Te(P, w, T, i, k, V = 0) {
+  let v = w.slice(0, k + 1);
+  const M = w[k + 1];
+  if (M && V > 0) {
+    const s = {
+      ...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) * 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: (M.C ?? 0) * V
+    };
+    v.push(s);
+  }
+  const D = Ze(v), u = Math.max(0, T - D), r = [];
+  r.push(new X(0, 0, 0));
+  const g = new X(0, u * ae, 0);
+  u > 0 && r.push(g);
+  let a = {
+    pos: g.clone(),
+    localY: new X(0, 1, 0),
+    localX: new X(1, 0, 0),
+    localZ: new X(0, 0, 1)
+  };
+  const h = [];
+  for (let s = v.length - 1; s >= 0; s--) {
+    const b = v[s], f = Ge(b);
+    if (f.length > 0) {
+      const x = f.map((S) => {
+        const $ = S.clone(), G = new ne();
+        return G.makeBasis(a.localX, a.localY, a.localZ), $.applyMatrix4(G), $.add(a.pos);
+      });
+      h.push(x);
+      const m = x[x.length - 1];
+      a.pos = m.clone();
+      const R = b.B ?? 0, E = b.C ?? 0;
+      if (R !== 0) {
+        const S = new ne().makeRotationAxis(a.localY, ce(R));
+        a.localX.applyMatrix4(S), a.localZ.applyMatrix4(S);
+      }
+      if (E > 0) {
+        const S = ce(E), $ = new ne().makeRotationAxis(a.localZ, S);
+        a.localY.applyMatrix4($), a.localX.applyMatrix4($);
+      }
+    }
+  }
+  for (const s of h)
+    s.length > 1 && r.push(...s.slice(1));
+  r.length < 2 && r.push(new X(0, 1e-3, 0));
+  try {
+    const s = new Be(r, !1, "catmullrom", 0.01), b = new Me(s, Math.max(2, r.length * 4), i * ae, 18, !1);
+    P.geometry.dispose(), P.geometry = b;
+  } catch (s) {
+    console.error("管件更新失败", s);
+  }
+}
+function Ue(P, w, T, i = 0) {
+  let k = P.slice(0, T + 1);
+  const V = P[T + 1];
+  if (V && i > 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) * 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: (V.C ?? 0) * i
+    };
+    k.push(a);
+  }
+  const v = Ze(k), M = Math.max(0, w - v), D = [];
+  D.push(new X(0, 0, 0));
+  const u = new X(0, M * ae, 0);
+  M > 0 && D.push(u);
+  let r = {
+    pos: u.clone(),
+    localY: new X(0, 1, 0),
+    localX: new X(1, 0, 0),
+    localZ: new X(0, 0, 1)
+  };
+  const g = [];
+  for (let a = k.length - 1; a >= 0; a--) {
+    const h = k[a], s = Ge(h);
+    if (s.length > 0) {
+      const b = s.map((R) => {
+        const E = R.clone(), S = new ne();
+        return S.makeBasis(r.localX, r.localY, r.localZ), E.applyMatrix4(S), E.add(r.pos);
+      });
+      g.push(b);
+      const f = b[b.length - 1];
+      r.pos = f.clone();
+      const x = h.B ?? 0, m = h.C ?? 0;
+      if (x !== 0) {
+        const R = new ne().makeRotationAxis(r.localY, ce(x));
+        r.localX.applyMatrix4(R), r.localZ.applyMatrix4(R);
+      }
+      if (m > 0) {
+        const R = ce(m), E = new ne().makeRotationAxis(r.localZ, R);
+        r.localY.applyMatrix4(E), r.localX.applyMatrix4(E);
+      }
+    }
+  }
+  for (const a of g)
+    a.length > 1 && D.push(...a.slice(1));
+  return D.length < 2 && D.push(new X(0, 1e-3, 0)), D;
+}
+function ye(P, w, T, i, k, V, v, M = 0, D = 0) {
+  const u = k - D, r = Ue(i, u, v, M);
+  let a = Ue(T, D, v, M);
+  a.forEach((s) => s.y = -s.y), a.reverse();
+  const h = [...a, ...r];
+  try {
+    const s = new Be(h, !1, "catmullrom", 0.01), b = new Me(s, Math.max(2, h.length * 4), V * ae, 18, !1);
+    w.geometry.dispose(), P.geometry.dispose(), w.parent && w.parent.remove(w), P.geometry = b;
+  } catch (s) {
+    console.error("管件更新失败", s);
+  }
+}
+const St = { class: "panel-content" }, $t = { class: "action-bar" }, At = {
+  key: 0,
+  class: "animation-controls"
+}, zt = { class: "control-row" }, Ft = { class: "control-row" }, Yt = { class: "control-row" }, Lt = { class: "frame-info" }, Bt = { class: "control-row" }, jt = { class: "progress-bar" }, Ut = { class: "dialog-footer" }, Et = /* @__PURE__ */ Le({
+  __name: "animationPanel",
+  props: {
+    model: {},
+    threeData: {}
+  },
+  emits: ["getThreeData"],
+  setup(P, { expose: w, emit: T }) {
+    const i = P, k = T, V = _(), v = _(), M = _("单机器人弯管");
+    de(() => i.threeData, (n) => {
+      const l = n == null ? void 0 : n.data;
+      M.value = l == null ? void 0 : l.任务类型;
+    }, {
+      immediate: !0
+    });
+    const D = async () => {
+      if (!sessionStorage.getItem("systemKey")) {
+        k("getThreeData");
+        return;
+      }
+      let l = {};
+      M.value === xe.SINGLE && (l = await wt()), M.value === xe.DOUBLE && (l = await Ct());
+      const {
+        initialPipeLength: c = 0,
+        pipeRadius: C = 0,
+        clampLength: d = 0,
+        animationData: L
+      } = l;
+      S.value = c, $.value = C, G.value = d, V.value = L;
+      const j = nt(V.value);
+      u.value = (j == null ? void 0 : j["输出（动画数据）"]) || [];
+      let I = (j == null ? void 0 : j["输出（动画数据）Content"]) ?? [];
+      I && (v.value = I);
+    }, u = _([]), r = _(!1), g = _(""), a = _(!1), h = _(0), s = _(0), b = _(1e3), f = _(null);
+    let x = !1;
+    const m = he(null), R = he(null), E = he(null), S = _(1302), $ = _(12.5), G = _(30), te = _([]), Y = _(null), y = _e(() => i.model ? Object.values(i.model.joints).filter((n) => n.jointType !== "fixed").map((n) => n.name) : []), N = _(["Y", "B", "C", "R"]), O = _e(() => [...y.value, ...N.value]), H = _e(() => O.value.length > 0 ? `请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
+${O.value.join("	")}
+0	0	0	...
+1	2	3	...` : "请先加载模型。"), le = (n, l) => {
+      if (!l)
+        return null;
+      const c = n.links[l];
+      if (!c)
+        return console.warn(`在模型中未找到名为 '${l}' 的 link`), console.log("可用的链接:", Object.keys(n.links)), null;
+      let C = null;
+      return c.traverse((d) => {
+        d instanceof we && !C && (C = d);
+      }), C || console.warn(`在 link '${l}' 中未找到可用的 Mesh 对象`), C;
+    }, se = () => {
+      E.value && (E.value.visible = !0), m.value && m.value.parent && m.value.parent.remove(m.value), E.value = null, m.value = null, R.value = null;
+    };
+    de(O, (n, l) => {
+      if (JSON.stringify(n) !== JSON.stringify(l))
+        if (n.length > 0) {
+          const c = n.reduce((C, d) => (C[d] = "0", C), {});
+          u.value = [c];
+        } else
+          u.value = [];
+    }, { immediate: !0 }), de(() => i.model, (n) => {
+      se(), n ? (f.value = new Ke(n), te.value = Object.keys(n.links), te.value.includes("Pipe_Link") ? Y.value = "Pipe_Link" : Y.value = null) : (f.value = null, te.value = [], Y.value = null);
+    }, { immediate: !0 }), de([Y, G], ([n, l]) => {
+      if (se(), i.model && n) {
+        const c = le(i.model, n);
+        if (console.log(c, "meshToReplace"), c && c.parent) {
+          E.value = c;
+          const C = new we(
+            c.geometry.clone(),
+            c.material
+          );
+          if (C.name = "managed_pipe_clone", c.parent.add(C), C.position.copy(c.position), C.rotation.copy(c.rotation), C.scale.copy(c.scale), c.visible = !1, M.value === xe.SINGLE && (C.position.y -= l * 1e-3), m.value = C, M.value === xe.DOUBLE) {
+            const d = new we(
+              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,
+            [],
+            [],
+            S.value,
+            $.value,
+            0,
+            0,
+            G.value
+          );
+        } else
+          n && console.warn(`在 link '${n}' 中未找到可替换的网格或其没有父级。`);
+      }
+    });
+    const re = () => u.value.map((n) => ({
+      Y: parseFloat(n.Y) || 0,
+      B: parseFloat(n.B) || 0,
+      C: parseFloat(n.C) || 0,
+      R: parseFloat(n.R) || 0
+    })), W = () => {
+      const n = [], l = [];
+      return u.value.forEach((c) => {
+        const { Y1: C, B1: d, C1: L, R1: j, Y2: I, B2: K, C2: p, R2: e } = c;
+        n.push({
+          Y: parseFloat(C) || 0,
+          B: parseFloat(d) || 0,
+          C: parseFloat(L) || 0,
+          R: parseFloat(j) || 0
+        }), l.push({
+          Y: parseFloat(I) || 0,
+          B: parseFloat(K) || 0,
+          C: parseFloat(p) || 0,
+          R: parseFloat(e) || 0
+        });
+      }), {
+        posPipeYbcr: n,
+        negPipeYbcr: l
+      };
+    }, B = (n) => {
+      if (n < 0 || n >= u.value.length) {
+        console.error(`帧索引 ${n} 超出范围`);
+        return;
+      }
+      const l = u.value[n];
+      if (console.log(`应用第 ${n} 帧数据 ${l}`), h.value = n, f.value) {
+        const c = {};
+        y.value.forEach((C) => {
+          const d = parseFloat(l[C]);
+          isNaN(d) || (c[C] = d);
+        }), f.value.setJointAngles(c);
+      }
+      if (m.value && R.value) {
+        const c = W();
+        console.log("ybcr数据：", c), ye(
+          m.value,
+          R.value,
+          c.posPipeYbcr,
+          c.negPipeYbcr,
+          S.value,
+          $.value,
+          n,
+          0,
+          G.value
+        );
+        return;
+      }
+      if (m.value) {
+        const c = re();
+        console.log("ybcr数据：", c), Te(
+          m.value,
+          c,
+          S.value,
+          $.value,
+          n,
+          0
+        );
+        return;
+      }
+    }, pe = async () => {
+      if (u.value.length === 0) {
+        Z.error("无法播放动画：无数据");
+        return;
+      }
+      a.value = !0, x = !1;
+      const n = m.value ? re() : [];
+      try {
+        for (let l = h.value + 1; l < u.value.length && !x; l++) {
+          h.value = l;
+          const c = u.value[l], C = {};
+          f.value && y.value.forEach((d) => {
+            const L = parseFloat(c[d]);
+            isNaN(L) || (C[d] = L);
+          }), f.value ? await f.value.animateToState(
+            C,
+            b.value,
+            (d) => {
+              if (s.value = (l + d) / u.value.length * 100, m.value && R.value) {
+                const L = W();
+                console.log("ybcr数据：", n), ye(
+                  m.value,
+                  R.value,
+                  L.posPipeYbcr,
+                  L.negPipeYbcr,
+                  S.value,
+                  $.value,
+                  l - 1,
+                  d,
+                  G.value
+                );
+              } else m.value && Te(m.value, n, S.value, $.value, l - 1, d);
+            }
+          ) : m.value && R.value ? await new Promise((d) => {
+            const L = performance.now();
+            let j;
+            const I = (K) => {
+              if (x) {
+                cancelAnimationFrame(j), d();
+                return;
+              }
+              const p = K - L, e = Math.min(p / b.value, 1);
+              s.value = (l + e) / u.value.length * 100;
+              const ie = W();
+              ye(
+                m.value,
+                R.value,
+                ie.posPipeYbcr,
+                ie.negPipeYbcr,
+                S.value,
+                $.value,
+                l - 1,
+                e,
+                G.value
+              ), e < 1 ? j = requestAnimationFrame(I) : d();
+            };
+            j = requestAnimationFrame(I);
+          }) : m.value ? await new Promise((d) => {
+            const L = performance.now();
+            let j;
+            const I = (K) => {
+              if (x) {
+                cancelAnimationFrame(j), d();
+                return;
+              }
+              const p = K - L, e = Math.min(p / b.value, 1);
+              s.value = (l + e) / u.value.length * 100, Te(m.value, n, S.value, $.value, l - 1, e), e < 1 ? j = requestAnimationFrame(I) : d();
+            };
+            j = requestAnimationFrame(I);
+          }) : (await new Promise((d) => setTimeout(d, b.value)), s.value = (l + 1) / u.value.length * 100);
+        }
+        x || Z.success("动画播放完成");
+      } catch (l) {
+        console.error("动画播放出错:", l), Z.error("动画播放出错");
+      } finally {
+        a.value = !1, s.value = 0;
+      }
+    }, z = () => {
+      x = !0, a.value = !1, s.value = 0, Z.info("动画已停止");
+    }, Ve = () => {
+      if (f.value && f.value.resetToZero(), console.log("pipeMesh.value", m.value), m.value && R.value) {
+        const n = W();
+        ye(
+          m.value,
+          R.value,
+          n.posPipeYbcr,
+          n.negPipeYbcr,
+          S.value,
+          $.value,
+          -1,
+          0,
+          G.value
+        );
+      } else if (m.value) {
+        const n = re();
+        Te(
+          m.value,
+          n,
+          S.value,
+          $.value,
+          -1,
+          0
+        );
+      }
+      h.value = 0, Z.success("机器人和管件已重置");
+    }, Re = () => {
+      console.log("当前管件Mesh:", m.value);
+    }, De = (n) => {
+      a.value && z(), B(n);
+    }, Se = () => {
+      a.value && z(), !(h.value + 1 >= u.value.length) && B(h.value + 1);
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+        Z.warning("导入内容不能为空");
+        return;
+      }
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+`).filter((L) => L.trim() !== "");
+      if (n.length < 2) {
+        Z.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((L) => L.trim()), c = {};
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+        O.value.includes(L) && (c[j] = L);
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+        Z.error("没有找到匹配的表头，请检查表头名称是否正确");
+        return;
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+        const j = L.split("	"), I = {};
+        return O.value.forEach((K) => {
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+        }), Object.entries(c).forEach(([K, p]) => {
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+              default: A(() => [
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+                  default: A(() => [
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+                      "onUpdate:modelValue": l[1] || (l[1] = (e) => S.value = e),
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+    }, Fe = _e(() => k.value === Ye.ROBOT), n = _e(() => k.value === Ye.PIPECOMPARSION), l = (p) => {
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+      s.value = p, s.value === "弯管解析" ? (e = v.value) == null || e.openDialog() : h.value = !0;
+    }, c = (p) => {
+      u.value = !0, r.value = p, p === "剖面视图" && !W.value && pe();
+    }, C = (p) => {
+      g.value = !0, a.value = p, p === "动画仿真" && T("getAnimationData");
+    }, d = () => {
+      T("getThreeData");
+    }, L = () => {
+      var p;
+      (p = x == null ? void 0 : x.value) == null || p.playAnimation();
+    }, j = () => {
+      var p;
+      (p = x == null ? void 0 : x.value) == null || p.stopAnimation();
+    }, I = () => {
+      var p;
+      (p = x == null ? void 0 : x.value) == null || p.forwardFrame();
+    }, K = () => {
+      var p;
+      (p = x == null ? void 0 : x.value) == null || p.backwardFrame();
+    };
+    return de(() => i.fileBlobs, (p) => {
+      if (p && p.length > 0) {
+        const e = p[0];
+        if (!e.name.toLowerCase().endsWith(".urdf"))
+          return;
+        H(e).then((ie) => {
+          b.value = ie;
+        }).catch((ie) => {
+          console.error("加载URDF文件时发生错误:", ie), Z.error("加载urdf模型失败"), b.value = null;
+        });
+      } else
+        b.value = null;
+    }, {
+      immediate: !0,
+      deep: !0
+    }), de(b, (p) => {
+      te(p ? [p] : []), Ve();
+    }), He(async () => {
+      await We();
+      try {
+        E(), window.addEventListener("resize", S);
+        const p = $();
+        f.value = p.scene;
+      } catch (p) {
+        console.error("Three.js 初始化失败:", p), Z.error("渲染引擎初始化失败！");
+      }
+    }), Ee(() => {
+      r.value = "", a.value = "", window.removeEventListener("resize", S), le.value && re(), G(), Ae();
+    }), (p, e) => {
+      const ie = J("el-scrollbar");
+      return ee(), ge("div", sl, [
+        oe(o("div", {
+          ref_key: "threejsContainer",
+          ref: V,
+          class: "threejs-container"
+        }, null, 512), [
+          [me, Fe.value]
+        ]),
+        oe(o("div", il, [
+          o("div", rl, null, 512),
+          o("div", ul, null, 512)
+        ], 512), [
+          [me, n.value]
+        ]),
+        o("div", cl, [
+          be(p.$slots, "button-top", { switchTopPanel: l }, void 0, !0),
+          t(U, {
+            name: "guanjianjiexi",
+            size: "34",
+            onClick: e[0] || (e[0] = (Q) => l("弯管解析"))
+          }),
+          t(U, {
+            name: "guanjiekongzhi",
+            size: "34"
+          }),
+          t(U, {
+            name: "gongyishengcheng",
+            size: "34"
+          }),
+          t(U, {
+            name: "buchangshezhi",
+            size: "34"
+          }),
+          t(U, {
+            name: "shuchujiagongchengxu",
+            size: "34"
+          }),
+          be(p.$slots, "logout", {}, void 0, !0)
+        ]),
+        o("div", pl, [
+          t(U, {
+            name: "viewReset",
+            size: "24",
+            onClick: F(R),
+            title: "重置"
+          }, null, 8, ["onClick"]),
+          t(U, {
+            name: "fangda",
+            size: "24",
+            title: "放大",
+            onClick: F(N)
+          }, null, 8, ["onClick"]),
+          t(U, {
+            name: "suoxiao",
+            size: "24",
+            title: "缩小",
+            onClick: F(O)
+          }, null, 8, ["onClick"]),
+          t(U, {
+            name: "lookAround",
+            size: "24",
+            onClick: F(se),
+            title: F(le) ? "停止动画" : "动画视图"
+          }, null, 8, ["onClick", "title"]),
+          t(U, {
+            name: "zuobiaoxi",
+            size: "24",
+            active: F(Y),
+            onClick: ze,
+            title: "显隐坐标轴"
+          }, null, 8, ["active"])
+        ]),
+        o("div", dl, [
+          t(U, {
+            name: "jiegoushu",
+            size: "24",
+            onClick: e[1] || (e[1] = (Q) => c("场景树")),
+            active: u.value && r.value === "场景树",
+            title: "场景树"
+          }, null, 8, ["active"]),
+          t(U, {
+            name: "clipping",
+            size: "24",
+            onClick: e[2] || (e[2] = (Q) => c("剖面视图")),
+            active: u.value && r.value === "剖面视图",
+            title: "剖面视图"
+          }, null, 8, ["active"]),
+          t(U, {
+            name: "zhaozi",
+            size: "24",
+            onClick: e[3] || (e[3] = (Q) => c("工件树")),
+            active: u.value && r.value === "工件树",
+            title: "工件 "
+          }, null, 8, ["active"]),
+          t(U, {
+            name: "donghuafangzhen",
+            size: "24",
+            onClick: e[4] || (e[4] = (Q) => c("场景4"))
+          })
+        ]),
+        o("div", ml, [
+          be(p.$slots, "button-right", { switchRightPanel: C }, void 0, !0),
+          t(U, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          t(U, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          t(U, {
+            name: "guanjiekongzhi",
+            size: "24",
+            onClick: e[5] || (e[5] = (Q) => C("关节控制")),
+            active: g.value && a.value === "关节控制",
+            title: "关节控制"
+          }, null, 8, ["active"]),
+          t(U, {
+            name: "donghuafangzhen",
+            size: "24",
+            title: "动画仿真",
+            onClick: e[6] || (e[6] = (Q) => C("动画仿真")),
+            active: g.value && a.value === "动画仿真"
+          }, null, 8, ["active"]),
+          t(U, {
+            name: "donghuafangzhen",
+            size: "24",
+            title: "urdf动画",
+            onClick: e[7] || (e[7] = (Q) => C("urdf动画")),
+            active: g.value && a.value === "urdf动画"
+          }, null, 8, ["active"]),
+          t(U, {
+            name: "donghuafangzhen",
+            size: "24"
+          })
+        ]),
+        o("div", vl, [
+          t(U, {
+            name: "kuaitui",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快退",
+            onClick: K
+          }),
+          t(U, {
+            name: "bofang",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "播放",
+            onClick: L
+          }),
+          t(U, {
+            name: "kuaijin",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快进",
+            onClick: I
+          }),
+          t(U, {
+            name: "zanting",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "暂停",
+            onClick: j
+          })
+        ]),
+        oe(o("div", fl, [
+          o("div", gl, [
+            o("span", null, fe(s.value), 1),
+            o("span", {
+              class: "close",
+              onClick: e[8] || (e[8] = (Q) => h.value = !1)
+            }, " X ")
+          ]),
+          o("div", hl, [
+            t(ie, { height: "100%" }, {
+              default: A(() => [
+                be(p.$slots, "top-panel", { topPanelType: s.value }, void 0, !0)
+              ]),
+              _: 3
+            })
+          ])
+        ], 512), [
+          [me, h.value]
+        ]),
+        oe(o("div", bl, [
+          o("div", yl, [
+            o("span", null, fe(r.value), 1),
+            o("span", {
+              class: "close",
+              onClick: e[9] || (e[9] = (Q) => u.value = !1)
+            }, " X ")
+          ]),
+          o("div", _l, [
+            t(ie, { height: "100%" }, {
+              default: A(() => {
+                var Q;
+                return [
+                  r.value === "场景树" ? (ee(), Ce(xt, {
+                    key: 0,
+                    model: b.value
+                  }, null, 8, ["model"])) : ve("", !0),
+                  r.value === "剖面视图" ? (ee(), ge("div", wl, [
+                    o("div", Cl, [
+                      o("label", kl, [
+                        oe(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "none",
+                          "onUpdate:modelValue": e[10] || (e[10] = (q) => ke(B) ? B.value = q : null),
+                          onChange: e[11] || (e[11] = //@ts-ignore
+                          (...q) => F(z) && F(z)(...q))
+                        }, null, 544), [
+                          [Pe, F(B)]
+                        ]),
+                        e[19] || (e[19] = o("span", { class: "radio-text" }, "无切割", -1))
+                      ]),
+                      o("label", Pl, [
+                        oe(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "x",
+                          "onUpdate:modelValue": e[12] || (e[12] = (q) => ke(B) ? B.value = q : null),
+                          onChange: e[13] || (e[13] = //@ts-ignore
+                          (...q) => F(z) && F(z)(...q))
+                        }, null, 544), [
+                          [Pe, F(B)]
+                        ]),
+                        e[20] || (e[20] = o("span", { class: "radio-text" }, "X轴切割", -1))
+                      ]),
+                      o("label", xl, [
+                        oe(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "y",
+                          "onUpdate:modelValue": e[14] || (e[14] = (q) => ke(B) ? B.value = q : null),
+                          onChange: e[15] || (e[15] = //@ts-ignore
+                          (...q) => F(z) && F(z)(...q))
+                        }, null, 544), [
+                          [Pe, F(B)]
+                        ]),
+                        e[21] || (e[21] = o("span", { class: "radio-text" }, "Y轴切割", -1))
+                      ]),
+                      o("label", Tl, [
+                        oe(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "z",
+                          "onUpdate:modelValue": e[16] || (e[16] = (q) => ke(B) ? B.value = q : null),
+                          onChange: e[17] || (e[17] = //@ts-ignore
+                          (...q) => F(z) && F(z)(...q))
+                        }, null, 544), [
+                          [Pe, F(B)]
+                        ]),
+                        e[22] || (e[22] = o("span", { class: "radio-text" }, "Z轴切割", -1))
+                      ])
+                    ])
+                  ])) : ve("", !0),
+                  r.value === "工件树" ? (ee(), Ce(tt, {
+                    key: 2,
+                    model: (Q = F(Re)) == null ? void 0 : Q.obj,
+                    onVisibleChange: F(De),
+                    onUpdatePosition: F(Se),
+                    onUpdateRotation: F($e)
+                  }, null, 8, ["model", "onVisibleChange", "onUpdatePosition", "onUpdateRotation"])) : ve("", !0)
+                ];
+              }),
+              _: 1
+            })
+          ])
+        ], 512), [
+          [me, u.value]
+        ]),
+        oe(o("div", Ml, [
+          o("div", Vl, [
+            o("span", null, fe(a.value), 1),
+            o("span", {
+              class: "close",
+              onClick: e[18] || (e[18] = (Q) => g.value = !1)
+            }, " X ")
+          ]),
+          o("div", Rl, [
+            t(ie, { height: "100%" }, {
+              default: A(() => [
+                oe(t(Tt, { model: b.value }, null, 8, ["model"]), [
+                  [me, a.value === "关节控制"]
+                ]),
+                oe(t(Ot, {
+                  ref_key: "animationPanelRef",
+                  ref: x,
+                  model: b.value,
+                  onGetThreeData: d,
+                  threeData: i.threeData
+                }, null, 8, ["model", "threeData"]), [
+                  [me, a.value === "动画仿真"]
+                ]),
+                be(p.$slots, "right-panel", { rightPanelType: a.value }, void 0, !0)
+              ]),
+              _: 3
+            })
+          ])
+        ], 512), [
+          [me, g.value]
+        ]),
+        M.value ? (ee(), ge("div", Dl, [
+          e[23] || (e[23] = o("div", { class: "loading-spinner" }, null, -1)),
+          o("p", null, fe(D.value), 1)
+        ])) : ve("", !0),
+        t(nl, {
+          ref_key: "pipeAnalysisPanelRef",
+          ref: v
+        }, null, 512)
+      ]);
+    };
+  }
+}), Jl = /* @__PURE__ */ je(Sl, [["__scopeId", "data-v-3bada747"]]);
+export {
+  Jl as default
+};