ss-component-new 1.2.6 → 1.2.7
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/{OrbitControls-DA4VpOM_.js → OrbitControls-C0QRmW6_.js} +1 -1
- package/dist/{STLLoader-DmGTF0Nv.js → STLLoader-CiUjaQtA.js} +1 -1
- package/dist/{animationData-GqECkAbz.js → animationData-CMKGpOzN.js} +14 -14
- package/dist/animationData-CjOlng3t.cjs +1 -0
- package/dist/array-BI6c3lN7.cjs +11 -0
- package/dist/array-zuPH84bL.js +1142 -0
- package/dist/{iconfont-ljBfzBSE.js → iconfont-pt17sMx3.js} +2 -2
- package/dist/{index-C5CKSB0e.cjs → index-1aEh3d97.cjs} +1 -1
- package/dist/{index-BOJUyAaV.cjs → index-1z9RrjZc.cjs} +1 -1
- package/dist/{index-DJGsDpDp.js → index-Ah-8x9yf.js} +13 -13
- package/dist/{index-DPBmAgEA.cjs → index-B3bZrnX5.cjs} +1 -1
- package/dist/{index-HvKjB6_P.js → index-B5Qn4jv8.js} +5 -5
- package/dist/{index-67QO-qDa.cjs → index-B7PZ70Ke.cjs} +1 -1
- package/dist/{index-CRrAiL5l.js → index-BPOERPtt.js} +4 -4
- package/dist/{index-DcUUpSE1.cjs → index-BQ7is--r.cjs} +1 -1
- package/dist/{index-BpR7F1Fp.cjs → index-BQdJqnJf.cjs} +1 -1
- package/dist/{index-CBuqdsPh.js → index-BX3CpqTk.js} +4 -4
- package/dist/{index-DPWc4No_.js → index-B_HoaLPL.js} +2 -2
- package/dist/{index-B7hLDNQ6.cjs → index-BaOQV1JK.cjs} +1 -1
- package/dist/{index-BNvpuVyw.cjs → index-Bc20prdj.cjs} +1 -1
- package/dist/index-BhLnI2fF.cjs +1 -0
- package/dist/{index-Bs2K1FVH.js → index-BnNuMzEv.js} +2 -2
- package/dist/{index-CArSUfnV.js → index-BniAk5Lo.js} +1010 -1013
- package/dist/{index-_66uQhcl.js → index-BoHTgzWr.js} +2129 -2122
- package/dist/{index--rLSLEk3.js → index-Br5wm1ow.js} +24 -24
- package/dist/{index-mtuIEfrj.cjs → index-BxL4p0ej.cjs} +1 -1
- package/dist/{index-8yRiF_z8.cjs → index-BzOBvH4x.cjs} +1 -1
- package/dist/{index-D9oqICYV.cjs → index-C2WJz0OJ.cjs} +1 -1
- package/dist/{index-DVmoPvzr.cjs → index-C2aGGJxk.cjs} +1 -1
- package/dist/{index-DGepdvRW.js → index-CHksmnYA.js} +2 -2
- package/dist/{index-CMCrQ36H.js → index-CJW7oNUN.js} +5 -5
- package/dist/index-CJXXl1EN.cjs +1 -0
- package/dist/{index-CTkF2kl_.js → index-CKHNyMzP.js} +1 -1
- package/dist/{index-DZ8a7BZ1.cjs → index-CQAvn30B.cjs} +1 -1
- package/dist/{index-C8UOMPgt.js → index-CQzgMbjC.js} +2 -2
- package/dist/{index-LADv0t0E.js → index-CUUjf1P3.js} +12 -12
- package/dist/{index-CedgKpsz.cjs → index-CW99kzgY.cjs} +1 -1
- package/dist/{index-BHJ-tVLT.cjs → index-CXbvmuYZ.cjs} +1 -1
- package/dist/{index-BsfJJu0R.js → index-CXchqN8w.js} +6 -6
- package/dist/{index-BaRkv5oc.cjs → index-Cia5yg2S.cjs} +1 -1
- package/dist/{index-tttYIzsn.cjs → index-CjI5pDiU.cjs} +1 -1
- package/dist/{index-D-WcrLQv.js → index-CkCmJLPU.js} +4 -4
- package/dist/{index-C1FOuBuy.js → index-CvrTrN91.js} +1 -1
- package/dist/{index-DSchKIyh.cjs → index-CxnH4vfV.cjs} +1 -1
- package/dist/{index-D6mwkqWY.cjs → index-Czw_p2Ax.cjs} +13 -13
- package/dist/index-D46pfmEc.js +2567 -0
- package/dist/{index-g4qw0jRy.js → index-DDNAWKqD.js} +6 -6
- package/dist/{index-CA-FC_OL.cjs → index-DKHaw4wr.cjs} +1 -1
- package/dist/{index-CbA74tCL.js → index-DLN_fbq6.js} +4 -4
- package/dist/{index-DWs7-g1h.cjs → index-DauH8AzR.cjs} +1 -1
- package/dist/{index-DV_ZZQBO.js → index-DbzvXPKu.js} +176 -176
- package/dist/{index-9zEdW6xv.js → index-DsnxblRp.js} +6 -6
- package/dist/{index-_uyv24Pt.cjs → index-Duqrg0DV.cjs} +1 -1
- package/dist/{index-FK1YYpjN.cjs → index-Dv_9EftF.cjs} +1 -1
- package/dist/{index-B14iwpkN.cjs → index-Dx63Z3PG.cjs} +1 -1
- package/dist/index-DxukQK2k.cjs +1 -0
- package/dist/index-Dy3FE211.cjs +1 -0
- package/dist/{index-CRj9VM12.js → index-HZr3I0-O.js} +6 -6
- package/dist/{index-CbDu4gfZ.js → index-IknA4u4L.js} +5 -5
- package/dist/{index-DGi-ANHr.js → index-Kbl8xHWJ.js} +7 -7
- package/dist/{index-BMMYAqF1.js → index-MqvNXMd6.js} +1 -1
- package/dist/{index-Cm3z0Vmi.cjs → index-PBT5kNaR.cjs} +1 -1
- package/dist/{index-CShBWCYm.js → index-UDddsXT4.js} +1 -1
- package/dist/{index-Bw_JtuzR.js → index-UuJKyKlu.js} +3 -3
- package/dist/index-W6FccWpW.js +7210 -0
- package/dist/index-d3F4mRMM.js +3370 -0
- package/dist/{index-BNOx3XL5.js → index-fnqbVNnP.js} +1 -1
- package/dist/{index-CZaBF851.cjs → index-hseXzBbE.cjs} +1 -1
- package/dist/{index-87kRWJv8.cjs → index-k3lVcyGc.cjs} +1 -1
- package/dist/{index-DvpVQvAe.js → index-sBAb1SLC.js} +2 -2
- package/dist/{index-BYUPvuvs.cjs → index-tEinx-qZ.cjs} +1 -1
- package/dist/{index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DIMJusrg.js → index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DULpc85o.js} +10383 -10362
- package/dist/{index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BSOYWm_U.cjs → index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-hGi9c2Ju.cjs} +123 -123
- package/dist/{index.vue_vue_type_style_index_0_scoped_92477073_lang-D2VLEzGB.cjs → index.vue_vue_type_style_index_0_scoped_92477073_lang-CtqR5lQb.cjs} +1 -1
- package/dist/{index.vue_vue_type_style_index_0_scoped_92477073_lang-D58IzjOR.js → index.vue_vue_type_style_index_0_scoped_92477073_lang-DuybmJnl.js} +6 -6
- package/dist/index.vue_vue_type_style_index_0_scoped_bcdf4fb0_lang--PcXwjiH.cjs +56 -0
- package/dist/index.vue_vue_type_style_index_0_scoped_bcdf4fb0_lang-C-NVC3BN.js +34117 -0
- package/dist/index.vue_vue_type_style_index_1_lang-Cb3WPLY1.cjs +32 -0
- package/dist/{index.vue_vue_type_style_index_1_lang-H_pReDxj.cjs → index.vue_vue_type_style_index_1_lang-Ck3aGjUr.cjs} +1 -1
- package/dist/{index.vue_vue_type_style_index_1_lang-hBa3nAgx.js → index.vue_vue_type_style_index_1_lang-D909xoIu.js} +5 -5
- package/dist/index.vue_vue_type_style_index_1_lang-Dy1Zc_t-.js +8126 -0
- package/dist/{isString-CELwppr9.cjs → isString-BmAegMGI.cjs} +1 -1
- package/dist/{isString--ZVOCy4V.js → isString-CZMLuMzD.js} +1 -1
- package/dist/isUndefined-ClRzgwTy.cjs +1 -0
- package/dist/isUndefined-chfCDxUU.js +84 -0
- package/dist/{main-C6Iw-pcH.cjs → main-CSuKoOz4.cjs} +1 -1
- package/dist/{main-CygliYyN.js → main-D6-NZoCw.js} +5 -5
- package/dist/obj/model.mtl +42 -0
- package/dist/obj/model.obj +26110 -0
- package/dist/ss-component.cjs +1 -1
- package/dist/ss-component.css +2 -2
- package/dist/ss-component.js +11 -11
- package/dist/ss-component2.cjs +1 -1
- package/dist/ss-component2.js +12 -12
- package/dist/{three-viewport-gizmo-BHznJ6W3.js → three-viewport-gizmo-CkQ98n-T.js} +2 -2
- package/dist/{threeLatheView-DzpPpdDr.js → threeLatheView-BmVBnC8n.js} +4 -4
- package/dist/{threeLatheView-CdUoB0Te.cjs → threeLatheView-CZdorls1.cjs} +1 -1
- package/dist/{threeModel-BUCLJlE5.cjs → threeModel-CIXJ7OQA.cjs} +1 -1
- package/dist/{threeModel-BfMMeZCc.js → threeModel-CPolYsAh.js} +5 -5
- package/dist/{threePreview-BEqzg370.js → threePreview-CYX5wKoL.js} +4 -4
- package/dist/{threePreview-C-JW_pcY.cjs → threePreview-C_mY_TBC.cjs} +1 -1
- package/dist/threeSceneView-CUBwHIv3.js +1472 -0
- package/dist/threeSceneView-C_0lI1AI.cjs +5 -0
- package/dist/{threeSceneViewForCPMPIP-Bexwqkry.js → threeSceneViewForCPMPIP-BHhBMxdP.js} +86 -85
- package/dist/{threeSceneViewForCPMPIP-DwLWGNUd.cjs → threeSceneViewForCPMPIP-D4KdOIxO.cjs} +3 -3
- package/dist/{threeViewerHost-CTjd2V1D.js → threeViewerHost-Cbz8Cw7s.js} +78 -65
- package/dist/threeViewerHost-DOwyFQG3.cjs +1 -0
- package/dist/{useRayCaster-D0_7oJan.js → useRayCaster-CF6KDZ1R.js} +5 -5
- package/dist/useRayCaster-CqS7g8Ix.cjs +1 -0
- package/package.json +1 -1
- package/public/obj/model.mtl +42 -0
- package/public/obj/model.obj +26110 -0
- package/dist/animationData-B0K2ghu6.cjs +0 -1
- package/dist/array-D65aMM6H.js +0 -1207
- package/dist/array-DMPAgNcb.cjs +0 -11
- package/dist/index-8Dyi4QCI.js +0 -7293
- package/dist/index-BEoEUXZe.js +0 -2643
- package/dist/index-BsM9qdbC.cjs +0 -1
- package/dist/index-CePZE-QA.cjs +0 -1
- package/dist/index-D8510-YQ.cjs +0 -1
- package/dist/index.vue_vue_type_style_index_0_scoped_bcdf4fb0_lang-BnNwKutS.cjs +0 -56
- package/dist/index.vue_vue_type_style_index_0_scoped_bcdf4fb0_lang-CJCvJvBM.js +0 -37436
- package/dist/index.vue_vue_type_style_index_1_lang-D5Hjs-g0.js +0 -7804
- package/dist/index.vue_vue_type_style_index_1_lang-N-_9ZJEf.cjs +0 -32
- package/dist/threeSceneView-BTsG2QJg.cjs +0 -5
- package/dist/threeSceneView-DV5dsTZZ.js +0 -1471
- package/dist/threeViewerHost-CRqcYbJE.cjs +0 -1
- package/dist/useRayCaster-DN56HpNP.cjs +0 -1
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"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),u=require("./index-
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"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),u=require("./index-1z9RrjZc.cjs"),Q=require("./index.vue_vue_type_style_index_1_lang-Cb3WPLY1.cjs"),R=require("./useRayCaster-CqS7g8Ix.cjs"),m=require("./iconfont-t5epssvu.cjs"),ne=require("./index-BzOBvH4x.cjs");require("./index.vue_vue_type_style_index_1_lang-Ck3aGjUr.cjs");const ce=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),re=require("./urdfTree-CCktg0FK.cjs"),Be=require("./animationData-CjOlng3t.cjs"),Ue=require("./STLLoader-RU7KqloS.cjs"),Le=require("./index-CJXXl1EN.cjs"),Ae=require("./isUndefined-ClRzgwTy.cjs"),Oe=require("./three-viewport-gizmo-BV37JzRa.cjs"),Ie={class:"panel-content"},qe={class:"action-bar"},Fe={key:0,class:"animation-controls"},Ge={class:"control-row"},Je={class:"control-row"},He={class:"frame-info"},Xe={class:"control-row"},Ke={key:1,class:"empty-state"},We={class:"dialog-footer"},Ye=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(U,{expose:J}){const w=U,a=e.ref([]),D=e.ref(!1),$=e.ref(""),h=e.ref("stopped"),b=e.ref(0),T=e.ref(0),L=e.ref(10),N=e.ref(null);let f=0;const k=e.ref([]),M=e.computed(()=>w.model?Object.values(w.model.joints).filter(s=>s.jointType!=="fixed").map(s=>s.name):[]),j=e.computed(()=>[...M.value]),z=e.computed(()=>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):
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1 2 3 ...`:"请先加载模型。"),C=e.computed(()=>a.value[b.value]||{});e.watch(()=>w.model,s=>{s?(N.value=new R.URDFRobotController(s),k.value=Object.keys(s.links),b.value=0):(N.value=null,k.value=[])},{immediate:!0});const S=s=>{if(s<0||s>=a.value.length){console.error(`帧索引 ${s} 超出范围`);return}const l=a.value[s];if(N.value){const p={};M.value.forEach(d=>{const r=parseFloat(l[d]);isNaN(r)||(p[d]=r)}),N.value.setJointAngles(p)}b.value=s,T.value=a.value.length>1?s/(a.value.length-1)*100:100},H=async s=>{try{for(let l=b.value;l<a.value.length;l++){if(s!==f)return;const p=a.value[l],d={};if(N.value)M.value.forEach(r=>{const i=parseFloat(p[r]);isNaN(i)||(d[r]=i)}),await N.value.animateToState(d,
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`).filter(i=>i.trim()!=="");if(s.length<2){u.ElMessage.error("导入数据至少需要包含表头行和一行数据");return}const l=s[0].split(" ").map(i=>i.trim()),p={};if(l.forEach((i,c)=>{j.value.includes(i)&&(p[c]=i)}),Object.keys(p).length===0){u.ElMessage.error("没有找到匹配的表头,请检查表头名称是否正确");return}const r=s.slice(1).map(i=>{const c=i.split(" "),E={};return j.value.forEach(y=>{E[y]="0"}),Object.entries(p).forEach(([y,q])=>{const F=c[parseInt(y)];F!==void 0&&F.trim()!==""&&(E[q]=F.trim())}),E});r.length>0?(a.value=r,u.ElMessage.success(`成功导入 ${r.length} 行数据!`),D.value=!1,$.value="",A()):u.ElMessage.error("未能解析到有效数据,请检查格式。")};e.watch(()=>w.xyzbcList,()=>{w.xyzbcList&&(a.value=u.cloneDeep(w.xyzbcList))},{immediate:!0});const I=s=>`第 ${s+1} 帧`;return J({handlePlayPause:B,playAnimation:X,pauseAnimation:K,stopAnimation:A}),e.onUnmounted(()=>{f++}),(s,l)=>{const p=e.resolveComponent("el-input-number"),d=e.resolveComponent("el-slider"),r=e.resolveComponent("el-input"),i=e.resolveComponent("el-dialog");return 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A=e.ref([]),B=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.csvUrl});e.watch(()=>B.value,async()=>{if(console.log("three data",a==null?void 0:a.threeData),console.log("csvUrl",B.value),B.value){const n=await Le.initXYZBCList(B.value);A.value=n}},{immediate:!0});const O=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.bladeObjUrl}),W=e.ref(R.sceneType.ROBOT),I=e.ref(null),s=e.ref(!1),l=e.ref(""),p=e.ref(!1),d=e.ref(""),r=e.ref(!1),i=e.ref(""),c=e.ref(!1),E=e.ref(""),y=e.shallowRef(null),q=e.ref("叶片模型"),F=e.shallowRef(null),ve=e.shallowRef(null),le=e.shallowRef(null),Y=e.ref(ce),{currentModels:Z,resetView:pe,initThreeJS:me,handleResize:oe,getThreeJSObjects:G,cleanup:fe,setModels:ae,axesHelperVisible:ge,toggleAxesVisibility:he}=m.useThreeJS(I),{loadSceneFromFile:Ve}=R.useUrdfLoader(G,Z,s,l),{isAnimating:se,toggleAnimation:be,stopAnimation:Ne}=m.useAnimation(G,Z),{isClipping:ye,activeClippingAxis:V,toggleClipping:Ee,updateClippingPlanes:_}=m.useClipping(G,Z),{initRaycaster:we,selectedObject3D:ke,setSelectedObjVisible:Ce,updatePosition:Pe,updateRotation:Se,dispose:_e}=R.useRaycaster(I,G,Z),xe=()=>{he()},De=e.computed(()=>W.value===R.sceneType.ROBOT),Te=e.computed(()=>W.value===R.sceneType.PIPECOMPARSION),Me=n=>{E.value=n,c.value=!0},ee=n=>{p.value=!0,d.value=n,n==="剖面视图"&&!ye.value&&Ee()},te=n=>{r.value=!0,i.value=n,n==="动画仿真"&&w("getAnimationData")},je=()=>{var n;(n=Y.value)==null||n.handlePlayPause()},Re=()=>{var n;(n=Y.value)==null||n.pauseAnimation()},$e=()=>{var n;(n=Y.value)==null||n.stopAnimation()},ze=(n,t)=>{if(!t)return null;const o=n.links[t];if(!o)return console.warn(`在模型中未找到名为 '${t}' 的 link`),console.log("可用的链接:",Object.keys(n.links)),null;let P=null;return o.traverse(x=>{x instanceof Ae.Mesh&&!P&&(P=x)}),P||console.warn(`在 link '${t}' 中未找到可用的 Mesh 对象`),P},Be=async n=>{const t=ze(n,q.value);if(ve.value=t,console.log("bladeObjUrl",O.value),t&&t.parent&&O.value){const o=await Ye(O.value);o.name="blade_clone",t.parent.add(o),o.position.copy(t.position),o.rotation.copy(t.rotation),o.scale.copy(t.scale),t.visible=!1,F.value=o}else q.value&&console.warn(`在 Blade '${q.value}' 中未找到可替换的网格或其没有父级。`)};return e.watch(()=>a.fileBlobs,n=>{if(n&&n.length>0){const t=n[0];if(!t.name.toLowerCase().endsWith(".urdf"))return;Ve(t).then(o=>{y.value=o,o&&Be(o)}).catch(o=>{console.error("加载URDF文件时发生错误:",o),u.ElMessage.error("加载urdf模型失败"),y.value=null})}else y.value=null},{immediate:!0,deep:!0}),e.watch(y,n=>{ae(n?[n]:[]),we()}),e.onMounted(async()=>{await e.nextTick();try{me(),window.addEventListener("resize",oe);const n=G();le.value=n.scene}catch(n){console.error("Three.js 初始化失败:",n),u.ElMessage.error("渲染引擎初始化失败!")}}),e.onBeforeUnmount(()=>{d.value="",i.value="",window.removeEventListener("resize",oe),se.value&&Ne(),fe(),_e()}),(n,t)=>{var x;const o=e.resolveComponent("el-scrollbar"),P=e.resolveComponent("PipeAnalysisPanel");return e.openBlock(),e.createElementBlock("div",Ze,[e.withDirectives(e.createElementVNode("div",{ref_key:"threejsContainer",ref:I,class:"threejs-container"},null,512),[[e.vShow,De.value]]),e.withDirectives(e.createElementVNode("div",Qe,[e.createElementVNode("div",et,null,512),e.createElementVNode("div",tt,null,512)],512),[[e.vShow,Te.value]]),e.createElementVNode("div",nt,[e.renderSlot(n.$slots,"button-top",{switchTopPanel:Me},void 0,!0),e.renderSlot(n.$slots,"logout",{},void 0,!0)]),e.createElementVNode("div",lt,[e.createVNode(m.SvgIcon,{name:"viewReset",size:"24",onClick:e.unref(pe),title:"重置"},null,8,["onClick"]),e.createVNode(m.SvgIcon,{name:"fangda",size:"24",title:"放大"}),e.createVNode(m.SvgIcon,{name:"suoxiao",size:"24",title:"缩小"}),e.createVNode(m.SvgIcon,{name:"lookAround",size:"24",onClick:e.unref(be),title:e.unref(se)?"停止动画":"动画视图"},null,8,["onClick","title"]),e.createVNode(m.SvgIcon,{name:"zuobiaoxi",size:"24",active:e.unref(ge),onClick:xe,title:"显隐坐标轴"},null,8,["active"])]),e.createElementVNode("div",ot,[e.createVNode(m.SvgIcon,{name:"jiegoushu",size:"24",onClick:t[0]||(t[0]=g=>ee("场景树")),active:p.value&&d.value==="场景树",title:"场景树"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"clipping",size:"24",onClick:t[1]||(t[1]=g=>ee("剖面视图")),active:p.value&&d.value==="剖面视图",title:"剖面视图"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"donghuafangzhen",size:"24",onClick:t[2]||(t[2]=g=>ee("工件树")),active:p.value&&d.value==="工件树"},null,8,["active"])]),e.createElementVNode("div",at,[e.renderSlot(n.$slots,"button-right",{switchRightPanel:te},void 0,!0),e.createVNode(m.SvgIcon,{name:"yemian",size:"24",onClick:j,active:(x=e.unref(N))==null?void 0:x.value,title:"数据管理"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"jichuangxuanze",size:"24",onClick:t[3]||(t[3]=g=>te("机床控制")),active:r.value&&i.value==="机床控制",title:"机床控制"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"donghuafangzhen",size:"24",title:"动画仿真",onClick:t[4]||(t[4]=g=>te("动画仿真")),active:r.value&&i.value==="动画仿真"},null,8,["active"])]),e.createElementVNode("div",st,[e.createVNode(m.SvgIcon,{name:"bofang",size:"24",backgroundColor:"#ffffff",title:"播放",onClick:je}),e.createVNode(m.SvgIcon,{name:"zanting",size:"24",backgroundColor:"#ffffff",title:"暂停",onClick:Re}),e.createVNode(m.SvgIcon,{name:"zhongzhi",size:"24",backgroundColor:"#ffffff",title:"停止",onClick:$e})]),e.withDirectives(e.createElementVNode("div",it,[e.createElementVNode("div",rt,[e.createElementVNode("span",null,e.toDisplayString(E.value),1),e.createElementVNode("span",{class:"close",onClick:t[5]||(t[5]=g=>c.value=!1)}," X ")]),e.createElementVNode("div",ut,[e.createVNode(o,{height:"100%"},{default:e.withCtx(()=>[e.renderSlot(n.$slots,"top-panel",{topPanelType:E.value},void 0,!0)]),_:3})])],512),[[e.vShow,c.value]]),e.withDirectives(e.createElementVNode("div",ct,[e.createElementVNode("div",dt,[e.createElementVNode("span",null,e.toDisplayString(d.value),1),e.createElementVNode("span",{class:"close",onClick:t[6]||(t[6]=g=>p.value=!1)}," X ")]),e.createElementVNode("div",vt,[e.createVNode(o,{height:"100%"},{default:e.withCtx(()=>{var g;return[d.value==="场景树"?(e.openBlock(),e.createBlock(re.UrdfTree,{key:0,model:y.value,extraNodes:H.value,onNodeClick:X},null,8,["model","extraNodes"])):e.createCommentVNode("",!0),d.value==="剖面视图"?(e.openBlock(),e.createElementBlock("div",pt,[e.createElementVNode("div",mt,[e.createElementVNode("label",ft,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"none","onUpdate:modelValue":t[7]||(t[7]=v=>e.isRef(V)?V.value=v:null),onChange:t[8]||(t[8]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[16]||(t[16]=e.createElementVNode("span",{class:"radio-text"},"无切割",-1))]),e.createElementVNode("label",gt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"x","onUpdate:modelValue":t[9]||(t[9]=v=>e.isRef(V)?V.value=v:null),onChange:t[10]||(t[10]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[17]||(t[17]=e.createElementVNode("span",{class:"radio-text"},"X轴切割",-1))]),e.createElementVNode("label",ht,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"y","onUpdate:modelValue":t[11]||(t[11]=v=>e.isRef(V)?V.value=v:null),onChange:t[12]||(t[12]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[18]||(t[18]=e.createElementVNode("span",{class:"radio-text"},"Y轴切割",-1))]),e.createElementVNode("label",Vt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"z","onUpdate:modelValue":t[13]||(t[13]=v=>e.isRef(V)?V.value=v:null),onChange:t[14]||(t[14]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[19]||(t[19]=e.createElementVNode("span",{class:"radio-text"},"Z轴切割",-1))])])])):e.createCommentVNode("",!0),d.value==="工件树"?(e.openBlock(),e.createBlock(R.WorkpieceTreePanel,{key:2,model:(g=e.unref(ke))==null?void 0:g.obj,onVisibleChange:e.unref(Ce),onUpdatePosition:e.unref(Pe),onUpdateRotation:e.unref(Se)},null,8,["model","onVisibleChange","onUpdatePosition","onUpdateRotation"])):e.createCommentVNode("",!0)]}),_:1})])],512),[[e.vShow,p.value]]),e.withDirectives(e.createElementVNode("div",bt,[e.createElementVNode("div",Nt,[e.createElementVNode("span",null,e.toDisplayString(i.value),1),e.createElementVNode("span",{class:"close",onClick:t[15]||(t[15]=g=>r.value=!1)}," X ")]),e.createElementVNode("div",yt,[e.createVNode(o,{height:"100%"},{default:e.withCtx(()=>[e.withDirectives(e.createVNode(re.JointPanel,{model:y.value},null,8,["model"]),[[e.vShow,i.value==="机床控制"]]),e.withDirectives(e.createVNode(ce,{model:y.value,scene:le.value,xyzbcList:A.value,ref_key:"urdfAnimationPanelRef",ref:Y},null,8,["model","scene","xyzbcList"]),[[e.vShow,i.value==="动画仿真"]]),e.renderSlot(n.$slots,"right-panel",{rightPanelType:i.value},void 0,!0)]),_:3})])],512),[[e.vShow,r.value]]),s.value?(e.openBlock(),e.createElementBlock("div",Et,[t[20]||(t[20]=e.createElementVNode("div",{class:"loading-spinner"},null,-1)),e.createElementVNode("p",null,e.toDisplayString(l.value),1)])):e.createCommentVNode("",!0),e.createVNode(P,{ref:"pipeAnalysisPanelRef"},null,512)])}}}),kt=de._export_sfc(wt,[["__scopeId","data-v-d9156359"]]);exports.default=kt;
|
|
4
|
+
1 2 3 ...`:"请先加载模型。"),C=e.computed(()=>a.value[b.value]||{});e.watch(()=>w.model,s=>{s?(N.value=new R.URDFRobotController(s),k.value=Object.keys(s.links),b.value=0):(N.value=null,k.value=[])},{immediate:!0});const S=s=>{if(s<0||s>=a.value.length){console.error(`帧索引 ${s} 超出范围`);return}const l=a.value[s];if(N.value){const p={};M.value.forEach(d=>{const r=parseFloat(l[d]);isNaN(r)||(p[d]=r)}),N.value.setJointAngles(p)}b.value=s,T.value=a.value.length>1?s/(a.value.length-1)*100:100},H=async s=>{try{for(let l=b.value;l<a.value.length;l++){if(s!==f)return;const p=a.value[l],d={};if(N.value)M.value.forEach(r=>{const i=parseFloat(p[r]);isNaN(i)||(d[r]=i)}),await N.value.animateToState(d,L.value,r=>{s===f&&(T.value=(l+r)/a.value.length*100)});else{if(await new Promise(r=>setTimeout(r,L.value)),s!==f)return;T.value=(l+1)/a.value.length*100}b.value=l}s===f&&(u.ElMessage.success("动画播放完成"),h.value="stopped",T.value=100)}catch(l){console.error("动画播放出错:",l),u.ElMessage.error("动画播放出错"),h.value="stopped"}},X=()=>{if(a.value.length===0){u.ElMessage.error("无动画数据");return}h.value==="stopped"&&(b.value=0,S(0)),h.value="playing",f++,H(f),u.ElMessage.info("动画播放中")},K=()=>{h.value==="playing"&&(f++,h.value="paused",u.ElMessage.info("动画已暂停"))},A=()=>{f++,h.value="stopped",b.value=0,T.value=0,S(0),u.ElMessage.info("动画已停止并重置")},B=()=>{h.value==="playing"?K():X()},O=s=>{f++,h.value="paused",S(s)},W=()=>{if(!$.value.trim()){u.ElMessage.warning("导入内容不能为空");return}const s=$.value.trim().split(`
|
|
5
|
+
`).filter(i=>i.trim()!=="");if(s.length<2){u.ElMessage.error("导入数据至少需要包含表头行和一行数据");return}const l=s[0].split(" ").map(i=>i.trim()),p={};if(l.forEach((i,c)=>{j.value.includes(i)&&(p[c]=i)}),Object.keys(p).length===0){u.ElMessage.error("没有找到匹配的表头,请检查表头名称是否正确");return}const r=s.slice(1).map(i=>{const c=i.split(" "),E={};return j.value.forEach(y=>{E[y]="0"}),Object.entries(p).forEach(([y,q])=>{const F=c[parseInt(y)];F!==void 0&&F.trim()!==""&&(E[q]=F.trim())}),E});r.length>0?(a.value=r,u.ElMessage.success(`成功导入 ${r.length} 行数据!`),D.value=!1,$.value="",A()):u.ElMessage.error("未能解析到有效数据,请检查格式。")};e.watch(()=>w.xyzbcList,()=>{w.xyzbcList&&(a.value=u.cloneDeep(w.xyzbcList))},{immediate:!0});const I=s=>`第 ${s+1} 帧`;return J({handlePlayPause:B,playAnimation:X,pauseAnimation:K,stopAnimation:A}),e.onUnmounted(()=>{f++}),(s,l)=>{const p=e.resolveComponent("el-input-number"),d=e.resolveComponent("el-slider"),r=e.resolveComponent("el-input"),i=e.resolveComponent("el-dialog");return e.openBlock(),e.createElementBlock("div",Ie,[e.createElementVNode("div",qe,[e.createVNode(ne._sfc_main,{onClick:l[0]||(l[0]=c=>D.value=!0),disabled:j.value.length===0,modelValue:"导入数据"},null,8,["disabled"])]),a.value.length>0?(e.openBlock(),e.createElementBlock("div",Fe,[e.createElementVNode("div",Ge,[l[6]||(l[6]=e.createElementVNode("label",null,"帧间隔 (ms):",-1)),e.createVNode(p,{modelValue:L.value,"onUpdate:modelValue":l[1]||(l[1]=c=>L.value=c),min:10,max:5e3,step:100,size:"small",style:{width:"120px"}},null,8,["modelValue"])]),e.createElementVNode("div",Je,[l[7]||(l[7]=e.createElementVNode("label",null,"当前帧:",-1)),e.createElementVNode("span",He,e.toDisplayString(b.value+1)+" / "+e.toDisplayString(a.value.length),1)]),e.createElementVNode("div",Xe,[l[8]||(l[8]=e.createElementVNode("label",null,"动画进度:",-1)),e.createVNode(d,{modelValue:b.value,"onUpdate:modelValue":l[2]||(l[2]=c=>b.value=c),min:0,max:a.value.length>0?a.value.length-1:0,step:1,"format-tooltip":I,onInput:O,disabled:a.value.length===0||h.value==="playing",style:{"flex-grow":"1",margin:"0 10px"}},null,8,["modelValue","max","disabled"])]),e.createElementVNode("div",null,[l[9]||(l[9]=e.createElementVNode("label",null,"当前帧数据:",-1)),e.createElementVNode("div",null,[C.value?(e.openBlock(!0),e.createElementBlock(e.Fragment,{key:0},e.renderList(C.value,(c,E)=>(e.openBlock(),e.createElementBlock("div",{key:E},e.toDisplayString(E)+": "+e.toDisplayString(c),1))),128)):e.createCommentVNode("",!0)])])])):e.createCommentVNode("",!0),a.value.length===0?(e.openBlock(),e.createElementBlock("div",Ke,l[10]||(l[10]=[e.createElementVNode("p",null,"请先导入数据",-1)]))):e.createCommentVNode("",!0),e.createVNode(i,{modelValue:D.value,"onUpdate:modelValue":l[5]||(l[5]=c=>D.value=c),title:"导入数据",width:"500px"},{footer:e.withCtx(()=>[e.createElementVNode("span",We,[e.createVNode(ne._sfc_main,{modelValue:"取消",onClick:l[4]||(l[4]=c=>D.value=!1)}),e.createVNode(ne._sfc_main,{modelValue:"确认导入",onClick:W,type:"primary"})])]),default:e.withCtx(()=>[l[11]||(l[11]=e.createElementVNode("p",{class:"import-instructions"}," 请从Excel或CSV中复制数据 (首行为表头, Tab分隔) ",-1)),e.createVNode(r,{modelValue:$.value,"onUpdate:modelValue":l[3]||(l[3]=c=>$.value=c),type:"textarea",rows:10,placeholder:z.value},null,8,["modelValue","placeholder"])]),_:1,__:[11]},8,["modelValue"])])}}}),ue=ce._export_sfc(Ye,[["__scopeId","data-v-0833d9bc"]]),Ze=async U=>await new Ue.OBJLoader().loadAsync(U),Qe={class:"obj-viewer-container"},et={class:"pipe-comparison"},tt={ref:"pipe1",class:"pipe-container"},nt={ref:"pipe2",class:"pipe-container"},lt={class:"buttonGroup-top"},ot={class:"buttonGroup-topLeft"},at={class:"buttonGroup-left"},st={class:"buttonGroup-right"},it={class:"buttonGroup-bottom"},rt={class:"top-panel"},ut={class:"panel-header"},ct={class:"panel-body"},dt={class:"left-panel"},vt={class:"panel-header"},pt={class:"panel-body"},mt={key:1,class:"clipping-content"},ft={class:"radio-group"},gt={class:"radio-label"},ht={class:"radio-label"},Vt={class:"radio-label"},bt={class:"radio-label"},Nt={class:"right-panel"},yt={class:"panel-header"},Et={class:"panel-body"},wt={key:0,class:"loading-overlay"},kt=e.defineComponent({__name:"threeSceneViewForCPMPIP",props:{fileBlobs:{default:()=>[]},animationData:{default:()=>({})},threeData:{},isSelfWindow:{type:Boolean}},emits:["getAnimationData","getThreeData"],setup(U,{emit:J}){const w=J,a=U,D=Q.useOriginalState(u.pinia),{originalPath:$}=u.storeToRefs(D);Q.useModelComp(u.pinia);const h=Q.useMenuState(),{activeMenuPath:b}=u.storeToRefs(h),T=u.useLoginState(u.pinia),{loginUserInfo:L}=u.storeToRefs(T),N=e.inject("managementPageVisible"),f=e.inject("setManagementPageTitle"),k=e.inject("setManagementPageVisible"),M=e.inject("setPositionType"),j=()=>{k==null||k(!(N!=null&&N.value))},z=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.machine}),C=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.workpieceInfo}),S=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.knife}),H=e.ref([]),X=async n=>{!n||!n.isExtra||(await K(n),M==null||M("right"),f==null||f(n==null?void 0:n.pageName),k==null||k(!0))},K=Ae.debounce(async n=>{await Le.onPageBack();const{mainKey:t,baseMenuPath:o}=n||{};Q.copyAdd(o,t)},500);e.watch(()=>[z.value,C.value,S.value],()=>{var x,g,v,ie;const n=[],t={pageName:"机床",name:"机床",label:"机床",type:"机床",id:"机床",path:"机床",baseMenuPath:"设备库/机床",children:[],show:!0,isPenultimate:!1};z.value&&t.children.push({isExtra:!0,pageName:"机床",mainKey:z.value,label:z.value,baseMenuPath:"设备库/机床"});const o={pageName:"工件",name:"工件",label:"工件",type:"工件",id:"工件",path:"工件",baseMenuPath:"设备库/机床",children:[],show:!0,isPenultimate:!1};C.value&&o.children.push({isExtra:!0,type:(x=C.value)==null?void 0:x.type,pageName:"工件",mainKey:(g=C.value)==null?void 0:g.name,label:(v=C.value)==null?void 0:v.name,baseMenuPath:`工件库/${(ie=C.value)==null?void 0:ie.type}`});const P={pageName:"刀具",name:"刀具",label:"刀具",type:"刀具",id:"刀具",path:"刀具",children:[],show:!0,isPenultimate:!1};S.value&&P.children.push({isExtra:!0,pageName:"刀具",mainKey:S.value,label:S.value,baseMenuPath:"设备库/刀具"}),n.push(t,o,P),H.value=n},{immediate:!0});const A=e.ref([]),B=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.csvUrl});e.watch(()=>B.value,async()=>{if(console.log("three data",a==null?void 0:a.threeData),console.log("csvUrl",B.value),B.value){const n=await Be.initXYZBCList(B.value);A.value=n}},{immediate:!0});const O=e.computed(()=>{var t,o;return(o=(t=a==null?void 0:a.threeData)==null?void 0:t.data)==null?void 0:o.bladeObjUrl}),W=e.ref(R.sceneType.ROBOT),I=e.ref(null),s=e.ref(!1),l=e.ref(""),p=e.ref(!1),d=e.ref(""),r=e.ref(!1),i=e.ref(""),c=e.ref(!1),E=e.ref(""),y=e.shallowRef(null),q=e.ref("叶片模型"),F=e.shallowRef(null),de=e.shallowRef(null),le=e.shallowRef(null),Y=e.ref(ue),{currentModels:Z,resetView:ve,initThreeJS:pe,handleResize:oe,getThreeJSObjects:G,cleanup:me,setModels:ae,axesHelperVisible:fe,toggleAxesVisibility:ge}=m.useThreeJS(I),{loadSceneFromFile:he}=R.useUrdfLoader(G,Z,s,l),{isAnimating:se,toggleAnimation:Ve,stopAnimation:be}=m.useAnimation(G,Z),{isClipping:Ne,activeClippingAxis:V,toggleClipping:ye,updateClippingPlanes:_}=m.useClipping(G,Z),{initRaycaster:Ee,selectedObject3D:we,setSelectedObjVisible:ke,updatePosition:Ce,updateRotation:Pe,dispose:Se}=R.useRaycaster(I,G,Z),_e=()=>{ge()},xe=e.computed(()=>W.value===R.sceneType.ROBOT),De=e.computed(()=>W.value===R.sceneType.PIPECOMPARSION),Te=n=>{E.value=n,c.value=!0},ee=n=>{p.value=!0,d.value=n,n==="剖面视图"&&!Ne.value&&ye()},te=n=>{r.value=!0,i.value=n,n==="动画仿真"&&w("getAnimationData")},Me=()=>{var n;(n=Y.value)==null||n.handlePlayPause()},je=()=>{var n;(n=Y.value)==null||n.pauseAnimation()},Re=()=>{var n;(n=Y.value)==null||n.stopAnimation()},$e=(n,t)=>{if(!t)return null;const o=n.links[t];if(!o)return console.warn(`在模型中未找到名为 '${t}' 的 link`),console.log("可用的链接:",Object.keys(n.links)),null;let P=null;return o.traverse(x=>{x instanceof Oe.Mesh&&!P&&(P=x)}),P||console.warn(`在 link '${t}' 中未找到可用的 Mesh 对象`),P},ze=async n=>{const t=$e(n,q.value);if(de.value=t,console.log("bladeObjUrl",O.value),t&&t.parent&&O.value){const o=await Ze(O.value);o.name="blade_clone",t.parent.add(o),o.position.copy(t.position),o.rotation.copy(t.rotation),o.scale.copy(t.scale),t.visible=!1,F.value=o}else q.value&&console.warn(`在 Blade '${q.value}' 中未找到可替换的网格或其没有父级。`)};return e.watch(()=>a.fileBlobs,n=>{if(n&&n.length>0){const t=n[0];if(!t.name.toLowerCase().endsWith(".urdf"))return;he(t).then(o=>{y.value=o,o&&ze(o)}).catch(o=>{console.error("加载URDF文件时发生错误:",o),u.ElMessage.error("加载urdf模型失败"),y.value=null})}else y.value=null},{immediate:!0,deep:!0}),e.watch(y,n=>{ae(n?[n]:[]),Ee()}),e.onMounted(async()=>{await e.nextTick();try{pe(),window.addEventListener("resize",oe);const n=G();le.value=n.scene}catch(n){console.error("Three.js 初始化失败:",n),u.ElMessage.error("渲染引擎初始化失败!")}}),e.onBeforeUnmount(()=>{d.value="",i.value="",window.removeEventListener("resize",oe),se.value&&be(),me(),Se()}),(n,t)=>{var x;const o=e.resolveComponent("el-scrollbar"),P=e.resolveComponent("PipeAnalysisPanel");return e.openBlock(),e.createElementBlock("div",Qe,[e.withDirectives(e.createElementVNode("div",{ref_key:"threejsContainer",ref:I,class:"threejs-container"},null,512),[[e.vShow,xe.value]]),e.withDirectives(e.createElementVNode("div",et,[e.createElementVNode("div",tt,null,512),e.createElementVNode("div",nt,null,512)],512),[[e.vShow,De.value]]),e.createElementVNode("div",lt,[e.renderSlot(n.$slots,"button-top",{switchTopPanel:Te},void 0,!0),e.renderSlot(n.$slots,"logout",{},void 0,!0)]),e.createElementVNode("div",ot,[e.createVNode(m.SvgIcon,{name:"viewReset",size:"24",onClick:e.unref(ve),title:"重置"},null,8,["onClick"]),e.createVNode(m.SvgIcon,{name:"fangda",size:"24",title:"放大"}),e.createVNode(m.SvgIcon,{name:"suoxiao",size:"24",title:"缩小"}),e.createVNode(m.SvgIcon,{name:"lookAround",size:"24",onClick:e.unref(Ve),title:e.unref(se)?"停止动画":"动画视图"},null,8,["onClick","title"]),e.createVNode(m.SvgIcon,{name:"zuobiaoxi",size:"24",active:e.unref(fe),onClick:_e,title:"显隐坐标轴"},null,8,["active"])]),e.createElementVNode("div",at,[e.createVNode(m.SvgIcon,{name:"jiegoushu",size:"24",onClick:t[0]||(t[0]=g=>ee("场景树")),active:p.value&&d.value==="场景树",title:"场景树"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"clipping",size:"24",onClick:t[1]||(t[1]=g=>ee("剖面视图")),active:p.value&&d.value==="剖面视图",title:"剖面视图"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"donghuafangzhen",size:"24",onClick:t[2]||(t[2]=g=>ee("工件树")),active:p.value&&d.value==="工件树"},null,8,["active"])]),e.createElementVNode("div",st,[e.renderSlot(n.$slots,"button-right",{switchRightPanel:te},void 0,!0),e.createVNode(m.SvgIcon,{name:"yemian",size:"24",onClick:j,active:(x=e.unref(N))==null?void 0:x.value,title:"数据管理"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"jichuangxuanze",size:"24",onClick:t[3]||(t[3]=g=>te("机床控制")),active:r.value&&i.value==="机床控制",title:"机床控制"},null,8,["active"]),e.createVNode(m.SvgIcon,{name:"donghuafangzhen",size:"24",title:"动画仿真",onClick:t[4]||(t[4]=g=>te("动画仿真")),active:r.value&&i.value==="动画仿真"},null,8,["active"])]),e.createElementVNode("div",it,[e.createVNode(m.SvgIcon,{name:"bofang",size:"24",backgroundColor:"#ffffff",title:"播放",onClick:Me}),e.createVNode(m.SvgIcon,{name:"zanting",size:"24",backgroundColor:"#ffffff",title:"暂停",onClick:je}),e.createVNode(m.SvgIcon,{name:"zhongzhi",size:"24",backgroundColor:"#ffffff",title:"停止",onClick:Re})]),e.withDirectives(e.createElementVNode("div",rt,[e.createElementVNode("div",ut,[e.createElementVNode("span",null,e.toDisplayString(E.value),1),e.createElementVNode("span",{class:"close",onClick:t[5]||(t[5]=g=>c.value=!1)}," X ")]),e.createElementVNode("div",ct,[e.createVNode(o,{height:"100%"},{default:e.withCtx(()=>[e.renderSlot(n.$slots,"top-panel",{topPanelType:E.value},void 0,!0)]),_:3})])],512),[[e.vShow,c.value]]),e.withDirectives(e.createElementVNode("div",dt,[e.createElementVNode("div",vt,[e.createElementVNode("span",null,e.toDisplayString(d.value),1),e.createElementVNode("span",{class:"close",onClick:t[6]||(t[6]=g=>p.value=!1)}," X ")]),e.createElementVNode("div",pt,[e.createVNode(o,{height:"100%"},{default:e.withCtx(()=>{var g;return[d.value==="场景树"?(e.openBlock(),e.createBlock(re.UrdfTree,{key:0,model:y.value,extraNodes:H.value,onNodeClick:X},null,8,["model","extraNodes"])):e.createCommentVNode("",!0),d.value==="剖面视图"?(e.openBlock(),e.createElementBlock("div",mt,[e.createElementVNode("div",ft,[e.createElementVNode("label",gt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"none","onUpdate:modelValue":t[7]||(t[7]=v=>e.isRef(V)?V.value=v:null),onChange:t[8]||(t[8]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[16]||(t[16]=e.createElementVNode("span",{class:"radio-text"},"无切割",-1))]),e.createElementVNode("label",ht,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"x","onUpdate:modelValue":t[9]||(t[9]=v=>e.isRef(V)?V.value=v:null),onChange:t[10]||(t[10]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[17]||(t[17]=e.createElementVNode("span",{class:"radio-text"},"X轴切割",-1))]),e.createElementVNode("label",Vt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"y","onUpdate:modelValue":t[11]||(t[11]=v=>e.isRef(V)?V.value=v:null),onChange:t[12]||(t[12]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[18]||(t[18]=e.createElementVNode("span",{class:"radio-text"},"Y轴切割",-1))]),e.createElementVNode("label",bt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"z","onUpdate:modelValue":t[13]||(t[13]=v=>e.isRef(V)?V.value=v:null),onChange:t[14]||(t[14]=(...v)=>e.unref(_)&&e.unref(_)(...v))},null,544),[[e.vModelRadio,e.unref(V)]]),t[19]||(t[19]=e.createElementVNode("span",{class:"radio-text"},"Z轴切割",-1))])])])):e.createCommentVNode("",!0),d.value==="工件树"?(e.openBlock(),e.createBlock(R.WorkpieceTreePanel,{key:2,model:(g=e.unref(we))==null?void 0:g.obj,onVisibleChange:e.unref(ke),onUpdatePosition:e.unref(Ce),onUpdateRotation:e.unref(Pe)},null,8,["model","onVisibleChange","onUpdatePosition","onUpdateRotation"])):e.createCommentVNode("",!0)]}),_:1})])],512),[[e.vShow,p.value]]),e.withDirectives(e.createElementVNode("div",Nt,[e.createElementVNode("div",yt,[e.createElementVNode("span",null,e.toDisplayString(i.value),1),e.createElementVNode("span",{class:"close",onClick:t[15]||(t[15]=g=>r.value=!1)}," X ")]),e.createElementVNode("div",Et,[e.createVNode(o,{height:"100%"},{default:e.withCtx(()=>[e.withDirectives(e.createVNode(re.JointPanel,{model:y.value},null,8,["model"]),[[e.vShow,i.value==="机床控制"]]),e.withDirectives(e.createVNode(ue,{model:y.value,scene:le.value,xyzbcList:A.value,ref_key:"urdfAnimationPanelRef",ref:Y},null,8,["model","scene","xyzbcList"]),[[e.vShow,i.value==="动画仿真"]]),e.renderSlot(n.$slots,"right-panel",{rightPanelType:i.value},void 0,!0)]),_:3})])],512),[[e.vShow,r.value]]),s.value?(e.openBlock(),e.createElementBlock("div",wt,[t[20]||(t[20]=e.createElementVNode("div",{class:"loading-spinner"},null,-1)),e.createElementVNode("p",null,e.toDisplayString(l.value),1)])):e.createCommentVNode("",!0),e.createVNode(P,{ref:"pipeAnalysisPanelRef"},null,512)])}}}),Ct=ce._export_sfc(kt,[["__scopeId","data-v-d9156359"]]);exports.default=Ct;
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")):t.createCommentVNode("",!0)],2))}}),V=L._export_sfc(z,[["__scopeId","data-v-5e37b1fe"]]),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;
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@@ -1,14 +1,14 @@
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var de = Object.defineProperty;
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var me = (n, s, t) => s in n ? de(n, s, { enumerable: !0, configurable: !0, writable: !0, value: t }) : n[s] = t;
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var x = (n, s, t) => me(n, typeof s != "symbol" ? s + "" : s, t);
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import { U as pe } from "./index.vue_vue_type_style_index_1_lang-
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import { S as ve, M as fe, O as be } from "./STLLoader-
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import { ay as we,
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import { U as pe } from "./index.vue_vue_type_style_index_1_lang-D909xoIu.js";
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import { S as ve, M as fe, O as be } from "./STLLoader-CiUjaQtA.js";
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import { ay as we, n as E, h as he, e as _e, B as ge, V as z, Q as Me, E as ye, az as Re, J as Se } from "./three-viewport-gizmo-CkQ98n-T.js";
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import { defineComponent as $e, ref as V, computed as D, watch as ue, resolveComponent as J, createElementBlock as j, openBlock as I, createVNode as F, createElementVNode as c, withCtx as L, createTextVNode as U, toDisplayString as C } from "vue";
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import { _ as Fe } from "./_plugin-vue_export-helper-CHgC5LLL.js";
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SINGLE: "
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DOUBLE: "
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SINGLE: "单机器人弯管",
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DOUBLE: "双机器人弯管"
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"use strict";var te=Object.defineProperty;var oe=(r,i,o)=>i in r?te(r,i,{enumerable:!0,configurable:!0,writable:!0,value:o}):r[i]=o;var D=(r,i,o)=>oe(r,typeof i!="symbol"?i+"":i,o);const se=require("./index.vue_vue_type_style_index_1_lang-Ck3aGjUr.cjs"),C=require("./STLLoader-RU7KqloS.cjs"),R=require("./three-viewport-gizmo-BV37JzRa.cjs"),e=require("vue"),ie=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),le={SINGLE:"单机器人弯管",DOUBLE:"双机器人弯管"},ne={ROBOT:1,PIPECOMPARSION:2},re="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function x(r){if(r==null||!isFinite(r))return"";const i=r/(1024*1024);if(i>=1)return`${i.toFixed(1)} MB`;const o=r/1024;return o>=1?`${o.toFixed(1)} KB`:`${r} B`}function ee(r){try{const i=r.split("?")[0].split("#")[0];return i.substring(i.lastIndexOf("/")+1)||i}catch{return r}}function ae(r){const{manager:i,baseFolderUrl:o,onFileProgress:l}=r,m=new se.URDFLoader(i);return m.packages=n=>`${o.endsWith("/")?o:o+"/"}${n}/`,m.loadMeshCb=(n,N,h)=>{const g=(()=>{const _=n.split("?")[0].split("#")[0],u=_.lastIndexOf(".");return u>=0?_.slice(u+1).toLowerCase():void 0})();switch(g){case"obj":{const _=(()=>{try{return new URL(".",n).toString()}catch{const c=n.lastIndexOf("/");return c>=0?n.slice(0,c+1):n}})(),u=(()=>{var v;return(((v=n.split("/").pop())==null?void 0:v.split("?")[0].split("#")[0])??"").replace(/\.[^/.?#]+$/,"")})(),f=`${_}${u}.mtl`,E=c=>{const v=new C.OBJLoader(N);c&&v.setMaterials(c),v.load(n,b=>h(b),b=>l==null?void 0:l(n,b==null?void 0:b.loaded,b==null?void 0:b.total),b=>{console.error(`[URDF 资源加载失败,已跳过] 无法加载 OBJ 模型: ${n}`,b),h(new R.Group)})},w=new C.MTLLoader(N);w.setResourcePath(_),w.load(f,c=>{try{c.preload()}catch{}E(c)},c=>l==null?void 0:l(f,c==null?void 0:c.loaded,c==null?void 0:c.total),c=>{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。`),E(void 0)});break}case"stl":{new C.STLLoader(N).load(n,u=>{const f=new R.MeshPhongMaterial({color:12303291,shininess:30}),E=new R.Mesh(u,f);E.castShadow=!0,E.receiveShadow=!0,h(E)},u=>l==null?void 0:l(n,u==null?void 0:u.loaded,u==null?void 0:u.total),u=>{console.error(`[URDF 资源加载失败,已跳过] 无法加载 STL 模型: ${n}`,u),h(new R.Group)});break}default:console.error(`[URDF 资源加载失败,已跳过] 不支持的网格格式: .${g} (路径: ${n})`),h(new R.Group)}},m}function ce(r,i,o,l){return{loadSceneFromFile:n=>new Promise((N,h)=>{o.value=!0,l.value="正在初始化 URDF 加载器...";let g=0,_=0,u=null;const f=new R.LoadingManager;f.onStart=(w,c,v)=>{g=v||0,_=c||0,l.value=g>0?`开始下载资源: 0 / ${g}`:"开始下载资源...",o.value=!0},f.onProgress=(w,c,v)=>{_=c,g=v;const b=`正在加载 ${c} / ${v} 个文件: ${ee(w)}`;l.value=b,c===v&&(l.value="资源加载完成,正在处理模型...",setTimeout(()=>{if(u){u.updateMatrixWorld(!0);const p=new R.Box3().setFromObject(u);p.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。"),u.userData.boundingBox=p,u.traverse(d=>{d.isMesh&&(d.castShadow=!0,d.receiveShadow=!0)}),N(u)}else h(new Error("URDF 文件本身加载失败。"));l.value="模型加载完成",setTimeout(()=>{l.value==="模型加载完成"&&(o.value=!1,l.value="")},500)},100))},f.onError=w=>{console.warn(`LoadingManager 报告一个资源加载失败: ${w}。加载流程将继续。`)};const E=(w,c,v)=>{const b=ee(w);let p;v&&v>0?p=`${b}(${x(c)} / ${x(v)})`:c&&c>0?p=`${b}(已下载 ${x(c)})`:p=`${b}`,l.value=`正在下载第 ${_+1} / ${g} 个文件: ${p}`};try{const w=URL.createObjectURL(n);ae({manager:f,baseFolderUrl:re,onFileProgress:E}).load(w,v=>{u=v},void 0,v=>{console.error(`加载 URDF 文件 (${n.name}) 时发生致命错误:`,v),l.value="URDF 文件解析失败",o.value=!1,h(new Error(`加载 URDF 文件失败: ${n.name}`,{cause:v}))})}catch(w){console.error("初始化 URDF 加载时发生致命错误:",w),l.value="模型加载失败",o.value=!1,h(w)}})}}class ue{constructor(i){D(this,"robot");D(this,"movableJoints");this.robot=i,this.movableJoints=this.getMovableJoints()}getMovableJoints(){return Object.values(this.robot.joints).filter(i=>i.jointType!=="fixed")}getMovableJointNames(){return this.movableJoints.map(i=>i.name)}setJointAngle(i,o){const l=this.robot.joints[i];if(!l||l.jointType==="fixed")return console.warn(`关节 ${i} 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 ${i} 角度被限制在 [${l.limit.lower}, ${l.limit.upper}]`),l.setJointValue(m)}else l.setJointValue(o);return!0}setJointAngles(i){Object.entries(i).forEach(([o,l])=>{typeof l=="number"&&!isNaN(l)&&this.setJointAngle(o,l)})}getCurrentJointStates(){const i={};return this.movableJoints.forEach(o=>{i[o.name]=o.angle||0}),i}resetToZero(){this.movableJoints.forEach(i=>{i.setJointValue(0)})}getJointLimits(i){const o=this.robot.joints[i];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(i,o=1e3,l){const m=this.getCurrentJointStates(),n=Date.now();return new Promise(N=>{const h=()=>{const g=Date.now()-n,_=Math.min(g/o,1),u=this.easeInOutCubic(_),f={};Object.keys(i).forEach(E=>{const 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e.watch(()=>o.model,()=>{o.model&&(n.value=de(o.model))},{deep:!0,immediate:!0}),e.watch(v,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var M,F,$,L,O,U,j,J,k,I,T,P,z,B,A,W,q,G,Q,X,Y,Z,K,H;const V=e.resolveComponent("el-divider"),a=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return 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0:A.worldPosition)==null?void 0:W.y))+", ",1),e.createElementVNode("div",Le,e.toDisplayString(u((G=(q=n.value)==null?void 0:q.worldPosition)==null?void 0:G.z)),1)])]),e.createElementVNode("div",Oe,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Ue,[e.createElementVNode("div",je,e.toDisplayString(f((X=(Q=n.value)==null?void 0:Q.worldRotation)==null?void 0:X.x))+"°, ",1),e.createElementVNode("div",Je,e.toDisplayString(f((Z=(Y=n.value)==null?void 0:Y.worldRotation)==null?void 0:Z.y))+"°, ",1),e.createElementVNode("div",ke,e.toDisplayString(f((H=(K=n.value)==null?void 0:K.worldRotation)==null?void 0:H.z))+"° ",1)])])])])}}}),Te=ie._export_sfc(Ie,[["__scopeId","data-v-00d48931"]]);function Pe(r,i,o,l=["URDFVisual"]){let m=null;const n=e.ref(null),N=new R.Raycaster,h=new R.Vector2,g=new Map;function _(){o.value.forEach(p=>{p.traverse(d=>{l!=null&&l.includes(d.type)&&g.set(d.id,{obj:d,axis:d.axis||new R.Vector3(1,0,0),limits:d.limits})})})}function u(p){n.value&&n.value.obj.traverse(d=>{var t;d.material&&((t=d.material.emissive)==null||t.set(0))}),n.value=p,p.obj.traverse(d=>{var t;d.material&&((t=d.material.emissive)==null||t.set(65280))})}function f(p){const d=r.value.getBoundingClientRect();h.x=(p.clientX-d.left)/d.width*2-1,h.y=-((p.clientY-d.top)/d.height)*2+1,N.setFromCamera(h,m);const t=N.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,V=null;for(;s;){if(g.has(s.id)){V=g.get(s.id);break}s=s.parent}V&&u(V)}function E(){r.value&&r.value.removeEventListener("click",f,!1)}function w(){const{scene:p,camera:d}=i();m=d,_(),r.value&&r.value.addEventListener("click",f,!1)}function c(p){n.value&&(n.value.obj.visible=p)}function v(p){var s;const{axis:d,value:t}=p;me((s=n.value)==null?void 0:s.obj,d,t)}function b(p){var s;const{axis:d,value:t}=p;pe((s=n.value)==null?void 0:s.obj,d,t)}return{initRaycaster:w,dispose:E,selectedObject3D:n,setSelectedObjVisible:c,updatePosition:v,updateRotation:b}}exports.URDFRobotController=ue;exports.WorkpieceTreePanel=Te;exports.robotMode=le;exports.sceneType=ne;exports.useRaycaster=Pe;exports.useUrdfLoader=ce;
|
package/package.json
CHANGED
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@@ -0,0 +1,42 @@
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|
|
1
|
+
# CAD Exchanger 3.24.0 (cadexchanger.com)
|
|
2
|
+
# Material Count: 5
|
|
3
|
+
|
|
4
|
+
newmtl Material_1
|
|
5
|
+
Ns 0.000000
|
|
6
|
+
Ka 0.200000 0.200000 0.200000
|
|
7
|
+
Kd 0.666667 0.666667 0.666667
|
|
8
|
+
Ks 0.000000 0.000000 0.000000
|
|
9
|
+
Ke 0.000000 0.000000 0.000000
|
|
10
|
+
d 1.000000
|
|
11
|
+
|
|
12
|
+
newmtl Material_2
|
|
13
|
+
Ns 0.000000
|
|
14
|
+
Ka 0.200000 0.200000 0.200000
|
|
15
|
+
Kd 0.133333 0.133333 0.133333
|
|
16
|
+
Ks 0.000000 0.000000 0.000000
|
|
17
|
+
Ke 0.000000 0.000000 0.000000
|
|
18
|
+
d 1.000000
|
|
19
|
+
|
|
20
|
+
newmtl Material_3
|
|
21
|
+
Ns 0.000000
|
|
22
|
+
Ka 0.200000 0.200000 0.200000
|
|
23
|
+
Kd 0.733333 0.733333 0.733333
|
|
24
|
+
Ks 0.000000 0.000000 0.000000
|
|
25
|
+
Ke 0.000000 0.000000 0.000000
|
|
26
|
+
d 1.000000
|
|
27
|
+
|
|
28
|
+
newmtl Material_5
|
|
29
|
+
Ns 0.000000
|
|
30
|
+
Ka 0.200000 0.200000 0.200000
|
|
31
|
+
Kd 0.396078 0.941176 0.450980
|
|
32
|
+
Ks 0.000000 0.000000 0.000000
|
|
33
|
+
Ke 0.000000 0.000000 0.000000
|
|
34
|
+
d 1.000000
|
|
35
|
+
|
|
36
|
+
newmtl Material_4
|
|
37
|
+
Ns 0.000000
|
|
38
|
+
Ka 0.200000 0.200000 0.200000
|
|
39
|
+
Kd 1.000000 1.000000 0.000000
|
|
40
|
+
Ks 0.000000 0.000000 0.000000
|
|
41
|
+
Ke 0.000000 0.000000 0.000000
|
|
42
|
+
d 1.000000
|