ss-component-new 1.2.6 → 1.2.8

package/dist/threeSceneView-C-8QVXZL.js

@@ -0,0 +1,1413 @@
+import { defineComponent as Ze, ref as f, watch as de, shallowRef as he, computed as we, onUnmounted as et, resolveComponent as Z, createElementBlock as Ce, openBlock as ie, createElementVNode as o, createVNode as l, withCtx as V, createBlock as De, createCommentVNode as ge, unref as S, toDisplayString as ve, onBeforeUnmount as Ke, createTextVNode as tt, onMounted as lt, nextTick as ot, withDirectives as Q, vShow as me, renderSlot as _e, isRef as Re, vModelRadio as Me } from "vue";
+import { r as Ve, U as nt, s as Xe, u as at, a as st, W as it } from "./useRayCaster-DwVmFKhR.js";
+import { u as qe, a as rt, b as ut, S as F } from "./iconfont-B9HCA4uh.js";
+import { m as Se, T as Pe, V as j, k as te, l as ct, n as pt, e as ke, o as dt, L 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-BlxFLyPm.js";
+import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BhLzDN6s.js";
+import { a9 as wt, c as Ct, E as X, a as kt, aM as Pt, ao as xt } from "./index-CYp77kPp.js";
+import "./index.vue_vue_type_style_index_1_lang-CFvcnWO4.js";
+import "./index-BHtNKL1L.js";
+import { _ as pe, s as Tt } from "./index-DX6yycjK.js";
+import "./index.vue_vue_type_style_index_1_lang-DLO5Vd6g.js";
+import "./index-DgymXtI4.js";
+import { f as Rt, a as Mt } from "./animationData-B7Ho3YRJ.js";
+import { _ as Je } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+import { U as Vt, J as Dt } from "./urdfTree-BuTtRGdl.js";
+const ee = 1e-3, re = ct.degToRad, Ge = new dt({
+  // 灰色
+  color: 13421772,
+  metalness: 0.3,
+  roughness: 0.6,
+  side: _t
+});
+function St(y = 5e-3, v = 64) {
+  const C = new Se([new j(0, 0, 0), new j(0, 0, 0)]), s = new Pe(C, v, y, 16, !1), b = Ge;
+  return new ke(s, b);
+}
+const He = (y) => y.reduce((v, C) => {
+  let s = 0;
+  const b = C.Y ?? 0, T = C.C ?? 0, p = C.R ?? 0;
+  return b > 0 && (s += b), T > 0 && p > 0 && (s += p * re(T)), v + s;
+}, 0), Qe = (y) => {
+  const v = [], C = y.Y ?? 0, s = y.B ?? 0, b = y.C ?? 0, T = y.R ?? 0, p = {
+    pos: new j(0, 0, 0),
+    localY: new j(0, 1, 0),
+    localX: new j(1, 0, 0),
+    localZ: new j(0, 0, 1)
+  };
+  if (!C && !b) return v;
+  if (v.push(p.pos.clone()), s !== 0) {
+    const x = new te().makeRotationAxis(p.localY, re(s));
+    p.localX.applyMatrix4(x), p.localZ.applyMatrix4(x);
+  }
+  if (C > 0 && (p.pos.add(p.localY.clone().multiplyScalar(C * ee)), v.push(p.pos.clone())), b > 0 && T > 0) {
+    const x = re(b), R = T * ee, c = p.pos.clone().add(p.localX.clone().multiplyScalar(-R)), r = Math.max(16, Math.ceil(b / 5));
+    for (let g = 1; g <= r; g++) {
+      const n = x * g / r, d = new te().makeRotationAxis(p.localZ, n), _ = p.localX.clone().multiplyScalar(R).applyMatrix4(d), k = c.clone().add(_);
+      v.push(k);
+    }
+  }
+  return v;
+};
+function $t(y, v) {
+  const C = new pt();
+  C.name = "CompletePipe";
+  const s = {
+    pos: new j(0, 0, 0),
+    localX: new j(1, 0, 0),
+    localY: new j(0, 1, 0),
+    localZ: new j(0, 0, 1)
+  };
+  let b = 0, T = 1;
+  for (let p = 0; p < y.length; p++) {
+    const x = y[p], R = x.Y ?? 0, c = x.B ?? 0, r = x.C ?? 0, g = x.R ?? 0;
+    if (c !== 0) {
+      const n = new te().makeRotationAxis(s.localY, re(c));
+      s.localX.applyMatrix4(n), s.localZ.applyMatrix4(n);
+    }
+    if (R > 0) {
+      const n = s.pos.clone();
+      s.pos.add(s.localY.clone().multiplyScalar(R * ee));
+      const d = s.pos.clone(), u = At(n, d, v * ee);
+      u.userData = {
+        segmentType: "straight",
+        segmentIndex: b,
+        frameIndex: p,
+        length: R,
+        frame: { Y: R, B: c, C: r, R: g }
+      }, u.name = `直段_${b}`, C.add(u);
+      const _ = n.clone();
+      zt(C, T, _, v * ee), b++;
+    }
+    if (r > 0 && g > 0) {
+      const n = re(r), d = g * ee, u = [];
+      u.push(s.pos.clone());
+      const _ = s.pos.clone().add(s.localX.clone().multiplyScalar(-d)), k = Math.max(16, Math.ceil(r / 5));
+      for (let $ = 1; $ <= k; $++) {
+        const E = n * $ / k, D = new te().makeRotationAxis(s.localZ, E), G = s.localX.clone().multiplyScalar(d).applyMatrix4(D), oe = _.clone().add(G);
+        u.push(oe);
+      }
+      const w = Ft(u, v * ee);
+      w.userData = {
+        segmentType: "bend",
+        segmentIndex: b,
+        frameIndex: p,
+        angle: r,
+        radius: g,
+        centerPoint: _.toArray(),
+        frame: { Y: R, B: c, C: r, R: g }
+      }, w.name = `弯段_${b}`, C.add(w), Math.floor(u.length / 2), u[0], s.pos = u[u.length - 1].clone();
+      const M = new te().makeRotationAxis(s.localZ, n);
+      s.localY.applyMatrix4(M), s.localX.applyMatrix4(M), b++, T++;
+    }
+  }
+  return C;
+}
+function zt(y, v, C, s) {
+  const b = new j(0, s * 2, s * 5), T = C.clone().add(b), p = [C, T], x = new vt().setFromPoints(p), R = new ft({
+    color: 16711680,
+    dashSize: s * 0.5,
+    gapSize: s * 0.3,
+    linewidth: 1
+  }), c = new gt(x, R);
+  c.computeLineDistances(), y.add(c);
+  const r = document.createElement("canvas"), g = r.getContext("2d");
+  r.width = 128, r.height = 128, g.clearRect(0, 0, 128, 128), g.fillStyle = "#FF0000", g.font = "bold 80px Arial", g.textAlign = "center", g.textBaseline = "middle", g.fillText(v.toString(), 64, 64);
+  const n = new ht(r), d = new bt({
+    map: n,
+    transparent: !0,
+    depthTest: !1,
+    depthWrite: !1
+  }), u = new yt(d), _ = s * 3;
+  u.scale.set(_, _, 1), u.position.copy(T), u.name = `Label_${v}`, u.userData = { labelNumber: v }, y.add(u);
+}
+function At(y, v, C) {
+  const s = new mt(y, v), b = new Pe(s, 2, C, 18, !1);
+  return new ke(b, Ge);
+}
+function Ft(y, v) {
+  const C = new Se(y, !1, "catmullrom", 0.01), s = new Pe(C, Math.max(16, y.length * 2), v, 18, !1);
+  return new ke(s, Ge);
+}
+function Ie(y, v, C, s, b, T = 0) {
+  let p = v.slice(0, b + 1);
+  const x = v[b + 1];
+  if (x && T > 0) {
+    const u = {
+      ...x,
+      // 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: (x.B ?? 0) * T,
+      // 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: (x.C ?? 0) * T
+    };
+    p.push(u);
+  }
+  const R = He(p), c = Math.max(0, C - R), r = [];
+  r.push(new j(0, 0, 0));
+  const g = new j(0, c * ee, 0);
+  c > 0 && r.push(g);
+  let n = {
+    pos: g.clone(),
+    localY: new j(0, 1, 0),
+    localX: new j(1, 0, 0),
+    localZ: new j(0, 0, 1)
+  };
+  const d = [];
+  for (let u = p.length - 1; u >= 0; u--) {
+    const _ = p[u], k = Qe(_);
+    if (k.length > 0) {
+      const w = k.map((D) => {
+        const z = D.clone(), G = new te();
+        return G.makeBasis(n.localX, n.localY, n.localZ), z.applyMatrix4(G), z.add(n.pos);
+      });
+      d.push(w);
+      const M = w[w.length - 1];
+      n.pos = M.clone();
+      const $ = _.B ?? 0, E = _.C ?? 0;
+      if ($ !== 0) {
+        const D = new te().makeRotationAxis(n.localY, re($));
+        n.localX.applyMatrix4(D), n.localZ.applyMatrix4(D);
+      }
+      if (E > 0) {
+        const D = re(E), z = new te().makeRotationAxis(n.localZ, D);
+        n.localY.applyMatrix4(z), n.localX.applyMatrix4(z);
+      }
+    }
+  }
+  for (const u of d)
+    u.length > 1 && r.push(...u.slice(1));
+  r.length < 2 && r.push(new j(0, 1e-3, 0));
+  try {
+    const u = new Se(r, !1, "catmullrom", 0.01), _ = new Pe(u, Math.max(2, r.length * 4), s * ee, 18, !1);
+    y.geometry.dispose(), y.geometry = _;
+  } catch (u) {
+    console.error("管件更新失败", u);
+  }
+}
+function Ne(y, v, C, s = 0) {
+  let b = y.slice(0, C + 1);
+  const T = y[C + 1];
+  if (T && s > 0) {
+    const n = {
+      ...T,
+      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
+      B: (T.B ?? 0) * s,
+      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
+      C: (T.C ?? 0) * s
+    };
+    b.push(n);
+  }
+  const p = He(b), x = Math.max(0, v - p), R = [];
+  R.push(new j(0, 0, 0));
+  const c = new j(0, x * ee, 0);
+  x > 0 && R.push(c);
+  let r = {
+    pos: c.clone(),
+    localY: new j(0, 1, 0),
+    localX: new j(1, 0, 0),
+    localZ: new j(0, 0, 1)
+  };
+  const g = [];
+  for (let n = b.length - 1; n >= 0; n--) {
+    const d = b[n], u = Qe(d);
+    if (u.length > 0) {
+      const _ = u.map(($) => {
+        const E = $.clone(), D = new te();
+        return D.makeBasis(r.localX, r.localY, r.localZ), E.applyMatrix4(D), E.add(r.pos);
+      });
+      g.push(_);
+      const k = _[_.length - 1];
+      r.pos = k.clone();
+      const w = d.B ?? 0, M = d.C ?? 0;
+      if (w !== 0) {
+        const $ = new te().makeRotationAxis(r.localY, re(w));
+        r.localX.applyMatrix4($), r.localZ.applyMatrix4($);
+      }
+      if (M > 0) {
+        const $ = re(M), E = new te().makeRotationAxis(r.localZ, $);
+        r.localY.applyMatrix4(E), r.localX.applyMatrix4(E);
+      }
+    }
+  }
+  for (const n of g)
+    n.length > 1 && R.push(...n.slice(1));
+  return R.length < 2 && R.push(new j(0, 1e-3, 0)), R;
+}
+function We(y, v, C, s, b, T, p, x = 0, R = 0) {
+  const c = b - R, r = Ne(s, c, p, x);
+  let n = Ne(C, R, p, x);
+  n.forEach((u) => u.y = -u.y), n.reverse();
+  const d = [...n, ...r];
+  try {
+    const u = new Se(d, !1, "catmullrom", 0.01), _ = new Pe(u, Math.max(2, d.length * 4), T * ee, 18, !1);
+    v.geometry.dispose(), y.geometry.dispose(), v.parent && v.parent.remove(v), y.geometry = _;
+  } catch (u) {
+    console.error("管件更新失败", u);
+  }
+}
+const Yt = { class: "panel-content" }, Bt = { class: "action-bar" }, Lt = { class: "animation-controls" }, jt = { class: "control-row" }, Ut = { class: "control-row" }, Et = { class: "frame-info" }, Ot = { class: "control-row" }, Xt = { class: "progress-bar" }, Zt = { class: "dialog-footer" }, Jt = /* @__PURE__ */ Ze({
+  __name: "animationPanel",
+  props: {
+    model: {},
+    threeData: {}
+  },
+  emits: ["getThreeData"],
+  setup(y, { expose: v, emit: C }) {
+    const s = y, b = C, T = f(), p = f(), x = f();
+    de(() => s.threeData, (e) => {
+      const t = e == null ? void 0 : e.data;
+      x.value = t == null ? void 0 : t.type;
+    }, {
+      immediate: !0
+    });
+    const R = async () => {
+      if (!sessionStorage.getItem("systemKey")) {
+        b("getThreeData");
+        return;
+      }
+      let t = {};
+      x.value === Ve.SINGLE && (t = await Rt()), x.value === Ve.DOUBLE && (t = await Mt());
+      const {
+        initialPipeLength: a = 0,
+        pipeRadius: P = 0,
+        clampLength: L = 0,
+        animationData: N
+      } = t;
+      D.value = a, z.value = P, G.value = L, T.value = N;
+      const W = Ct(T.value), se = ye(U.value), le = (W == null ? void 0 : W["输出（动画数据）"]) || [];
+      c.value = le.length ? le : [se];
+      let ce = (W == null ? void 0 : W["输出（动画数据）Content"]) ?? [];
+      ce && (p.value = ce);
+    }, c = f([]), r = f(!1), g = f(""), n = f(!1), d = f(0), u = f(0), _ = f(1e3);
+    let k = !1;
+    const w = f(null), M = he(null), $ = he(null), E = he(null), D = f(0), z = f(12.5), G = f(30), oe = f([]), A = f(null), h = we(() => s.model ? Object.values(s.model.joints).filter((e) => e.jointType !== "fixed").map((e) => e.name) : []), J = f(["Y", "B", "C", "R"]), U = we(() => [...h.value, ...J.value]), I = we(() => U.value.length > 0 ? `请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
+${U.value.join("	")}
+0	0	0	...
+1	2	3	...` : "请先加载模型。"), K = () => c.value.map((e) => ({
+      Y: parseFloat(e.Y) || 0,
+      B: parseFloat(e.B) || 0,
+      C: parseFloat(e.C) || 0,
+      R: parseFloat(e.R) || 0
+    })), ne = () => {
+      const e = [], t = [];
+      return c.value.forEach((a) => {
+        const { Y1: P, B1: L, C1: N, R1: W, Y2: se, B2: le, C2: ce, R2: O } = a;
+        e.push({
+          Y: parseFloat(P) || 0,
+          B: parseFloat(L) || 0,
+          C: parseFloat(N) || 0,
+          R: parseFloat(W) || 0
+        }), t.push({
+          Y: parseFloat(se) || 0,
+          B: parseFloat(le) || 0,
+          C: parseFloat(ce) || 0,
+          R: parseFloat(O) || 0
+        });
+      }), {
+        posPipeYbcr: e,
+        negPipeYbcr: t
+      };
+    }, ae = (e = 0, t = 0) => {
+      if (M.value && $.value) {
+        const a = ne();
+        We(
+          M.value,
+          $.value,
+          a.posPipeYbcr,
+          a.negPipeYbcr,
+          D.value,
+          z.value,
+          e,
+          t,
+          G.value
+        );
+      } else if (M.value) {
+        const a = K();
+        Ie(M.value, a, D.value, z.value, e, t);
+      }
+    }, q = (e) => {
+      if (e < 0 || e >= c.value.length) {
+        console.error(`帧索引 ${e} 超出范围`);
+        return;
+      }
+      const t = c.value[e];
+      if (console.log(`应用第 ${e} 帧数据 ${t}`), d.value = e, w.value) {
+        const a = {};
+        h.value.forEach((P) => {
+          const L = parseFloat(t[P]);
+          isNaN(L) || (a[P] = L);
+        }), w.value.setJointAngles(a);
+      }
+      ae(e, 0);
+    }, Y = async () => {
+      if (c.value.length === 0) {
+        X.error("无法播放动画：无数据");
+        return;
+      }
+      if (!n.value) {
+        n.value = !0, k = !1, c.value.length - 1 === d.value && (d.value = 0);
+        try {
+          for (let e = d.value + 1; e < c.value.length && !k; e++) {
+            d.value = e;
+            const t = c.value[e], a = {};
+            w.value && h.value.forEach((P) => {
+              const L = parseFloat(t[P]);
+              isNaN(L) || (a[P] = L);
+            }), w.value ? await w.value.animateToState(
+              a,
+              _.value,
+              (P) => {
+                u.value = (e + P) / c.value.length * 100, ae(e - 1, P);
+              }
+            ) : (await new Promise((P) => setTimeout(P, _.value)), u.value = (e + 1) / c.value.length * 100);
+          }
+          k || X.success("动画播放完成");
+        } catch (e) {
+          console.error("动画播放出错:", e), X.error("动画播放出错");
+        } finally {
+          n.value = !1, u.value = 0;
+        }
+      }
+    }, H = () => {
+      k = !0, n.value = !1, u.value = 0, X.info("动画已停止");
+    }, B = () => {
+      d.value = 0;
+    }, $e = () => {
+      if (M.value && $.value) {
+        const e = ne();
+        We(
+          M.value,
+          $.value,
+          e.posPipeYbcr,
+          e.negPipeYbcr,
+          D.value,
+          z.value,
+          -1,
+          0,
+          G.value
+        );
+      } else if (M.value) {
+        const e = K();
+        Ie(
+          M.value,
+          e,
+          D.value,
+          z.value,
+          -1,
+          0
+        );
+      }
+    }, xe = () => {
+      w.value && w.value.resetToZero(), $e(), B(), X.success("机器人和管件已重置");
+    }, ze = (e) => `第 ${e + 1} 帧`, Ae = (e) => {
+      n.value && H(), q(e);
+    }, Fe = () => {
+      n.value && H(), !(d.value + 1 >= c.value.length) && q(d.value + 1);
+    }, Ye = () => {
+      n.value && H(), d.value !== 0 && q(d.value - 1);
+    }, Be = (e, t) => {
+      if (!t)
+        return null;
+      const a = e.joints[t];
+      if (!a)
+        return console.warn(`在模型中未找到名为 '${t}' 的 Joint`), null;
+      let P = null;
+      return a.traverse((L) => {
+        L instanceof ke && !P && (P = L);
+      }), P || console.warn(`在 Joint '${t}' 中未找到可用的 Mesh 对象`), P;
+    }, Le = (e, t) => {
+      if (!t)
+        return null;
+      const a = e.joints[t];
+      return a || (console.warn(`在模型中未找到名为 '${t}' 的 Joint`), console.log("可用的链接:", Object.keys(e.links)), null);
+    }, be = () => {
+      E.value && (E.value.visible = !0), M.value && M.value.parent && M.value.parent.remove(M.value), E.value = null, M.value = null, $.value = null;
+    }, ye = (e) => e == null ? void 0 : e.reduce((t, a) => (t[a] = "0", t), {});
+    de(U, (e, t) => {
+      if (JSON.stringify(e) !== JSON.stringify(t))
+        if (e.length > 0) {
+          const a = ye(e);
+          c.value = [a];
+        } else
+          c.value = [];
+    }, { immediate: !0 });
+    const ue = f(0), fe = (e) => {
+      ue.value = e;
+    }, je = (e, t) => {
+      if (!e || !t)
+        return;
+      const a = Le(e, t), P = St();
+      P.visible = !1, a == null || a.add(P);
+    }, Ue = (e) => {
+      w.value = new nt(e), oe.value = Object.keys(e.links), A.value = "Pipe_Joint";
+    }, Ee = () => {
+      w.value = null, oe.value = [], A.value = null;
+    }, Oe = (e) => {
+      Ue(e), je(e, A.value), fe(ue.value + 1), xe();
+    };
+    de(() => s.model, (e) => {
+      if (be(), e) {
+        Oe(e);
+        return;
+      }
+      Ee();
+    }, { immediate: !0 });
+    const Te = (e) => {
+      var a, P;
+      const t = new ke(
+        e.geometry.clone(),
+        e.material
+      );
+      return t.name = "managed_pipe_clone", (P = (a = e == null ? void 0 : e.parent) == null ? void 0 : a.add) == null || P.call(a, t), t.position.copy(e.position), t.rotation.copy(e.rotation), t.scale.copy(e.scale), t;
+    };
+    de([A, G, D, ue], ([e, t]) => {
+      if (be(), s.model && e) {
+        const a = Be(s.model, e);
+        if (console.log(a, "meshToReplace"), a && a.parent) {
+          E.value = a, a.visible = !1;
+          const P = Te(a);
+          if (x.value === Ve.SINGLE && (P.position.y -= t * 1e-3), M.value = P, x.value === Ve.DOUBLE) {
+            const L = Te(a);
+            $.value = L;
+          }
+          ae(0, 0);
+        } else
+          e && console.warn(`在 link '${e}' 中未找到可替换的网格或其没有父级。`);
+      }
+    });
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+      r.value = "", n.value = "", window.removeEventListener("resize", D), K.value && ae(), G(), Ye();
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+      const e = Z("el-scrollbar");
+      return ie(), Ce("div", cl, [
+        Q(o("div", {
+          ref_key: "threejsContainer",
+          ref: T,
+          class: "threejs-container"
+        }, null, 512), [
+          [me, Le.value]
+        ]),
+        Q(o("div", pl, [
+          o("div", dl, null, 512),
+          o("div", ml, null, 512)
+        ], 512), [
+          [me, be.value]
+        ]),
+        o("div", vl, [
+          _e(m.$slots, "button-top", { switchTopPanel: ye }, void 0, !0),
+          l(F, {
+            name: "guanjianjiexi",
+            size: "34",
+            onClick: i[0] || (i[0] = (t) => ye("弯管解析"))
+          }),
+          l(F, {
+            name: "guanjiekongzhi",
+            size: "34"
+          }),
+          l(F, {
+            name: "gongyishengcheng",
+            size: "34"
+          }),
+          l(F, {
+            name: "buchangshezhi",
+            size: "34"
+          }),
+          l(F, {
+            name: "shuchujiagongchengxu",
+            size: "34"
+          }),
+          _e(m.$slots, "logout", {}, void 0, !0)
+        ]),
+        o("div", fl, [
+          l(F, {
+            name: "viewReset",
+            size: "24",
+            onClick: S($),
+            title: "重置"
+          }, null, 8, ["onClick"]),
+          l(F, {
+            name: "fangda",
+            size: "24",
+            title: "放大",
+            onClick: S(J)
+          }, null, 8, ["onClick"]),
+          l(F, {
+            name: "suoxiao",
+            size: "24",
+            title: "缩小",
+            onClick: S(U)
+          }, null, 8, ["onClick"]),
+          l(F, {
+            name: "lookAround",
+            size: "24",
+            onClick: S(ne),
+            title: S(K) ? "停止动画" : "动画视图"
+          }, null, 8, ["onClick", "title"]),
+          l(F, {
+            name: "zuobiaoxi",
+            size: "24",
+            active: S(A),
+            onClick: Be,
+            title: "显隐坐标轴"
+          }, null, 8, ["active"])
+        ]),
+        o("div", gl, [
+          l(F, {
+            name: "jiegoushu",
+            size: "24",
+            onClick: i[1] || (i[1] = (t) => ue("场景树")),
+            active: c.value && r.value === "场景树",
+            title: "场景树"
+          }, null, 8, ["active"]),
+          l(F, {
+            name: "clipping",
+            size: "24",
+            onClick: i[2] || (i[2] = (t) => ue("剖面视图")),
+            active: c.value && r.value === "剖面视图",
+            title: "剖面视图"
+          }, null, 8, ["active"]),
+          l(F, {
+            name: "zhaozi",
+            size: "24",
+            onClick: i[3] || (i[3] = (t) => ue("工件树")),
+            active: c.value && r.value === "工件树",
+            title: "工件 "
+          }, null, 8, ["active"]),
+          l(F, {
+            name: "donghuafangzhen",
+            size: "24",
+            onClick: i[4] || (i[4] = (t) => ue("场景4"))
+          })
+        ]),
+        o("div", hl, [
+          _e(m.$slots, "button-right", { switchRightPanel: fe }, void 0, !0),
+          l(F, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          l(F, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          l(F, {
+            name: "guanjiekongzhi",
+            size: "24",
+            onClick: i[5] || (i[5] = (t) => fe("关节控制")),
+            active: g.value && n.value === "关节控制",
+            title: "关节控制"
+          }, null, 8, ["active"]),
+          l(F, {
+            name: "donghuafangzhen",
+            size: "24",
+            title: "动画仿真",
+            onClick: i[6] || (i[6] = (t) => fe("动画仿真")),
+            active: g.value && n.value === "动画仿真"
+          }, null, 8, ["active"]),
+          l(F, {
+            name: "donghuafangzhen",
+            size: "24",
+            title: "urdf动画",
+            onClick: i[7] || (i[7] = (t) => fe("urdf动画")),
+            active: g.value && n.value === "urdf动画"
+          }, null, 8, ["active"]),
+          l(F, {
+            name: "donghuafangzhen",
+            size: "24"
+          })
+        ]),
+        o("div", bl, [
+          l(F, {
+            name: "kuaitui",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快退",
+            onClick: Te
+          }),
+          l(F, {
+            name: "bofang",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "播放",
+            onClick: Ue
+          }),
+          l(F, {
+            name: "kuaijin",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快进",
+            onClick: Oe
+          }),
+          l(F, {
+            name: "zanting",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "暂停",
+            onClick: Ee
+          })
+        ]),
+        Q(o("div", yl, [
+          o("div", _l, [
+            o("span", null, ve(u.value), 1),
+            o("span", {
+              class: "close",
+              onClick: i[8] || (i[8] = (t) => d.value = !1)
+            }, " X ")
+          ]),
+          o("div", wl, [
+            l(e, { height: "100%" }, {
+              default: V(() => [
+                _e(m.$slots, "top-panel", { topPanelType: u.value }, void 0, !0)
+              ]),
+              _: 3
+            })
+          ])
+        ], 512), [
+          [me, d.value]
+        ]),
+        Q(o("div", Cl, [
+          o("div", kl, [
+            o("span", null, ve(r.value), 1),
+            o("span", {
+              class: "close",
+              onClick: i[9] || (i[9] = (t) => c.value = !1)
+            }, " X ")
+          ]),
+          o("div", Pl, [
+            l(e, { height: "100%" }, {
+              default: V(() => {
+                var t;
+                return [
+                  r.value === "场景树" ? (ie(), De(Vt, {
+                    key: 0,
+                    model: _.value
+                  }, null, 8, ["model"])) : ge("", !0),
+                  r.value === "剖面视图" ? (ie(), Ce("div", xl, [
+                    o("div", Tl, [
+                      o("label", Rl, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "none",
+                          "onUpdate:modelValue": i[10] || (i[10] = (a) => Re(Y) ? Y.value = a : null),
+                          onChange: i[11] || (i[11] = //@ts-ignore
+                          (...a) => S(B) && S(B)(...a))
+                        }, null, 544), [
+                          [Me, S(Y)]
+                        ]),
+                        i[19] || (i[19] = o("span", { class: "radio-text" }, "无切割", -1))
+                      ]),
+                      o("label", Ml, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "x",
+                          "onUpdate:modelValue": i[12] || (i[12] = (a) => Re(Y) ? Y.value = a : null),
+                          onChange: i[13] || (i[13] = //@ts-ignore
+                          (...a) => S(B) && S(B)(...a))
+                        }, null, 544), [
+                          [Me, S(Y)]
+                        ]),
+                        i[20] || (i[20] = o("span", { class: "radio-text" }, "X轴切割", -1))
+                      ]),
+                      o("label", Vl, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "y",
+                          "onUpdate:modelValue": i[14] || (i[14] = (a) => Re(Y) ? Y.value = a : null),
+                          onChange: i[15] || (i[15] = //@ts-ignore
+                          (...a) => S(B) && S(B)(...a))
+                        }, null, 544), [
+                          [Me, S(Y)]
+                        ]),
+                        i[21] || (i[21] = o("span", { class: "radio-text" }, "Y轴切割", -1))
+                      ]),
+                      o("label", Dl, [
+                        Q(o("input", {
+                          type: "radio",
+                          name: "clipping-axis",
+                          value: "z",
+                          "onUpdate:modelValue": i[16] || (i[16] = (a) => Re(Y) ? Y.value = a : null),
+                          onChange: i[17] || (i[17] = //@ts-ignore
+                          (...a) => S(B) && S(B)(...a))
+                        }, null, 544), [
+                          [Me, S(Y)]
+                        ]),
+                        i[22] || (i[22] = o("span", { class: "radio-text" }, "Z轴切割", -1))
+                      ])
+                    ])
+                  ])) : ge("", !0),
+                  r.value === "工件树" ? (ie(), De(it, {
+                    key: 2,
+                    model: (t = S(xe)) == null ? void 0 : t.obj,
+                    onVisibleChange: S(ze),
+                    onUpdatePosition: S(Ae),
+                    onUpdateRotation: S(Fe)
+                  }, null, 8, ["model", "onVisibleChange", "onUpdatePosition", "onUpdateRotation"])) : ge("", !0)
+                ];
+              }),
+              _: 1
+            })
+          ])
+        ], 512), [
+          [me, c.value]
+        ]),
+        Q(o("div", Sl, [
+          o("div", $l, [
+            o("span", null, ve(n.value), 1),
+            o("span", {
+              class: "close",
+              onClick: i[18] || (i[18] = (t) => g.value = !1)
+            }, " X ")
+          ]),
+          o("div", zl, [
+            l(e, { height: "100%" }, {
+              default: V(() => [
+                Q(l(Dt, { model: _.value }, null, 8, ["model"]), [
+                  [me, n.value === "关节控制"]
+                ]),
+                Q(l(Gt, {
+                  ref_key: "animationPanelRef",
+                  ref: w,
+                  model: _.value,
+                  onGetThreeData: je,
+                  threeData: s.threeData
+                }, null, 8, ["model", "threeData"]), [
+                  [me, n.value === "动画仿真"]
+                ]),
+                _e(m.$slots, "right-panel", { rightPanelType: n.value }, void 0, !0)
+              ]),
+              _: 3
+            })
+          ])
+        ], 512), [
+          [me, g.value]
+        ]),
+        x.value ? (ie(), Ce("div", Al, [
+          i[23] || (i[23] = o("div", { class: "loading-spinner" }, null, -1)),
+          o("p", null, ve(R.value), 1)
+        ])) : ge("", !0),
+        l(ul, {
+          ref_key: "pipeAnalysisPanelRef",
+          ref: p
+        }, null, 512)
+      ]);
+    };
+  }
+}), Kl = /* @__PURE__ */ Je(Fl, [["__scopeId", "data-v-3bada747"]]);
+export {
+  Kl as default
+};