ss-component-new 1.2.69 → 1.2.71

package/dist/ss-component.js

@@ -5,19 +5,19 @@ import { u as C } from "./index.vue_vue_type_style_index_1_lang-B94_mDqy.js";
 import "./index-CbJEJj8c.js";
 import u from "./ss-component2.js";
 import { t as g, c as T, b as P } from "./index-CAPx0_D4.js";
-const n = o(() => import("./main-ukjMxOoR.js"));
+const n = o(() => import("./main-BCvWfqm0.js"));
 n.install = (t) => {
   t.component("ssComponent", n);
 };
-const s = o(() => import("./index-Drm6yniS.js").then((t) => t.k));
+const s = o(() => import("./index-BuMMpxnh.js").then((t) => t.k));
 s.install = (t) => {
   t.component("ssTab", s);
 };
-const r = o(() => import("./index-NRoGXljU.js"));
+const r = o(() => import("./index-BDxWrf4q.js"));
 r.install = (t) => {
   t.component("ssMenu", r);
 };
-const m = o(() => import("./index-CYX3Ua5u.js"));
+const m = o(() => import("./index-3yBAaqzq.js"));
 m.install = (t) => {
   t.component("ssMenuComponent", m);
 };
@@ -33,11 +33,11 @@ const a = o(() => import("./index-BCF8Abg0.js").then((t) => t.i));
 a.install = (t) => {
   t.component("ssAvatar", a);
 };
-const l = o(() => import("./threeModel-DFxIpiho.js"));
+const l = o(() => import("./threeModel-BUlAH_YA.js"));
 l.install = (t) => {
   t.component("ssThree", l);
 };
-const p = o(() => import("./threeViewerHost-OUiA6Xwl.js").then((t) => t.t));
+const p = o(() => import("./threeViewerHost-RPLE8i3C.js").then((t) => t.t));
 p.install = (t) => {
   t.component("threeViewerHost", p);
 };

package/dist/ss-component2.cjs

@@ -1 +1 @@
-"use strict";const n=require("vue-router"),t=[{path:"/tenant",name:"Tenant",component:async()=>Promise.resolve().then(()=>require("./index-Z3NUprRN.cjs"))},{path:"/login",name:"Login",component:async()=>Promise.resolve().then(()=>require("./index-D7_F3F6M.cjs"))},{path:"/",name:"Model",component:async()=>Promise.resolve().then(()=>require("./index-vpTAJLfL.cjs")),children:[{path:"系统配置/站内信",name:"Message",component:async()=>Promise.resolve().then(()=>require("./index-DPIg2S6M.cjs"))},{path:"系统配置/自动生成",name:"Automatic",component:async()=>Promise.resolve().then(()=>require("./index-B2BAJXIH.cjs"))},{path:"平台管理/菜单管理",name:"Menu",component:async()=>Promise.resolve().then(()=>require("./index-Cv-zubYj.cjs"))},{path:"平台管理/主菜单管理",name:"MainMenu",component:async()=>Promise.resolve().then(()=>require("./index-60WbAUGt.cjs"))},{path:"系统管理/个人中心",name:"PersonalCenter",component:async()=>Promise.resolve().then(()=>require("./index-rZjNIKHP.cjs"))},{path:"系统管理/职位管理",name:"Post",component:async()=>Promise.resolve().then(()=>require("./index-CXC-F1tq.cjs"))},{path:"系统管理/用户管理",name:"User",component:async()=>Promise.resolve().then(()=>require("./index-DeVhydnx.cjs"))},{path:"系统管理/角色管理",name:"Role",component:async()=>Promise.resolve().then(()=>require("./index-DKEYXB9z.cjs"))},{path:"系统管理/部门管理",name:"Dept",component:async()=>Promise.resolve().then(()=>require("./index-CEmendNu.cjs"))},{path:"系统维护/登录日志",name:"LoginLog",component:async()=>Promise.resolve().then(()=>require("./index-BCHD9PG_.cjs"))},{path:"系统维护/操作日志",name:"OperateLog",component:async()=>Promise.resolve().then(()=>require("./index-CKpfNhzg.cjs"))}]}],o=n.createRouter({history:n.createWebHashHistory(),routes:t});o.beforeEach((r,s,e)=>{!sessionStorage.getItem("loginToken")&&r.path!=="/login"?e("/login"):e()});module.exports=o;
+"use strict";const n=require("vue-router"),t=[{path:"/tenant",name:"Tenant",component:async()=>Promise.resolve().then(()=>require("./index-Z3NUprRN.cjs"))},{path:"/login",name:"Login",component:async()=>Promise.resolve().then(()=>require("./index-D7_F3F6M.cjs"))},{path:"/",name:"Model",component:async()=>Promise.resolve().then(()=>require("./index-BaLIXo7S.cjs")),children:[{path:"系统配置/站内信",name:"Message",component:async()=>Promise.resolve().then(()=>require("./index-DPIg2S6M.cjs"))},{path:"系统配置/自动生成",name:"Automatic",component:async()=>Promise.resolve().then(()=>require("./index-B2BAJXIH.cjs"))},{path:"平台管理/菜单管理",name:"Menu",component:async()=>Promise.resolve().then(()=>require("./index-BFvrDQzB.cjs"))},{path:"平台管理/主菜单管理",name:"MainMenu",component:async()=>Promise.resolve().then(()=>require("./index-2Pb3yNNi.cjs"))},{path:"系统管理/个人中心",name:"PersonalCenter",component:async()=>Promise.resolve().then(()=>require("./index-DggzY17I.cjs"))},{path:"系统管理/职位管理",name:"Post",component:async()=>Promise.resolve().then(()=>require("./index-CuXW2qXj.cjs"))},{path:"系统管理/用户管理",name:"User",component:async()=>Promise.resolve().then(()=>require("./index-CpWT0ywh.cjs"))},{path:"系统管理/角色管理",name:"Role",component:async()=>Promise.resolve().then(()=>require("./index-kVfbWMB4.cjs"))},{path:"系统管理/部门管理",name:"Dept",component:async()=>Promise.resolve().then(()=>require("./index-36SmpX1x.cjs"))},{path:"系统维护/登录日志",name:"LoginLog",component:async()=>Promise.resolve().then(()=>require("./index-Dev2QcpP.cjs"))},{path:"系统维护/操作日志",name:"OperateLog",component:async()=>Promise.resolve().then(()=>require("./index-Cj8uBOcN.cjs"))}]}],o=n.createRouter({history:n.createWebHashHistory(),routes:t});o.beforeEach((r,s,e)=>{!sessionStorage.getItem("loginToken")&&r.path!=="/login"?e("/login"):e()});module.exports=o;

package/dist/ss-component2.js

@@ -13,7 +13,7 @@ const a = [
   {
     path: "/",
     name: "Model",
-    component: async () => import("./index-Dto8wNjR.js"),
+    component: async () => import("./index-DTneXKj9.js"),
     // component: async ()=>import('@/components/views/model/component/main.vue'),
     // component: async ()=>import('@/components/views/canvas/index.vue'),
     // component: async ()=>import('@/components/views/test/index.vue'),
@@ -31,47 +31,47 @@ const a = [
       {
         path: "平台管理/菜单管理",
         name: "Menu",
-        component: async () => import("./index-Bhfylkrq.js")
+        component: async () => import("./index-Cpwno4SX.js")
       },
       {
         path: "平台管理/主菜单管理",
         name: "MainMenu",
-        component: async () => import("./index-DxaYP7Rb.js")
+        component: async () => import("./index-DTmaTvbe.js")
       },
       {
         path: "系统管理/个人中心",
         name: "PersonalCenter",
-        component: async () => import("./index-COv63fR5.js")
+        component: async () => import("./index-gc_lSLGy.js")
       },
       {
         path: "系统管理/职位管理",
         name: "Post",
-        component: async () => import("./index-BZ50tsof.js")
+        component: async () => import("./index-D7q6PVYq.js")
       },
       {
         path: "系统管理/用户管理",
         name: "User",
-        component: async () => import("./index-C09SE_gZ.js")
+        component: async () => import("./index-D8aRtnMW.js")
       },
       {
         path: "系统管理/角色管理",
         name: "Role",
-        component: async () => import("./index-2zVTGLZS.js")
+        component: async () => import("./index-9bNqrwln.js")
       },
       {
         path: "系统管理/部门管理",
         name: "Dept",
-        component: async () => import("./index-DkTMbw8m.js")
+        component: async () => import("./index-BTQpO2tR.js")
       },
       {
         path: "系统维护/登录日志",
         name: "LoginLog",
-        component: async () => import("./index-ZTs-OUTL.js")
+        component: async () => import("./index-BsHiEf_R.js")
       },
       {
         path: "系统维护/操作日志",
         name: "OperateLog",
-        component: async () => import("./index-Dwep6WGW.js")
+        component: async () => import("./index-ZP4qvhcM.js")
       }
       // {
       //     path: 'priority',

package/dist/{threeModel-BTBVyY2K.cjs → threeModel-BPL-ebVT.cjs}

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),n=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BPB5aHKM.cjs"),pe=require("./OrbitControls-DPD9F4Xg.cjs"),me=require("./index-sqLr-9IW.cjs"),fe=require("./index.vue_vue_type_style_index_1_lang-DUdq6ID7.cjs"),oe=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),re=require("./index-C8qRkCgn.cjs");function ve(z){let g=null,u=null,d=null,h=null,x=null,_=null,c=null,C=null;const D=1e3/30;let S=0;const E=e.ref([]),r=e.ref(new n.Vector3),k=e.ref(new n.Vector3),y=()=>{if(!z.value)return;g=new n.Scene,g.background=new n.Color(15790320);const m=z.value;u=new n.PerspectiveCamera(75,m.clientWidth/m.clientHeight,.1,1e4),u.position.set(8,-8,6),u.up.set(0,0,1),u.lookAt(0,0,0),d=new n.WebGLRenderer({antialias:!0,alpha:!0}),d.setSize(m.clientWidth,m.clientHeight),d.localClippingEnabled=!0,d.shadowMap.enabled=!0,d.shadowMap.type=n.PCFSoftShadowMap,d.toneMapping=n.ACESFilmicToneMapping,d.toneMappingExposure=1,d.outputColorSpace=n.SRGBColorSpace,m.appendChild(d.domElement),h=new pe.OrbitControls(u,d.domElement),h.enableDamping=!0,h.dampingFactor=.05,h.mouseButtons={LEFT:null,MIDDLE:n.MOUSE.PAN,RIGHT:n.MOUSE.ROTATE},h.panSpeed=.7,x=new n.Xe(u,d,{container:m,type:"cube",placement:"top-right",offset:{top:10,right:10},background:{color:"#D1D1D1",opacity:1},front:{label:"Top"},bottom:{label:"Front"},left:{label:"Left"},right:{label:"Right"},top:{label:"Back"},back:{label:"Bottom"}}),x.attachControls(h),f(),P()},t=(m,l)=>{c&&(g.remove(c),c.dispose()),C&&(g.remove(C),C.geometry.dispose(),C.material.dispose());const b=Math.min(Math.max(Math.floor(m/20),30),40);c=new n.GridHelper(m,b,13421772,14540253),c.rotateX(Math.PI/2),c.position.copy(l),g.add(c);const B=new n.PlaneGeometry(m,m),O=new n.ShadowMaterial({opacity:.3,color:0});C=new n.Mesh(B,O),C.position.copy(l),C.position.z-=.01,C.receiveShadow=!0,g.add(C)},p=()=>{if(E.value.length===0)return;const m=new n.Box3;let l=!1;if(E.value.forEach(X=>{if(X.userData.boundingBox)m.union(X.userData.boundingBox),l=!0;else if(X.userData.modelId&&modelBoundingBoxes.has(X.userData.modelId)){const Z=modelBoundingBoxes.get(X.userData.modelId);m.union(Z.box),l=!0}else m.expandByObject(X),l=!0}),!l){console.warn("无法计算包围盒，网格更新失败");return}const b=m.getSize(new n.Vector3),B=m.getCenter(new n.Vector3),O=Math.max(b.x,b.y,b.z),j=Math.max(O*8,50),q=new n.Vector3(B.x,B.y,m.min.z);t(j,q)},f=()=>{const m=new n.AmbientLight(4210752,.6);g.add(m);const l=new n.DirectionalLight(16777215,2);l.position.set(10,10,8),l.castShadow=!0,l.shadow.mapSize.width=4096,l.shadow.mapSize.height=4096,l.shadow.camera.near=.5,l.shadow.camera.far=50,l.shadow.camera.left=-50,l.shadow.camera.right=50,l.shadow.camera.top=50,l.shadow.camera.bottom=-50,g.add(l);const b=new n.DirectionalLight(16777215,.8);b.position.set(-8,-8,6),g.add(b);const B=new n.DirectionalLight(16777215,.6);B.position.set(0,-15,2),g.add(B);const O=new n.HemisphereLight(16777215,4473924,.8);g.add(O);const j=new n.PointLight(16777215,1,50);j.position.set(15,15,15),g.add(j);const q=new n.PointLight(16777215,.5,50);q.position.set(-15,-15,15),g.add(q)},P=()=>{_=requestAnimationFrame(P),h&&h.update();const m=performance.now(),l=m-S;l<D||(S=m-l%D,d&&g&&u&&d.render(g,u),x&&x.render())},I=m=>{["map","normalMap","bumpMap","roughnessMap","metalnessMap","emissiveMap","specularMap","envMap","lightMap","aoMap","displacementMap"].forEach(b=>{m[b]&&m[b].dispose&&m[b].dispose()}),m.dispose&&m.dispose()},A=m=>{m==null||m.traverse(l=>{l.geometry&&l.geometry.dispose(),l.material&&(Array.isArray(l.material)?l.material.forEach(b=>{I(b)}):I(l.material))})};return{currentModels:E,initialCameraPosition:r,initialTargetPosition:k,initThreeJS:y,handleResize:()=>{if(!z.value||!u||!d||!x)return;const m=z.value,l=m.clientWidth,b=m.clientHeight;u.aspect=l/b,u.updateProjectionMatrix(),d.setSize(l,b),x.update()},fitCameraToAllModels:m=>{if(!u||!h||E.value.length===0)return;const l=new n.Box3;let b=!1;if(E.value.forEach(Z=>{if(Z.userData.boundingBox)l.union(Z.userData.boundingBox),b=!0;else if(Z.userData.modelId&&m.has(Z.userData.modelId)){const ee=m.get(Z.userData.modelId);l.union(ee.box),b=!0}else l.expandByObject(Z),b=!0}),!b){console.warn("无法计算包围盒");return}const B=l.getSize(new n.Vector3),O=l.getCenter(new n.Vector3),q=Math.max(B.x,B.y,B.z)*.8,X=new n.Vector3(O.x+q,O.y-q,O.z+q);u.position.copy(X),u.lookAt(O),h.target.copy(O),h.update(),r.value.copy(X),k.value.copy(O),p()},getThreeJSObjects:()=>({scene:g,camera:u,renderer:d,controls:h,gizmo:x}),clearAllModels:()=>{if(!g)return;E.value.forEach(l=>{g.remove(l),A(l)});const m=[];g.children.forEach(l=>{!l.isLight&&!l.isCamera&&l.type!=="GridHelper"&&l!==C&&m.push(l)}),m.forEach(l=>{g.remove(l),A(l)}),E.value=[],p()},cleanup:()=>{_&&cancelAnimationFrame(_),c&&c.dispose(),C&&(C.geometry.dispose(),C.material.dispose()),d&&d.dispose(),h&&h.dispose(),x&&x.dispose()},updateGridForModels:p}}function ge(z,g){const u=e.ref(!1);let d=null,h=12700,x=new n.Vector3,_=new n.Vector3,c=new n.Vector3,C=0,F=null;const D=t=>t<.5?4*t*t*t:1-Math.pow(-2*t+2,3)/2,S=t=>{const p=new n.Vector3,f=C*1.2,P=new n.Vector3(c.x+f,c.y,c.z),I=new n.Vector3(c.x,c.y+f,c.z),A=new n.Vector3(c.x,c.y-f,c.z);if(t<=.567){const $=t/.567*Math.PI*2;p.x=c.x+Math.cos($)*f,p.z=c.z+Math.sin($)*f,p.y=c.y}else if(t<=.724){const L=(t-.567)/.157,$=D(L);p.lerpVectors(P,I,$)}else if(t<=.881){const L=(t-.724)/.157,J=D(L)*Math.PI;p.x=c.x+Math.sin(J)*f,p.y=c.y+Math.cos(J)*f,p.z=c.z}else{const L=(t-.881)/.119,$=D(L);p.lerpVectors(A,x,$)}return p},E=()=>{const{camera:t,controls:p}=z();if(!t||!p)return;d||(d=Date.now());const f=Date.now()-d,P=Math.min(f/h,1);if(P>=1){k();return}const I=S(P);t.position.copy(I),t.lookAt(c),p.target.copy(c),F=requestAnimationFrame(E)},r=()=>{if(g.value.length===0)return;const{camera:t,controls:p}=z();if(!t||!p)return;x.copy(t.position),_.copy(p.target);const f=new n.Box3;g.value.forEach(G=>{f.expandByObject(G)});const P=f.getSize(new n.Vector3);c=f.getCenter(new n.Vector3),C=Math.max(P.x,P.y,P.z)*1.2;const I=new n.Vector3(c.x+C*1.2,c.y,c.z);p.enabled=!1;const A=t.position.clone(),L=1e3,$=Date.now(),J=()=>{const G=Date.now()-$,Y=Math.min(G/L,1),m=D(Y);t.position.lerpVectors(A,I,m),t.lookAt(c),p.target.copy(c),Y<1?requestAnimationFrame(J):(u.value=!0,d=null,E())};J()},k=()=>{u.value=!1,d=null,F&&(cancelAnimationFrame(F),F=null);const{controls:t}=z();t&&(t.enabled=!0,t.target.copy(_))};return{isAnimating:u,toggleAnimation:()=>{if(u.value){u.value=!1,d=null,F&&(cancelAnimationFrame(F),F=null);const{camera:t,controls:p}=z();if(!t||!p)return;p.enabled=!0;const f=t.position.clone(),P=p.target.clone(),I=1500,A=Date.now(),L=()=>{const $=Date.now()-A,J=Math.min($/I,1),G=D(J);t.position.lerpVectors(f,x,G),p.target.lerpVectors(P,_,G),J<1&&requestAnimationFrame(L)};L()}else r()},startAnimation:r,stopAnimation:k}}function he(z,g){const u=e.ref(!1),d=e.ref("none");let h=[],x=[],_=new n.Box3,c=new n.Vector3;const C=()=>{h=[new n.Plane(new n.Vector3(1,0,0),0),new n.Plane(new n.Vector3(0,1,0),0),new n.Plane(new n.Vector3(0,0,1),0)]},F=()=>{_.makeEmpty(),g.value.forEach(y=>{_.expandByObject(y)}),c=_.getCenter(new n.Vector3)},D=y=>{const t=_.getSize(new n.Vector3);let p,f,P;y==="x"?(p=new n.PlaneGeometry(t.z*1.2,t.y*1.2),f=new n.Vector3(c.x,c.y,c.z),P=new n.Euler(0,Math.PI/2,0)):y==="y"?(p=new n.PlaneGeometry(t.x*1.2,t.z*1.2),f=new n.Vector3(c.x,c.y,c.z),P=new n.Euler(Math.PI/2,0,0)):y==="z"&&(p=new n.PlaneGeometry(t.x*1.2,t.y*1.2),f=new n.Vector3(c.x,c.y,c.z),P=new n.Euler(0,0,0));const I=new n.MeshPhongMaterial({color:8900331,transparent:!0,opacity:.3,side:n.DoubleSide,depthWrite:!1}),A=new n.Mesh(p,I);return A.position.copy(f),A.rotation.copy(P),A},S=()=>{if(E(),r(),d.value==="none")return;F();let y=null;if(d.value==="x"?(h[0].constant=-c.x,y=h[0]):d.value==="y"?(h[1].constant=-c.y,y=h[1]):d.value==="z"&&(h[2].constant=-c.z,y=h[2]),y){g.value.forEach(p=>{p.traverse(f=>{f.isMesh&&f.material&&(Array.isArray(f.material)?f.material.forEach(P=>{P.clippingPlanes=[y]}):f.material.clippingPlanes=[y])})});const{scene:t}=z();if(t){const p=D(d.value);t.add(p),x.push(p)}}},E=()=>{g.value.forEach(y=>{y.traverse(t=>{t.isMesh&&t.material&&(Array.isArray(t.material)?t.material.forEach(p=>{p.clippingPlanes=[]}):t.material.clippingPlanes=[])})})},r=()=>{const{scene:y}=z();y&&x.forEach(t=>{y.remove(t),t.geometry.dispose(),t.material.dispose()}),x=[]};return{isClipping:u,activeClippingAxis:d,toggleClipping:()=>{u.value=!u.value,u.value?(C(),g.value.length>0&&F()):(d.value="none",E(),r())},updateClippingPlanes:S,clearClippingPlanes:E,clearClippingMeshes:r}}const ye={class:"panel-content"},we={__name:"animationPanel",props:{animationData:Object,model:Object},setup(z){const g=z;e.ref();const 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m=performance.now(),l=m-S;l<D||(S=m-l%D,d&&g&&u&&d.render(g,u),x&&x.render())},I=m=>{["map","normalMap","bumpMap","roughnessMap","metalnessMap","emissiveMap","specularMap","envMap","lightMap","aoMap","displacementMap"].forEach(b=>{m[b]&&m[b].dispose&&m[b].dispose()}),m.dispose&&m.dispose()},A=m=>{m==null||m.traverse(l=>{l.geometry&&l.geometry.dispose(),l.material&&(Array.isArray(l.material)?l.material.forEach(b=>{I(b)}):I(l.material))})};return{currentModels:E,initialCameraPosition:r,initialTargetPosition:k,initThreeJS:y,handleResize:()=>{if(!z.value||!u||!d||!x)return;const m=z.value,l=m.clientWidth,b=m.clientHeight;u.aspect=l/b,u.updateProjectionMatrix(),d.setSize(l,b),x.update()},fitCameraToAllModels:m=>{if(!u||!h||E.value.length===0)return;const l=new n.Box3;let b=!1;if(E.value.forEach(Z=>{if(Z.userData.boundingBox)l.union(Z.userData.boundingBox),b=!0;else if(Z.userData.modelId&&m.has(Z.userData.modelId)){const ee=m.get(Z.userData.modelId);l.union(ee.box),b=!0}else 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ee=()=>{!u.model||D.value&&!S.value||d.value.forEach(o=>{o.urdfJoint&&o.urdfJoint.angle!==void 0&&(o.currentValue=o.urdfJoint.angle)})},le=()=>{const o=()=>{ee(),x.value=requestAnimationFrame(o)};o()},ce=()=>{x.value&&(cancelAnimationFrame(x.value),x.value=null)};return e.onMounted(()=>{le()}),e.onUnmounted(()=>{ce(),j()}),(o,v)=>(e.openBlock(),e.createElementBlock("div",Ve,[d.value.length>0?(e.openBlock(),e.createElementBlock("div",Me,[(e.openBlock(!0),e.createElementBlock(e.Fragment,null,e.renderList(d.value,i=>{var V,s,a,w;return e.openBlock(),e.createElementBlock("div",{key:i.name,class:"joint-item"},[e.createElementVNode("div",ke,[e.createElementVNode("div",_e,[e.createElementVNode("span",Pe,e.toDisplayString(i.name),1),e.createElementVNode("span",Ce," ["+e.toDisplayString(((V=i.limit)==null?void 0:V.lower.toFixed(2))??(i.type==="revolute"?"-3.14":"-1.00"))+", "+e.toDisplayString(((s=i.limit)==null?void 0:s.upper.toFixed(2))??(i.type==="revolute"?"3.14":"1.00"))+"] ",1)]),e.createElementVNode("span",Ee,e.toDisplayString(i.type),1)]),i.type==="revolute"||i.type==="prismatic"?(e.openBlock(),e.createElementBlock("div",be,[e.createElementVNode("div",ze,[e.createElementVNode("input",{type:"range",min:((a=i.limit)==null?void 0:a.lower)??(i.type==="revolute"?-Math.PI:-1),max:((w=i.limit)==null?void 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Array.isArray(r)&&(r==null?void 0:r.length)>0&&r.forEach(t=>{if(!(t!=null&&t.isMesh)&&((t==null?void 0:t.type)==="URDFJoint"||(t==null?void 0:t.type)==="URDFLink")){const p={name:t==null?void 0:t.name,label:t==null?void 0:t.name,show:!0,level:k+1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:c(t==null?void 0:t.children,k+1),path:t==null?void 0:t.name};y.push(p)}}),y},C=r=>r?[{name:r==null?void 0:r.name,label:r==null?void 0:r.name,show:!0,level:1,isPenultimate:!1,type:r==null?void 0:r.type,id:r==null?void 0:r.id,limit:(r==null?void 0:r.limit)??"",children:c(r==null?void 0:r.children,1),path:r==null?void 0:r.name}]:[],F=(r,k)=>{const y=[],t=[...r];for(;t.length>0&&y.length<k;){const p=t.shift();p.children&&p.children.length>0&&(y.push(p.id),t.push(...p.children))}return y},D=(r,k)=>{const y=[];return r.forEach(t=>{if(t.children&&t.children.length>0){y.push(t.id);const p=t.children.filter(f=>f.children&&f.children.length>0).slice(0,k).map(f=>f.id);y.push(...p)}}),y.slice(0,k+1)},S=e.computed(()=>!h.value||h.value.length===0?[]:u.expandStrategy==="firstLevel"?D(h.value,u.maxExpandCount):F(h.value,u.maxExpandCount)),E=e.computed(()=>u!=null&&u.model?C(u.model):[]);return e.watch(E,r=>{h.value=JSON.parse(JSON.stringify(r))},{immediate:!0}),(r,k)=>{const y=e.resolveComponent("el-tree");return e.openBlock(),e.createElementBlock("div",Le,[e.createVNode(y,{data:h.value,props:x,"default-expanded-keys":S.value,"node-key":Ie,onNodeClick:_},null,8,["data","default-expanded-keys"])])}}},Je=oe._export_sfc($e,[["__scopeId","data-v-290ff4e1"]]),Oe=["xlink:href"],Ue=e.defineComponent({__name:"svgIcon",props:{backgroundColor:{default:"#f0f0f0"},prefix:{default:"icon"},name:{},size:{default:16},spin:{type:Boolean,default:!1},active:{type:Boolean,default:!1}},setup(z){const g=z,u=e.computed(()=>({backgroundColor:g.backgroundColor})),d=e.computed(()=>`#${g.prefix}-${g.name}`),h=e.computed(()=>{const{size:x}=g;let _=`${x}`;return _=`${_.replace("px","")}px`,{width:_,height:_}});return(x,_)=>(e.openBlock(),e.createElementBlock("div",{class:e.normalizeClass(["container",{active:x.active}]),style:e.normalizeStyle(u.value)},[(e.openBlock(),e.createElementBlock("svg",{class:e.normalizeClass(["svg-icon",[x.$attrs.class,x.spin&&"svg-icon-spin"]]),style:e.normalizeStyle(h.value),"aria-hidden":"true"},[e.createElementVNode("use",{"xlink:href":d.value},null,8,Oe)],6))],6))}}),N=oe._export_sfc(Ue,[["__scopeId","data-v-3150a90b"]]),Ge={class:"obj-viewer-container"},je={class:"buttonGroup-top"},qe={class:"buttonGroup-topLeft"},Xe={class:"buttonGroup-left"},He={class:"buttonGroup-right"},Ye={class:"buttonGroup-bottom"},Ze={class:"left-panel"},We={class:"panel-header"},Ke={key:1,class:"clipping-content"},Qe={class:"radio-group"},et={class:"radio-label"},tt={class:"radio-label"},nt={class:"radio-label"},at={class:"radio-label"},ot={class:"right-panel"},lt={class:"panel-header"},st={key:0,class:"loading-overlay"},it={__name:"threeModel",props:{animationData:{type:Object,default:()=>{}}},emits:["getAnimationData"],setup(z,{expose:g,emit:u}){const d=u;let h=null,x=!1;const _=e.ref(null),c=e.ref(!1),C=e.ref("");e.ref(!1);const F=e.ref(!1),D=e.ref(!1),S=e.ref(""),E=e.ref(!1),r=e.ref(""),k=e.ref(),{currentModels:y,initialCameraPosition:t,initialTargetPosition:p,initThreeJS:f,handleResize:P,fitCameraToAllModels:I,getThreeJSObjects:A,clearAllModels:L,cleanup:$}=ve(_),{isAnimating:J,toggleAnimation:G,stopAnimation:Y}=ge(A,y),{isClipping:m,activeClippingAxis:l,toggleClipping:b,updateClippingPlanes:B}=he(A,y),{addModelsFromUrls:O,loadModelByDefaultPath:j,urdfModel:q,modelBoundingBoxes:X}=fe.useModelLoader(A,y,c,C,L),Z=()=>{if(F.value||y.value.length===0)return;F.value=!0,J.value&&Y();const{camera:s,controls:a}=A();if(!s||!a)return;a.enabled=!0;const w=H=>H<.5?4*H*H*H:1-Math.pow(-2*H+2,3)/2,U=s.position.clone(),T=a.target.clone(),W=1500,R=Date.now(),M=()=>{const H=Date.now()-R,K=Math.min(H/W,1),te=w(K);s.position.lerpVectors(U,t.value,te),a.target.lerpVectors(T,p.value,te),K<1?requestAnimationFrame(M):F.value=!1};M()},ee=async()=>x?Promise.resolve():new Promise(s=>{const a=()=>{x?s():requestAnimationFrame(a)};a()}),le=async(s,a)=>{try{await ee(),J.value&&Y(),m.value&&b();const w=await a(s);return I(X),w}catch(w){throw console.error("加载模型失败:",w),w}},ce=async s=>le(s,O),o=async s=>le(s,j),v=s=>{D.value=!0,S.value=s,s==="剖面视图"&&!m.value&&b()},i=s=>{E.value=!0,r.value=s,s==="动画仿真"&&d("getAnimationData")},V=()=>{e.nextTick(()=>{var s;(s=k.value)==null||s.startAnimation()})};return e.onMounted(async()=>{await e.nextTick();try{f(),h=A().scene,x=!0,window.addEventListener("resize",P)}catch(s){console.error("Three.js初始化失败:",s)}}),e.onBeforeUnmount(()=>{x=!1,S.value="",r.value="",window.removeEventListener("resize",P),J.value&&Y(),$()}),g({addModelsFromUrls:ce,loadModelByDefaultPath:o}),(s,a)=>{var U,T,W,R;const w=e.resolveComponent("el-scrollbar");return e.openBlock(),e.createElementBlock("div",Ge,[e.createElementVNode("div",{ref_key:"threejsContainer",ref:_,class:"threejs-container"},null,512),e.createElementVNode("div",je,[e.createVNode(N,{name:"guanjianjiexi",size:"34"}),e.createVNode(N,{name:"guanjiekongzhi",size:"34"}),e.createVNode(N,{name:"gongyishengcheng",size:"34"}),e.createVNode(N,{name:"buchangshezhi",size:"34"}),e.createVNode(N,{name:"shuchujiagongchengxu",size:"34"})]),e.createElementVNode("div",qe,[e.createVNode(N,{name:"viewReset",size:"24",onClick:Z,title:"重置"}),e.createVNode(N,{name:"fangda",size:"24",title:"放大"}),e.createVNode(N,{name:"suoxiao",size:"24",title:"缩小"}),e.createVNode(N,{name:"lookAround",size:"24",onClick:e.unref(G),title:e.unref(J)?"停止动画":"动画视图"},null,8,["onClick","title"])]),e.createElementVNode("div",Xe,[e.createVNode(N,{name:"jiegoushu",size:"24",onClick:a[0]||(a[0]=M=>v("场景树")),active:D.value&&S.value==="场景树",title:"场景树"},null,8,["active"]),e.createVNode(N,{name:"clipping",size:"24",onClick:a[1]||(a[1]=M=>v("剖面视图")),active:D.value&&S.value==="剖面视图",title:"剖面视图"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24",onClick:a[2]||(a[2]=M=>v("场景树3"))}),e.createVNode(N,{name:"donghuafangzhen",size:"24",onClick:a[3]||(a[3]=M=>v("场景4"))})]),e.createElementVNode("div",He,[e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"guanjiekongzhi",size:"24",onClick:a[4]||(a[4]=M=>i("关节控制")),active:E.value&&r.value==="关节控制",title:"关节控制"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24",title:"动画仿真",onClick:a[5]||(a[5]=M=>i("动画仿真")),active:E.value&&r.value==="动画仿真"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"donghuafangzhen",size:"24"})]),e.createElementVNode("div",Ye,[e.createVNode(N,{name:"kuaitui",size:"24",backgroundColor:"#ffffff",title:"快退",onClick:(U=k.value)==null?void 0:U.fastBackward},null,8,["onClick"]),e.createVNode(N,{name:"bofang",size:"24",backgroundColor:"#ffffff",title:"播放",onClick:V}),e.createVNode(N,{name:"kuaijin",size:"24",backgroundColor:"#ffffff",title:"快进",onClick:(T=k.value)==null?void 0:T.fastForward},null,8,["onClick"]),e.createVNode(N,{name:"zanting",size:"24",backgroundColor:"#ffffff",title:"暂停",onClick:(W=k.value)==null?void 0:W.pauseAnimation},null,8,["onClick"]),e.createVNode(N,{name:"zhongzhi",size:"24",backgroundColor:"#ffffff",title:"停止",onClick:(R=k.value)==null?void 0:R.resetAll},null,8,["onClick"])]),e.withDirectives(e.createElementVNode("div",Ze,[e.createElementVNode("div",We,[e.createElementVNode("span",null,e.toDisplayString(S.value),1),e.createElementVNode("span",{class:"close",onClick:a[6]||(a[6]=M=>D.value=!1)}," X ")]),e.createVNode(w,{"max-height":"650px"},{default:e.withCtx(()=>[S.value==="场景树"?(e.openBlock(),e.createBlock(Je,{key:0,model:e.unref(q)},null,8,["model"])):e.createCommentVNode("",!0),S.value==="剖面视图"?(e.openBlock(),e.createElementBlock("div",Ke,[e.createElementVNode("div",Qe,[e.createElementVNode("label",et,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"none","onUpdate:modelValue":a[7]||(a[7]=M=>e.isRef(l)?l.value=M:null),onChange:a[8]||(a[8]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[16]||(a[16]=e.createElementVNode("span",{class:"radio-text"},"无切割",-1))]),e.createElementVNode("label",tt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"x","onUpdate:modelValue":a[9]||(a[9]=M=>e.isRef(l)?l.value=M:null),onChange:a[10]||(a[10]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[17]||(a[17]=e.createElementVNode("span",{class:"radio-text"},"X轴切割",-1))]),e.createElementVNode("label",nt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"y","onUpdate:modelValue":a[11]||(a[11]=M=>e.isRef(l)?l.value=M:null),onChange:a[12]||(a[12]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[18]||(a[18]=e.createElementVNode("span",{class:"radio-text"},"Y轴切割",-1))]),e.createElementVNode("label",at,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"z","onUpdate:modelValue":a[13]||(a[13]=M=>e.isRef(l)?l.value=M:null),onChange:a[14]||(a[14]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[19]||(a[19]=e.createElementVNode("span",{class:"radio-text"},"Z轴切割",-1))])])])):e.createCommentVNode("",!0)]),_:1})],512),[[e.vShow,D.value]]),e.withDirectives(e.createElementVNode("div",ot,[e.createElementVNode("div",lt,[e.createElementVNode("span",null,e.toDisplayString(r.value),1),e.createElementVNode("span",{class:"close",onClick:a[15]||(a[15]=M=>E.value=!1)}," X ")]),e.createVNode(w,{"max-height":"650px"},{default:e.withCtx(()=>[e.withDirectives(e.createVNode(Te,{ref_key:"jointRef",ref:k,model:e.unref(q),scene:e.unref(h),animationData:z.animationData},null,8,["model","scene","animationData"]),[[e.vShow,r.value==="关节控制"]]),e.withDirectives(e.createVNode(xe,{animationData:z.animationData},null,8,["animationData"]),[[e.vShow,r.value==="动画仿真"]])]),_:1})],512),[[e.vShow,E.value]]),c.value?(e.openBlock(),e.createElementBlock("div",st,[a[20]||(a[20]=e.createElementVNode("div",{class:"loading-spinner"},null,-1)),e.createElementVNode("p",null,e.toDisplayString(C.value),1)])):e.createCommentVNode("",!0)])}}},rt=oe._export_sfc(it,[["__scopeId","data-v-7bc47bb3"]]);exports.default=rt;

package/dist/{threeModel-DFxIpiho.js → threeModel-BUlAH_YA.js}

@@ -1,8 +1,8 @@
 import { ref as b, watch as Pe, createElementBlock as q, openBlock as H, createBlock as Le, computed as ie, onMounted as $e, onUnmounted as je, Fragment as Xe, renderList as He, createElementVNode as h, createCommentVNode as xe, toDisplayString as ae, resolveComponent as Je, createVNode as z, defineComponent as Ye, normalizeStyle as Ee, normalizeClass as Fe, nextTick as Be, onBeforeUnmount as qe, withDirectives as se, unref as O, withCtx as Te, isRef as he, vModelRadio as ye, vShow as we } from "vue";
 import { V as M, B as be, S as Ze, C as We, P as Ke, W as Ne, e as Qe, A as et, f as tt, M as Re, X as nt, G as at, h as Me, j as ot, k as De, l as st, D as ke, H as lt, n as Ve, o as Oe, p as Ue, q as ze, E as _e, r as de, s as it, t as rt, T as ct } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DydNdKaj.js";
 import { O as ut } from "./OrbitControls-A4Q4aTIv.js";
-import { s as dt } from "./index-BmwfVcZ0.js";
-import { u as pt } from "./index.vue_vue_type_style_index_1_lang-D6AimgLF.js";
+import { s as dt } from "./index-1Midedyn.js";
+import { u as pt } from "./index.vue_vue_type_style_index_1_lang-CyCDZ4Yi.js";
 import { _ as me } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { c as Ge, E as Ie } from "./index-CbJEJj8c.js";
 function mt(E) {

package/dist/{threeSceneView-R0tc8DUL.cjs → threeSceneView-ZLSxbMs-.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),X=require("./workpieceTreePanel-B8KtGflM.cjs"),pe=require("./iconfont-Cz9RAt67.cjs"),$=require("./index-C8qRkCgn.cjs"),s=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BPB5aHKM.cjs");require("./index.vue_vue_type_style_index_1_lang-DnfCrXiN.cjs");require("./index-BpPyaNFa.cjs");const Q=require("./index-D_6peWlG.cjs");require("./index.vue_vue_type_style_index_1_lang-DUdq6ID7.cjs");require("./index-D4EyLxA0.cjs");const Ce=require("./animationData-B6Ww8RpG.cjs"),ne=require("./urdfTree-B6ux_ZZe.cjs"),we=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),ee=require("./dataUtil-DrslFFRT.cjs"),M=require("./svgIcon-CUM54R6L.cjs"),Z=.001,H=s.MathUtils.degToRad,Ne=new s.MeshStandardMaterial({color:13421772,metalness:.3,roughness:.6,side:s.DoubleSide});function Me(V=.005,m=64){const f=new s.CatmullRomCurve3([new s.Vector3(0,0,0),new s.Vector3(0,0,0)]),n=new 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0:O["输出（动画数据）"])||[];u.value=q.length?q:[K]},u=e.ref([]),_=e.ref(!1),r=e.ref(""),p=e.ref(!1),a=e.ref(0),d=e.ref(0),i=e.ref(1e3);let b=!1;const E=e.ref(null),v=e.shallowRef(null),S=e.shallowRef(null),P=e.shallowRef(null),D=e.ref(0),T=e.ref(12.5),R=e.ref(30),k=e.ref([]),w=e.ref(null),I=e.computed(()=>n.model?ne.getNonFixedJoints(n.model).map(o=>o.name):[]),G=e.ref(["Y","B","C","R"]),F=e.computed(()=>[...I.value,...G.value]),Y=e.computed(()=>F.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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s.TubeGeometry(f,m,V,16,!1),g=Ne;return new s.Mesh(n,g)}const ke=V=>V.reduce((m,f)=>{let n=0;const g=f.Y??0,h=f.C??0,c=f.R??0;return g>0&&(n+=g),h>0&&c>0&&(n+=c*H(h)),m+n},0),Te=V=>{const m=[],f=V.Y??0,n=V.B??0,g=V.C??0,h=V.R??0,c={pos:new s.Vector3(0,0,0),localY:new s.Vector3(0,1,0),localX:new s.Vector3(1,0,0),localZ:new s.Vector3(0,0,1)};if(!f&&!g)return m;if(m.push(c.pos.clone()),n!==0){const C=new s.Matrix4().makeRotationAxis(c.localY,H(n));c.localX.applyMatrix4(C),c.localZ.applyMatrix4(C)}if(f>0&&(c.pos.add(c.localY.clone().multiplyScalar(f*Z)),m.push(c.pos.clone())),g>0&&h>0){const C=H(g),u=h*Z,_=c.pos.clone().add(c.localX.clone().multiplyScalar(-u)),r=Math.max(16,Math.ceil(g/5));for(let p=1;p<=r;p++){const a=C*p/r,d=new s.Matrix4().makeRotationAxis(c.localZ,a),b=c.localX.clone().multiplyScalar(u).applyMatrix4(d),E=_.clone().add(b);m.push(E)}}return m};function Se(V,m){const f=new s.Group;f.name="CompletePipe";const n={pos:new s.Vector3(0,0,0),localX:new 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Be={class:"panel-content"},ze={class:"action-bar"},Ae={class:"animation-controls"},$e={class:"control-row"},Fe={class:"control-row"},Ye={class:"frame-info"},Le={class:"control-row"},Ie={class:"progress-bar"},Ue={class:"dialog-footer"},je=e.defineComponent({__name:"animationPanel",props:{model:{},threeData:{}},emits:["getThreeData"],setup(V,{expose:m,emit:f}){const n=V,g=f,h=e.ref(),c=e.ref();e.watch(()=>n.threeData,l=>{const t=l==null?void 0:l.data;c.value=t==null?void 0:t.type},{immediate:!0});const C=async()=>{if(!sessionStorage.getItem("systemKey")){g("getThreeData");return}let t={};c.value===X.robotMode.SINGLE&&(t=await Ce.fetchSingleRobotAnimationData()),c.value===X.robotMode.DOUBLE&&(t=await Ce.fetchDoubleRobotAnimationData());const{initialPipeLength:o=0,pipeRadius:y=0,clampLength:N=0,animationData:x}=t;D.value=o,T.value=y,R.value=N,h.value=x;const O=$.cloneDeep(h.value),K=ce(F.value),q=(O==null?void 0:O["输出（动画数据）"])||[];u.value=q.length?q:[K]},u=e.ref([]),_=e.ref(!1),r=e.ref(""),p=e.ref(!1),a=e.ref(0),d=e.ref(0),i=e.ref(1e3);let b=!1;const E=e.ref(null),v=e.shallowRef(null),S=e.shallowRef(null),P=e.shallowRef(null),D=e.ref(0),T=e.ref(12.5),R=e.ref(30),k=e.ref([]),w=e.ref(null),I=e.computed(()=>n.model?ne.getNonFixedJoints(n.model).map(o=>o.name):[]),G=e.ref(["Y","B","C","R"]),F=e.computed(()=>[...I.value,...G.value]),Y=e.computed(()=>F.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
 ${F.value.join("	")}
 0	0	0	...
 1	2	3	...`:"请先加载模型。"),J=()=>u.value.map(l=>({Y:parseFloat(l.Y)||0,B:parseFloat(l.B)||0,C:parseFloat(l.C)||0,R:parseFloat(l.R)||0})),U=()=>{const l=[],t=[];return u.value.forEach(o=>{const{Y1:y,B1:N,C1:x,R1:O,Y2:K,B2:q,C2:ie,R2:A}=o;l.push({Y:parseFloat(y)||0,B:parseFloat(N)||0,C:parseFloat(x)||0,R:parseFloat(O)||0}),t.push({Y:parseFloat(K)||0,B:parseFloat(q)||0,C:parseFloat(ie)||0,R:parseFloat(A)||0})}),{posPipeYbcr:l,negPipeYbcr:t}},L=(l=0,t=0)=>{if(v.value&&S.value){const o=U();Ee(v.value,S.value,o.posPipeYbcr,o.negPipeYbcr,D.value,T.value,l,t,R.value)}else if(v.value){const o=J();_e(v.value,o,D.value,T.value,l,t)}},W=l=>{if(l<0||l>=u.value.length){console.error(`帧索引 ${l} 超出范围`);return}const t=u.value[l];if(console.log(`应用第 ${l} 帧数据 ${t}`),a.value=l,E.value){const o={};I.value.forEach(y=>{const N=parseFloat(t[y]);isNaN(N)||(o[y]=N)}),E.value.setJointAngles(o)}L(l,0)},B=async()=>{if(u.value.length===0){$.ElMessage.error("无法播放动画：无数据");return}if(!p.value){p.value=!0,b=!1,u.value.length-1===a.value&&(a.value=0);try{for(let l=a.value+1;l<u.value.length&&!b;l++){a.value=l;const t=u.value[l],o={};E.value&&I.value.forEach(y=>{const N=parseFloat(t[y]);isNaN(N)||(o[y]=N)}),E.value?await E.value.animateToState(o,i.value,y=>{d.value=(l+y)/u.value.length*100,L(l-1,y)}):(await new Promise(y=>setTimeout(y,i.value)),d.value=(l+1)/u.value.length*100)}b||$.ElMessage.success("动画播放完成")}catch(l){console.error("动画播放出错:",l),$.ElMessage.error("动画播放出错")}finally{p.value=!1,d.value=0}}},z=()=>{b=!0,p.value=!1,d.value=0,$.ElMessage.info("动画已停止")},ae=()=>{a.value=0},j=()=>{if(v.value&&S.value){const l=U();Ee(v.value,S.value,l.posPipeYbcr,l.negPipeYbcr,D.value,T.value,-1,0,R.value)}else if(v.value){const l=J();_e(v.value,l,D.value,T.value,-1,0)}},oe=()=>{E.value&&E.value.resetToZero(),j(),ae(),$.ElMessage.success("机器人和管件已重置")},me=l=>`第 ${l+1} 帧`,ve=l=>{p.value&&z(),W(l)},fe=()=>{p.value&&z(),!(a.value+1>=u.value.length)&&W(a.value+1)},ge=()=>{p.value&&z(),a.value!==0&&W(a.value-1)},se=()=>{P.value&&(P.value.visible=!0),v.value&&v.value.parent&&v.value.parent.remove(v.value),P.value=null,v.value=null,S.value=null},ce=l=>l==null?void 0:l.reduce((t,o)=>(t[o]="0",t),{});e.watch(F,(l,t)=>{if(JSON.stringify(l)!==JSON.stringify(t))if(l.length>0){const o=ce(l);u.value=[o]}else u.value=[]},{immediate:!0});const re=e.ref(0),he=l=>{re.value=l},ue=(l,t)=>{if(!l||!t)return;const o=ne.getTargetJoint(l,t),y=Me();y.visible=!1,o==null||o.add(y)},te=l=>{E.value=new X.URDFRobotController(l),k.value=ne.getAllLinkName(l),w.value="Pipe_Joint"},le=()=>{E.value=null,k.value=[],w.value=null},Ve=l=>{te(l),ue(l,w.value),he(re.value+1),oe()};e.watch(()=>n.model,l=>{if(se(),l){Ve(l);return}le()},{immediate:!0});const de=l=>{var o,y;const t=new s.Mesh(l.geometry.clone(),l.material);return t.name="managed_pipe_clone",(y=(o=l==null?void 0:l.parent)==null?void 0:o.add)==null||y.call(o,t),t.position.copy(l.position),t.rotation.copy(l.rotation),t.scale.copy(l.scale),t};e.watch([w,R,D,re],([l,t])=>{if(se(),n.model&&l){const o=ne.getMeshFromJoint(n.model,l);if(console.log(o,"meshToReplace"),o&&o.parent){P.value=o,o.visible=!1;const y=de(o);if(c.value===X.robotMode.SINGLE&&(y.position.y-=t*.001),v.value=y,c.value===X.robotMode.DOUBLE){const N=de(o);S.value=N}L(0,0)}else l&&console.warn(`在 link '${l}' 中未找到可替换的网格或其没有父级。`)}});const be=async()=>{if(F.value.length===0){$.ElMessage.warning("没有可导出的表头");return}const l=F.value.join("	");try{await navigator.clipboard.writeText(l),$.ElMessage.success("表头已成功复制到剪贴板！")}catch(t){console.error("复制失败:",t),$.ElMessage.error("复制失败，请检查浏览器权限或手动复制。")}},ye=()=>{if(!r.value.trim()){$.ElMessage.warning("导入内容不能为空");return}const l=r.value.trim().split(`

package/dist/{threeSceneView-CME4P5t4.js → threeSceneView-iyP6aAw0.js}

@@ -1,14 +1,14 @@
 import { defineComponent as Oe, ref as h, watch as se, shallowRef as ve, computed as we, onUnmounted as Qe, resolveComponent as O, createElementBlock as _e, openBlock as te, createElementVNode as n, createVNode as o, withCtx as T, createBlock as Ce, createCommentVNode as ye, unref as M, toDisplayString as me, onMounted as We, onBeforeUnmount as Ie, Fragment as et, renderList as tt, nextTick as lt, withDirectives as q, vShow as re, renderSlot as de, isRef as Te, vModelRadio as Re } from "vue";
-import { r as Ve, U as ot, s as je, u as nt, a as at, W as st } from "./workpieceTreePanel-j_-UFd2t.js";
+import { r as Ve, U as ot, s as je, u as nt, a as at, W as st } from "./workpieceTreePanel-BZ7gFz38.js";
 import { u as Ke, a as it, b as rt } from "./iconfont-B_1NPShA.js";
 import { ag as ut, c as ct, E as X, aW as pt, aw as dt } from "./index-CbJEJj8c.js";
 import { t as Me, T as ke, V as F, r as Q, s as mt, u as vt, k as Se, v as ft, L as gt, w as ht, x as bt, y as yt, z as wt, F as _t, I as Ct, p as kt } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DydNdKaj.js";
 import "./index.vue_vue_type_style_index_1_lang-B94_mDqy.js";
 import "./index-BHtNKL1L.js";
 import { _ as ue, s as Pt } from "./index-B5iYFoi0.js";
-import "./index.vue_vue_type_style_index_1_lang-D6AimgLF.js";
+import "./index.vue_vue_type_style_index_1_lang-CyCDZ4Yi.js";
 import "./index-COwWrcMG.js";
-import { f as xt, a as Dt } from "./animationData-rbqV_Xqf.js";
+import { f as xt, a as Dt } from "./animationData-B8fDjkMB.js";
 import { g as Tt, a as Rt, b as Vt, c as Mt, U as St, J as At } from "./urdfTree-Z6exbg_O.js";
 import { _ as Xe } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { g as zt, a as Ee, d as $t, c as Ft, e as Yt, b as Lt } from "./dataUtil-Dg64EamZ.js";

package/dist/{threeSceneViewForCPMPIP-Bj94Q4Zt.js → threeSceneViewForCPMPIP-DzXgmvbD.js}

@@ -1,6 +1,6 @@
 import { defineComponent as we, ref as u, computed as U, watch as Z, onUnmounted as He, resolveComponent as q, createElementBlock as M, openBlock as z, createElementVNode as l, createCommentVNode as G, createVNode as i, toDisplayString as B, Fragment as Ke, renderList as We, withCtx as ne, inject as he, shallowRef as ue, onMounted as Ye, nextTick as Ze, onBeforeUnmount as qe, withDirectives as $, vShow as W, renderSlot as Y, unref as d, createBlock as ye, isRef as re, vModelRadio as de } from "vue";
 import { aw as Qe } from "./index.vue_vue_type_style_index_1_lang-B94_mDqy.js";
-import { U as et, s as ke, u as tt, a as lt, W as at } from "./workpieceTreePanel-j_-UFd2t.js";
+import { U as et, s as ke, u as tt, a as lt, W as at } from "./workpieceTreePanel-BZ7gFz38.js";
 import { u as nt, a as ot, b as st } from "./iconfont-B_1NPShA.js";
 import { c as it, E as y } from "./index-CbJEJj8c.js";
 import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DydNdKaj.js";
@@ -8,9 +8,9 @@ import { _ as pe } from "./index-B5iYFoi0.js";
 import { g as ut, b as rt, U as dt, J as ct, d as vt } from "./urdfTree-Z6exbg_O.js";
 import { _ as Ce } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { T as h } from "./svgIcon-D-_fXUBL.js";
-import { i as pt } from "./animationData-rbqV_Xqf.js";
+import { i as pt } from "./animationData-B8fDjkMB.js";
 import { O as mt } from "./MTLLoader-DRpXjq1R.js";
-import { L as ft, j as gt } from "./index-DaLLdmay.js";
+import { L as ft, j as gt } from "./index-Vbm8-eAZ.js";
 const bt = { class: "panel-content" }, ht = { class: "action-bar" }, yt = {
   key: 0,
   class: "animation-controls"

package/dist/{threeSceneViewForCPMPIP-B1C_CX6B.cjs → threeSceneViewForCPMPIP-VDLDr1iS.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),Te=require("./index.vue_vue_type_style_index_1_lang-DnfCrXiN.cjs"),A=require("./workpieceTreePanel-B8KtGflM.cjs"),Z=require("./iconfont-Cz9RAt67.cjs"),p=require("./index-C8qRkCgn.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BPB5aHKM.cjs");const Q=require("./index-D_6peWlG.cjs"),G=require("./urdfTree-B6ux_ZZe.cjs"),se=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),g=require("./svgIcon-CUM54R6L.cjs"),De=require("./animationData-B6Ww8RpG.cjs"),Me=require("./MTLLoader-BVzTh3sz.cjs"),oe=require("./index-ByRERyn9.cjs"),$e={class:"panel-content"},Be={class:"action-bar"},ze={key:0,class:"animation-controls"},Le={class:"control-row"},Re={class:"control-row"},Ue={class:"frame-info"},je={class:"control-row"},Ae={key:1,class:"empty-state"},Ie={class:"dialog-footer"},Oe=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(B,{expose:I}){const k=B,o=e.ref([]),w=e.ref(!1),C=e.ref(""),v=e.ref("stopped"),c=e.ref(0),y=e.ref(0),z=e.ref(10),S=e.ref(null);let h=0;const O=e.ref([]),T=e.computed(()=>k.model?G.getNonFixedJoints(k.model).map(m=>m.name):[]),P=e.computed(()=>[...T.value]),W=e.computed(()=>P.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),Te=require("./index.vue_vue_type_style_index_1_lang-DnfCrXiN.cjs"),A=require("./workpieceTreePanel-CaPlzUu6.cjs"),Z=require("./iconfont-Cz9RAt67.cjs"),p=require("./index-C8qRkCgn.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BPB5aHKM.cjs");const Q=require("./index-D_6peWlG.cjs"),G=require("./urdfTree-B6ux_ZZe.cjs"),se=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),g=require("./svgIcon-CUM54R6L.cjs"),De=require("./animationData-BqjWgExL.cjs"),Me=require("./MTLLoader-BVzTh3sz.cjs"),oe=require("./index-DJS_IVa2.cjs"),$e={class:"panel-content"},Be={class:"action-bar"},ze={key:0,class:"animation-controls"},Le={class:"control-row"},Re={class:"control-row"},Ue={class:"frame-info"},je={class:"control-row"},Ae={key:1,class:"empty-state"},Ie={class:"dialog-footer"},Oe=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(B,{expose:I}){const k=B,o=e.ref([]),w=e.ref(!1),C=e.ref(""),v=e.ref("stopped"),c=e.ref(0),y=e.ref(0),z=e.ref(10),S=e.ref(null);let h=0;const O=e.ref([]),T=e.computed(()=>k.model?G.getNonFixedJoints(k.model).map(m=>m.name):[]),P=e.computed(()=>[...T.value]),W=e.computed(()=>P.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
 ${P.value.join("	")}
 0	0	0	...
 1	2	3	...`:"请先加载模型。"),R=e.computed(()=>o.value[c.value]||{});e.watch(()=>k.model,s=>{s?(S.value=new A.URDFRobotController(s),O.value=G.getAllLinkName(s),c.value=0):(S.value=null,O.value=[])},{immediate:!0});const U=s=>{if(s<0||s>=o.value.length){console.error(`帧索引 ${s} 超出范围`);return}const n=o.value[s];if(S.value){const m={};T.value.forEach(N=>{const i=parseFloat(n[N]);isNaN(i)||(m[N]=i)}),S.value.setJointAngles(m)}c.value=s,y.value=o.value.length>1?s/(o.value.length-1)*100:100},H=async s=>{try{for(let n=c.value;n<o.value.length;n++){if(s!==h)return;const m=o.value[n],N={};if(S.value)T.value.forEach(i=>{const r=parseFloat(m[i]);isNaN(r)||(N[i]=r)}),await S.value.animateToState(N,z.value,i=>{s===h&&(y.value=(n+i)/o.value.length*100)});else{if(await new Promise(i=>setTimeout(i,z.value)),s!==h)return;y.value=(n+1)/o.value.length*100}c.value=n}s===h&&(p.ElMessage.success("动画播放完成"),v.value="stopped",y.value=100)}catch(n){console.error("动画播放出错:",n),p.ElMessage.error("动画播放出错"),v.value="stopped"}},_=()=>{if(o.value.length===0){p.ElMessage.error("无动画数据");return}v.value==="stopped"&&(c.value=0,U(0)),v.value="playing",h++,H(h),p.ElMessage.info("动画播放中")},V=()=>{v.value==="playing"&&(h++,v.value="paused",p.ElMessage.info("动画已暂停"))},D=()=>{h++,v.value="stopped",c.value=0,y.value=0,U(0),p.ElMessage.info("动画已停止并重置")},E=()=>{v.value==="playing"?V():_()},F=s=>{h++,v.value="paused",U(s)},q=()=>{if(!C.value.trim()){p.ElMessage.warning("导入内容不能为空");return}const s=C.value.trim().split(`

package/dist/{threeTrackPathView-C7BsHTEh.js → threeTrackPathView-DkdEqGqA.js}

@@ -1,7 +1,7 @@
 import { defineComponent as Ve, ref as D, shallowRef as he, computed as q, watch as We, onMounted as He, onBeforeUnmount as Ne, resolveComponent as qe, createElementBlock as te, openBlock as $, createElementVNode as c, withDirectives as j, createCommentVNode as ne, createVNode as m, unref as S, renderSlot as ve, toDisplayString as ie, withCtx as ge, createBlock as $e, isRef as X, vModelRadio as Y, vShow as se } from "vue";
 import { u as Xe, a as Ye, b as Ze, f as Je, d as Ke } from "./iconfont-B_1NPShA.js";
 import { aE as Qe, aF as le, aG as ce, av as G, aH as et, B as de, aD as Ce, V as L, aI as tt, aJ as Q, aK as _e, Y as Ee, aL as ee, k as nt, aM as H, aN as it, r as st, s as Ue, t as ot, w as at, ag as rt, ao as lt } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DydNdKaj.js";
-import { r as ct } from "./fileUtil-DLQN0c3_.js";
+import { r as ct } from "./fileUtil-CxrdKY1s.js";
 import { E as dt } from "./index-CbJEJj8c.js";
 import { U as ut, J as ft } from "./urdfTree-Z6exbg_O.js";
 import { T as y } from "./svgIcon-D-_fXUBL.js";

package/dist/{threeTrackPathView-C8qhHEu2.cjs → threeTrackPathView-Dv5NLshi.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const t=require("vue"),O=require("./iconfont-Cz9RAt67.cjs"),l=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BPB5aHKM.cjs"),ye=require("./fileUtil-B6mKifTH.cjs"),we=require("./index-C8qRkCgn.cjs"),J=require("./urdfTree-B6ux_ZZe.cjs"),y=require("./svgIcon-CUM54R6L.cjs"),xe=require("./isString--eJE54G5.cjs"),Se=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),K=new l.Box3,R=new l.Vector3;class oe extends l.InstancedBufferGeometry{constructor(){super(),this.isLineSegmentsGeometry=!0,this.type="LineSegmentsGeometry";const e=[-1,2,0,1,2,0,-1,1,0,1,1,0,-1,0,0,1,0,0,-1,-1,0,1,-1,0],i=[-1,2,1,2,-1,1,1,1,-1,-1,1,-1,-1,-2,1,-2],o=[0,2,1,2,3,1,2,4,3,4,5,3,4,6,5,6,7,5];this.setIndex(o),this.setAttribute("position",new l.Float32BufferAttribute(e,3)),this.setAttribute("uv",new l.Float32BufferAttribute(i,2))}applyMatrix4(e){const i=this.attributes.instanceStart,o=this.attributes.instanceEnd;return i!==void 0&&(i.applyMatrix4(e),o.applyMatrix4(e),i.needsUpdate=!0),this.boundingBox!==null&&this.computeBoundingBox(),this.boundingSphere!==null&&this.computeBoundingSphere(),this}setPositions(e){let i;e instanceof Float32Array?i=e:Array.isArray(e)&&(i=new Float32Array(e));const o=new l.InstancedInterleavedBuffer(i,6,1);return this.setAttribute("instanceStart",new l.InterleavedBufferAttribute(o,3,0)),this.setAttribute("instanceEnd",new l.InterleavedBufferAttribute(o,3,3)),this.instanceCount=this.attributes.instanceStart.count,this.computeBoundingBox(),this.computeBoundingSphere(),this}setColors(e){let i;e instanceof Float32Array?i=e:Array.isArray(e)&&(i=new Float32Array(e));const o=new l.InstancedInterleavedBuffer(i,6,1);return this.setAttribute("instanceColorStart",new l.InterleavedBufferAttribute(o,3,0)),this.setAttribute("instanceColorEnd",new l.InterleavedBufferAttribute(o,3,3)),this}fromWireframeGeometry(e){return this.setPositions(e.attributes.position.array),this}fromEdgesGeometry(e){return this.setPositions(e.attributes.position.array),this}fromMesh(e){return this.fromWireframeGeometry(new l.WireframeGeometry(e.geometry)),this}fromLineSegments(e){const i=e.geometry;return this.setPositions(i.attributes.position.array),this}computeBoundingBox(){this.boundingBox===null&&(this.boundingBox=new l.Box3);const e=this.attributes.instanceStart,i=this.attributes.instanceEnd;e!==void 0&&i!==void 0&&(this.boundingBox.setFromBufferAttribute(e),K.setFromBufferAttribute(i),this.boundingBox.union(K))}computeBoundingSphere(){this.boundingSphere===null&&(this.boundingSphere=new l.Sphere),this.boundingBox===null&&this.computeBoundingBox();const e=this.attributes.instanceStart,i=this.attributes.instanceEnd;if(e!==void 0&&i!==void 0){const o=this.boundingSphere.center;this.boundingBox.getCenter(o);let n=0;for(let c=0,d=e.count;c<d;c++)R.fromBufferAttribute(e,c),n=Math.max(n,o.distanceToSquared(R)),R.fromBufferAttribute(i,c),n=Math.max(n,o.distanceToSquared(R));this.boundingSphere.radius=Math.sqrt(n),isNaN(this.boundingSphere.radius)&&console.error("THREE.LineSegmentsGeometry.computeBoundingSphere(): Computed radius is NaN. The instanced position data is likely to have NaN values.",this)}}toJSON(){}}l.UniformsLib.line={worldUnits:{value:1},linewidth:{value:1},resolution:{value:new l.Vector2(1,1)},dashOffset:{value:0},dashScale:{value:1},dashSize:{value:1},gapSize:{value:1}};l.ShaderLib.line={uniforms:l.UniformsUtils.merge([l.UniformsLib.common,l.UniformsLib.fog,l.UniformsLib.line]),vertexShader:`
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const t=require("vue"),O=require("./iconfont-Cz9RAt67.cjs"),l=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BPB5aHKM.cjs"),ye=require("./fileUtil-DXFH6ayx.cjs"),we=require("./index-C8qRkCgn.cjs"),J=require("./urdfTree-B6ux_ZZe.cjs"),y=require("./svgIcon-CUM54R6L.cjs"),xe=require("./isString--eJE54G5.cjs"),Se=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),K=new l.Box3,R=new l.Vector3;class oe extends l.InstancedBufferGeometry{constructor(){super(),this.isLineSegmentsGeometry=!0,this.type="LineSegmentsGeometry";const e=[-1,2,0,1,2,0,-1,1,0,1,1,0,-1,0,0,1,0,0,-1,-1,0,1,-1,0],i=[-1,2,1,2,-1,1,1,1,-1,-1,1,-1,-1,-2,1,-2],o=[0,2,1,2,3,1,2,4,3,4,5,3,4,6,5,6,7,5];this.setIndex(o),this.setAttribute("position",new l.Float32BufferAttribute(e,3)),this.setAttribute("uv",new l.Float32BufferAttribute(i,2))}applyMatrix4(e){const i=this.attributes.instanceStart,o=this.attributes.instanceEnd;return i!==void 0&&(i.applyMatrix4(e),o.applyMatrix4(e),i.needsUpdate=!0),this.boundingBox!==null&&this.computeBoundingBox(),this.boundingSphere!==null&&this.computeBoundingSphere(),this}setPositions(e){let i;e instanceof Float32Array?i=e:Array.isArray(e)&&(i=new Float32Array(e));const o=new l.InstancedInterleavedBuffer(i,6,1);return this.setAttribute("instanceStart",new l.InterleavedBufferAttribute(o,3,0)),this.setAttribute("instanceEnd",new l.InterleavedBufferAttribute(o,3,3)),this.instanceCount=this.attributes.instanceStart.count,this.computeBoundingBox(),this.computeBoundingSphere(),this}setColors(e){let i;e instanceof Float32Array?i=e:Array.isArray(e)&&(i=new Float32Array(e));const o=new l.InstancedInterleavedBuffer(i,6,1);return this.setAttribute("instanceColorStart",new l.InterleavedBufferAttribute(o,3,0)),this.setAttribute("instanceColorEnd",new l.InterleavedBufferAttribute(o,3,3)),this}fromWireframeGeometry(e){return this.setPositions(e.attributes.position.array),this}fromEdgesGeometry(e){return this.setPositions(e.attributes.position.array),this}fromMesh(e){return this.fromWireframeGeometry(new l.WireframeGeometry(e.geometry)),this}fromLineSegments(e){const i=e.geometry;return this.setPositions(i.attributes.position.array),this}computeBoundingBox(){this.boundingBox===null&&(this.boundingBox=new l.Box3);const e=this.attributes.instanceStart,i=this.attributes.instanceEnd;e!==void 0&&i!==void 0&&(this.boundingBox.setFromBufferAttribute(e),K.setFromBufferAttribute(i),this.boundingBox.union(K))}computeBoundingSphere(){this.boundingSphere===null&&(this.boundingSphere=new l.Sphere),this.boundingBox===null&&this.computeBoundingBox();const e=this.attributes.instanceStart,i=this.attributes.instanceEnd;if(e!==void 0&&i!==void 0){const o=this.boundingSphere.center;this.boundingBox.getCenter(o);let n=0;for(let c=0,d=e.count;c<d;c++)R.fromBufferAttribute(e,c),n=Math.max(n,o.distanceToSquared(R)),R.fromBufferAttribute(i,c),n=Math.max(n,o.distanceToSquared(R));this.boundingSphere.radius=Math.sqrt(n),isNaN(this.boundingSphere.radius)&&console.error("THREE.LineSegmentsGeometry.computeBoundingSphere(): Computed radius is NaN. The instanced position data is likely to have NaN values.",this)}}toJSON(){}}l.UniformsLib.line={worldUnits:{value:1},linewidth:{value:1},resolution:{value:new l.Vector2(1,1)},dashOffset:{value:0},dashScale:{value:1},dashSize:{value:1},gapSize:{value:1}};l.ShaderLib.line={uniforms:l.UniformsUtils.merge([l.UniformsLib.common,l.UniformsLib.fog,l.UniformsLib.line]),vertexShader:`
 		#include <common>
 		#include <color_pars_vertex>
 		#include <fog_pars_vertex>

package/dist/{threeViewerHost-Crew1_yT.cjs → threeViewerHost-CpXkpEF8.cjs}

@@ -1 +1 @@
-"use strict";const e=require("vue"),h=require("./index-C8qRkCgn.cjs"),B=require("./index.vue_vue_type_style_index_1_lang-DnfCrXiN.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BPB5aHKM.cjs");const H=require("./_plugin-vue_export-helper-BHFhmbuH.cjs");function O(d){const v=sessionStorage.getItem("loginToken")??"123456";return h.service({url:"/api/sysFile/uploadFile",method:"post",data:d,headers:{Authorization:v,"Content-Type":"multipart/form-data"}})}function R(d){const v=sessionStorage.getItem("loginToken")??"123456";return h.service({url:"/api/sysFile/downloadFile",method:"post",data:d,headers:{Authorization:v,Accept:"application/octet-stream"},responseType:"blob"})}const I=h.defineStore("threeState",{state:()=>({data:{extension:"",url:[],data:{},isThreeScene:!0}}),actions:{setData(d){this.data=d},getData(){return this.data}}});function V(){const d=B.useMenuState(h.pinia),{platform:v}=h.storeToRefs(d),T=I(h.pinia),b=e.computed(()=>{var n;return(n=T==null?void 0:T.data)==null?void 0:n.extension}),m=["uv","cpt","cyd"],y=["urdf"],s=["obj","stl"],o=[...m,...y,...s],P=n=>{if(!C())throw new Error("不是三维系统");T.setData(n)},f=()=>T.getData(),C=()=>v.value==="three",c=n=>{const i=n==null?void 0:n.toLowerCase(),l=i==null?void 0:i.lastIndexOf(".");let p=i;return l>=0&&(p=p==null?void 0:p.slice(l+1)),p},S=n=>{if(!n)return!1;const i=c(n);return o==null?void 0:o.includes(i)};return{getData:f,setData:P,isThreeSystem:C,isUrdf:n=>{if(!n)return!1;const i=c(n);return y==null?void 0:y.includes(i)},isGeneralFile:n=>{if(!n)return!1;const i=c(n);return s==null?void 0:s.includes(i)},isTrackPathFile:n=>{if(!n)return!1;const i=c(n);return m==null?void 0:m.includes(i)},isThreeFile:S,isUseBackdrop:n=>C()&&S(n),initTrackFileType:n=>{if(!n)return{isCpt:!1,isCyd:!1,isUv:!1};const i=c(n),l=m==null?void 0:m.find(_=>_===i);return{isCpt:l==="cpt",isCyd:l==="cyd",isUv:l==="uv"}},getFileExtension:c,extraExtension:b}}const q={class:"top-menu"},L={key:4,class:"loading"},x=e.defineComponent({__name:"threeViewerHost",props:{fileUrls:{default:()=>[]},host:{default:"inline"},extension:{},animationData:{default:()=>({})},width:{default:"100%"},height:{default:"100%"},threeData:{},componentType:{}},emits:["getThreeData"],setup(d,{emit:v}){const T=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-R0tc8DUL.cjs"))),b=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-CubTtQOo.cjs"))),m=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-C8qhHEu2.cjs"))),y=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-B1C_CX6B.cjs"))),s={ROBOT_SCENE:"robot",LATHE_SCENE:"latheScene",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},o=d,P=B.useMenuState(h.pinia),{platName:f}=h.storeToRefs(P),{isGeneralFile:C,isUrdf:c,isTrackPathFile:S,extraExtension:k}=V(),g=e.computed(()=>(o==null?void 0:o.extension)||k.value),F=e.computed(()=>{var t,r;return(r=(t=o==null?void 0:o.threeData)==null?void 0:t.data)==null?void 0:r.trackFileType}),E=e.computed(()=>{var r;if(o.componentType)switch(o.componentType){case"robot":return s.ROBOT_SCENE;case"latheScene":return s.LATHE_SCENE;case"cpmpip":return s.CPMPIP_SCENE;case"preview":return s.PREVIEW}const t=(r=o==null?void 0:o.fileUrls)==null?void 0:r[0];return C(t)?s.PREVIEW:(f==null?void 0:f.value)==="CPMPIP"&&(c(t)||c(g.value))?s.CPMPIP_SCENE:(f==null?void 0:f.value)==="SFRTubeBend"&&(c(t)||c(g.value))?s.ROBOT_SCENE:S(g.value)&&F.value?s.LATHE_SCENE:s.PREVIEW}),D=v,n=e.ref([]),i=e.ref(!1);function l(t){try{const r=new URL(t).pathname,u=r.substring(r.lastIndexOf("/")+1);return decodeURIComponent(u)}catch(r){return console.error("无法解析URL以提取文件名:",t,r),"未知文件名"}}async function p(t){let r,u;if(/^https?:\/\//.test(t))try{const a=await fetch(t);if(!a.ok)throw new Error(`下载文件失败: ${a.statusText} (URL: ${t})`);r=await a.blob(),u=l(t)}catch(a){throw console.error("使用 fetch 下载文件时出错:",a),a}else try{const a=await R({url:t});if(a.status!==200)throw new Error(`下载失败: ${a.status}`);const w=a.headers["content-disposition"];u=_(w)||"无文件名",r=a.data}catch(a){throw console.error("通过 API 下载文件时出错:",a),a}return new File([r],u,{type:r.type})}function _(t){if(!t)return;const r=t.match(/filename\*\s*=\s*([^;]+)/i);if(r){let a=r[1].trim();a=a.replace(/^"(.*)"$/,"$1");const w=a.split("''");if(w.length===2){const M=w[0].toUpperCase(),U=w[1];try{if(M==="UTF-8")return decodeURIComponent(U)}catch{}return U}try{return decodeURIComponent(a)}catch{return a}}const u=t.match(/filename\s*=\s*("?)([^";]+)\1/i);if(u)return u[2].trim()}async function N(t){if(!t||!t.length){n.value=[];return}i.value=!0;try{const r=await Promise.all(t.map(u=>p(u)));n.value=r}catch(r){console.error("文件下载时发生错误:",r),n.value=[]}finally{i.value=!1}}const $=()=>{D("getThreeData")};return e.watch(()=>o.fileUrls,async t=>{await N(t??[])},{immediate:!0,deep:!0}),(t,r)=>(e.openBlock(),e.createElementBlock("div",{class:e.normalizeClass([o.host==="electron"?"mv-electron":"mv-inline","three-platform"])},[e.createElementVNode("div",q,[e.renderSlot(t.$slots,"top-menu",{},void 0,!0)]),E.value===s.ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(T),{key:0,"file-blobs":n.value,"animation-data":t.animationData,onGetThreeData:$,threeData:o.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","animation-data","threeData"])):E.value===s.LATHE_SCENE?(e.openBlock(),e.createBlock(e.unref(m),{key:1,fileUrls:t.fileUrls,threeData:o.threeData,trackFileType:F.value},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileUrls","threeData","trackFileType"])):E.value===s.CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(y),{key:2,"file-blobs":n.value,threeData:o.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","threeData"])):E.value===s.PREVIEW?(e.openBlock(),e.createBlock(e.unref(b),{key:3,"file-blobs":n.value,"animation-data":t.animationData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","animation-data"])):e.createCommentVNode("",!0),i.value?(e.openBlock(),e.createElementBlock("div",L," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)],2))}}),A=H._export_sfc(x,[["__scopeId","data-v-463abcf9"]]),W=Object.freeze(Object.defineProperty({__proto__:null,default:A},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=A;exports.downloadAvatarApi=R;exports.threeViewerHost=W;exports.uploadFile=O;exports.useThreeState=I;exports.useThreeSystem=V;
+"use strict";const e=require("vue"),h=require("./index-C8qRkCgn.cjs"),B=require("./index.vue_vue_type_style_index_1_lang-DnfCrXiN.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BPB5aHKM.cjs");const H=require("./_plugin-vue_export-helper-BHFhmbuH.cjs");function O(d){const v=sessionStorage.getItem("loginToken")??"123456";return h.service({url:"/api/sysFile/uploadFile",method:"post",data:d,headers:{Authorization:v,"Content-Type":"multipart/form-data"}})}function R(d){const v=sessionStorage.getItem("loginToken")??"123456";return h.service({url:"/api/sysFile/downloadFile",method:"post",data:d,headers:{Authorization:v,Accept:"application/octet-stream"},responseType:"blob"})}const I=h.defineStore("threeState",{state:()=>({data:{extension:"",url:[],data:{},isThreeScene:!0}}),actions:{setData(d){this.data=d},getData(){return this.data}}});function V(){const d=B.useMenuState(h.pinia),{platform:v}=h.storeToRefs(d),T=I(h.pinia),b=e.computed(()=>{var n;return(n=T==null?void 0:T.data)==null?void 0:n.extension}),m=["uv","cpt","cyd"],y=["urdf"],s=["obj","stl"],o=[...m,...y,...s],P=n=>{if(!C())throw new Error("不是三维系统");T.setData(n)},f=()=>T.getData(),C=()=>v.value==="three",c=n=>{const i=n==null?void 0:n.toLowerCase(),l=i==null?void 0:i.lastIndexOf(".");let p=i;return l>=0&&(p=p==null?void 0:p.slice(l+1)),p},S=n=>{if(!n)return!1;const i=c(n);return o==null?void 0:o.includes(i)};return{getData:f,setData:P,isThreeSystem:C,isUrdf:n=>{if(!n)return!1;const i=c(n);return y==null?void 0:y.includes(i)},isGeneralFile:n=>{if(!n)return!1;const i=c(n);return s==null?void 0:s.includes(i)},isTrackPathFile:n=>{if(!n)return!1;const i=c(n);return m==null?void 0:m.includes(i)},isThreeFile:S,isUseBackdrop:n=>C()&&S(n),initTrackFileType:n=>{if(!n)return{isCpt:!1,isCyd:!1,isUv:!1};const i=c(n),l=m==null?void 0:m.find(_=>_===i);return{isCpt:l==="cpt",isCyd:l==="cyd",isUv:l==="uv"}},getFileExtension:c,extraExtension:b}}const q={class:"top-menu"},L={key:4,class:"loading"},x=e.defineComponent({__name:"threeViewerHost",props:{fileUrls:{default:()=>[]},host:{default:"inline"},extension:{},animationData:{default:()=>({})},width:{default:"100%"},height:{default:"100%"},threeData:{},componentType:{}},emits:["getThreeData"],setup(d,{emit:v}){const T=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-ZLSxbMs-.cjs"))),b=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-CubTtQOo.cjs"))),m=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-Dv5NLshi.cjs"))),y=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-VDLDr1iS.cjs"))),s={ROBOT_SCENE:"robot",LATHE_SCENE:"latheScene",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},o=d,P=B.useMenuState(h.pinia),{platName:f}=h.storeToRefs(P),{isGeneralFile:C,isUrdf:c,isTrackPathFile:S,extraExtension:k}=V(),g=e.computed(()=>(o==null?void 0:o.extension)||k.value),F=e.computed(()=>{var t,r;return(r=(t=o==null?void 0:o.threeData)==null?void 0:t.data)==null?void 0:r.trackFileType}),E=e.computed(()=>{var r;if(o.componentType)switch(o.componentType){case"robot":return s.ROBOT_SCENE;case"latheScene":return s.LATHE_SCENE;case"cpmpip":return s.CPMPIP_SCENE;case"preview":return s.PREVIEW}const t=(r=o==null?void 0:o.fileUrls)==null?void 0:r[0];return C(t)?s.PREVIEW:(f==null?void 0:f.value)==="CPMPIP"&&(c(t)||c(g.value))?s.CPMPIP_SCENE:(f==null?void 0:f.value)==="SFRTubeBend"&&(c(t)||c(g.value))?s.ROBOT_SCENE:S(g.value)&&F.value?s.LATHE_SCENE:s.PREVIEW}),D=v,n=e.ref([]),i=e.ref(!1);function l(t){try{const r=new URL(t).pathname,u=r.substring(r.lastIndexOf("/")+1);return decodeURIComponent(u)}catch(r){return console.error("无法解析URL以提取文件名:",t,r),"未知文件名"}}async function p(t){let r,u;if(/^https?:\/\//.test(t))try{const a=await fetch(t);if(!a.ok)throw new Error(`下载文件失败: ${a.statusText} (URL: ${t})`);r=await a.blob(),u=l(t)}catch(a){throw console.error("使用 fetch 下载文件时出错:",a),a}else try{const a=await R({url:t});if(a.status!==200)throw new Error(`下载失败: ${a.status}`);const w=a.headers["content-disposition"];u=_(w)||"无文件名",r=a.data}catch(a){throw console.error("通过 API 下载文件时出错:",a),a}return new File([r],u,{type:r.type})}function _(t){if(!t)return;const r=t.match(/filename\*\s*=\s*([^;]+)/i);if(r){let a=r[1].trim();a=a.replace(/^"(.*)"$/,"$1");const w=a.split("''");if(w.length===2){const M=w[0].toUpperCase(),U=w[1];try{if(M==="UTF-8")return decodeURIComponent(U)}catch{}return U}try{return decodeURIComponent(a)}catch{return a}}const u=t.match(/filename\s*=\s*("?)([^";]+)\1/i);if(u)return u[2].trim()}async function N(t){if(!t||!t.length){n.value=[];return}i.value=!0;try{const r=await Promise.all(t.map(u=>p(u)));n.value=r}catch(r){console.error("文件下载时发生错误:",r),n.value=[]}finally{i.value=!1}}const $=()=>{D("getThreeData")};return e.watch(()=>o.fileUrls,async t=>{await N(t??[])},{immediate:!0,deep:!0}),(t,r)=>(e.openBlock(),e.createElementBlock("div",{class:e.normalizeClass([o.host==="electron"?"mv-electron":"mv-inline","three-platform"])},[e.createElementVNode("div",q,[e.renderSlot(t.$slots,"top-menu",{},void 0,!0)]),E.value===s.ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(T),{key:0,"file-blobs":n.value,"animation-data":t.animationData,onGetThreeData:$,threeData:o.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","animation-data","threeData"])):E.value===s.LATHE_SCENE?(e.openBlock(),e.createBlock(e.unref(m),{key:1,fileUrls:t.fileUrls,threeData:o.threeData,trackFileType:F.value},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileUrls","threeData","trackFileType"])):E.value===s.CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(y),{key:2,"file-blobs":n.value,threeData:o.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","threeData"])):E.value===s.PREVIEW?(e.openBlock(),e.createBlock(e.unref(b),{key:3,"file-blobs":n.value,"animation-data":t.animationData},{"button-left":e.withCtx(()=>[e.renderSlot(t.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(t.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","animation-data"])):e.createCommentVNode("",!0),i.value?(e.openBlock(),e.createElementBlock("div",L," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)],2))}}),A=H._export_sfc(x,[["__scopeId","data-v-463abcf9"]]),W=Object.freeze(Object.defineProperty({__proto__:null,default:A},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=A;exports.downloadAvatarApi=R;exports.threeViewerHost=W;exports.uploadFile=O;exports.useThreeState=I;exports.useThreeSystem=V;

package/dist/{threeViewerHost-OUiA6Xwl.js → threeViewerHost-RPLE8i3C.js}

@@ -125,7 +125,7 @@ const te = { class: "top-menu" }, ne = {
   },
   emits: ["getThreeData"],
   setup(u, { emit: T }) {
-    const v = S(() => import("./threeSceneView-CME4P5t4.js")), U = S(() => import("./threePreview-Hppmoo4a.js")), m = S(() => import("./threeTrackPathView-C7BsHTEh.js")), E = S(() => import("./threeSceneViewForCPMPIP-Bj94Q4Zt.js")), o = {
+    const v = S(() => import("./threeSceneView-iyP6aAw0.js")), U = S(() => import("./threePreview-Hppmoo4a.js")), m = S(() => import("./threeTrackPathView-DkdEqGqA.js")), E = S(() => import("./threeSceneViewForCPMPIP-DzXgmvbD.js")), o = {
       ROBOT_SCENE: "robot",
       // 机器人场景
       LATHE_SCENE: "latheScene",

package/dist/{workpieceTreePanel-j_-UFd2t.js → workpieceTreePanel-BZ7gFz38.js}

@@ -1,9 +1,9 @@
 var ce = Object.defineProperty;
 var de = (b, l, o) => l in b ? ce(b, l, { enumerable: !0, configurable: !0, writable: !0, value: o }) : b[l] = o;
 var E = (b, l, o) => de(b, typeof l != "symbol" ? l + "" : l, o);
-import { U as me } from "./index.vue_vue_type_style_index_1_lang-D6AimgLF.js";
+import { U as me } from "./index.vue_vue_type_style_index_1_lang-CyCDZ4Yi.js";
 import { S as ve, M as pe, O as fe } from "./MTLLoader-DRpXjq1R.js";
-import { b as re, f as F } from "./fileUtil-DLQN0c3_.js";
+import { b as re, f as F } from "./fileUtil-CxrdKY1s.js";
 import { aZ as be, u as J, o as we, k as he, B as _e, a_ as ge, Y as ye, V as Le } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DydNdKaj.js";
 import { ref as T, defineComponent as je, computed as O, watch as ue, resolveComponent as x, createElementBlock as k, openBlock as P, createVNode as S, createElementVNode as c, withCtx as $, createTextVNode as D, toDisplayString as C } from "vue";
 import { c as Re, e as Se, g as Ue } from "./iconfont-B_1NPShA.js";

package/dist/{workpieceTreePanel-B8KtGflM.cjs → workpieceTreePanel-CaPlzUu6.cjs}

@@ -1 +1 @@
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m.packages=i=>`${o.endsWith("/")?o:o+"/"}${i}/`,m.loadMeshCb=(i,w,p)=>{const g=(()=>{const E=i.split("?")[0].split("#")[0],c=E.lastIndexOf(".");return c>=0?E.slice(c+1).toLowerCase():void 0})();switch(g){case"obj":{const E=(()=>{try{return new URL(".",i).toString()}catch{const a=i.lastIndexOf("/");return a>=0?i.slice(0,a+1):i}})(),c=(()=>{var d;return(((d=i.split("/").pop())==null?void 0:d.split("?")[0].split("#")[0])??"").replace(/\.[^/.?#]+$/,"")})(),f=`${E}${c}.mtl`,h=a=>{re({objUrl:i,manager:w,materials:a,onLoad:d=>p(d),onProgress:d=>l==null?void 0:l(i,d==null?void 0:d.loaded,d==null?void 0:d.total),onError:d=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${i}`,d),p(new R.Group)}})};ne({mtlUrl:f,manager:w,resourcePath:E,onLoad:a=>{try{a.preload()}catch{}h(a)},onProgress:a=>l==null?void 0:l(f,a==null?void 0:a.loaded,a==null?void 0:a.total),onError:a=>{console.warn(`[URDF 资源警告] 未找到或加载材质失败: ${f}。将尝试无材质加载。`),h(void 0)}});break}case"stl":{new U.STLLoader(w).load(i,c=>{const f=new R.MeshPhongMaterial({color:12303291,shininess:30}),h=new R.Mesh(c,f);h.castShadow=!0,h.receiveShadow=!0,p(h)},c=>l==null?void 0:l(i,c==null?void 0:c.loaded,c==null?void 0:c.total),c=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 STL 模型: ${i}`,c),p(new R.Group)});break}default:console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${g} (路径: ${i})`),p(new R.Group)}},m}function ce(b,n,o,l){return{loadSceneFromFile:i=>new Promise((w,p)=>{o.value=!0,l.value="正在初始化 URDF 加载器...";let g=0,E=0,c=null;const f=new R.LoadingManager;f.onStart=(a,d,V)=>{g=V||0,E=d||0,l.value=g>0?`开始下载资源: 0 / ${g}`:"开始下载资源...",o.value=!0},f.onProgress=(a,d,V)=>{E=d,g=V;const L=`正在加载 ${d} / ${V} 个文件: ${C.getFilenameFromUrl(a)}`;l.value=L,d===V&&(l.value="资源加载完成，正在处理模型...",setTimeout(()=>{if(c){c.updateMatrixWorld(!0);const v=new R.Box3().setFromObject(c);v.isEmpty()&&console.warn("模型加载完成，但所有可视化网格均加载失败，模型将不可见。"),c.userData.boundingBox=v,c.traverse(u=>{u.isMesh&&(u.castShadow=!0,u.receiveShadow=!0)}),w(c)}else p(new Error("URDF 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c(v){i.value&&i.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),i.value=v,v.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(65280))})}function f(v){const u=b.value.getBoundingClientRect();p.x=(v.clientX-u.left)/u.width*2-1,p.y=-((v.clientY-u.top)/u.height)*2+1,w.setFromCamera(p,m);const t=w.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,_=null;for(;s;){if(g.has(s.id)){_=g.get(s.id);break}s=s.parent}_&&c(_)}function h(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=n();m=u,E(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){i.value&&(i.value.obj.visible=v)}function V(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=i.value)==null?void 0:s.obj,u,t)}function L(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=i.value)==null?void 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this.movableJoints.forEach(o=>{n[o.name]=o.angle||0}),n}resetToZero(){this.movableJoints.forEach(n=>{n.setJointValue(0)})}getJointLimits(n){const o=this.robot.joints[n];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(n,o=1e3,l){const m=this.getCurrentJointStates(),i=Date.now();return new Promise(w=>{const p=()=>{const g=Date.now()-i,E=Math.min(g/o,1),c=this.easeInOutCubic(E),f={};Object.keys(n).forEach(h=>{const a=m[h]||0,d=n[h];f[h]=a+(d-a)*c}),this.setJointAngles(f),l&&l(E),E<1?requestAnimationFrame(p):w()};p()})}easeInOutCubic(n){return n<.5?4*n*n*n:1-Math.pow(-2*n+2,3)/2}async playSequence(n,o=1e3,l){for(let m=0;m<n.length;m++)await this.animateToState(n[m],o,i=>{l&&l(m,i)})}}const ve={class:"panel-content"},fe={class:"obj"},be={key:0,class:"obj-base"},_e=["title"],we=["title"],Ee={key:1},he={class:"obj-position"},Ve={class:"coord-item"},ge={class:"coord-item"},ye={class:"coord-item"},Ne={class:"obj-rotation"},Le={class:"coord-item"},Re={class:"coord-item"},Se={class:"coord-item"},Ce={class:"world"},je={class:"coord-line"},De={class:"coord-text"},Ue={class:"world-position-item"},Me={class:"world-position-item"},Fe={class:"world-position-item"},$e={class:"coord-line"},Oe={class:"coord-text"},xe={class:"world-rotation-item"},Je={class:"world-rotation-item"},Te={class:"world-rotation-item"},ke=e.defineComponent({__name:"workpieceTreePanel",props:{model:{},maxExpandCount:{default:10},expandStrategy:{default:"breadth"}},emits:["nodeClick","visibleChange","updatePosition","updateRotation"],setup(b,{emit:n}){const o=b,l=n,m=e.ref([]),i=e.ref({}),w=(t,s=0)=>{const _=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(r=>{if(!(r!=null&&r.isMesh)){const 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e.watch(()=>o.model,()=>{o.model&&(i.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(V,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var S,M,F,$,O,x,J,T,k,P,B,z,I,A,q,W,G,X,Y,Z,K,H,Q,ee;const _=e.resolveComponent("el-divider"),r=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return 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0:q.worldPosition)==null?void 0:W.y))+", ",1),e.createElementVNode("div",Fe,e.toDisplayString(c((X=(G=i.value)==null?void 0:G.worldPosition)==null?void 0:X.z)),1)])]),e.createElementVNode("div",$e,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Oe,[e.createElementVNode("div",xe,e.toDisplayString(f((Z=(Y=i.value)==null?void 0:Y.worldRotation)==null?void 0:Z.x))+"°, ",1),e.createElementVNode("div",Je,e.toDisplayString(f((H=(K=i.value)==null?void 0:K.worldRotation)==null?void 0:H.y))+"°, ",1),e.createElementVNode("div",Te,e.toDisplayString(f((ee=(Q=i.value)==null?void 0:Q.worldRotation)==null?void 0:ee.z))+"° ",1)])])])])}}}),Pe=le._export_sfc(ke,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=pe;exports.WorkpieceTreePanel=Pe;exports.robotMode=ue;exports.sceneType=me;exports.useRaycaster=de;exports.useUrdfLoader=ce;
+"use strict";var te=Object.defineProperty;var oe=(b,n,o)=>n in b?te(b,n,{enumerable:!0,configurable:!0,writable:!0,value:o}):b[n]=o;var j=(b,n,o)=>oe(b,typeof n!="symbol"?n+"":n,o);const se=require("./index.vue_vue_type_style_index_1_lang-BExi1qCf.cjs"),U=require("./MTLLoader-BVzTh3sz.cjs"),C=require("./fileUtil-DXFH6ayx.cjs"),R=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BPB5aHKM.cjs"),e=require("vue"),D=require("./iconfont-Cz9RAt67.cjs"),le=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),ie="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function ne(b){const{mtlUrl:n,manager:o,resourcePath:l,onLoad:m,onProgress:i,onError:w}=b,p=new U.MTLLoader(o);return l&&p.setResourcePath(l),p.load(n,m,i,w),p}function re(b){const{objUrl:n,manager:o,materials:l,onLoad:m,onProgress:i,onError:w}=b,p=new U.OBJLoader(o);return l&&p.setMaterials(l),p.load(n,m,i,w),p}function ae(b){const{manager:n,baseFolderUrl:o,onFileProgress:l}=b,m=new se.URDFLoader(n);return m.packages=i=>`${o.endsWith("/")?o:o+"/"}${i}/`,m.loadMeshCb=(i,w,p)=>{const g=(()=>{const E=i.split("?")[0].split("#")[0],c=E.lastIndexOf(".");return c>=0?E.slice(c+1).toLowerCase():void 0})();switch(g){case"obj":{const E=(()=>{try{return new URL(".",i).toString()}catch{const a=i.lastIndexOf("/");return a>=0?i.slice(0,a+1):i}})(),c=(()=>{var d;return(((d=i.split("/").pop())==null?void 0:d.split("?")[0].split("#")[0])??"").replace(/\.[^/.?#]+$/,"")})(),f=`${E}${c}.mtl`,h=a=>{re({objUrl:i,manager:w,materials:a,onLoad:d=>p(d),onProgress:d=>l==null?void 0:l(i,d==null?void 0:d.loaded,d==null?void 0:d.total),onError:d=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${i}`,d),p(new R.Group)}})};ne({mtlUrl:f,manager:w,resourcePath:E,onLoad:a=>{try{a.preload()}catch{}h(a)},onProgress:a=>l==null?void 0:l(f,a==null?void 0:a.loaded,a==null?void 0:a.total),onError:a=>{console.warn(`[URDF 资源警告] 未找到或加载材质失败: ${f}。将尝试无材质加载。`),h(void 0)}});break}case"stl":{new U.STLLoader(w).load(i,c=>{const f=new R.MeshPhongMaterial({color:12303291,shininess:30}),h=new R.Mesh(c,f);h.castShadow=!0,h.receiveShadow=!0,p(h)},c=>l==null?void 0:l(i,c==null?void 0:c.loaded,c==null?void 0:c.total),c=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 STL 模型: ${i}`,c),p(new R.Group)});break}default:console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${g} (路径: ${i})`),p(new R.Group)}},m}function ce(b,n,o,l){return{loadSceneFromFile:i=>new Promise((w,p)=>{o.value=!0,l.value="正在初始化 URDF 加载器...";let g=0,E=0,c=null;const f=new R.LoadingManager;f.onStart=(a,d,V)=>{g=V||0,E=d||0,l.value=g>0?`开始下载资源: 0 / ${g}`:"开始下载资源...",o.value=!0},f.onProgress=(a,d,V)=>{E=d,g=V;const L=`正在加载 ${d} / ${V} 个文件: ${C.getFilenameFromUrl(a)}`;l.value=L,d===V&&(l.value="资源加载完成，正在处理模型...",setTimeout(()=>{if(c){c.updateMatrixWorld(!0);const v=new R.Box3().setFromObject(c);v.isEmpty()&&console.warn("模型加载完成，但所有可视化网格均加载失败，模型将不可见。"),c.userData.boundingBox=v,c.traverse(u=>{u.isMesh&&(u.castShadow=!0,u.receiveShadow=!0)}),w(c)}else p(new Error("URDF 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=a=>{console.warn(`LoadingManager 报告一个资源加载失败: ${a}。加载流程将继续。`)};const h=(a,d,V)=>{const L=C.getFilenameFromUrl(a);let v;V&&V>0?v=`${L}（${C.formatBytes(d)} / ${C.formatBytes(V)}）`:d&&d>0?v=`${L}（已下载 ${C.formatBytes(d)}）`:v=`${L}`,l.value=`正在下载第 ${E+1} / ${g} 个文件: ${v}`};try{const a=URL.createObjectURL(i);ae({manager:f,baseFolderUrl:ie,onFileProgress:h}).load(a,V=>{c=V},void 0,V=>{console.error(`加载 URDF 文件 (${i.name}) 时发生致命错误:`,V),l.value="URDF 文件解析失败",o.value=!1,p(new Error(`加载 URDF 文件失败: ${i.name}`))})}catch(a){console.error("初始化 URDF 加载时发生致命错误:",a),l.value="模型加载失败",o.value=!1,p(a)}})}}function de(b,n,o,l=["URDFVisual"]){let m=null;const i=e.ref(null),w=new R.Raycaster,p=new R.Vector2,g=new Map;function E(){o.value.forEach(v=>{v.traverse(u=>{l!=null&&l.includes(u.type)&&g.set(u.id,{obj:u,axis:u.axis||new R.Vector3(1,0,0),limits:u.limits})})})}function c(v){i.value&&i.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),i.value=v,v.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(65280))})}function f(v){const u=b.value.getBoundingClientRect();p.x=(v.clientX-u.left)/u.width*2-1,p.y=-((v.clientY-u.top)/u.height)*2+1,w.setFromCamera(p,m);const t=w.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,_=null;for(;s;){if(g.has(s.id)){_=g.get(s.id);break}s=s.parent}_&&c(_)}function h(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=n();m=u,E(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){i.value&&(i.value.obj.visible=v)}function V(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=i.value)==null?void 0:s.obj,u,t)}function L(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=i.value)==null?void 0:s.obj,u,t)}return{initRaycaster:a,dispose:h,selectedObject3D:i,setSelectedObjVisible:d,updatePosition:V,updateRotation:L}}const ue={SINGLE:"单机",DOUBLE:"双机"},me={ROBOT:1,PIPECOMPARSION:2};class pe{constructor(n){j(this,"robot");j(this,"movableJoints");this.robot=n,this.movableJoints=this.getMovableJoints()}getMovableJoints(){return Object.values(this.robot.joints).filter(n=>n.jointType!=="fixed")}getMovableJointNames(){return this.movableJoints.map(n=>n.name)}setJointAngle(n,o){const l=this.robot.joints[n];if(!l||l.jointType==="fixed")return console.warn(`关节 ${n} 不存在或不可动`),!1;if(l.limit){const m=Math.max(l.limit.lower,Math.min(l.limit.upper,o));m!==o&&console.warn(`关节 ${n} 角度被限制在 [${l.limit.lower}, ${l.limit.upper}]`),l.setJointValue(m)}else l.setJointValue(o);return!0}setJointAngles(n){Object.entries(n).forEach(([o,l])=>{typeof l=="number"&&!isNaN(l)&&this.setJointAngle(o,l)})}getCurrentJointStates(){const n={};return this.movableJoints.forEach(o=>{n[o.name]=o.angle||0}),n}resetToZero(){this.movableJoints.forEach(n=>{n.setJointValue(0)})}getJointLimits(n){const o=this.robot.joints[n];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(n,o=1e3,l){const m=this.getCurrentJointStates(),i=Date.now();return new Promise(w=>{const p=()=>{const g=Date.now()-i,E=Math.min(g/o,1),c=this.easeInOutCubic(E),f={};Object.keys(n).forEach(h=>{const a=m[h]||0,d=n[h];f[h]=a+(d-a)*c}),this.setJointAngles(f),l&&l(E),E<1?requestAnimationFrame(p):w()};p()})}easeInOutCubic(n){return n<.5?4*n*n*n:1-Math.pow(-2*n+2,3)/2}async playSequence(n,o=1e3,l){for(let m=0;m<n.length;m++)await this.animateToState(n[m],o,i=>{l&&l(m,i)})}}const ve={class:"panel-content"},fe={class:"obj"},be={key:0,class:"obj-base"},_e=["title"],we=["title"],Ee={key:1},he={class:"obj-position"},Ve={class:"coord-item"},ge={class:"coord-item"},ye={class:"coord-item"},Ne={class:"obj-rotation"},Le={class:"coord-item"},Re={class:"coord-item"},Se={class:"coord-item"},Ce={class:"world"},je={class:"coord-line"},De={class:"coord-text"},Ue={class:"world-position-item"},Me={class:"world-position-item"},Fe={class:"world-position-item"},$e={class:"coord-line"},Oe={class:"coord-text"},xe={class:"world-rotation-item"},Je={class:"world-rotation-item"},Te={class:"world-rotation-item"},ke=e.defineComponent({__name:"workpieceTreePanel",props:{model:{},maxExpandCount:{default:10},expandStrategy:{default:"breadth"}},emits:["nodeClick","visibleChange","updatePosition","updateRotation"],setup(b,{emit:n}){const o=b,l=n,m=e.ref([]),i=e.ref({}),w=(t,s=0)=>{const _=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(r=>{if(!(r!=null&&r.isMesh)){const y={name:r==null?void 0:r.name,label:(r==null?void 0:r.name)||(r==null?void 0:r.type),show:!0,level:s+1,isPenultimate:!1,type:r==null?void 0:r.type,id:r==null?void 0:r.id,limit:(r==null?void 0:r.limit)??"",children:w(r==null?void 0:r.children,s+1),path:r==null?void 0:r.name};_.push(y)}}),_},p=t=>t?[{name:t==null?void 0:t.name,label:(t==null?void 0:t.name)||(t==null?void 0:t.type),show:!0,level:1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:w(t==null?void 0:t.children,1),path:t==null?void 0:t.name}]:[],g=(t,s)=>{const _=[],r=[...t];for(;r.length>0&&_.length<s;){const y=r.shift();y.children&&y.children.length>0&&(_.push(y.id),r.push(...y.children))}return _},E=(t,s)=>{const _=[];return t.forEach(r=>{if(r.children&&r.children.length>0){_.push(r.id);const y=r.children.filter(S=>S.children&&S.children.length>0).slice(0,s).map(S=>S.id);_.push(...y)}}),_.slice(0,s+1)};e.computed(()=>!m.value||m.value.length===0?[]:o.expandStrategy==="firstLevel"?E(m.value,o.maxExpandCount):g(m.value,o.maxExpandCount));const c=t=>t?parseFloat(t.toFixed(3)):0,f=t=>t?parseFloat(t.toFixed(1)):0,h=(t,s)=>{l("updatePosition",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},a=(t,s)=>{l("updateRotation",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},d=t=>{l("visibleChange",t)},V=e.computed(()=>o!=null&&o.model?p(o.model):[]),L=e.computed(()=>{var t,s;return((t=o==null?void 0:o.model)==null?void 0:t.name)||((s=o==null?void 0:o.model)==null?void 0:s.type)}),v=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.type}),u=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.visible});return e.watch(()=>o.model,()=>{o.model&&(i.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(V,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var S,M,F,$,O,x,J,T,k,P,B,z,I,A,q,W,G,X,Y,Z,K,H,Q,ee;const _=e.resolveComponent("el-divider"),r=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",ve,[e.createVNode(_,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",fe,[o.model?(e.openBlock(),e.createElementBlock("div",be,[e.createElementVNode("div",{class:"obj-name",title:L.value},e.toDisplayString(L.value),9,_e),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,we)])):(e.openBlock(),e.createElementBlock("div",Ee,"空")),e.createVNode(r,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(_,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",he,[e.createElementVNode("div",Ve,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((M=(S=i.value)==null?void 0:S.position)==null?void 0:M.x),onChange:s[0]||(s[0]=N=>h(N,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ge,[s[9]||(s[9]=e.createElementVNode("span",{class:"axis-label"},"Y",-1)),e.createVNode(y,{"model-value":c(($=(F=i.value)==null?void 0:F.position)==null?void 0:$.y),onChange:s[1]||(s[1]=N=>h(N,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ye,[s[10]||(s[10]=e.createElementVNode("span",{class:"axis-label"},"Z",-1)),e.createVNode(y,{"model-value":c((x=(O=i.value)==null?void 0:O.position)==null?void 0:x.z),onChange:s[2]||(s[2]=N=>h(N,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(_,null,{default:e.withCtx(()=>s[11]||(s[11]=[e.createTextVNode("相对旋转")])),_:1,__:[11]}),e.createElementVNode("div",Ne,[e.createElementVNode("div",Le,[s[12]||(s[12]=e.createElementVNode("span",{class:"axis-label"},"X°",-1)),e.createVNode(y,{"model-value":f((T=(J=i.value)==null?void 0:J.rotation)==null?void 0:T.x),onChange:s[3]||(s[3]=N=>a(N,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Re,[s[13]||(s[13]=e.createElementVNode("span",{class:"axis-label"},"Y°",-1)),e.createVNode(y,{"model-value":f((P=(k=i.value)==null?void 0:k.rotation)==null?void 0:P.y),onChange:s[4]||(s[4]=N=>a(N,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Se,[s[14]||(s[14]=e.createElementVNode("span",{class:"axis-label"},"Z°",-1)),e.createVNode(y,{"model-value":f((z=(B=i.value)==null?void 0:B.rotation)==null?void 0:z.z),onChange:s[5]||(s[5]=N=>a(N,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(_,null,{default:e.withCtx(()=>s[15]||(s[15]=[e.createTextVNode("世界信息")])),_:1,__:[15]}),e.createElementVNode("div",Ce,[e.createElementVNode("div",je,[s[16]||(s[16]=e.createElementVNode("span",{class:"coord-label"},"世界位置:",-1)),e.createElementVNode("span",De,[e.createElementVNode("div",Ue,e.toDisplayString(c((A=(I=i.value)==null?void 0:I.worldPosition)==null?void 0:A.x))+", ",1),e.createElementVNode("div",Me,e.toDisplayString(c((W=(q=i.value)==null?void 0:q.worldPosition)==null?void 0:W.y))+", ",1),e.createElementVNode("div",Fe,e.toDisplayString(c((X=(G=i.value)==null?void 0:G.worldPosition)==null?void 0:X.z)),1)])]),e.createElementVNode("div",$e,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Oe,[e.createElementVNode("div",xe,e.toDisplayString(f((Z=(Y=i.value)==null?void 0:Y.worldRotation)==null?void 0:Z.x))+"°, ",1),e.createElementVNode("div",Je,e.toDisplayString(f((H=(K=i.value)==null?void 0:K.worldRotation)==null?void 0:H.y))+"°, ",1),e.createElementVNode("div",Te,e.toDisplayString(f((ee=(Q=i.value)==null?void 0:Q.worldRotation)==null?void 0:ee.z))+"° ",1)])])])])}}}),Pe=le._export_sfc(ke,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=pe;exports.WorkpieceTreePanel=Pe;exports.robotMode=ue;exports.sceneType=me;exports.useRaycaster=de;exports.useUrdfLoader=ce;

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "ss-component-new",
   "private": false,
-  "version": "1.2.69",
+  "version": "1.2.71",
   "type": "module",
   "files": [
     "dist",