ss-component-new 1.2.78 → 1.2.79

package/dist/{threeSceneView-DVmaCW7K.cjs → threeSceneView-BlYiTnf8.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),ne=require("./threeViewerHost-DqCoBmb3.cjs"),pe=require("./iconfont-DapI438c.cjs"),ve=require("./workpieceTreePanel-BXdDwos2.cjs"),D=require("./index-C8qRkCgn.cjs"),n=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-pgm7LZ2p.cjs");require("./index-BpPyaNFa.cjs");const le=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs");require("./index.vue_vue_type_style_index_1_lang-BJyabOtw.cjs");require("./index-CLJYSvkY.cjs");require("./index-DeBHVrj0.cjs");const fe=require("./animationData-CU7hS77W.cjs"),ie=require("./urdfTree-CShYg3Vd.cjs"),we=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),Me=require("./index-CG6XNbRF.cjs"),R=require("./svgIcon-CUM54R6L.cjs"),G=.001,W=n.MathUtils.degToRad,ye=new n.MeshStandardMaterial({color:13421772,metalness:.3,roughness:.6,side:n.DoubleSide});function Ee(g=.005,m=64){const d=new n.CatmullRomCurve3([new n.Vector3(0,0,0),new n.Vector3(0,0,0)]),s=new n.TubeGeometry(d,m,g,16,!1),p=ye;return new n.Mesh(s,p)}const xe=g=>g.reduce((m,d)=>{let s=0;const p=d.Y??0,b=d.C??0,r=d.R??0;return p>0&&(s+=p),b>0&&r>0&&(s+=r*W(b)),m+s},0),ke=g=>{const m=[],d=g.Y??0,s=g.B??0,p=g.C??0,b=g.R??0,r={pos:new n.Vector3(0,0,0),localY:new n.Vector3(0,1,0),localX:new n.Vector3(1,0,0),localZ:new n.Vector3(0,0,1)};if(!d&&!p)return m;if(m.push(r.pos.clone()),s!==0){const h=new n.Matrix4().makeRotationAxis(r.localY,W(s));r.localX.applyMatrix4(h),r.localZ.applyMatrix4(h)}if(d>0&&(r.pos.add(r.localY.clone().multiplyScalar(d*G)),m.push(r.pos.clone())),p>0&&b>0){const h=W(p),v=b*G,w=r.pos.clone().add(r.localX.clone().multiplyScalar(-v)),a=Math.max(16,Math.ceil(p/5));for(let y=1;y<=a;y++){const u=h*y/a,_=new n.Matrix4().makeRotationAxis(r.localZ,u),c=r.localX.clone().multiplyScalar(v).applyMatrix4(_),x=w.clone().add(c);m.push(x)}}return m};function Te(g,m){const d=new n.Group;d.name="CompletePipe";const s={pos:new n.Vector3(0,0,0),localX:new n.Vector3(1,0,0),localY:new n.Vector3(0,1,0),localZ:new n.Vector3(0,0,1)};let p=0,b=1;for(let r=0;r<g.length;r++){const h=g[r],v=h.Y??0,w=h.B??0,a=h.C??0,y=h.R??0;if(w!==0){const u=new n.Matrix4().makeRotationAxis(s.localY,W(w));s.localX.applyMatrix4(u),s.localZ.applyMatrix4(u)}if(v>0){const u=s.pos.clone();s.pos.add(s.localY.clone().multiplyScalar(v*G));const _=s.pos.clone(),i=Pe(u,_,m*G);i.userData={segmentType:"straight",segmentIndex:p,frameIndex:r,length:v,frame:{Y:v,B:w,C:a,R:y}},i.name=`直段_${p}`,d.add(i);const c=u.clone();Se(d,b,c,m*G),p++}if(a>0&&y>0){const u=W(a),_=y*G,i=[];i.push(s.pos.clone());const c=s.pos.clone().add(s.localX.clone().multiplyScalar(-_)),x=Math.max(16,Math.ceil(a/5));for(let f=1;f<=x;f++){const k=u*f/x,B=new n.Matrix4().makeRotationAxis(s.localZ,k),L=s.localX.clone().multiplyScalar(_).applyMatrix4(B),q=c.clone().add(L);i.push(q)}const E=De(i,m*G);E.userData={segmentType:"bend",segmentIndex:p,frameIndex:r,angle:a,radius:y,centerPoint:c.toArray(),frame:{Y:v,B:w,C:a,R:y}},E.name=`弯段_${p}`,d.add(E),Math.floor(i.length/2),i[0],s.pos=i[i.length-1].clone();const T=new n.Matrix4().makeRotationAxis(s.localZ,u);s.localY.applyMatrix4(T),s.localX.applyMatrix4(T),p++,b++}}return d}function Se(g,m,d,s){const p=new n.Vector3(0,s*2,s*5),b=d.clone().add(p),r=[d,b],h=new n.BufferGeometry().setFromPoints(r),v=new n.LineDashedMaterial({color:16711680,dashSize:s*.5,gapSize:s*.3,linewidth:1}),w=new n.Line(h,v);w.computeLineDistances(),g.add(w);const a=document.createElement("canvas"),y=a.getContext("2d");a.width=128,a.height=128,y.clearRect(0,0,128,128),y.fillStyle="#FF0000",y.font="bold 80px Arial",y.textAlign="center",y.textBaseline="middle",y.fillText(m.toString(),64,64);const u=new n.CanvasTexture(a),_=new n.SpriteMaterial({map:u,transparent:!0,depthTest:!1,depthWrite:!1}),i=new n.Sprite(_),c=s*3;i.scale.set(c,c,1),i.position.copy(b),i.name=`Label_${m}`,i.userData={labelNumber:m},g.add(i)}function Pe(g,m,d){const s=new n.LineCurve3(g,m),p=new n.TubeGeometry(s,2,d,18,!1);return new n.Mesh(p,ye)}function De(g,m){const d=new n.CatmullRomCurve3(g,!1,"catmullrom",.01),s=new n.TubeGeometry(d,Math.max(16,g.length*2),m,18,!1);return new n.Mesh(s,ye)}function _e(g,m,d,s,p,b=0){let r=m.slice(0,p+1);const h=m[p+1];if(h&&b>0){const i={...h,B:(h.B??0)*b,C:(h.C??0)*b};r.push(i)}const v=xe(r),w=Math.max(0,d-v),a=[];a.push(new n.Vector3(0,0,0));const y=new n.Vector3(0,w*G,0);w>0&&a.push(y);let u={pos:y.clone(),localY:new n.Vector3(0,1,0),localX:new n.Vector3(1,0,0),localZ:new n.Vector3(0,0,1)};const _=[];for(let i=r.length-1;i>=0;i--){const c=r[i],x=ke(c);if(x.length>0){const E=x.map(B=>{const A=B.clone(),L=new n.Matrix4;return L.makeBasis(u.localX,u.localY,u.localZ),A.applyMatrix4(L),A.add(u.pos)});_.push(E);const T=E[E.length-1];u.pos=T.clone();const f=c.B??0,k=c.C??0;if(f!==0){const B=new n.Matrix4().makeRotationAxis(u.localY,W(f));u.localX.applyMatrix4(B),u.localZ.applyMatrix4(B)}if(k>0){const B=W(k),A=new n.Matrix4().makeRotationAxis(u.localZ,B);u.localY.applyMatrix4(A),u.localX.applyMatrix4(A)}}}for(const i of _)i.length>1&&a.push(...i.slice(1));a.length<2&&a.push(new n.Vector3(0,.001,0));try{const i=new n.CatmullRomCurve3(a,!1,"catmullrom",.01),c=new n.TubeGeometry(i,Math.max(2,a.length*4),s*G,18,!1);g.geometry.dispose(),g.geometry=c}catch(i){console.error("管件更新失败",i)}}function Ce(g,m,d,s=0){let p=g.slice(0,d+1);const b=g[d+1];if(b&&s>0){const u={...b,B:(b.B??0)*s,C:(b.C??0)*s};p.push(u)}const r=xe(p),h=Math.max(0,m-r),v=[];v.push(new n.Vector3(0,0,0));const w=new n.Vector3(0,h*G,0);h>0&&v.push(w);let a={pos:w.clone(),localY:new n.Vector3(0,1,0),localX:new n.Vector3(1,0,0),localZ:new n.Vector3(0,0,1)};const y=[];for(let u=p.length-1;u>=0;u--){const _=p[u],i=ke(_);if(i.length>0){const c=i.map(f=>{const k=f.clone(),B=new n.Matrix4;return B.makeBasis(a.localX,a.localY,a.localZ),k.applyMatrix4(B),k.add(a.pos)});y.push(c);const x=c[c.length-1];a.pos=x.clone();const E=_.B??0,T=_.C??0;if(E!==0){const f=new n.Matrix4().makeRotationAxis(a.localY,W(E));a.localX.applyMatrix4(f),a.localZ.applyMatrix4(f)}if(T>0){const f=W(T),k=new n.Matrix4().makeRotationAxis(a.localZ,f);a.localY.applyMatrix4(k),a.localX.applyMatrix4(k)}}}for(const u of y)u.length>1&&v.push(...u.slice(1));return v.length<2&&v.push(new n.Vector3(0,.001,0)),v}function Ne(g,m,d,s,p,b,r,h=0,v=0){const w=p-v,a=Ce(s,w,r,h);let u=Ce(d,v,r,h);u.forEach(i=>i.y=-i.y),u.reverse();const _=[...u,...a];try{const i=new n.CatmullRomCurve3(_,!1,"catmullrom",.01),c=new n.TubeGeometry(i,Math.max(2,_.length*4),b*G,18,!1);m.geometry.dispose(),g.geometry.dispose(),m.parent&&m.parent.remove(m),g.geometry=c}catch(i){console.error("管件更新失败",i)}}const Re={class:"panel-content"},Be={class:"action-bar"},Ae={class:"animation-controls"},$e={class:"control-row"},Fe={class:"control-row"},ze={class:"frame-info"},Ye={class:"control-row"},Le={class:"progress-bar"},Ue={class:"dialog-footer"},Ie=e.defineComponent({__name:"animationPanel",props:{model:{},threeData:{}},setup(g,{expose:m}){const d=g,s=e.ref(),p=e.ref();e.watch(()=>d.threeData,o=>{const t=o==null?void 0:o.data;p.value=t==null?void 0:t.type},{immediate:!0});const b=async()=>{let o={};p.value===ne.robotMode.SINGLE&&(o=await fe.fetchSingleRobotAnimationData()),p.value===ne.robotMode.DOUBLE&&(o=await fe.fetchDoubleRobotAnimationData());const{initialPipeLength:t=0,pipeRadius:l=0,clampLength:V=0,animationData:C}=o;T.value=t,f.value=l,k.value=V,s.value=C;const $=D.cloneDeep(s.value),J=re(Y.value),X=($==null?void 0:$["输出（动画数据）"])||[];r.value=X.length?X:[J]},r=e.ref([]),h=e.ref(!1),v=e.ref(""),w=e.ref(!1),a=e.ref(0),y=e.ref(0),u=e.ref(1e3);let _=!1;const i=e.ref(null),c=e.shallowRef(null),x=e.shallowRef(null),E=e.shallowRef(null),T=e.ref(0),f=e.ref(12.5),k=e.ref(30),B=e.ref([]),A=e.ref(null),L=e.computed(()=>d.model?ie.getNonFixedJoints(d.model).map(l=>l.name):[]),q=e.ref(["Y","B","C","R"]),Y=e.computed(()=>[...L.value,...q.value]),ce=e.computed(()=>Y.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"),ne=require("./threeViewerHost-BdoXIgqv.cjs"),pe=require("./iconfont-DX6dC3Hu.cjs"),ve=require("./workpieceTreePanel-CA1W7zBB.cjs"),D=require("./index-C8qRkCgn.cjs"),n=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-RZydwY0l.cjs");require("./index-BpPyaNFa.cjs");const le=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs");require("./index.vue_vue_type_style_index_1_lang-KlMxUDnq.cjs");require("./index-CLJYSvkY.cjs");require("./index-DeBHVrj0.cjs");const fe=require("./animationData-I6_-ND6R.cjs"),ie=require("./urdfTree-DhRlnWn_.cjs"),we=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),Me=require("./index-BG1yQRX5.cjs"),R=require("./svgIcon-CUM54R6L.cjs"),G=.001,W=n.MathUtils.degToRad,ye=new n.MeshStandardMaterial({color:13421772,metalness:.3,roughness:.6,side:n.DoubleSide});function Ee(g=.005,m=64){const d=new n.CatmullRomCurve3([new n.Vector3(0,0,0),new n.Vector3(0,0,0)]),s=new n.TubeGeometry(d,m,g,16,!1),p=ye;return new n.Mesh(s,p)}const xe=g=>g.reduce((m,d)=>{let s=0;const p=d.Y??0,b=d.C??0,r=d.R??0;return p>0&&(s+=p),b>0&&r>0&&(s+=r*W(b)),m+s},0),ke=g=>{const m=[],d=g.Y??0,s=g.B??0,p=g.C??0,b=g.R??0,r={pos:new n.Vector3(0,0,0),localY:new n.Vector3(0,1,0),localX:new n.Vector3(1,0,0),localZ:new n.Vector3(0,0,1)};if(!d&&!p)return m;if(m.push(r.pos.clone()),s!==0){const h=new n.Matrix4().makeRotationAxis(r.localY,W(s));r.localX.applyMatrix4(h),r.localZ.applyMatrix4(h)}if(d>0&&(r.pos.add(r.localY.clone().multiplyScalar(d*G)),m.push(r.pos.clone())),p>0&&b>0){const h=W(p),v=b*G,w=r.pos.clone().add(r.localX.clone().multiplyScalar(-v)),a=Math.max(16,Math.ceil(p/5));for(let y=1;y<=a;y++){const u=h*y/a,_=new n.Matrix4().makeRotationAxis(r.localZ,u),c=r.localX.clone().multiplyScalar(v).applyMatrix4(_),x=w.clone().add(c);m.push(x)}}return m};function Te(g,m){const d=new n.Group;d.name="CompletePipe";const s={pos:new n.Vector3(0,0,0),localX:new n.Vector3(1,0,0),localY:new n.Vector3(0,1,0),localZ:new n.Vector3(0,0,1)};let p=0,b=1;for(let r=0;r<g.length;r++){const h=g[r],v=h.Y??0,w=h.B??0,a=h.C??0,y=h.R??0;if(w!==0){const u=new n.Matrix4().makeRotationAxis(s.localY,W(w));s.localX.applyMatrix4(u),s.localZ.applyMatrix4(u)}if(v>0){const u=s.pos.clone();s.pos.add(s.localY.clone().multiplyScalar(v*G));const _=s.pos.clone(),i=Pe(u,_,m*G);i.userData={segmentType:"straight",segmentIndex:p,frameIndex:r,length:v,frame:{Y:v,B:w,C:a,R:y}},i.name=`直段_${p}`,d.add(i);const c=u.clone();Se(d,b,c,m*G),p++}if(a>0&&y>0){const u=W(a),_=y*G,i=[];i.push(s.pos.clone());const c=s.pos.clone().add(s.localX.clone().multiplyScalar(-_)),x=Math.max(16,Math.ceil(a/5));for(let f=1;f<=x;f++){const k=u*f/x,B=new n.Matrix4().makeRotationAxis(s.localZ,k),L=s.localX.clone().multiplyScalar(_).applyMatrix4(B),q=c.clone().add(L);i.push(q)}const E=De(i,m*G);E.userData={segmentType:"bend",segmentIndex:p,frameIndex:r,angle:a,radius:y,centerPoint:c.toArray(),frame:{Y:v,B:w,C:a,R:y}},E.name=`弯段_${p}`,d.add(E),Math.floor(i.length/2),i[0],s.pos=i[i.length-1].clone();const T=new n.Matrix4().makeRotationAxis(s.localZ,u);s.localY.applyMatrix4(T),s.localX.applyMatrix4(T),p++,b++}}return d}function Se(g,m,d,s){const p=new n.Vector3(0,s*2,s*5),b=d.clone().add(p),r=[d,b],h=new n.BufferGeometry().setFromPoints(r),v=new n.LineDashedMaterial({color:16711680,dashSize:s*.5,gapSize:s*.3,linewidth:1}),w=new n.Line(h,v);w.computeLineDistances(),g.add(w);const a=document.createElement("canvas"),y=a.getContext("2d");a.width=128,a.height=128,y.clearRect(0,0,128,128),y.fillStyle="#FF0000",y.font="bold 80px Arial",y.textAlign="center",y.textBaseline="middle",y.fillText(m.toString(),64,64);const u=new n.CanvasTexture(a),_=new n.SpriteMaterial({map:u,transparent:!0,depthTest:!1,depthWrite:!1}),i=new n.Sprite(_),c=s*3;i.scale.set(c,c,1),i.position.copy(b),i.name=`Label_${m}`,i.userData={labelNumber:m},g.add(i)}function Pe(g,m,d){const s=new n.LineCurve3(g,m),p=new n.TubeGeometry(s,2,d,18,!1);return new n.Mesh(p,ye)}function De(g,m){const d=new n.CatmullRomCurve3(g,!1,"catmullrom",.01),s=new n.TubeGeometry(d,Math.max(16,g.length*2),m,18,!1);return new n.Mesh(s,ye)}function _e(g,m,d,s,p,b=0){let r=m.slice(0,p+1);const h=m[p+1];if(h&&b>0){const i={...h,B:(h.B??0)*b,C:(h.C??0)*b};r.push(i)}const v=xe(r),w=Math.max(0,d-v),a=[];a.push(new n.Vector3(0,0,0));const y=new n.Vector3(0,w*G,0);w>0&&a.push(y);let u={pos:y.clone(),localY:new n.Vector3(0,1,0),localX:new n.Vector3(1,0,0),localZ:new n.Vector3(0,0,1)};const _=[];for(let i=r.length-1;i>=0;i--){const c=r[i],x=ke(c);if(x.length>0){const E=x.map(B=>{const A=B.clone(),L=new n.Matrix4;return L.makeBasis(u.localX,u.localY,u.localZ),A.applyMatrix4(L),A.add(u.pos)});_.push(E);const T=E[E.length-1];u.pos=T.clone();const f=c.B??0,k=c.C??0;if(f!==0){const B=new n.Matrix4().makeRotationAxis(u.localY,W(f));u.localX.applyMatrix4(B),u.localZ.applyMatrix4(B)}if(k>0){const B=W(k),A=new n.Matrix4().makeRotationAxis(u.localZ,B);u.localY.applyMatrix4(A),u.localX.applyMatrix4(A)}}}for(const i of _)i.length>1&&a.push(...i.slice(1));a.length<2&&a.push(new n.Vector3(0,.001,0));try{const i=new n.CatmullRomCurve3(a,!1,"catmullrom",.01),c=new n.TubeGeometry(i,Math.max(2,a.length*4),s*G,18,!1);g.geometry.dispose(),g.geometry=c}catch(i){console.error("管件更新失败",i)}}function Ce(g,m,d,s=0){let p=g.slice(0,d+1);const b=g[d+1];if(b&&s>0){const u={...b,B:(b.B??0)*s,C:(b.C??0)*s};p.push(u)}const r=xe(p),h=Math.max(0,m-r),v=[];v.push(new n.Vector3(0,0,0));const w=new n.Vector3(0,h*G,0);h>0&&v.push(w);let a={pos:w.clone(),localY:new n.Vector3(0,1,0),localX:new n.Vector3(1,0,0),localZ:new n.Vector3(0,0,1)};const y=[];for(let u=p.length-1;u>=0;u--){const _=p[u],i=ke(_);if(i.length>0){const c=i.map(f=>{const k=f.clone(),B=new n.Matrix4;return B.makeBasis(a.localX,a.localY,a.localZ),k.applyMatrix4(B),k.add(a.pos)});y.push(c);const x=c[c.length-1];a.pos=x.clone();const E=_.B??0,T=_.C??0;if(E!==0){const f=new n.Matrix4().makeRotationAxis(a.localY,W(E));a.localX.applyMatrix4(f),a.localZ.applyMatrix4(f)}if(T>0){const f=W(T),k=new n.Matrix4().makeRotationAxis(a.localZ,f);a.localY.applyMatrix4(k),a.localX.applyMatrix4(k)}}}for(const u of y)u.length>1&&v.push(...u.slice(1));return v.length<2&&v.push(new n.Vector3(0,.001,0)),v}function Ne(g,m,d,s,p,b,r,h=0,v=0){const w=p-v,a=Ce(s,w,r,h);let u=Ce(d,v,r,h);u.forEach(i=>i.y=-i.y),u.reverse();const _=[...u,...a];try{const i=new n.CatmullRomCurve3(_,!1,"catmullrom",.01),c=new n.TubeGeometry(i,Math.max(2,_.length*4),b*G,18,!1);m.geometry.dispose(),g.geometry.dispose(),m.parent&&m.parent.remove(m),g.geometry=c}catch(i){console.error("管件更新失败",i)}}const Re={class:"panel-content"},Be={class:"action-bar"},Ae={class:"animation-controls"},$e={class:"control-row"},Fe={class:"control-row"},ze={class:"frame-info"},Ye={class:"control-row"},Le={class:"progress-bar"},Ue={class:"dialog-footer"},Ie=e.defineComponent({__name:"animationPanel",props:{model:{},threeData:{}},setup(g,{expose:m}){const d=g,s=e.ref(),p=e.ref();e.watch(()=>d.threeData,o=>{const t=o==null?void 0:o.data;p.value=t==null?void 0:t.type},{immediate:!0});const b=async()=>{let o={};p.value===ne.robotMode.SINGLE&&(o=await fe.fetchSingleRobotAnimationData()),p.value===ne.robotMode.DOUBLE&&(o=await fe.fetchDoubleRobotAnimationData());const{initialPipeLength:t=0,pipeRadius:l=0,clampLength:V=0,animationData:C}=o;T.value=t,f.value=l,k.value=V,s.value=C;const $=D.cloneDeep(s.value),J=re(Y.value),X=($==null?void 0:$["输出（动画数据）"])||[];r.value=X.length?X:[J]},r=e.ref([]),h=e.ref(!1),v=e.ref(""),w=e.ref(!1),a=e.ref(0),y=e.ref(0),u=e.ref(1e3);let _=!1;const i=e.ref(null),c=e.shallowRef(null),x=e.shallowRef(null),E=e.shallowRef(null),T=e.ref(0),f=e.ref(12.5),k=e.ref(30),B=e.ref([]),A=e.ref(null),L=e.computed(()=>d.model?ie.getNonFixedJoints(d.model).map(l=>l.name):[]),q=e.ref(["Y","B","C","R"]),Y=e.computed(()=>[...L.value,...q.value]),ce=e.computed(()=>Y.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
 ${Y.value.join("	")}
 0	0	0	...
 1	2	3	...`:"请先加载模型。"),ae=()=>r.value.map(o=>({Y:parseFloat(o.Y)||0,B:parseFloat(o.B)||0,C:parseFloat(o.C)||0,R:parseFloat(o.R)||0})),K=()=>{const o=[],t=[];return r.value.forEach(l=>{const{Y1:V,B1:C,C1:$,R1:J,Y2:X,B2:oe,C2:de,R2:P}=l;o.push({Y:parseFloat(V)||0,B:parseFloat(C)||0,C:parseFloat($)||0,R:parseFloat(J)||0}),t.push({Y:parseFloat(X)||0,B:parseFloat(oe)||0,C:parseFloat(de)||0,R:parseFloat(P)||0})}),{posPipeYbcr:o,negPipeYbcr:t}},M=(o=0,t=0)=>{if(c.value&&x.value){const l=K();Ne(c.value,x.value,l.posPipeYbcr,l.negPipeYbcr,T.value,f.value,o,t,k.value)}else if(c.value){const l=ae();_e(c.value,l,T.value,f.value,o,t)}},N=o=>{if(o<0||o>=r.value.length){console.error(`帧索引 ${o} 超出范围`);return}const t=r.value[o];if(console.log(`应用第 ${o} 帧数据 ${t}`),a.value=o,i.value){const l={};L.value.forEach(V=>{const C=parseFloat(t[V]);isNaN(C)||(l[V]=C)}),i.value.setJointAngles(l)}M(o,0)},U=async()=>{if(r.value.length===0){D.ElMessage.error("无法播放动画：无数据");return}if(!w.value){w.value=!0,_=!1,r.value.length-1===a.value&&(a.value=0);try{for(let o=a.value+1;o<r.value.length&&!_;o++){a.value=o;const t=r.value[o],l={};i.value&&L.value.forEach(V=>{const C=parseFloat(t[V]);isNaN(C)||(l[V]=C)}),i.value?await i.value.animateToState(l,u.value,V=>{y.value=(o+V)/r.value.length*100,M(o-1,V)}):(await new Promise(V=>setTimeout(V,u.value)),y.value=(o+1)/r.value.length*100)}_||D.ElMessage.success("动画播放完成")}catch(o){console.error("动画播放出错:",o),D.ElMessage.error("动画播放出错")}finally{w.value=!1,y.value=0}}},F=()=>{_=!0,w.value=!1,y.value=0,D.ElMessage.info("动画已停止")},I=()=>{a.value=0},z=()=>{if(c.value&&x.value){const o=K();Ne(c.value,x.value,o.posPipeYbcr,o.negPipeYbcr,T.value,f.value,-1,0,k.value)}else if(c.value){const o=ae();_e(c.value,o,T.value,f.value,-1,0)}},Z=()=>{i.value&&i.value.resetToZero(),z(),I(),D.ElMessage.success("机器人和管件已重置")},O=o=>`第 ${o+1} 帧`,j=o=>{w.value&&F(),N(o)},Q=()=>{w.value&&F(),!(a.value+1>=r.value.length)&&N(a.value+1)},S=()=>{w.value&&F(),a.value!==0&&N(a.value-1)},H=()=>{E.value&&(E.value.visible=!0),c.value&&c.value.parent&&c.value.parent.remove(c.value),E.value=null,c.value=null,x.value=null},re=o=>o==null?void 0:o.reduce((t,l)=>(t[l]="0",t),{});e.watch(Y,(o,t)=>{if(JSON.stringify(o)!==JSON.stringify(t))if(o.length>0){const l=re(o);r.value=[l]}else r.value=[]},{immediate:!0});const ee=e.ref(0),ue=o=>{ee.value=o},he=(o,t)=>{if(!o||!t)return;const l=ie.getTargetJoint(o,t),V=Ee();V.visible=!1,l==null||l.add(V)},ge=o=>{i.value=new ve.URDFRobotController(o),B.value=ie.getAllLinkName(o),A.value="Pipe_Joint"},te=()=>{i.value=null,B.value=[],A.value=null},se=o=>{ge(o),he(o,A.value),ue(ee.value+1),Z()};e.watch(()=>d.model,o=>{if(H(),o){se(o);return}te()},{immediate:!0});const me=o=>{var l,V;const t=new n.Mesh(o.geometry.clone(),o.material);return t.name="managed_pipe_clone",(V=(l=o==null?void 0:o.parent)==null?void 0:l.add)==null||V.call(l,t),t.position.copy(o.position),t.rotation.copy(o.rotation),t.scale.copy(o.scale),t};e.watch([A,k,T,ee],([o,t])=>{if(H(),d.model&&o){const l=ie.getMeshFromJoint(d.model,o);if(console.log(l,"meshToReplace"),l&&l.parent){E.value=l,l.visible=!1;const V=me(l);if(p.value===ne.robotMode.SINGLE&&(V.position.y-=t*.001),c.value=V,p.value===ne.robotMode.DOUBLE){const C=me(l);x.value=C}M(0,0)}else o&&console.warn(`在 link '${o}' 中未找到可替换的网格或其没有父级。`)}});const Ve=async()=>{if(Y.value.length===0){D.ElMessage.warning("没有可导出的表头");return}const o=Y.value.join("	");try{await navigator.clipboard.writeText(o),D.ElMessage.success("表头已成功复制到剪贴板！")}catch(t){console.error("复制失败:",t),D.ElMessage.error("复制失败，请检查浏览器权限或手动复制。")}},be=()=>{if(!v.value.trim()){D.ElMessage.warning("导入内容不能为空");return}const o=v.value.trim().split(`

package/dist/{threeSceneView-CInjoNVf.js → threeSceneView-CHzaHloG.js}

@@ -1,18 +1,18 @@
 import { defineComponent as Be, ref as g, watch as ne, shallowRef as be, computed as Pe, onUnmounted as Ie, resolveComponent as B, createElementBlock as De, openBlock as q, createElementVNode as r, createVNode as l, withCtx as R, createBlock as ye, createCommentVNode as ke, unref as G, toDisplayString as he, onMounted as Xe, onBeforeUnmount as Ze, Fragment as He, renderList as Ke, nextTick as Qe, withDirectives as pe, vShow as de, renderSlot as Me } from "vue";
-import { r as Te, s as Le } from "./threeViewerHost-BgQmCw2g.js";
-import { u as Je, a as qe, b as et, C as tt } from "./iconfont-Dh5vye0Q.js";
-import { U as lt, u as ot, a as at, W as nt } from "./workpieceTreePanel-GI4Y-wNL.js";
+import { r as Te, s as Le } from "./threeViewerHost-DhtCUUpq.js";
+import { u as Je, a as qe, b as et, C as tt } from "./iconfont-CDf_oBPo.js";
+import { U as lt, u as ot, a as at, W as nt } from "./workpieceTreePanel-Ctwrp39y.js";
 import { ag as st, c as it, E, aW as rt, aw as ut } from "./index-BgE_6FYY.js";
-import { aj as Ve, ak as xe, W as D, ah as H, ai as ct, aG as pt, a8 as Se, aH as dt, aI as mt, aJ as vt, aK as ft, aL as gt, aM as ht, aN as bt, aO as yt, ae as _t, aP as Ye, aQ as wt, aR as Ct, aS as kt } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Jb-pxYCE.js";
+import { aj as Ve, ak as xe, W as D, ah as H, ai as ct, aG as pt, a8 as Se, aH as dt, aI as mt, aJ as vt, aK as ft, aL as gt, aM as ht, aN as bt, aO as yt, ae as _t, aP as Ye, aQ as wt, aR as Ct, aS as kt } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-6Ap42_Dn.js";
 import "./index-BHtNKL1L.js";
 import { _ as me } from "./index.vue_vue_type_script_setup_true_lang-DRzriV-s.js";
-import "./index.vue_vue_type_style_index_1_lang-CNsmX3gg.js";
+import "./index.vue_vue_type_style_index_1_lang-BJBnOzjh.js";
 import "./index-Bmtw8a5p.js";
 import "./index-D_qR3hDI.js";
-import { f as Pt, a as xt, g as Rt, b as Mt } from "./animationData-x63hYcF2.js";
-import { g as Tt, a as Dt, b as Vt, c as St, U as At, J as $t } from "./urdfTree-BmNTo-xk.js";
+import { f as Pt, a as xt, g as Rt, b as Mt } from "./animationData-DS8Fzn6Q.js";
+import { g as Tt, a as Dt, b as Vt, c as St, U as At, J as $t } from "./urdfTree-ClXv-I_k.js";
 import { _ as Ue } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-import { s as Ft } from "./index-BuNPE4NQ.js";
+import { s as Ft } from "./index-CGe5AJp6.js";
 import { T as z } from "./svgIcon-D-_fXUBL.js";
 const I = 1e-3, oe = ct.degToRad, Ee = new dt({
   // 灰色

package/dist/{threeSceneViewForCPMPIP-C8CXMOuk.js → threeSceneViewForCPMPIP-Bxfu-nOk.js}

@@ -1,15 +1,15 @@
 import { defineComponent as ve, ref as r, computed as S, watch as W, onUnmounted as Ae, resolveComponent as M, createElementBlock as R, openBlock as z, createElementVNode as n, createCommentVNode as D, createVNode as a, toDisplayString as B, Fragment as Ve, renderList as $e, withCtx as te, shallowRef as ee, onMounted as Te, nextTick as Fe, onBeforeUnmount as Oe, withDirectives as H, vShow as I, unref as U, renderSlot as se, createBlock as ie } from "vue";
-import { s as re } from "./threeViewerHost-BgQmCw2g.js";
-import { u as Re, a as Se, b as De, C as Be } from "./iconfont-Dh5vye0Q.js";
-import { U as Ee, u as Je, a as Ne, W as Me } from "./workpieceTreePanel-GI4Y-wNL.js";
+import { s as re } from "./threeViewerHost-DhtCUUpq.js";
+import { u as Re, a as Se, b as De, C as Be } from "./iconfont-CDf_oBPo.js";
+import { U as Ee, u as Je, a as Ne, W as Me } from "./workpieceTreePanel-Ctwrp39y.js";
 import { c as Ge, E as h } from "./index-BgE_6FYY.js";
-import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Jb-pxYCE.js";
+import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-6Ap42_Dn.js";
 import { _ as ue } from "./index.vue_vue_type_script_setup_true_lang-DRzriV-s.js";
-import { g as He, b as Ie, U as We, J as Xe, d as Ye } from "./urdfTree-BmNTo-xk.js";
+import { g as He, b as Ie, U as We, J as Xe, d as Ye } from "./urdfTree-ClXv-I_k.js";
 import { _ as de } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { T as b } from "./svgIcon-D-_fXUBL.js";
-import { i as Ze } from "./animationData-x63hYcF2.js";
-import { O as qe } from "./MTLLoader-BDMG6YfL.js";
+import { i as Ze } from "./animationData-DS8Fzn6Q.js";
+import { O as qe } from "./MTLLoader-DHOpgWoh.js";
 const Ke = { class: "panel-content" }, Qe = {
   key: 0,
   class: "animation-controls"

package/dist/{threeSceneViewForCPMPIP-DohzLUui.cjs → threeSceneViewForCPMPIP-C6dwXzB6.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),W=require("./threeViewerHost-DqCoBmb3.cjs"),I=require("./iconfont-DapI438c.cjs"),q=require("./workpieceTreePanel-BXdDwos2.cjs"),p=require("./index-C8qRkCgn.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-pgm7LZ2p.cjs");const Y=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),A=require("./urdfTree-CShYg3Vd.cjs"),K=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),g=require("./svgIcon-CUM54R6L.cjs"),ge=require("./animationData-CU7hS77W.cjs"),he=require("./MTLLoader-CnPy8SIM.cjs"),Ve={class:"panel-content"},be={key:0,class:"animation-controls"},ye={class:"control-row"},Ne={class:"control-row"},ke={class:"frame-info"},Ee={class:"control-row"},Ce={key:1,class:"empty-state"},we={class:"dialog-footer"},_e=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(P,{expose:h}){const k=P,a=e.ref([]),C=e.ref(!1),T=e.ref(""),d=e.ref("stopped"),f=e.ref(0),w=e.ref(0),V=e.ref(10),i=e.ref(null);let u=0;const b=e.ref([]),y=e.computed(()=>k.model?A.getNonFixedJoints(k.model).map(v=>v.name):[]),_=e.computed(()=>[...y.value]),J=e.computed(()=>_.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"),W=require("./threeViewerHost-BdoXIgqv.cjs"),I=require("./iconfont-DX6dC3Hu.cjs"),q=require("./workpieceTreePanel-CA1W7zBB.cjs"),p=require("./index-C8qRkCgn.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-RZydwY0l.cjs");const Y=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),A=require("./urdfTree-DhRlnWn_.cjs"),K=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),g=require("./svgIcon-CUM54R6L.cjs"),ge=require("./animationData-I6_-ND6R.cjs"),he=require("./MTLLoader-DcCqSeA-.cjs"),Ve={class:"panel-content"},be={key:0,class:"animation-controls"},ye={class:"control-row"},Ne={class:"control-row"},ke={class:"frame-info"},Ee={class:"control-row"},Ce={key:1,class:"empty-state"},we={class:"dialog-footer"},_e=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(P,{expose:h}){const k=P,a=e.ref([]),C=e.ref(!1),T=e.ref(""),d=e.ref("stopped"),f=e.ref(0),w=e.ref(0),V=e.ref(10),i=e.ref(null);let u=0;const b=e.ref([]),y=e.computed(()=>k.model?A.getNonFixedJoints(k.model).map(v=>v.name):[]),_=e.computed(()=>[...y.value]),J=e.computed(()=>_.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
 ${_.value.join("	")}
 0	0	0	...
 1	2	3	...`:"请先加载模型。"),U=e.computed(()=>a.value[f.value]||{});e.watch(()=>k.model,o=>{o?(i.value=new q.URDFRobotController(o),b.value=A.getAllLinkName(o),f.value=0):(i.value=null,b.value=[])},{immediate:!0});const z=o=>{if(o<0||o>=a.value.length){console.error(`帧索引 ${o} 超出范围`);return}const t=a.value[o];if(i.value){const v={};y.value.forEach(N=>{const r=parseFloat(t[N]);isNaN(r)||(v[N]=r)}),i.value.setJointAngles(v)}f.value=o,w.value=a.value.length>1?o/(a.value.length-1)*100:100},L=async o=>{try{for(let t=f.value;t<a.value.length;t++){if(o!==u)return;const v=a.value[t],N={};if(i.value)y.value.forEach(r=>{const m=parseFloat(v[r]);isNaN(m)||(N[r]=m)}),await i.value.animateToState(N,V.value,r=>{o===u&&(w.value=(t+r)/a.value.length*100)});else{if(await new Promise(r=>setTimeout(r,V.value)),o!==u)return;w.value=(t+1)/a.value.length*100}f.value=t}o===u&&(p.ElMessage.success("动画播放完成"),d.value="stopped",w.value=100)}catch(t){console.error("动画播放出错:",t),p.ElMessage.error("动画播放出错"),d.value="stopped"}},x=()=>{if(a.value.length===0){p.ElMessage.error("无动画数据");return}d.value==="stopped"&&(f.value=0,z(0)),d.value="playing",u++,L(u),p.ElMessage.info("动画播放中")},M=()=>{d.value==="playing"&&(u++,d.value="paused",p.ElMessage.info("动画已暂停"))},$=()=>{u++,d.value="stopped",f.value=0,w.value=0,z(0),p.ElMessage.info("动画已停止并重置")},R=()=>{d.value==="playing"?M():x()},B=o=>{u++,d.value="paused",z(o)},H=()=>{if(!T.value.trim()){p.ElMessage.warning("导入内容不能为空");return}const o=T.value.trim().split(`

package/dist/{threeTrackPathView-CVpyIv5S.js → threeTrackPathView-D5b7ja2X.js}

@@ -1,8 +1,8 @@
 import { defineComponent as He, ref as T, shallowRef as ue, computed as H, watch as Ne, onMounted as Ve, onBeforeUnmount as qe, resolveComponent as Xe, createElementBlock as fe, openBlock as N, createElementVNode as g, withDirectives as J, createCommentVNode as Z, createVNode as h, unref as R, renderSlot as pe, toDisplayString as K, withCtx as me, createBlock as he, vShow as Q } from "vue";
-import { u as $e, a as Ye, b as Je, C as Ze, f as Ke, d as Qe } from "./iconfont-Dh5vye0Q.js";
-import { bK as et, aV as ie, bL as se, bC as O, bM as tt, X as oe, bJ as Se, W as U, bN as nt, bO as $, bP as ze, b7 as Ce, bQ as Y, a8 as it, bR as W, bS as st, ah as ot, ai as _e, aj as rt, aJ as at, aX as lt, aY as ct, bT as dt } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Jb-pxYCE.js";
+import { u as $e, a as Ye, b as Je, C as Ze, f as Ke, d as Qe } from "./iconfont-CDf_oBPo.js";
+import { bK as et, aV as ie, bL as se, bC as O, bM as tt, X as oe, bJ as Se, W as U, bN as nt, bO as $, bP as ze, b7 as Ce, bQ as Y, a8 as it, bR as W, bS as st, ah as ot, ai as _e, aj as rt, aJ as at, aX as lt, aY as ct, bT as dt } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-6Ap42_Dn.js";
 import { E as ut } from "./index-BgE_6FYY.js";
-import { U as ft, J as pt } from "./urdfTree-BmNTo-xk.js";
+import { U as ft, J as pt } from "./urdfTree-ClXv-I_k.js";
 import { T as v } from "./svgIcon-D-_fXUBL.js";
 import { i as mt } from "./isString-Bb0EYAKj.js";
 import { _ as ht } from "./_plugin-vue_export-helper-CHgC5LLL.js";

package/dist/{threeTrackPathView-B3rKlzro.cjs → threeTrackPathView-YDfE6lF-.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const i=require("vue"),P=require("./iconfont-DapI438c.cjs"),c=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-pgm7LZ2p.cjs"),xe=require("./index-C8qRkCgn.cjs"),Z=require("./urdfTree-CShYg3Vd.cjs"),g=require("./svgIcon-CUM54R6L.cjs"),Se=require("./isString--eJE54G5.cjs"),be=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),J=new c.Box3,O=new c.Vector3;class ie extends c.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],n=[-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 c.Float32BufferAttribute(e,3)),this.setAttribute("uv",new c.Float32BufferAttribute(n,2))}applyMatrix4(e){const n=this.attributes.instanceStart,o=this.attributes.instanceEnd;return n!==void 0&&(n.applyMatrix4(e),o.applyMatrix4(e),n.needsUpdate=!0),this.boundingBox!==null&&this.computeBoundingBox(),this.boundingSphere!==null&&this.computeBoundingSphere(),this}setPositions(e){let n;e instanceof Float32Array?n=e:Array.isArray(e)&&(n=new Float32Array(e));const o=new c.InstancedInterleavedBuffer(n,6,1);return this.setAttribute("instanceStart",new c.InterleavedBufferAttribute(o,3,0)),this.setAttribute("instanceEnd",new c.InterleavedBufferAttribute(o,3,3)),this.instanceCount=this.attributes.instanceStart.count,this.computeBoundingBox(),this.computeBoundingSphere(),this}setColors(e){let n;e instanceof Float32Array?n=e:Array.isArray(e)&&(n=new Float32Array(e));const o=new c.InstancedInterleavedBuffer(n,6,1);return this.setAttribute("instanceColorStart",new c.InterleavedBufferAttribute(o,3,0)),this.setAttribute("instanceColorEnd",new c.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 c.WireframeGeometry(e.geometry)),this}fromLineSegments(e){const n=e.geometry;return this.setPositions(n.attributes.position.array),this}computeBoundingBox(){this.boundingBox===null&&(this.boundingBox=new c.Box3);const e=this.attributes.instanceStart,n=this.attributes.instanceEnd;e!==void 0&&n!==void 0&&(this.boundingBox.setFromBufferAttribute(e),J.setFromBufferAttribute(n),this.boundingBox.union(J))}computeBoundingSphere(){this.boundingSphere===null&&(this.boundingSphere=new c.Sphere),this.boundingBox===null&&this.computeBoundingBox();const e=this.attributes.instanceStart,n=this.attributes.instanceEnd;if(e!==void 0&&n!==void 0){const o=this.boundingSphere.center;this.boundingBox.getCenter(o);let t=0;for(let r=0,l=e.count;r<l;r++)O.fromBufferAttribute(e,r),t=Math.max(t,o.distanceToSquared(O)),O.fromBufferAttribute(n,r),t=Math.max(t,o.distanceToSquared(O));this.boundingSphere.radius=Math.sqrt(t),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(){}}c.UniformsLib.line={worldUnits:{value:1},linewidth:{value:1},resolution:{value:new c.Vector2(1,1)},dashOffset:{value:0},dashScale:{value:1},dashSize:{value:1},gapSize:{value:1}};c.ShaderLib.line={uniforms:c.UniformsUtils.merge([c.UniformsLib.common,c.UniformsLib.fog,c.UniformsLib.line]),vertexShader:`
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const i=require("vue"),P=require("./iconfont-DX6dC3Hu.cjs"),c=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-RZydwY0l.cjs"),xe=require("./index-C8qRkCgn.cjs"),Z=require("./urdfTree-DhRlnWn_.cjs"),g=require("./svgIcon-CUM54R6L.cjs"),Se=require("./isString--eJE54G5.cjs"),be=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),J=new c.Box3,O=new c.Vector3;class ie extends c.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],n=[-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 c.Float32BufferAttribute(e,3)),this.setAttribute("uv",new c.Float32BufferAttribute(n,2))}applyMatrix4(e){const n=this.attributes.instanceStart,o=this.attributes.instanceEnd;return n!==void 0&&(n.applyMatrix4(e),o.applyMatrix4(e),n.needsUpdate=!0),this.boundingBox!==null&&this.computeBoundingBox(),this.boundingSphere!==null&&this.computeBoundingSphere(),this}setPositions(e){let n;e instanceof Float32Array?n=e:Array.isArray(e)&&(n=new Float32Array(e));const o=new c.InstancedInterleavedBuffer(n,6,1);return this.setAttribute("instanceStart",new c.InterleavedBufferAttribute(o,3,0)),this.setAttribute("instanceEnd",new c.InterleavedBufferAttribute(o,3,3)),this.instanceCount=this.attributes.instanceStart.count,this.computeBoundingBox(),this.computeBoundingSphere(),this}setColors(e){let n;e instanceof Float32Array?n=e:Array.isArray(e)&&(n=new Float32Array(e));const o=new c.InstancedInterleavedBuffer(n,6,1);return this.setAttribute("instanceColorStart",new c.InterleavedBufferAttribute(o,3,0)),this.setAttribute("instanceColorEnd",new c.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 c.WireframeGeometry(e.geometry)),this}fromLineSegments(e){const n=e.geometry;return this.setPositions(n.attributes.position.array),this}computeBoundingBox(){this.boundingBox===null&&(this.boundingBox=new c.Box3);const e=this.attributes.instanceStart,n=this.attributes.instanceEnd;e!==void 0&&n!==void 0&&(this.boundingBox.setFromBufferAttribute(e),J.setFromBufferAttribute(n),this.boundingBox.union(J))}computeBoundingSphere(){this.boundingSphere===null&&(this.boundingSphere=new c.Sphere),this.boundingBox===null&&this.computeBoundingBox();const e=this.attributes.instanceStart,n=this.attributes.instanceEnd;if(e!==void 0&&n!==void 0){const o=this.boundingSphere.center;this.boundingBox.getCenter(o);let t=0;for(let r=0,l=e.count;r<l;r++)O.fromBufferAttribute(e,r),t=Math.max(t,o.distanceToSquared(O)),O.fromBufferAttribute(n,r),t=Math.max(t,o.distanceToSquared(O));this.boundingSphere.radius=Math.sqrt(t),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(){}}c.UniformsLib.line={worldUnits:{value:1},linewidth:{value:1},resolution:{value:new c.Vector2(1,1)},dashOffset:{value:0},dashScale:{value:1},dashSize:{value:1},gapSize:{value:1}};c.ShaderLib.line={uniforms:c.UniformsUtils.merge([c.UniformsLib.common,c.UniformsLib.fog,c.UniformsLib.line]),vertexShader:`
 		#include <common>
 		#include <color_pars_vertex>
 		#include <fog_pars_vertex>

package/dist/{threeViewerHost-DqCoBmb3.cjs → threeViewerHost-BdoXIgqv.cjs}

@@ -1 +1 @@
-"use strict";const e=require("vue"),h=require("./index-C8qRkCgn.cjs"),B=require("./index-DeBHVrj0.cjs"),S=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-pgm7LZ2p.cjs"),F=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),R={SINGLE:"单机",DOUBLE:"双机"},V={ROBOT:1,PIPECOMPARSION:2},a={ROBOT_SCENE:"robot",TRACK_PATH:"trackPath",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},I=h.defineStore("threeState",{state:()=>({data:{files:[],data:{}}}),actions:{setData(v){this.data=v},getData(){return this.data}}});function O(){const v=B.useMenuState(h.pinia),{platform:g}=h.storeToRefs(v),P=I(h.pinia),c=["uv","cyd"],d=["urdf"],r=["obj","stl"],T=[...c,...d,...r],u=t=>{if(!C())throw new Error("不是三维系统");P.setData(t)},y=()=>P.getData(),C=()=>g.value==="three",l=t=>S.getFileExtension(t),m=t=>{if(!t)return!1;const o=l(t);return T==null?void 0:T.includes(o)},E=t=>{if(!t)return!1;const o=l(t);return r==null?void 0:r.includes(o)},p=t=>{if(!t)return!1;const o=l(t);return c==null?void 0:c.includes(o)},f=t=>{if(!t)return{isCpt:!1,isCyd:!1,isUv:!1};const o=l(t),i=c==null?void 0:c.find(k=>k===o);return{isCpt:i==="cpt",isCyd:i==="cyd",isUv:i==="uv"}},_=t=>{if(!t)return!1;const o=l(t);return d==null?void 0:d.includes(o)},b=t=>C()&&m(t),n=t=>({url:t,extension:l(t)});return{getData:y,setData:u,isThreeSystem:C,isUrdf:_,isGeneralFile:E,isTrackPathFile:p,isThreeFile:m,isUseBackdrop:b,initTrackFileType:f,getFileExtension:l,getFileInfo:n,getFilesInfo:t=>{const o=[];for(let i=0;i<t.length;i++){const w=t[i],k=n(w);o.push(k)}return o}}}const N={class:"three-platform mv-inline"},A={class:"top-menu"},M={key:4,class:"loading"},H=e.defineComponent({__name:"threeViewerHost",props:{files:{default:()=>[]},threeData:{},componentType:{},width:{default:"100%"},height:{default:"100%"}},setup(v){const g=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-DVmaCW7K.cjs"))),P=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-BaI2wC-D.cjs"))),c=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-B3rKlzro.cjs"))),d=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-DohzLUui.cjs"))),r=v,T=B.useMenuState(h.pinia),{platName:u}=h.storeToRefs(T),{isUrdf:y,isTrackPathFile:C}=O(),l=e.computed(()=>{var n;return(n=r==null?void 0:r.files)==null?void 0:n.map(s=>{const{url:t}=s;return t})}),m=e.computed(()=>{var t;const n=(t=r==null?void 0:r.files)==null?void 0:t[0];return(n==null?void 0:n.extension)||""}),E=e.computed(()=>{var n,s;return(s=(n=r==null?void 0:r.threeData)==null?void 0:n.data)==null?void 0:s.trackFileType}),p=e.computed(()=>{if(r.componentType)switch(r.componentType){case"robot":return a.ROBOT_SCENE;case"track":return a.TRACK_PATH;case"cpmpip":return a.CPMPIP_SCENE;case"preview":return a.PREVIEW}return(u==null?void 0:u.value)===S.platNameConstants.CPMPIP&&y(m.value)?a.CPMPIP_SCENE:(u==null?void 0:u.value)===S.platNameConstants.ROBOT&&y(m.value)?a.ROBOT_SCENE:C(m.value)&&E.value?a.TRACK_PATH:a.PREVIEW}),f=e.ref([]),_=e.ref(!1);async function b(n){if(!n||!n.length){f.value=[];return}_.value=!0;try{const s=await Promise.all(n.map(t=>S.downloadFile(t)));f.value=s}catch(s){console.error("文件下载时发生错误:",s),f.value=[]}finally{_.value=!1}}return e.watch(()=>r.files,async n=>{const s=n.map(t=>{const{url:o}=t;return o});await b(s??[])},{immediate:!0,deep:!0}),(n,s)=>(e.openBlock(),e.createElementBlock("div",N,[e.createElementVNode("div",A,[e.renderSlot(n.$slots,"top-menu",{},void 0,!0)]),p.value===e.unref(a).ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(g),{key:0,"file-blobs":f.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","threeData"])):p.value===e.unref(a).TRACK_PATH?(e.openBlock(),e.createBlock(e.unref(c),{key:1,fileUrls:l.value,threeData:r.threeData,trackFileType:E.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileUrls","threeData","trackFileType"])):p.value===e.unref(a).CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(d),{key:2,"file-blobs":f.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","threeData"])):p.value===e.unref(a).PREVIEW?(e.openBlock(),e.createBlock(e.unref(P),{key:3,"file-blobs":f.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs"])):e.createCommentVNode("",!0),_.value?(e.openBlock(),e.createElementBlock("div",M," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)]))}}),D=F._export_sfc(H,[["__scopeId","data-v-2562c7ef"]]),$=Object.freeze(Object.defineProperty({__proto__:null,default:D},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=D;exports.robotMode=R;exports.sceneType=V;exports.threeViewerHost=$;exports.useThreeState=I;exports.useThreeSystem=O;
+"use strict";const e=require("vue"),h=require("./index-C8qRkCgn.cjs"),B=require("./index-DeBHVrj0.cjs"),S=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-RZydwY0l.cjs"),F=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),R={SINGLE:"单机",DOUBLE:"双机"},V={ROBOT:1,PIPECOMPARSION:2},a={ROBOT_SCENE:"robot",TRACK_PATH:"trackPath",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},I=h.defineStore("threeState",{state:()=>({data:{files:[],data:{}}}),actions:{setData(v){this.data=v},getData(){return this.data}}});function O(){const v=B.useMenuState(h.pinia),{platform:g}=h.storeToRefs(v),P=I(h.pinia),c=["uv","cyd"],d=["urdf"],r=["obj","stl"],T=[...c,...d,...r],u=t=>{if(!C())throw new Error("不是三维系统");P.setData(t)},y=()=>P.getData(),C=()=>g.value==="three",l=t=>S.getFileExtension(t),m=t=>{if(!t)return!1;const o=l(t);return T==null?void 0:T.includes(o)},E=t=>{if(!t)return!1;const o=l(t);return r==null?void 0:r.includes(o)},p=t=>{if(!t)return!1;const o=l(t);return c==null?void 0:c.includes(o)},f=t=>{if(!t)return{isCpt:!1,isCyd:!1,isUv:!1};const o=l(t),i=c==null?void 0:c.find(k=>k===o);return{isCpt:i==="cpt",isCyd:i==="cyd",isUv:i==="uv"}},_=t=>{if(!t)return!1;const o=l(t);return d==null?void 0:d.includes(o)},b=t=>C()&&m(t),n=t=>({url:t,extension:l(t)});return{getData:y,setData:u,isThreeSystem:C,isUrdf:_,isGeneralFile:E,isTrackPathFile:p,isThreeFile:m,isUseBackdrop:b,initTrackFileType:f,getFileExtension:l,getFileInfo:n,getFilesInfo:t=>{const o=[];for(let i=0;i<t.length;i++){const w=t[i],k=n(w);o.push(k)}return o}}}const N={class:"three-platform mv-inline"},A={class:"top-menu"},M={key:4,class:"loading"},H=e.defineComponent({__name:"threeViewerHost",props:{files:{default:()=>[]},threeData:{},componentType:{},width:{default:"100%"},height:{default:"100%"}},setup(v){const g=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-BlYiTnf8.cjs"))),P=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-BwKp0Pme.cjs"))),c=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-YDfE6lF-.cjs"))),d=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-C6dwXzB6.cjs"))),r=v,T=B.useMenuState(h.pinia),{platName:u}=h.storeToRefs(T),{isUrdf:y,isTrackPathFile:C}=O(),l=e.computed(()=>{var n;return(n=r==null?void 0:r.files)==null?void 0:n.map(s=>{const{url:t}=s;return t})}),m=e.computed(()=>{var t;const n=(t=r==null?void 0:r.files)==null?void 0:t[0];return(n==null?void 0:n.extension)||""}),E=e.computed(()=>{var n,s;return(s=(n=r==null?void 0:r.threeData)==null?void 0:n.data)==null?void 0:s.trackFileType}),p=e.computed(()=>{if(r.componentType)switch(r.componentType){case"robot":return a.ROBOT_SCENE;case"track":return a.TRACK_PATH;case"cpmpip":return a.CPMPIP_SCENE;case"preview":return a.PREVIEW}return(u==null?void 0:u.value)===S.platNameConstants.CPMPIP&&y(m.value)?a.CPMPIP_SCENE:(u==null?void 0:u.value)===S.platNameConstants.ROBOT&&y(m.value)?a.ROBOT_SCENE:C(m.value)&&E.value?a.TRACK_PATH:a.PREVIEW}),f=e.ref([]),_=e.ref(!1);async function b(n){if(!n||!n.length){f.value=[];return}_.value=!0;try{const s=await Promise.all(n.map(t=>S.downloadFile(t)));f.value=s}catch(s){console.error("文件下载时发生错误:",s),f.value=[]}finally{_.value=!1}}return e.watch(()=>r.files,async n=>{const s=n.map(t=>{const{url:o}=t;return o});await b(s??[])},{immediate:!0,deep:!0}),(n,s)=>(e.openBlock(),e.createElementBlock("div",N,[e.createElementVNode("div",A,[e.renderSlot(n.$slots,"top-menu",{},void 0,!0)]),p.value===e.unref(a).ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(g),{key:0,"file-blobs":f.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","threeData"])):p.value===e.unref(a).TRACK_PATH?(e.openBlock(),e.createBlock(e.unref(c),{key:1,fileUrls:l.value,threeData:r.threeData,trackFileType:E.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileUrls","threeData","trackFileType"])):p.value===e.unref(a).CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(d),{key:2,"file-blobs":f.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs","threeData"])):p.value===e.unref(a).PREVIEW?(e.openBlock(),e.createBlock(e.unref(P),{key:3,"file-blobs":f.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["file-blobs"])):e.createCommentVNode("",!0),_.value?(e.openBlock(),e.createElementBlock("div",M," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)]))}}),D=F._export_sfc(H,[["__scopeId","data-v-2562c7ef"]]),$=Object.freeze(Object.defineProperty({__proto__:null,default:D},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=D;exports.robotMode=R;exports.sceneType=V;exports.threeViewerHost=$;exports.useThreeState=I;exports.useThreeSystem=O;

package/dist/{threeViewerHost-BgQmCw2g.js → threeViewerHost-DhtCUUpq.js}

@@ -1,7 +1,7 @@
 import { defineComponent as U, defineAsyncComponent as S, computed as I, ref as N, watch as H, createElementBlock as V, openBlock as T, createElementVNode as K, createBlock as F, createCommentVNode as B, renderSlot as l, unref as m, withCtx as d } from "vue";
 import { bS as W, p as D, s as A } from "./index-BgE_6FYY.js";
 import { u as $ } from "./index-D_qR3hDI.js";
-import { b as j, aE as M, aF as L } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Jb-pxYCE.js";
+import { b as j, aE as M, aF as L } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-6Ap42_Dn.js";
 import { _ as G } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const se = {
   SINGLE: "单机",
@@ -111,7 +111,7 @@ const q = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
     height: { default: "100%" }
   },
   setup(E) {
-    const O = S(() => import("./threeSceneView-CInjoNVf.js")), y = S(() => import("./threePreview-D5UPnEBN.js")), i = S(() => import("./threeTrackPathView-CVpyIv5S.js")), p = S(() => import("./threeSceneViewForCPMPIP-C8CXMOuk.js")), n = E, P = $(D), { platName: u } = A(P), { isUrdf: b, isTrackPathFile: g } = Y(), c = I(() => {
+    const O = S(() => import("./threeSceneView-CHzaHloG.js")), y = S(() => import("./threePreview-BHmdeJ_g.js")), i = S(() => import("./threeTrackPathView-D5b7ja2X.js")), p = S(() => import("./threeSceneViewForCPMPIP-Bxfu-nOk.js")), n = E, P = $(D), { platName: u } = A(P), { isUrdf: b, isTrackPathFile: g } = Y(), c = I(() => {
       var t;
       return (t = n == null ? void 0 : n.files) == null ? void 0 : t.map((s) => {
         const { url: e } = s;

package/dist/{urdfTree-BmNTo-xk.js → urdfTree-ClXv-I_k.js}

@@ -1,5 +1,5 @@
 import { defineComponent as I, ref as F, watch as M, onMounted as C, onUnmounted as E, createElementBlock as m, openBlock as f, Fragment as P, renderList as T, createElementVNode as c, createCommentVNode as U, toDisplayString as h, computed as L, resolveComponent as S, createVNode as A } from "vue";
-import { a8 as V } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Jb-pxYCE.js";
+import { a8 as V } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-6Ap42_Dn.js";
 import { _ as b } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const D = (i, a) => {
   if (!a)

package/dist/{urdfTree-CShYg3Vd.cjs → urdfTree-DhRlnWn_.cjs}

@@ -1 +1 @@
-"use strict";const n=require("vue"),k=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-pgm7LZ2p.cjs"),x=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),J=(o,a)=>{if(!a)return null;const i=o.joints[a];return i||null},V=(o,a)=>{if(!a)return null;const i=J(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},F=(o,a)=>{if(!a)return null;const i=o.links[a];return i||null},L=(o,a)=>{if(!a)return null;const i=F(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},E=o=>{const a=o.joints;return Object.values(a)},M=o=>E(o).filter(u=>u.jointType!=="fixed"),N=o=>{const a=o.links;return Object.keys(a)},w={class:"panel-content"},B={key:0,class:"joints-list"},b={class:"joint-info-row"},I={class:"joint-left"},S={class:"joint-name"},C={class:"joint-range"},D={class:"joint-type"},P={key:0,class:"joint-control-row"},T={class:"slider-container"},U=["min","max","value","onInput"],A={class:"value-display"},R={class:"joint-value"},q={class:"unit"},O={key:1,class:"empty-state"},K=n.defineComponent({__name:"urdfJointPanel",props:{model:{}},setup(o,{expose:a}){const i=o,u=n.ref([]),c=n.ref(null),f=(r,e=!1)=>r==="revolute"?e?Math.PI:-Math.PI:r==="prismatic"?e?1:-1:0,h=r=>{if(!r||!r.joints)return console.warn("URDF模型无效或不包含关节信息"),[];const e=[];return E(r).forEach(l=>{var d,p;if(l.jointType==="fixed")return;let t={lower:((d=l.limit)==null?void 0:d.lower)??f(l.jointType,!1),upper:((p=l.limit)==null?void 0:p.upper)??f(l.jointType,!0)};l.jointType==="continuous"&&(t={lower:-10*Math.PI,upper:10*Math.PI}),e.push({name:l.name,type:l.jointType||"unknown",limit:t,currentValue:l.angle||0,urdfJoint:l})}),e},m=(r,e)=>{var d;const s=u.value.find(p=>p.name===r);if(!s)return;const l=parseFloat(e),t=Math.max(s.limit.lower,Math.min(s.limit.upper,l));s.currentValue=t,(d=i.model)!=null&&d.setJointValue?i.model.setJointValue(r,t):s.urdfJoint.setJointValue(t)},_=()=>{u.value.forEach(r=>{(r.type==="revolute"||r.type==="continuous"||r.type==="prismatic")&&m(r.name,0)})},g=()=>{i.model&&u.value.forEach(r=>{r.urdfJoint.angle!==void 0&&r.currentValue!==r.urdfJoint.angle&&(r.currentValue=r.urdfJoint.angle)})},v=()=>{const r=()=>{g(),c.value=requestAnimationFrame(r)};r()},y=()=>{c.value&&(cancelAnimationFrame(c.value),c.value=null)};return n.watch(()=>i.model,r=>{r?u.value=h(r):u.value=[]},{immediate:!0}),n.onMounted(()=>{v()}),n.onUnmounted(()=>{y()}),a({resetAllJoints:_}),(r,e)=>(n.openBlock(),n.createElementBlock("div",w,[u.value.length>0?(n.openBlock(),n.createElementBlock("div",B,[(n.openBlock(!0),n.createElementBlock(n.Fragment,null,n.renderList(u.value,s=>(n.openBlock(),n.createElementBlock("div",{key:s.name,class:"joint-item"},[n.createElementVNode("div",b,[n.createElementVNode("div",I,[n.createElementVNode("span",S,n.toDisplayString(s.name),1),n.createElementVNode("span",C," ["+n.toDisplayString(s.limit.lower.toFixed(2))+", "+n.toDisplayString(s.limit.upper.toFixed(2))+"] ",1)]),n.createElementVNode("span",D,n.toDisplayString(s.type),1)]),s.type==="revolute"||s.type==="prismatic"||s.type==="continuous"?(n.openBlock(),n.createElementBlock("div",P,[n.createElementVNode("div",T,[n.createElementVNode("input",{type:"range",min:s.limit.lower,max:s.limit.upper,step:"0.001",value:s.currentValue,onInput:l=>m(s.name,l.target.value),class:"joint-slider"},null,40,U)]),n.createElementVNode("div",A,[n.createElementVNode("span",R,n.toDisplayString(s.currentValue?Number(s.currentValue).toFixed(3):"0.000"),1),n.createElementVNode("span",q,n.toDisplayString(s.type==="prismatic"?"m":"rad"),1)])])):n.createCommentVNode("",!0)]))),128))])):(n.openBlock(),n.createElementBlock("div",O,e[0]||(e[0]=[n.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}}),$=x._export_sfc(K,[["__scopeId","data-v-750b831d"]]),H={class:"panel-content"},z="id",G={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:o=>["breadth","firstLevel"].includes(o)}},emits:["nodeClick"],setup(o,{emit:a}){const i=o,u=a,c=n.ref([]),f={children:"children",label:"label"},h=e=>{u("nodeClick",e)},m=(e,s=0)=>{const l=[];return Array.isArray(e)&&(e==null?void 0:e.length)>0&&e.forEach(t=>{if(!(t!=null&&t.isMesh)&&((t==null?void 0:t.type)==="URDFJoint"||(t==null?void 0:t.type)==="URDFLink")){const d={name:t==null?void 0:t.name,label:t==null?void 0:t.name,show:!0,level:s+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:m(t==null?void 0:t.children,s+1),path:t==null?void 0:t.name};l.push(d)}}),l},_=e=>e?[{name:e==null?void 0:e.name,label:e==null?void 0:e.name,show:!0,level:1,isPenultimate:!1,type:e==null?void 0:e.type,id:e==null?void 0:e.id,limit:(e==null?void 0:e.limit)??"",children:m(e==null?void 0:e.children,1)||[],path:e==null?void 0:e.name}]:[],g=(e,s)=>{const l=[],t=[...e];for(;t.length>0&&l.length<s;){const d=t.shift();d.children&&d.children.length>0&&(l.push(d.id),t.push(...d.children))}return l},v=(e,s)=>{const l=[];return e.forEach(t=>{if(t.children&&t.children.length>0){l.push(t.id);const d=t.children.filter(p=>p.children&&p.children.length>0).slice(0,s).map(p=>p.id);l.push(...d)}}),l.slice(0,s+1)},y=n.computed(()=>!c.value||c.value.length===0?[]:i.expandStrategy==="firstLevel"?v(c.value,i.maxExpandCount):g(c.value,i.maxExpandCount)),r=n.computed(()=>[{name:"场景",label:"场景",show:!0,level:1,isPenultimate:!1,type:"场景",id:"场景",children:i!=null&&i.model?_(i.model):[],path:"场景"}]);return n.watch(r,e=>{c.value=JSON.parse(JSON.stringify(e))},{immediate:!0}),(e,s)=>{const l=n.resolveComponent("el-tree");return n.openBlock(),n.createElementBlock("div",H,[n.createVNode(l,{data:c.value,props:f,"default-expanded-keys":y.value,"node-key":z,onNodeClick:h},null,8,["data","default-expanded-keys"])])}}},Q=x._export_sfc(G,[["__scopeId","data-v-cfde50c3"]]);exports.JointPanel=$;exports.UrdfTree=Q;exports.getAllLinkName=N;exports.getMeshFromJoint=V;exports.getMeshFromLink=L;exports.getNonFixedJoints=M;exports.getTargetJoint=J;
+"use strict";const n=require("vue"),k=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-RZydwY0l.cjs"),x=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),J=(o,a)=>{if(!a)return null;const i=o.joints[a];return i||null},V=(o,a)=>{if(!a)return null;const i=J(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},F=(o,a)=>{if(!a)return null;const i=o.links[a];return i||null},L=(o,a)=>{if(!a)return null;const i=F(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},E=o=>{const a=o.joints;return Object.values(a)},M=o=>E(o).filter(u=>u.jointType!=="fixed"),N=o=>{const a=o.links;return Object.keys(a)},w={class:"panel-content"},B={key:0,class:"joints-list"},b={class:"joint-info-row"},I={class:"joint-left"},S={class:"joint-name"},C={class:"joint-range"},D={class:"joint-type"},P={key:0,class:"joint-control-row"},T={class:"slider-container"},U=["min","max","value","onInput"],A={class:"value-display"},R={class:"joint-value"},q={class:"unit"},O={key:1,class:"empty-state"},K=n.defineComponent({__name:"urdfJointPanel",props:{model:{}},setup(o,{expose:a}){const i=o,u=n.ref([]),c=n.ref(null),f=(r,e=!1)=>r==="revolute"?e?Math.PI:-Math.PI:r==="prismatic"?e?1:-1:0,h=r=>{if(!r||!r.joints)return console.warn("URDF模型无效或不包含关节信息"),[];const e=[];return E(r).forEach(l=>{var d,p;if(l.jointType==="fixed")return;let t={lower:((d=l.limit)==null?void 0:d.lower)??f(l.jointType,!1),upper:((p=l.limit)==null?void 0:p.upper)??f(l.jointType,!0)};l.jointType==="continuous"&&(t={lower:-10*Math.PI,upper:10*Math.PI}),e.push({name:l.name,type:l.jointType||"unknown",limit:t,currentValue:l.angle||0,urdfJoint:l})}),e},m=(r,e)=>{var d;const s=u.value.find(p=>p.name===r);if(!s)return;const l=parseFloat(e),t=Math.max(s.limit.lower,Math.min(s.limit.upper,l));s.currentValue=t,(d=i.model)!=null&&d.setJointValue?i.model.setJointValue(r,t):s.urdfJoint.setJointValue(t)},_=()=>{u.value.forEach(r=>{(r.type==="revolute"||r.type==="continuous"||r.type==="prismatic")&&m(r.name,0)})},g=()=>{i.model&&u.value.forEach(r=>{r.urdfJoint.angle!==void 0&&r.currentValue!==r.urdfJoint.angle&&(r.currentValue=r.urdfJoint.angle)})},v=()=>{const r=()=>{g(),c.value=requestAnimationFrame(r)};r()},y=()=>{c.value&&(cancelAnimationFrame(c.value),c.value=null)};return n.watch(()=>i.model,r=>{r?u.value=h(r):u.value=[]},{immediate:!0}),n.onMounted(()=>{v()}),n.onUnmounted(()=>{y()}),a({resetAllJoints:_}),(r,e)=>(n.openBlock(),n.createElementBlock("div",w,[u.value.length>0?(n.openBlock(),n.createElementBlock("div",B,[(n.openBlock(!0),n.createElementBlock(n.Fragment,null,n.renderList(u.value,s=>(n.openBlock(),n.createElementBlock("div",{key:s.name,class:"joint-item"},[n.createElementVNode("div",b,[n.createElementVNode("div",I,[n.createElementVNode("span",S,n.toDisplayString(s.name),1),n.createElementVNode("span",C," ["+n.toDisplayString(s.limit.lower.toFixed(2))+", "+n.toDisplayString(s.limit.upper.toFixed(2))+"] ",1)]),n.createElementVNode("span",D,n.toDisplayString(s.type),1)]),s.type==="revolute"||s.type==="prismatic"||s.type==="continuous"?(n.openBlock(),n.createElementBlock("div",P,[n.createElementVNode("div",T,[n.createElementVNode("input",{type:"range",min:s.limit.lower,max:s.limit.upper,step:"0.001",value:s.currentValue,onInput:l=>m(s.name,l.target.value),class:"joint-slider"},null,40,U)]),n.createElementVNode("div",A,[n.createElementVNode("span",R,n.toDisplayString(s.currentValue?Number(s.currentValue).toFixed(3):"0.000"),1),n.createElementVNode("span",q,n.toDisplayString(s.type==="prismatic"?"m":"rad"),1)])])):n.createCommentVNode("",!0)]))),128))])):(n.openBlock(),n.createElementBlock("div",O,e[0]||(e[0]=[n.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}}),$=x._export_sfc(K,[["__scopeId","data-v-750b831d"]]),H={class:"panel-content"},z="id",G={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:o=>["breadth","firstLevel"].includes(o)}},emits:["nodeClick"],setup(o,{emit:a}){const i=o,u=a,c=n.ref([]),f={children:"children",label:"label"},h=e=>{u("nodeClick",e)},m=(e,s=0)=>{const l=[];return Array.isArray(e)&&(e==null?void 0:e.length)>0&&e.forEach(t=>{if(!(t!=null&&t.isMesh)&&((t==null?void 0:t.type)==="URDFJoint"||(t==null?void 0:t.type)==="URDFLink")){const d={name:t==null?void 0:t.name,label:t==null?void 0:t.name,show:!0,level:s+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:m(t==null?void 0:t.children,s+1),path:t==null?void 0:t.name};l.push(d)}}),l},_=e=>e?[{name:e==null?void 0:e.name,label:e==null?void 0:e.name,show:!0,level:1,isPenultimate:!1,type:e==null?void 0:e.type,id:e==null?void 0:e.id,limit:(e==null?void 0:e.limit)??"",children:m(e==null?void 0:e.children,1)||[],path:e==null?void 0:e.name}]:[],g=(e,s)=>{const l=[],t=[...e];for(;t.length>0&&l.length<s;){const d=t.shift();d.children&&d.children.length>0&&(l.push(d.id),t.push(...d.children))}return l},v=(e,s)=>{const l=[];return e.forEach(t=>{if(t.children&&t.children.length>0){l.push(t.id);const d=t.children.filter(p=>p.children&&p.children.length>0).slice(0,s).map(p=>p.id);l.push(...d)}}),l.slice(0,s+1)},y=n.computed(()=>!c.value||c.value.length===0?[]:i.expandStrategy==="firstLevel"?v(c.value,i.maxExpandCount):g(c.value,i.maxExpandCount)),r=n.computed(()=>[{name:"场景",label:"场景",show:!0,level:1,isPenultimate:!1,type:"场景",id:"场景",children:i!=null&&i.model?_(i.model):[],path:"场景"}]);return n.watch(r,e=>{c.value=JSON.parse(JSON.stringify(e))},{immediate:!0}),(e,s)=>{const l=n.resolveComponent("el-tree");return n.openBlock(),n.createElementBlock("div",H,[n.createVNode(l,{data:c.value,props:f,"default-expanded-keys":y.value,"node-key":z,onNodeClick:h},null,8,["data","default-expanded-keys"])])}}},Q=x._export_sfc(G,[["__scopeId","data-v-cfde50c3"]]);exports.JointPanel=$;exports.UrdfTree=Q;exports.getAllLinkName=N;exports.getMeshFromJoint=V;exports.getMeshFromLink=L;exports.getNonFixedJoints=M;exports.getTargetJoint=J;

package/dist/{workpieceTreePanel-BXdDwos2.cjs → workpieceTreePanel-CA1W7zBB.cjs}

@@ -1 +1 @@
-"use strict";var ee=Object.defineProperty;var te=(b,i,o)=>i in b?ee(b,i,{enumerable:!0,configurable:!0,writable:!0,value:o}):b[i]=o;var C=(b,i,o)=>te(b,typeof i!="symbol"?i+"":i,o);const oe=require("./URDFLoader-CMLpHJvm.cjs"),S=require("./MTLLoader-CnPy8SIM.cjs"),N=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-pgm7LZ2p.cjs"),e=require("vue"),D=require("./iconfont-DapI438c.cjs"),se=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),le="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function re(b){const{mtlUrl:i,manager:o,resourcePath:l,onLoad:m,onProgress:r,onError:_}=b,p=new S.MTLLoader(o);return l&&p.setResourcePath(l),p.load(i,m,r,_),p}function ie(b){const{objUrl:i,manager:o,materials:l,onLoad:m,onProgress:r,onError:_}=b,p=new S.OBJLoader(o);return l&&p.setMaterials(l),p.load(i,m,r,_),p}function ne(b){const{manager:i,baseFolderUrl:o,onFileProgress:l}=b,m=new oe.URDFLoader(i);return m.packages=r=>`${o.endsWith("/")?o:o+"/"}${r}/`,m.loadMeshCb=(r,_,p)=>{const g=(()=>{const h=r.split("?")[0].split("#")[0],c=h.lastIndexOf(".");return c>=0?h.slice(c+1).toLowerCase():void 0})();switch(g){case"obj":{const h=(()=>{try{return new URL(".",r).toString()}catch{const a=r.lastIndexOf("/");return a>=0?r.slice(0,a+1):r}})(),c=(()=>{var d;return(((d=r.split("/").pop())==null?void 0:d.split("?")[0].split("#")[0])??"").replace(/\.[^/.?#]+$/,"")})(),f=`${h}${c}.mtl`,V=a=>{ie({objUrl:r,manager:_,materials:a,onLoad:d=>p(d),onProgress:d=>l==null?void 0:l(r,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: ${r}`,d),p(new N.Group)}})};re({mtlUrl:f,manager:_,resourcePath:h,onLoad:a=>{try{a.preload()}catch{}V(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。`),V(void 0)}});break}case"stl":{new S.STLLoader(_).load(r,c=>{const f=new N.MeshPhongMaterial({color:12303291,shininess:30}),V=new N.Mesh(c,f);V.castShadow=!0,V.receiveShadow=!0,p(V)},c=>l==null?void 0:l(r,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: ${r}`,c),p(new N.Group)});break}default:console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${g} (路径: ${r})`),p(new N.Group)}},m}function ae(b,i,o,l){return{loadSceneFromFile:r=>new Promise((_,p)=>{o.value=!0,l.value="正在初始化 URDF 加载器...";let g=0,h=0,c=null;const f=new N.LoadingManager;f.onStart=(a,d,E)=>{g=E||0,h=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,E)=>{h=d,g=E;const R=`正在加载 ${d} / ${E} 个文件: ${N.getFilenameFromUrl(a)}`;l.value=R,d===E&&(l.value="资源加载完成，正在处理模型...",setTimeout(()=>{if(c){c.updateMatrixWorld(!0);const v=new N.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)}),_(c)}else p(new Error("URDF 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c(v){r.value&&r.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),r.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,_.setFromCamera(p,m);const t=_.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,w=null;for(;s;){if(g.has(s.id)){w=g.get(s.id);break}s=s.parent}w&&c(w)}function V(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=i();m=u,h(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){r.value&&(r.value.obj.visible=v)}function E(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=r.value)==null?void 0:s.obj,u,t)}function R(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=r.value)==null?void 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this.movableJoints.forEach(o=>{i[o.name]=o.angle||0}),i}resetToZero(){this.movableJoints.forEach(i=>{i.setJointValue(0)})}getJointLimits(i){const o=this.robot.joints[i];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(i,o=1e3,l){const m=this.getCurrentJointStates(),r=Date.now();return new Promise(_=>{const p=()=>{const g=Date.now()-r,h=Math.min(g/o,1),c=this.easeInOutCubic(h),f={};Object.keys(i).forEach(V=>{const a=m[V]||0,d=i[V];f[V]=a+(d-a)*c}),this.setJointAngles(f),l&&l(h),h<1?requestAnimationFrame(p):_()};p()})}easeInOutCubic(i){return i<.5?4*i*i*i:1-Math.pow(-2*i+2,3)/2}async playSequence(i,o=1e3,l){for(let m=0;m<i.length;m++)await this.animateToState(i[m],o,r=>{l&&l(m,r)})}}const 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y={name:n==null?void 0:n.name,label:(n==null?void 0:n.name)||(n==null?void 0:n.type),show:!0,level:s+1,isPenultimate:!1,type:n==null?void 0:n.type,id:n==null?void 0:n.id,limit:(n==null?void 0:n.limit)??"",children:_(n==null?void 0:n.children,s+1),path:n==null?void 0:n.name};w.push(y)}}),w},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:_(t==null?void 0:t.children,1),path:t==null?void 0:t.name}]:[],g=(t,s)=>{const w=[],n=[...t];for(;n.length>0&&w.length<s;){const y=n.shift();y.children&&y.children.length>0&&(w.push(y.id),n.push(...y.children))}return w},h=(t,s)=>{const w=[];return t.forEach(n=>{if(n.children&&n.children.length>0){w.push(n.id);const 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e.watch(()=>o.model,()=>{o.model&&(r.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(E,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var j,U,F,$,M,x,J,O,k,T,P,z,B,A,q,I,W,G,X,Y,Z,K,H,Q;const w=e.resolveComponent("el-divider"),n=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",ue,[e.createVNode(w,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",me,[o.model?(e.openBlock(),e.createElementBlock("div",pe,[e.createElementVNode("div",{class:"obj-name",title:R.value},e.toDisplayString(R.value),9,ve),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,fe)])):(e.openBlock(),e.createElementBlock("div",be,"空")),e.createVNode(n,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(w,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",we,[e.createElementVNode("div",_e,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((U=(j=r.value)==null?void 0:j.position)==null?void 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0:q.worldPosition)==null?void 0:I.y))+", ",1),e.createElementVNode("div",Se,e.toDisplayString(c((G=(W=r.value)==null?void 0:W.worldPosition)==null?void 0:G.z)),1)])]),e.createElementVNode("div",Ue,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Fe,[e.createElementVNode("div",$e,e.toDisplayString(f((Y=(X=r.value)==null?void 0:X.worldRotation)==null?void 0:Y.x))+"°, ",1),e.createElementVNode("div",Me,e.toDisplayString(f((K=(Z=r.value)==null?void 0:Z.worldRotation)==null?void 0:K.y))+"°, ",1),e.createElementVNode("div",xe,e.toDisplayString(f((Q=(H=r.value)==null?void 0:H.worldRotation)==null?void 0:Q.z))+"° ",1)])])])])}}}),Oe=se._export_sfc(Je,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=de;exports.WorkpieceTreePanel=Oe;exports.useRaycaster=ce;exports.useUrdfLoader=ae;
+"use strict";var ee=Object.defineProperty;var te=(b,i,o)=>i in b?ee(b,i,{enumerable:!0,configurable:!0,writable:!0,value:o}):b[i]=o;var C=(b,i,o)=>te(b,typeof i!="symbol"?i+"":i,o);const oe=require("./URDFLoader-DykmnnHW.cjs"),S=require("./MTLLoader-DcCqSeA-.cjs"),N=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-RZydwY0l.cjs"),e=require("vue"),D=require("./iconfont-DX6dC3Hu.cjs"),se=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),le="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function re(b){const{mtlUrl:i,manager:o,resourcePath:l,onLoad:m,onProgress:r,onError:_}=b,p=new S.MTLLoader(o);return l&&p.setResourcePath(l),p.load(i,m,r,_),p}function ie(b){const{objUrl:i,manager:o,materials:l,onLoad:m,onProgress:r,onError:_}=b,p=new S.OBJLoader(o);return l&&p.setMaterials(l),p.load(i,m,r,_),p}function ne(b){const{manager:i,baseFolderUrl:o,onFileProgress:l}=b,m=new oe.URDFLoader(i);return 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c(v){r.value&&r.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),r.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,_.setFromCamera(p,m);const t=_.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,w=null;for(;s;){if(g.has(s.id)){w=g.get(s.id);break}s=s.parent}w&&c(w)}function V(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=i();m=u,h(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){r.value&&(r.value.obj.visible=v)}function E(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=r.value)==null?void 0:s.obj,u,t)}function R(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=r.value)==null?void 0:s.obj,u,t)}return{initRaycaster:a,dispose:V,selectedObject3D:r,setSelectedObjVisible:d,updatePosition:E,updateRotation:R}}class de{constructor(i){C(this,"robot");C(this,"movableJoints");this.robot=i,this.movableJoints=this.getMovableJoints()}getMovableJoints(){return Object.values(this.robot.joints).filter(i=>i.jointType!=="fixed")}getMovableJointNames(){return this.movableJoints.map(i=>i.name)}setJointAngle(i,o){const l=this.robot.joints[i];if(!l||l.jointType==="fixed")return console.warn(`关节 ${i} 不存在或不可动`),!1;if(l.limit){const m=Math.max(l.limit.lower,Math.min(l.limit.upper,o));m!==o&&console.warn(`关节 ${i} 角度被限制在 [${l.limit.lower}, ${l.limit.upper}]`),l.setJointValue(m)}else l.setJointValue(o);return!0}setJointAngles(i){Object.entries(i).forEach(([o,l])=>{typeof l=="number"&&!isNaN(l)&&this.setJointAngle(o,l)})}getCurrentJointStates(){const i={};return this.movableJoints.forEach(o=>{i[o.name]=o.angle||0}),i}resetToZero(){this.movableJoints.forEach(i=>{i.setJointValue(0)})}getJointLimits(i){const o=this.robot.joints[i];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(i,o=1e3,l){const m=this.getCurrentJointStates(),r=Date.now();return new Promise(_=>{const p=()=>{const g=Date.now()-r,h=Math.min(g/o,1),c=this.easeInOutCubic(h),f={};Object.keys(i).forEach(V=>{const a=m[V]||0,d=i[V];f[V]=a+(d-a)*c}),this.setJointAngles(f),l&&l(h),h<1?requestAnimationFrame(p):_()};p()})}easeInOutCubic(i){return i<.5?4*i*i*i:1-Math.pow(-2*i+2,3)/2}async playSequence(i,o=1e3,l){for(let m=0;m<i.length;m++)await this.animateToState(i[m],o,r=>{l&&l(m,r)})}}const ue={class:"panel-content"},me={class:"obj"},pe={key:0,class:"obj-base"},ve=["title"],fe=["title"],be={key:1},we={class:"obj-position"},_e={class:"coord-item"},he={class:"coord-item"},Ve={class:"coord-item"},Ee={class:"obj-rotation"},ge={class:"coord-item"},ye={class:"coord-item"},Ne={class:"coord-item"},Le={class:"world"},Re={class:"coord-line"},je={class:"coord-text"},Ce={class:"world-position-item"},De={class:"world-position-item"},Se={class:"world-position-item"},Ue={class:"coord-line"},Fe={class:"coord-text"},$e={class:"world-rotation-item"},Me={class:"world-rotation-item"},xe={class:"world-rotation-item"},Je=e.defineComponent({__name:"workpieceTreePanel",props:{model:{},maxExpandCount:{default:10},expandStrategy:{default:"breadth"}},emits:["nodeClick","visibleChange","updatePosition","updateRotation"],setup(b,{emit:i}){const o=b,l=i,m=e.ref([]),r=e.ref({}),_=(t,s=0)=>{const w=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(n=>{if(!(n!=null&&n.isMesh)){const y={name:n==null?void 0:n.name,label:(n==null?void 0:n.name)||(n==null?void 0:n.type),show:!0,level:s+1,isPenultimate:!1,type:n==null?void 0:n.type,id:n==null?void 0:n.id,limit:(n==null?void 0:n.limit)??"",children:_(n==null?void 0:n.children,s+1),path:n==null?void 0:n.name};w.push(y)}}),w},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:_(t==null?void 0:t.children,1),path:t==null?void 0:t.name}]:[],g=(t,s)=>{const w=[],n=[...t];for(;n.length>0&&w.length<s;){const y=n.shift();y.children&&y.children.length>0&&(w.push(y.id),n.push(...y.children))}return w},h=(t,s)=>{const w=[];return t.forEach(n=>{if(n.children&&n.children.length>0){w.push(n.id);const y=n.children.filter(j=>j.children&&j.children.length>0).slice(0,s).map(j=>j.id);w.push(...y)}}),w.slice(0,s+1)};e.computed(()=>!m.value||m.value.length===0?[]:o.expandStrategy==="firstLevel"?h(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,V=(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)},E=e.computed(()=>o!=null&&o.model?p(o.model):[]),R=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&&(r.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(E,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var j,U,F,$,M,x,J,O,k,T,P,z,B,A,q,I,W,G,X,Y,Z,K,H,Q;const w=e.resolveComponent("el-divider"),n=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",ue,[e.createVNode(w,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",me,[o.model?(e.openBlock(),e.createElementBlock("div",pe,[e.createElementVNode("div",{class:"obj-name",title:R.value},e.toDisplayString(R.value),9,ve),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,fe)])):(e.openBlock(),e.createElementBlock("div",be,"空")),e.createVNode(n,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(w,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",we,[e.createElementVNode("div",_e,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((U=(j=r.value)==null?void 0:j.position)==null?void 0:U.x),onChange:s[0]||(s[0]=L=>V(L,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",he,[s[9]||(s[9]=e.createElementVNode("span",{class:"axis-label"},"Y",-1)),e.createVNode(y,{"model-value":c(($=(F=r.value)==null?void 0:F.position)==null?void 0:$.y),onChange:s[1]||(s[1]=L=>V(L,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Ve,[s[10]||(s[10]=e.createElementVNode("span",{class:"axis-label"},"Z",-1)),e.createVNode(y,{"model-value":c((x=(M=r.value)==null?void 0:M.position)==null?void 0:x.z),onChange:s[2]||(s[2]=L=>V(L,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(w,null,{default:e.withCtx(()=>s[11]||(s[11]=[e.createTextVNode("相对旋转")])),_:1,__:[11]}),e.createElementVNode("div",Ee,[e.createElementVNode("div",ge,[s[12]||(s[12]=e.createElementVNode("span",{class:"axis-label"},"X°",-1)),e.createVNode(y,{"model-value":f((O=(J=r.value)==null?void 0:J.rotation)==null?void 0:O.x),onChange:s[3]||(s[3]=L=>a(L,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ye,[s[13]||(s[13]=e.createElementVNode("span",{class:"axis-label"},"Y°",-1)),e.createVNode(y,{"model-value":f((T=(k=r.value)==null?void 0:k.rotation)==null?void 0:T.y),onChange:s[4]||(s[4]=L=>a(L,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Ne,[s[14]||(s[14]=e.createElementVNode("span",{class:"axis-label"},"Z°",-1)),e.createVNode(y,{"model-value":f((z=(P=r.value)==null?void 0:P.rotation)==null?void 0:z.z),onChange:s[5]||(s[5]=L=>a(L,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(w,null,{default:e.withCtx(()=>s[15]||(s[15]=[e.createTextVNode("世界信息")])),_:1,__:[15]}),e.createElementVNode("div",Le,[e.createElementVNode("div",Re,[s[16]||(s[16]=e.createElementVNode("span",{class:"coord-label"},"世界位置:",-1)),e.createElementVNode("span",je,[e.createElementVNode("div",Ce,e.toDisplayString(c((A=(B=r.value)==null?void 0:B.worldPosition)==null?void 0:A.x))+", ",1),e.createElementVNode("div",De,e.toDisplayString(c((I=(q=r.value)==null?void 0:q.worldPosition)==null?void 0:I.y))+", ",1),e.createElementVNode("div",Se,e.toDisplayString(c((G=(W=r.value)==null?void 0:W.worldPosition)==null?void 0:G.z)),1)])]),e.createElementVNode("div",Ue,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Fe,[e.createElementVNode("div",$e,e.toDisplayString(f((Y=(X=r.value)==null?void 0:X.worldRotation)==null?void 0:Y.x))+"°, ",1),e.createElementVNode("div",Me,e.toDisplayString(f((K=(Z=r.value)==null?void 0:Z.worldRotation)==null?void 0:K.y))+"°, ",1),e.createElementVNode("div",xe,e.toDisplayString(f((Q=(H=r.value)==null?void 0:H.worldRotation)==null?void 0:Q.z))+"° ",1)])])])])}}}),Oe=se._export_sfc(Je,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=de;exports.WorkpieceTreePanel=Oe;exports.useRaycaster=ce;exports.useUrdfLoader=ae;

package/dist/{workpieceTreePanel-GI4Y-wNL.js → workpieceTreePanel-Ctwrp39y.js}

@@ -1,11 +1,11 @@
 var ce = Object.defineProperty;
 var de = (b, l, t) => l in b ? ce(b, l, { enumerable: !0, configurable: !0, writable: !0, value: t }) : b[l] = t;
 var J = (b, l, t) => de(b, typeof l != "symbol" ? l + "" : l, t);
-import { U as me } from "./URDFLoader-B-_NDbTy.js";
-import { S as ve, M as pe, O as fe } from "./MTLLoader-BDMG6YfL.js";
-import { bU as be, bV as re, aG as O, ad as we, a8 as he, bW as E, X as _e, bX as ge, b7 as je, W as ye } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Jb-pxYCE.js";
+import { U as me } from "./URDFLoader-o5u_BjJ_.js";
+import { S as ve, M as pe, O as fe } from "./MTLLoader-DHOpgWoh.js";
+import { bU as be, bV as re, aG as O, ad as we, a8 as he, bW as E, X as _e, bX as ge, b7 as je, W as ye } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-6Ap42_Dn.js";
 import { ref as T, defineComponent as Le, computed as M, watch as ue, resolveComponent as x, createElementBlock as k, openBlock as V, createVNode as U, createElementVNode as c, withCtx as F, createTextVNode as D, toDisplayString as C } from "vue";
-import { c as Re, e as Ue, g as $e } from "./iconfont-Dh5vye0Q.js";
+import { c as Re, e as Ue, g as $e } from "./iconfont-CDf_oBPo.js";
 import { _ as Ce } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const Se = "http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";
 function Me(b) {

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "ss-component-new",
   "private": false,
-  "version": "1.2.78",
+  "version": "1.2.79",
   "type": "module",
   "files": [
     "dist",