ss-component-new 1.2.97 → 1.2.99

package/dist/{workpieceTreePanel-BdRaFNRp.js → workpieceTreePanel-C1gy5a8r.js}

@@ -1,20 +1,21 @@
 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-BH0DRFVE.js";
-import { S as ve, M as pe, O as fe } from "./MTLLoader-DnouUI-8.js";
-import { f as re, h as F } from "./threeViewerHost-BVeUteVd.js";
-import { a_ 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-3GcG1eTD.js";
-import { ref as T, defineComponent as je, computed as M, watch as ue, resolveComponent as x, createElementBlock as k, openBlock as P, createVNode as S, createElementVNode as c, withCtx as O, createTextVNode as D, toDisplayString as $ } from "vue";
-import { c as Re, e as Se, g as Ue } from "./iconfont-WOKNi2xx.js";
-import { _ as $e } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-const Ce = "http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";
-function Me(b) {
-  const { mtlUrl: l, manager: o, resourcePath: s, onLoad: m, onProgress: i, onError: h } = b, v = new pe(o);
+import { U as me } from "./index.vue_vue_type_style_index_1_lang-B_HCEX9y.js";
+import { O as ve } from "./OBJLoader-Dilcv9TL.js";
+import { S as pe, M as fe } from "./MTLLoader-B4z0XNO-.js";
+import { f as re, h as F } from "./threeViewerHost-C9ipsMff.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-CICG8Qah.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-CUWS5tNH.js";
+import { _ as Ce } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+const Me = "http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";
+function Oe(b) {
+  const { mtlUrl: l, manager: o, resourcePath: s, onLoad: m, onProgress: i, onError: h } = b, v = new fe(o);
   return s && v.setResourcePath(s), v.load(l, m, i, h), v;
 }
-function Oe(b) {
-  const { objUrl: l, manager: o, materials: s, onLoad: m, onProgress: i, onError: h } = b, v = new fe(o);
+function $e(b) {
+  const { objUrl: l, manager: o, materials: s, onLoad: m, onProgress: i, onError: h } = b, v = new ve(o);
   return s && v.setMaterials(s), v.load(l, m, i, h), v;
 }
 function De(b) {
@@ -38,7 +39,7 @@ function De(b) {
           var u;
           return (((u = i.split("/").pop()) == null ? void 0 : u.split("?")[0].split("#")[0]) ?? "").replace(/\.[^/.?#]+$/, "");
         })(), f = `${_}${r}.mtl`, g = (n) => {
-          Oe({
+          $e({
             objUrl: i,
             manager: h,
             materials: n,
@@ -49,7 +50,7 @@ function De(b) {
             }
           });
         };
-        Me({
+        Oe({
           mtlUrl: f,
           manager: h,
           resourcePath: _,
@@ -68,7 +69,7 @@ function De(b) {
         break;
       }
       case "stl": {
-        new ve(h).load(
+        new pe(h).load(
           i,
           (r) => {
             const f = new we({ color: 12303291, shininess: 30 }), g = new he(r, f);
@@ -86,7 +87,7 @@ function De(b) {
     }
   }, m;
 }
-function vo(b, l, o, s) {
+function po(b, l, o, s) {
   return { loadSceneFromFile: (i) => new Promise((h, v) => {
     o.value = !0, s.value = "正在初始化 URDF 加载器...";
     let L = 0, _ = 0, r = null;
@@ -121,7 +122,7 @@ function vo(b, l, o, s) {
       const n = URL.createObjectURL(i);
       De({
         manager: f,
-        baseFolderUrl: Ce,
+        baseFolderUrl: Me,
         onFileProgress: g
       }).load(
         n,
@@ -138,7 +139,7 @@ function vo(b, l, o, s) {
     }
   }) };
 }
-function po(b, l, o, s = ["URDFVisual"]) {
+function fo(b, l, o, s = ["URDFVisual"]) {
   let m = null;
   const i = T(null), h = new ge(), v = new ye(), L = /* @__PURE__ */ new Map();
   function _() {
@@ -206,14 +207,14 @@ function po(b, l, o, s = ["URDFVisual"]) {
     updateRotation: U
   };
 }
-const fo = {
+const bo = {
   SINGLE: "单机",
   DOUBLE: "双机"
-}, bo = {
+}, wo = {
   ROBOT: 1,
   PIPECOMPARSION: 2
 };
-class wo {
+class ho {
   constructor(l) {
     E(this, "robot");
     E(this, "movableJoints");
@@ -315,7 +316,7 @@ class wo {
 const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
   key: 0,
   class: "obj-base"
-}, xe = ["title"], ke = ["title"], Pe = { key: 1 }, Te = { class: "obj-position" }, Ve = { class: "coord-item" }, ze = { class: "coord-item" }, Ie = { class: "coord-item" }, Ae = { class: "obj-rotation" }, Be = { class: "coord-item" }, Ne = { class: "coord-item" }, We = { class: "coord-item" }, Ye = { class: "world" }, qe = { class: "coord-line" }, Xe = { class: "coord-text" }, Ze = { class: "world-position-item" }, Ge = { class: "world-position-item" }, Ke = { class: "world-position-item" }, He = { class: "coord-line" }, Qe = { class: "coord-text" }, eo = { class: "world-rotation-item" }, oo = { class: "world-rotation-item" }, to = { class: "world-rotation-item" }, so = /* @__PURE__ */ je({
+}, xe = ["title"], ke = ["title"], Pe = { key: 1 }, Te = { class: "obj-position" }, Ve = { class: "coord-item" }, ze = { class: "coord-item" }, Ie = { class: "coord-item" }, Ae = { class: "obj-rotation" }, Be = { class: "coord-item" }, Ne = { class: "coord-item" }, We = { class: "coord-item" }, Ye = { class: "world" }, Ze = { class: "coord-line" }, qe = { class: "coord-text" }, Xe = { class: "world-position-item" }, Ge = { class: "world-position-item" }, Ke = { class: "world-position-item" }, He = { class: "coord-line" }, Qe = { class: "coord-text" }, eo = { class: "world-rotation-item" }, oo = { class: "world-rotation-item" }, to = { class: "world-rotation-item" }, so = /* @__PURE__ */ je({
   __name: "workpieceTreePanel",
   props: {
     model: {},
@@ -366,12 +367,12 @@ const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
       return e.forEach((a) => {
         if (a.children && a.children.length > 0) {
           w.push(a.id);
-          const j = a.children.filter((C) => C.children && C.children.length > 0).slice(0, t).map((C) => C.id);
+          const j = a.children.filter((M) => M.children && M.children.length > 0).slice(0, t).map((M) => M.id);
           w.push(...j);
         }
       }), w.slice(0, t + 1);
     };
-    M(() => !m.value || m.value.length === 0 ? [] : o.expandStrategy === "firstLevel" ? _(m.value, o.maxExpandCount) : L(m.value, o.maxExpandCount));
+    O(() => !m.value || m.value.length === 0 ? [] : o.expandStrategy === "firstLevel" ? _(m.value, o.maxExpandCount) : L(m.value, o.maxExpandCount));
     const r = (e) => e ? parseFloat(e.toFixed(3)) : 0, f = (e) => e ? parseFloat(e.toFixed(1)) : 0, g = (e, t) => {
       s("updatePosition", {
         obj: o.model,
@@ -386,13 +387,13 @@ const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
       });
     }, u = (e) => {
       s("visibleChange", e);
-    }, y = M(() => o != null && o.model ? v(o.model) : []), U = M(() => {
+    }, y = O(() => o != null && o.model ? v(o.model) : []), U = O(() => {
       var e, t;
       return ((e = o == null ? void 0 : o.model) == null ? void 0 : e.name) || ((t = o == null ? void 0 : o.model) == null ? void 0 : t.type);
-    }), p = M(() => {
+    }), p = O(() => {
       var e;
       return (e = o == null ? void 0 : o.model) == null ? void 0 : e.type;
-    }), d = M(() => {
+    }), d = O(() => {
       var e;
       return (e = o == null ? void 0 : o.model) == null ? void 0 : e.visible;
     });
@@ -408,11 +409,11 @@ const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
       },
       { immediate: !0 }
     ), (e, t) => {
-      var C, V, z, I, A, B, N, W, Y, q, X, Z, G, K, H, Q, ee, oe, te, se, ie, le, ae, ne;
+      var M, V, z, I, A, B, N, W, Y, Z, q, X, G, K, H, Q, ee, oe, te, se, ie, le, ae, ne;
       const w = x("el-divider"), a = x("el-switch"), j = x("el-input-number");
       return P(), k("div", Ee, [
         S(w, null, {
-          default: O(() => t[6] || (t[6] = [
+          default: $(() => t[6] || (t[6] = [
             D("对象")
           ])),
           _: 1,
@@ -423,11 +424,11 @@ const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
             c("div", {
               class: "obj-name",
               title: U.value
-            }, $(U.value), 9, xe),
+            }, C(U.value), 9, xe),
             c("div", {
               class: "obj-type",
               title: p.value
-            }, "[" + $(p.value) + "]", 9, ke)
+            }, "[" + C(p.value) + "]", 9, ke)
           ])) : (P(), k("div", Pe, "空")),
           S(a, {
             "model-value": d.value,
@@ -435,7 +436,7 @@ const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
           }, null, 8, ["model-value"])
         ]),
         S(w, null, {
-          default: O(() => t[7] || (t[7] = [
+          default: $(() => t[7] || (t[7] = [
             D("相对位置")
           ])),
           _: 1,
@@ -445,7 +446,7 @@ const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
           c("div", Ve, [
             t[8] || (t[8] = c("span", { class: "axis-label" }, "X", -1)),
             S(j, {
-              "model-value": r((V = (C = i.value) == null ? void 0 : C.position) == null ? void 0 : V.x),
+              "model-value": r((V = (M = i.value) == null ? void 0 : M.position) == null ? void 0 : V.x),
               onChange: t[0] || (t[0] = (R) => g(R, "x")),
               size: "small",
               class: "coord-input-compact",
@@ -483,7 +484,7 @@ const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
           ])
         ]),
         S(w, null, {
-          default: O(() => t[11] || (t[11] = [
+          default: $(() => t[11] || (t[11] = [
             D("相对旋转")
           ])),
           _: 1,
@@ -506,7 +507,7 @@ const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
           c("div", Ne, [
             t[13] || (t[13] = c("span", { class: "axis-label" }, "Y°", -1)),
             S(j, {
-              "model-value": f((q = (Y = i.value) == null ? void 0 : Y.rotation) == null ? void 0 : q.y),
+              "model-value": f((Z = (Y = i.value) == null ? void 0 : Y.rotation) == null ? void 0 : Z.y),
               onChange: t[4] || (t[4] = (R) => n(R, "y")),
               size: "small",
               class: "coord-input-compact",
@@ -519,7 +520,7 @@ const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
           c("div", We, [
             t[14] || (t[14] = c("span", { class: "axis-label" }, "Z°", -1)),
             S(j, {
-              "model-value": f((Z = (X = i.value) == null ? void 0 : X.rotation) == null ? void 0 : Z.z),
+              "model-value": f((X = (q = i.value) == null ? void 0 : q.rotation) == null ? void 0 : X.z),
               onChange: t[5] || (t[5] = (R) => n(R, "z")),
               size: "small",
               class: "coord-input-compact",
@@ -531,39 +532,39 @@ const Ee = { class: "panel-content" }, Fe = { class: "obj" }, Je = {
           ])
         ]),
         S(w, null, {
-          default: O(() => t[15] || (t[15] = [
+          default: $(() => t[15] || (t[15] = [
             D("世界信息")
           ])),
           _: 1,
           __: [15]
         }),
         c("div", Ye, [
-          c("div", qe, [
+          c("div", Ze, [
             t[16] || (t[16] = c("span", { class: "coord-label" }, "世界位置:", -1)),
-            c("span", Xe, [
-              c("div", Ze, $(r((K = (G = i.value) == null ? void 0 : G.worldPosition) == null ? void 0 : K.x)) + ", ", 1),
-              c("div", Ge, $(r((Q = (H = i.value) == null ? void 0 : H.worldPosition) == null ? void 0 : Q.y)) + ", ", 1),
-              c("div", Ke, $(r((oe = (ee = i.value) == null ? void 0 : ee.worldPosition) == null ? void 0 : oe.z)), 1)
+            c("span", qe, [
+              c("div", Xe, C(r((K = (G = i.value) == null ? void 0 : G.worldPosition) == null ? void 0 : K.x)) + ", ", 1),
+              c("div", Ge, C(r((Q = (H = i.value) == null ? void 0 : H.worldPosition) == null ? void 0 : Q.y)) + ", ", 1),
+              c("div", Ke, C(r((oe = (ee = i.value) == null ? void 0 : ee.worldPosition) == null ? void 0 : oe.z)), 1)
             ])
           ]),
           c("div", He, [
             t[17] || (t[17] = c("span", { class: "coord-label" }, "世界旋转:", -1)),
             c("span", Qe, [
-              c("div", eo, $(f((se = (te = i.value) == null ? void 0 : te.worldRotation) == null ? void 0 : se.x)) + "°, ", 1),
-              c("div", oo, $(f((le = (ie = i.value) == null ? void 0 : ie.worldRotation) == null ? void 0 : le.y)) + "°, ", 1),
-              c("div", to, $(f((ne = (ae = i.value) == null ? void 0 : ae.worldRotation) == null ? void 0 : ne.z)) + "° ", 1)
+              c("div", eo, C(f((se = (te = i.value) == null ? void 0 : te.worldRotation) == null ? void 0 : se.x)) + "°, ", 1),
+              c("div", oo, C(f((le = (ie = i.value) == null ? void 0 : ie.worldRotation) == null ? void 0 : le.y)) + "°, ", 1),
+              c("div", to, C(f((ne = (ae = i.value) == null ? void 0 : ae.worldRotation) == null ? void 0 : ne.z)) + "° ", 1)
             ])
           ])
         ])
       ]);
     };
   }
-}), ho = /* @__PURE__ */ $e(so, [["__scopeId", "data-v-00d48931"]]);
+}), _o = /* @__PURE__ */ Ce(so, [["__scopeId", "data-v-00d48931"]]);
 export {
-  wo as U,
-  ho as W,
-  vo as a,
-  fo as r,
-  bo as s,
-  po as u
+  ho as U,
+  _o as W,
+  po as a,
+  bo as r,
+  wo as s,
+  fo as u
 };

package/dist/workpieceTreePanel-Ded0Gqke.cjs

@@ -0,0 +1 @@
+"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-rTLLuvuo.cjs"),le=require("./OBJLoader-C_JaUegI.cjs"),ee=require("./MTLLoader-n_3HPhif.cjs"),C=require("./threeViewerHost-CW6JmOUJ.cjs"),R=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-K6lh7Rrj.cjs"),e=require("vue"),D=require("./iconfont-B1cUqs_N.cjs"),re=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),ne="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function ie(b){const{mtlUrl:n,manager:o,resourcePath:l,onLoad:m,onProgress:r,onError:w}=b,p=new ee.MTLLoader(o);return l&&p.setResourcePath(l),p.load(n,m,r,w),p}function ae(b){const{objUrl:n,manager:o,materials:l,onLoad:m,onProgress:r,onError:w}=b,p=new le.OBJLoader(o);return l&&p.setMaterials(l),p.load(n,m,r,w),p}function ce(b){const{manager:n,baseFolderUrl:o,onFileProgress:l}=b,m=new se.URDFLoader(n);return m.packages=r=>`${o.endsWith("/")?o:o+"/"}${r}/`,m.loadMeshCb=(r,w,p)=>{const g=(()=>{const E=r.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(".",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(/\.[^/.?#]+$/,"")})(),f=`${E}${c}.mtl`,h=a=>{ae({objUrl:r,manager:w,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 R.Group)}})};ie({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 ee.STLLoader(w).load(r,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(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: ${r}`,c),p(new R.Group)});break}default:console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${g} (路径: ${r})`),p(new R.Group)}},m}function de(b,n,o,l){return{loadSceneFromFile:r=>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: ${v}`};try{const a=URL.createObjectURL(r);ce({manager:f,baseFolderUrl:ne,onFileProgress:h}).load(a,V=>{c=V},void 0,V=>{console.error(`加载 URDF 文件 (${r.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: ${r.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 ue(b,n,o,l=["URDFVisual"]){let m=null;const r=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){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,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){r.value&&(r.value.obj.visible=v)}function V(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=r.value)==null?void 0:s.obj,u,t)}function L(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:h,selectedObject3D:r,setSelectedObjVisible:d,updatePosition:V,updateRotation:L}}const me={SINGLE:"单机",DOUBLE:"双机"},pe={ROBOT:1,PIPECOMPARSION:2};class ve{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}, ${l.limit.upper}]`),l.setJointValue(m)}else l.setJointValue(o);return!0}setJointAngles(n){Object.entries(n).forEach(([o,l])=>{typeof l=="number"&&!isNaN(l)&&this.setJointAngle(o,l)})}getCurrentJointStates(){const n={};return this.movableJoints.forEach(o=>{n[o.name]=o.angle||0}),n}resetToZero(){this.movableJoints.forEach(n=>{n.setJointValue(0)})}getJointLimits(n){const o=this.robot.joints[n];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(n,o=1e3,l){const m=this.getCurrentJointStates(),r=Date.now();return new Promise(w=>{const p=()=>{const g=Date.now()-r,E=Math.min(g/o,1),c=this.easeInOutCubic(E),f={};Object.keys(n).forEach(h=>{const a=m[h]||0,d=n[h];f[h]=a+(d-a)*c}),this.setJointAngles(f),l&&l(E),E<1?requestAnimationFrame(p):w()};p()})}easeInOutCubic(n){return n<.5?4*n*n*n:1-Math.pow(-2*n+2,3)/2}async playSequence(n,o=1e3,l){for(let m=0;m<n.length;m++)await this.animateToState(n[m],o,r=>{l&&l(m,r)})}}const fe={class:"panel-content"},be={class:"obj"},_e={key:0,class:"obj-base"},we=["title"],Ee=["title"],he={key:1},Ve={class:"obj-position"},ge={class:"coord-item"},ye={class:"coord-item"},Ne={class:"coord-item"},Le={class:"obj-rotation"},Re={class:"coord-item"},Se={class:"coord-item"},Ce={class:"coord-item"},je={class:"world"},De={class:"coord-line"},Ue={class:"coord-text"},Me={class:"world-position-item"},Fe={class:"world-position-item"},Oe={class:"world-position-item"},$e={class:"coord-line"},xe={class:"coord-text"},Je={class:"world-rotation-item"},Te={class:"world-rotation-item"},ke={class:"world-rotation-item"},Pe=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([]),r=e.ref({}),w=(t,s=0)=>{const _=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(i=>{if(!(i!=null&&i.isMesh)){const y={name:i==null?void 0:i.name,label:(i==null?void 0:i.name)||(i==null?void 0:i.type),show:!0,level:s+1,isPenultimate:!1,type:i==null?void 0:i.type,id:i==null?void 0:i.id,limit:(i==null?void 0:i.limit)??"",children:w(i==null?void 0:i.children,s+1),path:i==null?void 0:i.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 _=[],i=[...t];for(;i.length>0&&_.length<s;){const y=i.shift();y.children&&y.children.length>0&&(_.push(y.id),i.push(...y.children))}return _},E=(t,s)=>{const _=[];return t.forEach(i=>{if(i.children&&i.children.length>0){_.push(i.id);const y=i.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&&(r.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,U,M,F,O,$,x,J,T,k,P,B,z,I,q,A,W,G,X,Y,Z,H,K,Q;const _=e.resolveComponent("el-divider"),i=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",fe,[e.createVNode(_,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",be,[o.model?(e.openBlock(),e.createElementBlock("div",_e,[e.createElementVNode("div",{class:"obj-name",title:L.value},e.toDisplayString(L.value),9,we),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,Ee)])):(e.openBlock(),e.createElementBlock("div",he,"空")),e.createVNode(i,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(_,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",Ve,[e.createElementVNode("div",ge,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((U=(S=r.value)==null?void 0:S.position)==null?void 0:U.x),onChange:s[0]||(s[0]=N=>h(N,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ye,[s[9]||(s[9]=e.createElementVNode("span",{class:"axis-label"},"Y",-1)),e.createVNode(y,{"model-value":c((F=(M=r.value)==null?void 0:M.position)==null?void 0:F.y),onChange:s[1]||(s[1]=N=>h(N,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Ne,[s[10]||(s[10]=e.createElementVNode("span",{class:"axis-label"},"Z",-1)),e.createVNode(y,{"model-value":c(($=(O=r.value)==null?void 0:O.position)==null?void 0:$.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",Le,[e.createElementVNode("div",Re,[s[12]||(s[12]=e.createElementVNode("span",{class:"axis-label"},"X°",-1)),e.createVNode(y,{"model-value":f((J=(x=r.value)==null?void 0:x.rotation)==null?void 0:J.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",Se,[s[13]||(s[13]=e.createElementVNode("span",{class:"axis-label"},"Y°",-1)),e.createVNode(y,{"model-value":f((k=(T=r.value)==null?void 0:T.rotation)==null?void 0:k.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",Ce,[s[14]||(s[14]=e.createElementVNode("span",{class:"axis-label"},"Z°",-1)),e.createVNode(y,{"model-value":f((B=(P=r.value)==null?void 0:P.rotation)==null?void 0:B.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",je,[e.createElementVNode("div",De,[s[16]||(s[16]=e.createElementVNode("span",{class:"coord-label"},"世界位置:",-1)),e.createElementVNode("span",Ue,[e.createElementVNode("div",Me,e.toDisplayString(c((I=(z=r.value)==null?void 0:z.worldPosition)==null?void 0:I.x))+", ",1),e.createElementVNode("div",Fe,e.toDisplayString(c((A=(q=r.value)==null?void 0:q.worldPosition)==null?void 0:A.y))+", ",1),e.createElementVNode("div",Oe,e.toDisplayString(c((G=(W=r.value)==null?void 0:W.worldPosition)==null?void 0:G.z)),1)])]),e.createElementVNode("div",$e,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",xe,[e.createElementVNode("div",Je,e.toDisplayString(f((Y=(X=r.value)==null?void 0:X.worldRotation)==null?void 0:Y.x))+"°, ",1),e.createElementVNode("div",Te,e.toDisplayString(f((H=(Z=r.value)==null?void 0:Z.worldRotation)==null?void 0:H.y))+"°, ",1),e.createElementVNode("div",ke,e.toDisplayString(f((Q=(K=r.value)==null?void 0:K.worldRotation)==null?void 0:Q.z))+"° ",1)])])])])}}}),Be=re._export_sfc(Pe,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=ve;exports.WorkpieceTreePanel=Be;exports.robotMode=me;exports.sceneType=pe;exports.useRaycaster=ue;exports.useUrdfLoader=de;

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "ss-component-new",
   "private": false,
-  "version": "1.2.97",
+  "version": "1.2.99",
   "type": "module",
   "files": [
     "dist",