ss-component-new 1.3.113 → 1.3.115

package/dist/{urdfTree-CfUfqc73.cjs → urdfTree-Dj_MX-rV.cjs}

@@ -1 +1 @@
-"use strict";const n=require("vue"),k=require("./index.vue_vue_type_style_index_0_scoped_92c12abe_lang-CvIVRrBm.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_92c12abe_lang-yeqe0Dqi.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-CoUx6lll.js → workpieceTreePanel-CfqOi5LU.js}

@@ -1,29 +1,29 @@
 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 E = (b, l, t) => de(b, typeof l != "symbol" ? l + "" : l, t);
-import { U as me } from "./URDFLoader-BlbEAIgR.js";
-import { S as ve, M as pe, O as fe } from "./MTLLoader-y4B1LPuT.js";
-import { bE as be, bF as re, ax as J, $ as we, T as he, bG as O, G as _e, bH as ge, a$ as je, V as ye } from "./index.vue_vue_type_style_index_0_scoped_92c12abe_lang-zw0_MXm-.js";
-import { ref as V, defineComponent as Le, computed as F, watch as ue, resolveComponent as x, createElementBlock as k, openBlock as T, createVNode as $, createElementVNode as c, withCtx as M, createTextVNode as D, toDisplayString as C } from "vue";
-import { c as Re, e as $e, g as Ue } from "./iconfont-BYa5tDrN.js";
+var J = (b, l, t) => de(b, typeof l != "symbol" ? l + "" : l, t);
+import { U as me } from "./URDFLoader-BWZcLTTH.js";
+import { S as ve, M as pe, O as fe } from "./MTLLoader-C-9g5iRs.js";
+import { bw as be, bx as re, ap as O, T as we, L as he, by as E, B as _e, bz as ge, aT as ye, V as je } from "./index.vue_vue_type_style_index_0_scoped_92c12abe_lang-Ctc5O7Al.js";
+import { ref as V, defineComponent as Le, computed as M, watch as ue, resolveComponent as x, createElementBlock as T, openBlock as k, 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 $e } from "./iconfont-BEEudegG.js";
 import { _ as Ce } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const Se = "http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";
-function Fe(b) {
+function Me(b) {
   const { mtlUrl: l, manager: t, resourcePath: s, onLoad: m, onProgress: i, onError: h } = b, v = new pe(t);
   return s && v.setResourcePath(s), v.load(l, m, i, h), v;
 }
-function Me(b) {
+function Fe(b) {
   const { objUrl: l, manager: t, materials: s, onLoad: m, onProgress: i, onError: h } = b, v = new fe(t);
   return s && v.setMaterials(s), v.load(l, m, i, h), v;
 }
 function De(b) {
   const { manager: l, baseFolderUrl: t, onFileProgress: s } = b, m = new me(l);
   return m.packages = (i) => `${t.endsWith("/") ? t : t + "/"}${i}/`, m.loadMeshCb = (i, h, v) => {
-    const y = (() => {
+    const j = (() => {
       const _ = i.split("?")[0].split("#")[0], r = _.lastIndexOf(".");
       return r >= 0 ? _.slice(r + 1).toLowerCase() : void 0;
     })();
-    switch (y) {
+    switch (j) {
       // OBJ+MTL
       case "obj": {
         const _ = (() => {
@@ -37,18 +37,18 @@ function De(b) {
           var u;
           return (((u = i.split("/").pop()) == null ? void 0 : u.split("?")[0].split("#")[0]) ?? "").replace(/\.[^/.?#]+$/, "");
         })(), f = `${_}${r}.mtl`, g = (n) => {
-          Me({
+          Fe({
             objUrl: i,
             manager: h,
             materials: n,
             onLoad: (u) => v(u),
             onProgress: (u) => s == null ? void 0 : s(i, u == null ? void 0 : u.loaded, u == null ? void 0 : u.total),
             onError: (u) => {
-              console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${i}`, u), v(new J());
+              console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${i}`, u), v(new O());
             }
           });
         };
-        Fe({
+        Me({
           mtlUrl: f,
           manager: h,
           resourcePath: _,
@@ -75,27 +75,27 @@ function De(b) {
           },
           (r) => s == null ? void 0 : s(i, r == null ? void 0 : r.loaded, r == null ? void 0 : r.total),
           (r) => {
-            console.error(`[URDF 资源加载失败，已跳过] 无法加载 STL 模型: ${i}`, r), v(new J());
+            console.error(`[URDF 资源加载失败，已跳过] 无法加载 STL 模型: ${i}`, r), v(new O());
           }
         );
         break;
       }
       default:
-        console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${y} (路径: ${i})`), v(new J());
+        console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${j} (路径: ${i})`), v(new O());
     }
   }, m;
 }
 function dt(b, l, t, s) {
   return { loadSceneFromFile: (i) => new Promise((h, v) => {
     t.value = !0, s.value = "正在初始化 URDF 加载器...";
-    let y = 0, _ = 0, r = null;
+    let j = 0, _ = 0, r = null;
     const f = new be();
-    f.onStart = (n, u, j) => {
-      y = j || 0, _ = u || 0, s.value = y > 0 ? `开始下载资源: 0 / ${y}` : "开始下载资源...", t.value = !0;
-    }, f.onProgress = (n, u, j) => {
-      _ = u, y = j;
-      const U = `正在加载 ${u} / ${j} 个文件: ${re(n)}`;
-      s.value = U, u === j && (s.value = "资源加载完成，正在处理模型...", setTimeout(() => {
+    f.onStart = (n, u, y) => {
+      j = y || 0, _ = u || 0, s.value = j > 0 ? `开始下载资源: 0 / ${j}` : "开始下载资源...", t.value = !0;
+    }, f.onProgress = (n, u, y) => {
+      _ = u, j = y;
+      const $ = `正在加载 ${u} / ${y} 个文件: ${re(n)}`;
+      s.value = $, u === y && (s.value = "资源加载完成，正在处理模型...", setTimeout(() => {
         if (r) {
           r.updateMatrixWorld(!0);
           const p = new _e().setFromObject(r);
@@ -111,10 +111,10 @@ function dt(b, l, t, s) {
     }, f.onError = (n) => {
       console.warn(`LoadingManager 报告一个资源加载失败: ${n}。加载流程将继续。`);
     };
-    const g = (n, u, j) => {
-      const U = re(n);
+    const g = (n, u, y) => {
+      const $ = re(n);
       let p;
-      j && j > 0 ? p = `${U}（${O(u)} / ${O(j)}）` : u && u > 0 ? p = `${U}（已下载 ${O(u)}）` : p = `${U}`, s.value = `正在下载第 ${_ + 1} / ${y} 个文件: ${p}`;
+      y && y > 0 ? p = `${$}（${E(u)} / ${E(y)}）` : u && u > 0 ? p = `${$}（已下载 ${E(u)}）` : p = `${$}`, s.value = `正在下载第 ${_ + 1} / ${j} 个文件: ${p}`;
     };
     try {
       const n = URL.createObjectURL(i);
@@ -124,12 +124,12 @@ function dt(b, l, t, s) {
         onFileProgress: g
       }).load(
         n,
-        (j) => {
-          r = j;
+        (y) => {
+          r = y;
         },
         void 0,
-        (j) => {
-          console.error(`加载 URDF 文件 (${i.name}) 时发生致命错误:`, j), s.value = "URDF 文件解析失败", t.value = !1, v(new Error(`加载 URDF 文件失败: ${i.name}`));
+        (y) => {
+          console.error(`加载 URDF 文件 (${i.name}) 时发生致命错误:`, y), s.value = "URDF 文件解析失败", t.value = !1, v(new Error(`加载 URDF 文件失败: ${i.name}`));
         }
       );
     } catch (n) {
@@ -139,13 +139,13 @@ function dt(b, l, t, s) {
 }
 function mt(b, l, t, s = ["URDFVisual"]) {
   let m = null;
-  const i = V(null), h = new ge(), v = new je(), y = /* @__PURE__ */ new Map();
+  const i = V(null), h = new ge(), v = new ye(), j = /* @__PURE__ */ new Map();
   function _() {
     t.value.forEach((p) => {
       p.traverse((d) => {
-        s != null && s.includes(d.type) && y.set(d.id, {
+        s != null && s.includes(d.type) && j.set(d.id, {
           obj: d,
-          axis: d.axis || new ye(1, 0, 0),
+          axis: d.axis || new je(1, 0, 0),
           // URDF 里的 <axis>
           limits: d.limits
         });
@@ -168,8 +168,8 @@ function mt(b, l, t, s = ["URDFVisual"]) {
     if (e.length === 0) return;
     let o = e[0].object, w = null;
     for (; o; ) {
-      if (y.has(o.id)) {
-        w = y.get(o.id);
+      if (j.has(o.id)) {
+        w = j.get(o.id);
         break;
       }
       o = o.parent;
@@ -186,12 +186,12 @@ function mt(b, l, t, s = ["URDFVisual"]) {
   function u(p) {
     i.value && (i.value.obj.visible = p);
   }
-  function j(p) {
+  function y(p) {
     var o;
     const { axis: d, value: e } = p;
-    $e((o = i.value) == null ? void 0 : o.obj, d, e);
+    Ue((o = i.value) == null ? void 0 : o.obj, d, e);
   }
-  function U(p) {
+  function $(p) {
     var o;
     const { axis: d, value: e } = p;
     Re((o = i.value) == null ? void 0 : o.obj, d, e);
@@ -201,14 +201,14 @@ function mt(b, l, t, s = ["URDFVisual"]) {
     dispose: g,
     selectedObject3D: i,
     setSelectedObjVisible: u,
-    updatePosition: j,
-    updateRotation: U
+    updatePosition: y,
+    updateRotation: $
   };
 }
 class vt {
   constructor(l) {
-    E(this, "robot");
-    E(this, "movableJoints");
+    J(this, "robot");
+    J(this, "movableJoints");
     this.robot = l, this.movableJoints = this.getMovableJoints();
   }
   /**
@@ -279,7 +279,7 @@ class vt {
     const m = this.getCurrentJointStates(), i = Date.now();
     return new Promise((h) => {
       const v = () => {
-        const y = Date.now() - i, _ = Math.min(y / t, 1), r = this.easeInOutCubic(_), f = {};
+        const j = Date.now() - i, _ = Math.min(j / t, 1), r = this.easeInOutCubic(_), f = {};
         Object.keys(l).forEach((g) => {
           const n = m[g] || 0, u = l[g];
           f[g] = n + (u - n) * r;
@@ -304,10 +304,10 @@ class vt {
       });
   }
 }
-const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
+const Je = { class: "panel-content" }, Oe = { class: "obj" }, Ee = {
   key: 0,
   class: "obj-base"
-}, xe = ["title"], ke = ["title"], Te = { key: 1 }, Ve = { class: "obj-position" }, ze = { class: "coord-item" }, Pe = { class: "coord-item" }, Ae = { class: "coord-item" }, Ie = { class: "obj-rotation" }, Be = { class: "coord-item" }, Ne = { class: "coord-item" }, We = { class: "coord-item" }, qe = { class: "world" }, Ge = { class: "coord-line" }, Xe = { class: "coord-text" }, Ye = { class: "world-position-item" }, Ze = { class: "world-position-item" }, Ke = { class: "world-position-item" }, He = { class: "coord-line" }, Qe = { class: "coord-text" }, et = { class: "world-rotation-item" }, tt = { class: "world-rotation-item" }, ot = { class: "world-rotation-item" }, st = /* @__PURE__ */ Le({
+}, xe = ["title"], Te = ["title"], ke = { key: 1 }, Ve = { class: "obj-position" }, ze = { class: "coord-item" }, Pe = { class: "coord-item" }, Ae = { class: "coord-item" }, Ie = { class: "obj-rotation" }, Be = { class: "coord-item" }, Ne = { class: "coord-item" }, We = { class: "coord-item" }, qe = { class: "world" }, Xe = { class: "coord-line" }, Ye = { class: "coord-text" }, Ze = { class: "world-position-item" }, Ke = { class: "world-position-item" }, Ge = { class: "world-position-item" }, He = { class: "coord-line" }, Qe = { class: "coord-text" }, et = { class: "world-rotation-item" }, tt = { class: "world-rotation-item" }, ot = { class: "world-rotation-item" }, st = /* @__PURE__ */ Le({
   __name: "workpieceTreePanel",
   props: {
     model: {},
@@ -346,7 +346,7 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
       limit: (e == null ? void 0 : e.limit) ?? "",
       children: h(e == null ? void 0 : e.children, 1),
       path: e == null ? void 0 : e.name
-    }] : [], y = (e, o) => {
+    }] : [], j = (e, o) => {
       const w = [], a = [...e];
       for (; a.length > 0 && w.length < o; ) {
         const L = a.shift();
@@ -363,7 +363,7 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
         }
       }), w.slice(0, o + 1);
     };
-    F(() => !m.value || m.value.length === 0 ? [] : t.expandStrategy === "firstLevel" ? _(m.value, t.maxExpandCount) : y(m.value, t.maxExpandCount));
+    M(() => !m.value || m.value.length === 0 ? [] : t.expandStrategy === "firstLevel" ? _(m.value, t.maxExpandCount) : j(m.value, t.maxExpandCount));
     const r = (e) => e ? parseFloat(e.toFixed(3)) : 0, f = (e) => e ? parseFloat(e.toFixed(1)) : 0, g = (e, o) => {
       s("updatePosition", {
         obj: t.model,
@@ -378,56 +378,56 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
       });
     }, u = (e) => {
       s("visibleChange", e);
-    }, j = F(() => t != null && t.model ? v(t.model) : []), U = F(() => {
+    }, y = M(() => t != null && t.model ? v(t.model) : []), $ = M(() => {
       var e, o;
       return ((e = t == null ? void 0 : t.model) == null ? void 0 : e.name) || ((o = t == null ? void 0 : t.model) == null ? void 0 : o.type);
-    }), p = F(() => {
+    }), p = M(() => {
       var e;
       return (e = t == null ? void 0 : t.model) == null ? void 0 : e.type;
-    }), d = F(() => {
+    }), d = M(() => {
       var e;
       return (e = t == null ? void 0 : t.model) == null ? void 0 : e.visible;
     });
     return ue(() => t.model, () => {
-      t.model && (i.value = Ue(t.model));
+      t.model && (i.value = $e(t.model));
     }, {
       deep: !0,
       immediate: !0
     }), ue(
-      j,
+      y,
       (e) => {
         m.value = JSON.parse(JSON.stringify(e));
       },
       { immediate: !0 }
     ), (e, o) => {
-      var S, z, P, A, I, B, N, W, q, G, X, Y, Z, K, H, Q, ee, te, oe, se, ie, le, ae, ne;
+      var S, z, P, A, I, B, N, W, q, X, Y, Z, K, G, H, Q, ee, te, oe, se, ie, le, ae, ne;
       const w = x("el-divider"), a = x("el-switch"), L = x("el-input-number");
-      return T(), k("div", Ee, [
-        $(w, null, {
-          default: M(() => o[6] || (o[6] = [
+      return k(), T("div", Je, [
+        U(w, null, {
+          default: F(() => o[6] || (o[6] = [
             D("对象")
           ])),
           _: 1,
           __: [6]
         }),
-        c("div", Je, [
-          t.model ? (T(), k("div", Oe, [
+        c("div", Oe, [
+          t.model ? (k(), T("div", Ee, [
             c("div", {
               class: "obj-name",
-              title: U.value
-            }, C(U.value), 9, xe),
+              title: $.value
+            }, C($.value), 9, xe),
             c("div", {
               class: "obj-type",
               title: p.value
-            }, "[" + C(p.value) + "]", 9, ke)
-          ])) : (T(), k("div", Te, "空")),
-          $(a, {
+            }, "[" + C(p.value) + "]", 9, Te)
+          ])) : (k(), T("div", ke, "空")),
+          U(a, {
             "model-value": d.value,
             onChange: u
           }, null, 8, ["model-value"])
         ]),
-        $(w, null, {
-          default: M(() => o[7] || (o[7] = [
+        U(w, null, {
+          default: F(() => o[7] || (o[7] = [
             D("相对位置")
           ])),
           _: 1,
@@ -436,7 +436,7 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
         c("div", Ve, [
           c("div", ze, [
             o[8] || (o[8] = c("span", { class: "axis-label" }, "X", -1)),
-            $(L, {
+            U(L, {
               "model-value": r((z = (S = i.value) == null ? void 0 : S.position) == null ? void 0 : z.x),
               onChange: o[0] || (o[0] = (R) => g(R, "x")),
               size: "small",
@@ -449,7 +449,7 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
           ]),
           c("div", Pe, [
             o[9] || (o[9] = c("span", { class: "axis-label" }, "Y", -1)),
-            $(L, {
+            U(L, {
               "model-value": r((A = (P = i.value) == null ? void 0 : P.position) == null ? void 0 : A.y),
               onChange: o[1] || (o[1] = (R) => g(R, "y")),
               size: "small",
@@ -462,7 +462,7 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
           ]),
           c("div", Ae, [
             o[10] || (o[10] = c("span", { class: "axis-label" }, "Z", -1)),
-            $(L, {
+            U(L, {
               "model-value": r((B = (I = i.value) == null ? void 0 : I.position) == null ? void 0 : B.z),
               onChange: o[2] || (o[2] = (R) => g(R, "z")),
               size: "small",
@@ -474,8 +474,8 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
             }, null, 8, ["model-value"])
           ])
         ]),
-        $(w, null, {
-          default: M(() => o[11] || (o[11] = [
+        U(w, null, {
+          default: F(() => o[11] || (o[11] = [
             D("相对旋转")
           ])),
           _: 1,
@@ -484,7 +484,7 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
         c("div", Ie, [
           c("div", Be, [
             o[12] || (o[12] = c("span", { class: "axis-label" }, "X°", -1)),
-            $(L, {
+            U(L, {
               "model-value": f((W = (N = i.value) == null ? void 0 : N.rotation) == null ? void 0 : W.x),
               onChange: o[3] || (o[3] = (R) => n(R, "x")),
               size: "small",
@@ -497,8 +497,8 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
           ]),
           c("div", Ne, [
             o[13] || (o[13] = c("span", { class: "axis-label" }, "Y°", -1)),
-            $(L, {
-              "model-value": f((G = (q = i.value) == null ? void 0 : q.rotation) == null ? void 0 : G.y),
+            U(L, {
+              "model-value": f((X = (q = i.value) == null ? void 0 : q.rotation) == null ? void 0 : X.y),
               onChange: o[4] || (o[4] = (R) => n(R, "y")),
               size: "small",
               class: "coord-input-compact",
@@ -510,8 +510,8 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
           ]),
           c("div", We, [
             o[14] || (o[14] = c("span", { class: "axis-label" }, "Z°", -1)),
-            $(L, {
-              "model-value": f((Y = (X = i.value) == null ? void 0 : X.rotation) == null ? void 0 : Y.z),
+            U(L, {
+              "model-value": f((Z = (Y = i.value) == null ? void 0 : Y.rotation) == null ? void 0 : Z.z),
               onChange: o[5] || (o[5] = (R) => n(R, "z")),
               size: "small",
               class: "coord-input-compact",
@@ -522,20 +522,20 @@ const Ee = { class: "panel-content" }, Je = { class: "obj" }, Oe = {
             }, null, 8, ["model-value"])
           ])
         ]),
-        $(w, null, {
-          default: M(() => o[15] || (o[15] = [
+        U(w, null, {
+          default: F(() => o[15] || (o[15] = [
             D("世界信息")
           ])),
           _: 1,
           __: [15]
         }),
         c("div", qe, [
-          c("div", Ge, [
+          c("div", Xe, [
             o[16] || (o[16] = c("span", { class: "coord-label" }, "世界位置:", -1)),
-            c("span", Xe, [
-              c("div", Ye, C(r((K = (Z = i.value) == null ? void 0 : Z.worldPosition) == null ? void 0 : K.x)) + ", ", 1),
-              c("div", Ze, C(r((Q = (H = i.value) == null ? void 0 : H.worldPosition) == null ? void 0 : Q.y)) + ", ", 1),
-              c("div", Ke, C(r((te = (ee = i.value) == null ? void 0 : ee.worldPosition) == null ? void 0 : te.z)), 1)
+            c("span", Ye, [
+              c("div", Ze, C(r((G = (K = i.value) == null ? void 0 : K.worldPosition) == null ? void 0 : G.x)) + ", ", 1),
+              c("div", Ke, C(r((Q = (H = i.value) == null ? void 0 : H.worldPosition) == null ? void 0 : Q.y)) + ", ", 1),
+              c("div", Ge, C(r((te = (ee = i.value) == null ? void 0 : ee.worldPosition) == null ? void 0 : te.z)), 1)
             ])
           ]),
           c("div", He, [

package/dist/{workpieceTreePanel-DzEBifIL.cjs → workpieceTreePanel-sLZ6i9PT.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-C2tFq0lk.cjs"),S=require("./MTLLoader-BviVUPWi.cjs"),N=require("./index.vue_vue_type_style_index_0_scoped_92c12abe_lang-CvIVRrBm.cjs"),e=require("vue"),D=require("./iconfont-cBX7rs7k.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 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: ${a}。加载流程将继续。`)};const V=(a,d,E)=>{const R=N.getFilenameFromUrl(a);let v;E&&E>0?v=`${R}（${N.formatBytes(d)} / ${N.formatBytes(E)}）`:d&&d>0?v=`${R}（已下载 ${N.formatBytes(d)}）`:v=`${R}`,l.value=`正在下载第 ${h+1} / ${g} 个文件: ${v}`};try{const a=URL.createObjectURL(r);ne({manager:f,baseFolderUrl:le,onFileProgress:V}).load(a,E=>{c=E},void 0,E=>{console.error(`加载 URDF 文件 (${r.name}) 时发生致命错误:`,E),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 ce(b,i,o,l=["URDFVisual"]){let m=null;const r=e.ref(null),_=new N.Raycaster,p=new N.Vector2,g=new Map;function h(){o.value.forEach(v=>{v.traverse(u=>{l!=null&&l.includes(u.type)&&g.set(u.id,{obj:u,axis:u.axis||new N.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,_.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 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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-BlsYqWJQ.cjs"),S=require("./MTLLoader-CfO9qTqV.cjs"),N=require("./index.vue_vue_type_style_index_0_scoped_92c12abe_lang-yeqe0Dqi.cjs"),e=require("vue"),D=require("./iconfont-w8ZxNH1R.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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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 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 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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,$,M,x,J,O,k,T,P,z,B,A,q,I,W,G,X,Y,Z,K,H,Q;const w=e.resolveComponent("el-divider"),n=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",ue,[e.createVNode(w,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",me,[o.model?(e.openBlock(),e.createElementBlock("div",pe,[e.createElementVNode("div",{class:"obj-name",title:R.value},e.toDisplayString(R.value),9,ve),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,fe)])):(e.openBlock(),e.createElementBlock("div",be,"空")),e.createVNode(n,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(w,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",we,[e.createElementVNode("div",_e,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((U=(j=r.value)==null?void 0:j.position)==null?void 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0:q.worldPosition)==null?void 0:I.y))+", ",1),e.createElementVNode("div",Se,e.toDisplayString(c((G=(W=r.value)==null?void 0:W.worldPosition)==null?void 0:G.z)),1)])]),e.createElementVNode("div",Ue,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Fe,[e.createElementVNode("div",$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;

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "ss-component-new",
   "private": false,
-  "version": "1.3.113",
+  "version": "1.3.115",
   "type": "module",
   "files": [
     "dist",