ss-component-new 1.3.13 → 1.3.14

package/dist/{threeSceneView-DZvOLWv6.cjs → threeSceneView-B5L-Drf9.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),ne=require("./threeViewerHost-BMU1tg9c.cjs"),pe=require("./iconfont-DsF7kuG5.cjs"),ve=require("./workpieceTreePanel-mWvCQyyw.cjs"),Me=require("./index-DRTxe12U.cjs"),B=require("./index-C5pQXH0_.cjs"),n=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-ZMwIbmlN.cjs");require("./index.vue_vue_type_style_index_1_lang--4T7j9qz.cjs");require("./index-BpPyaNFa.cjs");const le=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs");require("./index-BJPBBWWH.cjs");const fe=require("./animationData-Cr2ra7rm.cjs"),ie=require("./urdfTree-CoK2r17Y.cjs"),we=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),Te=require("./index-D_Yhv_HV.cjs"),R=require("./svgIcon-CDPAgQbj.cjs"),G=.001,W=n.MathUtils.degToRad,ye=new n.MeshStandardMaterial({color:13421772,metalness:.3,roughness:.6,side:n.DoubleSide});function Ee(V=.005,v=64){const p=new n.CatmullRomCurve3([new n.Vector3(0,0,0),new n.Vector3(0,0,0)]),a=new n.TubeGeometry(p,v,V,16,!1),m=ye;return new n.Mesh(a,m)}const xe=V=>V.reduce((v,p)=>{let a=0;const m=p.Y??0,b=p.C??0,s=p.R??0;return m>0&&(a+=m),b>0&&s>0&&(a+=s*W(b)),v+a},0),ke=V=>{const v=[],p=V.Y??0,a=V.B??0,m=V.C??0,b=V.R??0,s={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(!p&&!m)return v;if(v.push(s.pos.clone()),a!==0){const g=new n.Matrix4().makeRotationAxis(s.localY,W(a));s.localX.applyMatrix4(g),s.localZ.applyMatrix4(g)}if(p>0&&(s.pos.add(s.localY.clone().multiplyScalar(p*G)),v.push(s.pos.clone())),m>0&&b>0){const g=W(m),f=b*G,w=s.pos.clone().add(s.localX.clone().multiplyScalar(-f)),r=Math.max(16,Math.ceil(m/5));for(let y=1;y<=r;y++){const d=g*y/r,_=new n.Matrix4().makeRotationAxis(s.localZ,d),u=s.localX.clone().multiplyScalar(f).applyMatrix4(_),k=w.clone().add(u);v.push(k)}}return v};function Se(V,v){const p=new n.Group;p.name="CompletePipe";const a={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 m=0,b=1;for(let s=0;s<V.length;s++){const g=V[s],f=g.Y??0,w=g.B??0,r=g.C??0,y=g.R??0;if(w!==0){const d=new n.Matrix4().makeRotationAxis(a.localY,W(w));a.localX.applyMatrix4(d),a.localZ.applyMatrix4(d)}if(f>0){const d=a.pos.clone();a.pos.add(a.localY.clone().multiplyScalar(f*G));const _=a.pos.clone(),c=De(d,_,v*G);c.userData={segmentType:"straight",segmentIndex:m,frameIndex:s,length:f,frame:{Y:f,B:w,C:r,R:y}},c.name=`直段_${m}`,p.add(c);const u=d.clone();Pe(p,b,u,v*G),m++}if(r>0&&y>0){const d=W(r),_=y*G,c=[];c.push(a.pos.clone());const u=a.pos.clone().add(a.localX.clone().multiplyScalar(-_)),k=Math.max(16,Math.ceil(r/5));for(let h=1;h<=k;h++){const M=d*h/k,A=new n.Matrix4().makeRotationAxis(a.localZ,M),L=a.localX.clone().multiplyScalar(_).applyMatrix4(A),q=u.clone().add(L);c.push(q)}const E=Re(c,v*G);E.userData={segmentType:"bend",segmentIndex:m,frameIndex:s,angle:r,radius:y,centerPoint:u.toArray(),frame:{Y:f,B:w,C:r,R:y}},E.name=`弯段_${m}`,p.add(E),Math.floor(c.length/2),c[0],a.pos=c[c.length-1].clone();const S=new n.Matrix4().makeRotationAxis(a.localZ,d);a.localY.applyMatrix4(S),a.localX.applyMatrix4(S),m++,b++}}return p}function Pe(V,v,p,a){const m=new n.Vector3(0,a*2,a*5),b=p.clone().add(m),s=[p,b],g=new n.BufferGeometry().setFromPoints(s),f=new n.LineDashedMaterial({color:16711680,dashSize:a*.5,gapSize:a*.3,linewidth:1}),w=new n.Line(g,f);w.computeLineDistances(),V.add(w);const r=document.createElement("canvas"),y=r.getContext("2d");r.width=128,r.height=128,y.clearRect(0,0,128,128),y.fillStyle="#FF0000",y.font="bold 80px Arial",y.textAlign="center",y.textBaseline="middle",y.fillText(v.toString(),64,64);const d=new n.CanvasTexture(r),_=new n.SpriteMaterial({map:d,transparent:!0,depthTest:!1,depthWrite:!1}),c=new n.Sprite(_),u=a*3;c.scale.set(u,u,1),c.position.copy(b),c.name=`Label_${v}`,c.userData={labelNumber:v},V.add(c)}function De(V,v,p){const a=new n.LineCurve3(V,v),m=new n.TubeGeometry(a,2,p,18,!1);return new n.Mesh(m,ye)}function Re(V,v){const p=new n.CatmullRomCurve3(V,!1,"catmullrom",.01),a=new n.TubeGeometry(p,Math.max(16,V.length*2),v,18,!1);return new n.Mesh(a,ye)}function _e(V,v,p,a,m,b=0){let s=v.slice(0,m+1);const g=v[m+1];if(g&&b>0){const c={...g,B:(g.B??0)*b,C:(g.C??0)*b};s.push(c)}const f=xe(s),w=Math.max(0,p-f),r=[];r.push(new n.Vector3(0,0,0));const y=new n.Vector3(0,w*G,0);w>0&&r.push(y);let d={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 c=s.length-1;c>=0;c--){const u=s[c],k=ke(u);if(k.length>0){const E=k.map(A=>{const $=A.clone(),L=new n.Matrix4;return L.makeBasis(d.localX,d.localY,d.localZ),$.applyMatrix4(L),$.add(d.pos)});_.push(E);const S=E[E.length-1];d.pos=S.clone();const h=u.B??0,M=u.C??0;if(h!==0){const A=new n.Matrix4().makeRotationAxis(d.localY,W(h));d.localX.applyMatrix4(A),d.localZ.applyMatrix4(A)}if(M>0){const A=W(M),$=new n.Matrix4().makeRotationAxis(d.localZ,A);d.localY.applyMatrix4($),d.localX.applyMatrix4($)}}}for(const c of _)c.length>1&&r.push(...c.slice(1));r.length<2&&r.push(new n.Vector3(0,.001,0));try{const c=new n.CatmullRomCurve3(r,!1,"catmullrom",.01),u=new n.TubeGeometry(c,Math.max(2,r.length*4),a*G,18,!1);V.geometry.dispose(),V.geometry=u}catch(c){console.error("管件更新失败",c)}}function Ce(V,v,p,a=0){let m=V.slice(0,p+1);const b=V[p+1];if(b&&a>0){const d={...b,B:(b.B??0)*a,C:(b.C??0)*a};m.push(d)}const s=xe(m),g=Math.max(0,v-s),f=[];f.push(new n.Vector3(0,0,0));const w=new n.Vector3(0,g*G,0);g>0&&f.push(w);let r={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 d=m.length-1;d>=0;d--){const _=m[d],c=ke(_);if(c.length>0){const u=c.map(h=>{const M=h.clone(),A=new n.Matrix4;return A.makeBasis(r.localX,r.localY,r.localZ),M.applyMatrix4(A),M.add(r.pos)});y.push(u);const k=u[u.length-1];r.pos=k.clone();const E=_.B??0,S=_.C??0;if(E!==0){const h=new n.Matrix4().makeRotationAxis(r.localY,W(E));r.localX.applyMatrix4(h),r.localZ.applyMatrix4(h)}if(S>0){const h=W(S),M=new n.Matrix4().makeRotationAxis(r.localZ,h);r.localY.applyMatrix4(M),r.localX.applyMatrix4(M)}}}for(const d of y)d.length>1&&f.push(...d.slice(1));return f.length<2&&f.push(new n.Vector3(0,.001,0)),f}function Ne(V,v,p,a,m,b,s,g=0,f=0){const w=m-f,r=Ce(a,w,s,g);let d=Ce(p,f,s,g);d.forEach(c=>c.y=-c.y),d.reverse();const _=[...d,...r];try{const c=new n.CatmullRomCurve3(_,!1,"catmullrom",.01),u=new n.TubeGeometry(c,Math.max(2,_.length*4),b*G,18,!1);v.geometry.dispose(),V.geometry.dispose(),v.parent&&v.parent.remove(v),V.geometry=u}catch(c){console.error("管件更新失败",c)}}const Be={class:"panel-content"},Ae={class:"action-bar"},$e={class:"animation-controls"},Fe={class:"control-row"},ze={class:"control-row"},Ye={class:"frame-info"},Le={class:"control-row"},Ue={class:"progress-bar"},Ie={class:"dialog-footer"},je=e.defineComponent({__name:"animationPanel",props:{model:{},threeData:{}},setup(V,{expose:v}){const p=V,a=e.ref(),m=e.ref();e.watch(()=>p.threeData,t=>{const l=t==null?void 0:t.data;m.value=l==null?void 0:l.type},{immediate:!0});const b=async()=>{let t={};m.value===ne.robotMode.SINGLE&&(t=await fe.fetchSingleRobotAnimationData()),m.value===ne.robotMode.DOUBLE&&(t=await fe.fetchDoubleRobotAnimationData());const{initialPipeLength:l=0,pipeRadius:o=0,clampLength:i=0,animationData:x}=t;S.value=l,h.value=o,M.value=i,a.value=x;const N=Me.cloneDeep(a.value),J=re(Y.value),X=(N==null?void 0:N["输出（动画数据）"])||[];s.value=X.length?X:[J]},s=e.ref([]),g=e.ref(!1),f=e.ref(""),w=e.ref(!1),r=e.ref(0),y=e.ref(0),d=e.ref(1e3);let _=!1;const c=e.ref(null),u=e.shallowRef(null),k=e.shallowRef(null),E=e.shallowRef(null),S=e.ref(0),h=e.ref(12.5),M=e.ref(30),A=e.ref([]),$=e.ref(null),L=e.computed(()=>p.model?ie.getNonFixedJoints(p.model).map(o=>o.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-Mm-Ez-7E.cjs"),pe=require("./iconfont-CAsy8t6b.cjs"),ve=require("./workpieceTreePanel-B2ICcFLW.cjs"),Me=require("./index-C8fMwErX.cjs"),B=require("./index-C5pQXH0_.cjs"),n=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-CbFQ2oZH.cjs");require("./index.vue_vue_type_style_index_1_lang-D5dZrna1.cjs");require("./index-BpPyaNFa.cjs");const le=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs");require("./index-BLxE_tkf.cjs");const fe=require("./animationData-IwjfXQMn.cjs"),ie=require("./urdfTree-npoVarfp.cjs"),we=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),Te=require("./index-CdV2vSOK.cjs"),R=require("./svgIcon-CDPAgQbj.cjs"),G=.001,W=n.MathUtils.degToRad,ye=new n.MeshStandardMaterial({color:13421772,metalness:.3,roughness:.6,side:n.DoubleSide});function Ee(V=.005,v=64){const p=new n.CatmullRomCurve3([new n.Vector3(0,0,0),new n.Vector3(0,0,0)]),a=new n.TubeGeometry(p,v,V,16,!1),m=ye;return new n.Mesh(a,m)}const xe=V=>V.reduce((v,p)=>{let a=0;const m=p.Y??0,b=p.C??0,s=p.R??0;return m>0&&(a+=m),b>0&&s>0&&(a+=s*W(b)),v+a},0),ke=V=>{const v=[],p=V.Y??0,a=V.B??0,m=V.C??0,b=V.R??0,s={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(!p&&!m)return v;if(v.push(s.pos.clone()),a!==0){const g=new n.Matrix4().makeRotationAxis(s.localY,W(a));s.localX.applyMatrix4(g),s.localZ.applyMatrix4(g)}if(p>0&&(s.pos.add(s.localY.clone().multiplyScalar(p*G)),v.push(s.pos.clone())),m>0&&b>0){const g=W(m),f=b*G,w=s.pos.clone().add(s.localX.clone().multiplyScalar(-f)),r=Math.max(16,Math.ceil(m/5));for(let y=1;y<=r;y++){const d=g*y/r,_=new n.Matrix4().makeRotationAxis(s.localZ,d),u=s.localX.clone().multiplyScalar(f).applyMatrix4(_),k=w.clone().add(u);v.push(k)}}return v};function Se(V,v){const p=new n.Group;p.name="CompletePipe";const a={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 m=0,b=1;for(let s=0;s<V.length;s++){const g=V[s],f=g.Y??0,w=g.B??0,r=g.C??0,y=g.R??0;if(w!==0){const d=new n.Matrix4().makeRotationAxis(a.localY,W(w));a.localX.applyMatrix4(d),a.localZ.applyMatrix4(d)}if(f>0){const d=a.pos.clone();a.pos.add(a.localY.clone().multiplyScalar(f*G));const _=a.pos.clone(),c=De(d,_,v*G);c.userData={segmentType:"straight",segmentIndex:m,frameIndex:s,length:f,frame:{Y:f,B:w,C:r,R:y}},c.name=`直段_${m}`,p.add(c);const u=d.clone();Pe(p,b,u,v*G),m++}if(r>0&&y>0){const d=W(r),_=y*G,c=[];c.push(a.pos.clone());const u=a.pos.clone().add(a.localX.clone().multiplyScalar(-_)),k=Math.max(16,Math.ceil(r/5));for(let h=1;h<=k;h++){const M=d*h/k,A=new n.Matrix4().makeRotationAxis(a.localZ,M),L=a.localX.clone().multiplyScalar(_).applyMatrix4(A),q=u.clone().add(L);c.push(q)}const E=Re(c,v*G);E.userData={segmentType:"bend",segmentIndex:m,frameIndex:s,angle:r,radius:y,centerPoint:u.toArray(),frame:{Y:f,B:w,C:r,R:y}},E.name=`弯段_${m}`,p.add(E),Math.floor(c.length/2),c[0],a.pos=c[c.length-1].clone();const S=new n.Matrix4().makeRotationAxis(a.localZ,d);a.localY.applyMatrix4(S),a.localX.applyMatrix4(S),m++,b++}}return p}function Pe(V,v,p,a){const m=new n.Vector3(0,a*2,a*5),b=p.clone().add(m),s=[p,b],g=new n.BufferGeometry().setFromPoints(s),f=new n.LineDashedMaterial({color:16711680,dashSize:a*.5,gapSize:a*.3,linewidth:1}),w=new n.Line(g,f);w.computeLineDistances(),V.add(w);const r=document.createElement("canvas"),y=r.getContext("2d");r.width=128,r.height=128,y.clearRect(0,0,128,128),y.fillStyle="#FF0000",y.font="bold 80px Arial",y.textAlign="center",y.textBaseline="middle",y.fillText(v.toString(),64,64);const d=new n.CanvasTexture(r),_=new n.SpriteMaterial({map:d,transparent:!0,depthTest:!1,depthWrite:!1}),c=new n.Sprite(_),u=a*3;c.scale.set(u,u,1),c.position.copy(b),c.name=`Label_${v}`,c.userData={labelNumber:v},V.add(c)}function De(V,v,p){const a=new n.LineCurve3(V,v),m=new n.TubeGeometry(a,2,p,18,!1);return new n.Mesh(m,ye)}function Re(V,v){const p=new n.CatmullRomCurve3(V,!1,"catmullrom",.01),a=new n.TubeGeometry(p,Math.max(16,V.length*2),v,18,!1);return new n.Mesh(a,ye)}function _e(V,v,p,a,m,b=0){let s=v.slice(0,m+1);const g=v[m+1];if(g&&b>0){const c={...g,B:(g.B??0)*b,C:(g.C??0)*b};s.push(c)}const f=xe(s),w=Math.max(0,p-f),r=[];r.push(new n.Vector3(0,0,0));const y=new n.Vector3(0,w*G,0);w>0&&r.push(y);let d={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 c=s.length-1;c>=0;c--){const u=s[c],k=ke(u);if(k.length>0){const E=k.map(A=>{const $=A.clone(),L=new n.Matrix4;return L.makeBasis(d.localX,d.localY,d.localZ),$.applyMatrix4(L),$.add(d.pos)});_.push(E);const S=E[E.length-1];d.pos=S.clone();const h=u.B??0,M=u.C??0;if(h!==0){const A=new n.Matrix4().makeRotationAxis(d.localY,W(h));d.localX.applyMatrix4(A),d.localZ.applyMatrix4(A)}if(M>0){const A=W(M),$=new n.Matrix4().makeRotationAxis(d.localZ,A);d.localY.applyMatrix4($),d.localX.applyMatrix4($)}}}for(const c of _)c.length>1&&r.push(...c.slice(1));r.length<2&&r.push(new n.Vector3(0,.001,0));try{const c=new n.CatmullRomCurve3(r,!1,"catmullrom",.01),u=new n.TubeGeometry(c,Math.max(2,r.length*4),a*G,18,!1);V.geometry.dispose(),V.geometry=u}catch(c){console.error("管件更新失败",c)}}function Ce(V,v,p,a=0){let m=V.slice(0,p+1);const b=V[p+1];if(b&&a>0){const d={...b,B:(b.B??0)*a,C:(b.C??0)*a};m.push(d)}const s=xe(m),g=Math.max(0,v-s),f=[];f.push(new n.Vector3(0,0,0));const w=new n.Vector3(0,g*G,0);g>0&&f.push(w);let r={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 d=m.length-1;d>=0;d--){const _=m[d],c=ke(_);if(c.length>0){const u=c.map(h=>{const M=h.clone(),A=new n.Matrix4;return A.makeBasis(r.localX,r.localY,r.localZ),M.applyMatrix4(A),M.add(r.pos)});y.push(u);const k=u[u.length-1];r.pos=k.clone();const E=_.B??0,S=_.C??0;if(E!==0){const h=new n.Matrix4().makeRotationAxis(r.localY,W(E));r.localX.applyMatrix4(h),r.localZ.applyMatrix4(h)}if(S>0){const h=W(S),M=new n.Matrix4().makeRotationAxis(r.localZ,h);r.localY.applyMatrix4(M),r.localX.applyMatrix4(M)}}}for(const d of y)d.length>1&&f.push(...d.slice(1));return f.length<2&&f.push(new n.Vector3(0,.001,0)),f}function Ne(V,v,p,a,m,b,s,g=0,f=0){const w=m-f,r=Ce(a,w,s,g);let d=Ce(p,f,s,g);d.forEach(c=>c.y=-c.y),d.reverse();const _=[...d,...r];try{const c=new n.CatmullRomCurve3(_,!1,"catmullrom",.01),u=new n.TubeGeometry(c,Math.max(2,_.length*4),b*G,18,!1);v.geometry.dispose(),V.geometry.dispose(),v.parent&&v.parent.remove(v),V.geometry=u}catch(c){console.error("管件更新失败",c)}}const Be={class:"panel-content"},Ae={class:"action-bar"},$e={class:"animation-controls"},Fe={class:"control-row"},ze={class:"control-row"},Ye={class:"frame-info"},Le={class:"control-row"},Ue={class:"progress-bar"},Ie={class:"dialog-footer"},je=e.defineComponent({__name:"animationPanel",props:{model:{},threeData:{}},setup(V,{expose:v}){const p=V,a=e.ref(),m=e.ref();e.watch(()=>p.threeData,t=>{const l=t==null?void 0:t.data;m.value=l==null?void 0:l.type},{immediate:!0});const b=async()=>{let t={};m.value===ne.robotMode.SINGLE&&(t=await fe.fetchSingleRobotAnimationData()),m.value===ne.robotMode.DOUBLE&&(t=await fe.fetchDoubleRobotAnimationData());const{initialPipeLength:l=0,pipeRadius:o=0,clampLength:i=0,animationData:x}=t;S.value=l,h.value=o,M.value=i,a.value=x;const N=Me.cloneDeep(a.value),J=re(Y.value),X=(N==null?void 0:N["输出（动画数据）"])||[];s.value=X.length?X:[J]},s=e.ref([]),g=e.ref(!1),f=e.ref(""),w=e.ref(!1),r=e.ref(0),y=e.ref(0),d=e.ref(1e3);let _=!1;const c=e.ref(null),u=e.shallowRef(null),k=e.shallowRef(null),E=e.shallowRef(null),S=e.ref(0),h=e.ref(12.5),M=e.ref(30),A=e.ref([]),$=e.ref(null),L=e.computed(()=>p.model?ie.getNonFixedJoints(p.model).map(o=>o.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=()=>s.value.map(t=>({Y:parseFloat(t.Y)||0,B:parseFloat(t.B)||0,C:parseFloat(t.C)||0,R:parseFloat(t.R)||0})),K=()=>{const t=[],l=[];return s.value.forEach(o=>{const{Y1:i,B1:x,C1:N,R1:J,Y2:X,B2:oe,C2:de,R2:D}=o;t.push({Y:parseFloat(i)||0,B:parseFloat(x)||0,C:parseFloat(N)||0,R:parseFloat(J)||0}),l.push({Y:parseFloat(X)||0,B:parseFloat(oe)||0,C:parseFloat(de)||0,R:parseFloat(D)||0})}),{posPipeYbcr:t,negPipeYbcr:l}},T=(t=0,l=0)=>{if(u.value&&k.value){const o=K();Ne(u.value,k.value,o.posPipeYbcr,o.negPipeYbcr,S.value,h.value,t,l,M.value)}else if(u.value){const o=ae();_e(u.value,o,S.value,h.value,t,l)}},C=t=>{if(t<0||t>=s.value.length){console.error(`帧索引 ${t} 超出范围`);return}const l=s.value[t];if(console.log(`应用第 ${t} 帧数据 ${l}`),r.value=t,c.value){const o={};L.value.forEach(i=>{const x=parseFloat(l[i]);isNaN(x)||(o[i]=x)}),c.value.setJointAngles(o)}T(t,0)},U=async()=>{if(s.value.length===0){B.ElMessage.error("无法播放动画：无数据");return}if(!w.value){w.value=!0,_=!1,s.value.length-1===r.value&&(r.value=0);try{for(let t=r.value+1;t<s.value.length&&!_;t++){r.value=t;const l=s.value[t],o={};c.value&&L.value.forEach(i=>{const x=parseFloat(l[i]);isNaN(x)||(o[i]=x)}),c.value?await c.value.animateToState(o,d.value,i=>{y.value=(t+i)/s.value.length*100,T(t-1,i)}):(await new Promise(i=>setTimeout(i,d.value)),y.value=(t+1)/s.value.length*100)}_||B.ElMessage.success("动画播放完成")}catch(t){console.error("动画播放出错:",t),B.ElMessage.error("动画播放出错")}finally{w.value=!1,y.value=0}}},F=()=>{_=!0,w.value=!1,y.value=0,B.ElMessage.info("动画已停止")},I=()=>{r.value=0},z=()=>{if(u.value&&k.value){const t=K();Ne(u.value,k.value,t.posPipeYbcr,t.negPipeYbcr,S.value,h.value,-1,0,M.value)}else if(u.value){const t=ae();_e(u.value,t,S.value,h.value,-1,0)}},Z=()=>{c.value&&c.value.resetToZero(),z(),I(),B.ElMessage.success("机器人和管件已重置")},O=t=>`第 ${t+1} 帧`,j=t=>{w.value&&F(),C(t)},Q=()=>{w.value&&F(),!(r.value+1>=s.value.length)&&C(r.value+1)},P=()=>{w.value&&F(),r.value!==0&&C(r.value-1)},H=()=>{E.value&&(E.value.visible=!0),u.value&&u.value.parent&&u.value.parent.remove(u.value),E.value=null,u.value=null,k.value=null},re=t=>t==null?void 0:t.reduce((l,o)=>(l[o]="0",l),{});e.watch(Y,(t,l)=>{if(JSON.stringify(t)!==JSON.stringify(l))if(t.length>0){const o=re(t);s.value=[o]}else s.value=[]},{immediate:!0});const ee=e.ref(0),ue=t=>{ee.value=t},he=(t,l)=>{if(!t||!l)return;const o=ie.getTargetJoint(t,l),i=Ee();i.visible=!1,o==null||o.add(i)},ge=t=>{c.value=new ve.URDFRobotController(t),A.value=ie.getAllLinkName(t),$.value="Pipe_Joint"},te=()=>{c.value=null,A.value=[],$.value=null},se=t=>{ge(t),he(t,$.value),ue(ee.value+1),Z()};e.watch(()=>p.model,t=>{if(H(),t){se(t);return}te()},{immediate:!0});const me=t=>{var o,i;const l=new n.Mesh(t.geometry.clone(),t.material);return l.name="managed_pipe_clone",(i=(o=t==null?void 0:t.parent)==null?void 0:o.add)==null||i.call(o,l),l.position.copy(t.position),l.rotation.copy(t.rotation),l.scale.copy(t.scale),l};e.watch([$,M,S,ee],([t,l])=>{if(H(),p.model&&t){const o=ie.getMeshFromJoint(p.model,t);if(console.log(o,"meshToReplace"),o&&o.parent){E.value=o,o.visible=!1;const i=me(o);if(m.value===ne.robotMode.SINGLE&&(i.position.y-=l*.001),u.value=i,m.value===ne.robotMode.DOUBLE){const x=me(o);k.value=x}T(0,0)}else t&&console.warn(`在 link '${t}' 中未找到可替换的网格或其没有父级。`)}});const Ve=async()=>{if(Y.value.length===0){B.ElMessage.warning("没有可导出的表头");return}const t=Y.value.join("	");try{await navigator.clipboard.writeText(t),B.ElMessage.success("表头已成功复制到剪贴板！")}catch(l){console.error("复制失败:",l),B.ElMessage.error("复制失败，请检查浏览器权限或手动复制。")}},be=()=>{if(!f.value.trim()){B.ElMessage.warning("导入内容不能为空");return}const t=f.value.trim().split(`

package/dist/{threeSceneView-DlL9pZlj.js → threeSceneView-Cr_KXNx5.js}

@@ -1,18 +1,18 @@
-import { defineComponent as Le, ref as h, watch as ne, shallowRef as be, computed as Pe, onUnmounted as Ie, resolveComponent as U, createElementBlock as Te, openBlock as Q, createElementVNode as u, createVNode as l, withCtx as M, createBlock as ye, createCommentVNode as ke, unref as X, toDisplayString as he, onMounted as Ge, 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 De, s as Ye } from "./threeViewerHost-Bdzv9iPb.js";
-import { u as Je, a as Qe, b as et, C as tt } from "./iconfont-0yJB130V.js";
-import { U as lt, u as ot, a as at, W as nt } from "./workpieceTreePanel-Ne_ACq86.js";
-import { c as st } from "./index-COQpDVsv.js";
+import { defineComponent as Le, ref as h, watch as ne, shallowRef as be, computed as Pe, onUnmounted as Ie, resolveComponent as U, createElementBlock as Te, openBlock as Q, createElementVNode as u, createVNode as l, withCtx as M, createBlock as ye, createCommentVNode as ke, unref as X, toDisplayString as he, onMounted as Ge, onBeforeUnmount as Ze, Fragment as He, renderList as qe, nextTick as Ke, withDirectives as pe, vShow as de, renderSlot as Me } from "vue";
+import { r as De, s as Ye } from "./threeViewerHost-Yx0xoLgc.js";
+import { u as Je, a as Qe, b as et, C as tt } from "./iconfont-DSIYZm9L.js";
+import { U as lt, u as ot, a as at, W as nt } from "./workpieceTreePanel-C6ceilqa.js";
+import { c as st } from "./index-sMsCzNtW.js";
 import { a6 as it, E, at as rt, an as ct } from "./index-B8HqIYd5.js";
-import { ac as Ve, ad as xe, V, aa as H, ab as ut, aC as pt, a1 as Se, aD as dt, aE as mt, aF as vt, aG as ft, aH as gt, aI as ht, aJ as bt, aK as yt, a7 as _t, aL as Be, aM as wt, aN as Ct, aO as kt } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-1pEFQ04s.js";
-import "./index.vue_vue_type_style_index_1_lang-CNh42_ZH.js";
+import { a7 as Ve, a8 as xe, V, a5 as H, a6 as ut, ax as pt, Y as Se, ay as dt, az as mt, aA as vt, aB as ft, aC as gt, aD as ht, aE as bt, aF as yt, a2 as _t, aG as Be, aH as wt, aI as Ct, aJ as kt } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BRc8dG0E.js";
+import "./index.vue_vue_type_style_index_1_lang-Cqe1NPUQ.js";
 import "./index-BHtNKL1L.js";
 import { _ as me } from "./index.vue_vue_type_script_setup_true_lang-DRzriV-s.js";
-import "./index-Ddoq7kRQ.js";
-import { f as Pt, a as xt, g as Rt, b as Mt } from "./animationData-CpK8d_Vm.js";
-import { g as Dt, a as Tt, b as Vt, c as St, U as At, J as $t } from "./urdfTree-hLtm0aFY.js";
+import "./index-BT6DSXQW.js";
+import { f as Pt, a as xt, g as Rt, b as Mt } from "./animationData-Bi3_TyWE.js";
+import { g as Dt, a as Tt, b as Vt, c as St, U as At, J as $t } from "./urdfTree-DMMvqDhp.js";
 import { _ as Ue } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-import { s as Ft } from "./index-DBh5Z73C.js";
+import { s as Ft } from "./index-i7Q6x7Zz.js";
 import { T as Y } from "./svgIcon-4u4PW7Is.js";
 const I = 1e-3, oe = ut.degToRad, Ee = new dt({
   // 灰色
@@ -270,8 +270,8 @@ const Et = { class: "panel-content" }, jt = { class: "action-bar" }, Ot = { clas
         animationData: R
       } = e;
       $.value = o, g.value = t, T.value = i, a.value = R;
-      const x = st(a.value), le = fe(G.value), q = (x == null ? void 0 : x["输出（动画数据）"]) || [];
-      s.value = q.length ? q : [le];
+      const x = st(a.value), le = fe(G.value), K = (x == null ? void 0 : x["输出（动画数据）"]) || [];
+      s.value = K.length ? K : [le];
     }, s = h([]), b = h(!1), f = h(""), w = h(!1), n = h(0), C = h(0), p = h(1e3);
     let k = !1;
     const r = h(null), c = be(null), D = be(null), A = be(null), $ = h(0), g = h(12.5), T = h(30), B = h([]), L = h(null), Z = Pe(() => d.model ? Dt(d.model).map((t) => t.name) : []), ee = h(["Y", "B", "C", "R"]), G = Pe(() => [...Z.value, ...ee.value]), _e = Pe(() => G.value.length > 0 ? `请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
@@ -285,14 +285,14 @@ ${G.value.join("	")}
     })), se = () => {
       const e = [], o = [];
       return s.value.forEach((t) => {
-        const { Y1: i, B1: R, C1: x, R1: le, Y2: q, B2: ue, C2: Ce, R2: z } = t;
+        const { Y1: i, B1: R, C1: x, R1: le, Y2: K, B2: ue, C2: Ce, R2: z } = t;
         e.push({
           Y: parseFloat(i) || 0,
           B: parseFloat(R) || 0,
           C: parseFloat(x) || 0,
           R: parseFloat(le) || 0
         }), o.push({
-          Y: parseFloat(q) || 0,
+          Y: parseFloat(K) || 0,
           B: parseFloat(ue) || 0,
           C: parseFloat(Ce) || 0,
           R: parseFloat(z) || 0
@@ -393,7 +393,7 @@ ${G.value.join("	")}
       }
     }, te = () => {
       r.value && r.value.resetToZero(), O(), N(), E.success("机器人和管件已重置");
-    }, K = (e) => `第 ${e + 1} 帧`, W = (e) => {
+    }, q = (e) => `第 ${e + 1} 帧`, W = (e) => {
       w.value && j(), P(e);
     }, ie = () => {
       w.value && j(), !(n.value + 1 >= s.value.length) && P(n.value + 1);
@@ -484,20 +484,20 @@ ${G.value.join("	")}
         return;
       }
       const R = e.slice(1).map((x) => {
-        const le = x.split("	"), q = {};
+        const le = x.split("	"), K = {};
         return G.value.forEach((ue) => {
-          q[ue] = "0";
+          K[ue] = "0";
         }), Object.entries(t).forEach(([ue, Ce]) => {
           const z = le[parseInt(ue)];
-          z !== void 0 && z.trim() !== "" && (q[Ce] = z.trim());
-        }), q;
+          z !== void 0 && z.trim() !== "" && (K[Ce] = z.trim());
+        }), K;
       });
       R.length > 0 ? (s.value = R, E.success(`成功导入 ${R.length} 行数据！`), b.value = !1, f.value = "") : E.error("未能解析到有效数据，请检查格式。");
     };
     return Ie(() => {
       ae(), k = !0;
     }), v({ playAnimation: J, stopAnimation: j, forwardFrame: ie, backwardFrame: F }), (e, o) => {
-      const t = U("el-icon"), i = U("el-input-number"), R = U("el-form-item"), x = U("el-form"), le = U("el-slider"), q = U("el-progress"), ue = U("el-input"), Ce = U("el-dialog");
+      const t = U("el-icon"), i = U("el-input-number"), R = U("el-form-item"), x = U("el-form"), le = U("el-slider"), K = U("el-progress"), ue = U("el-input"), Ce = U("el-dialog");
       return Q(), Te("div", Et, [
         u("div", jt, [
           l(me, {
@@ -623,14 +623,14 @@ ${G.value.join("	")}
               min: 0,
               max: s.value.length > 0 ? s.value.length - 1 : 0,
               step: 1,
-              "format-tooltip": K,
+              "format-tooltip": q,
               onInput: W,
               disabled: s.value.length === 0,
               style: { "flex-grow": "1", margin: "0 10px" }
             }, null, 8, ["modelValue", "max", "disabled"])
           ]),
           u("div", Nt, [
-            l(q, {
+            l(K, {
               percentage: C.value,
               "show-text": !1,
               "stroke-width": 6
@@ -672,13 +672,13 @@ ${G.value.join("	")}
       ]);
     };
   }
-}), Ht = /* @__PURE__ */ Ue(It, [["__scopeId", "data-v-49a19db9"]]), Kt = async () => {
+}), Ht = /* @__PURE__ */ Ue(It, [["__scopeId", "data-v-49a19db9"]]), qt = async () => {
   const v = await Rt(["工件库", "弯管"]), d = Be("工件列表", v), a = wt(d);
   return a == null ? void 0 : a.map((_) => ({
     name: _,
     mainKey: _
   }));
-}, qt = async (y) => {
+}, Kt = async (y) => {
   const d = await Ct(["工件库", "弯管"], y), a = Be("弯管基础参数", d), m = Be("弯管特征尺寸", d), _ = {
     outerDiameter: 0,
     ybcrList: []
@@ -724,14 +724,14 @@ ${G.value.join("	")}
       const { form: S, list: P } = g.value, {
         outerDiameter: J
       } = S, j = J / 2, N = P == null ? void 0 : P.map((te) => {
-        const { y: K, b: W, c: ie, r: F, Y: ae, B: fe, C: re, R: we } = te;
+        const { y: q, b: W, c: ie, r: F, Y: ae, B: fe, C: re, R: we } = te;
         return ae ? {
           Y: ae,
           B: fe,
           C: re,
           R: we
         } : {
-          Y: K,
+          Y: q,
           B: W,
           C: ie,
           R: F
@@ -748,10 +748,10 @@ ${G.value.join("	")}
     }, _e = () => {
       ee.value = !0;
     }, ve = async () => {
-      const S = await Kt();
+      const S = await qt();
       $(S);
     }, se = async (S) => {
-      const P = await qt(S);
+      const P = await Kt(S);
       T(P);
     };
     return ne(() => g, () => {
@@ -773,7 +773,7 @@ ${G.value.join("	")}
     }), Ze(() => {
       window.removeEventListener("resize", f), n();
     }), v({ openDialog: _e }), (S, P) => {
-      const J = U("el-icon"), j = U("el-option"), N = U("el-select"), O = U("el-form-item"), te = U("el-form"), K = U("el-input"), W = U("el-table-column"), ie = U("el-table");
+      const J = U("el-icon"), j = U("el-option"), N = U("el-select"), O = U("el-form-item"), te = U("el-form"), q = U("el-input"), W = U("el-table-column"), ie = U("el-table");
       return Q(), ye(Ft, {
         class: "pipe-analysis-dialog",
         visible: ee.value,
@@ -826,7 +826,7 @@ ${G.value.join("	")}
                             onChange: se
                           }, {
                             default: M(() => [
-                              (Q(!0), Te(He, null, Ke(A.value, (F) => (Q(), ye(j, {
+                              (Q(!0), Te(He, null, qe(A.value, (F) => (Q(), ye(j, {
                                 label: F.name,
                                 value: F.mainKey
                               }, null, 8, ["label", "value"]))), 256))
@@ -877,7 +877,7 @@ ${G.value.join("	")}
                     default: M(() => [
                       l(O, { label: "管长" }, {
                         default: M(() => [
-                          l(K, {
+                          l(q, {
                             modelValue: g.value.form.length,
                             "onUpdate:modelValue": P[2] || (P[2] = (F) => g.value.form.length = F)
                           }, null, 8, ["modelValue"])
@@ -886,7 +886,7 @@ ${G.value.join("	")}
                       }),
                       l(O, { label: "外径" }, {
                         default: M(() => [
-                          l(K, {
+                          l(q, {
                             modelValue: g.value.form.outerDiameter,
                             "onUpdate:modelValue": P[3] || (P[3] = (F) => g.value.form.outerDiameter = F)
                           }, null, 8, ["modelValue"])
@@ -895,7 +895,7 @@ ${G.value.join("	")}
                       }),
                       l(O, { label: "内径" }, {
                         default: M(() => [
-                          l(K, {
+                          l(q, {
                             modelValue: g.value.form.innerDiameter,
                             "onUpdate:modelValue": P[4] || (P[4] = (F) => g.value.form.innerDiameter = F)
                           }, null, 8, ["modelValue"])
@@ -904,7 +904,7 @@ ${G.value.join("	")}
                       }),
                       l(O, { label: "壁厚" }, {
                         default: M(() => [
-                          l(K, {
+                          l(q, {
                             modelValue: g.value.form.thickness,
                             "onUpdate:modelValue": P[5] || (P[5] = (F) => g.value.form.thickness = F)
                           }, null, 8, ["modelValue"])
@@ -990,7 +990,7 @@ ${G.value.join("	")}
       D,
       _,
       s
-    ), { isAnimating: se, toggleAnimation: S, startAnimation: P, stopAnimation: J } = Qe(T, D), { isClipping: j, activeClippingAxis: N, toggleClipping: O, updateClippingPlanes: te } = et(T, D), { initRaycaster: K, selectedObject3D: W, setSelectedObjVisible: ie, updatePosition: F, updateRotation: ae, dispose: fe } = ot(a, T, D), re = () => {
+    ), { isAnimating: se, toggleAnimation: S, startAnimation: P, stopAnimation: J } = Qe(T, D), { isClipping: j, activeClippingAxis: N, toggleClipping: O, updateClippingPlanes: te } = et(T, D), { initRaycaster: q, selectedObject3D: W, setSelectedObjVisible: ie, updatePosition: F, updateRotation: ae, dispose: fe } = ot(a, T, D), re = () => {
       ee();
     }, we = (t) => {
       N.value = t, te();
@@ -1027,11 +1027,11 @@ ${G.value.join("	")}
       immediate: !0,
       deep: !0
     }), ne(k, (t) => {
-      L(t ? [t] : []), K();
+      L(t ? [t] : []), q();
     });
     let o = null;
     return Ge(async () => {
-      await qe();
+      await Ke();
       try {
         $(), a.value && (o = new ResizeObserver(g), o.observe(a.value));
         const t = T();

package/dist/{threeSceneViewForCPMPIP-DB0Eczbs.js → threeSceneViewForCPMPIP-BuuDHRI4.js}

@@ -1,16 +1,16 @@
 import { defineComponent as ge, ref as r, computed as k, watch as X, onUnmounted as De, resolveComponent as G, createElementBlock as x, openBlock as g, createElementVNode as n, createCommentVNode as U, createVNode as s, toDisplayString as L, Fragment as Be, renderList as Je, withCtx as le, shallowRef as te, onMounted as Me, nextTick as me, onBeforeUnmount as Ee, withDirectives as I, vShow as W, unref as z, renderSlot as ve, createBlock as de } from "vue";
-import { s as pe } from "./threeViewerHost-Bdzv9iPb.js";
-import { u as Ge, a as He, b as Ie, C as We } from "./iconfont-0yJB130V.js";
-import { U as Xe, u as Ye, a as Ze, W as qe } from "./workpieceTreePanel-Ne_ACq86.js";
-import { c as Ke } from "./index-COQpDVsv.js";
+import { s as pe } from "./threeViewerHost-Yx0xoLgc.js";
+import { u as Ge, a as He, b as Ie, C as We } from "./iconfont-DSIYZm9L.js";
+import { U as Xe, u as Ye, a as Ze, W as qe } from "./workpieceTreePanel-C6ceilqa.js";
+import { c as Ke } from "./index-sMsCzNtW.js";
 import { E as _ } from "./index-B8HqIYd5.js";
-import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-1pEFQ04s.js";
+import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BRc8dG0E.js";
 import { _ as fe } from "./index.vue_vue_type_script_setup_true_lang-DRzriV-s.js";
-import { g as Qe, b as et, U as tt, J as lt, d as nt } from "./urdfTree-hLtm0aFY.js";
+import { g as Qe, b as et, U as tt, J as lt, d as nt } from "./urdfTree-DMMvqDhp.js";
 import { _ as he } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { T as y } from "./svgIcon-4u4PW7Is.js";
-import { i as at } from "./animationData-CpK8d_Vm.js";
-import { O as ot } from "./MTLLoader-YR-bfx1D.js";
+import { i as at } from "./animationData-Bi3_TyWE.js";
+import { O as ot } from "./MTLLoader-D0AtmWHn.js";
 const st = { class: "panel-content" }, it = {
   key: 0,
   class: "animation-controls"

package/dist/{threeSceneViewForCPMPIP-CZvKvfDx.cjs → threeSceneViewForCPMPIP-Dp8auXh3.cjs}

@@ -1,4 +1,4 @@
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 0	0	0	...
 1	2	3	...`:"请先加载模型。"),$=e.computed(()=>s.value[f.value]||{});e.watch(()=>y.model,o=>{o?(u.value=new J.URDFRobotController(o),V.value=U.getAllLinkName(o),f.value=0):(u.value=null,V.value=[])},{immediate:!0});const D=o=>{if(o<0||o>=s.value.length){console.error(`帧索引 ${o} 超出范围`);return}const n=s.value[o];if(u.value){const p={};N.value.forEach(k=>{const r=parseFloat(n[k]);isNaN(r)||(p[k]=r)}),u.value.setJointAngles(p)}f.value=o,w.value=s.value.length>1?o/(s.value.length-1)*100:100},L=async o=>{try{for(let n=f.value;n<s.value.length;n++){if(o!==c)return;const p=s.value[n],k={};if(u.value)N.value.forEach(r=>{const d=parseFloat(p[r]);isNaN(d)||(k[r]=d)}),await u.value.animateToState(k,b.value,r=>{o===c&&(w.value=(n+r)/s.value.length*100)});else{if(await new Promise(r=>setTimeout(r,b.value)),o!==c)return;w.value=(n+1)/s.value.length*100}f.value=n}o===c&&(h.ElMessage.success("动画播放完成"),i.value="stopped",w.value=100)}catch(n){console.error("动画播放出错:",n),h.ElMessage.error("动画播放出错"),i.value="stopped"}},B=()=>{if(s.value.length===0){h.ElMessage.error("无动画数据");return}i.value==="stopped"&&(f.value=0,D(0)),i.value="playing",c++,L(c),h.ElMessage.info("动画播放中")},M=()=>{i.value==="playing"&&(c++,i.value="paused",h.ElMessage.info("动画已暂停"))},R=()=>{c++,i.value="stopped",f.value=0,w.value=0,D(0),h.ElMessage.info("动画已停止并重置")},G=()=>{i.value==="playing"?M():B()},x=o=>{c++,i.value="paused",D(o)},X=()=>{if(!T.value.trim()){h.ElMessage.warning("导入内容不能为空");return}const o=T.value.trim().split(`

package/dist/{threeTrackPathView-DgyAEYfV.cjs → threeTrackPathView-78ve4cJ3.cjs}

@@ -1 +1 @@
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