ss-component-new 1.3.13 → 1.3.14

package/dist/{threeTrackPathView-Eb1bvUXJ.js → threeTrackPathView-DWMtEQZW.js}

@@ -1,9 +1,9 @@
-import { defineComponent as ce, computed as M, ref as k, resolveComponent as X, createElementBlock as ee, openBlock as E, createElementVNode as d, createVNode as p, withCtx as B, toDisplayString as Y, shallowRef as D, watch as Xe, onMounted as Ee, onBeforeUnmount as Ye, withDirectives as N, createCommentVNode as S, unref as A, renderSlot as ie, createBlock as le, vShow as Z, nextTick as je } from "vue";
-import { u as De, a as Ne, b as Ze, C as Ie, f as Be, d as re } from "./iconfont-0yJB130V.js";
-import { Q as O, a1 as Oe, bH as Ge, aD as qe, V as te, aF as ue, aS as fe, aY as Ke, aH as We, aX as He, aU as Je, aV as Re, ab as Qe, bI as Se } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-1pEFQ04s.js";
-import "./index-COQpDVsv.js";
-import { U as et, J as tt } from "./urdfTree-hLtm0aFY.js";
-import { E as I } from "./index-B8HqIYd5.js";
+import { defineComponent as ce, computed as U, ref as k, resolveComponent as E, createElementBlock as ee, openBlock as X, createElementVNode as d, createVNode as p, withCtx as I, toDisplayString as Y, shallowRef as D, watch as Ee, onMounted as Xe, onBeforeUnmount as Ye, withDirectives as N, createCommentVNode as S, unref as A, renderSlot as ie, createBlock as le, vShow as Z, nextTick as je } from "vue";
+import { u as De, a as Ne, b as Ze, C as Be, f as Ie, d as re } from "./iconfont-DSIYZm9L.js";
+import { L as O, Y as Oe, bC as Ge, ay as qe, V as te, aA as ue, aN as fe, aT as Ke, aC as We, aS as Je, aP as Re, aQ as He, a6 as Qe, bD as Se } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BRc8dG0E.js";
+import "./index-sMsCzNtW.js";
+import { U as et, J as tt } from "./urdfTree-DMMvqDhp.js";
+import { E as B } from "./index-B8HqIYd5.js";
 import { _ as ve } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { T as w } from "./svgIcon-4u4PW7Is.js";
 import { i as nt } from "./isString-FfOeP713.js";
@@ -52,7 +52,7 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
   },
   emits: ["getThreeData"],
   setup(e, { expose: n, emit: o }) {
-    const a = e, l = M(() => a.vectors), t = k(!1), s = k(0), r = k(100);
+    const a = e, l = U(() => a.vectors), t = k(!1), s = k(0), r = k(100);
     let f = !1;
     const c = (g) => `第 ${g + 1} 帧`, m = (g) => {
       if (g < 0 || g >= l.value.length) {
@@ -63,7 +63,7 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
       s.value = g, de(a.knife, y, a.cloud);
     }, v = async () => {
       if (l.value.length === 0) {
-        I.error("无法播放动画：无数据");
+        B.error("无法播放动画：无数据");
         return;
       }
       if (!t.value) {
@@ -71,7 +71,7 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
         try {
           for (let g = s.value + 1; g < l.value.length && !f; g++)
             await new Promise((y) => setTimeout(y, r.value)), m(g);
-          f || I.success("动画播放完成");
+          f || B.success("动画播放完成");
         } catch (g) {
           console.error("动画播放出错:", g);
         } finally {
@@ -79,7 +79,7 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
         }
       }
     }, C = () => {
-      f = !0, t.value = !1, I.info("动画已停止");
+      f = !0, t.value = !1, B.info("动画已停止");
     }, P = (g) => {
       t.value && C(), m(g);
     }, _ = () => {
@@ -92,23 +92,23 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
     return n({ playAnimation: v, stopAnimation: C, forwardFrame: _, backwardFrame: T, resetAnimationFrame: h, reset: async () => {
       await C(), h();
     } }), (g, y) => {
-      const q = X("el-input-number"), K = X("el-form-item"), W = X("el-form"), H = X("el-slider");
-      return E(), ee("div", it, [
+      const q = E("el-input-number"), K = E("el-form-item"), W = E("el-form"), J = E("el-slider");
+      return X(), ee("div", it, [
         d("div", lt, [
           d("div", rt, [
             p(W, {
               "label-width": "auto",
               style: { width: "100%" }
             }, {
-              default: B(() => [
+              default: I(() => [
                 p(K, {
                   label: "帧间隔 (ms):",
                   prop: "frameDuration"
                 }, {
-                  default: B(() => [
+                  default: I(() => [
                     p(q, {
                       modelValue: r.value,
-                      "onUpdate:modelValue": y[0] || (y[0] = (U) => r.value = U),
+                      "onUpdate:modelValue": y[0] || (y[0] = (M) => r.value = M),
                       min: 0,
                       max: 5e3,
                       step: 10,
@@ -127,9 +127,9 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
           ]),
           d("div", ft, [
             y[3] || (y[3] = d("label", null, "动画进度:", -1)),
-            p(H, {
+            p(J, {
               modelValue: s.value,
-              "onUpdate:modelValue": y[1] || (y[1] = (U) => s.value = U),
+              "onUpdate:modelValue": y[1] || (y[1] = (M) => s.value = M),
               min: 0,
               max: l.value.length > 0 ? l.value.length - 1 : 0,
               step: 1,
@@ -263,16 +263,16 @@ async function Ft(e) {
     o.push(+t, +s, +r);
   }), o;
 }
-async function Ut(e) {
+async function Mt(e) {
   let n = e.trim().split(/\r?\n/);
   return n = n.filter((a) => {
     const l = a.startsWith("X") || a.startsWith("Y") || a.startsWith("Z"), t = a.startsWith("G") && (a.includes("X") || a.includes("Y") || a.includes("Z")), s = a.startsWith("N") && (a.includes("X") || a.includes("Y") || a.includes("Z"));
     return l || t || s;
   }), zt(n);
 }
-async function Mt(e, n) {
+async function Ut(e, n) {
   const { isCyd: o, isUv: a, isCpt: l, isNc: t } = n;
-  return a ? Pt(e) : o ? Ft(e) : l ? xt(e) : t ? Ut(e) : [];
+  return a ? Pt(e) : o ? Ft(e) : l ? xt(e) : t ? Mt(e) : [];
 }
 function Lt(e) {
   const n = [];
@@ -298,7 +298,7 @@ function $t(e, n) {
   const s = Vt(n);
   return s.name = "轨迹路径", o.add(s), s;
 }
-function Xt(e, n, o, a = 4, l = 50) {
+function Et(e, n, o, a = 4, l = 50) {
   let t = 1 / 0, s = -1 / 0, r = 1 / 0, f = -1 / 0, c = 1 / 0, m = -1 / 0;
   for (let h = 0; h < e.length; h += 3) {
     const L = e[h], g = e[h + 1], y = e[h + 2];
@@ -307,7 +307,7 @@ function Xt(e, n, o, a = 4, l = 50) {
   const C = Math.sqrt((s - t) ** 2 + (f - r) ** 2 + (m - c) ** 2) * 0.05, P = Qe.degToRad(n.fov), _ = 2 * Math.tan(P / 2) * l, T = C / _ * o.domElement.height * (a / 4);
   return Math.min(0.4, T);
 }
-function Et(e) {
+function Xt(e) {
   if (e.length % 3 !== 0)
     return console.error("points array length is not a multiple of 3:", e), null;
   const n = new ue();
@@ -315,13 +315,13 @@ function Et(e) {
   const o = new Float32Array(e.length);
   for (let t = 0; t < e.length; t += 3)
     o[t] = 0, o[t + 1] = 0.847, o[t + 2] = 1;
-  n.setAttribute("color", new He(o, 3));
-  const a = new Je({
+  n.setAttribute("color", new Je(o, 3));
+  const a = new Re({
     vertexColors: !0,
     size: 0.4,
     // 像素世界单位
     sizeAttenuation: !0
-  }), l = new Re(n, a);
+  }), l = new He(n, a);
   return a.needsUpdate = !0, l;
 }
 function Yt(e, n) {
@@ -330,17 +330,17 @@ function Yt(e, n) {
   const { scene: o, camera: a, renderer: l, controls: t } = e();
   if (!o || !a || !l || !t)
     return;
-  const s = Et(n);
+  const s = Xt(n);
   if (!s)
     return;
   s.name = "轨迹路径", o.add(s);
-  const r = Xt(n, a, l, 0.1, 50);
+  const r = Et(n, a, l, 0.1, 50);
   return s.material.size = r, s;
 }
-const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft" }, Nt = { class: "buttonGroup-left" }, Zt = { class: "buttonGroup-right" }, It = { class: "buttonGroup-bottom" }, Bt = { class: "left-panel" }, Ot = { class: "panel-header" }, Gt = { class: "panel-body" }, qt = { class: "right-panel" }, Kt = { class: "panel-header" }, Wt = { class: "panel-body" }, Ht = {
+const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft" }, Nt = { class: "buttonGroup-left" }, Zt = { class: "buttonGroup-right" }, Bt = { class: "buttonGroup-bottom" }, It = { class: "left-panel" }, Ot = { class: "panel-header" }, Gt = { class: "panel-body" }, qt = { class: "right-panel" }, Kt = { class: "panel-header" }, Wt = { class: "panel-body" }, Jt = {
   key: 0,
   class: "loading-overlay"
-}, Jt = /* @__PURE__ */ ce({
+}, Rt = /* @__PURE__ */ ce({
   __name: "threeTrackPathView",
   props: {
     fileBlobs: {},
@@ -360,28 +360,28 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
       axesHelperVisible: q,
       toggleAxesVisibility: K,
       zoomIn: W,
-      zoomOut: H
-    } = De(o), { isAnimating: U, toggleAnimation: me, startAnimation: Rt, stopAnimation: pe } = Ne(h, C), { isClipping: he, activeClippingAxis: ne, toggleClipping: ge, updateClippingPlanes: ye } = Ze(h, C), Ce = () => {
+      zoomOut: J
+    } = De(o), { isAnimating: M, toggleAnimation: me, startAnimation: Ht, stopAnimation: pe } = Ne(h, C), { isClipping: he, activeClippingAxis: ne, toggleClipping: ge, updateClippingPlanes: ye } = Ze(h, C), Ce = () => {
       K();
     }, we = (i) => {
       ne.value = i, ye();
-    }, J = (i) => {
-      s.value = !0, r.value = i, i === "剖面视图" && !he.value && ge();
     }, R = (i) => {
+      s.value = !0, r.value = i, i === "剖面视图" && !he.value && ge();
+    }, H = (i) => {
       f.value = !0, c.value = i;
-    }, Q = k([]), V = k([]), ke = M(() => {
+    }, Q = k([]), V = k([]), ke = U(() => {
       var u;
       return (u = n.trackFileType) == null ? void 0 : u.isUv;
-    }), be = M(() => {
+    }), be = U(() => {
       var u;
       return (u = n.trackFileType) == null ? void 0 : u.isCyd;
-    }), _e = M(() => {
+    }), _e = U(() => {
       var u;
       return (u = n.trackFileType) == null ? void 0 : u.isCpt;
-    }), x = M(() => {
+    }), x = U(() => {
       var u;
       return (u = n.trackFileType) == null ? void 0 : u.isNc;
-    }), oe = M(() => {
+    }), oe = U(() => {
       const i = n.fileBlobs || [];
       return i == null ? void 0 : i[0];
     });
@@ -397,7 +397,7 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
     }, Ae = async (i) => {
       const u = URL.createObjectURL(i), $ = await Se(u);
       if (URL.revokeObjectURL(u), nt($)) {
-        Q.value = await Mt($, n.trackFileType) || [];
+        Q.value = await Ut($, n.trackFileType) || [];
         const z = Q.value;
         ke.value && (b.value = $t(h, z)), (be.value || _e.value || x.value) && (b.value = Yt(h, z));
       }
@@ -405,9 +405,9 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
       var i, u;
       F.value = ot(), V.value = Lt(Q.value), V.value && V.value.length && (de(F.value, V.value[0], b.value, new O(16711680)), (u = (i = v.value) == null ? void 0 : i.add) == null || u.call(i, F.value));
     }, ae = async (i) => {
-      se(), await Ae(i), b.value && Be(h, b.value), x.value && Pe();
+      se(), await Ae(i), b.value && Ie(h, b.value), x.value && Pe();
     };
-    Xe(() => oe.value, async (i) => {
+    Ee(() => oe.value, async (i) => {
       i && await ae(i);
     }, {
       immediate: !0,
@@ -419,10 +419,10 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
     }, Fe = () => {
       var i;
       x.value && ((i = t == null ? void 0 : t.value) == null || i.playAnimation());
-    }, Ue = () => {
+    }, Me = () => {
       var i;
       x.value && ((i = t == null ? void 0 : t.value) == null || i.stopAnimation());
-    }, Me = () => {
+    }, Ue = () => {
       var i;
       x.value && ((i = t == null ? void 0 : t.value) == null || i.forwardFrame());
     }, Le = () => {
@@ -435,20 +435,20 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
       const i = h();
       v.value = i.scene, v.value && (v.value.name = "CPMPIP");
     }, $e = () => {
-      j && j.disconnect(), U.value && pe(), se(), L();
+      j && j.disconnect(), M.value && pe(), se(), L();
     };
     let j = null;
-    return Ee(async () => {
+    return Xe(async () => {
       try {
         Ve();
       } catch (i) {
-        console.error("Three.js 初始化失败:", i), I.error("渲染引擎初始化失败！");
+        console.error("Three.js 初始化失败:", i), B.error("渲染引擎初始化失败！");
       }
     }), Ye(() => {
       $e();
     }), (i, u) => {
-      const $ = X("el-scrollbar");
-      return E(), ee("div", jt, [
+      const $ = E("el-scrollbar");
+      return X(), ee("div", jt, [
         d("div", {
           ref_key: "threejsContainer",
           ref: o,
@@ -471,13 +471,13 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
             name: "suoxiao",
             size: "24",
             title: "缩小",
-            onClick: A(H)
+            onClick: A(J)
           }, null, 8, ["onClick"]),
           p(w, {
             name: "lookAround",
             size: "24",
             onClick: A(me),
-            title: A(U) ? "停止动画" : "动画视图"
+            title: A(M) ? "停止动画" : "动画视图"
           }, null, 8, ["onClick", "title"]),
           p(w, {
             name: "zuobiaoxi",
@@ -488,28 +488,28 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
           }, null, 8, ["active"])
         ]),
         d("div", Nt, [
-          ie(i.$slots, "button-left", { switchRightPanel: J }, void 0, !0),
+          ie(i.$slots, "button-left", { switchRightPanel: R }, void 0, !0),
           p(w, {
             name: "jiegoushu",
             size: "24",
-            onClick: u[0] || (u[0] = (z) => J("场景树")),
+            onClick: u[0] || (u[0] = (z) => R("场景树")),
             active: s.value && r.value === "场景树",
             title: "场景树"
           }, null, 8, ["active"]),
           p(w, {
             name: "clipping",
             size: "24",
-            onClick: u[1] || (u[1] = (z) => J("剖面视图")),
+            onClick: u[1] || (u[1] = (z) => R("剖面视图")),
             active: s.value && r.value === "剖面视图",
             title: "剖面视图"
           }, null, 8, ["active"])
         ]),
         d("div", Zt, [
-          ie(i.$slots, "button-right", { switchRightPanel: R }, void 0, !0),
+          ie(i.$slots, "button-right", { switchRightPanel: H }, void 0, !0),
           p(w, {
             name: "guanjiekongzhi",
             size: "24",
-            onClick: u[2] || (u[2] = (z) => R("关节控制")),
+            onClick: u[2] || (u[2] = (z) => H("关节控制")),
             active: f.value && c.value === "关节控制",
             title: "关节控制"
           }, null, 8, ["active"]),
@@ -517,11 +517,11 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
             name: "donghuafangzhen",
             size: "24",
             title: "动画仿真",
-            onClick: u[3] || (u[3] = (z) => R("动画仿真")),
+            onClick: u[3] || (u[3] = (z) => H("动画仿真")),
             active: f.value && c.value === "动画仿真"
           }, null, 8, ["active"])
         ]),
-        d("div", It, [
+        d("div", Bt, [
           p(w, {
             name: "kuaitui",
             size: "24",
@@ -541,17 +541,17 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
             size: "24",
             backgroundColor: "#ffffff",
             title: "快进",
-            onClick: Me
+            onClick: Ue
           }),
           p(w, {
             name: "zanting",
             size: "24",
             backgroundColor: "#ffffff",
             title: "暂停",
-            onClick: Ue
+            onClick: Me
           })
         ]),
-        N(d("div", Bt, [
+        N(d("div", It, [
           d("div", Ot, [
             d("span", null, Y(r.value), 1),
             d("span", {
@@ -561,12 +561,12 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
           ]),
           d("div", Gt, [
             p($, { height: "100%" }, {
-              default: B(() => [
-                r.value === "场景树" ? (E(), le(et, {
+              default: I(() => [
+                r.value === "场景树" ? (X(), le(et, {
                   key: 0,
                   model: m.value
                 }, null, 8, ["model"])) : S("", !0),
-                r.value === "剖面视图" ? (E(), le(Ie, {
+                r.value === "剖面视图" ? (X(), le(Be, {
                   key: 1,
                   value: A(ne),
                   onChange: we
@@ -588,7 +588,7 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
           ]),
           d("div", Wt, [
             p($, { height: "100%" }, {
-              default: B(() => [
+              default: I(() => [
                 N(p(tt, { model: m.value }, null, 8, ["model"]), [
                   [Z, c.value === "关节控制"]
                 ]),
@@ -608,14 +608,14 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
         ], 512), [
           [Z, f.value]
         ]),
-        a.value ? (E(), ee("div", Ht, [
+        a.value ? (X(), ee("div", Jt, [
           u[6] || (u[6] = d("div", { class: "loading-spinner" }, null, -1)),
           d("p", null, Y(l.value), 1)
         ])) : S("", !0)
       ]);
     };
   }
-}), rn = /* @__PURE__ */ ve(Jt, [["__scopeId", "data-v-7178b621"]]);
+}), rn = /* @__PURE__ */ ve(Rt, [["__scopeId", "data-v-7178b621"]]);
 export {
   rn as default
 };

package/dist/{threeViewerHost-BMU1tg9c.cjs → threeViewerHost-Mm-Ez-7E.cjs}

@@ -1 +1 @@
-"use strict";const e=require("vue"),d=require("./index-DRTxe12U.cjs"),S=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-ZMwIbmlN.cjs"),D=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),F={SINGLE:"单机",DOUBLE:"双机"},R={ROBOT:1,PIPECOMPARSION:2},i={ROBOT_SCENE:"robot",TRACK_PATH:"trackPath",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},b=d.defineStore("threeState",{state:()=>({data:{files:[],data:{}}}),actions:{setData(v){this.data=v},getData(){return this.data}}});function I(){const v=d.useMenuState(d.pinia),{platform:g}=d.storeToRefs(v),P=b(d.pinia),c=["uv","cyd","nc"],m=["urdf"],r=["obj","stl"],T=[...c,...m,...r],f=t=>{if(!C())throw new Error("不是三维系统");P.setData(t)},y=()=>P.getData(),C=()=>g.value==="three",l=t=>S.getFileExtension(t),p=t=>{if(!t)return!1;const o=l(t);return T==null?void 0:T.includes(o)},E=t=>{if(!t)return!1;const o=l(t);return r==null?void 0:r.includes(o)},h=t=>{if(!t)return!1;const o=l(t);return c==null?void 0:c.includes(o)},u=t=>{if(!t)return{isCpt:!1,isCyd:!1,isUv:!1,isNc:!1};const o=l(t),a=c==null?void 0:c.find(k=>k===o);return{isCpt:a==="cpt",isCyd:a==="cyd",isUv:a==="uv",isNc:a==="nc"}},_=t=>{if(!t)return!1;const o=l(t);return m==null?void 0:m.includes(o)},B=t=>C()&&p(t),n=t=>({url:t,extension:l(t)});return{getData:y,setData:f,isThreeSystem:C,isUrdf:_,isGeneralFile:E,isTrackPathFile:h,isThreeFile:p,isUseBackdrop:B,initTrackFileType:u,getFileExtension:l,getFileInfo:n,getFilesInfo:t=>{const o=[];for(let a=0;a<t.length;a++){const w=t[a],k=n(w);o.push(k)}return o}}}const N={class:"three-platform mv-inline"},V={class:"top-menu"},A={key:4,class:"loading"},M=e.defineComponent({__name:"threeViewerHost",props:{files:{default:()=>[]},threeData:{},componentType:{},width:{default:"100%"},height:{default:"100%"}},setup(v){const g=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-DZvOLWv6.cjs"))),P=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-DOD9HOZn.cjs"))),c=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-DgyAEYfV.cjs"))),m=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-CZvKvfDx.cjs"))),r=v,T=d.useMenuState(d.pinia),{platName:f}=d.storeToRefs(T),{isUrdf:y,isTrackPathFile:C}=I(),l=e.computed(()=>{var n;return(n=r==null?void 0:r.files)==null?void 0:n.map(s=>{const{url:t}=s;return t})}),p=e.computed(()=>{var t;const n=(t=r==null?void 0:r.files)==null?void 0:t[0];return(n==null?void 0:n.extension)||""}),E=e.computed(()=>{var n,s;return(s=(n=r==null?void 0:r.threeData)==null?void 0:n.data)==null?void 0:s.trackFileType}),h=e.computed(()=>{if(r.componentType)switch(r.componentType){case"robot":return i.ROBOT_SCENE;case"track":return i.TRACK_PATH;case"cpmpip":return i.CPMPIP_SCENE;case"preview":return i.PREVIEW}return(f==null?void 0:f.value)===S.platNameConstants.CPMPIP&&y(p.value)?i.CPMPIP_SCENE:(f==null?void 0:f.value)===S.platNameConstants.ROBOT&&y(p.value)?i.ROBOT_SCENE:C(p.value)&&E.value?i.TRACK_PATH:i.PREVIEW}),u=e.ref([]),_=e.ref(!1);async function B(n){if(!n||!n.length){u.value=[];return}_.value=!0;try{const s=await Promise.all(n.map(t=>S.downloadFile(t)));u.value=s}catch(s){console.error("文件下载时发生错误:",s),u.value=[]}finally{_.value=!1}}return e.watch(()=>l.value,async n=>{await B(n||[])},{immediate:!0,deep:!0}),(n,s)=>(e.openBlock(),e.createElementBlock("div",N,[e.createElementVNode("div",V,[e.renderSlot(n.$slots,"top-menu",{},void 0,!0)]),h.value===e.unref(i).ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(g),{key:0,fileBlobs:u.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData"])):h.value===e.unref(i).TRACK_PATH?(e.openBlock(),e.createBlock(e.unref(c),{key:1,fileBlobs:u.value,threeData:r.threeData,trackFileType:E.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData","trackFileType"])):h.value===e.unref(i).CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(m),{key:2,fileBlobs:u.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData"])):h.value===e.unref(i).PREVIEW?(e.openBlock(),e.createBlock(e.unref(P),{key:3,fileBlobs:u.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs"])):e.createCommentVNode("",!0),_.value?(e.openBlock(),e.createElementBlock("div",A," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)]))}}),O=D._export_sfc(M,[["__scopeId","data-v-9798f55b"]]),H=Object.freeze(Object.defineProperty({__proto__:null,default:O},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=O;exports.robotMode=F;exports.sceneType=R;exports.threeViewerHost=H;exports.useThreeState=b;exports.useThreeSystem=I;
+"use strict";const e=require("vue"),d=require("./index-C8fMwErX.cjs"),S=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-CbFQ2oZH.cjs"),D=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),F={SINGLE:"单机",DOUBLE:"双机"},R={ROBOT:1,PIPECOMPARSION:2},i={ROBOT_SCENE:"robot",TRACK_PATH:"trackPath",CPMPIP_SCENE:"cpmpip",PREVIEW:"preview"},b=d.defineStore("threeState",{state:()=>({data:{files:[],data:{}}}),actions:{setData(v){this.data=v},getData(){return this.data}}});function I(){const v=d.useMenuState(d.pinia),{platform:g}=d.storeToRefs(v),P=b(d.pinia),c=["uv","cyd","nc"],m=["urdf"],r=["obj","stl"],T=[...c,...m,...r],f=t=>{if(!C())throw new Error("不是三维系统");P.setData(t)},y=()=>P.getData(),C=()=>g.value==="three",l=t=>S.getFileExtension(t),p=t=>{if(!t)return!1;const o=l(t);return T==null?void 0:T.includes(o)},E=t=>{if(!t)return!1;const o=l(t);return r==null?void 0:r.includes(o)},h=t=>{if(!t)return!1;const o=l(t);return c==null?void 0:c.includes(o)},u=t=>{if(!t)return{isCpt:!1,isCyd:!1,isUv:!1,isNc:!1};const o=l(t),a=c==null?void 0:c.find(k=>k===o);return{isCpt:a==="cpt",isCyd:a==="cyd",isUv:a==="uv",isNc:a==="nc"}},_=t=>{if(!t)return!1;const o=l(t);return m==null?void 0:m.includes(o)},B=t=>C()&&p(t),n=t=>({url:t,extension:l(t)});return{getData:y,setData:f,isThreeSystem:C,isUrdf:_,isGeneralFile:E,isTrackPathFile:h,isThreeFile:p,isUseBackdrop:B,initTrackFileType:u,getFileExtension:l,getFileInfo:n,getFilesInfo:t=>{const o=[];for(let a=0;a<t.length;a++){const w=t[a],k=n(w);o.push(k)}return o}}}const N={class:"three-platform mv-inline"},V={class:"top-menu"},A={key:4,class:"loading"},M=e.defineComponent({__name:"threeViewerHost",props:{files:{default:()=>[]},threeData:{},componentType:{},width:{default:"100%"},height:{default:"100%"}},setup(v){const g=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneView-B5L-Drf9.cjs"))),P=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-BtspqluS.cjs"))),c=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-78ve4cJ3.cjs"))),m=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-Dp8auXh3.cjs"))),r=v,T=d.useMenuState(d.pinia),{platName:f}=d.storeToRefs(T),{isUrdf:y,isTrackPathFile:C}=I(),l=e.computed(()=>{var n;return(n=r==null?void 0:r.files)==null?void 0:n.map(s=>{const{url:t}=s;return t})}),p=e.computed(()=>{var t;const n=(t=r==null?void 0:r.files)==null?void 0:t[0];return(n==null?void 0:n.extension)||""}),E=e.computed(()=>{var n,s;return(s=(n=r==null?void 0:r.threeData)==null?void 0:n.data)==null?void 0:s.trackFileType}),h=e.computed(()=>{if(r.componentType)switch(r.componentType){case"robot":return i.ROBOT_SCENE;case"track":return i.TRACK_PATH;case"cpmpip":return i.CPMPIP_SCENE;case"preview":return i.PREVIEW}return(f==null?void 0:f.value)===S.platNameConstants.CPMPIP&&y(p.value)?i.CPMPIP_SCENE:(f==null?void 0:f.value)===S.platNameConstants.ROBOT&&y(p.value)?i.ROBOT_SCENE:C(p.value)&&E.value?i.TRACK_PATH:i.PREVIEW}),u=e.ref([]),_=e.ref(!1);async function B(n){if(!n||!n.length){u.value=[];return}_.value=!0;try{const s=await Promise.all(n.map(t=>S.downloadFile(t)));u.value=s}catch(s){console.error("文件下载时发生错误:",s),u.value=[]}finally{_.value=!1}}return e.watch(()=>l.value,async n=>{await B(n||[])},{immediate:!0,deep:!0}),(n,s)=>(e.openBlock(),e.createElementBlock("div",N,[e.createElementVNode("div",V,[e.renderSlot(n.$slots,"top-menu",{},void 0,!0)]),h.value===e.unref(i).ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(g),{key:0,fileBlobs:u.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData"])):h.value===e.unref(i).TRACK_PATH?(e.openBlock(),e.createBlock(e.unref(c),{key:1,fileBlobs:u.value,threeData:r.threeData,trackFileType:E.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData","trackFileType"])):h.value===e.unref(i).CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(m),{key:2,fileBlobs:u.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData"])):h.value===e.unref(i).PREVIEW?(e.openBlock(),e.createBlock(e.unref(P),{key:3,fileBlobs:u.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs"])):e.createCommentVNode("",!0),_.value?(e.openBlock(),e.createElementBlock("div",A," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)]))}}),O=D._export_sfc(M,[["__scopeId","data-v-9798f55b"]]),H=Object.freeze(Object.defineProperty({__proto__:null,default:O},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=O;exports.robotMode=F;exports.sceneType=R;exports.threeViewerHost=H;exports.useThreeState=b;exports.useThreeSystem=I;

package/dist/{threeViewerHost-Bdzv9iPb.js → threeViewerHost-Yx0xoLgc.js}

@@ -1,6 +1,6 @@
-import { defineComponent as U, defineAsyncComponent as b, computed as B, ref as R, watch as H, createElementBlock as N, openBlock as T, createElementVNode as K, createBlock as I, createCommentVNode as V, renderSlot as u, unref as m, withCtx as d } from "vue";
-import { h as W, u as A, p as D, s as $ } from "./index-COQpDVsv.js";
-import { e as j, aB as M, ae as L } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-1pEFQ04s.js";
+import { defineComponent as U, defineAsyncComponent as b, computed as I, ref as R, watch as H, createElementBlock as N, openBlock as T, createElementVNode as K, createBlock as w, createCommentVNode as V, renderSlot as u, unref as m, withCtx as d } from "vue";
+import { e as W, u as A, p as D, s as $ } from "./index-sMsCzNtW.js";
+import { e as j, aw as M, a9 as L } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BRc8dG0E.js";
 import { _ as G } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const re = {
   SINGLE: "单机",
@@ -34,11 +34,11 @@ const re = {
   }
 });
 function Y() {
-  const E = A(D), { platform: O } = $(E), y = z(D), i = ["uv", "cyd", "nc"], p = ["urdf"], n = ["obj", "stl"], P = [...i, ...p, ...n], f = (e) => {
+  const E = A(D), { platform: B } = $(E), y = z(D), i = ["uv", "cyd", "nc"], p = ["urdf"], n = ["obj", "stl"], P = [...i, ...p, ...n], f = (e) => {
     if (!g())
       throw new Error("不是三维系统");
     y.setData(e);
-  }, _ = () => y.getData(), g = () => O.value === "three", c = (e) => j(e), h = (e) => {
+  }, _ = () => y.getData(), g = () => B.value === "three", c = (e) => j(e), h = (e) => {
     if (!e)
       return !1;
     const r = c(e);
@@ -61,7 +61,7 @@ function Y() {
         isUv: !1,
         isNc: !1
       };
-    const r = c(e), o = i == null ? void 0 : i.find((w) => w === r);
+    const r = c(e), o = i == null ? void 0 : i.find((k) => k === r);
     return {
       isCpt: o === "cpt",
       isCyd: o === "cyd",
@@ -73,7 +73,7 @@ function Y() {
       return !1;
     const r = c(e);
     return p == null ? void 0 : p.includes(r);
-  }, k = (e) => g() && h(e), t = (e) => ({
+  }, O = (e) => g() && h(e), t = (e) => ({
     url: e,
     extension: c(e)
   });
@@ -85,15 +85,15 @@ function Y() {
     isGeneralFile: S,
     isTrackPathFile: v,
     isThreeFile: h,
-    isUseBackdrop: k,
+    isUseBackdrop: O,
     initTrackFileType: l,
     getFileExtension: c,
     getFileInfo: t,
     getFilesInfo: (e) => {
       const r = [];
       for (let o = 0; o < e.length; o++) {
-        const F = e[o], w = t(F);
-        r.push(w);
+        const F = e[o], k = t(F);
+        r.push(k);
       }
       return r;
     }
@@ -112,20 +112,20 @@ const q = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
     height: { default: "100%" }
   },
   setup(E) {
-    const O = b(() => import("./threeSceneView-DlL9pZlj.js")), y = b(() => import("./threePreview-CkKl3frr.js")), i = b(() => import("./threeTrackPathView-Eb1bvUXJ.js")), p = b(() => import("./threeSceneViewForCPMPIP-DB0Eczbs.js")), n = E, P = A(D), { platName: f } = $(P), { isUrdf: _, isTrackPathFile: g } = Y(), c = B(() => {
+    const B = b(() => import("./threeSceneView-Cr_KXNx5.js")), y = b(() => import("./threePreview-CZI4Z6PT.js")), i = b(() => import("./threeTrackPathView-DWMtEQZW.js")), p = b(() => import("./threeSceneViewForCPMPIP-BuuDHRI4.js")), n = E, P = A(D), { platName: f } = $(P), { isUrdf: _, isTrackPathFile: g } = Y(), c = I(() => {
       var t;
       return (t = n == null ? void 0 : n.files) == null ? void 0 : t.map((s) => {
         const { url: e } = s;
         return e;
       });
-    }), h = B(() => {
+    }), h = I(() => {
       var e;
       const t = (e = n == null ? void 0 : n.files) == null ? void 0 : e[0];
       return (t == null ? void 0 : t.extension) || "";
-    }), S = B(() => {
+    }), S = I(() => {
       var t, s;
       return (s = (t = n == null ? void 0 : n.threeData) == null ? void 0 : t.data) == null ? void 0 : s.trackFileType;
-    }), v = B(() => {
+    }), v = I(() => {
       if (n.componentType)
         switch (n.componentType) {
           case "robot":
@@ -139,7 +139,7 @@ const q = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
         }
       return (f == null ? void 0 : f.value) === M.CPMPIP && _(h.value) ? a.CPMPIP_SCENE : (f == null ? void 0 : f.value) === M.ROBOT && _(h.value) ? a.ROBOT_SCENE : g(h.value) && S.value ? a.TRACK_PATH : a.PREVIEW;
     }), l = R([]), C = R(!1);
-    async function k(t) {
+    async function O(t) {
       if (!t || !t.length) {
         l.value = [];
         return;
@@ -157,14 +157,14 @@ const q = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
     return H(
       () => c.value,
       async (t) => {
-        await k(t || []);
+        await O(t || []);
       },
       { immediate: !0, deep: !0 }
     ), (t, s) => (T(), N("div", q, [
       K("div", J, [
         u(t.$slots, "top-menu", {}, void 0, !0)
       ]),
-      v.value === m(a).ROBOT_SCENE ? (T(), I(m(O), {
+      v.value === m(a).ROBOT_SCENE ? (T(), w(m(B), {
         key: 0,
         fileBlobs: l.value,
         threeData: n.threeData
@@ -176,7 +176,7 @@ const q = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
           u(t.$slots, "management-page", {}, void 0, !0)
         ]),
         _: 3
-      }, 8, ["fileBlobs", "threeData"])) : v.value === m(a).TRACK_PATH ? (T(), I(m(i), {
+      }, 8, ["fileBlobs", "threeData"])) : v.value === m(a).TRACK_PATH ? (T(), w(m(i), {
         key: 1,
         fileBlobs: l.value,
         threeData: n.threeData,
@@ -189,7 +189,7 @@ const q = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
           u(t.$slots, "management-page", {}, void 0, !0)
         ]),
         _: 3
-      }, 8, ["fileBlobs", "threeData", "trackFileType"])) : v.value === m(a).CPMPIP_SCENE ? (T(), I(m(p), {
+      }, 8, ["fileBlobs", "threeData", "trackFileType"])) : v.value === m(a).CPMPIP_SCENE ? (T(), w(m(p), {
         key: 2,
         fileBlobs: l.value,
         threeData: n.threeData
@@ -201,7 +201,7 @@ const q = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
           u(t.$slots, "management-page", {}, void 0, !0)
         ]),
         _: 3
-      }, 8, ["fileBlobs", "threeData"])) : v.value === m(a).PREVIEW ? (T(), I(m(y), {
+      }, 8, ["fileBlobs", "threeData"])) : v.value === m(a).PREVIEW ? (T(), w(m(y), {
         key: 3,
         fileBlobs: l.value
       }, {

package/dist/{urdfTree-hLtm0aFY.js → urdfTree-DMMvqDhp.js}

@@ -1,5 +1,5 @@
 import { defineComponent as I, ref as F, watch as M, onMounted as C, onUnmounted as E, createElementBlock as m, openBlock as f, Fragment as P, renderList as T, createElementVNode as c, createCommentVNode as U, toDisplayString as h, computed as L, resolveComponent as S, createVNode as A } from "vue";
-import { a1 as V } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-1pEFQ04s.js";
+import { Y as V } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BRc8dG0E.js";
 import { _ as b } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const D = (i, a) => {
   if (!a)
@@ -40,10 +40,10 @@ const D = (i, a) => {
 }, R = { class: "panel-content" }, O = {
   key: 0,
   class: "joints-list"
-}, K = { class: "joint-info-row" }, B = { class: "joint-left" }, q = { class: "joint-name" }, $ = { class: "joint-range" }, z = { class: "joint-type" }, G = {
+}, K = { class: "joint-info-row" }, B = { class: "joint-left" }, q = { class: "joint-name" }, $ = { class: "joint-range" }, Y = { class: "joint-type" }, z = {
   key: 0,
   class: "joint-control-row"
-}, H = { class: "slider-container" }, Q = ["min", "max", "value", "onInput"], W = { class: "value-display" }, X = { class: "joint-value" }, Y = { class: "unit" }, Z = {
+}, G = { class: "slider-container" }, H = ["min", "max", "value", "onInput"], Q = { class: "value-display" }, W = { class: "joint-value" }, X = { class: "unit" }, Z = {
   key: 1,
   class: "empty-state"
 }, j = /* @__PURE__ */ I({
@@ -120,10 +120,10 @@ const D = (i, a) => {
               c("span", q, h(s.name), 1),
               c("span", $, " [" + h(s.limit.lower.toFixed(2)) + ", " + h(s.limit.upper.toFixed(2)) + "] ", 1)
             ]),
-            c("span", z, h(s.type), 1)
+            c("span", Y, h(s.type), 1)
           ]),
-          s.type === "revolute" || s.type === "prismatic" || s.type === "continuous" ? (f(), m("div", G, [
-            c("div", H, [
+          s.type === "revolute" || s.type === "prismatic" || s.type === "continuous" ? (f(), m("div", z, [
+            c("div", G, [
               c("input", {
                 type: "range",
                 min: s.limit.lower,
@@ -132,11 +132,11 @@ const D = (i, a) => {
                 value: s.currentValue,
                 onInput: (r) => v(s.name, r.target.value),
                 class: "joint-slider"
-              }, null, 40, Q)
+              }, null, 40, H)
             ]),
-            c("div", W, [
-              c("span", X, h(s.currentValue ? Number(s.currentValue).toFixed(3) : "0.000"), 1),
-              c("span", Y, h(s.type === "prismatic" ? "m" : "rad"), 1)
+            c("div", Q, [
+              c("span", W, h(s.currentValue ? Number(s.currentValue).toFixed(3) : "0.000"), 1),
+              c("span", X, h(s.type === "prismatic" ? "m" : "rad"), 1)
             ])
           ])) : U("", !0)
         ]))), 128))

package/dist/{urdfTree-CoK2r17Y.cjs → urdfTree-npoVarfp.cjs}

@@ -1 +1 @@
-"use strict";const n=require("vue"),k=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-ZMwIbmlN.cjs"),x=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),J=(o,a)=>{if(!a)return null;const i=o.joints[a];return i||null},V=(o,a)=>{if(!a)return null;const i=J(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},F=(o,a)=>{if(!a)return null;const i=o.links[a];return i||null},L=(o,a)=>{if(!a)return null;const i=F(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},E=o=>{const a=o.joints;return Object.values(a)},M=o=>E(o).filter(u=>u.jointType!=="fixed"),N=o=>{const a=o.links;return Object.keys(a)},w={class:"panel-content"},B={key:0,class:"joints-list"},b={class:"joint-info-row"},I={class:"joint-left"},S={class:"joint-name"},C={class:"joint-range"},D={class:"joint-type"},P={key:0,class:"joint-control-row"},T={class:"slider-container"},U=["min","max","value","onInput"],A={class:"value-display"},R={class:"joint-value"},q={class:"unit"},O={key:1,class:"empty-state"},K=n.defineComponent({__name:"urdfJointPanel",props:{model:{}},setup(o,{expose:a}){const i=o,u=n.ref([]),c=n.ref(null),f=(r,e=!1)=>r==="revolute"?e?Math.PI:-Math.PI:r==="prismatic"?e?1:-1:0,h=r=>{if(!r||!r.joints)return console.warn("URDF模型无效或不包含关节信息"),[];const e=[];return E(r).forEach(l=>{var d,p;if(l.jointType==="fixed")return;let t={lower:((d=l.limit)==null?void 0:d.lower)??f(l.jointType,!1),upper:((p=l.limit)==null?void 0:p.upper)??f(l.jointType,!0)};l.jointType==="continuous"&&(t={lower:-10*Math.PI,upper:10*Math.PI}),e.push({name:l.name,type:l.jointType||"unknown",limit:t,currentValue:l.angle||0,urdfJoint:l})}),e},m=(r,e)=>{var d;const s=u.value.find(p=>p.name===r);if(!s)return;const l=parseFloat(e),t=Math.max(s.limit.lower,Math.min(s.limit.upper,l));s.currentValue=t,(d=i.model)!=null&&d.setJointValue?i.model.setJointValue(r,t):s.urdfJoint.setJointValue(t)},_=()=>{u.value.forEach(r=>{(r.type==="revolute"||r.type==="continuous"||r.type==="prismatic")&&m(r.name,0)})},g=()=>{i.model&&u.value.forEach(r=>{r.urdfJoint.angle!==void 0&&r.currentValue!==r.urdfJoint.angle&&(r.currentValue=r.urdfJoint.angle)})},v=()=>{const r=()=>{g(),c.value=requestAnimationFrame(r)};r()},y=()=>{c.value&&(cancelAnimationFrame(c.value),c.value=null)};return n.watch(()=>i.model,r=>{r?u.value=h(r):u.value=[]},{immediate:!0}),n.onMounted(()=>{v()}),n.onUnmounted(()=>{y()}),a({resetAllJoints:_}),(r,e)=>(n.openBlock(),n.createElementBlock("div",w,[u.value.length>0?(n.openBlock(),n.createElementBlock("div",B,[(n.openBlock(!0),n.createElementBlock(n.Fragment,null,n.renderList(u.value,s=>(n.openBlock(),n.createElementBlock("div",{key:s.name,class:"joint-item"},[n.createElementVNode("div",b,[n.createElementVNode("div",I,[n.createElementVNode("span",S,n.toDisplayString(s.name),1),n.createElementVNode("span",C," ["+n.toDisplayString(s.limit.lower.toFixed(2))+", "+n.toDisplayString(s.limit.upper.toFixed(2))+"] ",1)]),n.createElementVNode("span",D,n.toDisplayString(s.type),1)]),s.type==="revolute"||s.type==="prismatic"||s.type==="continuous"?(n.openBlock(),n.createElementBlock("div",P,[n.createElementVNode("div",T,[n.createElementVNode("input",{type:"range",min:s.limit.lower,max:s.limit.upper,step:"0.001",value:s.currentValue,onInput:l=>m(s.name,l.target.value),class:"joint-slider"},null,40,U)]),n.createElementVNode("div",A,[n.createElementVNode("span",R,n.toDisplayString(s.currentValue?Number(s.currentValue).toFixed(3):"0.000"),1),n.createElementVNode("span",q,n.toDisplayString(s.type==="prismatic"?"m":"rad"),1)])])):n.createCommentVNode("",!0)]))),128))])):(n.openBlock(),n.createElementBlock("div",O,e[0]||(e[0]=[n.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}}),$=x._export_sfc(K,[["__scopeId","data-v-750b831d"]]),H={class:"panel-content"},z="id",G={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:o=>["breadth","firstLevel"].includes(o)}},emits:["nodeClick"],setup(o,{emit:a}){const i=o,u=a,c=n.ref([]),f={children:"children",label:"label"},h=e=>{u("nodeClick",e)},m=(e,s=0)=>{const l=[];return Array.isArray(e)&&(e==null?void 0:e.length)>0&&e.forEach(t=>{if(!(t!=null&&t.isMesh)&&((t==null?void 0:t.type)==="URDFJoint"||(t==null?void 0:t.type)==="URDFLink")){const d={name:t==null?void 0:t.name,label:t==null?void 0:t.name,show:!0,level:s+1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:m(t==null?void 0:t.children,s+1),path:t==null?void 0:t.name};l.push(d)}}),l},_=e=>e?[{name:e==null?void 0:e.name,label:e==null?void 0:e.name,show:!0,level:1,isPenultimate:!1,type:e==null?void 0:e.type,id:e==null?void 0:e.id,limit:(e==null?void 0:e.limit)??"",children:m(e==null?void 0:e.children,1)||[],path:e==null?void 0:e.name}]:[],g=(e,s)=>{const l=[],t=[...e];for(;t.length>0&&l.length<s;){const d=t.shift();d.children&&d.children.length>0&&(l.push(d.id),t.push(...d.children))}return l},v=(e,s)=>{const l=[];return e.forEach(t=>{if(t.children&&t.children.length>0){l.push(t.id);const d=t.children.filter(p=>p.children&&p.children.length>0).slice(0,s).map(p=>p.id);l.push(...d)}}),l.slice(0,s+1)},y=n.computed(()=>!c.value||c.value.length===0?[]:i.expandStrategy==="firstLevel"?v(c.value,i.maxExpandCount):g(c.value,i.maxExpandCount)),r=n.computed(()=>[{name:"场景",label:"场景",show:!0,level:1,isPenultimate:!1,type:"场景",id:"场景",children:i!=null&&i.model?_(i.model):[],path:"场景"}]);return n.watch(r,e=>{c.value=JSON.parse(JSON.stringify(e))},{immediate:!0}),(e,s)=>{const l=n.resolveComponent("el-tree");return n.openBlock(),n.createElementBlock("div",H,[n.createVNode(l,{data:c.value,props:f,"default-expanded-keys":y.value,"node-key":z,onNodeClick:h},null,8,["data","default-expanded-keys"])])}}},Q=x._export_sfc(G,[["__scopeId","data-v-cfde50c3"]]);exports.JointPanel=$;exports.UrdfTree=Q;exports.getAllLinkName=N;exports.getMeshFromJoint=V;exports.getMeshFromLink=L;exports.getNonFixedJoints=M;exports.getTargetJoint=J;
+"use strict";const n=require("vue"),k=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-CbFQ2oZH.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;