ss-component-new 1.3.21 → 1.3.23

package/dist/{urdfTree-HdeBG5se.cjs → urdfTree-CoK2r17Y.cjs}

@@ -1 +1 @@
-"use strict";const n=require("vue"),k=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-b_9vxv2X.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-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;

package/dist/{urdfTree-DM6uTeXj.js → urdfTree-hLtm0aFY.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 { Y as V } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-n7J00Lcz.js";
+import { a1 as V } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-1pEFQ04s.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" }, Y = { class: "joint-type" }, z = {
+}, K = { class: "joint-info-row" }, B = { class: "joint-left" }, q = { class: "joint-name" }, $ = { class: "joint-range" }, z = { class: "joint-type" }, G = {
   key: 0,
   class: "joint-control-row"
-}, G = { class: "slider-container" }, H = ["min", "max", "value", "onInput"], Q = { class: "value-display" }, W = { class: "joint-value" }, X = { class: "unit" }, Z = {
+}, H = { class: "slider-container" }, Q = ["min", "max", "value", "onInput"], W = { class: "value-display" }, X = { class: "joint-value" }, Y = { 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", Y, h(s.type), 1)
+            c("span", z, h(s.type), 1)
           ]),
-          s.type === "revolute" || s.type === "prismatic" || s.type === "continuous" ? (f(), m("div", z, [
-            c("div", G, [
+          s.type === "revolute" || s.type === "prismatic" || s.type === "continuous" ? (f(), m("div", G, [
+            c("div", H, [
               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, H)
+              }, null, 40, Q)
             ]),
-            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)
+            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)
             ])
           ])) : U("", !0)
         ]))), 128))

package/dist/{workpieceTreePanel-C5qUdbmi.js → workpieceTreePanel-Ne_ACq86.js}

@@ -1,18 +1,18 @@
 var ce = Object.defineProperty;
 var de = (b, l, t) => l in b ? ce(b, l, { enumerable: !0, configurable: !0, writable: !0, value: t }) : b[l] = t;
 var J = (b, l, t) => de(b, typeof l != "symbol" ? l + "" : l, t);
-import { U as me } from "./URDFLoader-D-0fnLWu.js";
-import { S as ve, M as pe, O as fe } from "./MTLLoader-CBRDqlja.js";
-import { bD as be, bE as re, aw as E, a1 as we, Y as he, bF as O, J as _e, bG as ge, a_ as je, V as ye } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-n7J00Lcz.js";
-import { ref as T, defineComponent as Le, computed as F, watch as ue, resolveComponent as x, createElementBlock as k, openBlock as V, createVNode as U, createElementVNode as c, withCtx as M, createTextVNode as D, toDisplayString as C } from "vue";
-import { c as Re, e as Ue, g as $e } from "./iconfont-CSj9Ypb0.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) {
+import { U as me } from "./URDFLoader-m1gMdnSQ.js";
+import { S as ve, M as pe, O as fe } from "./MTLLoader-YR-bfx1D.js";
+import { bJ as be, bK as re, aC as O, a6 as we, a1 as he, bL as E, O as _e, bM as ge, b4 as je, V as ye } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-1pEFQ04s.js";
+import { ref as T, defineComponent as Le, computed as S, watch as ue, resolveComponent as x, createElementBlock as k, openBlock as V, createVNode as C, createElementVNode as c, withCtx as F, createTextVNode as D, toDisplayString as $ } from "vue";
+import { c as Re, e as Ce, g as Ue } from "./iconfont-0yJB130V.js";
+import { _ as $e } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+const Me = "http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";
+function Se(b) {
   const { mtlUrl: l, manager: t, resourcePath: s, onLoad: m, onProgress: i, onError: h } = b, v = new pe(t);
   return s && v.setResourcePath(s), v.load(l, m, i, h), v;
 }
-function Me(b) {
+function Fe(b) {
   const { objUrl: l, manager: t, materials: s, onLoad: m, onProgress: i, onError: h } = b, v = new fe(t);
   return s && v.setMaterials(s), v.load(l, m, i, h), v;
 }
@@ -37,18 +37,18 @@ function De(b) {
           var u;
           return (((u = i.split("/").pop()) == null ? void 0 : u.split("?")[0].split("#")[0]) ?? "").replace(/\.[^/.?#]+$/, "");
         })(), 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 E());
+              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({
+        Se({
           mtlUrl: f,
           manager: h,
           resourcePath: _,
@@ -75,13 +75,13 @@ 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 E());
+            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: ${i})`), v(new E());
+        console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${y} (路径: ${i})`), v(new O());
     }
   }, m;
 }
@@ -94,8 +94,8 @@ function dt(b, l, t, s) {
       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 $ = `正在加载 ${u} / ${j} 个文件: ${re(n)}`;
-      s.value = $, u === j && (s.value = "资源加载完成，正在处理模型...", setTimeout(() => {
+      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(() => {
         if (r) {
           r.updateMatrixWorld(!0);
           const p = new _e().setFromObject(r);
@@ -112,15 +112,15 @@ function dt(b, l, t, s) {
       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 $ = re(n);
+      const U = re(n);
       let p;
-      j && j > 0 ? p = `${$}（${O(u)} / ${O(j)}）` : u && u > 0 ? p = `${$}（已下载 ${O(u)}）` : p = `${$}`, s.value = `正在下载第 ${_ + 1} / ${y} 个文件: ${p}`;
+      j && j > 0 ? p = `${U}（${E(u)} / ${E(j)}）` : u && u > 0 ? p = `${U}（已下载 ${E(u)}）` : p = `${U}`, s.value = `正在下载第 ${_ + 1} / ${y} 个文件: ${p}`;
     };
     try {
       const n = URL.createObjectURL(i);
       De({
         manager: f,
-        baseFolderUrl: Se,
+        baseFolderUrl: Me,
         onFileProgress: g
       }).load(
         n,
@@ -189,9 +189,9 @@ function mt(b, l, t, s = ["URDFVisual"]) {
   function j(p) {
     var o;
     const { axis: d, value: e } = p;
-    Ue((o = i.value) == null ? void 0 : o.obj, d, e);
+    Ce((o = i.value) == null ? void 0 : o.obj, d, e);
   }
-  function $(p) {
+  function U(p) {
     var o;
     const { axis: d, value: e } = p;
     Re((o = i.value) == null ? void 0 : o.obj, d, e);
@@ -202,7 +202,7 @@ function mt(b, l, t, s = ["URDFVisual"]) {
     selectedObject3D: i,
     setSelectedObjVisible: u,
     updatePosition: j,
-    updateRotation: $
+    updateRotation: U
   };
 }
 class vt {
@@ -304,10 +304,10 @@ class vt {
       });
   }
 }
-const Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
+const Je = { class: "panel-content" }, Oe = { class: "obj" }, Ee = {
   key: 0,
   class: "obj-base"
-}, xe = ["title"], ke = ["title"], Ve = { key: 1 }, Te = { 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" }, Ye = { class: "world" }, qe = { class: "coord-line" }, Xe = { class: "coord-text" }, Ze = { class: "world-position-item" }, Ge = { class: "world-position-item" }, Ke = { class: "world-position-item" }, He = { class: "coord-line" }, Qe = { class: "coord-text" }, et = { class: "world-rotation-item" }, tt = { class: "world-rotation-item" }, ot = { class: "world-rotation-item" }, st = /* @__PURE__ */ Le({
+}, xe = ["title"], ke = ["title"], Ve = { key: 1 }, Te = { 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" }, Ke = { class: "coord-line" }, Xe = { class: "coord-text" }, Ye = { class: "world-position-item" }, Ze = { 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: {},
@@ -358,12 +358,12 @@ const Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
       return e.forEach((a) => {
         if (a.children && a.children.length > 0) {
           w.push(a.id);
-          const L = a.children.filter((S) => S.children && S.children.length > 0).slice(0, o).map((S) => S.id);
+          const L = a.children.filter((M) => M.children && M.children.length > 0).slice(0, o).map((M) => M.id);
           w.push(...L);
         }
       }), w.slice(0, o + 1);
     };
-    F(() => !m.value || m.value.length === 0 ? [] : t.expandStrategy === "firstLevel" ? _(m.value, t.maxExpandCount) : y(m.value, t.maxExpandCount));
+    S(() => !m.value || m.value.length === 0 ? [] : t.expandStrategy === "firstLevel" ? _(m.value, t.maxExpandCount) : y(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,
@@ -378,18 +378,18 @@ const Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
       });
     }, u = (e) => {
       s("visibleChange", e);
-    }, j = F(() => t != null && t.model ? v(t.model) : []), $ = F(() => {
+    }, j = S(() => t != null && t.model ? v(t.model) : []), U = S(() => {
       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 = S(() => {
       var e;
       return (e = t == null ? void 0 : t.model) == null ? void 0 : e.type;
-    }), d = F(() => {
+    }), d = S(() => {
       var e;
       return (e = t == null ? void 0 : t.model) == null ? void 0 : e.visible;
     });
     return ue(() => t.model, () => {
-      t.model && (i.value = $e(t.model));
+      t.model && (i.value = Ue(t.model));
     }, {
       deep: !0,
       immediate: !0
@@ -400,34 +400,34 @@ const Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
       },
       { immediate: !0 }
     ), (e, o) => {
-      var S, z, P, A, I, B, N, W, Y, q, X, Z, G, K, H, Q, ee, te, oe, se, ie, le, ae, ne;
+      var M, z, P, A, I, B, N, W, q, K, X, Y, Z, 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 V(), k("div", Je, [
-        U(w, null, {
-          default: M(() => o[6] || (o[6] = [
+        C(w, null, {
+          default: F(() => o[6] || (o[6] = [
             D("对象")
           ])),
           _: 1,
           __: [6]
         }),
-        c("div", Ee, [
-          t.model ? (V(), k("div", Oe, [
+        c("div", Oe, [
+          t.model ? (V(), k("div", Ee, [
             c("div", {
               class: "obj-name",
-              title: $.value
-            }, C($.value), 9, xe),
+              title: U.value
+            }, $(U.value), 9, xe),
             c("div", {
               class: "obj-type",
               title: p.value
-            }, "[" + C(p.value) + "]", 9, ke)
+            }, "[" + $(p.value) + "]", 9, ke)
           ])) : (V(), k("div", Ve, "空")),
-          U(a, {
+          C(a, {
             "model-value": d.value,
             onChange: u
           }, null, 8, ["model-value"])
         ]),
-        U(w, null, {
-          default: M(() => o[7] || (o[7] = [
+        C(w, null, {
+          default: F(() => o[7] || (o[7] = [
             D("相对位置")
           ])),
           _: 1,
@@ -436,8 +436,8 @@ const Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
         c("div", Te, [
           c("div", ze, [
             o[8] || (o[8] = c("span", { class: "axis-label" }, "X", -1)),
-            U(L, {
-              "model-value": r((z = (S = i.value) == null ? void 0 : S.position) == null ? void 0 : z.x),
+            C(L, {
+              "model-value": r((z = (M = i.value) == null ? void 0 : M.position) == null ? void 0 : z.x),
               onChange: o[0] || (o[0] = (R) => g(R, "x")),
               size: "small",
               class: "coord-input-compact",
@@ -449,7 +449,7 @@ const Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
           ]),
           c("div", Pe, [
             o[9] || (o[9] = c("span", { class: "axis-label" }, "Y", -1)),
-            U(L, {
+            C(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 Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
           ]),
           c("div", Ae, [
             o[10] || (o[10] = c("span", { class: "axis-label" }, "Z", -1)),
-            U(L, {
+            C(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 Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
             }, null, 8, ["model-value"])
           ])
         ]),
-        U(w, null, {
-          default: M(() => o[11] || (o[11] = [
+        C(w, null, {
+          default: F(() => o[11] || (o[11] = [
             D("相对旋转")
           ])),
           _: 1,
@@ -484,7 +484,7 @@ const Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
         c("div", Ie, [
           c("div", Be, [
             o[12] || (o[12] = c("span", { class: "axis-label" }, "X°", -1)),
-            U(L, {
+            C(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 Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
           ]),
           c("div", Ne, [
             o[13] || (o[13] = c("span", { class: "axis-label" }, "Y°", -1)),
-            U(L, {
-              "model-value": f((q = (Y = i.value) == null ? void 0 : Y.rotation) == null ? void 0 : q.y),
+            C(L, {
+              "model-value": f((K = (q = i.value) == null ? void 0 : q.rotation) == null ? void 0 : K.y),
               onChange: o[4] || (o[4] = (R) => n(R, "y")),
               size: "small",
               class: "coord-input-compact",
@@ -510,8 +510,8 @@ const Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
           ]),
           c("div", We, [
             o[14] || (o[14] = c("span", { class: "axis-label" }, "Z°", -1)),
-            U(L, {
-              "model-value": f((Z = (X = i.value) == null ? void 0 : X.rotation) == null ? void 0 : Z.z),
+            C(L, {
+              "model-value": f((Y = (X = i.value) == null ? void 0 : X.rotation) == null ? void 0 : Y.z),
               onChange: o[5] || (o[5] = (R) => n(R, "z")),
               size: "small",
               class: "coord-input-compact",
@@ -522,35 +522,35 @@ const Je = { class: "panel-content" }, Ee = { class: "obj" }, Oe = {
             }, null, 8, ["model-value"])
           ])
         ]),
-        U(w, null, {
-          default: M(() => o[15] || (o[15] = [
+        C(w, null, {
+          default: F(() => o[15] || (o[15] = [
             D("世界信息")
           ])),
           _: 1,
           __: [15]
         }),
-        c("div", Ye, [
-          c("div", qe, [
+        c("div", qe, [
+          c("div", Ke, [
             o[16] || (o[16] = c("span", { class: "coord-label" }, "世界位置:", -1)),
             c("span", Xe, [
-              c("div", Ze, C(r((K = (G = i.value) == null ? void 0 : G.worldPosition) == null ? void 0 : K.x)) + ", ", 1),
-              c("div", Ge, C(r((Q = (H = i.value) == null ? void 0 : H.worldPosition) == null ? void 0 : Q.y)) + ", ", 1),
-              c("div", Ke, C(r((te = (ee = i.value) == null ? void 0 : ee.worldPosition) == null ? void 0 : te.z)), 1)
+              c("div", Ye, $(r((G = (Z = i.value) == null ? void 0 : Z.worldPosition) == null ? void 0 : G.x)) + ", ", 1),
+              c("div", Ze, $(r((Q = (H = i.value) == null ? void 0 : H.worldPosition) == null ? void 0 : Q.y)) + ", ", 1),
+              c("div", Ge, $(r((te = (ee = i.value) == null ? void 0 : ee.worldPosition) == null ? void 0 : te.z)), 1)
             ])
           ]),
           c("div", He, [
             o[17] || (o[17] = c("span", { class: "coord-label" }, "世界旋转:", -1)),
             c("span", Qe, [
-              c("div", et, C(f((se = (oe = i.value) == null ? void 0 : oe.worldRotation) == null ? void 0 : se.x)) + "°, ", 1),
-              c("div", tt, C(f((le = (ie = i.value) == null ? void 0 : ie.worldRotation) == null ? void 0 : le.y)) + "°, ", 1),
-              c("div", ot, C(f((ne = (ae = i.value) == null ? void 0 : ae.worldRotation) == null ? void 0 : ne.z)) + "° ", 1)
+              c("div", et, $(f((se = (oe = i.value) == null ? void 0 : oe.worldRotation) == null ? void 0 : se.x)) + "°, ", 1),
+              c("div", tt, $(f((le = (ie = i.value) == null ? void 0 : ie.worldRotation) == null ? void 0 : le.y)) + "°, ", 1),
+              c("div", ot, $(f((ne = (ae = i.value) == null ? void 0 : ae.worldRotation) == null ? void 0 : ne.z)) + "° ", 1)
             ])
           ])
         ])
       ]);
     };
   }
-}), pt = /* @__PURE__ */ Ce(st, [["__scopeId", "data-v-00d48931"]]);
+}), pt = /* @__PURE__ */ $e(st, [["__scopeId", "data-v-00d48931"]]);
 export {
   vt as U,
   pt as W,

package/dist/{workpieceTreePanel-BKOHDm85.cjs → workpieceTreePanel-mWvCQyyw.cjs}

@@ -1 +1 @@
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c(v){r.value&&r.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),r.value=v,v.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(65280))})}function f(v){const u=b.value.getBoundingClientRect();p.x=(v.clientX-u.left)/u.width*2-1,p.y=-((v.clientY-u.top)/u.height)*2+1,_.setFromCamera(p,m);const t=_.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,w=null;for(;s;){if(g.has(s.id)){w=g.get(s.id);break}s=s.parent}w&&c(w)}function V(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=i();m=u,h(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){r.value&&(r.value.obj.visible=v)}function E(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=r.value)==null?void 0:s.obj,u,t)}function R(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=r.value)==null?void 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this.movableJoints.forEach(o=>{i[o.name]=o.angle||0}),i}resetToZero(){this.movableJoints.forEach(i=>{i.setJointValue(0)})}getJointLimits(i){const o=this.robot.joints[i];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(i,o=1e3,l){const m=this.getCurrentJointStates(),r=Date.now();return new Promise(_=>{const p=()=>{const g=Date.now()-r,h=Math.min(g/o,1),c=this.easeInOutCubic(h),f={};Object.keys(i).forEach(V=>{const a=m[V]||0,d=i[V];f[V]=a+(d-a)*c}),this.setJointAngles(f),l&&l(h),h<1?requestAnimationFrame(p):_()};p()})}easeInOutCubic(i){return i<.5?4*i*i*i:1-Math.pow(-2*i+2,3)/2}async playSequence(i,o=1e3,l){for(let m=0;m<i.length;m++)await this.animateToState(i[m],o,r=>{l&&l(m,r)})}}const 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y={name:n==null?void 0:n.name,label:(n==null?void 0:n.name)||(n==null?void 0:n.type),show:!0,level:s+1,isPenultimate:!1,type:n==null?void 0:n.type,id:n==null?void 0:n.id,limit:(n==null?void 0:n.limit)??"",children:_(n==null?void 0:n.children,s+1),path:n==null?void 0:n.name};w.push(y)}}),w},p=t=>t?[{name:t==null?void 0:t.name,label:(t==null?void 0:t.name)||(t==null?void 0:t.type),show:!0,level:1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:_(t==null?void 0:t.children,1),path:t==null?void 0:t.name}]:[],g=(t,s)=>{const w=[],n=[...t];for(;n.length>0&&w.length<s;){const y=n.shift();y.children&&y.children.length>0&&(w.push(y.id),n.push(...y.children))}return w},h=(t,s)=>{const w=[];return t.forEach(n=>{if(n.children&&n.children.length>0){w.push(n.id);const 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e.watch(()=>o.model,()=>{o.model&&(r.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(E,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var j,U,F,$,M,x,J,O,k,T,P,z,B,A,q,I,W,G,X,Y,Z,K,H,Q;const w=e.resolveComponent("el-divider"),n=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",ue,[e.createVNode(w,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",me,[o.model?(e.openBlock(),e.createElementBlock("div",pe,[e.createElementVNode("div",{class:"obj-name",title:R.value},e.toDisplayString(R.value),9,ve),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,fe)])):(e.openBlock(),e.createElementBlock("div",be,"空")),e.createVNode(n,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(w,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",we,[e.createElementVNode("div",_e,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((U=(j=r.value)==null?void 0:j.position)==null?void 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0:q.worldPosition)==null?void 0:I.y))+", ",1),e.createElementVNode("div",Se,e.toDisplayString(c((G=(W=r.value)==null?void 0:W.worldPosition)==null?void 0:G.z)),1)])]),e.createElementVNode("div",Ue,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Fe,[e.createElementVNode("div",$e,e.toDisplayString(f((Y=(X=r.value)==null?void 0:X.worldRotation)==null?void 0:Y.x))+"°, ",1),e.createElementVNode("div",Me,e.toDisplayString(f((K=(Z=r.value)==null?void 0:Z.worldRotation)==null?void 0:K.y))+"°, ",1),e.createElementVNode("div",xe,e.toDisplayString(f((Q=(H=r.value)==null?void 0:H.worldRotation)==null?void 0:Q.z))+"° ",1)])])])])}}}),Oe=se._export_sfc(Je,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=de;exports.WorkpieceTreePanel=Oe;exports.useRaycaster=ce;exports.useUrdfLoader=ae;
+"use strict";var ee=Object.defineProperty;var te=(b,i,o)=>i in b?ee(b,i,{enumerable:!0,configurable:!0,writable:!0,value:o}):b[i]=o;var C=(b,i,o)=>te(b,typeof i!="symbol"?i+"":i,o);const oe=require("./URDFLoader-10oVp_KW.cjs"),S=require("./MTLLoader-C_XCtjSi.cjs"),N=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-ZMwIbmlN.cjs"),e=require("vue"),D=require("./iconfont-DsF7kuG5.cjs"),se=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),le="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function re(b){const{mtlUrl:i,manager:o,resourcePath:l,onLoad:m,onProgress:r,onError:_}=b,p=new S.MTLLoader(o);return l&&p.setResourcePath(l),p.load(i,m,r,_),p}function ie(b){const{objUrl:i,manager:o,materials:l,onLoad:m,onProgress:r,onError:_}=b,p=new S.OBJLoader(o);return l&&p.setMaterials(l),p.load(i,m,r,_),p}function ne(b){const{manager:i,baseFolderUrl:o,onFileProgress:l}=b,m=new oe.URDFLoader(i);return 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c(v){r.value&&r.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),r.value=v,v.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(65280))})}function f(v){const u=b.value.getBoundingClientRect();p.x=(v.clientX-u.left)/u.width*2-1,p.y=-((v.clientY-u.top)/u.height)*2+1,_.setFromCamera(p,m);const t=_.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,w=null;for(;s;){if(g.has(s.id)){w=g.get(s.id);break}s=s.parent}w&&c(w)}function V(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=i();m=u,h(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){r.value&&(r.value.obj.visible=v)}function E(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=r.value)==null?void 0:s.obj,u,t)}function R(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=r.value)==null?void 0:s.obj,u,t)}return{initRaycaster:a,dispose:V,selectedObject3D:r,setSelectedObjVisible:d,updatePosition:E,updateRotation:R}}class de{constructor(i){C(this,"robot");C(this,"movableJoints");this.robot=i,this.movableJoints=this.getMovableJoints()}getMovableJoints(){return Object.values(this.robot.joints).filter(i=>i.jointType!=="fixed")}getMovableJointNames(){return this.movableJoints.map(i=>i.name)}setJointAngle(i,o){const l=this.robot.joints[i];if(!l||l.jointType==="fixed")return console.warn(`关节 ${i} 不存在或不可动`),!1;if(l.limit){const m=Math.max(l.limit.lower,Math.min(l.limit.upper,o));m!==o&&console.warn(`关节 ${i} 角度被限制在 [${l.limit.lower}, ${l.limit.upper}]`),l.setJointValue(m)}else l.setJointValue(o);return!0}setJointAngles(i){Object.entries(i).forEach(([o,l])=>{typeof l=="number"&&!isNaN(l)&&this.setJointAngle(o,l)})}getCurrentJointStates(){const i={};return this.movableJoints.forEach(o=>{i[o.name]=o.angle||0}),i}resetToZero(){this.movableJoints.forEach(i=>{i.setJointValue(0)})}getJointLimits(i){const o=this.robot.joints[i];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(i,o=1e3,l){const m=this.getCurrentJointStates(),r=Date.now();return new Promise(_=>{const p=()=>{const g=Date.now()-r,h=Math.min(g/o,1),c=this.easeInOutCubic(h),f={};Object.keys(i).forEach(V=>{const a=m[V]||0,d=i[V];f[V]=a+(d-a)*c}),this.setJointAngles(f),l&&l(h),h<1?requestAnimationFrame(p):_()};p()})}easeInOutCubic(i){return i<.5?4*i*i*i:1-Math.pow(-2*i+2,3)/2}async playSequence(i,o=1e3,l){for(let m=0;m<i.length;m++)await this.animateToState(i[m],o,r=>{l&&l(m,r)})}}const ue={class:"panel-content"},me={class:"obj"},pe={key:0,class:"obj-base"},ve=["title"],fe=["title"],be={key:1},we={class:"obj-position"},_e={class:"coord-item"},he={class:"coord-item"},Ve={class:"coord-item"},Ee={class:"obj-rotation"},ge={class:"coord-item"},ye={class:"coord-item"},Ne={class:"coord-item"},Le={class:"world"},Re={class:"coord-line"},je={class:"coord-text"},Ce={class:"world-position-item"},De={class:"world-position-item"},Se={class:"world-position-item"},Ue={class:"coord-line"},Fe={class:"coord-text"},$e={class:"world-rotation-item"},Me={class:"world-rotation-item"},xe={class:"world-rotation-item"},Je=e.defineComponent({__name:"workpieceTreePanel",props:{model:{},maxExpandCount:{default:10},expandStrategy:{default:"breadth"}},emits:["nodeClick","visibleChange","updatePosition","updateRotation"],setup(b,{emit:i}){const o=b,l=i,m=e.ref([]),r=e.ref({}),_=(t,s=0)=>{const w=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(n=>{if(!(n!=null&&n.isMesh)){const y={name:n==null?void 0:n.name,label:(n==null?void 0:n.name)||(n==null?void 0:n.type),show:!0,level:s+1,isPenultimate:!1,type:n==null?void 0:n.type,id:n==null?void 0:n.id,limit:(n==null?void 0:n.limit)??"",children:_(n==null?void 0:n.children,s+1),path:n==null?void 0:n.name};w.push(y)}}),w},p=t=>t?[{name:t==null?void 0:t.name,label:(t==null?void 0:t.name)||(t==null?void 0:t.type),show:!0,level:1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:_(t==null?void 0:t.children,1),path:t==null?void 0:t.name}]:[],g=(t,s)=>{const w=[],n=[...t];for(;n.length>0&&w.length<s;){const y=n.shift();y.children&&y.children.length>0&&(w.push(y.id),n.push(...y.children))}return w},h=(t,s)=>{const w=[];return t.forEach(n=>{if(n.children&&n.children.length>0){w.push(n.id);const y=n.children.filter(j=>j.children&&j.children.length>0).slice(0,s).map(j=>j.id);w.push(...y)}}),w.slice(0,s+1)};e.computed(()=>!m.value||m.value.length===0?[]:o.expandStrategy==="firstLevel"?h(m.value,o.maxExpandCount):g(m.value,o.maxExpandCount));const c=t=>t?parseFloat(t.toFixed(3)):0,f=t=>t?parseFloat(t.toFixed(1)):0,V=(t,s)=>{l("updatePosition",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},a=(t,s)=>{l("updateRotation",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},d=t=>{l("visibleChange",t)},E=e.computed(()=>o!=null&&o.model?p(o.model):[]),R=e.computed(()=>{var t,s;return((t=o==null?void 0:o.model)==null?void 0:t.name)||((s=o==null?void 0:o.model)==null?void 0:s.type)}),v=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.type}),u=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.visible});return e.watch(()=>o.model,()=>{o.model&&(r.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(E,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var j,U,F,$,M,x,J,O,k,T,P,z,B,A,q,I,W,G,X,Y,Z,K,H,Q;const w=e.resolveComponent("el-divider"),n=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return e.openBlock(),e.createElementBlock("div",ue,[e.createVNode(w,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",me,[o.model?(e.openBlock(),e.createElementBlock("div",pe,[e.createElementVNode("div",{class:"obj-name",title:R.value},e.toDisplayString(R.value),9,ve),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,fe)])):(e.openBlock(),e.createElementBlock("div",be,"空")),e.createVNode(n,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(w,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",we,[e.createElementVNode("div",_e,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((U=(j=r.value)==null?void 0:j.position)==null?void 0:U.x),onChange:s[0]||(s[0]=L=>V(L,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",he,[s[9]||(s[9]=e.createElementVNode("span",{class:"axis-label"},"Y",-1)),e.createVNode(y,{"model-value":c(($=(F=r.value)==null?void 0:F.position)==null?void 0:$.y),onChange:s[1]||(s[1]=L=>V(L,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Ve,[s[10]||(s[10]=e.createElementVNode("span",{class:"axis-label"},"Z",-1)),e.createVNode(y,{"model-value":c((x=(M=r.value)==null?void 0:M.position)==null?void 0:x.z),onChange:s[2]||(s[2]=L=>V(L,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(w,null,{default:e.withCtx(()=>s[11]||(s[11]=[e.createTextVNode("相对旋转")])),_:1,__:[11]}),e.createElementVNode("div",Ee,[e.createElementVNode("div",ge,[s[12]||(s[12]=e.createElementVNode("span",{class:"axis-label"},"X°",-1)),e.createVNode(y,{"model-value":f((O=(J=r.value)==null?void 0:J.rotation)==null?void 0:O.x),onChange:s[3]||(s[3]=L=>a(L,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ye,[s[13]||(s[13]=e.createElementVNode("span",{class:"axis-label"},"Y°",-1)),e.createVNode(y,{"model-value":f((T=(k=r.value)==null?void 0:k.rotation)==null?void 0:T.y),onChange:s[4]||(s[4]=L=>a(L,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Ne,[s[14]||(s[14]=e.createElementVNode("span",{class:"axis-label"},"Z°",-1)),e.createVNode(y,{"model-value":f((z=(P=r.value)==null?void 0:P.rotation)==null?void 0:z.z),onChange:s[5]||(s[5]=L=>a(L,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(w,null,{default:e.withCtx(()=>s[15]||(s[15]=[e.createTextVNode("世界信息")])),_:1,__:[15]}),e.createElementVNode("div",Le,[e.createElementVNode("div",Re,[s[16]||(s[16]=e.createElementVNode("span",{class:"coord-label"},"世界位置:",-1)),e.createElementVNode("span",je,[e.createElementVNode("div",Ce,e.toDisplayString(c((A=(B=r.value)==null?void 0:B.worldPosition)==null?void 0:A.x))+", ",1),e.createElementVNode("div",De,e.toDisplayString(c((I=(q=r.value)==null?void 0:q.worldPosition)==null?void 0:I.y))+", ",1),e.createElementVNode("div",Se,e.toDisplayString(c((G=(W=r.value)==null?void 0:W.worldPosition)==null?void 0:G.z)),1)])]),e.createElementVNode("div",Ue,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Fe,[e.createElementVNode("div",$e,e.toDisplayString(f((Y=(X=r.value)==null?void 0:X.worldRotation)==null?void 0:Y.x))+"°, ",1),e.createElementVNode("div",Me,e.toDisplayString(f((K=(Z=r.value)==null?void 0:Z.worldRotation)==null?void 0:K.y))+"°, ",1),e.createElementVNode("div",xe,e.toDisplayString(f((Q=(H=r.value)==null?void 0:H.worldRotation)==null?void 0:Q.z))+"° ",1)])])])])}}}),Oe=se._export_sfc(Je,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=de;exports.WorkpieceTreePanel=Oe;exports.useRaycaster=ce;exports.useUrdfLoader=ae;

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "ss-component-new",
   "private": false,
-  "version": "1.3.21",
+  "version": "1.3.23",
   "type": "module",
   "files": [
     "dist",

package/dist/index-BteE57Nz.js

@@ -1,103 +0,0 @@
-import { s as d, u as j, b, p as E } from "./index-sMsCzNtW.js";
-import { ref as y } from "vue";
-import { a as i } from "./index-B8HqIYd5.js";
-function w(t) {
-  return i.post(
-    "http://222.92.178.198:63002/platform/create",
-    t
-  );
-}
-function F(t) {
-  return i.post(
-    "http://222.92.178.198:63002/platform/get",
-    t
-  );
-}
-function S(t) {
-  return i.post(
-    "http://222.92.178.198:63002/platform/getPage",
-    t
-  );
-}
-function L(t) {
-  return i.post(
-    "http://222.92.178.198:63002/platform/delete",
-    t
-  );
-}
-function M(t) {
-  return i.post(
-    "http://222.92.178.198:63002/platform/page/add",
-    t
-  );
-}
-const A = (t) => {
-  var n, c;
-  if (Array.isArray(Object.keys(t)) && ((n = Object.keys(t)) == null ? void 0 : n.length) > 0) {
-    let o = [];
-    return (c = Object.entries(t)) == null || c.forEach(([p, a]) => {
-      var l, u;
-      let r = [];
-      if (r.push(p), ((l = Object.keys(a)) == null ? void 0 : l.length) > 0) {
-        let e = [];
-        (u = A(a)) == null || u.forEach((s) => {
-          e.push(s);
-        }), e == null || e.forEach((s) => {
-          r.push(s);
-        });
-      }
-      o.push(r);
-    }), o;
-  }
-}, _ = (t, n) => {
-  var o;
-  let c = n;
-  return Array.isArray(Object.keys(t)) && ((o = Object.entries(t)) == null || o.forEach(([p, a]) => {
-    let r = [p];
-    if (typeof a == "object" && a !== null) {
-      let l = A(a);
-      l == null || l.forEach((u) => {
-        r.push(u);
-      });
-    }
-    c.push(r);
-  })), c;
-}, x = (t) => {
-  const n = {};
-  return t.forEach((o) => {
-    const p = o.split("/");
-    let a = n;
-    p.forEach((r) => {
-      a[r] || (a[r] = {}), a = a[r];
-    });
-  }), _(n, []);
-}, h = y(!1), g = y(!1), O = b(E), { loginUserInfo: f } = d(O), P = j(), N = async () => {
-  var n, c, o, p, a, r, l;
-  let t = await S({
-    platId: parseInt((n = f == null ? void 0 : f.value) == null ? void 0 : n.plat_id),
-    pageName: "menu"
-  });
-  if (((o = (c = t == null ? void 0 : t.data) == null ? void 0 : c.result) == null ? void 0 : o.length) > 0) {
-    let u = (l = (r = (a = (p = t == null ? void 0 : t.data) == null ? void 0 : p.result) == null ? void 0 : a.filter((e) => {
-      var s, m;
-      return ((m = e == null ? void 0 : e.object_name) == null ? void 0 : m[((s = e == null ? void 0 : e.object_name) == null ? void 0 : s.length) - 1]) !== "/" && (e == null ? void 0 : e.is_show);
-    })) == null ? void 0 : r.sort((e, s) => (e == null ? void 0 : e.object_id) - (s == null ? void 0 : s.object_id))) == null ? void 0 : l.map((e) => {
-      var s;
-      return (s = e == null ? void 0 : e.object_name) == null ? void 0 : s.replaceAll("**^", "/");
-    });
-    u = [...new Set(u)], u = x(u), P.setRawMenus(u ?? []), h.value = !0, g.value = !0;
-  }
-  return {
-    menuExist: h.value,
-    structureExist: g.value
-  };
-};
-export {
-  w as c,
-  L as d,
-  S as g,
-  F as l,
-  x as m,
-  M as p,
-  N as v
-};

package/dist/index-C8FzkPpO.cjs

@@ -1 +0,0 @@
-"use strict";const f=require("./index-C8fMwErX.cjs"),d=require("vue"),p=require("./index-C5pQXH0_.cjs");function E(e){return p.axios.post("http://222.92.178.198:63002/platform/create",e)}function b(e){return p.axios.post("http://222.92.178.198:63002/platform/get",e)}function y(e){return p.axios.post("http://222.92.178.198:63002/platform/getPage",e)}function D(e){return p.axios.post("http://222.92.178.198:63002/platform/delete",e)}function P(e){return p.axios.post("http://222.92.178.198:63002/platform/page/add",e)}const j=e=>{var s,i;if(Array.isArray(Object.keys(e))&&((s=Object.keys(e))==null?void 0:s.length)>0){let o=[];return(i=Object.entries(e))==null||i.forEach(([l,a])=>{var c,u;let r=[];if(r.push(l),((c=Object.keys(a))==null?void 0:c.length)>0){let t=[];(u=j(a))==null||u.forEach(n=>{t.push(n)}),t==null||t.forEach(n=>{r.push(n)})}o.push(r)}),o}},S=(e,s)=>{var o;let i=s;return Array.isArray(Object.keys(e))&&((o=Object.entries(e))==null||o.forEach(([l,a])=>{let r=[l];if(typeof a=="object"&&a!==null){let c=j(a);c==null||c.forEach(u=>{r.push(u)})}i.push(r)})),i},x=e=>{const s={};return e.forEach(o=>{const l=o.split("/");let a=s;l.forEach(r=>{a[r]||(a[r]={}),a=a[r]})}),S(s,[])},g=d.ref(!1),A=d.ref(!1),_=f.useLoginState(f.pinia),{loginUserInfo:h}=f.storeToRefs(_),v=f.useMenuState(),O=async()=>{var s,i,o,l,a,r,c;let e=await y({platId:parseInt((s=h==null?void 0:h.value)==null?void 0:s.plat_id),pageName:"menu"});if(((o=(i=e==null?void 0:e.data)==null?void 0:i.result)==null?void 0:o.length)>0){let u=(c=(r=(a=(l=e==null?void 0:e.data)==null?void 0:l.result)==null?void 0:a.filter(t=>{var n,m;return((m=t==null?void 0:t.object_name)==null?void 0:m[((n=t==null?void 0:t.object_name)==null?void 0:n.length)-1])!=="/"&&(t==null?void 0:t.is_show)}))==null?void 0:r.sort((t,n)=>(t==null?void 0:t.object_id)-(n==null?void 0:n.object_id)))==null?void 0:c.map(t=>{var n;return(n=t==null?void 0:t.object_name)==null?void 0:n.replaceAll("**^","/")});u=[...new Set(u)],u=x(u),v.setRawMenus(u??[]),g.value=!0,A.value=!0}return{menuExist:g.value,structureExist:A.value}};exports.createPlatFormDataApi=E;exports.deletePageDataApi=D;exports.getPageDataApi=y;exports.loginPlatFormDataApi=b;exports.menuArray=x;exports.pageBatchAddApi=P;exports.verifyStructureDataToStore=O;