ss-component-new 1.3.271 → 1.3.273

package/dist/ss-component.js

@@ -7,15 +7,15 @@ import "./request-B3-w_S8Z.js";
 /* empty css                                               */
 import u from "./ss-component2.js";
 import { t as g, c as T, b as P } from "./index-C2UiLe43.js";
-const n = o(() => import("./main-Bua2pNgj.js"));
+const n = o(() => import("./main-aGFk7t5g.js"));
 n.install = (t) => {
   t.component("ssComponent", n);
 };
-const s = o(() => import("./index-air9KUwO.js").then((t) => t.o));
+const s = o(() => import("./index-CQE1twGM.js").then((t) => t.o));
 s.install = (t) => {
   t.component("ssTab", s);
 };
-const r = o(() => import("./index-DjK2szn0.js").then((t) => t.i));
+const r = o(() => import("./index-BHb1lpTX.js").then((t) => t.i));
 r.install = (t) => {
   t.component("ssMenu", r);
 };
@@ -35,11 +35,11 @@ const a = o(() => import("./index-CG-CQhar.js").then((t) => t.i));
 a.install = (t) => {
   t.component("ssAvatar", a);
 };
-const l = o(() => import("./threeModel-DJ9uFnUs.js"));
+const l = o(() => import("./threeModel-C43ztv8F.js"));
 l.install = (t) => {
   t.component("ssThree", l);
 };
-const p = o(() => import("./threeViewerHost-CLYRcipX.js").then((t) => t.t));
+const p = o(() => import("./threeViewerHost-CUPLExtn.js").then((t) => t.t));
 p.install = (t) => {
   t.component("threeViewerHost", p);
 };

package/dist/ss-component2.cjs

@@ -1 +1 @@
-"use strict";const n=require("vue-router"),t=[{path:"/tenant",name:"Tenant",component:async()=>Promise.resolve().then(()=>require("./index-BJ-thkmN.cjs"))},{path:"/login",name:"Login",component:async()=>Promise.resolve().then(()=>require("./index-BJvaTjjk.cjs"))},{path:"/",name:"Model",component:async()=>Promise.resolve().then(()=>require("./index-CAKmBDVW.cjs")),children:[{path:"系统配置/站内信",name:"Message",component:async()=>Promise.resolve().then(()=>require("./index-DPIg2S6M.cjs"))},{path:"系统配置/自动生成",name:"Automatic",component:async()=>Promise.resolve().then(()=>require("./index-B2BAJXIH.cjs"))},{path:"平台管理/菜单管理",name:"Menu",component:async()=>Promise.resolve().then(()=>require("./index-BefNND7D.cjs"))},{path:"平台管理/主菜单管理",name:"MainMenu",component:async()=>Promise.resolve().then(()=>require("./index-C8BjMc6z.cjs"))},{path:"系统管理/个人中心",name:"PersonalCenter",component:async()=>Promise.resolve().then(()=>require("./index-DtfkhNLl.cjs"))},{path:"系统维护/登录日志",name:"LoginLog",component:async()=>Promise.resolve().then(()=>require("./index-DQhZN-1E.cjs"))},{path:"系统维护/操作日志",name:"OperateLog",component:async()=>Promise.resolve().then(()=>require("./index-BxwghYq1.cjs"))},{path:"角色管理",name:"Role",component:async()=>Promise.resolve().then(()=>require("./index-DlPQUH86.cjs"))},{path:"部门管理",name:"Department",component:async()=>Promise.resolve().then(()=>require("./index-DcljbdLi.cjs"))},{path:"职位管理",name:"Position",component:async()=>Promise.resolve().then(()=>require("./index-B968UBFN.cjs"))},{path:"个人中心",name:"PersonalCenter",component:async()=>Promise.resolve().then(()=>require("./index-C-xI7h-Z.cjs"))},{path:"log",name:"log",component:async()=>Promise.resolve().then(()=>require("./index-BTZYJ5oH.cjs"))}]}],o=n.createRouter({history:n.createWebHashHistory(),routes:t});o.beforeEach((r,s,e)=>{!sessionStorage.getItem("loginToken")&&r.path!=="/login"?e("/login"):e()});module.exports=o;
+"use strict";const n=require("vue-router"),t=[{path:"/tenant",name:"Tenant",component:async()=>Promise.resolve().then(()=>require("./index-BJ-thkmN.cjs"))},{path:"/login",name:"Login",component:async()=>Promise.resolve().then(()=>require("./index-KVzeEg2l.cjs"))},{path:"/",name:"Model",component:async()=>Promise.resolve().then(()=>require("./index-K7N6qB28.cjs")),children:[{path:"系统配置/站内信",name:"Message",component:async()=>Promise.resolve().then(()=>require("./index-DPIg2S6M.cjs"))},{path:"系统配置/自动生成",name:"Automatic",component:async()=>Promise.resolve().then(()=>require("./index-B2BAJXIH.cjs"))},{path:"平台管理/菜单管理",name:"Menu",component:async()=>Promise.resolve().then(()=>require("./index-B6_iUSA3.cjs"))},{path:"平台管理/主菜单管理",name:"MainMenu",component:async()=>Promise.resolve().then(()=>require("./index-BVQYzH8C.cjs"))},{path:"系统管理/个人中心",name:"PersonalCenter",component:async()=>Promise.resolve().then(()=>require("./index-CDAgsOI_.cjs"))},{path:"系统维护/登录日志",name:"LoginLog",component:async()=>Promise.resolve().then(()=>require("./index-CI-CKk1R.cjs"))},{path:"系统维护/操作日志",name:"OperateLog",component:async()=>Promise.resolve().then(()=>require("./index-Cs4v3nSH.cjs"))},{path:"角色管理",name:"Role",component:async()=>Promise.resolve().then(()=>require("./index-YF86sk8Y.cjs"))},{path:"部门管理",name:"Department",component:async()=>Promise.resolve().then(()=>require("./index-DcljbdLi.cjs"))},{path:"职位管理",name:"Position",component:async()=>Promise.resolve().then(()=>require("./index-B968UBFN.cjs"))},{path:"个人中心",name:"PersonalCenter",component:async()=>Promise.resolve().then(()=>require("./index-C-xI7h-Z.cjs"))},{path:"log",name:"log",component:async()=>Promise.resolve().then(()=>require("./index-AM6byXK9.cjs"))}]}],o=n.createRouter({history:n.createWebHashHistory(),routes:t});o.beforeEach((r,s,e)=>{!sessionStorage.getItem("loginToken")&&r.path!=="/login"?e("/login"):e()});module.exports=o;

package/dist/ss-component2.js

@@ -8,12 +8,12 @@ const a = [
   {
     path: "/login",
     name: "Login",
-    component: async () => import("./index-BQZQfdF9.js")
+    component: async () => import("./index-DVsmrcKc.js")
   },
   {
     path: "/",
     name: "Model",
-    component: async () => import("./index-whFeQHV7.js"),
+    component: async () => import("./index-D3CbfsAx.js"),
     // component: async ()=>import('@/components/views/model/component/main.vue'),
     // component: async ()=>import('@/components/views/canvas/index.vue'),
     // component: async ()=>import('@/components/views/test/index.vue'),
@@ -31,17 +31,17 @@ const a = [
       {
         path: "平台管理/菜单管理",
         name: "Menu",
-        component: async () => import("./index-lnH1I9jt.js")
+        component: async () => import("./index-W7nk9qZl.js")
       },
       {
         path: "平台管理/主菜单管理",
         name: "MainMenu",
-        component: async () => import("./index-CViw2Mj7.js")
+        component: async () => import("./index-DPT76q9W.js")
       },
       {
         path: "系统管理/个人中心",
         name: "PersonalCenter",
-        component: async () => import("./index-G5EedquM.js")
+        component: async () => import("./index-XFelski4.js")
       },
       // {
       // 	path: '系统管理/职位管理',
@@ -66,17 +66,17 @@ const a = [
       {
         path: "系统维护/登录日志",
         name: "LoginLog",
-        component: async () => import("./index-e9SQjRNK.js")
+        component: async () => import("./index-CUXwF9N0.js")
       },
       {
         path: "系统维护/操作日志",
         name: "OperateLog",
-        component: async () => import("./index-BBulXCPU.js")
+        component: async () => import("./index-CtebvoQp.js")
       },
       {
         path: "角色管理",
         name: "Role",
-        component: async () => import("./index-oUYiXdTT.js")
+        component: async () => import("./index-Dgr29q4a.js")
       },
       {
         path: "部门管理",
@@ -96,7 +96,7 @@ const a = [
       {
         path: "log",
         name: "log",
-        component: async () => import("./index-CIYK_QzD.js")
+        component: async () => import("./index-qw8J_jxu.js")
       }
       // {
       //     path: 'priority',

package/dist/{threeModel-BHe3C-9c.cjs → threeModel-0iOyugrH.cjs}

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),n=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-COKDBqGg.cjs"),fe=require("./OrbitControls-BBpRClkm.cjs"),pe=require("./index-tHA9Rkbg.cjs"),oe=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),me=require("./index-BrkG7uLk.cjs"),de=require("./request-BC2w2vGr.cjs");function ve(z){let g=null,u=null,d=null,h=null,x=null,P=null,c=null,b=null;const D=1e3/30;let S=0;const E=e.ref([]),r=e.ref(new n.Vector3),k=e.ref(new n.Vector3),y=()=>{if(!z.value)return;g=new n.Scene,g.background=new n.Color(15790320);const m=z.value;u=new n.PerspectiveCamera(75,m.clientWidth/m.clientHeight,.1,1e4),u.position.set(8,-8,6),u.up.set(0,0,1),u.lookAt(0,0,0),d=new n.WebGLRenderer({antialias:!0,alpha:!0}),d.setSize(m.clientWidth,m.clientHeight),d.localClippingEnabled=!0,d.shadowMap.enabled=!0,d.shadowMap.type=n.PCFSoftShadowMap,d.toneMapping=n.ACESFilmicToneMapping,d.toneMappingExposure=1,d.outputColorSpace=n.SRGBColorSpace,m.appendChild(d.domElement),h=new fe.OrbitControls(u,d.domElement),h.enableDamping=!0,h.dampingFactor=.05,h.mouseButtons={LEFT:null,MIDDLE:n.MOUSE.PAN,RIGHT:n.MOUSE.ROTATE},h.panSpeed=.7,x=new n.Xe(u,d,{container:m,type:"cube",placement:"top-right",offset:{top:10,right:10},background:{color:"#D1D1D1",opacity:1},front:{label:"Top"},bottom:{label:"Front"},left:{label:"Left"},right:{label:"Right"},top:{label:"Back"},back:{label:"Bottom"}}),x.attachControls(h),f(),C()},t=(m,l)=>{c&&(g.remove(c),c.dispose()),b&&(g.remove(b),b.geometry.dispose(),b.material.dispose());const _=Math.min(Math.max(Math.floor(m/20),30),40);c=new n.GridHelper(m,_,13421772,14540253),c.rotateX(Math.PI/2),c.position.copy(l),g.add(c);const B=new n.PlaneGeometry(m,m),O=new n.ShadowMaterial({opacity:.3,color:0});b=new n.Mesh(B,O),b.position.copy(l),b.position.z-=.01,b.receiveShadow=!0,g.add(b)},p=()=>{if(E.value.length===0)return;const m=new n.Box3;let l=!1;if(E.value.forEach(X=>{if(X.userData.boundingBox)m.union(X.userData.boundingBox),l=!0;else if(X.userData.modelId&&modelBoundingBoxes.has(X.userData.modelId)){const Z=modelBoundingBoxes.get(X.userData.modelId);m.union(Z.box),l=!0}else m.expandByObject(X),l=!0}),!l){console.warn("无法计算包围盒，网格更新失败");return}const _=m.getSize(new n.Vector3),B=m.getCenter(new n.Vector3),O=Math.max(_.x,_.y,_.z),j=Math.max(O*8,50),q=new n.Vector3(B.x,B.y,m.min.z);t(j,q)},f=()=>{const m=new n.AmbientLight(4210752,.6);g.add(m);const l=new n.DirectionalLight(16777215,2);l.position.set(10,10,8),l.castShadow=!0,l.shadow.mapSize.width=4096,l.shadow.mapSize.height=4096,l.shadow.camera.near=.5,l.shadow.camera.far=50,l.shadow.camera.left=-50,l.shadow.camera.right=50,l.shadow.camera.top=50,l.shadow.camera.bottom=-50,g.add(l);const _=new n.DirectionalLight(16777215,.8);_.position.set(-8,-8,6),g.add(_);const B=new n.DirectionalLight(16777215,.6);B.position.set(0,-15,2),g.add(B);const O=new n.HemisphereLight(16777215,4473924,.8);g.add(O);const j=new n.PointLight(16777215,1,50);j.position.set(15,15,15),g.add(j);const q=new n.PointLight(16777215,.5,50);q.position.set(-15,-15,15),g.add(q)},C=()=>{P=requestAnimationFrame(C),h&&h.update();const m=performance.now(),l=m-S;l<D||(S=m-l%D,d&&g&&u&&d.render(g,u),x&&x.render())},I=m=>{["map","normalMap","bumpMap","roughnessMap","metalnessMap","emissiveMap","specularMap","envMap","lightMap","aoMap","displacementMap"].forEach(_=>{m[_]&&m[_].dispose&&m[_].dispose()}),m.dispose&&m.dispose()},A=m=>{m==null||m.traverse(l=>{l.geometry&&l.geometry.dispose(),l.material&&(Array.isArray(l.material)?l.material.forEach(_=>{I(_)}):I(l.material))})};return{currentModels:E,initialCameraPosition:r,initialTargetPosition:k,initThreeJS:y,handleResize:()=>{if(!z.value||!u||!d||!x)return;const m=z.value,l=m.clientWidth,_=m.clientHeight;u.aspect=l/_,u.updateProjectionMatrix(),d.setSize(l,_),x.update()},fitCameraToAllModels:m=>{if(!u||!h||E.value.length===0)return;const l=new n.Box3;let _=!1;if(E.value.forEach(Z=>{if(Z.userData.boundingBox)l.union(Z.userData.boundingBox),_=!0;else if(Z.userData.modelId&&m.has(Z.userData.modelId)){const ee=m.get(Z.userData.modelId);l.union(ee.box),_=!0}else l.expandByObject(Z),_=!0}),!_){console.warn("无法计算包围盒");return}const B=l.getSize(new n.Vector3),O=l.getCenter(new n.Vector3),q=Math.max(B.x,B.y,B.z)*.8,X=new n.Vector3(O.x+q,O.y-q,O.z+q);u.position.copy(X),u.lookAt(O),h.target.copy(O),h.update(),r.value.copy(X),k.value.copy(O),p()},getThreeJSObjects:()=>({scene:g,camera:u,renderer:d,controls:h,gizmo:x}),clearAllModels:()=>{if(!g)return;E.value.forEach(l=>{g.remove(l),A(l)});const m=[];g.children.forEach(l=>{!l.isLight&&!l.isCamera&&l.type!=="GridHelper"&&l!==b&&m.push(l)}),m.forEach(l=>{g.remove(l),A(l)}),E.value=[],p()},cleanup:()=>{P&&cancelAnimationFrame(P),c&&c.dispose(),b&&(b.geometry.dispose(),b.material.dispose()),d&&d.dispose(),h&&h.dispose(),x&&x.dispose()},updateGridForModels:p}}function ge(z,g){const u=e.ref(!1);let d=null,h=12700,x=new n.Vector3,P=new n.Vector3,c=new n.Vector3,b=0,F=null;const D=t=>t<.5?4*t*t*t:1-Math.pow(-2*t+2,3)/2,S=t=>{const p=new n.Vector3,f=b*1.2,C=new n.Vector3(c.x+f,c.y,c.z),I=new n.Vector3(c.x,c.y+f,c.z),A=new n.Vector3(c.x,c.y-f,c.z);if(t<=.567){const $=t/.567*Math.PI*2;p.x=c.x+Math.cos($)*f,p.z=c.z+Math.sin($)*f,p.y=c.y}else if(t<=.724){const L=(t-.567)/.157,$=D(L);p.lerpVectors(C,I,$)}else if(t<=.881){const L=(t-.724)/.157,J=D(L)*Math.PI;p.x=c.x+Math.sin(J)*f,p.y=c.y+Math.cos(J)*f,p.z=c.z}else{const L=(t-.881)/.119,$=D(L);p.lerpVectors(A,x,$)}return p},E=()=>{const{camera:t,controls:p}=z();if(!t||!p)return;d||(d=Date.now());const f=Date.now()-d,C=Math.min(f/h,1);if(C>=1){k();return}const I=S(C);t.position.copy(I),t.lookAt(c),p.target.copy(c),F=requestAnimationFrame(E)},r=()=>{if(g.value.length===0)return;const{camera:t,controls:p}=z();if(!t||!p)return;x.copy(t.position),P.copy(p.target);const f=new n.Box3;g.value.forEach(G=>{f.expandByObject(G)});const C=f.getSize(new n.Vector3);c=f.getCenter(new n.Vector3),b=Math.max(C.x,C.y,C.z)*1.2;const I=new n.Vector3(c.x+b*1.2,c.y,c.z);p.enabled=!1;const A=t.position.clone(),L=1e3,$=Date.now(),J=()=>{const G=Date.now()-$,Y=Math.min(G/L,1),m=D(Y);t.position.lerpVectors(A,I,m),t.lookAt(c),p.target.copy(c),Y<1?requestAnimationFrame(J):(u.value=!0,d=null,E())};J()},k=()=>{u.value=!1,d=null,F&&(cancelAnimationFrame(F),F=null);const{controls:t}=z();t&&(t.enabled=!0,t.target.copy(P))};return{isAnimating:u,toggleAnimation:()=>{if(u.value){u.value=!1,d=null,F&&(cancelAnimationFrame(F),F=null);const{camera:t,controls:p}=z();if(!t||!p)return;p.enabled=!0;const f=t.position.clone(),C=p.target.clone(),I=1500,A=Date.now(),L=()=>{const $=Date.now()-A,J=Math.min($/I,1),G=D(J);t.position.lerpVectors(f,x,G),p.target.lerpVectors(C,P,G),J<1&&requestAnimationFrame(L)};L()}else r()},startAnimation:r,stopAnimation:k}}function he(z,g){const u=e.ref(!1),d=e.ref("none");let h=[],x=[],P=new n.Box3,c=new n.Vector3;const b=()=>{h=[new n.Plane(new n.Vector3(1,0,0),0),new n.Plane(new n.Vector3(0,1,0),0),new n.Plane(new n.Vector3(0,0,1),0)]},F=()=>{P.makeEmpty(),g.value.forEach(y=>{P.expandByObject(y)}),c=P.getCenter(new n.Vector3)},D=y=>{const t=P.getSize(new n.Vector3);let p,f,C;y==="x"?(p=new n.PlaneGeometry(t.z*1.2,t.y*1.2),f=new n.Vector3(c.x,c.y,c.z),C=new n.Euler(0,Math.PI/2,0)):y==="y"?(p=new n.PlaneGeometry(t.x*1.2,t.z*1.2),f=new n.Vector3(c.x,c.y,c.z),C=new n.Euler(Math.PI/2,0,0)):y==="z"&&(p=new n.PlaneGeometry(t.x*1.2,t.y*1.2),f=new n.Vector3(c.x,c.y,c.z),C=new n.Euler(0,0,0));const I=new n.MeshPhongMaterial({color:8900331,transparent:!0,opacity:.3,side:n.DoubleSide,depthWrite:!1}),A=new n.Mesh(p,I);return A.position.copy(f),A.rotation.copy(C),A},S=()=>{if(E(),r(),d.value==="none")return;F();let y=null;if(d.value==="x"?(h[0].constant=-c.x,y=h[0]):d.value==="y"?(h[1].constant=-c.y,y=h[1]):d.value==="z"&&(h[2].constant=-c.z,y=h[2]),y){g.value.forEach(p=>{p.traverse(f=>{f.isMesh&&f.material&&(Array.isArray(f.material)?f.material.forEach(C=>{C.clippingPlanes=[y]}):f.material.clippingPlanes=[y])})});const{scene:t}=z();if(t){const p=D(d.value);t.add(p),x.push(p)}}},E=()=>{g.value.forEach(y=>{y.traverse(t=>{t.isMesh&&t.material&&(Array.isArray(t.material)?t.material.forEach(p=>{p.clippingPlanes=[]}):t.material.clippingPlanes=[])})})},r=()=>{const{scene:y}=z();y&&x.forEach(t=>{y.remove(t),t.geometry.dispose(),t.material.dispose()}),x=[]};return{isClipping:u,activeClippingAxis:d,toggleClipping:()=>{u.value=!u.value,u.value?(b(),g.value.length>0&&F()):(d.value="none",E(),r())},updateClippingPlanes:S,clearClippingPlanes:E,clearClippingMeshes:r}}const ye={class:"panel-content"},we={__name:"animationPanel",props:{animationData:Object,model:Object},setup(z){const g=z;e.ref();const u=e.ref();return e.watch(()=>[g==null?void 0:g.animationData],()=>{var h;let d=((h=me.cloneDeep(g==null?void 0:g.animationData))==null?void 0:h["输出（动画数据）Content"])??[];d&&(u.value=d)},{deep:!0,immediate:!0}),(d,h)=>{var x,P,c;return e.openBlock(),e.createElementBlock("div",ye,[(e.openBlock(),e.createBlock(pe.ssTable,{itemData:(x=u.value)==null?void 0:x.compData,key:(P=u.value)==null?void 0:P.id,index:(c=u.value)==null?void 0:c.id,showHeader:!1},null,8,["itemData","index"]))])}}},xe=oe._export_sfc(we,[["__scopeId","data-v-2387536e"]]),Ve={class:"panel-content"},Me={key:0,class:"joints-list"},ke={class:"joint-info-row"},Pe={class:"joint-left"},Ce={class:"joint-name"},be={class:"joint-range"},Ee={class:"joint-type"},_e={key:0,class:"joint-control-row"},ze={class:"slider-container"},De=["min","max","value","onInput","disabled"],Ne={class:"value-display"},Se={class:"joint-value"},Be={class:"unit"},Ae={key:1,class:"empty-state"},ae=.001,Re=1e3,ce=60,Fe={__name:"jointPanel",props:{model:Object,scene:Object,animationData:Object},setup(z,{expose:g}){const u=z;e.ref(!0);const d=e.ref([]),h=e.ref(null),x=e.ref(null),P=e.ref(12.5),c=e.ref(),b=e.ref(1302),F=e.ref(30),D=e.ref(!1),S=e.ref(!1),E=e.ref(0),r=e.ref(0),k=e.ref(null),y=n.MathUtils.degToRad,t=e.ref(1),p=()=>Re/ce/t.value;let f=[];e.watch(()=>u.animationData,o=>{var i;b.value=o.extra.管长,P.value=o.extra.外径/2;let v=((i=me.cloneDeep(o))==null?void 0:i["输出（动画数据）"])??[];v&&v.length>0&&(f=v)},{deep:!0}),e.computed(()=>f.length>0);const C=(o,v=!1)=>o==="revolute"?v?Math.PI:-Math.PI:o==="prismatic"?v?1:-1:0,I=()=>{if(!h.value)return de.ElMessage.error("未加载 URDF"),!1;let o=null;return h.value.traverse(v=>{o||v.name==="Pipe_Link"&&v.traverse(i=>{i instanceof n.Mesh&&!o&&(o=i)})}),o?(o.position.y-=F.value*ae,c.value=o,o.material=new n.MeshPhongMaterial({color:11184810,shininess:80,side:n.DoubleSide}),!0):(de.ElMessage.error('在 "Pipe_Link" 内未找到任何 Mesh'),!1)},A=o=>{if(!o||!o.joints)return console.warn("URDF模型没有关节信息"),[];let v=null;if(o.traverse(V=>{V.name==="Pipe_Link"&&!v&&(v=V)}),v)c.value=v;else return console.warn("未找到管子模型"),[];const i=[];return Object.keys(o.joints).forEach(V=>{const s=o.joints[V];if(s._jointType==="fixed")return;const a=s.limit?{lower:s.limit.lower??C(s._jointType,!1),upper:s.limit.upper??C(s._jointType,!0)}:{lower:C(s._jointType,!1),upper:C(s._jointType,!0)};i.push({name:V,type:s._jointType||"unknown",limit:a,currentValue:s.angle||0,urdfJoint:s})}),i.sort((V,s)=>V.name.localeCompare(s.name))},L=(o,v)=>{const i=d.value.find(s=>s.name===o);if(!i)return;const V=parseFloat(v);if(i.limit){const s=Math.max(i.limit.lower,Math.min(i.limit.upper,V));i.currentValue=s}else i.currentValue=V;u.model&&u.model.setJointValue?u.model.setJointValue(o,i.currentValue):i.urdfJoint&&i.urdfJoint.setJointValue(i.currentValue)},$=o=>o.reduce((v,i)=>{let V=0;const s=i.Y??0,a=i.C??0,w=i.R??0;return s>0&&(V+=s),a>0&&w>0&&(V+=w*y(a)),v+V},0),J=o=>{const v=[],i=o.Y??0,V=o.B??0,s=o.C??0,a=o.R??0,w={pos:new n.Vector3(0,0,0),localY:new n.Vector3(0,1,0),localX:new n.Vector3(1,0,0),localZ:new n.Vector3(0,0,1)};if(!i&&!s)return v;if(v.push(w.pos.clone()),V!==0){const U=new n.Matrix4().makeRotationAxis(w.localY,y(V));w.localX.applyMatrix4(U),w.localZ.applyMatrix4(U)}if(i>0&&(w.pos.add(w.localY.clone().multiplyScalar(i*ae)),v.push(w.pos.clone())),s>0&&a>0){const U=y(s),T=a*ae,W=w.pos.clone().add(w.localX.clone().multiplyScalar(-T)),R=Math.max(16,Math.ceil(s/5));for(let M=1;M<=R;M++){const H=U*M/R,K=new n.Matrix4().makeRotationAxis(w.localZ,H),se=w.localX.clone().multiplyScalar(T).applyMatrix4(K),ie=W.clone().add(se);v.push(ie)}}return v},G=(o,v=0)=>{let i=f.slice(0,o+1);const V=f[o+1];if(V&&v>0){const R={...V,B:(V.B??0)*v,C:(V.C??0)*v};i.push(R)}const s=$(i),a=Math.max(0,b.value-s),w=[];w.push(new n.Vector3(0,0,0));const U=new n.Vector3(0,a*ae,0);a>0&&w.push(U);let T={pos:U.clone(),localY:new n.Vector3(0,1,0),localX:new n.Vector3(1,0,0),localZ:new n.Vector3(0,0,1)};const W=[];for(let R=i.length-1;R>=0;R--){const M=i[R],H=J(M);if(H.length>0){const K=H.map(Q=>{const ne=Q.clone(),ue=new n.Matrix4;return ue.makeBasis(T.localX,T.localY,T.localZ),ne.applyMatrix4(ue),ne.add(T.pos)});W.push(K);const te=K[K.length-1];T.pos=te.clone();const se=M.B??0,ie=M.C??0;if(se!==0){const Q=new n.Matrix4().makeRotationAxis(T.localY,y(se));T.localX.applyMatrix4(Q),T.localZ.applyMatrix4(Q)}if(ie>0){const Q=y(ie),ne=new n.Matrix4().makeRotationAxis(T.localZ,Q);T.localY.applyMatrix4(ne),T.localX.applyMatrix4(ne)}}}for(const R of W)R.length>1&&w.push(...R.slice(1));w.length<2&&w.push(new n.Vector3(0,.001,0));try{const R=new n.CatmullRomCurve3(w,!1,"catmullrom",.01),M=new n.TubeGeometry(R,Math.max(2,w.length*4),P.value*ae,18,!1);c.value.geometry.dispose(),c.value.geometry=M}catch(R){console.error("管件更新失败",R)}},Y=(o,v,i=1)=>{o&&(Object.keys(o).forEach(V=>{const s=o[V],a=d.value.find(w=>w.name===V);a&&(a.currentValue=s,u.model&&u.model.setJointValue?u.model.setJointValue(V,s):a.urdfJoint&&a.urdfJoint.setJointValue(s))}),G(v,i))},m=(o,v,i)=>o+(v-o)*i,l=(o,v,i)=>{if(!o||!v)return o||v;const V={};return Object.keys(o).forEach(s=>{const a=o[s],w=v[s];V[s]=m(a,w||a,i)}),V},_=()=>{if(f.length===0){console.warn("没有动画数据");return}I(),D.value=!0,S.value=!1,E.value=0,r.value=0,B()},B=()=>{if(!D.value||S.value)return;const o=E.value;if(o>=f.length-1){const s=f[f.length-1];Y(s,f.length-1,1),j();return}const v=r.value/ce,i=f[o],V=f[o+1];if(V){const s=l(i,V,v);Y(s,o,v)}else Y(i,o);r.value++,r.value>ce&&(r.value=0,E.value++),k.value=setTimeout(B,p())},O=()=>{S.value=!0,k.value&&(clearTimeout(k.value),k.value=null)},j=()=>{D.value=!1,S.value=!1,t.value=1,k.value&&(clearTimeout(k.value),k.value=null)};g({startAnimation:_,pauseAnimation:O,stopAnimation:j,resetAll:()=>{j(),E.value=0,r.value=0,d.value.forEach(o=>{(o.type==="revolute"||o.type==="prismatic")&&L(o.name,0)}),G(-1,0)},fastForward:()=>{t.value<4&&(t.value=Math.min(4,t.value*2))},fastBackward:()=>{t.value>.25&&(t.value=Math.max(.25,t.value/2))}}),e.watch(()=>u.model,o=>{o?(h.value=o,d.value=A(o)):d.value=[]},{immediate:!0});const ee=()=>{!u.model||D.value&&!S.value||d.value.forEach(o=>{o.urdfJoint&&o.urdfJoint.angle!==void 0&&(o.currentValue=o.urdfJoint.angle)})},le=()=>{const o=()=>{ee(),x.value=requestAnimationFrame(o)};o()},re=()=>{x.value&&(cancelAnimationFrame(x.value),x.value=null)};return e.onMounted(()=>{le()}),e.onUnmounted(()=>{re(),j()}),(o,v)=>(e.openBlock(),e.createElementBlock("div",Ve,[d.value.length>0?(e.openBlock(),e.createElementBlock("div",Me,[(e.openBlock(!0),e.createElementBlock(e.Fragment,null,e.renderList(d.value,i=>{var V,s,a,w;return e.openBlock(),e.createElementBlock("div",{key:i.name,class:"joint-item"},[e.createElementVNode("div",ke,[e.createElementVNode("div",Pe,[e.createElementVNode("span",Ce,e.toDisplayString(i.name),1),e.createElementVNode("span",be," ["+e.toDisplayString(((V=i.limit)==null?void 0:V.lower.toFixed(2))??(i.type==="revolute"?"-3.14":"-1.00"))+", "+e.toDisplayString(((s=i.limit)==null?void 0:s.upper.toFixed(2))??(i.type==="revolute"?"3.14":"1.00"))+"] ",1)]),e.createElementVNode("span",Ee,e.toDisplayString(i.type),1)]),i.type==="revolute"||i.type==="prismatic"?(e.openBlock(),e.createElementBlock("div",_e,[e.createElementVNode("div",ze,[e.createElementVNode("input",{type:"range",min:((a=i.limit)==null?void 0:a.lower)??(i.type==="revolute"?-Math.PI:-1),max:((w=i.limit)==null?void 0:w.upper)??(i.type==="revolute"?Math.PI:1),step:.01,value:i.currentValue,onInput:U=>L(i.name,U.target.value),class:"joint-slider",disabled:D.value&&!S.value},null,40,De)]),e.createElementVNode("div",Ne,[e.createElementVNode("span",Se,e.toDisplayString(i.currentValue?Number(i.currentValue).toFixed(3):"0.000"),1),e.createElementVNode("span",Be,e.toDisplayString(i.type==="revolute"?"rad":"m"),1)])])):e.createCommentVNode("",!0)])}),128))])):(e.openBlock(),e.createElementBlock("div",Ae,v[0]||(v[0]=[e.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}},Te=oe._export_sfc(Fe,[["__scopeId","data-v-035ae936"]]),Le={class:"panel-content"},Ie="id",$e={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:z=>["breadth","firstLevel"].includes(z)}},emits:["nodeClick"],setup(z,{emit:g}){const u=z,d=g,h=e.ref([]),x={children:"children",label:"label"},P=r=>{d("nodeClick",r)},c=(r,k=0)=>{const y=[];return Array.isArray(r)&&(r==null?void 0:r.length)>0&&r.forEach(t=>{if(!(t!=null&&t.isMesh)&&((t==null?void 0:t.type)==="URDFJoint"||(t==null?void 0:t.type)==="URDFLink")){const p={name:t==null?void 0:t.name,label:t==null?void 0:t.name,show:!0,level:k+1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:c(t==null?void 0:t.children,k+1),path:t==null?void 0:t.name};y.push(p)}}),y},b=r=>r?[{name:r==null?void 0:r.name,label:r==null?void 0:r.name,show:!0,level:1,isPenultimate:!1,type:r==null?void 0:r.type,id:r==null?void 0:r.id,limit:(r==null?void 0:r.limit)??"",children:c(r==null?void 0:r.children,1),path:r==null?void 0:r.name}]:[],F=(r,k)=>{const y=[],t=[...r];for(;t.length>0&&y.length<k;){const p=t.shift();p.children&&p.children.length>0&&(y.push(p.id),t.push(...p.children))}return y},D=(r,k)=>{const y=[];return r.forEach(t=>{if(t.children&&t.children.length>0){y.push(t.id);const p=t.children.filter(f=>f.children&&f.children.length>0).slice(0,k).map(f=>f.id);y.push(...p)}}),y.slice(0,k+1)},S=e.computed(()=>!h.value||h.value.length===0?[]:u.expandStrategy==="firstLevel"?D(h.value,u.maxExpandCount):F(h.value,u.maxExpandCount)),E=e.computed(()=>u!=null&&u.model?b(u.model):[]);return e.watch(E,r=>{h.value=JSON.parse(JSON.stringify(r))},{immediate:!0}),(r,k)=>{const y=e.resolveComponent("el-tree");return e.openBlock(),e.createElementBlock("div",Le,[e.createVNode(y,{data:h.value,props:x,"default-expanded-keys":S.value,"node-key":Ie,onNodeClick:P},null,8,["data","default-expanded-keys"])])}}},Je=oe._export_sfc($e,[["__scopeId","data-v-290ff4e1"]]),Oe=["xlink:href"],Ue=e.defineComponent({__name:"svgIcon",props:{backgroundColor:{default:"#f0f0f0"},prefix:{default:"icon"},name:{},size:{default:16},spin:{type:Boolean,default:!1},active:{type:Boolean,default:!1}},setup(z){const g=z,u=e.computed(()=>({backgroundColor:g.backgroundColor})),d=e.computed(()=>`#${g.prefix}-${g.name}`),h=e.computed(()=>{const{size:x}=g;let P=`${x}`;return P=`${P.replace("px","")}px`,{width:P,height:P}});return(x,P)=>(e.openBlock(),e.createElementBlock("div",{class:e.normalizeClass(["container",{active:x.active}]),style:e.normalizeStyle(u.value)},[(e.openBlock(),e.createElementBlock("svg",{class:e.normalizeClass(["svg-icon",[x.$attrs.class,x.spin&&"svg-icon-spin"]]),style:e.normalizeStyle(h.value),"aria-hidden":"true"},[e.createElementVNode("use",{"xlink:href":d.value},null,8,Oe)],6))],6))}}),N=oe._export_sfc(Ue,[["__scopeId","data-v-3150a90b"]]),Ge={class:"obj-viewer-container"},je={class:"buttonGroup-top"},qe={class:"buttonGroup-topLeft"},Xe={class:"buttonGroup-left"},He={class:"buttonGroup-right"},Ye={class:"buttonGroup-bottom"},Ze={class:"left-panel"},We={class:"panel-header"},Ke={key:1,class:"clipping-content"},Qe={class:"radio-group"},et={class:"radio-label"},tt={class:"radio-label"},nt={class:"radio-label"},at={class:"radio-label"},ot={class:"right-panel"},lt={class:"panel-header"},st={key:0,class:"loading-overlay"},it={__name:"threeModel",props:{animationData:{type:Object,default:()=>{}}},emits:["getAnimationData"],setup(z,{expose:g,emit:u}){const d=u;let h=null,x=!1;const P=e.ref(null),c=e.ref(!1),b=e.ref("");e.ref(!1);const F=e.ref(!1),D=e.ref(!1),S=e.ref(""),E=e.ref(!1),r=e.ref(""),k=e.ref(),{currentModels:y,initialCameraPosition:t,initialTargetPosition:p,initThreeJS:f,handleResize:C,fitCameraToAllModels:I,getThreeJSObjects:A,clearAllModels:L,cleanup:$}=ve(P),{isAnimating:J,toggleAnimation:G,stopAnimation:Y}=ge(A,y),{isClipping:m,activeClippingAxis:l,toggleClipping:_,updateClippingPlanes:B}=he(A,y),{addModelsFromUrls:O,loadModelByDefaultPath:j,urdfModel:q,modelBoundingBoxes:X}=pe.useModelLoader(A,y,c,b,L),Z=()=>{if(F.value||y.value.length===0)return;F.value=!0,J.value&&Y();const{camera:s,controls:a}=A();if(!s||!a)return;a.enabled=!0;const w=H=>H<.5?4*H*H*H:1-Math.pow(-2*H+2,3)/2,U=s.position.clone(),T=a.target.clone(),W=1500,R=Date.now(),M=()=>{const H=Date.now()-R,K=Math.min(H/W,1),te=w(K);s.position.lerpVectors(U,t.value,te),a.target.lerpVectors(T,p.value,te),K<1?requestAnimationFrame(M):F.value=!1};M()},ee=async()=>x?Promise.resolve():new Promise(s=>{const a=()=>{x?s():requestAnimationFrame(a)};a()}),le=async(s,a)=>{try{await ee(),J.value&&Y(),m.value&&_();const w=await a(s);return I(X),w}catch(w){throw console.error("加载模型失败:",w),w}},re=async s=>le(s,O),o=async s=>le(s,j),v=s=>{D.value=!0,S.value=s,s==="剖面视图"&&!m.value&&_()},i=s=>{E.value=!0,r.value=s,s==="动画仿真"&&d("getAnimationData")},V=()=>{e.nextTick(()=>{var s;(s=k.value)==null||s.startAnimation()})};return e.onMounted(async()=>{await e.nextTick();try{f(),h=A().scene,x=!0,window.addEventListener("resize",C)}catch(s){console.error("Three.js初始化失败:",s)}}),e.onBeforeUnmount(()=>{x=!1,S.value="",r.value="",window.removeEventListener("resize",C),J.value&&Y(),$()}),g({addModelsFromUrls:re,loadModelByDefaultPath:o}),(s,a)=>{var U,T,W,R;const w=e.resolveComponent("el-scrollbar");return e.openBlock(),e.createElementBlock("div",Ge,[e.createElementVNode("div",{ref_key:"threejsContainer",ref:P,class:"threejs-container"},null,512),e.createElementVNode("div",je,[e.createVNode(N,{name:"guanjianjiexi",size:"34"}),e.createVNode(N,{name:"guanjiekongzhi",size:"34"}),e.createVNode(N,{name:"gongyishengcheng",size:"34"}),e.createVNode(N,{name:"buchangshezhi",size:"34"}),e.createVNode(N,{name:"shuchujiagongchengxu",size:"34"})]),e.createElementVNode("div",qe,[e.createVNode(N,{name:"viewReset",size:"24",onClick:Z,title:"重置"}),e.createVNode(N,{name:"fangda",size:"24",title:"放大"}),e.createVNode(N,{name:"suoxiao",size:"24",title:"缩小"}),e.createVNode(N,{name:"lookAround",size:"24",onClick:e.unref(G),title:e.unref(J)?"停止动画":"动画视图"},null,8,["onClick","title"])]),e.createElementVNode("div",Xe,[e.createVNode(N,{name:"jiegoushu",size:"24",onClick:a[0]||(a[0]=M=>v("场景树")),active:D.value&&S.value==="场景树",title:"场景树"},null,8,["active"]),e.createVNode(N,{name:"clipping",size:"24",onClick:a[1]||(a[1]=M=>v("剖面视图")),active:D.value&&S.value==="剖面视图",title:"剖面视图"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24",onClick:a[2]||(a[2]=M=>v("场景树3"))}),e.createVNode(N,{name:"donghuafangzhen",size:"24",onClick:a[3]||(a[3]=M=>v("场景4"))})]),e.createElementVNode("div",He,[e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"guanjiekongzhi",size:"24",onClick:a[4]||(a[4]=M=>i("关节控制")),active:E.value&&r.value==="关节控制",title:"关节控制"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24",title:"动画仿真",onClick:a[5]||(a[5]=M=>i("动画仿真")),active:E.value&&r.value==="动画仿真"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"donghuafangzhen",size:"24"})]),e.createElementVNode("div",Ye,[e.createVNode(N,{name:"kuaitui",size:"24",backgroundColor:"#ffffff",title:"快退",onClick:(U=k.value)==null?void 0:U.fastBackward},null,8,["onClick"]),e.createVNode(N,{name:"bofang",size:"24",backgroundColor:"#ffffff",title:"播放",onClick:V}),e.createVNode(N,{name:"kuaijin",size:"24",backgroundColor:"#ffffff",title:"快进",onClick:(T=k.value)==null?void 0:T.fastForward},null,8,["onClick"]),e.createVNode(N,{name:"zanting",size:"24",backgroundColor:"#ffffff",title:"暂停",onClick:(W=k.value)==null?void 0:W.pauseAnimation},null,8,["onClick"]),e.createVNode(N,{name:"zhongzhi",size:"24",backgroundColor:"#ffffff",title:"停止",onClick:(R=k.value)==null?void 0:R.resetAll},null,8,["onClick"])]),e.withDirectives(e.createElementVNode("div",Ze,[e.createElementVNode("div",We,[e.createElementVNode("span",null,e.toDisplayString(S.value),1),e.createElementVNode("span",{class:"close",onClick:a[6]||(a[6]=M=>D.value=!1)}," X ")]),e.createVNode(w,{"max-height":"650px"},{default:e.withCtx(()=>[S.value==="场景树"?(e.openBlock(),e.createBlock(Je,{key:0,model:e.unref(q)},null,8,["model"])):e.createCommentVNode("",!0),S.value==="剖面视图"?(e.openBlock(),e.createElementBlock("div",Ke,[e.createElementVNode("div",Qe,[e.createElementVNode("label",et,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"none","onUpdate:modelValue":a[7]||(a[7]=M=>e.isRef(l)?l.value=M:null),onChange:a[8]||(a[8]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[16]||(a[16]=e.createElementVNode("span",{class:"radio-text"},"无切割",-1))]),e.createElementVNode("label",tt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"x","onUpdate:modelValue":a[9]||(a[9]=M=>e.isRef(l)?l.value=M:null),onChange:a[10]||(a[10]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[17]||(a[17]=e.createElementVNode("span",{class:"radio-text"},"X轴切割",-1))]),e.createElementVNode("label",nt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"y","onUpdate:modelValue":a[11]||(a[11]=M=>e.isRef(l)?l.value=M:null),onChange:a[12]||(a[12]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[18]||(a[18]=e.createElementVNode("span",{class:"radio-text"},"Y轴切割",-1))]),e.createElementVNode("label",at,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"z","onUpdate:modelValue":a[13]||(a[13]=M=>e.isRef(l)?l.value=M:null),onChange:a[14]||(a[14]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[19]||(a[19]=e.createElementVNode("span",{class:"radio-text"},"Z轴切割",-1))])])])):e.createCommentVNode("",!0)]),_:1})],512),[[e.vShow,D.value]]),e.withDirectives(e.createElementVNode("div",ot,[e.createElementVNode("div",lt,[e.createElementVNode("span",null,e.toDisplayString(r.value),1),e.createElementVNode("span",{class:"close",onClick:a[15]||(a[15]=M=>E.value=!1)}," X ")]),e.createVNode(w,{"max-height":"650px"},{default:e.withCtx(()=>[e.withDirectives(e.createVNode(Te,{ref_key:"jointRef",ref:k,model:e.unref(q),scene:e.unref(h),animationData:z.animationData},null,8,["model","scene","animationData"]),[[e.vShow,r.value==="关节控制"]]),e.withDirectives(e.createVNode(xe,{animationData:z.animationData},null,8,["animationData"]),[[e.vShow,r.value==="动画仿真"]])]),_:1})],512),[[e.vShow,E.value]]),c.value?(e.openBlock(),e.createElementBlock("div",st,[a[20]||(a[20]=e.createElementVNode("div",{class:"loading-spinner"},null,-1)),e.createElementVNode("p",null,e.toDisplayString(b.value),1)])):e.createCommentVNode("",!0)])}}},rt=oe._export_sfc(it,[["__scopeId","data-v-7bc47bb3"]]);exports.default=rt;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),n=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-COKDBqGg.cjs"),fe=require("./OrbitControls-BBpRClkm.cjs"),pe=require("./index-op6E9ZFA.cjs"),oe=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),me=require("./index-BrkG7uLk.cjs"),de=require("./request-BC2w2vGr.cjs");function ve(z){let g=null,u=null,d=null,h=null,x=null,P=null,c=null,b=null;const D=1e3/30;let S=0;const E=e.ref([]),r=e.ref(new n.Vector3),k=e.ref(new n.Vector3),y=()=>{if(!z.value)return;g=new n.Scene,g.background=new n.Color(15790320);const m=z.value;u=new n.PerspectiveCamera(75,m.clientWidth/m.clientHeight,.1,1e4),u.position.set(8,-8,6),u.up.set(0,0,1),u.lookAt(0,0,0),d=new n.WebGLRenderer({antialias:!0,alpha:!0}),d.setSize(m.clientWidth,m.clientHeight),d.localClippingEnabled=!0,d.shadowMap.enabled=!0,d.shadowMap.type=n.PCFSoftShadowMap,d.toneMapping=n.ACESFilmicToneMapping,d.toneMappingExposure=1,d.outputColorSpace=n.SRGBColorSpace,m.appendChild(d.domElement),h=new fe.OrbitControls(u,d.domElement),h.enableDamping=!0,h.dampingFactor=.05,h.mouseButtons={LEFT:null,MIDDLE:n.MOUSE.PAN,RIGHT:n.MOUSE.ROTATE},h.panSpeed=.7,x=new n.Xe(u,d,{container:m,type:"cube",placement:"top-right",offset:{top:10,right:10},background:{color:"#D1D1D1",opacity:1},front:{label:"Top"},bottom:{label:"Front"},left:{label:"Left"},right:{label:"Right"},top:{label:"Back"},back:{label:"Bottom"}}),x.attachControls(h),f(),C()},t=(m,l)=>{c&&(g.remove(c),c.dispose()),b&&(g.remove(b),b.geometry.dispose(),b.material.dispose());const _=Math.min(Math.max(Math.floor(m/20),30),40);c=new n.GridHelper(m,_,13421772,14540253),c.rotateX(Math.PI/2),c.position.copy(l),g.add(c);const B=new n.PlaneGeometry(m,m),O=new n.ShadowMaterial({opacity:.3,color:0});b=new n.Mesh(B,O),b.position.copy(l),b.position.z-=.01,b.receiveShadow=!0,g.add(b)},p=()=>{if(E.value.length===0)return;const m=new n.Box3;let l=!1;if(E.value.forEach(X=>{if(X.userData.boundingBox)m.union(X.userData.boundingBox),l=!0;else if(X.userData.modelId&&modelBoundingBoxes.has(X.userData.modelId)){const Z=modelBoundingBoxes.get(X.userData.modelId);m.union(Z.box),l=!0}else m.expandByObject(X),l=!0}),!l){console.warn("无法计算包围盒，网格更新失败");return}const _=m.getSize(new n.Vector3),B=m.getCenter(new n.Vector3),O=Math.max(_.x,_.y,_.z),j=Math.max(O*8,50),q=new n.Vector3(B.x,B.y,m.min.z);t(j,q)},f=()=>{const m=new n.AmbientLight(4210752,.6);g.add(m);const l=new n.DirectionalLight(16777215,2);l.position.set(10,10,8),l.castShadow=!0,l.shadow.mapSize.width=4096,l.shadow.mapSize.height=4096,l.shadow.camera.near=.5,l.shadow.camera.far=50,l.shadow.camera.left=-50,l.shadow.camera.right=50,l.shadow.camera.top=50,l.shadow.camera.bottom=-50,g.add(l);const _=new n.DirectionalLight(16777215,.8);_.position.set(-8,-8,6),g.add(_);const B=new n.DirectionalLight(16777215,.6);B.position.set(0,-15,2),g.add(B);const O=new n.HemisphereLight(16777215,4473924,.8);g.add(O);const j=new n.PointLight(16777215,1,50);j.position.set(15,15,15),g.add(j);const q=new n.PointLight(16777215,.5,50);q.position.set(-15,-15,15),g.add(q)},C=()=>{P=requestAnimationFrame(C),h&&h.update();const m=performance.now(),l=m-S;l<D||(S=m-l%D,d&&g&&u&&d.render(g,u),x&&x.render())},I=m=>{["map","normalMap","bumpMap","roughnessMap","metalnessMap","emissiveMap","specularMap","envMap","lightMap","aoMap","displacementMap"].forEach(_=>{m[_]&&m[_].dispose&&m[_].dispose()}),m.dispose&&m.dispose()},A=m=>{m==null||m.traverse(l=>{l.geometry&&l.geometry.dispose(),l.material&&(Array.isArray(l.material)?l.material.forEach(_=>{I(_)}):I(l.material))})};return{currentModels:E,initialCameraPosition:r,initialTargetPosition:k,initThreeJS:y,handleResize:()=>{if(!z.value||!u||!d||!x)return;const m=z.value,l=m.clientWidth,_=m.clientHeight;u.aspect=l/_,u.updateProjectionMatrix(),d.setSize(l,_),x.update()},fitCameraToAllModels:m=>{if(!u||!h||E.value.length===0)return;const l=new n.Box3;let _=!1;if(E.value.forEach(Z=>{if(Z.userData.boundingBox)l.union(Z.userData.boundingBox),_=!0;else if(Z.userData.modelId&&m.has(Z.userData.modelId)){const ee=m.get(Z.userData.modelId);l.union(ee.box),_=!0}else l.expandByObject(Z),_=!0}),!_){console.warn("无法计算包围盒");return}const B=l.getSize(new n.Vector3),O=l.getCenter(new n.Vector3),q=Math.max(B.x,B.y,B.z)*.8,X=new n.Vector3(O.x+q,O.y-q,O.z+q);u.position.copy(X),u.lookAt(O),h.target.copy(O),h.update(),r.value.copy(X),k.value.copy(O),p()},getThreeJSObjects:()=>({scene:g,camera:u,renderer:d,controls:h,gizmo:x}),clearAllModels:()=>{if(!g)return;E.value.forEach(l=>{g.remove(l),A(l)});const m=[];g.children.forEach(l=>{!l.isLight&&!l.isCamera&&l.type!=="GridHelper"&&l!==b&&m.push(l)}),m.forEach(l=>{g.remove(l),A(l)}),E.value=[],p()},cleanup:()=>{P&&cancelAnimationFrame(P),c&&c.dispose(),b&&(b.geometry.dispose(),b.material.dispose()),d&&d.dispose(),h&&h.dispose(),x&&x.dispose()},updateGridForModels:p}}function ge(z,g){const u=e.ref(!1);let d=null,h=12700,x=new n.Vector3,P=new n.Vector3,c=new n.Vector3,b=0,F=null;const D=t=>t<.5?4*t*t*t:1-Math.pow(-2*t+2,3)/2,S=t=>{const p=new n.Vector3,f=b*1.2,C=new n.Vector3(c.x+f,c.y,c.z),I=new n.Vector3(c.x,c.y+f,c.z),A=new n.Vector3(c.x,c.y-f,c.z);if(t<=.567){const $=t/.567*Math.PI*2;p.x=c.x+Math.cos($)*f,p.z=c.z+Math.sin($)*f,p.y=c.y}else if(t<=.724){const L=(t-.567)/.157,$=D(L);p.lerpVectors(C,I,$)}else if(t<=.881){const L=(t-.724)/.157,J=D(L)*Math.PI;p.x=c.x+Math.sin(J)*f,p.y=c.y+Math.cos(J)*f,p.z=c.z}else{const L=(t-.881)/.119,$=D(L);p.lerpVectors(A,x,$)}return p},E=()=>{const{camera:t,controls:p}=z();if(!t||!p)return;d||(d=Date.now());const f=Date.now()-d,C=Math.min(f/h,1);if(C>=1){k();return}const I=S(C);t.position.copy(I),t.lookAt(c),p.target.copy(c),F=requestAnimationFrame(E)},r=()=>{if(g.value.length===0)return;const{camera:t,controls:p}=z();if(!t||!p)return;x.copy(t.position),P.copy(p.target);const f=new n.Box3;g.value.forEach(G=>{f.expandByObject(G)});const C=f.getSize(new n.Vector3);c=f.getCenter(new n.Vector3),b=Math.max(C.x,C.y,C.z)*1.2;const I=new n.Vector3(c.x+b*1.2,c.y,c.z);p.enabled=!1;const A=t.position.clone(),L=1e3,$=Date.now(),J=()=>{const G=Date.now()-$,Y=Math.min(G/L,1),m=D(Y);t.position.lerpVectors(A,I,m),t.lookAt(c),p.target.copy(c),Y<1?requestAnimationFrame(J):(u.value=!0,d=null,E())};J()},k=()=>{u.value=!1,d=null,F&&(cancelAnimationFrame(F),F=null);const{controls:t}=z();t&&(t.enabled=!0,t.target.copy(P))};return{isAnimating:u,toggleAnimation:()=>{if(u.value){u.value=!1,d=null,F&&(cancelAnimationFrame(F),F=null);const{camera:t,controls:p}=z();if(!t||!p)return;p.enabled=!0;const f=t.position.clone(),C=p.target.clone(),I=1500,A=Date.now(),L=()=>{const $=Date.now()-A,J=Math.min($/I,1),G=D(J);t.position.lerpVectors(f,x,G),p.target.lerpVectors(C,P,G),J<1&&requestAnimationFrame(L)};L()}else r()},startAnimation:r,stopAnimation:k}}function he(z,g){const u=e.ref(!1),d=e.ref("none");let h=[],x=[],P=new n.Box3,c=new n.Vector3;const b=()=>{h=[new n.Plane(new n.Vector3(1,0,0),0),new n.Plane(new n.Vector3(0,1,0),0),new n.Plane(new n.Vector3(0,0,1),0)]},F=()=>{P.makeEmpty(),g.value.forEach(y=>{P.expandByObject(y)}),c=P.getCenter(new n.Vector3)},D=y=>{const t=P.getSize(new n.Vector3);let p,f,C;y==="x"?(p=new n.PlaneGeometry(t.z*1.2,t.y*1.2),f=new n.Vector3(c.x,c.y,c.z),C=new n.Euler(0,Math.PI/2,0)):y==="y"?(p=new n.PlaneGeometry(t.x*1.2,t.z*1.2),f=new n.Vector3(c.x,c.y,c.z),C=new n.Euler(Math.PI/2,0,0)):y==="z"&&(p=new n.PlaneGeometry(t.x*1.2,t.y*1.2),f=new n.Vector3(c.x,c.y,c.z),C=new n.Euler(0,0,0));const I=new n.MeshPhongMaterial({color:8900331,transparent:!0,opacity:.3,side:n.DoubleSide,depthWrite:!1}),A=new n.Mesh(p,I);return A.position.copy(f),A.rotation.copy(C),A},S=()=>{if(E(),r(),d.value==="none")return;F();let y=null;if(d.value==="x"?(h[0].constant=-c.x,y=h[0]):d.value==="y"?(h[1].constant=-c.y,y=h[1]):d.value==="z"&&(h[2].constant=-c.z,y=h[2]),y){g.value.forEach(p=>{p.traverse(f=>{f.isMesh&&f.material&&(Array.isArray(f.material)?f.material.forEach(C=>{C.clippingPlanes=[y]}):f.material.clippingPlanes=[y])})});const{scene:t}=z();if(t){const p=D(d.value);t.add(p),x.push(p)}}},E=()=>{g.value.forEach(y=>{y.traverse(t=>{t.isMesh&&t.material&&(Array.isArray(t.material)?t.material.forEach(p=>{p.clippingPlanes=[]}):t.material.clippingPlanes=[])})})},r=()=>{const{scene:y}=z();y&&x.forEach(t=>{y.remove(t),t.geometry.dispose(),t.material.dispose()}),x=[]};return{isClipping:u,activeClippingAxis:d,toggleClipping:()=>{u.value=!u.value,u.value?(b(),g.value.length>0&&F()):(d.value="none",E(),r())},updateClippingPlanes:S,clearClippingPlanes:E,clearClippingMeshes:r}}const ye={class:"panel-content"},we={__name:"animationPanel",props:{animationData:Object,model:Object},setup(z){const g=z;e.ref();const u=e.ref();return e.watch(()=>[g==null?void 0:g.animationData],()=>{var h;let d=((h=me.cloneDeep(g==null?void 0:g.animationData))==null?void 0:h["输出（动画数据）Content"])??[];d&&(u.value=d)},{deep:!0,immediate:!0}),(d,h)=>{var x,P,c;return e.openBlock(),e.createElementBlock("div",ye,[(e.openBlock(),e.createBlock(pe.ssTable,{itemData:(x=u.value)==null?void 0:x.compData,key:(P=u.value)==null?void 0:P.id,index:(c=u.value)==null?void 0:c.id,showHeader:!1},null,8,["itemData","index"]))])}}},xe=oe._export_sfc(we,[["__scopeId","data-v-2387536e"]]),Ve={class:"panel-content"},Me={key:0,class:"joints-list"},ke={class:"joint-info-row"},Pe={class:"joint-left"},Ce={class:"joint-name"},be={class:"joint-range"},Ee={class:"joint-type"},_e={key:0,class:"joint-control-row"},ze={class:"slider-container"},De=["min","max","value","onInput","disabled"],Ne={class:"value-display"},Se={class:"joint-value"},Be={class:"unit"},Ae={key:1,class:"empty-state"},ae=.001,Re=1e3,ce=60,Fe={__name:"jointPanel",props:{model:Object,scene:Object,animationData:Object},setup(z,{expose:g}){const u=z;e.ref(!0);const d=e.ref([]),h=e.ref(null),x=e.ref(null),P=e.ref(12.5),c=e.ref(),b=e.ref(1302),F=e.ref(30),D=e.ref(!1),S=e.ref(!1),E=e.ref(0),r=e.ref(0),k=e.ref(null),y=n.MathUtils.degToRad,t=e.ref(1),p=()=>Re/ce/t.value;let f=[];e.watch(()=>u.animationData,o=>{var i;b.value=o.extra.管长,P.value=o.extra.外径/2;let v=((i=me.cloneDeep(o))==null?void 0:i["输出（动画数据）"])??[];v&&v.length>0&&(f=v)},{deep:!0}),e.computed(()=>f.length>0);const C=(o,v=!1)=>o==="revolute"?v?Math.PI:-Math.PI:o==="prismatic"?v?1:-1:0,I=()=>{if(!h.value)return de.ElMessage.error("未加载 URDF"),!1;let o=null;return h.value.traverse(v=>{o||v.name==="Pipe_Link"&&v.traverse(i=>{i instanceof n.Mesh&&!o&&(o=i)})}),o?(o.position.y-=F.value*ae,c.value=o,o.material=new n.MeshPhongMaterial({color:11184810,shininess:80,side:n.DoubleSide}),!0):(de.ElMessage.error('在 "Pipe_Link" 内未找到任何 Mesh'),!1)},A=o=>{if(!o||!o.joints)return console.warn("URDF模型没有关节信息"),[];let v=null;if(o.traverse(V=>{V.name==="Pipe_Link"&&!v&&(v=V)}),v)c.value=v;else return console.warn("未找到管子模型"),[];const i=[];return Object.keys(o.joints).forEach(V=>{const s=o.joints[V];if(s._jointType==="fixed")return;const a=s.limit?{lower:s.limit.lower??C(s._jointType,!1),upper:s.limit.upper??C(s._jointType,!0)}:{lower:C(s._jointType,!1),upper:C(s._jointType,!0)};i.push({name:V,type:s._jointType||"unknown",limit:a,currentValue:s.angle||0,urdfJoint:s})}),i.sort((V,s)=>V.name.localeCompare(s.name))},L=(o,v)=>{const i=d.value.find(s=>s.name===o);if(!i)return;const V=parseFloat(v);if(i.limit){const s=Math.max(i.limit.lower,Math.min(i.limit.upper,V));i.currentValue=s}else i.currentValue=V;u.model&&u.model.setJointValue?u.model.setJointValue(o,i.currentValue):i.urdfJoint&&i.urdfJoint.setJointValue(i.currentValue)},$=o=>o.reduce((v,i)=>{let V=0;const s=i.Y??0,a=i.C??0,w=i.R??0;return s>0&&(V+=s),a>0&&w>0&&(V+=w*y(a)),v+V},0),J=o=>{const v=[],i=o.Y??0,V=o.B??0,s=o.C??0,a=o.R??0,w={pos:new n.Vector3(0,0,0),localY:new n.Vector3(0,1,0),localX:new n.Vector3(1,0,0),localZ:new n.Vector3(0,0,1)};if(!i&&!s)return v;if(v.push(w.pos.clone()),V!==0){const U=new n.Matrix4().makeRotationAxis(w.localY,y(V));w.localX.applyMatrix4(U),w.localZ.applyMatrix4(U)}if(i>0&&(w.pos.add(w.localY.clone().multiplyScalar(i*ae)),v.push(w.pos.clone())),s>0&&a>0){const U=y(s),T=a*ae,W=w.pos.clone().add(w.localX.clone().multiplyScalar(-T)),R=Math.max(16,Math.ceil(s/5));for(let M=1;M<=R;M++){const H=U*M/R,K=new n.Matrix4().makeRotationAxis(w.localZ,H),se=w.localX.clone().multiplyScalar(T).applyMatrix4(K),ie=W.clone().add(se);v.push(ie)}}return v},G=(o,v=0)=>{let i=f.slice(0,o+1);const V=f[o+1];if(V&&v>0){const R={...V,B:(V.B??0)*v,C:(V.C??0)*v};i.push(R)}const s=$(i),a=Math.max(0,b.value-s),w=[];w.push(new n.Vector3(0,0,0));const U=new n.Vector3(0,a*ae,0);a>0&&w.push(U);let T={pos:U.clone(),localY:new n.Vector3(0,1,0),localX:new n.Vector3(1,0,0),localZ:new n.Vector3(0,0,1)};const W=[];for(let R=i.length-1;R>=0;R--){const M=i[R],H=J(M);if(H.length>0){const K=H.map(Q=>{const ne=Q.clone(),ue=new n.Matrix4;return ue.makeBasis(T.localX,T.localY,T.localZ),ne.applyMatrix4(ue),ne.add(T.pos)});W.push(K);const te=K[K.length-1];T.pos=te.clone();const se=M.B??0,ie=M.C??0;if(se!==0){const Q=new n.Matrix4().makeRotationAxis(T.localY,y(se));T.localX.applyMatrix4(Q),T.localZ.applyMatrix4(Q)}if(ie>0){const Q=y(ie),ne=new n.Matrix4().makeRotationAxis(T.localZ,Q);T.localY.applyMatrix4(ne),T.localX.applyMatrix4(ne)}}}for(const R of W)R.length>1&&w.push(...R.slice(1));w.length<2&&w.push(new n.Vector3(0,.001,0));try{const R=new n.CatmullRomCurve3(w,!1,"catmullrom",.01),M=new n.TubeGeometry(R,Math.max(2,w.length*4),P.value*ae,18,!1);c.value.geometry.dispose(),c.value.geometry=M}catch(R){console.error("管件更新失败",R)}},Y=(o,v,i=1)=>{o&&(Object.keys(o).forEach(V=>{const s=o[V],a=d.value.find(w=>w.name===V);a&&(a.currentValue=s,u.model&&u.model.setJointValue?u.model.setJointValue(V,s):a.urdfJoint&&a.urdfJoint.setJointValue(s))}),G(v,i))},m=(o,v,i)=>o+(v-o)*i,l=(o,v,i)=>{if(!o||!v)return o||v;const V={};return Object.keys(o).forEach(s=>{const a=o[s],w=v[s];V[s]=m(a,w||a,i)}),V},_=()=>{if(f.length===0){console.warn("没有动画数据");return}I(),D.value=!0,S.value=!1,E.value=0,r.value=0,B()},B=()=>{if(!D.value||S.value)return;const o=E.value;if(o>=f.length-1){const s=f[f.length-1];Y(s,f.length-1,1),j();return}const v=r.value/ce,i=f[o],V=f[o+1];if(V){const s=l(i,V,v);Y(s,o,v)}else Y(i,o);r.value++,r.value>ce&&(r.value=0,E.value++),k.value=setTimeout(B,p())},O=()=>{S.value=!0,k.value&&(clearTimeout(k.value),k.value=null)},j=()=>{D.value=!1,S.value=!1,t.value=1,k.value&&(clearTimeout(k.value),k.value=null)};g({startAnimation:_,pauseAnimation:O,stopAnimation:j,resetAll:()=>{j(),E.value=0,r.value=0,d.value.forEach(o=>{(o.type==="revolute"||o.type==="prismatic")&&L(o.name,0)}),G(-1,0)},fastForward:()=>{t.value<4&&(t.value=Math.min(4,t.value*2))},fastBackward:()=>{t.value>.25&&(t.value=Math.max(.25,t.value/2))}}),e.watch(()=>u.model,o=>{o?(h.value=o,d.value=A(o)):d.value=[]},{immediate:!0});const ee=()=>{!u.model||D.value&&!S.value||d.value.forEach(o=>{o.urdfJoint&&o.urdfJoint.angle!==void 0&&(o.currentValue=o.urdfJoint.angle)})},le=()=>{const o=()=>{ee(),x.value=requestAnimationFrame(o)};o()},re=()=>{x.value&&(cancelAnimationFrame(x.value),x.value=null)};return e.onMounted(()=>{le()}),e.onUnmounted(()=>{re(),j()}),(o,v)=>(e.openBlock(),e.createElementBlock("div",Ve,[d.value.length>0?(e.openBlock(),e.createElementBlock("div",Me,[(e.openBlock(!0),e.createElementBlock(e.Fragment,null,e.renderList(d.value,i=>{var V,s,a,w;return e.openBlock(),e.createElementBlock("div",{key:i.name,class:"joint-item"},[e.createElementVNode("div",ke,[e.createElementVNode("div",Pe,[e.createElementVNode("span",Ce,e.toDisplayString(i.name),1),e.createElementVNode("span",be," ["+e.toDisplayString(((V=i.limit)==null?void 0:V.lower.toFixed(2))??(i.type==="revolute"?"-3.14":"-1.00"))+", "+e.toDisplayString(((s=i.limit)==null?void 0:s.upper.toFixed(2))??(i.type==="revolute"?"3.14":"1.00"))+"] ",1)]),e.createElementVNode("span",Ee,e.toDisplayString(i.type),1)]),i.type==="revolute"||i.type==="prismatic"?(e.openBlock(),e.createElementBlock("div",_e,[e.createElementVNode("div",ze,[e.createElementVNode("input",{type:"range",min:((a=i.limit)==null?void 0:a.lower)??(i.type==="revolute"?-Math.PI:-1),max:((w=i.limit)==null?void 0:w.upper)??(i.type==="revolute"?Math.PI:1),step:.01,value:i.currentValue,onInput:U=>L(i.name,U.target.value),class:"joint-slider",disabled:D.value&&!S.value},null,40,De)]),e.createElementVNode("div",Ne,[e.createElementVNode("span",Se,e.toDisplayString(i.currentValue?Number(i.currentValue).toFixed(3):"0.000"),1),e.createElementVNode("span",Be,e.toDisplayString(i.type==="revolute"?"rad":"m"),1)])])):e.createCommentVNode("",!0)])}),128))])):(e.openBlock(),e.createElementBlock("div",Ae,v[0]||(v[0]=[e.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}},Te=oe._export_sfc(Fe,[["__scopeId","data-v-035ae936"]]),Le={class:"panel-content"},Ie="id",$e={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:z=>["breadth","firstLevel"].includes(z)}},emits:["nodeClick"],setup(z,{emit:g}){const u=z,d=g,h=e.ref([]),x={children:"children",label:"label"},P=r=>{d("nodeClick",r)},c=(r,k=0)=>{const y=[];return Array.isArray(r)&&(r==null?void 0:r.length)>0&&r.forEach(t=>{if(!(t!=null&&t.isMesh)&&((t==null?void 0:t.type)==="URDFJoint"||(t==null?void 0:t.type)==="URDFLink")){const p={name:t==null?void 0:t.name,label:t==null?void 0:t.name,show:!0,level:k+1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:c(t==null?void 0:t.children,k+1),path:t==null?void 0:t.name};y.push(p)}}),y},b=r=>r?[{name:r==null?void 0:r.name,label:r==null?void 0:r.name,show:!0,level:1,isPenultimate:!1,type:r==null?void 0:r.type,id:r==null?void 0:r.id,limit:(r==null?void 0:r.limit)??"",children:c(r==null?void 0:r.children,1),path:r==null?void 0:r.name}]:[],F=(r,k)=>{const y=[],t=[...r];for(;t.length>0&&y.length<k;){const p=t.shift();p.children&&p.children.length>0&&(y.push(p.id),t.push(...p.children))}return y},D=(r,k)=>{const y=[];return r.forEach(t=>{if(t.children&&t.children.length>0){y.push(t.id);const p=t.children.filter(f=>f.children&&f.children.length>0).slice(0,k).map(f=>f.id);y.push(...p)}}),y.slice(0,k+1)},S=e.computed(()=>!h.value||h.value.length===0?[]:u.expandStrategy==="firstLevel"?D(h.value,u.maxExpandCount):F(h.value,u.maxExpandCount)),E=e.computed(()=>u!=null&&u.model?b(u.model):[]);return e.watch(E,r=>{h.value=JSON.parse(JSON.stringify(r))},{immediate:!0}),(r,k)=>{const y=e.resolveComponent("el-tree");return e.openBlock(),e.createElementBlock("div",Le,[e.createVNode(y,{data:h.value,props:x,"default-expanded-keys":S.value,"node-key":Ie,onNodeClick:P},null,8,["data","default-expanded-keys"])])}}},Je=oe._export_sfc($e,[["__scopeId","data-v-290ff4e1"]]),Oe=["xlink:href"],Ue=e.defineComponent({__name:"svgIcon",props:{backgroundColor:{default:"#f0f0f0"},prefix:{default:"icon"},name:{},size:{default:16},spin:{type:Boolean,default:!1},active:{type:Boolean,default:!1}},setup(z){const g=z,u=e.computed(()=>({backgroundColor:g.backgroundColor})),d=e.computed(()=>`#${g.prefix}-${g.name}`),h=e.computed(()=>{const{size:x}=g;let P=`${x}`;return P=`${P.replace("px","")}px`,{width:P,height:P}});return(x,P)=>(e.openBlock(),e.createElementBlock("div",{class:e.normalizeClass(["container",{active:x.active}]),style:e.normalizeStyle(u.value)},[(e.openBlock(),e.createElementBlock("svg",{class:e.normalizeClass(["svg-icon",[x.$attrs.class,x.spin&&"svg-icon-spin"]]),style:e.normalizeStyle(h.value),"aria-hidden":"true"},[e.createElementVNode("use",{"xlink:href":d.value},null,8,Oe)],6))],6))}}),N=oe._export_sfc(Ue,[["__scopeId","data-v-3150a90b"]]),Ge={class:"obj-viewer-container"},je={class:"buttonGroup-top"},qe={class:"buttonGroup-topLeft"},Xe={class:"buttonGroup-left"},He={class:"buttonGroup-right"},Ye={class:"buttonGroup-bottom"},Ze={class:"left-panel"},We={class:"panel-header"},Ke={key:1,class:"clipping-content"},Qe={class:"radio-group"},et={class:"radio-label"},tt={class:"radio-label"},nt={class:"radio-label"},at={class:"radio-label"},ot={class:"right-panel"},lt={class:"panel-header"},st={key:0,class:"loading-overlay"},it={__name:"threeModel",props:{animationData:{type:Object,default:()=>{}}},emits:["getAnimationData"],setup(z,{expose:g,emit:u}){const d=u;let h=null,x=!1;const P=e.ref(null),c=e.ref(!1),b=e.ref("");e.ref(!1);const F=e.ref(!1),D=e.ref(!1),S=e.ref(""),E=e.ref(!1),r=e.ref(""),k=e.ref(),{currentModels:y,initialCameraPosition:t,initialTargetPosition:p,initThreeJS:f,handleResize:C,fitCameraToAllModels:I,getThreeJSObjects:A,clearAllModels:L,cleanup:$}=ve(P),{isAnimating:J,toggleAnimation:G,stopAnimation:Y}=ge(A,y),{isClipping:m,activeClippingAxis:l,toggleClipping:_,updateClippingPlanes:B}=he(A,y),{addModelsFromUrls:O,loadModelByDefaultPath:j,urdfModel:q,modelBoundingBoxes:X}=pe.useModelLoader(A,y,c,b,L),Z=()=>{if(F.value||y.value.length===0)return;F.value=!0,J.value&&Y();const{camera:s,controls:a}=A();if(!s||!a)return;a.enabled=!0;const w=H=>H<.5?4*H*H*H:1-Math.pow(-2*H+2,3)/2,U=s.position.clone(),T=a.target.clone(),W=1500,R=Date.now(),M=()=>{const H=Date.now()-R,K=Math.min(H/W,1),te=w(K);s.position.lerpVectors(U,t.value,te),a.target.lerpVectors(T,p.value,te),K<1?requestAnimationFrame(M):F.value=!1};M()},ee=async()=>x?Promise.resolve():new Promise(s=>{const a=()=>{x?s():requestAnimationFrame(a)};a()}),le=async(s,a)=>{try{await ee(),J.value&&Y(),m.value&&_();const w=await a(s);return I(X),w}catch(w){throw console.error("加载模型失败:",w),w}},re=async s=>le(s,O),o=async s=>le(s,j),v=s=>{D.value=!0,S.value=s,s==="剖面视图"&&!m.value&&_()},i=s=>{E.value=!0,r.value=s,s==="动画仿真"&&d("getAnimationData")},V=()=>{e.nextTick(()=>{var s;(s=k.value)==null||s.startAnimation()})};return e.onMounted(async()=>{await e.nextTick();try{f(),h=A().scene,x=!0,window.addEventListener("resize",C)}catch(s){console.error("Three.js初始化失败:",s)}}),e.onBeforeUnmount(()=>{x=!1,S.value="",r.value="",window.removeEventListener("resize",C),J.value&&Y(),$()}),g({addModelsFromUrls:re,loadModelByDefaultPath:o}),(s,a)=>{var U,T,W,R;const w=e.resolveComponent("el-scrollbar");return e.openBlock(),e.createElementBlock("div",Ge,[e.createElementVNode("div",{ref_key:"threejsContainer",ref:P,class:"threejs-container"},null,512),e.createElementVNode("div",je,[e.createVNode(N,{name:"guanjianjiexi",size:"34"}),e.createVNode(N,{name:"guanjiekongzhi",size:"34"}),e.createVNode(N,{name:"gongyishengcheng",size:"34"}),e.createVNode(N,{name:"buchangshezhi",size:"34"}),e.createVNode(N,{name:"shuchujiagongchengxu",size:"34"})]),e.createElementVNode("div",qe,[e.createVNode(N,{name:"viewReset",size:"24",onClick:Z,title:"重置"}),e.createVNode(N,{name:"fangda",size:"24",title:"放大"}),e.createVNode(N,{name:"suoxiao",size:"24",title:"缩小"}),e.createVNode(N,{name:"lookAround",size:"24",onClick:e.unref(G),title:e.unref(J)?"停止动画":"动画视图"},null,8,["onClick","title"])]),e.createElementVNode("div",Xe,[e.createVNode(N,{name:"jiegoushu",size:"24",onClick:a[0]||(a[0]=M=>v("场景树")),active:D.value&&S.value==="场景树",title:"场景树"},null,8,["active"]),e.createVNode(N,{name:"clipping",size:"24",onClick:a[1]||(a[1]=M=>v("剖面视图")),active:D.value&&S.value==="剖面视图",title:"剖面视图"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24",onClick:a[2]||(a[2]=M=>v("场景树3"))}),e.createVNode(N,{name:"donghuafangzhen",size:"24",onClick:a[3]||(a[3]=M=>v("场景4"))})]),e.createElementVNode("div",He,[e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"guanjiekongzhi",size:"24",onClick:a[4]||(a[4]=M=>i("关节控制")),active:E.value&&r.value==="关节控制",title:"关节控制"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24",title:"动画仿真",onClick:a[5]||(a[5]=M=>i("动画仿真")),active:E.value&&r.value==="动画仿真"},null,8,["active"]),e.createVNode(N,{name:"donghuafangzhen",size:"24"}),e.createVNode(N,{name:"donghuafangzhen",size:"24"})]),e.createElementVNode("div",Ye,[e.createVNode(N,{name:"kuaitui",size:"24",backgroundColor:"#ffffff",title:"快退",onClick:(U=k.value)==null?void 0:U.fastBackward},null,8,["onClick"]),e.createVNode(N,{name:"bofang",size:"24",backgroundColor:"#ffffff",title:"播放",onClick:V}),e.createVNode(N,{name:"kuaijin",size:"24",backgroundColor:"#ffffff",title:"快进",onClick:(T=k.value)==null?void 0:T.fastForward},null,8,["onClick"]),e.createVNode(N,{name:"zanting",size:"24",backgroundColor:"#ffffff",title:"暂停",onClick:(W=k.value)==null?void 0:W.pauseAnimation},null,8,["onClick"]),e.createVNode(N,{name:"zhongzhi",size:"24",backgroundColor:"#ffffff",title:"停止",onClick:(R=k.value)==null?void 0:R.resetAll},null,8,["onClick"])]),e.withDirectives(e.createElementVNode("div",Ze,[e.createElementVNode("div",We,[e.createElementVNode("span",null,e.toDisplayString(S.value),1),e.createElementVNode("span",{class:"close",onClick:a[6]||(a[6]=M=>D.value=!1)}," X ")]),e.createVNode(w,{"max-height":"650px"},{default:e.withCtx(()=>[S.value==="场景树"?(e.openBlock(),e.createBlock(Je,{key:0,model:e.unref(q)},null,8,["model"])):e.createCommentVNode("",!0),S.value==="剖面视图"?(e.openBlock(),e.createElementBlock("div",Ke,[e.createElementVNode("div",Qe,[e.createElementVNode("label",et,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"none","onUpdate:modelValue":a[7]||(a[7]=M=>e.isRef(l)?l.value=M:null),onChange:a[8]||(a[8]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[16]||(a[16]=e.createElementVNode("span",{class:"radio-text"},"无切割",-1))]),e.createElementVNode("label",tt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"x","onUpdate:modelValue":a[9]||(a[9]=M=>e.isRef(l)?l.value=M:null),onChange:a[10]||(a[10]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[17]||(a[17]=e.createElementVNode("span",{class:"radio-text"},"X轴切割",-1))]),e.createElementVNode("label",nt,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"y","onUpdate:modelValue":a[11]||(a[11]=M=>e.isRef(l)?l.value=M:null),onChange:a[12]||(a[12]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[18]||(a[18]=e.createElementVNode("span",{class:"radio-text"},"Y轴切割",-1))]),e.createElementVNode("label",at,[e.withDirectives(e.createElementVNode("input",{type:"radio",name:"clipping-axis",value:"z","onUpdate:modelValue":a[13]||(a[13]=M=>e.isRef(l)?l.value=M:null),onChange:a[14]||(a[14]=(...M)=>e.unref(B)&&e.unref(B)(...M))},null,544),[[e.vModelRadio,e.unref(l)]]),a[19]||(a[19]=e.createElementVNode("span",{class:"radio-text"},"Z轴切割",-1))])])])):e.createCommentVNode("",!0)]),_:1})],512),[[e.vShow,D.value]]),e.withDirectives(e.createElementVNode("div",ot,[e.createElementVNode("div",lt,[e.createElementVNode("span",null,e.toDisplayString(r.value),1),e.createElementVNode("span",{class:"close",onClick:a[15]||(a[15]=M=>E.value=!1)}," X ")]),e.createVNode(w,{"max-height":"650px"},{default:e.withCtx(()=>[e.withDirectives(e.createVNode(Te,{ref_key:"jointRef",ref:k,model:e.unref(q),scene:e.unref(h),animationData:z.animationData},null,8,["model","scene","animationData"]),[[e.vShow,r.value==="关节控制"]]),e.withDirectives(e.createVNode(xe,{animationData:z.animationData},null,8,["animationData"]),[[e.vShow,r.value==="动画仿真"]])]),_:1})],512),[[e.vShow,E.value]]),c.value?(e.openBlock(),e.createElementBlock("div",st,[a[20]||(a[20]=e.createElementVNode("div",{class:"loading-spinner"},null,-1)),e.createElementVNode("p",null,e.toDisplayString(b.value),1)])):e.createCommentVNode("",!0)])}}},rt=oe._export_sfc(it,[["__scopeId","data-v-7bc47bb3"]]);exports.default=rt;

package/dist/{threeModel-DJ9uFnUs.js → threeModel-C43ztv8F.js}

@@ -1,7 +1,7 @@
 import { ref as b, watch as Pe, createElementBlock as q, openBlock as Y, createBlock as Le, computed as ie, onMounted as $e, onUnmounted as je, Fragment as Xe, renderList as Ye, createElementVNode as h, createCommentVNode as xe, toDisplayString as ae, resolveComponent as Je, createVNode as z, defineComponent as He, normalizeStyle as Ee, normalizeClass as Fe, nextTick as Be, onBeforeUnmount as qe, withDirectives as se, unref as O, withCtx as Te, isRef as he, vModelRadio as ye, vShow as we } from "vue";
 import { V as M, B as be, S as Ze, C as We, P as Ke, W as Ne, e as Qe, A as et, f as tt, M as Re, X as nt, G as at, h as Me, i as ot, j as De, k as st, D as ke, H as lt, l as Ve, m as Oe, n as Ue, o as ze, E as _e, p as de, q as it, r as rt, T as ct } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-ChXGa8Vq.js";
 import { O as ut } from "./OrbitControls-BQWiOYip.js";
-import { X as dt, Y as pt } from "./index-thBZnRlq.js";
+import { X as dt, Y as pt } from "./index-DJKypwZi.js";
 import { _ as me } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { c as Ge } from "./index-IV5ysLCM.js";
 import { E as Ie } from "./request-B3-w_S8Z.js";

package/dist/{threeSceneView-BqLxzhSN.js → threeSceneView-AKqgWtcC.js}

@@ -1,16 +1,16 @@
 import { defineComponent as Le, ref as h, watch as ae, shallowRef as be, computed as Pe, onUnmounted as Ie, resolveComponent as U, createElementBlock as Ve, openBlock as Q, createElementVNode as u, createVNode as l, withCtx as M, createBlock as ye, createCommentVNode as ke, unref as X, toDisplayString as he, onMounted as Ge, onBeforeUnmount as Ze, Fragment as qe, renderList as He, nextTick as Ke, withDirectives as pe, vShow as de, renderSlot as Me } from "vue";
-import { r as Te, s as Ye } from "./threeViewerHost-CLYRcipX.js";
+import { r as Te, s as Ye } from "./threeViewerHost-CUPLExtn.js";
 import { u as Je, a as Qe, b as et, C as tt } from "./iconfont-BtF28Kow.js";
 import { U as lt, u as ot, a as nt, W as at } from "./workpieceTreePanel-CuJxocdg.js";
 import { c as st } from "./index-IV5ysLCM.js";
 import { a7 as it, E as j, an as rt, ao as ct } from "./request-B3-w_S8Z.js";
 /* empty css                                               */
 import { r as De, T as xe, V as D, p as q, q as ut, v as pt, j as Se, w as dt, L as mt, x as vt, y as ft, z as gt, F as ht, I as bt, J as yt, n as _t, K as wt } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-ChXGa8Vq.js";
-import "./index-thBZnRlq.js";
+import "./index-DJKypwZi.js";
 import "./index-BHtNKL1L.js";
 import { _ as me } from "./index.vue_vue_type_script_setup_true_lang-DRzriV-s.js";
 import { k as Be, m as Ct, p as kt } from "./index-BqvW-d8I.js";
-import "./index-GyvN5_IL.js";
+import "./index-cpIe4kUL.js";
 import "./index-DGqNLkIH.js";
 import "./index-CzO2rE5t.js";
 import { f as Pt, a as xt, g as Rt, b as Mt } from "./animationData-CiwMqk-B.js";

package/dist/{threeSceneView-DxI6ygXX.cjs → threeSceneView-D8kMpks6.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),ne=require("./threeViewerHost-CMKzBGKO.cjs"),pe=require("./iconfont-BXyk5311.cjs"),fe=require("./workpieceTreePanel-BKoIh7Am.cjs"),Te=require("./index-BrkG7uLk.cjs"),B=require("./request-BC2w2vGr.cjs");;/* empty css                                                 */const s=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-COKDBqGg.cjs");require("./index-tHA9Rkbg.cjs");require("./index-BpPyaNFa.cjs");const le=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),me=require("./index-Cp0iKPhB.cjs");require("./index-D5ZjIl_b.cjs");require("./index-qlM1q9uT.cjs");require("./index-2brd7dFc.cjs");const he=require("./animationData-CG9EgqU7.cjs"),ie=require("./urdfTree-D4bYNa3V.cjs"),ye=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),Ee=require("./index-CUw6nGTo.cjs"),R=require("./svgIcon-CDPAgQbj.cjs"),G=.001,W=s.MathUtils.degToRad,_e=new s.MeshStandardMaterial({color:13421772,metalness:.3,roughness:.6,side:s.DoubleSide});function Se(V=.005,v=64){const p=new s.CatmullRomCurve3([new s.Vector3(0,0,0),new s.Vector3(0,0,0)]),n=new s.TubeGeometry(p,v,V,16,!1),m=_e;return new s.Mesh(n,m)}const ke=V=>V.reduce((v,p)=>{let n=0;const m=p.Y??0,b=p.C??0,r=p.R??0;return m>0&&(n+=m),b>0&&r>0&&(n+=r*W(b)),v+n},0),Me=V=>{const v=[],p=V.Y??0,n=V.B??0,m=V.C??0,b=V.R??0,r={pos:new s.Vector3(0,0,0),localY:new s.Vector3(0,1,0),localX:new s.Vector3(1,0,0),localZ:new s.Vector3(0,0,1)};if(!p&&!m)return v;if(v.push(r.pos.clone()),n!==0){const g=new s.Matrix4().makeRotationAxis(r.localY,W(n));r.localX.applyMatrix4(g),r.localZ.applyMatrix4(g)}if(p>0&&(r.pos.add(r.localY.clone().multiplyScalar(p*G)),v.push(r.pos.clone())),m>0&&b>0){const g=W(m),f=b*G,w=r.pos.clone().add(r.localX.clone().multiplyScalar(-f)),a=Math.max(16,Math.ceil(m/5));for(let y=1;y<=a;y++){const d=g*y/a,_=new s.Matrix4().makeRotationAxis(r.localZ,d),u=r.localX.clone().multiplyScalar(f).applyMatrix4(_),k=w.clone().add(u);v.push(k)}}return v};function Pe(V,v){const p=new s.Group;p.name="CompletePipe";const n={pos:new s.Vector3(0,0,0),localX:new s.Vector3(1,0,0),localY:new s.Vector3(0,1,0),localZ:new s.Vector3(0,0,1)};let m=0,b=1;for(let r=0;r<V.length;r++){const g=V[r],f=g.Y??0,w=g.B??0,a=g.C??0,y=g.R??0;if(w!==0){const d=new s.Matrix4().makeRotationAxis(n.localY,W(w));n.localX.applyMatrix4(d),n.localZ.applyMatrix4(d)}if(f>0){const d=n.pos.clone();n.pos.add(n.localY.clone().multiplyScalar(f*G));const _=n.pos.clone(),c=Re(d,_,v*G);c.userData={segmentType:"straight",segmentIndex:m,frameIndex:r,length:f,frame:{Y:f,B:w,C:a,R:y}},c.name=`直段_${m}`,p.add(c);const u=d.clone();De(p,b,u,v*G),m++}if(a>0&&y>0){const d=W(a),_=y*G,c=[];c.push(n.pos.clone());const u=n.pos.clone().add(n.localX.clone().multiplyScalar(-_)),k=Math.max(16,Math.ceil(a/5));for(let h=1;h<=k;h++){const M=d*h/k,A=new s.Matrix4().makeRotationAxis(n.localZ,M),L=n.localX.clone().multiplyScalar(_).applyMatrix4(A),X=u.clone().add(L);c.push(X)}const E=Be(c,v*G);E.userData={segmentType:"bend",segmentIndex:m,frameIndex:r,angle:a,radius:y,centerPoint:u.toArray(),frame:{Y:f,B:w,C:a,R:y}},E.name=`弯段_${m}`,p.add(E),Math.floor(c.length/2),c[0],n.pos=c[c.length-1].clone();const S=new s.Matrix4().makeRotationAxis(n.localZ,d);n.localY.applyMatrix4(S),n.localX.applyMatrix4(S),m++,b++}}return p}function De(V,v,p,n){const m=new s.Vector3(0,n*2,n*5),b=p.clone().add(m),r=[p,b],g=new s.BufferGeometry().setFromPoints(r),f=new s.LineDashedMaterial({color:16711680,dashSize:n*.5,gapSize:n*.3,linewidth:1}),w=new s.Line(g,f);w.computeLineDistances(),V.add(w);const a=document.createElement("canvas"),y=a.getContext("2d");a.width=128,a.height=128,y.clearRect(0,0,128,128),y.fillStyle="#FF0000",y.font="bold 80px Arial",y.textAlign="center",y.textBaseline="middle",y.fillText(v.toString(),64,64);const d=new s.CanvasTexture(a),_=new s.SpriteMaterial({map:d,transparent:!0,depthTest:!1,depthWrite:!1}),c=new s.Sprite(_),u=n*3;c.scale.set(u,u,1),c.position.copy(b),c.name=`Label_${v}`,c.userData={labelNumber:v},V.add(c)}function Re(V,v,p){const n=new s.LineCurve3(V,v),m=new s.TubeGeometry(n,2,p,18,!1);return new s.Mesh(m,_e)}function Be(V,v){const p=new s.CatmullRomCurve3(V,!1,"catmullrom",.01),n=new s.TubeGeometry(p,Math.max(16,V.length*2),v,18,!1);return new s.Mesh(n,_e)}function Ce(V,v,p,n,m,b=0){let r=v.slice(0,m+1);const g=v[m+1];if(g&&b>0){const c={...g,B:(g.B??0)*b,C:(g.C??0)*b};r.push(c)}const f=ke(r),w=Math.max(0,p-f),a=[];a.push(new s.Vector3(0,0,0));const y=new s.Vector3(0,w*G,0);w>0&&a.push(y);let d={pos:y.clone(),localY:new s.Vector3(0,1,0),localX:new s.Vector3(1,0,0),localZ:new s.Vector3(0,0,1)};const _=[];for(let c=r.length-1;c>=0;c--){const u=r[c],k=Me(u);if(k.length>0){const E=k.map(A=>{const $=A.clone(),L=new s.Matrix4;return L.makeBasis(d.localX,d.localY,d.localZ),$.applyMatrix4(L),$.add(d.pos)});_.push(E);const S=E[E.length-1];d.pos=S.clone();const h=u.B??0,M=u.C??0;if(h!==0){const A=new s.Matrix4().makeRotationAxis(d.localY,W(h));d.localX.applyMatrix4(A),d.localZ.applyMatrix4(A)}if(M>0){const A=W(M),$=new s.Matrix4().makeRotationAxis(d.localZ,A);d.localY.applyMatrix4($),d.localX.applyMatrix4($)}}}for(const c of _)c.length>1&&a.push(...c.slice(1));a.length<2&&a.push(new s.Vector3(0,.001,0));try{const c=new s.CatmullRomCurve3(a,!1,"catmullrom",.01),u=new s.TubeGeometry(c,Math.max(2,a.length*4),n*G,18,!1);V.geometry.dispose(),V.geometry=u}catch(c){console.error("管件更新失败",c)}}function Ne(V,v,p,n=0){let m=V.slice(0,p+1);const b=V[p+1];if(b&&n>0){const d={...b,B:(b.B??0)*n,C:(b.C??0)*n};m.push(d)}const r=ke(m),g=Math.max(0,v-r),f=[];f.push(new s.Vector3(0,0,0));const w=new s.Vector3(0,g*G,0);g>0&&f.push(w);let a={pos:w.clone(),localY:new s.Vector3(0,1,0),localX:new s.Vector3(1,0,0),localZ:new s.Vector3(0,0,1)};const y=[];for(let d=m.length-1;d>=0;d--){const _=m[d],c=Me(_);if(c.length>0){const u=c.map(h=>{const M=h.clone(),A=new s.Matrix4;return A.makeBasis(a.localX,a.localY,a.localZ),M.applyMatrix4(A),M.add(a.pos)});y.push(u);const k=u[u.length-1];a.pos=k.clone();const E=_.B??0,S=_.C??0;if(E!==0){const h=new s.Matrix4().makeRotationAxis(a.localY,W(E));a.localX.applyMatrix4(h),a.localZ.applyMatrix4(h)}if(S>0){const h=W(S),M=new s.Matrix4().makeRotationAxis(a.localZ,h);a.localY.applyMatrix4(M),a.localX.applyMatrix4(M)}}}for(const d of y)d.length>1&&f.push(...d.slice(1));return f.length<2&&f.push(new s.Vector3(0,.001,0)),f}function xe(V,v,p,n,m,b,r,g=0,f=0){const w=m-f,a=Ne(n,w,r,g);let d=Ne(p,f,r,g);d.forEach(c=>c.y=-c.y),d.reverse();const _=[...d,...a];try{const c=new s.CatmullRomCurve3(_,!1,"catmullrom",.01),u=new s.TubeGeometry(c,Math.max(2,_.length*4),b*G,18,!1);v.geometry.dispose(),V.geometry.dispose(),v.parent&&v.parent.remove(v),V.geometry=u}catch(c){console.error("管件更新失败",c)}}const Ae={class:"panel-content"},$e={class:"action-bar"},Fe={class:"animation-controls"},ze={class:"control-row"},Ye={class:"control-row"},Le={class:"frame-info"},Ue={class:"control-row"},Ie={class:"progress-bar"},je={class:"dialog-footer"},Ge=e.defineComponent({__name:"animationPanel",props:{model:{},threeData:{}},setup(V,{expose:v}){const p=V,n=e.ref(),m=e.ref();e.watch(()=>p.threeData,t=>{const l=t==null?void 0:t.data;m.value=l==null?void 0:l.type},{immediate:!0});const b=async()=>{let t={};m.value===ne.robotMode.SINGLE&&(t=await he.fetchSingleRobotAnimationData()),m.value===ne.robotMode.DOUBLE&&(t=await he.fetchDoubleRobotAnimationData());const{initialPipeLength:l=0,pipeRadius:o=0,clampLength:i=0,animationData:x}=t;S.value=l,h.value=o,M.value=i,n.value=x;const N=Te.cloneDeep(n.value),J=re(Y.value),q=(N==null?void 0:N["输出（动画数据）"])||[];r.value=q.length?q:[J]},r=e.ref([]),g=e.ref(!1),f=e.ref(""),w=e.ref(!1),a=e.ref(0),y=e.ref(0),d=e.ref(1e3);let _=!1;const c=e.ref(null),u=e.shallowRef(null),k=e.shallowRef(null),E=e.shallowRef(null),S=e.ref(0),h=e.ref(12.5),M=e.ref(30),A=e.ref([]),$=e.ref(null),L=e.computed(()=>p.model?ie.getNonFixedJoints(p.model).map(o=>o.name):[]),X=e.ref(["Y","B","C","R"]),Y=e.computed(()=>[...L.value,...X.value]),ce=e.computed(()=>Y.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),ne=require("./threeViewerHost-uNIKrsD0.cjs"),pe=require("./iconfont-BXyk5311.cjs"),fe=require("./workpieceTreePanel-BKoIh7Am.cjs"),Te=require("./index-BrkG7uLk.cjs"),B=require("./request-BC2w2vGr.cjs");;/* empty css                                                 */const s=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-COKDBqGg.cjs");require("./index-op6E9ZFA.cjs");require("./index-BpPyaNFa.cjs");const le=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),me=require("./index-Cp0iKPhB.cjs");require("./index-DF9J0eRh.cjs");require("./index-qlM1q9uT.cjs");require("./index-2brd7dFc.cjs");const he=require("./animationData-CG9EgqU7.cjs"),ie=require("./urdfTree-D4bYNa3V.cjs"),ye=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),Ee=require("./index-CUw6nGTo.cjs"),R=require("./svgIcon-CDPAgQbj.cjs"),G=.001,W=s.MathUtils.degToRad,_e=new s.MeshStandardMaterial({color:13421772,metalness:.3,roughness:.6,side:s.DoubleSide});function Se(V=.005,v=64){const p=new s.CatmullRomCurve3([new s.Vector3(0,0,0),new s.Vector3(0,0,0)]),n=new s.TubeGeometry(p,v,V,16,!1),m=_e;return new s.Mesh(n,m)}const ke=V=>V.reduce((v,p)=>{let n=0;const m=p.Y??0,b=p.C??0,r=p.R??0;return m>0&&(n+=m),b>0&&r>0&&(n+=r*W(b)),v+n},0),Me=V=>{const v=[],p=V.Y??0,n=V.B??0,m=V.C??0,b=V.R??0,r={pos:new s.Vector3(0,0,0),localY:new s.Vector3(0,1,0),localX:new s.Vector3(1,0,0),localZ:new s.Vector3(0,0,1)};if(!p&&!m)return v;if(v.push(r.pos.clone()),n!==0){const g=new s.Matrix4().makeRotationAxis(r.localY,W(n));r.localX.applyMatrix4(g),r.localZ.applyMatrix4(g)}if(p>0&&(r.pos.add(r.localY.clone().multiplyScalar(p*G)),v.push(r.pos.clone())),m>0&&b>0){const g=W(m),f=b*G,w=r.pos.clone().add(r.localX.clone().multiplyScalar(-f)),a=Math.max(16,Math.ceil(m/5));for(let y=1;y<=a;y++){const d=g*y/a,_=new s.Matrix4().makeRotationAxis(r.localZ,d),u=r.localX.clone().multiplyScalar(f).applyMatrix4(_),k=w.clone().add(u);v.push(k)}}return v};function Pe(V,v){const p=new s.Group;p.name="CompletePipe";const n={pos:new s.Vector3(0,0,0),localX:new s.Vector3(1,0,0),localY:new s.Vector3(0,1,0),localZ:new s.Vector3(0,0,1)};let m=0,b=1;for(let r=0;r<V.length;r++){const g=V[r],f=g.Y??0,w=g.B??0,a=g.C??0,y=g.R??0;if(w!==0){const d=new s.Matrix4().makeRotationAxis(n.localY,W(w));n.localX.applyMatrix4(d),n.localZ.applyMatrix4(d)}if(f>0){const d=n.pos.clone();n.pos.add(n.localY.clone().multiplyScalar(f*G));const _=n.pos.clone(),c=Re(d,_,v*G);c.userData={segmentType:"straight",segmentIndex:m,frameIndex:r,length:f,frame:{Y:f,B:w,C:a,R:y}},c.name=`直段_${m}`,p.add(c);const u=d.clone();De(p,b,u,v*G),m++}if(a>0&&y>0){const d=W(a),_=y*G,c=[];c.push(n.pos.clone());const u=n.pos.clone().add(n.localX.clone().multiplyScalar(-_)),k=Math.max(16,Math.ceil(a/5));for(let h=1;h<=k;h++){const M=d*h/k,A=new s.Matrix4().makeRotationAxis(n.localZ,M),L=n.localX.clone().multiplyScalar(_).applyMatrix4(A),X=u.clone().add(L);c.push(X)}const E=Be(c,v*G);E.userData={segmentType:"bend",segmentIndex:m,frameIndex:r,angle:a,radius:y,centerPoint:u.toArray(),frame:{Y:f,B:w,C:a,R:y}},E.name=`弯段_${m}`,p.add(E),Math.floor(c.length/2),c[0],n.pos=c[c.length-1].clone();const S=new s.Matrix4().makeRotationAxis(n.localZ,d);n.localY.applyMatrix4(S),n.localX.applyMatrix4(S),m++,b++}}return p}function De(V,v,p,n){const m=new s.Vector3(0,n*2,n*5),b=p.clone().add(m),r=[p,b],g=new s.BufferGeometry().setFromPoints(r),f=new s.LineDashedMaterial({color:16711680,dashSize:n*.5,gapSize:n*.3,linewidth:1}),w=new s.Line(g,f);w.computeLineDistances(),V.add(w);const a=document.createElement("canvas"),y=a.getContext("2d");a.width=128,a.height=128,y.clearRect(0,0,128,128),y.fillStyle="#FF0000",y.font="bold 80px Arial",y.textAlign="center",y.textBaseline="middle",y.fillText(v.toString(),64,64);const d=new s.CanvasTexture(a),_=new s.SpriteMaterial({map:d,transparent:!0,depthTest:!1,depthWrite:!1}),c=new s.Sprite(_),u=n*3;c.scale.set(u,u,1),c.position.copy(b),c.name=`Label_${v}`,c.userData={labelNumber:v},V.add(c)}function Re(V,v,p){const n=new s.LineCurve3(V,v),m=new s.TubeGeometry(n,2,p,18,!1);return new s.Mesh(m,_e)}function Be(V,v){const p=new s.CatmullRomCurve3(V,!1,"catmullrom",.01),n=new s.TubeGeometry(p,Math.max(16,V.length*2),v,18,!1);return new s.Mesh(n,_e)}function Ce(V,v,p,n,m,b=0){let r=v.slice(0,m+1);const g=v[m+1];if(g&&b>0){const c={...g,B:(g.B??0)*b,C:(g.C??0)*b};r.push(c)}const f=ke(r),w=Math.max(0,p-f),a=[];a.push(new s.Vector3(0,0,0));const y=new s.Vector3(0,w*G,0);w>0&&a.push(y);let d={pos:y.clone(),localY:new s.Vector3(0,1,0),localX:new s.Vector3(1,0,0),localZ:new s.Vector3(0,0,1)};const _=[];for(let c=r.length-1;c>=0;c--){const u=r[c],k=Me(u);if(k.length>0){const E=k.map(A=>{const $=A.clone(),L=new s.Matrix4;return L.makeBasis(d.localX,d.localY,d.localZ),$.applyMatrix4(L),$.add(d.pos)});_.push(E);const S=E[E.length-1];d.pos=S.clone();const h=u.B??0,M=u.C??0;if(h!==0){const A=new s.Matrix4().makeRotationAxis(d.localY,W(h));d.localX.applyMatrix4(A),d.localZ.applyMatrix4(A)}if(M>0){const A=W(M),$=new s.Matrix4().makeRotationAxis(d.localZ,A);d.localY.applyMatrix4($),d.localX.applyMatrix4($)}}}for(const c of _)c.length>1&&a.push(...c.slice(1));a.length<2&&a.push(new s.Vector3(0,.001,0));try{const c=new s.CatmullRomCurve3(a,!1,"catmullrom",.01),u=new s.TubeGeometry(c,Math.max(2,a.length*4),n*G,18,!1);V.geometry.dispose(),V.geometry=u}catch(c){console.error("管件更新失败",c)}}function Ne(V,v,p,n=0){let m=V.slice(0,p+1);const b=V[p+1];if(b&&n>0){const d={...b,B:(b.B??0)*n,C:(b.C??0)*n};m.push(d)}const r=ke(m),g=Math.max(0,v-r),f=[];f.push(new s.Vector3(0,0,0));const w=new s.Vector3(0,g*G,0);g>0&&f.push(w);let a={pos:w.clone(),localY:new s.Vector3(0,1,0),localX:new s.Vector3(1,0,0),localZ:new s.Vector3(0,0,1)};const y=[];for(let d=m.length-1;d>=0;d--){const _=m[d],c=Me(_);if(c.length>0){const u=c.map(h=>{const M=h.clone(),A=new s.Matrix4;return A.makeBasis(a.localX,a.localY,a.localZ),M.applyMatrix4(A),M.add(a.pos)});y.push(u);const k=u[u.length-1];a.pos=k.clone();const E=_.B??0,S=_.C??0;if(E!==0){const h=new s.Matrix4().makeRotationAxis(a.localY,W(E));a.localX.applyMatrix4(h),a.localZ.applyMatrix4(h)}if(S>0){const h=W(S),M=new s.Matrix4().makeRotationAxis(a.localZ,h);a.localY.applyMatrix4(M),a.localX.applyMatrix4(M)}}}for(const d of y)d.length>1&&f.push(...d.slice(1));return f.length<2&&f.push(new s.Vector3(0,.001,0)),f}function xe(V,v,p,n,m,b,r,g=0,f=0){const w=m-f,a=Ne(n,w,r,g);let d=Ne(p,f,r,g);d.forEach(c=>c.y=-c.y),d.reverse();const _=[...d,...a];try{const c=new s.CatmullRomCurve3(_,!1,"catmullrom",.01),u=new s.TubeGeometry(c,Math.max(2,_.length*4),b*G,18,!1);v.geometry.dispose(),V.geometry.dispose(),v.parent&&v.parent.remove(v),V.geometry=u}catch(c){console.error("管件更新失败",c)}}const Ae={class:"panel-content"},$e={class:"action-bar"},Fe={class:"animation-controls"},ze={class:"control-row"},Ye={class:"control-row"},Le={class:"frame-info"},Ue={class:"control-row"},Ie={class:"progress-bar"},je={class:"dialog-footer"},Ge=e.defineComponent({__name:"animationPanel",props:{model:{},threeData:{}},setup(V,{expose:v}){const p=V,n=e.ref(),m=e.ref();e.watch(()=>p.threeData,t=>{const l=t==null?void 0:t.data;m.value=l==null?void 0:l.type},{immediate:!0});const b=async()=>{let t={};m.value===ne.robotMode.SINGLE&&(t=await he.fetchSingleRobotAnimationData()),m.value===ne.robotMode.DOUBLE&&(t=await he.fetchDoubleRobotAnimationData());const{initialPipeLength:l=0,pipeRadius:o=0,clampLength:i=0,animationData:x}=t;S.value=l,h.value=o,M.value=i,n.value=x;const N=Te.cloneDeep(n.value),J=re(Y.value),q=(N==null?void 0:N["输出（动画数据）"])||[];r.value=q.length?q:[J]},r=e.ref([]),g=e.ref(!1),f=e.ref(""),w=e.ref(!1),a=e.ref(0),y=e.ref(0),d=e.ref(1e3);let _=!1;const c=e.ref(null),u=e.shallowRef(null),k=e.shallowRef(null),E=e.shallowRef(null),S=e.ref(0),h=e.ref(12.5),M=e.ref(30),A=e.ref([]),$=e.ref(null),L=e.computed(()=>p.model?ie.getNonFixedJoints(p.model).map(o=>o.name):[]),X=e.ref(["Y","B","C","R"]),Y=e.computed(()=>[...L.value,...X.value]),ce=e.computed(()=>Y.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
 ${Y.value.join("	")}
 0	0	0	...
 1	2	3	...`:"请先加载模型。"),ae=()=>r.value.map(t=>({Y:parseFloat(t.Y)||0,B:parseFloat(t.B)||0,C:parseFloat(t.C)||0,R:parseFloat(t.R)||0})),K=()=>{const t=[],l=[];return r.value.forEach(o=>{const{Y1:i,B1:x,C1:N,R1:J,Y2:q,B2:oe,C2:de,R2:D}=o;t.push({Y:parseFloat(i)||0,B:parseFloat(x)||0,C:parseFloat(N)||0,R:parseFloat(J)||0}),l.push({Y:parseFloat(q)||0,B:parseFloat(oe)||0,C:parseFloat(de)||0,R:parseFloat(D)||0})}),{posPipeYbcr:t,negPipeYbcr:l}},T=(t=0,l=0)=>{if(u.value&&k.value){const o=K();xe(u.value,k.value,o.posPipeYbcr,o.negPipeYbcr,S.value,h.value,t,l,M.value)}else if(u.value){const o=ae();Ce(u.value,o,S.value,h.value,t,l)}},C=t=>{if(t<0||t>=r.value.length){console.error(`帧索引 ${t} 超出范围`);return}const l=r.value[t];if(console.log(`应用第 ${t} 帧数据 ${l}`),a.value=t,c.value){const o={};L.value.forEach(i=>{const x=parseFloat(l[i]);isNaN(x)||(o[i]=x)}),c.value.setJointAngles(o)}T(t,0)},U=async()=>{if(r.value.length===0){B.ElMessage.error("无法播放动画：无数据");return}if(!w.value){w.value=!0,_=!1,r.value.length-1===a.value&&(a.value=0);try{for(let t=a.value+1;t<r.value.length&&!_;t++){a.value=t;const l=r.value[t],o={};c.value&&L.value.forEach(i=>{const x=parseFloat(l[i]);isNaN(x)||(o[i]=x)}),c.value?await c.value.animateToState(o,d.value,i=>{y.value=(t+i)/r.value.length*100,T(t-1,i)}):(await new Promise(i=>setTimeout(i,d.value)),y.value=(t+1)/r.value.length*100)}_||B.ElMessage.success("动画播放完成")}catch(t){console.error("动画播放出错:",t),B.ElMessage.error("动画播放出错")}finally{w.value=!1,y.value=0}}},F=()=>{_=!0,w.value=!1,y.value=0,B.ElMessage.info("动画已停止")},I=()=>{a.value=0},z=()=>{if(u.value&&k.value){const t=K();xe(u.value,k.value,t.posPipeYbcr,t.negPipeYbcr,S.value,h.value,-1,0,M.value)}else if(u.value){const t=ae();Ce(u.value,t,S.value,h.value,-1,0)}},Z=()=>{c.value&&c.value.resetToZero(),z(),I(),B.ElMessage.success("机器人和管件已重置")},O=t=>`第 ${t+1} 帧`,j=t=>{w.value&&F(),C(t)},Q=()=>{w.value&&F(),!(a.value+1>=r.value.length)&&C(a.value+1)},P=()=>{w.value&&F(),a.value!==0&&C(a.value-1)},H=()=>{E.value&&(E.value.visible=!0),u.value&&u.value.parent&&u.value.parent.remove(u.value),E.value=null,u.value=null,k.value=null},re=t=>t==null?void 0:t.reduce((l,o)=>(l[o]="0",l),{});e.watch(Y,(t,l)=>{if(JSON.stringify(t)!==JSON.stringify(l))if(t.length>0){const o=re(t);r.value=[o]}else r.value=[]},{immediate:!0});const ee=e.ref(0),ue=t=>{ee.value=t},ge=(t,l)=>{if(!t||!l)return;const o=ie.getTargetJoint(t,l),i=Se();i.visible=!1,o==null||o.add(i)},Ve=t=>{c.value=new fe.URDFRobotController(t),A.value=ie.getAllLinkName(t),$.value="Pipe_Joint"},te=()=>{c.value=null,A.value=[],$.value=null},se=t=>{Ve(t),ge(t,$.value),ue(ee.value+1),Z()};e.watch(()=>p.model,t=>{if(H(),t){se(t);return}te()},{immediate:!0});const ve=t=>{var o,i;const l=new s.Mesh(t.geometry.clone(),t.material);return l.name="managed_pipe_clone",(i=(o=t==null?void 0:t.parent)==null?void 0:o.add)==null||i.call(o,l),l.position.copy(t.position),l.rotation.copy(t.rotation),l.scale.copy(t.scale),l};e.watch([$,M,S,ee],([t,l])=>{if(H(),p.model&&t){const o=ie.getMeshFromJoint(p.model,t);if(console.log(o,"meshToReplace"),o&&o.parent){E.value=o,o.visible=!1;const i=ve(o);if(m.value===ne.robotMode.SINGLE&&(i.position.y-=l*.001),u.value=i,m.value===ne.robotMode.DOUBLE){const x=ve(o);k.value=x}T(0,0)}else t&&console.warn(`在 link '${t}' 中未找到可替换的网格或其没有父级。`)}});const be=async()=>{if(Y.value.length===0){B.ElMessage.warning("没有可导出的表头");return}const t=Y.value.join("	");try{await navigator.clipboard.writeText(t),B.ElMessage.success("表头已成功复制到剪贴板！")}catch(l){console.error("复制失败:",l),B.ElMessage.error("复制失败，请检查浏览器权限或手动复制。")}},we=()=>{if(!f.value.trim()){B.ElMessage.warning("导入内容不能为空");return}const t=f.value.trim().split(`

package/dist/{threeSceneViewForCPMPIP-PE0ZT7EA.js → threeSceneViewForCPMPIP-2Pti3m3C.js}

@@ -1,5 +1,5 @@
 import { defineComponent as ge, ref as r, computed as k, watch as X, onUnmounted as De, resolveComponent as G, createElementBlock as x, openBlock as g, createElementVNode as n, createCommentVNode as U, createVNode as s, toDisplayString as L, Fragment as Be, renderList as Je, withCtx as le, shallowRef as te, onMounted as Me, nextTick as me, onBeforeUnmount as Ee, withDirectives as I, vShow as W, unref as z, renderSlot as ve, createBlock as de } from "vue";
-import { s as pe } from "./threeViewerHost-CLYRcipX.js";
+import { s as pe } from "./threeViewerHost-CUPLExtn.js";
 import { u as Ge, a as He, b as Ie, C as We } from "./iconfont-BtF28Kow.js";
 import { U as Xe, u as Ye, a as Ze, W as qe } from "./workpieceTreePanel-CuJxocdg.js";
 import { c as Ke } from "./index-IV5ysLCM.js";

package/dist/{threeSceneViewForCPMPIP-4gNettMM.cjs → threeSceneViewForCPMPIP-MttowLKc.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),ee=require("./threeViewerHost-CMKzBGKO.cjs"),q=require("./iconfont-BXyk5311.cjs"),J=require("./workpieceTreePanel-BKoIh7Am.cjs"),Ce=require("./index-BrkG7uLk.cjs");require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-COKDBqGg.cjs");const te=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),U=require("./urdfTree-D4bYNa3V.cjs"),h=require("./request-BC2w2vGr.cjs"),ne=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),g=require("./svgIcon-CDPAgQbj.cjs"),_e=require("./animationData-CG9EgqU7.cjs"),we=require("./MTLLoader-fyJJJ5J2.cjs"),Se={class:"panel-content"},Pe={key:0,class:"animation-controls"},Te={class:"control-row"},Be={class:"control-row"},xe={class:"frame-info"},ze={class:"control-row"},De={key:1,class:"empty-state"},Le={class:"dialog-footer"},je=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(P,{expose:m}){const y=P,s=e.ref([]),_=e.ref(!1),T=e.ref(""),i=e.ref("stopped"),f=e.ref(0),w=e.ref(0),b=e.ref(10),u=e.ref(null);let c=0;const V=e.ref([]),N=e.computed(()=>y.model?U.getNonFixedJoints(y.model).map(p=>p.name):[]),S=e.computed(()=>[...N.value]),H=e.computed(()=>S.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),ee=require("./threeViewerHost-uNIKrsD0.cjs"),q=require("./iconfont-BXyk5311.cjs"),J=require("./workpieceTreePanel-BKoIh7Am.cjs"),Ce=require("./index-BrkG7uLk.cjs");require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-COKDBqGg.cjs");const te=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),U=require("./urdfTree-D4bYNa3V.cjs"),h=require("./request-BC2w2vGr.cjs"),ne=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),g=require("./svgIcon-CDPAgQbj.cjs"),_e=require("./animationData-CG9EgqU7.cjs"),we=require("./MTLLoader-fyJJJ5J2.cjs"),Se={class:"panel-content"},Pe={key:0,class:"animation-controls"},Te={class:"control-row"},Be={class:"control-row"},xe={class:"frame-info"},ze={class:"control-row"},De={key:1,class:"empty-state"},Le={class:"dialog-footer"},je=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(P,{expose:m}){const y=P,s=e.ref([]),_=e.ref(!1),T=e.ref(""),i=e.ref("stopped"),f=e.ref(0),w=e.ref(0),b=e.ref(10),u=e.ref(null);let c=0;const V=e.ref([]),N=e.computed(()=>y.model?U.getNonFixedJoints(y.model).map(p=>p.name):[]),S=e.computed(()=>[...N.value]),H=e.computed(()=>S.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
 ${S.value.join("	")}
 0	0	0	...
 1	2	3	...`:"请先加载模型。"),M=e.computed(()=>s.value[f.value]||{});e.watch(()=>y.model,o=>{o?(u.value=new J.URDFRobotController(o),V.value=U.getAllLinkName(o),f.value=0):(u.value=null,V.value=[])},{immediate:!0});const D=o=>{if(o<0||o>=s.value.length){console.error(`帧索引 ${o} 超出范围`);return}const n=s.value[o];if(u.value){const p={};N.value.forEach(k=>{const r=parseFloat(n[k]);isNaN(r)||(p[k]=r)}),u.value.setJointAngles(p)}f.value=o,w.value=s.value.length>1?o/(s.value.length-1)*100:100},L=async o=>{try{for(let n=f.value;n<s.value.length;n++){if(o!==c)return;const p=s.value[n],k={};if(u.value)N.value.forEach(r=>{const d=parseFloat(p[r]);isNaN(d)||(k[r]=d)}),await u.value.animateToState(k,b.value,r=>{o===c&&(w.value=(n+r)/s.value.length*100)});else{if(await new Promise(r=>setTimeout(r,b.value)),o!==c)return;w.value=(n+1)/s.value.length*100}f.value=n}o===c&&(h.ElMessage.success("动画播放完成"),i.value="stopped",w.value=100)}catch(n){console.error("动画播放出错:",n),h.ElMessage.error("动画播放出错"),i.value="stopped"}},B=()=>{if(s.value.length===0){h.ElMessage.error("无动画数据");return}i.value==="stopped"&&(f.value=0,D(0)),i.value="playing",c++,L(c),h.ElMessage.info("动画播放中")},$=()=>{i.value==="playing"&&(c++,i.value="paused",h.ElMessage.info("动画已暂停"))},R=()=>{c++,i.value="stopped",f.value=0,w.value=0,D(0),h.ElMessage.info("动画已停止并重置")},G=()=>{i.value==="playing"?$():B()},x=o=>{c++,i.value="paused",D(o)},X=()=>{if(!T.value.trim()){h.ElMessage.warning("导入内容不能为空");return}const o=T.value.trim().split(`

package/dist/{threeViewerHost-CLYRcipX.js → threeViewerHost-CUPLExtn.js}

@@ -112,7 +112,7 @@ const q = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
     height: { default: "100%" }
   },
   setup(E) {
-    const O = b(() => import("./threeSceneView-BqLxzhSN.js")), y = b(() => import("./threePreview-BlxJGyMr.js")), i = b(() => import("./threeTrackPathView-D81guq07.js")), p = b(() => import("./threeSceneViewForCPMPIP-PE0ZT7EA.js")), n = E, P = A(D), { platName: f } = $(P), { isUrdf: _, isTrackPathFile: g } = Y(), c = I(() => {
+    const O = b(() => import("./threeSceneView-AKqgWtcC.js")), y = b(() => import("./threePreview-BlxJGyMr.js")), i = b(() => import("./threeTrackPathView-D81guq07.js")), p = b(() => import("./threeSceneViewForCPMPIP-2Pti3m3C.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;

package/dist/{threeViewerHost-CMKzBGKO.cjs → threeViewerHost-uNIKrsD0.cjs}

@@ -1 +1 @@
-"use strict";const e=require("vue"),d=require("./index-BrkG7uLk.cjs"),S=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-COKDBqGg.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-DxI6ygXX.cjs"))),P=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-Du4Z6pbp.cjs"))),c=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-DUdyhJIz.cjs"))),m=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-4gNettMM.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-BrkG7uLk.cjs"),S=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-COKDBqGg.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-D8kMpks6.cjs"))),P=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-Du4Z6pbp.cjs"))),c=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-DUdyhJIz.cjs"))),m=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-MttowLKc.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/package.json

@@ -1,7 +1,7 @@
 {
   "name": "ss-component-new",
   "private": false,
-  "version": "1.3.271",
+  "version": "1.3.273",
   "type": "module",
   "files": [
     "dist",

package/dist/index-BJvaTjjk.cjs

@@ -1 +0,0 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),L=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),g=require("./index-BrkG7uLk.cjs");require("./index-qlM1q9uT.cjs");const M=require("./index-D7kcuKde.cjs"),k=require("./request-BC2w2vGr.cjs"),I=require("vue-router"),D={},K={class:"left-wrap"},O={class:"left-bg"};function U(v,m){return e.openBlock(),e.createElementBlock("div",K,[e.createElementVNode("div",O,[e.renderSlot(v.$slots,"img",{},void 0,!0)])])}const j=L._export_sfc(D,[["render",U],["__scopeId","data-v-9b7ee6c9"]]),T={ACCOUNT:"account",FACE:"face"},H={class:"right-wrap"},P={class:"tab-content"},J={class:"tab-tips"},W={class:"tab-content"},z={class:"tab-tips"},G=e.defineComponent({__name:"index",props:{tabList:{type:Array,default:[]},loading:{type:Boolean,default:!1}},emits:["clickLogin","handleTabChange"],setup(v,{emit:m}){const n=e.ref(T.ACCOUNT),t=m,b=()=>{t("clickLogin",n.value)},y=a=>{t("handleTabChange",a)};return(a,l)=>{const s=e.resolveComponent("el-button"),c=e.resolveComponent("el-tab-pane"),f=e.resolveComponent("el-tabs");return e.openBlock(),e.createElementBlock("div",H,[e.createVNode(f,{modelValue:n.value,"onUpdate:modelValue":l[0]||(l[0]=d=>n.value=d),class:"right-tabs",onTabChange:y},{default:e.withCtx(()=>[e.createVNode(c,{name:e.unref(T).ACCOUNT},{label:e.withCtx(()=>[e.renderSlot(a.$slots,"tabLabel1",{},void 0,!0)]),default:e.withCtx(()=>[e.createElementVNode("div",P,[e.renderSlot(a.$slots,"tabContent1",{},void 0,!0)]),e.createElementVNode("div",{class:"tab-button special",onClick:b},[e.createVNode(s,{loading:v.loading},{default:e.withCtx(()=>[e.renderSlot(a.$slots,"tabButton1",{},void 0,!0)]),_:3},8,["loading"])]),e.createElementVNode("div",J,[e.renderSlot(a.$slots,"tabTips1",{},void 0,!0)])]),_:3},8,["name"]),e.createVNode(c,{name:e.unref(T).FACE},{label:e.withCtx(()=>[e.renderSlot(a.$slots,"tabLabel2",{},void 0,!0)]),default:e.withCtx(()=>[e.createElementVNode("div",W,[e.renderSlot(a.$slots,"tabContent2",{},void 0,!0)]),e.createElementVNode("div",z,[e.renderSlot(a.$slots,"tabTips2",{},void 0,!0)])]),_:3},8,["name"])]),_:3},8,["modelValue"])])}}}),Q=L._export_sfc(G,[["__scopeId","data-v-8b1962f0"]]),X={class:"account-wrap"},Y=e.defineComponent({__name:"index",props:{activeTabName:{type:String,default:""},isClickLogin:{type:Boolean,default:!1}},emits:["handleLoginFormChange"],setup(v,{emit:m}){const n=v,t=e.reactive({account:"",password:""}),b=e.reactive({account:[{required:!0,message:"请输入账号",trigger:"blur"}],password:[{required:!0,message:"请输入密码",trigger:"blur"}]}),y=e.ref(null),a=m;return e.watch(()=>n.isClickLogin,l=>{var s;l&&(n==null?void 0:n.activeTabName)==="account"&&((s=y.value)==null||s.validate(c=>{var f;for(let d in t)t.hasOwnProperty(d)&&(t[d]=(f=t[d])==null?void 0:f.trim());a("handleLoginFormChange",c,c?t:null)}))},{immediate:!0}),e.watch(()=>n.activeTabName,l=>{var s;l==="account"&&((s=y.value)==null||s.resetFields())}),(l,s)=>{const c=e.resolveComponent("svg-icon"),f=e.resolveComponent("el-input"),d=e.resolveComponent("el-form-item"),C=e.resolveComponent("el-form");return e.openBlock(),e.createElementBlock("div",X,[e.createVNode(C,{model:t,rules:b,ref_key:"formRef",ref:y},{default:e.withCtx(()=>[e.createVNode(d,{label:"",prop:"account"},{default:e.withCtx(()=>[e.createVNode(f,{class:"account-input",modelValue:t.account,"onUpdate:modelValue":s[0]||(s[0]=N=>t.account=N),placeholder:"请输入账号",clearable:""},{prefix:e.withCtx(()=>[e.createVNode(c,{name:"account",style:{width:"15px",height:"15px"}})]),_:1},8,["modelValue"])]),_:1}),e.createVNode(d,{label:"",prop:"password"},{default:e.withCtx(()=>[e.createVNode(f,{class:"account-input",modelValue:t.password,"onUpdate:modelValue":s[1]||(s[1]=N=>t.password=N),type:"password",placeholder:"请输入密码","show-password":"",clearable:""},{prefix:e.withCtx(()=>[e.createVNode(c,{name:"password",style:{width:"15px",height:"15px"}})]),_:1},8,["modelValue"])]),_:1})]),_:1},8,["model","rules"])])}}}),Z=L._export_sfc(Y,[["__scopeId","data-v-48037c0f"]]),ee={class:"account-wrap"},te={class:"video-wrap"},oe=e.defineComponent({__name:"index",props:{systemKey:{default:""},activeTabName:{default:""},isClickLogin:{type:Boolean,default:!1}},emits:["handleLoginFormChange"],setup(v,{emit:m}){const n=v,t=m,b=g.useLoginState(g.pinia),{systemInfo:y}=g.storeToRefs(b),a=e.ref(null),l=e.ref(null);let s=!1,c=null;const f=async i=>{if(!i)return;const r=new FormData;r.set("file",i);const h=y.value.plat_id;h&&r.set("systemKey",h),console.log("Face Recognition",h);const w=await M.verifyFaceImage(r),{data:o}=w||{},{account:u,password:p,layer:_}=(o==null?void 0:o.data)||{},E=o==null?void 0:o.msg;if(!u){k.ElMessage.warning(E||"识别失败，请重新识别！");return}t("handleLoginFormChange",!0,{account:u,password:p})},d=()=>{if(!l.value||!a.value)return;const i=l.value,r=i.getContext("2d"),h=a.value;i.width=200,i.height=200;const w=h.videoWidth||640,o=h.videoHeight||480,u=Math.min(200/w,200/o),p=w*u,_=o*u,E=(200-p)/2,S=(200-_)/2;r==null||r.drawImage(h,0,0,w,o,E,S,p,_),i.toBlob(x=>{if(x){const $=new File([x],"face.png",{type:"image/png"});f($)}},"image/png")},C=async()=>{if(!a.value||s)return;const i=a.value;try{if(c=await navigator.mediaDevices.getUserMedia({video:{facingMode:"user"},audio:!1}),i){const r=i;r.srcObject=c,s=!0}}catch{k.ElMessage.warning("摄像头启动失败")}};function N(i){if(i&&(i.getTracks().forEach(r=>r.stop()),a.value)){const r=a.value;r.srcObject=null}}const V=()=>{N(c),s=!1};return e.watch(()=>n.activeTabName,i=>{if(i!==T.FACE){V();return}if(i===T.FACE&&!s){C();return}}),e.onBeforeUnmount(()=>{V()}),(i,r)=>(e.openBlock(),e.createElementBlock("div",ee,[e.createElementVNode("div",te,[e.createElementVNode("video",{class:"face-video",ref_key:"videoRef",ref:a,id:"v",autoplay:"",playsinline:""},null,512)]),e.createElementVNode("button",{class:"face-screenshot",onClick:d},"人脸识别"),e.createElementVNode("canvas",{ref_key:"canvasRef",ref:l,id:"canvas"},null,512)]))}}),ae=L._export_sfc(oe,[["__scopeId","data-v-8b30c6df"]]);function ne(){const v={account:"superadmin",password:"1c8e7623312244c1feb677732278fb8b2af6af1a5335fdaebbdb2720137b372b7871292d11165b83b2967b9c39fa37027d63d37a2f36d764257b566dcfa99f334faa8995301601aec549adf39aef8d89c8788da03a9164937a5f73af20a15ea60d47c7cf01cf",tenantId:-1,code:"",codeId:0};return k.service({url:"/api/sysAuth/login",method:"post",data:v})}const q=g.useLoginState(g.pinia),{isDefaultModel:se}=g.useModelManagement(),ie=async(v,m)=>{var b,y,a,l,s,c,f,d,C,N,V,i,r,h;let n=Object.values(v),t=await g.loginPlatFormDataApi({userName:(b=n==null?void 0:n[0])==null?void 0:b.trim(),password:(y=n==null?void 0:n[1])==null?void 0:y.trim()});if(((a=t==null?void 0:t.data)==null?void 0:a.status)===200&&((s=(l=t==null?void 0:t.data)==null?void 0:l.result)==null?void 0:s.length)<=0&&(t=await g.loginCommonAccount({userName:(c=n==null?void 0:n[0])==null?void 0:c.trim(),password:(f=n==null?void 0:n[1])==null?void 0:f.trim(),path:"系统管理/用户管理",platId:m})),((d=t==null?void 0:t.data)==null?void 0:d.status)===200&&((N=(C=t==null?void 0:t.data)==null?void 0:C.result)==null?void 0:N.length)>0){const o=((i=(V=t==null?void 0:t.data)==null?void 0:V.result)==null?void 0:i.find(p=>se(p)))||((h=(r=t==null?void 0:t.data)==null?void 0:r.result)==null?void 0:h[0]);sessionStorage.setItem("systemKey",m&&m!==""?m:o==null?void 0:o.plat_id);let u=o;return u.plat_id=u.plat_id??m,q.setLoginUserInfo(u),q.setSystemKey(m&&m!==""?m:o==null?void 0:o.plat_id),!0}else return k.ElMessage.error("输入的密码错误，请重新输入"),!1},le={class:"login-wrap"},ce={class:"login-body"},re={class:"login-body-item left"},de={class:"title"},ue={class:"first-level"},me={key:0,class:"logo"},fe=["src"],pe={class:"english-name"},ge={class:"login-body-item right"},_e=e.defineComponent({__name:"index",props:{oldSystemKey:{}},emits:["change"],setup(v,{emit:m}){const n=I.useRouter(),t=g.useMenuState(g.pinia),b=g.useLoginState(g.pinia),{systemKey:y,systemInfo:a,loginUserInfo:l}=g.storeToRefs(b),s=e.computed(()=>{var o;return((o=a.value)==null?void 0:o.logo)||g.logo}),c=e.ref({sysCTitle:"",sysETitle:"",loginTitle:"账户密码登录",tabs:[{name:"密码登录",btnLabel:"登录",tips:"温馨提示：建议使用谷歌、Microsoft Edge，版本79.0.1072.62及以上浏览器，360浏览器请使用极速模式"},{name:"人脸识别",btnLabel:"人脸识别",tips:"温馨提示：建议使用谷歌、Microsoft Edge，版本79.0.1072.62及以上浏览器，360浏览器请使用极速模式"},{name:"刷卡登录",btnLabel:"登录",tips:"温馨提示：建议使用谷歌、Microsoft Edge，版本79.0.1072.62及以上浏览器，360浏览器请使用极速模式"}]}),f=e.ref("account"),d=e.ref(!1),C=e.ref(!1),N=()=>{d.value=!0},V=(o,u)=>{d.value=!1,o&&h(u)},i=async()=>{var o,u,p;try{const _=await ne();return((o=_==null?void 0:_.data)==null?void 0:o.code)===200?(sessionStorage.setItem("loginToken",(p=(u=_.data)==null?void 0:u.result)==null?void 0:p.accessToken),!0):!1}catch(_){k.ElMessage.error(_)}return!0},r=async()=>(sessionStorage.setItem("magicToken","123456"),!0);e.onMounted(async()=>{await i()});const h=async o=>{var S,x,$,B,F,A;C.value=!0;let u=[ie(o,(S=a.value)==null?void 0:S.plat_id),i(),r()];const p=await Promise.all(u),_=p==null?void 0:p.every(R=>R);let E=[{id:"1",request_method:"Post",request_url:"/platform/getdata",request_param:JSON.stringify({userName:"hjj",password:"1"}),request_result:"{}",is_delete:!1,request_table:"admin_user",request_type:"login"}];try{await g.pageBatchAddApi({platId:parseInt((x=l==null?void 0:l.value)==null?void 0:x.plat_id),changeContents:[{tableName:"log",tableContents:E}]})}catch{}_?(await g.verifyStructureDataToStore(),n.push("/"),b.setLogRecordAsync({type:"登录",data:{account:(($=l.value)==null?void 0:$.account)??((B=l.value)==null?void 0:B.账号),userName:((F=l.value)==null?void 0:F.姓名)||((A=l.value)==null?void 0:A.userName)||"未知"}},"/login","login"),t.setHasClickEditComp(!1)):C.value=!1},w=o=>{f.value=o,d.value=!1,C.value=!1};return(o,u)=>(e.openBlock(),e.createElementBlock("div",le,[e.createElementVNode("div",ce,[e.createElementVNode("div",re,[e.createVNode(j,{class:"login-left-bg"},{img:e.withCtx(()=>{var p,_;return[e.createElementVNode("div",de,[e.createElementVNode("div",ue,[s.value?(e.openBlock(),e.createElementBlock("div",me,[e.createElementVNode("img",{src:s.value,alt:""},null,8,fe)])):e.createCommentVNode("",!0),e.createElementVNode("div",pe,e.toDisplayString(((p=e.unref(a))==null?void 0:p.EnglishName)||"Insofworks"),1)]),e.createElementVNode("div",null,e.toDisplayString(((_=e.unref(a))==null?void 0:_.chineseName)||"工业软件建模与开发系统"),1)]),u[0]||(u[0]=e.createElementVNode("div",{class:"divide-line"},null,-1))]}),_:1})]),e.createElementVNode("div",ge,[e.createVNode(Q,{loading:C.value,onClickLogin:N,onHandleTabChange:w},{title:e.withCtx(()=>[e.createTextVNode(e.toDisplayString(c.value.loginTitle),1)]),tabLabel1:e.withCtx(()=>[e.createTextVNode(e.toDisplayString(c.value.tabs[0].name),1)]),tabContent1:e.withCtx(()=>[e.createVNode(Z,{activeTabName:f.value,isClickLogin:d.value,onHandleLoginFormChange:V},null,8,["activeTabName","isClickLogin"])]),tabButton1:e.withCtx(()=>[e.createTextVNode(e.toDisplayString(c.value.tabs[0].btnLabel),1)]),tabLabel2:e.withCtx(()=>[e.createTextVNode(e.toDisplayString(c.value.tabs[1].name),1)]),tabContent2:e.withCtx(()=>[e.createVNode(ae,{systemKey:o.oldSystemKey,activeTabName:f.value,isClickLogin:d.value,onHandleLoginFormChange:V},null,8,["systemKey","activeTabName","isClickLogin"])]),tabButton2:e.withCtx(()=>[e.createTextVNode(e.toDisplayString(c.value.tabs[1].btnLabel),1)]),_:1},8,["loading"])])])]))}}),ve=L._export_sfc(_e,[["__scopeId","data-v-992a7c9a"]]);exports.default=ve;