ss-component-new 1.3.310 → 1.3.312

package/dist/{threePreview-CZqaZ45g.js → threePreview-nKzZJCc7.js}

@@ -1,8 +1,8 @@
 import { ref as B, shallowRef as Be, defineComponent as Ke, watch as $, onMounted as Ve, nextTick as Xe, onBeforeUnmount as ze, resolveComponent as qe, createElementBlock as ue, openBlock as J, createElementVNode as b, withDirectives as We, createCommentVNode as fe, createVNode as F, unref as D, renderSlot as de, toDisplayString as he, withCtx as Ye, createBlock as $e, vShow as Je } from "vue";
-import { am as Qe, an as re, ao as we, Y as Ze, ap as z, Z as ye, aq as C, ar as Se, C as G, as as v, f as q, at as et, l as tt, D as nt, p as Y, V as j, au as st, av as be, aw as rt, ax as Ne, ay as it, az as ot, a3 as Q, aA as at, aB as Ie, aC as ct, aD as lt, aE as ut, aF as ie, aG as Ce, aH as oe, aI as ft, aJ as dt, a0 as ht, aK as Z, a4 as pt, w as Oe, n as mt, aL as X, aM as gt, x as Tt, aN as xt, j as ve, aO as Rt, z as Et, aP as _t, a1 as At, v as ee, P as Lt, q as Mt, aQ as wt, aR as yt, aS as St, aT as bt, aU as Nt, aV as ke, aW as It, aX as pe, aY as me, aZ as ge, a_ as Te, a$ as xe, a6 as Ct, b0 as Ot, B as Pe, b1 as vt, m as kt } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-DniaKXV9.js";
-import "./menu-CN_Tf3mn.js";
-import { u as Pt, a as Ft, b as Dt, C as Ht } from "./iconfont--3ZMb9Aj.js";
-import { M as Gt, O as Ut, S as jt } from "./MTLLoader-CIEnVGmG.js";
+import { am as Qe, an as re, ao as we, Y as Ze, ap as z, Z as ye, aq as C, ar as Se, C as G, as as v, f as q, at as et, l as tt, D as nt, p as Y, V as j, au as st, av as be, aw as rt, ax as Ne, ay as it, az as ot, a3 as Q, aA as at, aB as Ie, aC as ct, aD as lt, aE as ut, aF as ie, aG as Ce, aH as oe, aI as ft, aJ as dt, a0 as ht, aK as Z, a4 as pt, w as Oe, n as mt, aL as X, aM as gt, x as Tt, aN as xt, j as ve, aO as Rt, z as Et, aP as _t, a1 as At, v as ee, P as Lt, q as Mt, aQ as wt, aR as yt, aS as St, aT as bt, aU as Nt, aV as ke, aW as It, aX as pe, aY as me, aZ as ge, a_ as Te, a$ as xe, a6 as Ct, b0 as Ot, B as Pe, b1 as vt, m as kt } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-GDPy2Gmg.js";
+import "./menu-BMnGyr1i.js";
+import { u as Pt, a as Ft, b as Dt, C as Ht } from "./iconfont-CKIwR3b9.js";
+import { M as Gt, O as Ut, S as jt } from "./MTLLoader-EqTvrYY4.js";
 import { T as U } from "./svgIcon-4u4PW7Is.js";
 import { E as Re } from "./request-CoGtW0Ux.js";
 import { _ as Bt } from "./_plugin-vue_export-helper-CHgC5LLL.js";

package/dist/{threeSceneView-wkRekazs.js → threeSceneView-BUfAKhsS.js}

@@ -1,22 +1,22 @@
 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-DsDxhyJb.js";
-import { u as Je, a as Qe, b as et, C as tt } from "./iconfont--3ZMb9Aj.js";
-import { U as lt, u as ot, a as nt, W as at } from "./workpieceTreePanel-BhCB5YyR.js";
-import { c as st } from "./menu-CN_Tf3mn.js";
-import "./dayjs.min-DTIKCUrF.js";
+import { r as Te, s as Ye } from "./threeViewerHost-Bcl4RBft.js";
+import { u as Je, a as Qe, b as et, C as tt } from "./iconfont-CKIwR3b9.js";
+import { U as lt, u as ot, a as nt, W as at } from "./workpieceTreePanel-DlxoDyDg.js";
+import { c as st } from "./menu-BMnGyr1i.js";
+import "./dayjs.min-BztxmKP_.js";
 import { y as it, E as j, z as rt, A as ct } from "./request-CoGtW0Ux.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-DniaKXV9.js";
-import "./index-D3oAYPfe.js";
+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-GDPy2Gmg.js";
+import "./index-L1-Gc07u.js";
 import "./index-BHtNKL1L.js";
 import { _ as me } from "./index.vue_vue_type_script_setup_true_lang-DRzriV-s.js";
-import { m as Be, p as Ct, q as kt } from "./index-CyD2ZGI0.js";
-import "./index-XSrc1sWV.js";
-import "./index-r6mcGvmD.js";
-import "./index-2KYbe_7L.js";
-import "./index-Cf2gp9fi.js";
-import { f as Pt, a as xt, g as Rt, b as Mt } from "./animationData-DEAc-sVN.js";
-import { g as Tt, a as Vt, b as Dt, c as St, U as At, J as $t } from "./urdfTree-6bW1rIxd.js";
+import { m as Be, p as Ct, q as kt } from "./index-BF9aAYMR.js";
+import "./index-jPuRLZP_.js";
+import "./index-tq9Fe8Z6.js";
+import "./index-B52ZLLQv.js";
+import "./index-DYfVyol_.js";
+import { f as Pt, a as xt, g as Rt, b as Mt } from "./animationData-3_m7lLjY.js";
+import { g as Tt, a as Vt, b as Dt, c as St, U as At, J as $t } from "./urdfTree-CV9Nz2mB.js";
 import { _ as Ue } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { s as Ft } from "./index-CnjGqJZS.js";
 import { T as Y } from "./svgIcon-4u4PW7Is.js";

package/dist/{threeSceneView-DN_qbrRS.cjs → threeSceneView-DfxrRHrX.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),ne=require("./threeViewerHost-BEzl0gjk.cjs"),pe=require("./iconfont-dsQaI5I4.cjs"),fe=require("./workpieceTreePanel-BunFs5sL.cjs"),Te=require("./menu-N76i05Ex.cjs");require("./dayjs.min-CJNj6LcW.cjs");const B=require("./request-BC2w2vGr.cjs");;/* empty css                                                 */const s=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-D13dnI_4.cjs");require("./index-5EqtwNP3.cjs");require("./index-BpPyaNFa.cjs");const le=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),me=require("./index-CFZ-f-2F.cjs");require("./index-B3t77A1L.cjs");require("./index-Clae5SKB.cjs");require("./index-DSJJfH49.cjs");require("./index-Dt6f0dss.cjs");const he=require("./animationData-B6OfhxX7.cjs"),ie=require("./urdfTree-BoRXNADP.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-DaXhxauJ.cjs"),pe=require("./iconfont-SFIwTxFE.cjs"),fe=require("./workpieceTreePanel-BFXv5IT9.cjs"),Te=require("./menu-D2crOMII.cjs");require("./dayjs.min-CDrjrMM0.cjs");const B=require("./request-BC2w2vGr.cjs");;/* empty css                                                 */const s=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-Y67ic07F.cjs");require("./index-x2yaioji.cjs");require("./index-BpPyaNFa.cjs");const le=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),me=require("./index-BjBmRkcU.cjs");require("./index-BnAQib1R.cjs");require("./index-DbjAoGwL.cjs");require("./index-B-T8_bdu.cjs");require("./index-R9ATh_A3.cjs");const he=require("./animationData-BW0tyNwK.cjs"),ie=require("./urdfTree-CIh17W2z.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-mwU1RKVh.js → threeSceneViewForCPMPIP-BWEkrsQg.js}

@@ -1,16 +1,16 @@
 import { defineComponent as ge, ref as r, computed as k, watch as X, onUnmounted as De, resolveComponent as G, createElementBlock as x, openBlock as g, createElementVNode as n, createCommentVNode as U, createVNode as s, toDisplayString as L, Fragment as Be, renderList as Je, withCtx as le, shallowRef as te, onMounted as Me, nextTick as me, onBeforeUnmount as Ee, withDirectives as I, vShow as W, unref as z, renderSlot as ve, createBlock as de } from "vue";
-import { s as pe } from "./threeViewerHost-DsDxhyJb.js";
-import { u as Ge, a as He, b as Ie, C as We } from "./iconfont--3ZMb9Aj.js";
-import { U as Xe, u as Ye, a as Ze, W as qe } from "./workpieceTreePanel-BhCB5YyR.js";
-import { c as Ke } from "./menu-CN_Tf3mn.js";
-import "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-DniaKXV9.js";
+import { s as pe } from "./threeViewerHost-Bcl4RBft.js";
+import { u as Ge, a as He, b as Ie, C as We } from "./iconfont-CKIwR3b9.js";
+import { U as Xe, u as Ye, a as Ze, W as qe } from "./workpieceTreePanel-DlxoDyDg.js";
+import { c as Ke } from "./menu-BMnGyr1i.js";
+import "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-GDPy2Gmg.js";
 import { _ as fe } from "./index.vue_vue_type_script_setup_true_lang-DRzriV-s.js";
-import { g as Qe, b as et, U as tt, J as lt, d as nt } from "./urdfTree-6bW1rIxd.js";
+import { g as Qe, b as et, U as tt, J as lt, d as nt } from "./urdfTree-CV9Nz2mB.js";
 import { E as _ } from "./request-CoGtW0Ux.js";
 import { _ as he } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { T as y } from "./svgIcon-4u4PW7Is.js";
-import { i as at } from "./animationData-DEAc-sVN.js";
-import { O as ot } from "./MTLLoader-CIEnVGmG.js";
+import { i as at } from "./animationData-3_m7lLjY.js";
+import { O as ot } from "./MTLLoader-EqTvrYY4.js";
 const st = { class: "panel-content" }, it = {
   key: 0,
   class: "animation-controls"

package/dist/{threeSceneViewForCPMPIP-BztGaGm9.cjs → threeSceneViewForCPMPIP-CAHSSx5O.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),ee=require("./threeViewerHost-BEzl0gjk.cjs"),q=require("./iconfont-dsQaI5I4.cjs"),J=require("./workpieceTreePanel-BunFs5sL.cjs"),Ce=require("./menu-N76i05Ex.cjs");require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-D13dnI_4.cjs");const te=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),U=require("./urdfTree-BoRXNADP.cjs"),h=require("./request-BC2w2vGr.cjs"),ne=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),g=require("./svgIcon-CDPAgQbj.cjs"),_e=require("./animationData-B6OfhxX7.cjs"),we=require("./MTLLoader-OzB6aQ1J.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):
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 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/{threeTrackPathView-BQzCi_23.cjs → threeTrackPathView-VP-eZLrv.cjs}

@@ -1 +1 @@
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U(t,o,r){switch(t){case"X":o.x=+r||0;break;case"Y":o.y=+r||0;break;case"Z":o.z=+r||0;break}}function Ae(t){const o=[],r=["X","Y","Z"];return t.forEach(s=>{const a={x:0,y:0,z:0},n=s.trim();if(!n)return;let l=null,c="";for(let f=0;f<(n==null?void 0:n.length);f++){const u=n[f],m=r.find(v=>v===u);if(m){l&&U(l,a,c),c="",l=m;continue}c=c+u}U(l,a,c),o.push(a.x,a.y,a.z)}),o}const Pe=t=>t==null?void 0:t.filter(r=>r.includes("=")),Me=t=>t.replace(/,/g,""),Fe=t=>t==null?void 0:t.map(r=>Me(r)),Ie=t=>{const o=Pe(t);return Fe(o)};function Ue(t){const o=Ie(t),r=[];return o.forEach(s=>{var v,C,N,_,b,h;let[a,n,l,c]=s.trim().split(/\s+/);n=(v=n==null?void 0:n.trim)==null?void 0:v.call(n),l=(C=l==null?void 0:l.trim)==null?void 0:C.call(l),c=(N=c==null?void 0:c.trim)==null?void 0:N.call(c);const[,f]=(_=n==null?void 0:n.split)==null?void 0:_.call(n,"="),[,u]=(b=l==null?void 0:l.split)==null?void 0:b.call(l,"="),[,m]=(h=c==null?void 0:c.split)==null?void 0:h.call(c,"=");r.push(+f,+u,+m)}),r}const Le=t=>t>="0"&&t<="9",Be=t=>t==="+"||t==="-",De=t=>t===".";function qe(t){return Le(t)||Be(t)||De(t)}function $e(t){const o=[],r=new Set(["X","Y","Z"]);return t.forEach(s=>{const a={x:0,y:0,z:0},n=s.trim();if(!n)return;let l=null,c="";for(let f=0;f<(n==null?void 0:n.length);f++){const u=n[f];if(u==="T")break;const m=r.has(u)?u:null,v=qe(u);if(m||!v){l&&U(l,a,c),l=m,c="";continue}c=c+u}l&&U(l,a,c),o.push(a.x,a.y,a.z)}),o}function je(t){return t==null?void 0:t.includes("=")}async function Xe(t){var a,n;const o=(a=t==null?void 0:t.trim())==null?void 0:a.split(/\r?\n/);if(je(t))return Ue(o);const r=o==null?void 0:o[0],s=(n=r==null?void 0:r.trim())==null?void 0:n.split(/\s+/);if((s==null?void 0:s.length)>=3)return ze(o);if((s==null?void 0:s.length)===1)return Ae(o)}async function Ye(t){const o=t.trim().split(/\r?\n/),r=[];return o.forEach(s=>{const a=s.trim().split(/\s+/);if(a.length!=3)return;const[n,l,c]=a;r.push(+n,+l,+c)}),r}async function Ze(t){const o=t.trim().split(/\r?\n/),r=[];return o.forEach(s=>{const a=s.trim().split(/\s+/);if(a.length!=3)return;const[n,l,c]=a;r.push(+n,+l,+c)}),r}async function Oe(t){let o=t.trim().split(/\r?\n/);return o=o.filter(s=>{const a=s.startsWith("X")||s.startsWith("Y")||s.startsWith("Z"),n=s.startsWith("G")&&(s.includes("X")||s.includes("Y")||s.includes("Z")),l=s.startsWith("N")&&(s.includes("X")||s.includes("Y")||s.includes("Z"));return a||n||l}),$e(o)}async function Ge(t,o){const{isCyd:r,isUv:s,isCpt:a,isNc:n}=o;return s?Xe(t):r?Ze(t):a?Ye(t):n?Oe(t):[]}function Ke(t){const o=[];for(let r=0;r<t.length;r+=3)o.push(new p.Vector3(t[r],t[r+1],t[r+2]));return o}function Re(t){const o=new p.BufferGeometry;o.setAttribute("position",new p.Float32BufferAttribute(t,3));const r=new p.LineBasicMaterial({color:55551,linewidth:3});return new p.Line(o,r)}function Se(t,o){if(!o||o.length<3)return;const{scene:r,camera:s,renderer:a,controls:n}=t();if(!r||!s||!a||!n)return;const l=Re(o);return l.name="轨迹路径",r.add(l),l}function We(t,o,r,s=4,a=50){let n=1/0,l=-1/0,c=1/0,f=-1/0,u=1/0,m=-1/0;for(let h=0;h<t.length;h+=3){const A=t[h],g=t[h+1],y=t[h+2];n=Math.min(n,A),l=Math.max(l,A),c=Math.min(c,g),f=Math.max(f,g),u=Math.min(u,y),m=Math.max(m,y)}const C=Math.sqrt((l-n)**2+(f-c)**2+(m-u)**2)*.05,N=p.MathUtils.degToRad(o.fov),_=2*Math.tan(N/2)*a,b=C/_*r.domElement.height*(s/4);return Math.min(.4,b)}function He(t){if(t.length%3!==0)return console.error("points array length is not a multiple of 3:",t),null;const o=new p.BufferGeometry;o.setAttribute("position",new p.Float32BufferAttribute(t,3));const r=new Float32Array(t.length);for(let n=0;n<t.length;n+=3)r[n]=0,r[n+1]=.847,r[n+2]=1;o.setAttribute("color",new p.BufferAttribute(r,3));const s=new p.PointsMaterial({vertexColors:!0,size:.4,sizeAttenuation:!0}),a=new p.Points(o,s);return s.needsUpdate=!0,a}function Je(t,o){if(!o)return;const{scene:r,camera:s,renderer:a,controls:n}=t();if(!r||!s||!a||!n)return;const l=He(o);if(!l)return;l.name="轨迹路径",r.add(l);const c=We(o,s,a,.1,50);return l.material.size=c,l}const Qe={class:"obj-viewer-container"},et={class:"buttonGroup-topLeft"},tt={class:"buttonGroup-left"},nt={class:"buttonGroup-right"},ot={class:"buttonGroup-bottom"},rt={class:"left-panel"},lt={class:"panel-header"},st={class:"panel-body"},it={class:"right-panel"},at={class:"panel-header"},ct={class:"panel-body"},ut={key:0,class:"loading-overlay"},dt=e.defineComponent({__name:"threeTrackPathView",props:{fileBlobs:{},threeData:{default:()=>""},trackFileType:{}},setup(t){const o=t,r=e.ref(null),s=e.ref(!1),a=e.ref(""),n=e.ref(),l=e.ref(!1),c=e.ref(""),f=e.ref(!1),u=e.ref(""),m=e.shallowRef(null),v=e.shallowRef(null),{currentModels:C,resetView:N,initThreeJS:_,handleResize:b,getThreeJSObjects:h,cleanup:A,setModels:g,setAndFitModels:y,axesHelperVisible:L,toggleAxesVisibility:B,zoomIn:D,zoomOut:q}=x.useThreeJS(r),{isAnimating:z,toggleAnimation:W,startAnimation:vt,stopAnimation:H}=x.useAnimation(h,C),{isClipping:J,activeClippingAxis:Y,toggleClipping:Q,updateClippingPlanes:ee}=x.useClipping(h,C),te=()=>{B()},ne=i=>{Y.value=i,ee()},$=i=>{l.value=!0,c.value=i,i==="剖面视图"&&!J.value&&Q()},j=i=>{f.value=!0,u.value=i},X=e.ref([]),P=e.ref([]),oe=e.computed(()=>{var d;return(d=o.trackFileType)==null?void 0:d.isUv}),re=e.computed(()=>{var d;return(d=o.trackFileType)==null?void 0:d.isCyd}),le=e.computed(()=>{var d;return(d=o.trackFileType)==null?void 0:d.isCpt}),T=e.computed(()=>{var d;return(d=o.trackFileType)==null?void 0:d.isNc}),Z=e.computed(()=>{const i=o.fileBlobs||[];return i==null?void 0:i[0]});let k=e.shallowRef(),E=e.shallowRef();const se=()=>{const{scene:i}=h();k.value&&i&&(x.disposeObj(k.value,i),k.value=null)},ie=()=>{const{scene:i}=h();E.value&&i&&(x.disposeObj(E.value,i),E.value=null)},O=()=>{se(),ie()},ae=async i=>{const d=URL.createObjectURL(i),M=await p.readFileText(d);if(URL.revokeObjectURL(d),ge.isString(M)){X.value=await Ge(M,o.trackFileType)||[];const V=X.value;oe.value&&(k.value=Se(h,V)),(re.value||le.value||T.value)&&(k.value=Je(h,V))}},ce=async()=>{var i,d;E.value=ye(),P.value=Ke(X.value),P.value&&P.value.length&&(S(E.value,P.value[0],k.value,new p.Color(16711680)),(d=(i=v.value)==null?void 0:i.add)==null||d.call(i,E.value))},G=async i=>{O(),await ae(i),k.value&&x.frameCameraToObject3D(h,k.value),T.value&&ce()};e.watch(()=>Z.value,async i=>{i&&await G(i)},{immediate:!0,deep:!0});const ue=async()=>{var i;await((i=n==null?void 0:n.value)==null?void 0:i.reset()),await G(Z.value)},de=()=>{var i;T.value&&((i=n==null?void 0:n.value)==null||i.playAnimation())},fe=()=>{var i;T.value&&((i=n==null?void 0:n.value)==null||i.stopAnimation())},ve=()=>{var i;T.value&&((i=n==null?void 0:n.value)==null||i.forwardFrame())},me=()=>{var i;T.value&&((i=n==null?void 0:n.value)==null||i.backwardFrame())},pe=()=>{_(),e.nextTick(()=>{r.value&&(F=new ResizeObserver(b),F.observe(r.value))});const i=h();v.value=i.scene,v.value&&(v.value.name="CPMPIP")},he=()=>{F&&F.disconnect(),z.value&&H(),O(),A()};let F=null;return e.onMounted(async()=>{try{pe()}catch(i){console.error("Three.js 初始化失败:",i),I.ElMessage.error("渲染引擎初始化失败！")}}),e.onBeforeUnmount(()=>{he()}),(i,d)=>{const M=e.resolveComponent("el-scrollbar");return e.openBlock(),e.createElementBlock("div",Qe,[e.createElementVNode("div",{ref_key:"threejsContainer",ref:r,class:"threejs-container"},null,512),e.createElementVNode("div",et,[e.createVNode(w.ThreeSvgIcon,{name:"viewReset",size:"24",onClick:ue,title:"重置"}),e.createVNode(w.ThreeSvgIcon,{name:"fangda",size:"24",title:"放大",onClick:e.unref(D)},null,8,["onClick"]),e.createVNode(w.ThreeSvgIcon,{name:"suoxiao",size:"24",title:"缩小",onClick:e.unref(q)},null,8,["onClick"]),e.createVNode(w.ThreeSvgIcon,{name:"lookAround",size:"24",onClick:e.unref(W),title:e.unref(z)?"停止动画":"动画视图"},null,8,["onClick","title"]),e.createVNode(w.ThreeSvgIcon,{name:"zuobiaoxi",size:"24",active:e.unref(L),onClick:te,title:"显隐坐标轴"},null,8,["active"])]),e.createElementVNode("div",tt,[e.renderSlot(i.$slots,"button-left",{switchRightPanel:$},void 0,!0),e.createVNode(w.ThreeSvgIcon,{name:"jiegoushu",size:"24",onClick:d[0]||(d[0]=V=>$("场景树")),active:l.value&&c.value==="场景树",title:"场景树"},null,8,["active"]),e.createVNode(w.ThreeSvgIcon,{name:"clipping",size:"24",onClick:d[1]||(d[1]=V=>$("剖面视图")),active:l.value&&c.value==="剖面视图",title:"剖面视图"},null,8,["active"])]),e.createElementVNode("div",nt,[e.renderSlot(i.$slots,"button-right",{switchRightPanel:j},void 0,!0),e.createVNode(w.ThreeSvgIcon,{name:"guanjiekongzhi",size:"24",onClick:d[2]||(d[2]=V=>j("关节控制")),active:f.value&&u.value==="关节控制",title:"关节控制"},null,8,["active"]),e.createVNode(w.ThreeSvgIcon,{name:"donghuafangzhen",size:"24",title:"动画仿真",onClick:d[3]||(d[3]=V=>j("动画仿真")),active:f.value&&u.value==="动画仿真"},null,8,["active"])]),e.createElementVNode("div",ot,[e.createVNode(w.ThreeSvgIcon,{name:"kuaitui",size:"24",backgroundColor:"#ffffff",title:"快退",onClick:me}),e.createVNode(w.ThreeSvgIcon,{name:"bofang",size:"24",backgroundColor:"#ffffff",title:"播放",onClick:de}),e.createVNode(w.ThreeSvgIcon,{name:"kuaijin",size:"24",backgroundColor:"#ffffff",title:"快进",onClick:ve}),e.createVNode(w.ThreeSvgIcon,{name:"zanting",size:"24",backgroundColor:"#ffffff",title:"暂停",onClick:fe})]),e.withDirectives(e.createElementVNode("div",rt,[e.createElementVNode("div",lt,[e.createElementVNode("span",null,e.toDisplayString(c.value),1),e.createElementVNode("span",{class:"close",onClick:d[4]||(d[4]=V=>l.value=!1)}," X ")]),e.createElementVNode("div",st,[e.createVNode(M,{height:"100%"},{default:e.withCtx(()=>[c.value==="场景树"?(e.openBlock(),e.createBlock(K.UrdfTree,{key:0,model:m.value},null,8,["model"])):e.createCommentVNode("",!0),c.value==="剖面视图"?(e.openBlock(),e.createBlock(x.ClippingPanel,{key:1,value:e.unref(Y),onChange:ne},null,8,["value"])):e.createCommentVNode("",!0)]),_:1})])],512),[[e.vShow,l.value]]),e.withDirectives(e.createElementVNode("div",it,[e.createElementVNode("div",at,[e.createElementVNode("span",null,e.toDisplayString(u.value),1),e.createElementVNode("span",{class:"close",onClick:d[5]||(d[5]=V=>f.value=!1)}," X ")]),e.createElementVNode("div",ct,[e.createVNode(M,{height:"100%"},{default:e.withCtx(()=>[e.withDirectives(e.createVNode(K.JointPanel,{model:m.value},null,8,["model"]),[[e.vShow,u.value==="关节控制"]]),e.withDirectives(e.createVNode(xe,{ref_key:"animationPanelRef",ref:n,cloud:e.unref(k),knife:e.unref(E),vectors:P.value},null,8,["cloud","knife","vectors"]),[[e.vShow,u.value==="动画仿真"&&T.value]])]),_:1})])],512),[[e.vShow,f.value]]),s.value?(e.openBlock(),e.createElementBlock("div",ut,[d[6]||(d[6]=e.createElementVNode("div",{class:"loading-spinner"},null,-1)),e.createElementVNode("p",null,e.toDisplayString(a.value),1)])):e.createCommentVNode("",!0)])}}}),ft=R._export_sfc(dt,[["__scopeId","data-v-7178b621"]]);exports.default=ft;

package/dist/{threeTrackPathView-D6IuvNTn.js → threeTrackPathView-bL3sfLNY.js}

@@ -1,8 +1,8 @@
 import { defineComponent as ce, computed as U, ref as k, resolveComponent as j, createElementBlock as ee, openBlock as E, createElementVNode as d, createVNode as p, withCtx as I, toDisplayString as X, shallowRef as D, watch as je, onMounted as Ee, onBeforeUnmount as Xe, withDirectives as N, createCommentVNode as S, unref as A, renderSlot as ie, createBlock as le, vShow as Z, nextTick as Ye } from "vue";
-import { u as De, a as Ne, b as Ze, C as Be, f as Ie, d as re } from "./iconfont--3ZMb9Aj.js";
-import { C as O, j as Oe, b2 as qe, w as Ge, V as te, x as ue, _ as fe, a4 as Ke, z as We, a3 as Je, a0 as Re, a1 as He, q as Qe, b3 as Se } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-DniaKXV9.js";
-import "./menu-CN_Tf3mn.js";
-import { U as et, J as tt } from "./urdfTree-6bW1rIxd.js";
+import { u as De, a as Ne, b as Ze, C as Be, f as Ie, d as re } from "./iconfont-CKIwR3b9.js";
+import { C as O, j as Oe, b2 as qe, w as Ge, V as te, x as ue, _ as fe, a4 as Ke, z as We, a3 as Je, a0 as Re, a1 as He, q as Qe, b3 as Se } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-GDPy2Gmg.js";
+import "./menu-BMnGyr1i.js";
+import { U as et, J as tt } from "./urdfTree-CV9Nz2mB.js";
 import { E as B } from "./request-CoGtW0Ux.js";
 import { _ as ve } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { T as w } from "./svgIcon-4u4PW7Is.js";

package/dist/{threeViewerHost-DsDxhyJb.js → threeViewerHost-Bcl4RBft.js}

@@ -1,6 +1,6 @@
 import { defineComponent as U, defineAsyncComponent as b, computed as I, ref as R, watch as H, createElementBlock as N, openBlock as T, createElementVNode as K, createBlock as B, createCommentVNode as V, renderSlot as u, unref as m, withCtx as d } from "vue";
-import { L, u as A, p as D, s as $ } from "./menu-CN_Tf3mn.js";
-import { g as W, t as M, u as j } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-DniaKXV9.js";
+import { L, u as A, p as D, s as $ } from "./menu-BMnGyr1i.js";
+import { g as W, t as M, u as j } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-GDPy2Gmg.js";
 import { _ as G } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const re = {
   SINGLE: "单机",
@@ -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-wkRekazs.js")), y = b(() => import("./threePreview-CZqaZ45g.js")), i = b(() => import("./threeTrackPathView-D6IuvNTn.js")), p = b(() => import("./threeSceneViewForCPMPIP-mwU1RKVh.js")), n = E, P = A(D), { platName: f } = $(P), { isUrdf: _, isTrackPathFile: g } = Y(), c = I(() => {
+    const O = b(() => import("./threeSceneView-BUfAKhsS.js")), y = b(() => import("./threePreview-nKzZJCc7.js")), i = b(() => import("./threeTrackPathView-bL3sfLNY.js")), p = b(() => import("./threeSceneViewForCPMPIP-BWEkrsQg.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-BEzl0gjk.cjs → threeViewerHost-DaXhxauJ.cjs}

@@ -1 +1 @@
-"use strict";const e=require("vue"),d=require("./menu-N76i05Ex.cjs"),S=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-D13dnI_4.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-DN_qbrRS.cjs"))),P=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-BHGQBuXr.cjs"))),c=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-BQzCi_23.cjs"))),m=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-BztGaGm9.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("./menu-D2crOMII.cjs"),S=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-Y67ic07F.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-DfxrRHrX.cjs"))),P=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-BkjniUty.cjs"))),c=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-VP-eZLrv.cjs"))),m=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-CAHSSx5O.cjs"))),r=v,T=d.useMenuState(d.pinia),{platName:f}=d.storeToRefs(T),{isUrdf:y,isTrackPathFile:C}=I(),l=e.computed(()=>{var n;return(n=r==null?void 0:r.files)==null?void 0:n.map(s=>{const{url:t}=s;return t})}),p=e.computed(()=>{var t;const n=(t=r==null?void 0:r.files)==null?void 0:t[0];return(n==null?void 0:n.extension)||""}),E=e.computed(()=>{var n,s;return(s=(n=r==null?void 0:r.threeData)==null?void 0:n.data)==null?void 0:s.trackFileType}),h=e.computed(()=>{if(r.componentType)switch(r.componentType){case"robot":return i.ROBOT_SCENE;case"track":return i.TRACK_PATH;case"cpmpip":return i.CPMPIP_SCENE;case"preview":return i.PREVIEW}return(f==null?void 0:f.value)===S.platNameConstants.CPMPIP&&y(p.value)?i.CPMPIP_SCENE:(f==null?void 0:f.value)===S.platNameConstants.ROBOT&&y(p.value)?i.ROBOT_SCENE:C(p.value)&&E.value?i.TRACK_PATH:i.PREVIEW}),u=e.ref([]),_=e.ref(!1);async function B(n){if(!n||!n.length){u.value=[];return}_.value=!0;try{const s=await Promise.all(n.map(t=>S.downloadFile(t)));u.value=s}catch(s){console.error("文件下载时发生错误:",s),u.value=[]}finally{_.value=!1}}return e.watch(()=>l.value,async n=>{await B(n||[])},{immediate:!0,deep:!0}),(n,s)=>(e.openBlock(),e.createElementBlock("div",N,[e.createElementVNode("div",V,[e.renderSlot(n.$slots,"top-menu",{},void 0,!0)]),h.value===e.unref(i).ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(g),{key:0,fileBlobs:u.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData"])):h.value===e.unref(i).TRACK_PATH?(e.openBlock(),e.createBlock(e.unref(c),{key:1,fileBlobs:u.value,threeData:r.threeData,trackFileType:E.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData","trackFileType"])):h.value===e.unref(i).CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(m),{key:2,fileBlobs:u.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData"])):h.value===e.unref(i).PREVIEW?(e.openBlock(),e.createBlock(e.unref(P),{key:3,fileBlobs:u.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs"])):e.createCommentVNode("",!0),_.value?(e.openBlock(),e.createElementBlock("div",A," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)]))}}),O=D._export_sfc(M,[["__scopeId","data-v-9798f55b"]]),H=Object.freeze(Object.defineProperty({__proto__:null,default:O},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=O;exports.robotMode=F;exports.sceneType=R;exports.threeViewerHost=H;exports.useThreeState=b;exports.useThreeSystem=I;

package/dist/{urdfTree-BoRXNADP.cjs → urdfTree-CIh17W2z.cjs}

@@ -1 +1 @@
-"use strict";const n=require("vue"),k=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-D13dnI_4.cjs"),x=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),J=(o,a)=>{if(!a)return null;const i=o.joints[a];return i||null},V=(o,a)=>{if(!a)return null;const i=J(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},F=(o,a)=>{if(!a)return null;const i=o.links[a];return i||null},L=(o,a)=>{if(!a)return null;const i=F(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},E=o=>{const a=o.joints;return Object.values(a)},M=o=>E(o).filter(u=>u.jointType!=="fixed"),N=o=>{const a=o.links;return Object.keys(a)},w={class:"panel-content"},B={key:0,class:"joints-list"},b={class:"joint-info-row"},I={class:"joint-left"},S={class:"joint-name"},C={class:"joint-range"},D={class:"joint-type"},P={key:0,class:"joint-control-row"},T={class:"slider-container"},U=["min","max","value","onInput"],A={class:"value-display"},R={class:"joint-value"},q={class:"unit"},O={key:1,class:"empty-state"},K=n.defineComponent({__name:"urdfJointPanel",props:{model:{}},setup(o,{expose:a}){const i=o,u=n.ref([]),c=n.ref(null),f=(r,e=!1)=>r==="revolute"?e?Math.PI:-Math.PI:r==="prismatic"?e?1:-1:0,h=r=>{if(!r||!r.joints)return console.warn("URDF模型无效或不包含关节信息"),[];const e=[];return E(r).forEach(l=>{var d,p;if(l.jointType==="fixed")return;let t={lower:((d=l.limit)==null?void 0:d.lower)??f(l.jointType,!1),upper:((p=l.limit)==null?void 0:p.upper)??f(l.jointType,!0)};l.jointType==="continuous"&&(t={lower:-10*Math.PI,upper:10*Math.PI}),e.push({name:l.name,type:l.jointType||"unknown",limit:t,currentValue:l.angle||0,urdfJoint:l})}),e},m=(r,e)=>{var d;const s=u.value.find(p=>p.name===r);if(!s)return;const l=parseFloat(e),t=Math.max(s.limit.lower,Math.min(s.limit.upper,l));s.currentValue=t,(d=i.model)!=null&&d.setJointValue?i.model.setJointValue(r,t):s.urdfJoint.setJointValue(t)},_=()=>{u.value.forEach(r=>{(r.type==="revolute"||r.type==="continuous"||r.type==="prismatic")&&m(r.name,0)})},g=()=>{i.model&&u.value.forEach(r=>{r.urdfJoint.angle!==void 0&&r.currentValue!==r.urdfJoint.angle&&(r.currentValue=r.urdfJoint.angle)})},v=()=>{const r=()=>{g(),c.value=requestAnimationFrame(r)};r()},y=()=>{c.value&&(cancelAnimationFrame(c.value),c.value=null)};return n.watch(()=>i.model,r=>{r?u.value=h(r):u.value=[]},{immediate:!0}),n.onMounted(()=>{v()}),n.onUnmounted(()=>{y()}),a({resetAllJoints:_}),(r,e)=>(n.openBlock(),n.createElementBlock("div",w,[u.value.length>0?(n.openBlock(),n.createElementBlock("div",B,[(n.openBlock(!0),n.createElementBlock(n.Fragment,null,n.renderList(u.value,s=>(n.openBlock(),n.createElementBlock("div",{key:s.name,class:"joint-item"},[n.createElementVNode("div",b,[n.createElementVNode("div",I,[n.createElementVNode("span",S,n.toDisplayString(s.name),1),n.createElementVNode("span",C," ["+n.toDisplayString(s.limit.lower.toFixed(2))+", "+n.toDisplayString(s.limit.upper.toFixed(2))+"] ",1)]),n.createElementVNode("span",D,n.toDisplayString(s.type),1)]),s.type==="revolute"||s.type==="prismatic"||s.type==="continuous"?(n.openBlock(),n.createElementBlock("div",P,[n.createElementVNode("div",T,[n.createElementVNode("input",{type:"range",min:s.limit.lower,max:s.limit.upper,step:"0.001",value:s.currentValue,onInput:l=>m(s.name,l.target.value),class:"joint-slider"},null,40,U)]),n.createElementVNode("div",A,[n.createElementVNode("span",R,n.toDisplayString(s.currentValue?Number(s.currentValue).toFixed(3):"0.000"),1),n.createElementVNode("span",q,n.toDisplayString(s.type==="prismatic"?"m":"rad"),1)])])):n.createCommentVNode("",!0)]))),128))])):(n.openBlock(),n.createElementBlock("div",O,e[0]||(e[0]=[n.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}}),$=x._export_sfc(K,[["__scopeId","data-v-750b831d"]]),H={class:"panel-content"},z="id",G={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:o=>["breadth","firstLevel"].includes(o)}},emits:["nodeClick"],setup(o,{emit:a}){const i=o,u=a,c=n.ref([]),f={children:"children",label:"label"},h=e=>{u("nodeClick",e)},m=(e,s=0)=>{const l=[];return Array.isArray(e)&&(e==null?void 0:e.length)>0&&e.forEach(t=>{if(!(t!=null&&t.isMesh)&&((t==null?void 0:t.type)==="URDFJoint"||(t==null?void 0:t.type)==="URDFLink")){const d={name:t==null?void 0:t.name,label:t==null?void 0:t.name,show:!0,level:s+1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:m(t==null?void 0:t.children,s+1),path:t==null?void 0:t.name};l.push(d)}}),l},_=e=>e?[{name:e==null?void 0:e.name,label:e==null?void 0:e.name,show:!0,level:1,isPenultimate:!1,type:e==null?void 0:e.type,id:e==null?void 0:e.id,limit:(e==null?void 0:e.limit)??"",children:m(e==null?void 0:e.children,1)||[],path:e==null?void 0:e.name}]:[],g=(e,s)=>{const l=[],t=[...e];for(;t.length>0&&l.length<s;){const d=t.shift();d.children&&d.children.length>0&&(l.push(d.id),t.push(...d.children))}return l},v=(e,s)=>{const l=[];return e.forEach(t=>{if(t.children&&t.children.length>0){l.push(t.id);const d=t.children.filter(p=>p.children&&p.children.length>0).slice(0,s).map(p=>p.id);l.push(...d)}}),l.slice(0,s+1)},y=n.computed(()=>!c.value||c.value.length===0?[]:i.expandStrategy==="firstLevel"?v(c.value,i.maxExpandCount):g(c.value,i.maxExpandCount)),r=n.computed(()=>[{name:"场景",label:"场景",show:!0,level:1,isPenultimate:!1,type:"场景",id:"场景",children:i!=null&&i.model?_(i.model):[],path:"场景"}]);return n.watch(r,e=>{c.value=JSON.parse(JSON.stringify(e))},{immediate:!0}),(e,s)=>{const l=n.resolveComponent("el-tree");return n.openBlock(),n.createElementBlock("div",H,[n.createVNode(l,{data:c.value,props:f,"default-expanded-keys":y.value,"node-key":z,onNodeClick:h},null,8,["data","default-expanded-keys"])])}}},Q=x._export_sfc(G,[["__scopeId","data-v-cfde50c3"]]);exports.JointPanel=$;exports.UrdfTree=Q;exports.getAllLinkName=N;exports.getMeshFromJoint=V;exports.getMeshFromLink=L;exports.getNonFixedJoints=M;exports.getTargetJoint=J;
+"use strict";const n=require("vue"),k=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-Y67ic07F.cjs"),x=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),J=(o,a)=>{if(!a)return null;const i=o.joints[a];return i||null},V=(o,a)=>{if(!a)return null;const i=J(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},F=(o,a)=>{if(!a)return null;const i=o.links[a];return i||null},L=(o,a)=>{if(!a)return null;const i=F(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},E=o=>{const a=o.joints;return Object.values(a)},M=o=>E(o).filter(u=>u.jointType!=="fixed"),N=o=>{const a=o.links;return Object.keys(a)},w={class:"panel-content"},B={key:0,class:"joints-list"},b={class:"joint-info-row"},I={class:"joint-left"},S={class:"joint-name"},C={class:"joint-range"},D={class:"joint-type"},P={key:0,class:"joint-control-row"},T={class:"slider-container"},U=["min","max","value","onInput"],A={class:"value-display"},R={class:"joint-value"},q={class:"unit"},O={key:1,class:"empty-state"},K=n.defineComponent({__name:"urdfJointPanel",props:{model:{}},setup(o,{expose:a}){const i=o,u=n.ref([]),c=n.ref(null),f=(r,e=!1)=>r==="revolute"?e?Math.PI:-Math.PI:r==="prismatic"?e?1:-1:0,h=r=>{if(!r||!r.joints)return console.warn("URDF模型无效或不包含关节信息"),[];const e=[];return E(r).forEach(l=>{var d,p;if(l.jointType==="fixed")return;let t={lower:((d=l.limit)==null?void 0:d.lower)??f(l.jointType,!1),upper:((p=l.limit)==null?void 0:p.upper)??f(l.jointType,!0)};l.jointType==="continuous"&&(t={lower:-10*Math.PI,upper:10*Math.PI}),e.push({name:l.name,type:l.jointType||"unknown",limit:t,currentValue:l.angle||0,urdfJoint:l})}),e},m=(r,e)=>{var d;const s=u.value.find(p=>p.name===r);if(!s)return;const l=parseFloat(e),t=Math.max(s.limit.lower,Math.min(s.limit.upper,l));s.currentValue=t,(d=i.model)!=null&&d.setJointValue?i.model.setJointValue(r,t):s.urdfJoint.setJointValue(t)},_=()=>{u.value.forEach(r=>{(r.type==="revolute"||r.type==="continuous"||r.type==="prismatic")&&m(r.name,0)})},g=()=>{i.model&&u.value.forEach(r=>{r.urdfJoint.angle!==void 0&&r.currentValue!==r.urdfJoint.angle&&(r.currentValue=r.urdfJoint.angle)})},v=()=>{const r=()=>{g(),c.value=requestAnimationFrame(r)};r()},y=()=>{c.value&&(cancelAnimationFrame(c.value),c.value=null)};return n.watch(()=>i.model,r=>{r?u.value=h(r):u.value=[]},{immediate:!0}),n.onMounted(()=>{v()}),n.onUnmounted(()=>{y()}),a({resetAllJoints:_}),(r,e)=>(n.openBlock(),n.createElementBlock("div",w,[u.value.length>0?(n.openBlock(),n.createElementBlock("div",B,[(n.openBlock(!0),n.createElementBlock(n.Fragment,null,n.renderList(u.value,s=>(n.openBlock(),n.createElementBlock("div",{key:s.name,class:"joint-item"},[n.createElementVNode("div",b,[n.createElementVNode("div",I,[n.createElementVNode("span",S,n.toDisplayString(s.name),1),n.createElementVNode("span",C," ["+n.toDisplayString(s.limit.lower.toFixed(2))+", "+n.toDisplayString(s.limit.upper.toFixed(2))+"] ",1)]),n.createElementVNode("span",D,n.toDisplayString(s.type),1)]),s.type==="revolute"||s.type==="prismatic"||s.type==="continuous"?(n.openBlock(),n.createElementBlock("div",P,[n.createElementVNode("div",T,[n.createElementVNode("input",{type:"range",min:s.limit.lower,max:s.limit.upper,step:"0.001",value:s.currentValue,onInput:l=>m(s.name,l.target.value),class:"joint-slider"},null,40,U)]),n.createElementVNode("div",A,[n.createElementVNode("span",R,n.toDisplayString(s.currentValue?Number(s.currentValue).toFixed(3):"0.000"),1),n.createElementVNode("span",q,n.toDisplayString(s.type==="prismatic"?"m":"rad"),1)])])):n.createCommentVNode("",!0)]))),128))])):(n.openBlock(),n.createElementBlock("div",O,e[0]||(e[0]=[n.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}}),$=x._export_sfc(K,[["__scopeId","data-v-750b831d"]]),H={class:"panel-content"},z="id",G={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:o=>["breadth","firstLevel"].includes(o)}},emits:["nodeClick"],setup(o,{emit:a}){const i=o,u=a,c=n.ref([]),f={children:"children",label:"label"},h=e=>{u("nodeClick",e)},m=(e,s=0)=>{const l=[];return Array.isArray(e)&&(e==null?void 0:e.length)>0&&e.forEach(t=>{if(!(t!=null&&t.isMesh)&&((t==null?void 0:t.type)==="URDFJoint"||(t==null?void 0:t.type)==="URDFLink")){const d={name:t==null?void 0:t.name,label:t==null?void 0:t.name,show:!0,level:s+1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:m(t==null?void 0:t.children,s+1),path:t==null?void 0:t.name};l.push(d)}}),l},_=e=>e?[{name:e==null?void 0:e.name,label:e==null?void 0:e.name,show:!0,level:1,isPenultimate:!1,type:e==null?void 0:e.type,id:e==null?void 0:e.id,limit:(e==null?void 0:e.limit)??"",children:m(e==null?void 0:e.children,1)||[],path:e==null?void 0:e.name}]:[],g=(e,s)=>{const l=[],t=[...e];for(;t.length>0&&l.length<s;){const d=t.shift();d.children&&d.children.length>0&&(l.push(d.id),t.push(...d.children))}return l},v=(e,s)=>{const l=[];return e.forEach(t=>{if(t.children&&t.children.length>0){l.push(t.id);const d=t.children.filter(p=>p.children&&p.children.length>0).slice(0,s).map(p=>p.id);l.push(...d)}}),l.slice(0,s+1)},y=n.computed(()=>!c.value||c.value.length===0?[]:i.expandStrategy==="firstLevel"?v(c.value,i.maxExpandCount):g(c.value,i.maxExpandCount)),r=n.computed(()=>[{name:"场景",label:"场景",show:!0,level:1,isPenultimate:!1,type:"场景",id:"场景",children:i!=null&&i.model?_(i.model):[],path:"场景"}]);return n.watch(r,e=>{c.value=JSON.parse(JSON.stringify(e))},{immediate:!0}),(e,s)=>{const l=n.resolveComponent("el-tree");return n.openBlock(),n.createElementBlock("div",H,[n.createVNode(l,{data:c.value,props:f,"default-expanded-keys":y.value,"node-key":z,onNodeClick:h},null,8,["data","default-expanded-keys"])])}}},Q=x._export_sfc(G,[["__scopeId","data-v-cfde50c3"]]);exports.JointPanel=$;exports.UrdfTree=Q;exports.getAllLinkName=N;exports.getMeshFromJoint=V;exports.getMeshFromLink=L;exports.getNonFixedJoints=M;exports.getTargetJoint=J;

package/dist/{urdfTree-6bW1rIxd.js → urdfTree-CV9Nz2mB.js}

@@ -1,5 +1,5 @@
 import { defineComponent as I, ref as F, watch as M, onMounted as C, onUnmounted as E, createElementBlock as m, openBlock as f, Fragment as P, renderList as T, createElementVNode as c, createCommentVNode as U, toDisplayString as h, computed as L, resolveComponent as S, createVNode as A } from "vue";
-import { j as V } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-DniaKXV9.js";
+import { j as V } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-GDPy2Gmg.js";
 import { _ as b } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const D = (i, a) => {
   if (!a)

package/dist/{workpieceTreePanel-BunFs5sL.cjs → workpieceTreePanel-BFXv5IT9.cjs}

@@ -1 +1 @@
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m.packages=r=>`${o.endsWith("/")?o:o+"/"}${r}/`,m.loadMeshCb=(r,_,p)=>{const g=(()=>{const h=r.split("?")[0].split("#")[0],c=h.lastIndexOf(".");return c>=0?h.slice(c+1).toLowerCase():void 0})();switch(g){case"obj":{const h=(()=>{try{return new URL(".",r).toString()}catch{const a=r.lastIndexOf("/");return a>=0?r.slice(0,a+1):r}})(),c=(()=>{var d;return(((d=r.split("/").pop())==null?void 0:d.split("?")[0].split("#")[0])??"").replace(/\.[^/.?#]+$/,"")})(),f=`${h}${c}.mtl`,V=a=>{ie({objUrl:r,manager:_,materials:a,onLoad:d=>p(d),onProgress:d=>l==null?void 0:l(r,d==null?void 0:d.loaded,d==null?void 0:d.total),onError:d=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${r}`,d),p(new N.Group)}})};re({mtlUrl:f,manager:_,resourcePath:h,onLoad:a=>{try{a.preload()}catch{}V(a)},onProgress:a=>l==null?void 0:l(f,a==null?void 0:a.loaded,a==null?void 0:a.total),onError:a=>{console.warn(`[URDF 资源警告] 未找到或加载材质失败: ${f}。将尝试无材质加载。`),V(void 0)}});break}case"stl":{new S.STLLoader(_).load(r,c=>{const f=new N.MeshPhongMaterial({color:12303291,shininess:30}),V=new N.Mesh(c,f);V.castShadow=!0,V.receiveShadow=!0,p(V)},c=>l==null?void 0:l(r,c==null?void 0:c.loaded,c==null?void 0:c.total),c=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 STL 模型: ${r}`,c),p(new N.Group)});break}default:console.error(`[URDF 资源加载失败，已跳过] 不支持的网格格式: .${g} (路径: ${r})`),p(new N.Group)}},m}function ae(b,i,o,l){return{loadSceneFromFile:r=>new Promise((_,p)=>{o.value=!0,l.value="正在初始化 URDF 加载器...";let g=0,h=0,c=null;const f=new N.LoadingManager;f.onStart=(a,d,E)=>{g=E||0,h=d||0,l.value=g>0?`开始下载资源: 0 / ${g}`:"开始下载资源...",o.value=!0},f.onProgress=(a,d,E)=>{h=d,g=E;const R=`正在加载 ${d} / ${E} 个文件: ${N.getFilenameFromUrl(a)}`;l.value=R,d===E&&(l.value="资源加载完成，正在处理模型...",setTimeout(()=>{if(c){c.updateMatrixWorld(!0);const v=new N.Box3().setFromObject(c);v.isEmpty()&&console.warn("模型加载完成，但所有可视化网格均加载失败，模型将不可见。"),c.userData.boundingBox=v,c.traverse(u=>{u.isMesh&&(u.castShadow=!0,u.receiveShadow=!0)}),_(c)}else p(new Error("URDF 文件本身加载失败。"));l.value="模型加载完成",setTimeout(()=>{l.value==="模型加载完成"&&(o.value=!1,l.value="")},500)},100))},f.onError=a=>{console.warn(`LoadingManager 报告一个资源加载失败: ${a}。加载流程将继续。`)};const V=(a,d,E)=>{const R=N.getFilenameFromUrl(a);let v;E&&E>0?v=`${R}（${N.formatBytes(d)} / ${N.formatBytes(E)}）`:d&&d>0?v=`${R}（已下载 ${N.formatBytes(d)}）`:v=`${R}`,l.value=`正在下载第 ${h+1} / ${g} 个文件: ${v}`};try{const a=URL.createObjectURL(r);ne({manager:f,baseFolderUrl:le,onFileProgress:V}).load(a,E=>{c=E},void 0,E=>{console.error(`加载 URDF 文件 (${r.name}) 时发生致命错误:`,E),l.value="URDF 文件解析失败",o.value=!1,p(new Error(`加载 URDF 文件失败: ${r.name}`))})}catch(a){console.error("初始化 URDF 加载时发生致命错误:",a),l.value="模型加载失败",o.value=!1,p(a)}})}}function ce(b,i,o,l=["URDFVisual"]){let m=null;const r=e.ref(null),_=new N.Raycaster,p=new N.Vector2,g=new Map;function h(){o.value.forEach(v=>{v.traverse(u=>{l!=null&&l.includes(u.type)&&g.set(u.id,{obj:u,axis:u.axis||new N.Vector3(1,0,0),limits:u.limits})})})}function c(v){r.value&&r.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),r.value=v,v.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(65280))})}function f(v){const u=b.value.getBoundingClientRect();p.x=(v.clientX-u.left)/u.width*2-1,p.y=-((v.clientY-u.top)/u.height)*2+1,_.setFromCamera(p,m);const t=_.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,w=null;for(;s;){if(g.has(s.id)){w=g.get(s.id);break}s=s.parent}w&&c(w)}function V(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=i();m=u,h(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){r.value&&(r.value.obj.visible=v)}function E(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=r.value)==null?void 0:s.obj,u,t)}function R(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=r.value)==null?void 0:s.obj,u,t)}return{initRaycaster:a,dispose:V,selectedObject3D:r,setSelectedObjVisible:d,updatePosition:E,updateRotation:R}}class de{constructor(i){C(this,"robot");C(this,"movableJoints");this.robot=i,this.movableJoints=this.getMovableJoints()}getMovableJoints(){return Object.values(this.robot.joints).filter(i=>i.jointType!=="fixed")}getMovableJointNames(){return this.movableJoints.map(i=>i.name)}setJointAngle(i,o){const l=this.robot.joints[i];if(!l||l.jointType==="fixed")return console.warn(`关节 ${i} 不存在或不可动`),!1;if(l.limit){const m=Math.max(l.limit.lower,Math.min(l.limit.upper,o));m!==o&&console.warn(`关节 ${i} 角度被限制在 [${l.limit.lower}, ${l.limit.upper}]`),l.setJointValue(m)}else l.setJointValue(o);return!0}setJointAngles(i){Object.entries(i).forEach(([o,l])=>{typeof l=="number"&&!isNaN(l)&&this.setJointAngle(o,l)})}getCurrentJointStates(){const i={};return this.movableJoints.forEach(o=>{i[o.name]=o.angle||0}),i}resetToZero(){this.movableJoints.forEach(i=>{i.setJointValue(0)})}getJointLimits(i){const o=this.robot.joints[i];return!o||!o.limit?null:{lower:o.limit.lower,upper:o.limit.upper}}async animateToState(i,o=1e3,l){const m=this.getCurrentJointStates(),r=Date.now();return new Promise(_=>{const p=()=>{const g=Date.now()-r,h=Math.min(g/o,1),c=this.easeInOutCubic(h),f={};Object.keys(i).forEach(V=>{const a=m[V]||0,d=i[V];f[V]=a+(d-a)*c}),this.setJointAngles(f),l&&l(h),h<1?requestAnimationFrame(p):_()};p()})}easeInOutCubic(i){return i<.5?4*i*i*i:1-Math.pow(-2*i+2,3)/2}async playSequence(i,o=1e3,l){for(let m=0;m<i.length;m++)await this.animateToState(i[m],o,r=>{l&&l(m,r)})}}const ue={class:"panel-content"},me={class:"obj"},pe={key:0,class:"obj-base"},ve=["title"],fe=["title"],be={key:1},we={class:"obj-position"},_e={class:"coord-item"},he={class:"coord-item"},Ve={class:"coord-item"},Ee={class:"obj-rotation"},ge={class:"coord-item"},ye={class:"coord-item"},Ne={class:"coord-item"},Le={class:"world"},Re={class:"coord-line"},je={class:"coord-text"},Ce={class:"world-position-item"},De={class:"world-position-item"},Se={class:"world-position-item"},Ue={class:"coord-line"},Fe={class:"coord-text"},$e={class:"world-rotation-item"},Me={class:"world-rotation-item"},xe={class:"world-rotation-item"},Je=e.defineComponent({__name:"workpieceTreePanel",props:{model:{},maxExpandCount:{default:10},expandStrategy:{default:"breadth"}},emits:["nodeClick","visibleChange","updatePosition","updateRotation"],setup(b,{emit:i}){const o=b,l=i,m=e.ref([]),r=e.ref({}),_=(t,s=0)=>{const w=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(n=>{if(!(n!=null&&n.isMesh)){const y={name:n==null?void 0:n.name,label:(n==null?void 0:n.name)||(n==null?void 0:n.type),show:!0,level:s+1,isPenultimate:!1,type:n==null?void 0:n.type,id:n==null?void 0:n.id,limit:(n==null?void 0:n.limit)??"",children:_(n==null?void 0:n.children,s+1),path:n==null?void 0:n.name};w.push(y)}}),w},p=t=>t?[{name:t==null?void 0:t.name,label:(t==null?void 0:t.name)||(t==null?void 0:t.type),show:!0,level:1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:_(t==null?void 0:t.children,1),path:t==null?void 0:t.name}]:[],g=(t,s)=>{const w=[],n=[...t];for(;n.length>0&&w.length<s;){const y=n.shift();y.children&&y.children.length>0&&(w.push(y.id),n.push(...y.children))}return w},h=(t,s)=>{const w=[];return t.forEach(n=>{if(n.children&&n.children.length>0){w.push(n.id);const y=n.children.filter(j=>j.children&&j.children.length>0).slice(0,s).map(j=>j.id);w.push(...y)}}),w.slice(0,s+1)};e.computed(()=>!m.value||m.value.length===0?[]:o.expandStrategy==="firstLevel"?h(m.value,o.maxExpandCount):g(m.value,o.maxExpandCount));const c=t=>t?parseFloat(t.toFixed(3)):0,f=t=>t?parseFloat(t.toFixed(1)):0,V=(t,s)=>{l("updatePosition",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},a=(t,s)=>{l("updateRotation",{obj:o.model,axis:s,value:(t==null?void 0:t.toString())||"0"})},d=t=>{l("visibleChange",t)},E=e.computed(()=>o!=null&&o.model?p(o.model):[]),R=e.computed(()=>{var t,s;return((t=o==null?void 0:o.model)==null?void 0:t.name)||((s=o==null?void 0:o.model)==null?void 0:s.type)}),v=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.type}),u=e.computed(()=>{var t;return(t=o==null?void 0:o.model)==null?void 0:t.visible});return e.watch(()=>o.model,()=>{o.model&&(r.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(E,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var j,U,F,$,M,x,J,O,k,T,P,z,B,A,q,I,W,G,X,Y,Z,K,H,Q;const w=e.resolveComponent("el-divider"),n=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return 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+"use strict";var ee=Object.defineProperty;var te=(b,i,o)=>i in b?ee(b,i,{enumerable:!0,configurable:!0,writable:!0,value:o}):b[i]=o;var C=(b,i,o)=>te(b,typeof i!="symbol"?i+"":i,o);const oe=require("./URDFLoader-CjlI08WF.cjs"),S=require("./MTLLoader-B_CVjRD3.cjs"),N=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-Y67ic07F.cjs"),e=require("vue"),D=require("./iconfont-SFIwTxFE.cjs"),se=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),le="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function re(b){const{mtlUrl:i,manager:o,resourcePath:l,onLoad:m,onProgress:r,onError:_}=b,p=new S.MTLLoader(o);return l&&p.setResourcePath(l),p.load(i,m,r,_),p}function ie(b){const{objUrl:i,manager:o,materials:l,onLoad:m,onProgress:r,onError:_}=b,p=new S.OBJLoader(o);return l&&p.setMaterials(l),p.load(i,m,r,_),p}function ne(b){const{manager:i,baseFolderUrl:o,onFileProgress:l}=b,m=new oe.URDFLoader(i);return m.packages=r=>`${o.endsWith("/")?o:o+"/"}${r}/`,m.loadMeshCb=(r,_,p)=>{const g=(()=>{const h=r.split("?")[0].split("#")[0],c=h.lastIndexOf(".");return c>=0?h.slice(c+1).toLowerCase():void 0})();switch(g){case"obj":{const h=(()=>{try{return new URL(".",r).toString()}catch{const a=r.lastIndexOf("/");return a>=0?r.slice(0,a+1):r}})(),c=(()=>{var d;return(((d=r.split("/").pop())==null?void 0:d.split("?")[0].split("#")[0])??"").replace(/\.[^/.?#]+$/,"")})(),f=`${h}${c}.mtl`,V=a=>{ie({objUrl:r,manager:_,materials:a,onLoad:d=>p(d),onProgress:d=>l==null?void 0:l(r,d==null?void 0:d.loaded,d==null?void 0:d.total),onError:d=>{console.error(`[URDF 资源加载失败，已跳过] 无法加载 OBJ 模型: ${r}`,d),p(new N.Group)}})};re({mtlUrl:f,manager:_,resourcePath:h,onLoad:a=>{try{a.preload()}catch{}V(a)},onProgress:a=>l==null?void 0:l(f,a==null?void 0:a.loaded,a==null?void 0:a.total),onError:a=>{console.warn(`[URDF 资源警告] 未找到或加载材质失败: ${f}。将尝试无材质加载。`),V(void 0)}});break}case"stl":{new S.STLLoader(_).load(r,c=>{const f=new 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c(v){r.value&&r.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),r.value=v,v.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(65280))})}function f(v){const u=b.value.getBoundingClientRect();p.x=(v.clientX-u.left)/u.width*2-1,p.y=-((v.clientY-u.top)/u.height)*2+1,_.setFromCamera(p,m);const t=_.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,w=null;for(;s;){if(g.has(s.id)){w=g.get(s.id);break}s=s.parent}w&&c(w)}function V(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=i();m=u,h(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){r.value&&(r.value.obj.visible=v)}function E(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=r.value)==null?void 0:s.obj,u,t)}function R(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=r.value)==null?void 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ue={class:"panel-content"},me={class:"obj"},pe={key:0,class:"obj-base"},ve=["title"],fe=["title"],be={key:1},we={class:"obj-position"},_e={class:"coord-item"},he={class:"coord-item"},Ve={class:"coord-item"},Ee={class:"obj-rotation"},ge={class:"coord-item"},ye={class:"coord-item"},Ne={class:"coord-item"},Le={class:"world"},Re={class:"coord-line"},je={class:"coord-text"},Ce={class:"world-position-item"},De={class:"world-position-item"},Se={class:"world-position-item"},Ue={class:"coord-line"},Fe={class:"coord-text"},$e={class:"world-rotation-item"},Me={class:"world-rotation-item"},xe={class:"world-rotation-item"},Je=e.defineComponent({__name:"workpieceTreePanel",props:{model:{},maxExpandCount:{default:10},expandStrategy:{default:"breadth"}},emits:["nodeClick","visibleChange","updatePosition","updateRotation"],setup(b,{emit:i}){const o=b,l=i,m=e.ref([]),r=e.ref({}),_=(t,s=0)=>{const w=[];return Array.isArray(t)&&(t==null?void 0:t.length)>0&&t.forEach(n=>{if(!(n!=null&&n.isMesh)){const 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e.watch(()=>o.model,()=>{o.model&&(r.value=D.getObject3DData(o.model))},{deep:!0,immediate:!0}),e.watch(E,t=>{m.value=JSON.parse(JSON.stringify(t))},{immediate:!0}),(t,s)=>{var j,U,F,$,M,x,J,O,k,T,P,z,B,A,q,I,W,G,X,Y,Z,K,H,Q;const w=e.resolveComponent("el-divider"),n=e.resolveComponent("el-switch"),y=e.resolveComponent("el-input-number");return 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0:q.worldPosition)==null?void 0:I.y))+", ",1),e.createElementVNode("div",Se,e.toDisplayString(c((G=(W=r.value)==null?void 0:W.worldPosition)==null?void 0:G.z)),1)])]),e.createElementVNode("div",Ue,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Fe,[e.createElementVNode("div",$e,e.toDisplayString(f((Y=(X=r.value)==null?void 0:X.worldRotation)==null?void 0:Y.x))+"°, ",1),e.createElementVNode("div",Me,e.toDisplayString(f((K=(Z=r.value)==null?void 0:Z.worldRotation)==null?void 0:K.y))+"°, ",1),e.createElementVNode("div",xe,e.toDisplayString(f((Q=(H=r.value)==null?void 0:H.worldRotation)==null?void 0:Q.z))+"° ",1)])])])])}}}),Oe=se._export_sfc(Je,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=de;exports.WorkpieceTreePanel=Oe;exports.useRaycaster=ce;exports.useUrdfLoader=ae;

package/dist/{workpieceTreePanel-BhCB5YyR.js → workpieceTreePanel-DlxoDyDg.js}

@@ -1,11 +1,11 @@
 var ce = Object.defineProperty;
 var de = (b, l, t) => l in b ? ce(b, l, { enumerable: !0, configurable: !0, writable: !0, value: t }) : b[l] = t;
 var J = (b, l, t) => de(b, typeof l != "symbol" ? l + "" : l, t);
-import { U as me } from "./URDFLoader-SQ3u-Q_8.js";
-import { S as ve, M as pe, O as fe } from "./MTLLoader-CIEnVGmG.js";
-import { b4 as be, b5 as re, v as O, m as we, j as he, b6 as E, B as _e, b7 as ge, ar as je, V as ye } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-DniaKXV9.js";
+import { U as me } from "./URDFLoader-CBgIAY7r.js";
+import { S as ve, M as pe, O as fe } from "./MTLLoader-EqTvrYY4.js";
+import { b4 as be, b5 as re, v as O, m as we, j as he, b6 as E, B as _e, b7 as ge, ar as je, V as ye } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-GDPy2Gmg.js";
 import { ref as T, defineComponent as Le, computed as M, watch as ue, resolveComponent as x, createElementBlock as k, openBlock as V, createVNode as U, createElementVNode as c, withCtx as F, createTextVNode as D, toDisplayString as C } from "vue";
-import { c as Re, e as Ue, g as $e } from "./iconfont--3ZMb9Aj.js";
+import { c as Re, e as Ue, g as $e } from "./iconfont-CKIwR3b9.js";
 import { _ as Ce } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const Se = "http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";
 function Me(b) {

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "ss-component-new",
   "private": false,
-  "version": "1.3.310",
+  "version": "1.3.312",
   "type": "module",
   "files": [
     "dist",

package/dist/clone-DR4pDnuw.cjs

@@ -1 +0,0 @@
-"use strict";const n=require("./menu-N76i05Ex.cjs");var r=4;function c(e){return n.baseClone(e,r)}exports.clone=c;

package/dist/index-Bc-WLx7S.cjs

@@ -1 +0,0 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const n=require("vue"),f=require("./menu-N76i05Ex.cjs"),j=require("./index-DSJJfH49.cjs"),B=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),L=n.defineComponent({__name:"index",props:{windowConfig:{type:Object,default:()=>{}},systemInfo:{type:Object,default:()=>{}},systemKey:{type:String,default:""},pathContent:{type:String,default:""},mode:{type:String,default:"view"},content:{type:String,default:""},jsonContents:{type:Array,default:()=>[]},showButton:{type:Boolean,default:!1},nodeDev:{type:String,default:""},pageKey:{type:String,default:""},interfaceContent:{type:Array,default:()=>[]},loginContent:{type:Object,default:()=>{}}},emits:["buildContent","openThreeBuild","threeData","setLoginInfo","projectLogin"],setup(s,{emit:m}){const c=f.useLoginState(f.pinia),{loginUserInfo:r}=f.storeToRefs(c),{initSystemInfo:g}=j.useModelManagement(),e=s,a=m,w=n.computed(()=>{var t,o;return(e==null?void 0:e.showButton)||((o=(t=r.value)==null?void 0:t.layer)==null?void 0:o.toUpperCase())==="SUPERADMIN"}),C=t=>{a("projectLogin",t)};n.watch(()=>[e==null?void 0:e.systemKey,e==null?void 0:e.systemInfo],async([t,o])=>{c.setSystemKey(t),t!==""&&sessionStorage.setItem("systemKey",t)},{immediate:!0}),n.watch(()=>e==null?void 0:e.interfaceContent,()=>{var o,i,u;if(!(e!=null&&e.interfaceContent)||Array.isArray(e==null?void 0:e.interfaceContent)&&((o=e==null?void 0:e.interfaceContent)==null?void 0:o.length)===0)return;let t=(i=e==null?void 0:e.interfaceContent)==null?void 0:i.find(d=>d==null?void 0:d.includes("VITE_API_NEW_URL"));t=(u=t==null?void 0:t.split("="))==null?void 0:u[1],t=t==null?void 0:t.trim(),c.setSystemUrl(t??"")},{immediate:!0,deep:!0}),n.onMounted(async()=>{e.systemInfo?c.setSystemInfo(e.systemInfo):await g()});const h=()=>{a("buildContent")},S=()=>{a("setLoginInfo")},I=t=>{a("openThreeBuild",t)},v=t=>{a("threeData",t)},l=()=>{var y;const t=e!=null&&e.windowConfig?(y=e==null?void 0:e.windowConfig)==null?void 0:y.width:window.innerWidth,o=1920,i=16,u=t/o,d=i*u;document.documentElement.style.fontSize=`${d}px`};return n.onMounted(()=>{l(),window.addEventListener("resize",l)}),n.onUnmounted(()=>{window.removeEventListener("resize",l)}),(t,o)=>{const i=n.resolveComponent("router-view");return n.openBlock(),n.createElementBlock("div",null,[n.createVNode(i,{mode:e==null?void 0:e.mode,content:e==null?void 0:e.content,jsonContents:e==null?void 0:e.jsonContents,pathContent:e==null?void 0:e.pathContent,showButton:w.value,nodeDev:e==null?void 0:e.nodeDev,windowConfig:s.windowConfig,systemInfo:s.systemInfo,"old-systemKey":s.systemKey,onBuildContent:h,onProjectLogin:C,onOpenThreeBuild:I,pageKey:s.pageKey,onThreeData:v,onSetLoginInfo:S,loginContent:e==null?void 0:e.loginContent},null,8,["mode","content","jsonContents","pathContent","showButton","nodeDev","windowConfig","systemInfo","old-systemKey","pageKey","loginContent"])])}}}),_=B._export_sfc(L,[["__scopeId","data-v-c2972e64"]]);exports.default=_;