ss-component-new 1.3.39 → 1.3.40

package/dist/{URDFLoader-Cr4cwEF8.cjs → URDFLoader-DIvTWPgk.cjs}

@@ -1,4 +1,4 @@
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T=L.width;for(h=Y;h!==D;h+=z)for(A=$;A!==V;A+=j,C+=3)f[(A+T*h)*4+3]=255,f[(A+T*h)*4+2]=_[C+0],f[(A+T*h)*4+1]=_[C+1],f[(A+T*h)*4+0]=_[C+2];return f}function S(f,Y,z,D,$,j,V,_){let C=0,A,h;const T=L.width;for(h=Y;h!==D;h+=z)for(A=$;A!==V;A+=j,C+=4)f[(A+T*h)*4+2]=_[C+0],f[(A+T*h)*4+1]=_[C+1],f[(A+T*h)*4+0]=_[C+2],f[(A+T*h)*4+3]=_[C+3];return f}function X(f,Y,z,D,$,j,V,_){let C,A=0,h,T;const J=L.width;for(T=Y;T!==D;T+=z)for(h=$;h!==V;h+=j,A++)C=_[A],f[(h+J*T)*4+0]=C,f[(h+J*T)*4+1]=C,f[(h+J*T)*4+2]=C,f[(h+J*T)*4+3]=255;return f}function ie(f,Y,z,D,$,j,V,_){let C=0,A,h;const T=L.width;for(h=Y;h!==D;h+=z)for(A=$;A!==V;A+=j,C+=2)f[(A+T*h)*4+0]=_[C+0],f[(A+T*h)*4+1]=_[C+0],f[(A+T*h)*4+2]=_[C+0],f[(A+T*h)*4+3]=_[C+1];return f}function ge(f,Y,z,D,$){let j,V,_,C,A,h;switch((L.flags&I)>>U){default:case W:j=0,_=1,A=Y,V=0,C=1,h=z;break;case B:j=0,_=1,A=Y,V=z-1,C=-1,h=-1;break;case G:j=Y-1,_=-1,A=-1,V=0,C=1,h=z;break;case x:j=Y-1,_=-1,A=-1,V=z-1,C=-1,h=-1;break}if(q)switch(L.pixel_size){case 8:X(f,V,C,h,j,_,A,D);break;case 16:ie(f,V,C,h,j,_,A,D);break;default:throw new Error("THREE.TGALoader: Format not supported.")}else switch(L.pixel_size){case 8:oe(f,V,C,h,j,_,A,D,$);break;case 16:R(f,V,C,h,j,_,A,D);break;case 24:re(f,V,C,h,j,_,A,D);break;case 32:S(f,V,C,h,j,_,A,D);break;default:throw new Error("THREE.TGALoader: Format not supported.")}return f}const be=0,ye=1,Z=2,se=3,te=9,pe=10,me=11,I=48,U=4,B=0,x=1,W=2,G=3;if(O.length<19)throw new Error("THREE.TGALoader: Not enough data to contain header.");let g=0;const p=new Uint8Array(O),L={id_length:p[g++],colormap_type:p[g++],image_type:p[g++],colormap_index:p[g++]|p[g++]<<8,colormap_length:p[g++]|p[g++]<<8,colormap_size:p[g++],origin:[p[g++]|p[g++]<<8,p[g++]|p[g++]<<8],width:p[g++]|p[g++]<<8,height:p[g++]|p[g++]<<8,pixel_size:p[g++],flags:p[g++]};if(ee(L),L.id_length+g>O.length)throw new Error("THREE.TGALoader: No data.");g+=L.id_length;let M=!1,N=!1,q=!1;switch(L.image_type){case te:M=!0,N=!0;break;case ye:N=!0;break;case pe:M=!0;break;case Z:break;case me:M=!0,q=!0;break;case se:q=!0;break}const ce=new Uint8Array(L.width*L.height*4),ne=v(M,N,L,g,p);return ge(ce,L.width,L.height,ne.pixel_data,ne.palettes),{data:ce,width:L.width,height:L.height,flipY:!0,generateMipmaps:!0,minFilter:a.LinearMipmapLinearFilter}}}class cn extends a.Loader{load(O,ee,v,oe){const R=this,re=R.path===""?a.LoaderUtils.extractUrlBase(O):R.path,S=new a.FileLoader(R.manager);S.setPath(R.path),S.setRequestHeader(R.requestHeader),S.setWithCredentials(R.withCredentials),S.load(O,function(X){try{ee(R.parse(X,re))}catch(ie){oe?oe(ie):console.error(ie),R.manager.itemError(O)}},v,oe)}parse(O,ee){function v(t,e){const i=[],n=t.childNodes;for(let s=0,o=n.length;s<o;s++){const r=n[s];r.nodeName===e&&i.push(r)}return i}function oe(t){if(t.length===0)return[];const e=t.trim().split(/\s+/),i=new Array(e.length);for(let n=0,s=e.length;n<s;n++)i[n]=e[n];return i}function R(t){if(t.length===0)return[];const e=t.trim().split(/\s+/),i=new 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l=r.data.color;switch(r.opaque){case"A_ONE":n.opacity=l[3]*u.float;break;case"RGB_ZERO":n.opacity=1-l[0]*u.float;break;case"A_ZERO":n.opacity=1-l[3]*u.float;break;case"RGB_ONE":n.opacity=l[0]*u.float;break;default:console.warn('THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.',r.opaque)}n.opacity<1&&(n.transparent=!0)}if(i.extra!==void 0&&i.extra.technique!==void 0){const l=i.extra.technique;for(const d in l){const y=l[d];switch(d){case"double_sided":n.side=y===1?a.DoubleSide:a.FrontSide;break;case"bump":n.normalMap=s(y.texture),n.normalScale=new a.Vector2(1,1);break}}}return n}function mt(t){return te(E.materials[t],Pe)}function gt(t){const e={name:t.getAttribute("name")};for(let i=0,n=t.childNodes.length;i<n;i++){const s=t.childNodes[i];if(s.nodeType===1)switch(s.nodeName){case"optics":e.optics=bt(s);break}}E.cameras[t.getAttribute("id")]=e}function bt(t){for(let e=0;e<t.childNodes.length;e++){const i=t.childNodes[e];switch(i.nodeName){case"technique_common":return 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e.name=t.name||"",e}function kt(t){const e=E.cameras[t];return e!==void 0?te(e,Ue):(console.warn("THREE.ColladaLoader: Couldn't find camera with ID:",t),null)}function Nt(t){let e={};for(let i=0,n=t.childNodes.length;i<n;i++){const s=t.childNodes[i];if(s.nodeType===1)switch(s.nodeName){case"technique_common":e=At(s);break}}E.lights[t.getAttribute("id")]=e}function At(t){const e={};for(let i=0,n=t.childNodes.length;i<n;i++){const s=t.childNodes[i];if(s.nodeType===1)switch(s.nodeName){case"directional":case"point":case"spot":case"ambient":e.technique=s.nodeName,e.parameters=Tt(s)}}return e}function Tt(t){const e={};for(let i=0,n=t.childNodes.length;i<n;i++){const s=t.childNodes[i];if(s.nodeType===1)switch(s.nodeName){case"color":const o=R(s.textContent);e.color=new a.Color().fromArray(o),a.ColorManagement.colorSpaceToWorking(e.color,a.SRGBColorSpace);break;case"falloff_angle":e.falloffAngle=parseFloat(s.textContent);break;case"quadratic_attenuation":const r=parseFloat(s.textContent);e.distance=r?Math.sqrt(1/r):0;break}}return e}function qe(t){let e;switch(t.technique){case"directional":e=new a.DirectionalLight;break;case"point":e=new a.PointLight;break;case"spot":e=new a.SpotLight;break;case"ambient":e=new a.AmbientLight;break}return t.parameters.color&&e.color.copy(t.parameters.color),t.parameters.distance&&(e.distance=t.parameters.distance),e}function Et(t){const e=E.lights[t];return e!==void 0?te(e,qe):(console.warn("THREE.ColladaLoader: Couldn't find light with ID:",t),null)}function xt(t){const e={name:t.getAttribute("name"),sources:{},vertices:{},primitives:[]},i=v(t,"mesh")[0];if(i!==void 0){for(let n=0;n<i.childNodes.length;n++){const s=i.childNodes[n];if(s.nodeType!==1)continue;const o=s.getAttribute("id");switch(s.nodeName){case"source":e.sources[o]=_e(s);break;case"vertices":e.vertices=Ct(s);break;case"polygons":console.warn("THREE.ColladaLoader: Unsupported primitive type: 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o=S(s.getAttribute("source")),r=s.getAttribute("semantic"),u=parseInt(s.getAttribute("offset")),l=parseInt(s.getAttribute("set")),d=l>0?r+l:r;e.inputs[d]={id:o,offset:u},e.stride=Math.max(e.stride,u+1),r==="TEXCOORD"&&(e.hasUV=!0);break;case"vcount":e.vcount=re(s.textContent);break;case"p":e.p=re(s.textContent);break}}return e}function Lt(t){const e={};for(let i=0;i<t.length;i++){const n=t[i];e[n.type]===void 0&&(e[n.type]=[]),e[n.type].push(n)}return e}function Mt(t){let e=0;for(let i=0,n=t.length;i<n;i++)t[i].hasUV===!0&&e++;e>0&&e<t.length&&(t.uvsNeedsFix=!0)}function je(t){const e={},i=t.sources,n=t.vertices,s=t.primitives;if(s.length===0)return{};const o=Lt(s);for(const r in o){const u=o[r];Mt(u),e[r]=Rt(u,i,n)}return e}function Rt(t,e,i){const n={},s={array:[],stride:0},o={array:[],stride:0},r={array:[],stride:0},u={array:[],stride:0},l={array:[],stride:0},d={array:[],stride:4},y={array:[],stride:4},c=new a.BufferGeometry,b=[];let m=0;for(let k=0;k<t.length;k++){const w=t[k],K=w.inputs;let H=0;switch(w.type){case"lines":case"linestrips":H=w.count*2;break;case"triangles":H=w.count*3;break;case"polylist":for(let F=0;F<w.count;F++){const P=w.vcount[F];switch(P){case 3:H+=3;break;case 4:H+=6;break;default:H+=(P-2)*3;break}}break;default:console.warn("THREE.ColladaLoader: Unknown primitive type:",w.type)}c.addGroup(m,H,k),m+=H,w.material&&b.push(w.material);for(const F in K){const P=K[F];switch(F){case"VERTEX":for(const he in i){const ae=i[he];switch(he){case"POSITION":const Ae=s.array.length;if(ue(w,e[ae],P.offset,s.array),s.stride=e[ae].stride,e.skinWeights&&e.skinIndices&&(ue(w,e.skinIndices,P.offset,d.array),ue(w,e.skinWeights,P.offset,y.array)),w.hasUV===!1&&t.uvsNeedsFix===!0){const rn=(s.array.length-Ae)/s.stride;for(let et=0;et<rn;et++)r.array.push(0,0)}break;case"NORMAL":ue(w,e[ae],P.offset,o.array),o.stride=e[ae].stride;break;case"COLOR":ue(w,e[ae],P.offset,l.array),l.stride=e[ae].stride;break;case"TEXCOORD":ue(w,e[ae],P.offset,r.array),r.stride=e[ae].stride;break;case"TEXCOORD1":ue(w,e[ae],P.offset,u.array),r.stride=e[ae].stride;break;default:console.warn('THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.',he)}}break;case"NORMAL":ue(w,e[P.id],P.offset,o.array),o.stride=e[P.id].stride;break;case"COLOR":ue(w,e[P.id],P.offset,l.array,!0),l.stride=e[P.id].stride;break;case"TEXCOORD":ue(w,e[P.id],P.offset,r.array),r.stride=e[P.id].stride;break;case"TEXCOORD1":ue(w,e[P.id],P.offset,u.array),u.stride=e[P.id].stride;break}}}return s.array.length>0&&c.setAttribute("position",new a.Float32BufferAttribute(s.array,s.stride)),o.array.length>0&&c.setAttribute("normal",new a.Float32BufferAttribute(o.array,o.stride)),l.array.length>0&&c.setAttribute("color",new a.Float32BufferAttribute(l.array,l.stride)),r.array.length>0&&c.setAttribute("uv",new a.Float32BufferAttribute(r.array,r.stride)),u.array.length>0&&c.setAttribute("uv1",new a.Float32BufferAttribute(u.array,u.stride)),d.array.length>0&&c.setAttribute("skinIndex",new a.Float32BufferAttribute(d.array,d.stride)),y.array.length>0&&c.setAttribute("skinWeight",new a.Float32BufferAttribute(y.array,y.stride)),n.data=c,n.type=t[0].type,n.materialKeys=b,n}function ue(t,e,i,n,s=!1){const o=t.p,r=t.stride,u=t.vcount;function l(c){let b=o[c+i]*y;const m=b+y;for(;b<m;b++)n.push(d[b]);if(s){const k=n.length-y-1;Ee.setRGB(n[k+0],n[k+1],n[k+2],a.SRGBColorSpace),n[k+0]=Ee.r,n[k+1]=Ee.g,n[k+2]=Ee.b}}const d=e.array,y=e.stride;if(t.vcount!==void 0){let c=0;for(let b=0,m=u.length;b<m;b++){const k=u[b];if(k===4){const w=c+r*0,K=c+r*1,H=c+r*2,F=c+r*3;l(w),l(K),l(F),l(K),l(H),l(F)}else if(k===3){const w=c+r*0,K=c+r*1,H=c+r*2;l(w),l(K),l(H)}else if(k>4)for(let w=1,K=k-2;w<=K;w++){const 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a.Vector3,limits:{min:0,max:0},type:t.nodeName,static:!1,zeroPosition:0,middlePosition:0};for(let i=0;i<t.childNodes.length;i++){const n=t.childNodes[i];if(n.nodeType===1)switch(n.nodeName){case"axis":const s=R(n.textContent);e.axis.fromArray(s);break;case"limits":const o=n.getElementsByTagName("max")[0],r=n.getElementsByTagName("min")[0];e.limits.max=parseFloat(o.textContent),e.limits.min=parseFloat(r.textContent);break}}return e.limits.min>=e.limits.max&&(e.static=!0),e.middlePosition=(e.limits.min+e.limits.max)/2,e}function He(t){const e={sid:t.getAttribute("sid"),name:t.getAttribute("name")||"",attachments:[],transforms:[]};for(let i=0;i<t.childNodes.length;i++){const n=t.childNodes[i];if(n.nodeType===1)switch(n.nodeName){case"attachment_full":e.attachments.push(Pt(n));break;case"matrix":case"translate":case"rotate":e.transforms.push(De(n));break}}return e}function Pt(t){const e={joint:t.getAttribute("joint").split("/").pop(),transforms:[],links:[]};for(let i=0;i<t.childNodes.length;i++){const n=t.childNodes[i];if(n.nodeType===1)switch(n.nodeName){case"link":e.links.push(He(n));break;case"matrix":case"translate":case"rotate":e.transforms.push(De(n));break}}return e}function De(t){const e={type:t.nodeName},i=R(t.textContent);switch(e.type){case"matrix":e.obj=new a.Matrix4,e.obj.fromArray(i).transpose();break;case"translate":e.obj=new a.Vector3,e.obj.fromArray(i);break;case"rotate":e.obj=new a.Vector3,e.obj.fromArray(i),e.angle=a.MathUtils.degToRad(i[3]);break}return e}function Ut(t){const e={name:t.getAttribute("name")||"",rigidBodies:{}};for(let i=0;i<t.childNodes.length;i++){const n=t.childNodes[i];if(n.nodeType===1)switch(n.nodeName){case"rigid_body":e.rigidBodies[n.getAttribute("name")]={},qt(n,e.rigidBodies[n.getAttribute("name")]);break}}E.physicsModels[t.getAttribute("id")]=e}function qt(t,e){for(let i=0;i<t.childNodes.length;i++){const n=t.childNodes[i];if(n.nodeType===1)switch(n.nodeName){case"technique_common":jt(n,e);break}}}function jt(t,e){for(let i=0;i<t.childNodes.length;i++){const n=t.childNodes[i];if(n.nodeType===1)switch(n.nodeName){case"inertia":e.inertia=R(n.textContent);break;case"mass":e.mass=R(n.textContent)[0];break}}}function Bt(t){const e={bindJointAxis:[]};for(let i=0;i<t.childNodes.length;i++){const n=t.childNodes[i];if(n.nodeType===1)switch(n.nodeName){case"bind_joint_axis":e.bindJointAxis.push(Ht(n));break}}E.kinematicsScenes[S(t.getAttribute("url"))]=e}function Ht(t){const e={target:t.getAttribute("target").split("/").pop()};for(let i=0;i<t.childNodes.length;i++){const n=t.childNodes[i];if(n.nodeType===1)switch(n.nodeName){case"axis":const s=n.getElementsByTagName("param")[0];e.axis=s.textContent;const o=e.axis.split("inst_").pop().split("axis")[0];e.jointIndex=o.substring(0,o.length-1);break}}return e}function Dt(t){return t.build!==void 0?t.build:t}function Vt(t){return te(E.kinematicsScenes[t],Dt)}function zt(){const t=Object.keys(E.kinematicsModels)[0],e=Object.keys(E.kinematicsScenes)[0],i=Object.keys(E.visualScenes)[0];if(t===void 0||e===void 0)return;const n=It(t),s=Vt(e),o=Ye(i),r=s.bindJointAxis,u={};for(let y=0,c=r.length;y<c;y++){const b=r[y],m=Q.querySelector('[sid="'+b.target+'"]');if(m){const k=m.parentElement;l(b.jointIndex,k)}}function l(y,c){const b=c.getAttribute("name"),m=n.joints[y];o.traverse(function(k){k.name===b&&(u[y]={object:k,transforms:Jt(c),joint:m,position:m.zeroPosition})})}const d=new a.Matrix4;Qe={joints:n&&n.joints,getJointValue:function(y){const c=u[y];if(c)return c.position;console.warn("THREE.ColladaLoader: Joint "+y+" doesn't exist.")},setJointValue:function(y,c){const b=u[y];if(b){const m=b.joint;if(c>m.limits.max||c<m.limits.min)console.warn("THREE.ColladaLoader: Joint "+y+" value "+c+" outside of limits (min: "+m.limits.min+", max: "+m.limits.max+").");else if(m.static)console.warn("THREE.ColladaLoader: Joint "+y+" is static.");else{const k=b.object,w=m.axis,K=b.transforms;le.identity();for(let H=0;H<K.length;H++){const F=K[H];if(F.sid&&F.sid.indexOf(y)!==-1)switch(m.type){case"revolute":le.multiply(d.makeRotationAxis(w,a.MathUtils.degToRad(c)));break;case"prismatic":le.multiply(d.makeTranslation(w.x*c,w.y*c,w.z*c));break;default:console.warn("THREE.ColladaLoader: Unknown joint type: "+m.type);break}else switch(F.type){case"matrix":le.multiply(F.obj);break;case"translate":le.multiply(d.makeTranslation(F.obj.x,F.obj.y,F.obj.z));break;case"scale":le.scale(F.obj);break;case"rotate":le.multiply(d.makeRotationAxis(F.obj,F.angle));break}}k.matrix.copy(le),k.matrix.decompose(k.position,k.quaternion,k.scale),u[y].position=c}}else console.log("THREE.ColladaLoader: "+y+" does not exist.")}}}function Jt(t){const e=[],i=Q.querySelector('[id="'+t.id+'"]');for(let n=0;n<i.childNodes.length;n++){const s=i.childNodes[n];if(s.nodeType!==1)continue;let o,r;switch(s.nodeName){case"matrix":o=R(s.textContent);const u=new a.Matrix4().fromArray(o).transpose();e.push({sid:s.getAttribute("sid"),type:s.nodeName,obj:u});break;case"translate":case"scale":o=R(s.textContent),r=new a.Vector3().fromArray(o),e.push({sid:s.getAttribute("sid"),type:s.nodeName,obj:r});break;case"rotate":o=R(s.textContent),r=new a.Vector3().fromArray(o);const l=a.MathUtils.degToRad(o[3]);e.push({sid:s.getAttribute("sid"),type:s.nodeName,obj:r,angle:l});break}}return e}function Wt(t){const e=t.getElementsByTagName("node");for(let i=0;i<e.length;i++){const n=e[i];n.hasAttribute("id")===!1&&n.setAttribute("id",X())}}const le=new a.Matrix4,ke=new a.Vector3;function Le(t){const e={name:t.getAttribute("name")||"",type:t.getAttribute("type"),id:t.getAttribute("id"),sid:t.getAttribute("sid"),matrix:new a.Matrix4,nodes:[],instanceCameras:[],instanceControllers:[],instanceLights:[],instanceGeometries:[],instanceNodes:[],transforms:{}};for(let i=0;i<t.childNodes.length;i++){const n=t.childNodes[i];if(n.nodeType!==1)continue;let s;switch(n.nodeName){case"node":e.nodes.push(n.getAttribute("id")),Le(n);break;case"instance_camera":e.instanceCameras.push(S(n.getAttribute("url")));break;case"instance_controller":e.instanceControllers.push(Ve(n));break;case"instance_light":e.instanceLights.push(S(n.getAttribute("url")));break;case"instance_geometry":e.instanceGeometries.push(Ve(n));break;case"instance_node":e.instanceNodes.push(S(n.getAttribute("url")));break;case"matrix":s=R(n.textContent),e.matrix.multiply(le.fromArray(s).transpose()),e.transforms[n.getAttribute("sid")]=n.nodeName;break;case"translate":s=R(n.textContent),ke.fromArray(s),e.matrix.multiply(le.makeTranslation(ke.x,ke.y,ke.z)),e.transforms[n.getAttribute("sid")]=n.nodeName;break;case"rotate":s=R(n.textContent);const o=a.MathUtils.degToRad(s[3]);e.matrix.multiply(le.makeRotationAxis(ke.fromArray(s),o)),e.transforms[n.getAttribute("sid")]=n.nodeName;break;case"scale":s=R(n.textContent),e.matrix.scale(ke.fromArray(s)),e.transforms[n.getAttribute("sid")]=n.nodeName;break;case"extra":break;default:console.log(n)}}return We(e.id)?console.warn("THREE.ColladaLoader: There is already a node with ID %s. 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T=L.width;for(h=Y;h!==D;h+=z)for(A=$;A!==V;A+=j,C+=3)f[(A+T*h)*4+3]=255,f[(A+T*h)*4+2]=_[C+0],f[(A+T*h)*4+1]=_[C+1],f[(A+T*h)*4+0]=_[C+2];return f}function S(f,Y,z,D,$,j,V,_){let C=0,A,h;const T=L.width;for(h=Y;h!==D;h+=z)for(A=$;A!==V;A+=j,C+=4)f[(A+T*h)*4+2]=_[C+0],f[(A+T*h)*4+1]=_[C+1],f[(A+T*h)*4+0]=_[C+2],f[(A+T*h)*4+3]=_[C+3];return f}function X(f,Y,z,D,$,j,V,_){let C,A=0,h,T;const J=L.width;for(T=Y;T!==D;T+=z)for(h=$;h!==V;h+=j,A++)C=_[A],f[(h+J*T)*4+0]=C,f[(h+J*T)*4+1]=C,f[(h+J*T)*4+2]=C,f[(h+J*T)*4+3]=255;return f}function ie(f,Y,z,D,$,j,V,_){let C=0,A,h;const T=L.width;for(h=Y;h!==D;h+=z)for(A=$;A!==V;A+=j,C+=2)f[(A+T*h)*4+0]=_[C+0],f[(A+T*h)*4+1]=_[C+0],f[(A+T*h)*4+2]=_[C+0],f[(A+T*h)*4+3]=_[C+1];return f}function ge(f,Y,z,D,$){let j,V,_,C,A,h;switch((L.flags&I)>>U){default:case W:j=0,_=1,A=Y,V=0,C=1,h=z;break;case B:j=0,_=1,A=Y,V=z-1,C=-1,h=-1;break;case G:j=Y-1,_=-1,A=-1,V=0,C=1,h=z;break;case x:j=Y-1,_=-1,A=-1,V=z-1,C=-1,h=-1;break}if(q)switch(L.pixel_size){case 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Z(B)}function Z(I){const U=[...I.children],B=U.filter(M=>M.nodeName.toLowerCase()==="link"),x=U.filter(M=>M.nodeName.toLowerCase()==="joint"),W=U.filter(M=>M.nodeName.toLowerCase()==="material"),G=new a.URDFRobot;G.robotName=I.getAttribute("name"),G.urdfRobotNode=I,W.forEach(M=>{const N=M.getAttribute("name");ge[N]=pe(M)});const g={},p={};B.forEach(M=>{const N=M.getAttribute("name"),q=I.querySelector(`child[link="${N}"]`)===null;X[N]=te(M,g,p,q?G:null)}),x.forEach(M=>{const N=M.getAttribute("name");ie[N]=se(M)}),G.joints=ie,G.links=X,G.colliders=p,G.visual=g;const L=Object.values(ie);return L.forEach(M=>{M instanceof a.URDFMimicJoint&&ie[M.mimicJoint].mimicJoints.push(M)}),L.forEach(M=>{const N=new Set,q=ce=>{if(N.has(ce))throw new Error("URDFLoader: Detected an infinite loop of mimic joints.");N.add(ce),ce.mimicJoints.forEach(ne=>{q(ne)})};q(M)}),G.frames={...p,...g,...X,...ie},G}function se(I){const U=[...I.children],B=I.getAttribute("type");let x;const W=U.find(N=>N.nodeName.toLowerCase()==="mimic");W?(x=new a.URDFMimicJoint,x.mimicJoint=W.getAttribute("joint"),x.multiplier=parseFloat(W.getAttribute("multiplier")||1),x.offset=parseFloat(W.getAttribute("offset")||0)):x=new a.URDFJoint,x.urdfNode=I,x.name=I.getAttribute("name"),x.urdfName=x.name,x.jointType=B;let G=null,g=null,p=[0,0,0],L=[0,0,0];U.forEach(N=>{const q=N.nodeName.toLowerCase();q==="origin"?(p=Te(N.getAttribute("xyz")),L=Te(N.getAttribute("rpy"))):q==="child"?g=X[N.getAttribute("link")]:q==="parent"?G=X[N.getAttribute("link")]:q==="limit"&&(x.limit.lower=parseFloat(N.getAttribute("lower")||x.limit.lower),x.limit.upper=parseFloat(N.getAttribute("upper")||x.limit.upper))}),G.add(x),x.add(g),it(x,L),x.position.set(p[0],p[1],p[2]);const M=U.filter(N=>N.nodeName.toLowerCase()==="axis")[0];if(M){const N=M.getAttribute("xyz").split(/\s+/g).map(q=>parseFloat(q));x.axis=new a.Vector3(N[0],N[1],N[2]),x.axis.normalize()}return x}function te(I,U,B,x=null){x===null&&(x=new a.URDFLink);const W=[...I.children];return x.name=I.getAttribute("name"),x.urdfName=x.name,x.urdfNode=I,R&&W.filter(g=>g.nodeName.toLowerCase()==="visual").forEach(g=>{const p=me(g,ge);if(x.add(p),g.hasAttribute("name")){const L=g.getAttribute("name");p.name=L,p.urdfName=L,U[L]=p}}),re&&W.filter(g=>g.nodeName.toLowerCase()==="collision").forEach(g=>{const p=me(g);if(x.add(p),g.hasAttribute("name")){const L=g.getAttribute("name");p.name=L,p.urdfName=L,B[L]=p}}),x}function pe(I){const U=[...I.children],B=new a.MeshPhongMaterial;return B.name=I.getAttribute("name")||"",U.forEach(x=>{const W=x.nodeName.toLowerCase();if(W==="color"){const G=x.getAttribute("rgba").split(/\s/g).map(g=>parseFloat(g));B.color.setRGB(G[0],G[1],G[2]),B.opacity=G[3],B.transparent=G[3]<1,B.depthWrite=!B.transparent}else if(W==="texture"){const G=x.getAttribute("filename");if(G){const g=new a.TextureLoader(S),p=be(G);B.map=g.load(p),B.map.colorSpace=a.SRGBColorSpace}}}),B}function me(I,U={}){const B=I.nodeName.toLowerCase()==="collision",x=[...I.children];let W=null;const G=x.filter(p=>p.nodeName.toLowerCase()==="material")[0];if(G){const p=G.getAttribute("name");p&&p in U?W=U[p]:W=pe(G)}else W=new a.MeshPhongMaterial;const g=B?new a.URDFCollider:new a.URDFVisual;return g.urdfNode=I,x.forEach(p=>{const L=p.nodeName.toLowerCase();if(L==="geometry"){const M=p.children[0].nodeName.toLowerCase();if(M==="mesh"){const N=p.children[0].getAttribute("filename"),q=be(N);if(q!==null){const ce=p.children[0].getAttribute("scale");if(ce){const ne=Te(ce);g.scale.set(ne[0],ne[1],ne[2])}oe(q,S,(ne,f)=>{f?console.error("URDFLoader: Error loading mesh.",f):ne&&(ne instanceof a.Mesh&&(ne.material=W),ne.position.set(0,0,0),ne.quaternion.identity(),g.add(ne))})}}else if(M==="box"){const N=new a.Mesh;N.geometry=new a.BoxGeometry(1,1,1),N.material=W;const q=Te(p.children[0].getAttribute("size"));N.scale.set(q[0],q[1],q[2]),g.add(N)}else if(M==="sphere"){const N=new a.Mesh;N.geometry=new a.SphereGeometry(1,30,30),N.material=W;const q=parseFloat(p.children[0].getAttribute("radius"))||0;N.scale.set(q,q,q),g.add(N)}else if(M==="cylinder"){const N=new a.Mesh;N.geometry=new a.CylinderGeometry(1,1,1,30),N.material=W;const q=parseFloat(p.children[0].getAttribute("radius"))||0,ce=parseFloat(p.children[0].getAttribute("length"))||0;N.scale.set(q,ce,q),N.rotation.set(Math.PI/2,0,0),g.add(N)}}else if(L==="origin"){const M=Te(p.getAttribute("xyz")),N=Te(p.getAttribute("rpy"));g.position.set(M[0],M[1],M[2]),g.rotation.set(0,0,0),it(g,N)}}),g}return ye(O)}defaultMeshLoader(O,ee,v){/\.stl$/i.test(O)?new an.STLLoader(ee).load(O,R=>{const re=new a.Mesh(R,new a.MeshPhongMaterial);v(re)}):/\.dae$/i.test(O)?new cn(ee).load(O,R=>v(R.scene)):console.warn(`URDFLoader: Could not load model at ${O}.
 No loader available`)}}exports.URDFLoader=ln;

package/dist/{animationData-0idWk1St.js → animationData-BBVNOO1d.js}

@@ -1,8 +1,8 @@
-import { g as B, aL as C, c as x, ae as K, bN as S } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Cghhtxxz.js";
-import { c as N } from "./index-COQpDVsv.js";
+import { g as K, aF as C, c as x, a9 as N, bH as S } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-n7J00Lcz.js";
+import { c as O } from "./index-sMsCzNtW.js";
 const g = async (n) => {
   const e = n.join("/"), c = sessionStorage.getItem("systemKey");
-  return await B(e, c, "");
+  return await K(e, c, "");
 }, R = (n) => {
   var s;
   const e = n == null ? void 0 : n.compData, c = (s = e == null ? void 0 : e.find((i) => {
@@ -13,7 +13,7 @@ const g = async (n) => {
     const { prop: p, value: D } = i;
     r[p] = D;
   }), r;
-}, q = async () => {
+}, H = async () => {
   let n = {};
   const c = await g(["弯管仿真加工分析", "模具筛选安装"]), r = C("输入（加工件）", c), s = R(r), i = s.管长 || 0, p = s.外径 || 0;
   console.log("管长", i, "外径", p, s);
@@ -21,27 +21,27 @@ const g = async (n) => {
   console.log("夹持长度", P, b);
   const G = Number(P), m = {}, l = await g(["弯管仿真加工分析", "仿真动画生成"]);
   l == null || l.forEach((a) => {
-    var M, d, f, y, w, L;
+    var M, d, f, y, w, F;
     if ((a == null ? void 0 : a.comp) === "Table") {
-      let F = [], u = (f = (d = (M = a == null ? void 0 : a.compData) == null ? void 0 : M.find((t) => (t == null ? void 0 : t.key) === "header")) == null ? void 0 : d.contents) == null ? void 0 : f.map((t) => t == null ? void 0 : t.label), h = (L = (w = (y = a == null ? void 0 : a.compData) == null ? void 0 : y.find((t) => (t == null ? void 0 : t.key) === "tableContents")) == null ? void 0 : w.contents) == null ? void 0 : L.map((t) => (t = t == null ? void 0 : t.filter((o) => !(o != null && o.id)), t));
+      let L = [], u = (f = (d = (M = a == null ? void 0 : a.compData) == null ? void 0 : M.find((t) => (t == null ? void 0 : t.key) === "header")) == null ? void 0 : d.contents) == null ? void 0 : f.map((t) => t == null ? void 0 : t.label), h = (F = (w = (y = a == null ? void 0 : a.compData) == null ? void 0 : y.find((t) => (t == null ? void 0 : t.key) === "tableContents")) == null ? void 0 : w.contents) == null ? void 0 : F.map((t) => (t = t == null ? void 0 : t.filter((o) => !(o != null && o.id)), t));
       h == null || h.forEach((t) => {
-        F.push(
+        L.push(
           x(
             t,
             u == null ? void 0 : u.filter((o) => o !== "操作")
           )
         );
-      }), m[a.name] = F, m[a.name + "Content"] = a;
+      }), m[a.name] = L, m[a.name + "Content"] = a;
     }
   });
-  const A = N(m) || [];
+  const A = O(m) || [];
   return n = {
     initialPipeLength: D,
     pipeRadius: T,
     clampLength: G,
     animationData: A
   }, n;
-}, z = async () => {
+}, q = async () => {
   let n = {};
   const c = await g(["双弯管仿真加工分析", "模具筛选安装"]), r = C("输入（加工件）", c), s = R(r), i = s.管长 || 0, p = s.外径 || 0;
   console.log("管长", i, "外径", p, s);
@@ -49,34 +49,34 @@ const g = async (n) => {
   console.log("夹持长度", P, b);
   const G = Number(P), m = {}, l = await g(["双弯管仿真加工分析", "仿真动画生成"]);
   l == null || l.forEach((a) => {
-    var M, d, f, y, w, L;
+    var M, d, f, y, w, F;
     if ((a == null ? void 0 : a.comp) === "Table") {
-      let F = [], u = (f = (d = (M = a == null ? void 0 : a.compData) == null ? void 0 : M.find((t) => (t == null ? void 0 : t.key) === "header")) == null ? void 0 : d.contents) == null ? void 0 : f.map((t) => t == null ? void 0 : t.label), h = (L = (w = (y = a == null ? void 0 : a.compData) == null ? void 0 : y.find((t) => (t == null ? void 0 : t.key) === "tableContents")) == null ? void 0 : w.contents) == null ? void 0 : L.map((t) => (t = t == null ? void 0 : t.filter((o) => !(o != null && o.id)), t));
+      let L = [], u = (f = (d = (M = a == null ? void 0 : a.compData) == null ? void 0 : M.find((t) => (t == null ? void 0 : t.key) === "header")) == null ? void 0 : d.contents) == null ? void 0 : f.map((t) => t == null ? void 0 : t.label), h = (F = (w = (y = a == null ? void 0 : a.compData) == null ? void 0 : y.find((t) => (t == null ? void 0 : t.key) === "tableContents")) == null ? void 0 : w.contents) == null ? void 0 : F.map((t) => (t = t == null ? void 0 : t.filter((o) => !(o != null && o.id)), t));
       h == null || h.forEach((t) => {
-        F.push(
+        L.push(
           x(
             t,
             u == null ? void 0 : u.filter((o) => o !== "操作")
           )
         );
-      }), m[a.name] = F, m[a.name + "Content"] = a;
+      }), m[a.name] = L, m[a.name + "Content"] = a;
     }
   });
-  const A = N(m) || [];
+  const A = O(m) || [];
   return n = {
     initialPipeLength: D,
     pipeRadius: T,
     clampLength: G,
     animationData: A
   }, n;
-}, V = async (n) => await K(n), X = async (n) => await S(n), H = async (n) => {
+}, V = async (n) => await N(n), X = async (n) => await S(n), z = async (n) => {
   const e = await V(n);
   return await X(e);
 };
 export {
-  z as a,
+  q as a,
   R as b,
-  q as f,
+  H as f,
   g,
-  H as i
+  z as i
 };

package/dist/{animationData-Bq1xWpzh.cjs → animationData-krmt7b15.cjs}

@@ -1 +1 @@
-"use strict";const p=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BvJutNeG.cjs"),x=require("./index-DRTxe12U.cjs"),D=async n=>{const a=n.join("/"),c=sessionStorage.getItem("systemKey");return await p.getItemData(a,c,"")},T=n=>{var s;const a=n==null?void 0:n.compData,c=(s=a==null?void 0:a.find(i=>{const{key:r}=i;return r==="formContent"}))==null?void 0:s.contents,l={};return c==null||c.forEach(i=>{const{prop:r,value:b}=i;l[r]=b}),l},V=async()=>{let n={};const c=await D(["弯管仿真加工分析","模具筛选安装"]),l=p.getTargetGroup("输入（加工件）",c),s=T(l),i=s.管长||0,r=s.外径||0;console.log("管长",i,"外径",r,s);const b=i,_=r/2,G=await D(["弯管仿真加工分析","加工位姿生成"]),R=p.getTargetGroup("输入",G),d=T(R),P=d.夹持长度||0;console.log("夹持长度",P,d);const A=Number(P),u={},m=await D(["弯管仿真加工分析","仿真动画生成"]);m==null||m.forEach(e=>{var y,M,f,w,F,L;if((e==null?void 0:e.comp)==="Table"){let C=[],h=(f=(M=(y=e==null?void 0:e.compData)==null?void 0:y.find(t=>(t==null?void 0:t.key)==="header"))==null?void 0:M.contents)==null?void 0:f.map(t=>t==null?void 0:t.label),g=(L=(F=(w=e==null?void 0:e.compData)==null?void 0:w.find(t=>(t==null?void 0:t.key)==="tableContents"))==null?void 0:F.contents)==null?void 0:L.map(t=>(t=t==null?void 0:t.filter(o=>!(o!=null&&o.id)),t));g==null||g.forEach(t=>{C.push(p.getValueToObjectValue(t,h==null?void 0:h.filter(o=>o!=="操作")))}),u[e.name]=C,u[e.name+"Content"]=e}});const k=x.cloneDeep(u)||[];return n={initialPipeLength:b,pipeRadius:_,clampLength:A,animationData:k},n},j=async()=>{let n={};const c=await D(["双弯管仿真加工分析","模具筛选安装"]),l=p.getTargetGroup("输入（加工件）",c),s=T(l),i=s.管长||0,r=s.外径||0;console.log("管长",i,"外径",r,s);const b=i,_=r/2,G=await D(["双弯管仿真加工分析","加工工艺生成"]),R=p.getTargetGroup("输入",G),d=T(R),P=d.夹持位置||0;console.log("夹持长度",P,d);const A=Number(P),u={},m=await D(["双弯管仿真加工分析","仿真动画生成"]);m==null||m.forEach(e=>{var y,M,f,w,F,L;if((e==null?void 0:e.comp)==="Table"){let C=[],h=(f=(M=(y=e==null?void 0:e.compData)==null?void 0:y.find(t=>(t==null?void 0:t.key)==="header"))==null?void 0:M.contents)==null?void 0:f.map(t=>t==null?void 0:t.label),g=(L=(F=(w=e==null?void 0:e.compData)==null?void 0:w.find(t=>(t==null?void 0:t.key)==="tableContents"))==null?void 0:F.contents)==null?void 0:L.map(t=>(t=t==null?void 0:t.filter(o=>!(o!=null&&o.id)),t));g==null||g.forEach(t=>{C.push(p.getValueToObjectValue(t,h==null?void 0:h.filter(o=>o!=="操作")))}),u[e.name]=C,u[e.name+"Content"]=e}});const k=x.cloneDeep(u)||[];return n={initialPipeLength:b,pipeRadius:_,clampLength:A,animationData:k},n},B=async n=>await p.downloadFile(n),S=async n=>await p.readCsv(n),X=async n=>{const a=await B(n);return await S(a)};exports.fetchDoubleRobotAnimationData=j;exports.fetchSingleRobotAnimationData=V;exports.getFormData=T;exports.getMenuData=D;exports.initXYZBCList=X;
+"use strict";const p=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-b_9vxv2X.cjs"),x=require("./index-C8fMwErX.cjs"),D=async n=>{const a=n.join("/"),c=sessionStorage.getItem("systemKey");return await p.getItemData(a,c,"")},T=n=>{var s;const a=n==null?void 0:n.compData,c=(s=a==null?void 0:a.find(i=>{const{key:r}=i;return r==="formContent"}))==null?void 0:s.contents,l={};return c==null||c.forEach(i=>{const{prop:r,value:b}=i;l[r]=b}),l},V=async()=>{let n={};const c=await D(["弯管仿真加工分析","模具筛选安装"]),l=p.getTargetGroup("输入（加工件）",c),s=T(l),i=s.管长||0,r=s.外径||0;console.log("管长",i,"外径",r,s);const b=i,_=r/2,G=await D(["弯管仿真加工分析","加工位姿生成"]),R=p.getTargetGroup("输入",G),d=T(R),P=d.夹持长度||0;console.log("夹持长度",P,d);const A=Number(P),u={},m=await D(["弯管仿真加工分析","仿真动画生成"]);m==null||m.forEach(e=>{var y,M,f,w,F,L;if((e==null?void 0:e.comp)==="Table"){let C=[],h=(f=(M=(y=e==null?void 0:e.compData)==null?void 0:y.find(t=>(t==null?void 0:t.key)==="header"))==null?void 0:M.contents)==null?void 0:f.map(t=>t==null?void 0:t.label),g=(L=(F=(w=e==null?void 0:e.compData)==null?void 0:w.find(t=>(t==null?void 0:t.key)==="tableContents"))==null?void 0:F.contents)==null?void 0:L.map(t=>(t=t==null?void 0:t.filter(o=>!(o!=null&&o.id)),t));g==null||g.forEach(t=>{C.push(p.getValueToObjectValue(t,h==null?void 0:h.filter(o=>o!=="操作")))}),u[e.name]=C,u[e.name+"Content"]=e}});const k=x.cloneDeep(u)||[];return n={initialPipeLength:b,pipeRadius:_,clampLength:A,animationData:k},n},j=async()=>{let n={};const c=await D(["双弯管仿真加工分析","模具筛选安装"]),l=p.getTargetGroup("输入（加工件）",c),s=T(l),i=s.管长||0,r=s.外径||0;console.log("管长",i,"外径",r,s);const b=i,_=r/2,G=await D(["双弯管仿真加工分析","加工工艺生成"]),R=p.getTargetGroup("输入",G),d=T(R),P=d.夹持位置||0;console.log("夹持长度",P,d);const A=Number(P),u={},m=await D(["双弯管仿真加工分析","仿真动画生成"]);m==null||m.forEach(e=>{var y,M,f,w,F,L;if((e==null?void 0:e.comp)==="Table"){let C=[],h=(f=(M=(y=e==null?void 0:e.compData)==null?void 0:y.find(t=>(t==null?void 0:t.key)==="header"))==null?void 0:M.contents)==null?void 0:f.map(t=>t==null?void 0:t.label),g=(L=(F=(w=e==null?void 0:e.compData)==null?void 0:w.find(t=>(t==null?void 0:t.key)==="tableContents"))==null?void 0:F.contents)==null?void 0:L.map(t=>(t=t==null?void 0:t.filter(o=>!(o!=null&&o.id)),t));g==null||g.forEach(t=>{C.push(p.getValueToObjectValue(t,h==null?void 0:h.filter(o=>o!=="操作")))}),u[e.name]=C,u[e.name+"Content"]=e}});const k=x.cloneDeep(u)||[];return n={initialPipeLength:b,pipeRadius:_,clampLength:A,animationData:k},n},B=async n=>await p.downloadFile(n),S=async n=>await p.readCsv(n),X=async n=>{const a=await B(n);return await S(a)};exports.fetchDoubleRobotAnimationData=j;exports.fetchSingleRobotAnimationData=V;exports.getFormData=T;exports.getMenuData=D;exports.initXYZBCList=X;