ss-component-new 1.3.417 → 1.3.419

package/dist/{workpieceTreePanel-C2xo_k1w.cjs → workpieceTreePanel-Bb50LklL.cjs}

@@ -1 +1 @@
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c(v){r.value&&r.value.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(0))}),r.value=v,v.obj.traverse(u=>{var t;u.material&&((t=u.material.emissive)==null||t.set(65280))})}function f(v){const u=b.value.getBoundingClientRect();p.x=(v.clientX-u.left)/u.width*2-1,p.y=-((v.clientY-u.top)/u.height)*2+1,_.setFromCamera(p,m);const t=_.intersectObjects(o.value,!0);if(t.length===0)return;let s=t[0].object,w=null;for(;s;){if(g.has(s.id)){w=g.get(s.id);break}s=s.parent}w&&c(w)}function V(){b.value&&b.value.removeEventListener("click",f,!1)}function a(){const{scene:v,camera:u}=i();m=u,h(),b.value&&b.value.addEventListener("click",f,!1)}function d(v){r.value&&(r.value.obj.visible=v)}function E(v){var s;const{axis:u,value:t}=v;D.updateObjectPosition((s=r.value)==null?void 0:s.obj,u,t)}function R(v){var s;const{axis:u,value:t}=v;D.updateObjectRotation((s=r.value)==null?void 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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;
+"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-CwOpxnra.cjs"),S=require("./MTLLoader-BOJhMACs.cjs"),N=require("./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-Bbd43Yfo.cjs"),e=require("vue"),D=require("./iconfont-CBTcCzEn.cjs"),se=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),le="http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";function re(b){const{mtlUrl:i,manager:o,resourcePath:l,onLoad:m,onProgress:r,onError:_}=b,p=new S.MTLLoader(o);return l&&p.setResourcePath(l),p.load(i,m,r,_),p}function ie(b){const{objUrl:i,manager:o,materials:l,onLoad:m,onProgress:r,onError:_}=b,p=new S.OBJLoader(o);return l&&p.setMaterials(l),p.load(i,m,r,_),p}function ne(b){const{manager:i,baseFolderUrl:o,onFileProgress:l}=b,m=new oe.URDFLoader(i);return 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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 e.openBlock(),e.createElementBlock("div",ue,[e.createVNode(w,null,{default:e.withCtx(()=>s[6]||(s[6]=[e.createTextVNode("对象")])),_:1,__:[6]}),e.createElementVNode("div",me,[o.model?(e.openBlock(),e.createElementBlock("div",pe,[e.createElementVNode("div",{class:"obj-name",title:R.value},e.toDisplayString(R.value),9,ve),e.createElementVNode("div",{class:"obj-type",title:v.value},"["+e.toDisplayString(v.value)+"]",9,fe)])):(e.openBlock(),e.createElementBlock("div",be,"空")),e.createVNode(n,{"model-value":u.value,onChange:d},null,8,["model-value"])]),e.createVNode(w,null,{default:e.withCtx(()=>s[7]||(s[7]=[e.createTextVNode("相对位置")])),_:1,__:[7]}),e.createElementVNode("div",we,[e.createElementVNode("div",_e,[s[8]||(s[8]=e.createElementVNode("span",{class:"axis-label"},"X",-1)),e.createVNode(y,{"model-value":c((U=(j=r.value)==null?void 0:j.position)==null?void 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0:x.z),onChange:s[2]||(s[2]=L=>V(L,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(w,null,{default:e.withCtx(()=>s[11]||(s[11]=[e.createTextVNode("相对旋转")])),_:1,__:[11]}),e.createElementVNode("div",Ee,[e.createElementVNode("div",ge,[s[12]||(s[12]=e.createElementVNode("span",{class:"axis-label"},"X°",-1)),e.createVNode(y,{"model-value":f((O=(J=r.value)==null?void 0:J.rotation)==null?void 0:O.x),onChange:s[3]||(s[3]=L=>a(L,"x")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",ye,[s[13]||(s[13]=e.createElementVNode("span",{class:"axis-label"},"Y°",-1)),e.createVNode(y,{"model-value":f((T=(k=r.value)==null?void 0:k.rotation)==null?void 0:T.y),onChange:s[4]||(s[4]=L=>a(L,"y")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])]),e.createElementVNode("div",Ne,[s[14]||(s[14]=e.createElementVNode("span",{class:"axis-label"},"Z°",-1)),e.createVNode(y,{"model-value":f((z=(P=r.value)==null?void 0:P.rotation)==null?void 0:z.z),onChange:s[5]||(s[5]=L=>a(L,"z")),size:"small",class:"coord-input-compact",precision:3,step:.1,controls:!0,"controls-position":"right"},null,8,["model-value"])])]),e.createVNode(w,null,{default:e.withCtx(()=>s[15]||(s[15]=[e.createTextVNode("世界信息")])),_:1,__:[15]}),e.createElementVNode("div",Le,[e.createElementVNode("div",Re,[s[16]||(s[16]=e.createElementVNode("span",{class:"coord-label"},"世界位置:",-1)),e.createElementVNode("span",je,[e.createElementVNode("div",Ce,e.toDisplayString(c((A=(B=r.value)==null?void 0:B.worldPosition)==null?void 0:A.x))+", ",1),e.createElementVNode("div",De,e.toDisplayString(c((I=(q=r.value)==null?void 0:q.worldPosition)==null?void 0:I.y))+", ",1),e.createElementVNode("div",Se,e.toDisplayString(c((G=(W=r.value)==null?void 0:W.worldPosition)==null?void 0:G.z)),1)])]),e.createElementVNode("div",Ue,[s[17]||(s[17]=e.createElementVNode("span",{class:"coord-label"},"世界旋转:",-1)),e.createElementVNode("span",Fe,[e.createElementVNode("div",$e,e.toDisplayString(f((Y=(X=r.value)==null?void 0:X.worldRotation)==null?void 0:Y.x))+"°, ",1),e.createElementVNode("div",Me,e.toDisplayString(f((K=(Z=r.value)==null?void 0:Z.worldRotation)==null?void 0:K.y))+"°, ",1),e.createElementVNode("div",xe,e.toDisplayString(f((Q=(H=r.value)==null?void 0:H.worldRotation)==null?void 0:Q.z))+"° ",1)])])])])}}}),Oe=se._export_sfc(Je,[["__scopeId","data-v-00d48931"]]);exports.URDFRobotController=de;exports.WorkpieceTreePanel=Oe;exports.useRaycaster=ce;exports.useUrdfLoader=ae;

package/package.json

@@ -1,7 +1,7 @@
 {
 	"name": "ss-component-new",
 	"private": false,
-	"version": "1.3.417",
+	"version": "1.3.419",
 	"type": "module",
 	"files": [
 		"dist",