ss-component-new 1.3.49 → 1.3.50

package/dist/{threeSceneViewForCPMPIP-WugeC6sT.cjs → threeSceneViewForCPMPIP-D6en-lGr.cjs}

@@ -1,4 +1,4 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),ee=require("./threeViewerHost-ZjhprZMr.cjs"),q=require("./iconfont-CNymCHn6.cjs"),J=require("./workpieceTreePanel-Di9vo3vC.cjs"),Ce=require("./index-Dqqp33r1.cjs"),h=require("./index-C5pQXH0_.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BimFR8f6.cjs");const te=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),U=require("./urdfTree-C_IB0S4H.cjs"),ne=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),g=require("./svgIcon-CDPAgQbj.cjs"),_e=require("./animationData-j8q9GL9s.cjs"),we=require("./MTLLoader-D-urUdrf.cjs"),Se={class:"panel-content"},Pe={key:0,class:"animation-controls"},Te={class:"control-row"},Be={class:"control-row"},xe={class:"frame-info"},ze={class:"control-row"},De={key:1,class:"empty-state"},Le={class:"dialog-footer"},je=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(P,{expose:m}){const y=P,s=e.ref([]),_=e.ref(!1),T=e.ref(""),i=e.ref("stopped"),f=e.ref(0),w=e.ref(0),b=e.ref(10),u=e.ref(null);let c=0;const V=e.ref([]),N=e.computed(()=>y.model?U.getNonFixedJoints(y.model).map(p=>p.name):[]),S=e.computed(()=>[...N.value]),H=e.computed(()=>S.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("vue"),ee=require("./threeViewerHost-DO4F_9O0.cjs"),q=require("./iconfont-D0Cr9kuj.cjs"),J=require("./workpieceTreePanel-BFPaqDJD.cjs"),Ce=require("./index-BZST7lPo.cjs"),h=require("./index-C5pQXH0_.cjs");require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DD10WrJ2.cjs");const te=require("./index.vue_vue_type_script_setup_true_lang-BKTJR2th.cjs"),U=require("./urdfTree-CnCpOTGQ.cjs"),ne=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),g=require("./svgIcon-CDPAgQbj.cjs"),_e=require("./animationData-h3_OEBhG.cjs"),we=require("./MTLLoader-CEOtxyh2.cjs"),Se={class:"panel-content"},Pe={key:0,class:"animation-controls"},Te={class:"control-row"},Be={class:"control-row"},xe={class:"frame-info"},ze={class:"control-row"},De={key:1,class:"empty-state"},Le={class:"dialog-footer"},je=e.defineComponent({__name:"urdfAnimationPanel",props:{model:{},scene:{},xyzbcList:{}},setup(P,{expose:m}){const y=P,s=e.ref([]),_=e.ref(!1),T=e.ref(""),i=e.ref("stopped"),f=e.ref(0),w=e.ref(0),b=e.ref(10),u=e.ref(null);let c=0;const V=e.ref([]),N=e.computed(()=>y.model?U.getNonFixedJoints(y.model).map(p=>p.name):[]),S=e.computed(()=>[...N.value]),H=e.computed(()=>S.value.length>0?`请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
 ${S.value.join("	")}
 0	0	0	...
 1	2	3	...`:"请先加载模型。"),$=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")},M=()=>{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"?M():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/{threeSceneViewForCPMPIP-BKeIA1xt.js → threeSceneViewForCPMPIP-vG44vNGe.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-Dn4RvDFi.js";
-import { u as Ge, a as He, b as Ie, C as We } from "./iconfont-CvYchHEP.js";
-import { U as Xe, u as Ye, a as Ze, W as qe } from "./workpieceTreePanel-jgqhd2py.js";
-import { c as Ke } from "./index-CwhxnRyA.js";
+import { s as pe } from "./threeViewerHost-CLtCJAE_.js";
+import { u as Ge, a as He, b as Ie, C as We } from "./iconfont-DCFi7bPb.js";
+import { U as Xe, u as Ye, a as Ze, W as qe } from "./workpieceTreePanel-BLpxZYf-.js";
+import { c as Ke } from "./index-CX12hzsx.js";
 import { E as _ } from "./index-B8HqIYd5.js";
-import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Dim6PXfX.js";
+import "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DCz-I5jm.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-D4JGxfMF.js";
+import { g as Qe, b as et, U as tt, J as lt, d as nt } from "./urdfTree-DrdQVTXa.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-B3clqdCz.js";
-import { O as ot } from "./MTLLoader-EdMOXCr9.js";
+import { i as at } from "./animationData-5o0D2SPA.js";
+import { O as ot } from "./MTLLoader-GkOcupU3.js";
 const st = { class: "panel-content" }, it = {
   key: 0,
   class: "animation-controls"

package/dist/{threeTrackPathView-Dx18ZIwF.js → threeTrackPathView-BaONHAhM.js}

@@ -1,16 +1,16 @@
-import { defineComponent as ce, computed as U, ref as k, resolveComponent as E, createElementBlock as ee, openBlock as X, createElementVNode as d, createVNode as p, withCtx as I, toDisplayString as j, shallowRef as Y, watch as Ee, onMounted as Xe, onBeforeUnmount as je, withDirectives as D, createCommentVNode as S, unref as A, renderSlot as ie, createBlock as le, vShow as Z, nextTick as Ne } from "vue";
-import { u as Ye, a as De, b as Ze, C as Be, f as Ie, d as re } from "./iconfont-CvYchHEP.js";
-import { J as O, T as Oe, bA as Ge, aw as qe, V as te, ay as ue, aL as fe, aR as Ke, aA as We, aQ as Je, aN as Re, aO as He, a4 as Qe, bB as Se } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Dim6PXfX.js";
-import "./index-CwhxnRyA.js";
-import { U as et, J as tt } from "./urdfTree-D4JGxfMF.js";
-import { E as B } from "./index-B8HqIYd5.js";
+import { defineComponent as ce, computed as U, ref as k, resolveComponent as E, createElementBlock as ee, openBlock as X, createElementVNode as d, createVNode as p, withCtx as B, toDisplayString as Y, shallowRef as Z, watch as Ee, onMounted as Xe, onBeforeUnmount as Ye, withDirectives as D, createCommentVNode as S, unref as A, renderSlot as ie, createBlock as le, vShow as I, nextTick as je } from "vue";
+import { u as Ze, a as De, b as Ie, C as Ne, f as Be, d as re } from "./iconfont-DCFi7bPb.js";
+import { Q as O, a1 as Oe, bI as Ge, aE as We, V as te, aG as ue, aT as fe, aZ as qe, aI as Ke, aY as Je, aV as Re, aW as He, ab as Qe, bJ as Se } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DCz-I5jm.js";
+import "./index-CX12hzsx.js";
+import { U as et, J as tt } from "./urdfTree-DrdQVTXa.js";
+import { E as N } from "./index-B8HqIYd5.js";
 import { _ as ve } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 import { T as w } from "./svgIcon-4u4PW7Is.js";
 import { i as nt } from "./isString-FfOeP713.js";
 function ot(e = 0.5, n = 4) {
   const o = new Oe(
     new Ge(e, n, 32),
-    new qe({
+    new We({
       color: "#919191ff",
       // 再提一档灰度
       metalness: 0.3,
@@ -63,7 +63,7 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
       s.value = g, de(a.knife, y, a.cloud);
     }, v = async () => {
       if (l.value.length === 0) {
-        B.error("无法播放动画：无数据");
+        N.error("无法播放动画：无数据");
         return;
       }
       if (!t.value) {
@@ -71,7 +71,7 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
         try {
           for (let g = s.value + 1; g < l.value.length && !f; g++)
             await new Promise((y) => setTimeout(y, r.value)), m(g);
-          f || B.success("动画播放完成");
+          f || N.success("动画播放完成");
         } catch (g) {
           console.error("动画播放出错:", g);
         } finally {
@@ -79,7 +79,7 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
         }
       }
     }, C = () => {
-      f = !0, t.value = !1, B.info("动画已停止");
+      f = !0, t.value = !1, N.info("动画已停止");
     }, P = (g) => {
       t.value && C(), m(g);
     }, _ = () => {
@@ -92,21 +92,21 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
     return n({ playAnimation: v, stopAnimation: C, forwardFrame: _, backwardFrame: T, resetAnimationFrame: h, reset: async () => {
       await C(), h();
     } }), (g, y) => {
-      const q = E("el-input-number"), K = E("el-form-item"), W = E("el-form"), J = E("el-slider");
+      const W = E("el-input-number"), q = E("el-form-item"), K = E("el-form"), J = E("el-slider");
       return X(), ee("div", it, [
         d("div", lt, [
           d("div", rt, [
-            p(W, {
+            p(K, {
               "label-width": "auto",
               style: { width: "100%" }
             }, {
-              default: I(() => [
-                p(K, {
+              default: B(() => [
+                p(q, {
                   label: "帧间隔 (ms):",
                   prop: "frameDuration"
                 }, {
-                  default: I(() => [
-                    p(q, {
+                  default: B(() => [
+                    p(W, {
                       modelValue: r.value,
                       "onUpdate:modelValue": y[0] || (y[0] = (M) => r.value = M),
                       min: 0,
@@ -123,7 +123,7 @@ const it = { class: "panel-content" }, lt = { class: "animation-controls" }, rt
           ]),
           d("div", ct, [
             y[2] || (y[2] = d("label", null, "当前帧:", -1)),
-            d("span", ut, j(s.value + 1) + " / " + j(l.value.length), 1)
+            d("span", ut, Y(s.value + 1) + " / " + Y(l.value.length), 1)
           ]),
           d("div", ft, [
             y[3] || (y[3] = d("label", null, "动画进度:", -1)),
@@ -283,11 +283,11 @@ function Lt(e) {
 function Vt(e) {
   const n = new ue();
   n.setAttribute("position", new fe(e, 3));
-  const o = new Ke({
+  const o = new qe({
     color: 55551,
     linewidth: 3
   });
-  return new We(n, o);
+  return new Ke(n, o);
 }
 function $t(e, n) {
   if (!n || n.length < 3)
@@ -324,7 +324,7 @@ function Xt(e) {
   }), l = new He(n, a);
   return a.needsUpdate = !0, l;
 }
-function jt(e, n) {
+function Yt(e, n) {
   if (!n)
     return;
   const { scene: o, camera: a, renderer: l, controls: t } = e();
@@ -337,7 +337,7 @@ function jt(e, n) {
   const r = Et(n, a, l, 0.1, 50);
   return s.material.size = r, s;
 }
-const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft" }, Dt = { class: "buttonGroup-left" }, Zt = { class: "buttonGroup-right" }, Bt = { class: "buttonGroup-bottom" }, It = { class: "left-panel" }, Ot = { class: "panel-header" }, Gt = { class: "panel-body" }, qt = { class: "right-panel" }, Kt = { class: "panel-header" }, Wt = { class: "panel-body" }, Jt = {
+const jt = { class: "obj-viewer-container" }, Zt = { class: "buttonGroup-topLeft" }, Dt = { class: "buttonGroup-left" }, It = { class: "buttonGroup-right" }, Nt = { class: "buttonGroup-bottom" }, Bt = { class: "left-panel" }, Ot = { class: "panel-header" }, Gt = { class: "panel-body" }, Wt = { class: "right-panel" }, qt = { class: "panel-header" }, Kt = { class: "panel-body" }, Jt = {
   key: 0,
   class: "loading-overlay"
 }, Rt = /* @__PURE__ */ ce({
@@ -348,7 +348,7 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
     trackFileType: {}
   },
   setup(e) {
-    const n = e, o = k(null), a = k(!1), l = k(""), t = k(), s = k(!1), r = k(""), f = k(!1), c = k(""), m = Y(null), v = Y(null), {
+    const n = e, o = k(null), a = k(!1), l = k(""), t = k(), s = k(!1), r = k(""), f = k(!1), c = k(""), m = Z(null), v = Z(null), {
       currentModels: C,
       resetView: P,
       initThreeJS: _,
@@ -357,12 +357,12 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
       cleanup: L,
       setModels: g,
       setAndFitModels: y,
-      axesHelperVisible: q,
-      toggleAxesVisibility: K,
-      zoomIn: W,
+      axesHelperVisible: W,
+      toggleAxesVisibility: q,
+      zoomIn: K,
       zoomOut: J
-    } = Ye(o), { isAnimating: M, toggleAnimation: me, startAnimation: Ht, stopAnimation: pe } = De(h, C), { isClipping: he, activeClippingAxis: ne, toggleClipping: ge, updateClippingPlanes: ye } = Ze(h, C), Ce = () => {
-      K();
+    } = Ze(o), { isAnimating: M, toggleAnimation: me, startAnimation: Ht, stopAnimation: pe } = De(h, C), { isClipping: he, activeClippingAxis: ne, toggleClipping: ge, updateClippingPlanes: ye } = Ie(h, C), Ce = () => {
+      q();
     }, we = (i) => {
       ne.value = i, ye();
     }, R = (i) => {
@@ -385,7 +385,7 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
       const i = n.fileBlobs || [];
       return i == null ? void 0 : i[0];
     });
-    let b = Y(), F = Y();
+    let b = Z(), F = Z();
     const Te = () => {
       const { scene: i } = h();
       b.value && i && (re(b.value, i), b.value = null);
@@ -399,13 +399,13 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
       if (URL.revokeObjectURL(u), nt($)) {
         Q.value = await Ut($, n.trackFileType) || [];
         const z = Q.value;
-        ke.value && (b.value = $t(h, z)), (be.value || _e.value || x.value) && (b.value = jt(h, z));
+        ke.value && (b.value = $t(h, z)), (be.value || _e.value || x.value) && (b.value = Yt(h, z));
       }
     }, Pe = async () => {
       var i, u;
       F.value = ot(), V.value = Lt(Q.value), V.value && V.value.length && (de(F.value, V.value[0], b.value, new O(16711680)), (u = (i = v.value) == null ? void 0 : i.add) == null || u.call(i, F.value));
     }, ae = async (i) => {
-      se(), await Ae(i), b.value && Ie(h, b.value), x.value && Pe();
+      se(), await Ae(i), b.value && Be(h, b.value), x.value && Pe();
     };
     Ee(() => oe.value, async (i) => {
       i && await ae(i);
@@ -429,32 +429,32 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
       var i;
       x.value && ((i = t == null ? void 0 : t.value) == null || i.backwardFrame());
     }, Ve = () => {
-      _(), Ne(() => {
-        o.value && (N = new ResizeObserver(T), N.observe(o.value));
+      _(), je(() => {
+        o.value && (j = new ResizeObserver(T), j.observe(o.value));
       });
       const i = h();
       v.value = i.scene, v.value && (v.value.name = "CPMPIP");
     }, $e = () => {
-      N && N.disconnect(), M.value && pe(), se(), L();
+      j && j.disconnect(), M.value && pe(), se(), L();
     };
-    let N = null;
+    let j = null;
     return Xe(async () => {
       try {
         Ve();
       } catch (i) {
-        console.error("Three.js 初始化失败:", i), B.error("渲染引擎初始化失败！");
+        console.error("Three.js 初始化失败:", i), N.error("渲染引擎初始化失败！");
       }
-    }), je(() => {
+    }), Ye(() => {
       $e();
     }), (i, u) => {
       const $ = E("el-scrollbar");
-      return X(), ee("div", Nt, [
+      return X(), ee("div", jt, [
         d("div", {
           ref_key: "threejsContainer",
           ref: o,
           class: "threejs-container"
         }, null, 512),
-        d("div", Yt, [
+        d("div", Zt, [
           p(w, {
             name: "viewReset",
             size: "24",
@@ -465,7 +465,7 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
             name: "fangda",
             size: "24",
             title: "放大",
-            onClick: A(W)
+            onClick: A(K)
           }, null, 8, ["onClick"]),
           p(w, {
             name: "suoxiao",
@@ -482,7 +482,7 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
           p(w, {
             name: "zuobiaoxi",
             size: "24",
-            active: A(q),
+            active: A(W),
             onClick: Ce,
             title: "显隐坐标轴"
           }, null, 8, ["active"])
@@ -504,7 +504,7 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
             title: "剖面视图"
           }, null, 8, ["active"])
         ]),
-        d("div", Zt, [
+        d("div", It, [
           ie(i.$slots, "button-right", { switchRightPanel: H }, void 0, !0),
           p(w, {
             name: "guanjiekongzhi",
@@ -521,7 +521,7 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
             active: f.value && c.value === "动画仿真"
           }, null, 8, ["active"])
         ]),
-        d("div", Bt, [
+        d("div", Nt, [
           p(w, {
             name: "kuaitui",
             size: "24",
@@ -551,9 +551,9 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
             onClick: Me
           })
         ]),
-        D(d("div", It, [
+        D(d("div", Bt, [
           d("div", Ot, [
-            d("span", null, j(r.value), 1),
+            d("span", null, Y(r.value), 1),
             d("span", {
               class: "close",
               onClick: u[4] || (u[4] = (z) => s.value = !1)
@@ -561,12 +561,12 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
           ]),
           d("div", Gt, [
             p($, { height: "100%" }, {
-              default: I(() => [
+              default: B(() => [
                 r.value === "场景树" ? (X(), le(et, {
                   key: 0,
                   model: m.value
                 }, null, 8, ["model"])) : S("", !0),
-                r.value === "剖面视图" ? (X(), le(Be, {
+                r.value === "剖面视图" ? (X(), le(Ne, {
                   key: 1,
                   value: A(ne),
                   onChange: we
@@ -576,21 +576,21 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
             })
           ])
         ], 512), [
-          [Z, s.value]
+          [I, s.value]
         ]),
-        D(d("div", qt, [
-          d("div", Kt, [
-            d("span", null, j(c.value), 1),
+        D(d("div", Wt, [
+          d("div", qt, [
+            d("span", null, Y(c.value), 1),
             d("span", {
               class: "close",
               onClick: u[5] || (u[5] = (z) => f.value = !1)
             }, " X ")
           ]),
-          d("div", Wt, [
+          d("div", Kt, [
             p($, { height: "100%" }, {
-              default: I(() => [
+              default: B(() => [
                 D(p(tt, { model: m.value }, null, 8, ["model"]), [
-                  [Z, c.value === "关节控制"]
+                  [I, c.value === "关节控制"]
                 ]),
                 D(p(dt, {
                   ref_key: "animationPanelRef",
@@ -599,18 +599,18 @@ const Nt = { class: "obj-viewer-container" }, Yt = { class: "buttonGroup-topLeft
                   knife: A(F),
                   vectors: V.value
                 }, null, 8, ["cloud", "knife", "vectors"]), [
-                  [Z, c.value === "动画仿真" && x.value]
+                  [I, c.value === "动画仿真" && x.value]
                 ])
               ]),
               _: 1
             })
           ])
         ], 512), [
-          [Z, f.value]
+          [I, f.value]
         ]),
         a.value ? (X(), ee("div", Jt, [
           u[6] || (u[6] = d("div", { class: "loading-spinner" }, null, -1)),
-          d("p", null, j(l.value), 1)
+          d("p", null, Y(l.value), 1)
         ])) : S("", !0)
       ]);
     };

package/dist/{threeTrackPathView-BE28zw_v.cjs → threeTrackPathView-CZTeW2Pq.cjs}

@@ -1 +1 @@
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g=l.value+1;g<a.value.length&&!f;g++)await new Promise(y=>setTimeout(y,c.value)),m(g);f||I.ElMessage.success("动画播放完成")}catch(g){console.error("动画播放出错:",g)}finally{n.value=!1}}},C=()=>{f=!0,n.value=!1,I.ElMessage.info("动画已停止")},N=g=>{n.value&&C(),m(g)},_=()=>{n.value&&C(),!(l.value+1>=a.value.length)&&m(l.value+1)},V=()=>{n.value&&C(),l.value!==0&&m(l.value-1)},h=()=>{l.value=0};return o({playAnimation:v,stopAnimation:C,forwardFrame:_,backwardFrame:V,resetAnimationFrame:h,reset:async()=>{await C(),h()}}),(g,y)=>{const L=e.resolveComponent("el-input-number"),B=e.resolveComponent("el-form-item"),D=e.resolveComponent("el-form"),$=e.resolveComponent("el-slider");return e.openBlock(),e.createElementBlock("div",ke,[e.createElementVNode("div",_e,[e.createElementVNode("div",Ve,[e.createVNode(D,{"label-width":"auto",style:{width:"100%"}},{default:e.withCtx(()=>[e.createVNode(B,{label:"帧间隔 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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,_,V,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]=(V=l==null?void 0:l.split)==null?void 0:V.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 $e(t){return Le(t)||Be(t)||De(t)}function je(t){const o=[],r=new Set(["X","Y","Z"]);return t.forEach(s=>{const a={x:0,y:0,z:0},n=s.trim();if(!n)return;let l=null,c="";for(let f=0;f<(n==null?void 0:n.length);f++){const u=n[f];if(u==="T")break;const m=r.has(u)?u:null,v=$e(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 qe(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(qe(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}),je(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,V=C/_*r.domElement.height*(s/4);return Math.min(.4,V)}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:V,getThreeJSObjects:h,cleanup:A,setModels:g,setAndFitModels:y,axesHelperVisible:L,toggleAxesVisibility:B,zoomIn:D,zoomOut:$}=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()},j=i=>{l.value=!0,c.value=i,i==="剖面视图"&&!J.value&&Q()},q=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 b=X.value;oe.value&&(k.value=Se(h,b)),(re.value||le.value||T.value)&&(k.value=Je(h,b))}},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(V),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($)},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.$slots,"button-left",{switchRightPanel:j},void 0,!0),e.createVNode(w.ThreeSvgIcon,{name:"jiegoushu",size:"24",onClick:d[0]||(d[0]=b=>j("场景树")),active:l.value&&c.value==="场景树",title:"场景树"},null,8,["active"]),e.createVNode(w.ThreeSvgIcon,{name:"clipping",size:"24",onClick:d[1]||(d[1]=b=>j("剖面视图")),active:l.value&&c.value==="剖面视图",title:"剖面视图"},null,8,["active"])]),e.createElementVNode("div",nt,[e.renderSlot(i.$slots,"button-right",{switchRightPanel:q},void 0,!0),e.createVNode(w.ThreeSvgIcon,{name:"guanjiekongzhi",size:"24",onClick:d[2]||(d[2]=b=>q("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]=b=>q("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]=b=>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]=b=>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/{threeViewerHost-Dn4RvDFi.js → threeViewerHost-CLtCJAE_.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 { e as W, u as A, p as D, s as $ } from "./index-CwhxnRyA.js";
-import { e as j, au as M, a7 as L } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Dim6PXfX.js";
+import { h as W, u as A, p as D, s as $ } from "./index-CX12hzsx.js";
+import { e as j, aC as M, ae as L } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DCz-I5jm.js";
 import { _ as G } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const re = {
   SINGLE: "单机",
@@ -35,10 +35,10 @@ const re = {
 });
 function Y() {
   const E = A(D), { platform: O } = $(E), y = z(D), i = ["uv", "cyd", "nc"], p = ["urdf"], n = ["obj", "stl"], P = [...i, ...p, ...n], f = (e) => {
-    if (!g())
+    if (!C())
       throw new Error("不是三维系统");
     y.setData(e);
-  }, _ = () => y.getData(), g = () => O.value === "three", c = (e) => j(e), h = (e) => {
+  }, _ = () => y.getData(), C = () => O.value === "three", c = (e) => j(e), h = (e) => {
     if (!e)
       return !1;
     const r = c(e);
@@ -68,20 +68,20 @@ function Y() {
       isUv: o === "uv",
       isNc: o === "nc"
     };
-  }, C = (e) => {
+  }, g = (e) => {
     if (!e)
       return !1;
     const r = c(e);
     return p == null ? void 0 : p.includes(r);
-  }, k = (e) => g() && h(e), t = (e) => ({
+  }, k = (e) => C() && h(e), t = (e) => ({
     url: e,
     extension: c(e)
   });
   return {
     getData: _,
     setData: f,
-    isThreeSystem: g,
-    isUrdf: C,
+    isThreeSystem: C,
+    isUrdf: g,
     isGeneralFile: S,
     isTrackPathFile: v,
     isThreeFile: h,
@@ -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-FqQJ7ZrG.js")), y = b(() => import("./threePreview-Bg9IDV16.js")), i = b(() => import("./threeTrackPathView-Dx18ZIwF.js")), p = b(() => import("./threeSceneViewForCPMPIP-BKeIA1xt.js")), n = E, P = A(D), { platName: f } = $(P), { isUrdf: _, isTrackPathFile: g } = Y(), c = I(() => {
+    const O = b(() => import("./threeSceneView-DsioOlOb.js")), y = b(() => import("./threePreview-CAXTHct3.js")), i = b(() => import("./threeTrackPathView-BaONHAhM.js")), p = b(() => import("./threeSceneViewForCPMPIP-vG44vNGe.js")), n = E, P = A(D), { platName: f } = $(P), { isUrdf: _, isTrackPathFile: C } = Y(), c = I(() => {
       var t;
       return (t = n == null ? void 0 : n.files) == null ? void 0 : t.map((s) => {
         const { url: e } = s;
@@ -137,21 +137,21 @@ const q = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
           case "preview":
             return a.PREVIEW;
         }
-      return (f == null ? void 0 : f.value) === M.CPMPIP && _(h.value) ? a.CPMPIP_SCENE : (f == null ? void 0 : f.value) === M.ROBOT && _(h.value) ? a.ROBOT_SCENE : g(h.value) && S.value ? a.TRACK_PATH : a.PREVIEW;
-    }), l = R([]), C = R(!1);
+      return (f == null ? void 0 : f.value) === M.CPMPIP && _(h.value) ? a.CPMPIP_SCENE : (f == null ? void 0 : f.value) === M.ROBOT && _(h.value) ? a.ROBOT_SCENE : C(h.value) && S.value ? a.TRACK_PATH : a.PREVIEW;
+    }), l = R([]), g = R(!1);
     async function k(t) {
       if (!t || !t.length) {
         l.value = [];
         return;
       }
-      C.value = !0;
+      g.value = !0;
       try {
         const s = await Promise.all(t.map((e) => L(e)));
         l.value = s;
       } catch (s) {
         console.error("文件下载时发生错误:", s), l.value = [];
       } finally {
-        C.value = !1;
+        g.value = !1;
       }
     }
     return H(
@@ -213,7 +213,7 @@ const q = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
         ]),
         _: 3
       }, 8, ["fileBlobs"])) : V("", !0),
-      C.value ? (T(), N("div", Q, " 文件下载中，请稍候... ")) : V("", !0)
+      g.value ? (T(), N("div", Q, " 文件下载中，请稍候... ")) : V("", !0)
     ]));
   }
 }), Z = /* @__PURE__ */ G(X, [["__scopeId", "data-v-9798f55b"]]), oe = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.defineProperty({

package/dist/{threeViewerHost-ZjhprZMr.cjs → threeViewerHost-DO4F_9O0.cjs}

@@ -1 +1 @@
-"use strict";const e=require("vue"),d=require("./index-Dqqp33r1.cjs"),S=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BimFR8f6.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-D9GroZ9j.cjs"))),P=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-rZ-Mn3yx.cjs"))),c=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-BE28zw_v.cjs"))),m=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-WugeC6sT.cjs"))),r=v,T=d.useMenuState(d.pinia),{platName:f}=d.storeToRefs(T),{isUrdf:y,isTrackPathFile:C}=I(),l=e.computed(()=>{var n;return(n=r==null?void 0:r.files)==null?void 0:n.map(s=>{const{url:t}=s;return t})}),p=e.computed(()=>{var t;const n=(t=r==null?void 0:r.files)==null?void 0:t[0];return(n==null?void 0:n.extension)||""}),E=e.computed(()=>{var n,s;return(s=(n=r==null?void 0:r.threeData)==null?void 0:n.data)==null?void 0:s.trackFileType}),h=e.computed(()=>{if(r.componentType)switch(r.componentType){case"robot":return i.ROBOT_SCENE;case"track":return i.TRACK_PATH;case"cpmpip":return i.CPMPIP_SCENE;case"preview":return i.PREVIEW}return(f==null?void 0:f.value)===S.platNameConstants.CPMPIP&&y(p.value)?i.CPMPIP_SCENE:(f==null?void 0:f.value)===S.platNameConstants.ROBOT&&y(p.value)?i.ROBOT_SCENE:C(p.value)&&E.value?i.TRACK_PATH:i.PREVIEW}),u=e.ref([]),_=e.ref(!1);async function B(n){if(!n||!n.length){u.value=[];return}_.value=!0;try{const s=await Promise.all(n.map(t=>S.downloadFile(t)));u.value=s}catch(s){console.error("文件下载时发生错误:",s),u.value=[]}finally{_.value=!1}}return e.watch(()=>l.value,async n=>{await B(n||[])},{immediate:!0,deep:!0}),(n,s)=>(e.openBlock(),e.createElementBlock("div",N,[e.createElementVNode("div",V,[e.renderSlot(n.$slots,"top-menu",{},void 0,!0)]),h.value===e.unref(i).ROBOT_SCENE?(e.openBlock(),e.createBlock(e.unref(g),{key:0,fileBlobs:u.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData"])):h.value===e.unref(i).TRACK_PATH?(e.openBlock(),e.createBlock(e.unref(c),{key:1,fileBlobs:u.value,threeData:r.threeData,trackFileType:E.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData","trackFileType"])):h.value===e.unref(i).CPMPIP_SCENE?(e.openBlock(),e.createBlock(e.unref(m),{key:2,fileBlobs:u.value,threeData:r.threeData},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs","threeData"])):h.value===e.unref(i).PREVIEW?(e.openBlock(),e.createBlock(e.unref(P),{key:3,fileBlobs:u.value},{"button-left":e.withCtx(()=>[e.renderSlot(n.$slots,"management-menu",{},void 0,!0)]),"button-right":e.withCtx(()=>[e.renderSlot(n.$slots,"management-page",{},void 0,!0)]),_:3},8,["fileBlobs"])):e.createCommentVNode("",!0),_.value?(e.openBlock(),e.createElementBlock("div",A," 文件下载中，请稍候... ")):e.createCommentVNode("",!0)]))}}),O=D._export_sfc(M,[["__scopeId","data-v-9798f55b"]]),H=Object.freeze(Object.defineProperty({__proto__:null,default:O},Symbol.toStringTag,{value:"Module"}));exports.ThreeViewerHost=O;exports.robotMode=F;exports.sceneType=R;exports.threeViewerHost=H;exports.useThreeState=b;exports.useThreeSystem=I;
+"use strict";const e=require("vue"),d=require("./index-BZST7lPo.cjs"),S=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DD10WrJ2.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-BUb8pd-o.cjs"))),P=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threePreview-rc0Y3L69.cjs"))),c=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeTrackPathView-CZTeW2Pq.cjs"))),m=e.defineAsyncComponent(()=>Promise.resolve().then(()=>require("./threeSceneViewForCPMPIP-D6en-lGr.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-C_IB0S4H.cjs → urdfTree-CnCpOTGQ.cjs}

@@ -1 +1 @@
-"use strict";const n=require("vue"),k=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-BimFR8f6.cjs"),x=require("./_plugin-vue_export-helper-BHFhmbuH.cjs"),J=(o,a)=>{if(!a)return null;const i=o.joints[a];return i||null},V=(o,a)=>{if(!a)return null;const i=J(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},F=(o,a)=>{if(!a)return null;const i=o.links[a];return i||null},L=(o,a)=>{if(!a)return null;const i=F(o,a);if(!i)return null;let u=null;return i.traverse(c=>{c instanceof k.Mesh&&!u&&(u=c)}),u},E=o=>{const a=o.joints;return Object.values(a)},M=o=>E(o).filter(u=>u.jointType!=="fixed"),N=o=>{const a=o.links;return Object.keys(a)},w={class:"panel-content"},B={key:0,class:"joints-list"},b={class:"joint-info-row"},I={class:"joint-left"},S={class:"joint-name"},C={class:"joint-range"},D={class:"joint-type"},P={key:0,class:"joint-control-row"},T={class:"slider-container"},U=["min","max","value","onInput"],A={class:"value-display"},R={class:"joint-value"},q={class:"unit"},O={key:1,class:"empty-state"},K=n.defineComponent({__name:"urdfJointPanel",props:{model:{}},setup(o,{expose:a}){const i=o,u=n.ref([]),c=n.ref(null),f=(r,e=!1)=>r==="revolute"?e?Math.PI:-Math.PI:r==="prismatic"?e?1:-1:0,h=r=>{if(!r||!r.joints)return console.warn("URDF模型无效或不包含关节信息"),[];const e=[];return E(r).forEach(l=>{var d,p;if(l.jointType==="fixed")return;let t={lower:((d=l.limit)==null?void 0:d.lower)??f(l.jointType,!1),upper:((p=l.limit)==null?void 0:p.upper)??f(l.jointType,!0)};l.jointType==="continuous"&&(t={lower:-10*Math.PI,upper:10*Math.PI}),e.push({name:l.name,type:l.jointType||"unknown",limit:t,currentValue:l.angle||0,urdfJoint:l})}),e},m=(r,e)=>{var d;const s=u.value.find(p=>p.name===r);if(!s)return;const l=parseFloat(e),t=Math.max(s.limit.lower,Math.min(s.limit.upper,l));s.currentValue=t,(d=i.model)!=null&&d.setJointValue?i.model.setJointValue(r,t):s.urdfJoint.setJointValue(t)},_=()=>{u.value.forEach(r=>{(r.type==="revolute"||r.type==="continuous"||r.type==="prismatic")&&m(r.name,0)})},g=()=>{i.model&&u.value.forEach(r=>{r.urdfJoint.angle!==void 0&&r.currentValue!==r.urdfJoint.angle&&(r.currentValue=r.urdfJoint.angle)})},v=()=>{const r=()=>{g(),c.value=requestAnimationFrame(r)};r()},y=()=>{c.value&&(cancelAnimationFrame(c.value),c.value=null)};return n.watch(()=>i.model,r=>{r?u.value=h(r):u.value=[]},{immediate:!0}),n.onMounted(()=>{v()}),n.onUnmounted(()=>{y()}),a({resetAllJoints:_}),(r,e)=>(n.openBlock(),n.createElementBlock("div",w,[u.value.length>0?(n.openBlock(),n.createElementBlock("div",B,[(n.openBlock(!0),n.createElementBlock(n.Fragment,null,n.renderList(u.value,s=>(n.openBlock(),n.createElementBlock("div",{key:s.name,class:"joint-item"},[n.createElementVNode("div",b,[n.createElementVNode("div",I,[n.createElementVNode("span",S,n.toDisplayString(s.name),1),n.createElementVNode("span",C," ["+n.toDisplayString(s.limit.lower.toFixed(2))+", "+n.toDisplayString(s.limit.upper.toFixed(2))+"] ",1)]),n.createElementVNode("span",D,n.toDisplayString(s.type),1)]),s.type==="revolute"||s.type==="prismatic"||s.type==="continuous"?(n.openBlock(),n.createElementBlock("div",P,[n.createElementVNode("div",T,[n.createElementVNode("input",{type:"range",min:s.limit.lower,max:s.limit.upper,step:"0.001",value:s.currentValue,onInput:l=>m(s.name,l.target.value),class:"joint-slider"},null,40,U)]),n.createElementVNode("div",A,[n.createElementVNode("span",R,n.toDisplayString(s.currentValue?Number(s.currentValue).toFixed(3):"0.000"),1),n.createElementVNode("span",q,n.toDisplayString(s.type==="prismatic"?"m":"rad"),1)])])):n.createCommentVNode("",!0)]))),128))])):(n.openBlock(),n.createElementBlock("div",O,e[0]||(e[0]=[n.createElementVNode("p",null,"未检测到可控制的关节",-1)])))]))}}),$=x._export_sfc(K,[["__scopeId","data-v-750b831d"]]),H={class:"panel-content"},z="id",G={__name:"urdfTree",props:{model:Object,maxExpandCount:{type:Number,default:10},expandStrategy:{type:String,default:"breadth",validator:o=>["breadth","firstLevel"].includes(o)}},emits:["nodeClick"],setup(o,{emit:a}){const i=o,u=a,c=n.ref([]),f={children:"children",label:"label"},h=e=>{u("nodeClick",e)},m=(e,s=0)=>{const l=[];return Array.isArray(e)&&(e==null?void 0:e.length)>0&&e.forEach(t=>{if(!(t!=null&&t.isMesh)&&((t==null?void 0:t.type)==="URDFJoint"||(t==null?void 0:t.type)==="URDFLink")){const d={name:t==null?void 0:t.name,label:t==null?void 0:t.name,show:!0,level:s+1,isPenultimate:!1,type:t==null?void 0:t.type,id:t==null?void 0:t.id,limit:(t==null?void 0:t.limit)??"",children:m(t==null?void 0:t.children,s+1),path:t==null?void 0:t.name};l.push(d)}}),l},_=e=>e?[{name:e==null?void 0:e.name,label:e==null?void 0:e.name,show:!0,level:1,isPenultimate:!1,type:e==null?void 0:e.type,id:e==null?void 0:e.id,limit:(e==null?void 0:e.limit)??"",children:m(e==null?void 0:e.children,1)||[],path:e==null?void 0:e.name}]:[],g=(e,s)=>{const l=[],t=[...e];for(;t.length>0&&l.length<s;){const d=t.shift();d.children&&d.children.length>0&&(l.push(d.id),t.push(...d.children))}return l},v=(e,s)=>{const l=[];return e.forEach(t=>{if(t.children&&t.children.length>0){l.push(t.id);const d=t.children.filter(p=>p.children&&p.children.length>0).slice(0,s).map(p=>p.id);l.push(...d)}}),l.slice(0,s+1)},y=n.computed(()=>!c.value||c.value.length===0?[]:i.expandStrategy==="firstLevel"?v(c.value,i.maxExpandCount):g(c.value,i.maxExpandCount)),r=n.computed(()=>[{name:"场景",label:"场景",show:!0,level:1,isPenultimate:!1,type:"场景",id:"场景",children:i!=null&&i.model?_(i.model):[],path:"场景"}]);return n.watch(r,e=>{c.value=JSON.parse(JSON.stringify(e))},{immediate:!0}),(e,s)=>{const l=n.resolveComponent("el-tree");return n.openBlock(),n.createElementBlock("div",H,[n.createVNode(l,{data:c.value,props:f,"default-expanded-keys":y.value,"node-key":z,onNodeClick:h},null,8,["data","default-expanded-keys"])])}}},Q=x._export_sfc(G,[["__scopeId","data-v-cfde50c3"]]);exports.JointPanel=$;exports.UrdfTree=Q;exports.getAllLinkName=N;exports.getMeshFromJoint=V;exports.getMeshFromLink=L;exports.getNonFixedJoints=M;exports.getTargetJoint=J;
+"use strict";const n=require("vue"),k=require("./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DD10WrJ2.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-D4JGxfMF.js → urdfTree-DrdQVTXa.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 { T as V } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Dim6PXfX.js";
+import { a1 as V } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DCz-I5jm.js";
 import { _ as b } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const D = (i, a) => {
   if (!a)