ss-component-new 1.3.614 → 1.3.615

package/dist/threeSceneView-CWlU0pao.js

@@ -1,1290 +0,0 @@
-import { defineComponent as Le, ref as h, watch as ae, shallowRef as be, computed as Pe, onUnmounted as Ie, resolveComponent as U, openBlock as Q, createElementBlock as Ve, createElementVNode as u, createVNode as l, withCtx as M, createBlock as ye, unref as X, createCommentVNode as ke, toDisplayString as he, onMounted as Ge, onBeforeUnmount as Ze, Fragment as He, renderList as qe, nextTick as Ke, withDirectives as pe, vShow as de, renderSlot as Me } from "vue";
-import { r as Te, s as Ye } from "./threeViewerHost-BPdmCSow.js";
-import { u as Ne, a as Qe, b as et, C as tt } from "./iconfont-BJYdStg5.js";
-import { U as lt, u as ot, W as nt, a as at } from "./workpieceTreePanel-XH9mYAT2.js";
-import { c as st } from "./index-B8NQAdR4.js";
-import { av as it, E as j, aM as rt, aN as ct } from "./request-BfrhYBTM.js";
-/* empty css                                               */
-import { o as De, T as xe, V as D, n as H, s as ut, p as pt, h as Se, t as dt, L as mt, u as vt, v as ft, w as gt, x as ht, y as bt, z as yt, l as _t, F as wt } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-Dp7tIi0S.js";
-import "./index-BskHs38T.js";
-import "./index-dD-mKgue.js";
-import { _ as me } from "./index.vue_vue_type_script_setup_true_lang-DwbHXtUp.js";
-import { y as Be, z as Ct, A as kt } from "./index-BvyM6d06.js";
-import "./index-BmHnPjUq.js";
-import "./index-CYjsE5Gs.js";
-import { f as Pt, a as xt, g as Rt, b as Mt } from "./animationData-F0z3GN7j.js";
-import { g as Tt, a as Vt, b as Dt, c as St, U as At, J as $t } from "./urdfTree-DU02c_91.js";
-import { _ as Ue } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-import { s as Ft } from "./index-DJrzqi4-.js";
-import { T as Y } from "./svgIcon-4m2zaZkj.js";
-const I = 1e-3, oe = pt.degToRad, je = new dt({
-  // 灰色
-  color: 13421772,
-  metalness: 0.3,
-  roughness: 0.6,
-  side: _t
-});
-function zt(y = 5e-3, v = 64) {
-  const d = new De([new D(0, 0, 0), new D(0, 0, 0)]), n = new xe(d, v, y, 16, !1), m = je;
-  return new Se(n, m);
-}
-const Je = (y) => y.reduce((v, d) => {
-  let n = 0;
-  const m = d.Y ?? 0, _ = d.C ?? 0, s = d.R ?? 0;
-  return m > 0 && (n += m), _ > 0 && s > 0 && (n += s * oe(_)), v + n;
-}, 0), We = (y) => {
-  const v = [], d = y.Y ?? 0, n = y.B ?? 0, m = y.C ?? 0, _ = y.R ?? 0, s = {
-    pos: new D(0, 0, 0),
-    localY: new D(0, 1, 0),
-    localX: new D(1, 0, 0),
-    localZ: new D(0, 0, 1)
-  };
-  if (!d && !m) return v;
-  if (v.push(s.pos.clone()), n !== 0) {
-    const b = new H().makeRotationAxis(s.localY, oe(n));
-    s.localX.applyMatrix4(b), s.localZ.applyMatrix4(b);
-  }
-  if (d > 0 && (s.pos.add(s.localY.clone().multiplyScalar(d * I)), v.push(s.pos.clone())), m > 0 && _ > 0) {
-    const b = oe(m), f = _ * I, w = s.pos.clone().add(s.localX.clone().multiplyScalar(-f)), a = Math.max(16, Math.ceil(m / 5));
-    for (let C = 1; C <= a; C++) {
-      const p = b * C / a, k = new H().makeRotationAxis(s.localZ, p), c = s.localX.clone().multiplyScalar(f).applyMatrix4(k), T = w.clone().add(c);
-      v.push(T);
-    }
-  }
-  return v;
-};
-function Yt(y, v) {
-  const d = new ut();
-  d.name = "CompletePipe";
-  const n = {
-    pos: new D(0, 0, 0),
-    localX: new D(1, 0, 0),
-    localY: new D(0, 1, 0),
-    localZ: new D(0, 0, 1)
-  };
-  let m = 0, _ = 1;
-  for (let s = 0; s < y.length; s++) {
-    const b = y[s], f = b.Y ?? 0, w = b.B ?? 0, a = b.C ?? 0, C = b.R ?? 0;
-    if (w !== 0) {
-      const p = new H().makeRotationAxis(n.localY, oe(w));
-      n.localX.applyMatrix4(p), n.localZ.applyMatrix4(p);
-    }
-    if (f > 0) {
-      const p = n.pos.clone();
-      n.pos.add(n.localY.clone().multiplyScalar(f * I));
-      const k = n.pos.clone(), r = Lt(p, k, v * I);
-      r.userData = {
-        segmentType: "straight",
-        segmentIndex: m,
-        frameIndex: s,
-        length: f,
-        frame: { Y: f, B: w, C: a, R: C }
-      }, r.name = `直段_${m}`, d.add(r);
-      const c = p.clone();
-      Bt(d, _, c, v * I), m++;
-    }
-    if (a > 0 && C > 0) {
-      const p = oe(a), k = C * I, r = [];
-      r.push(n.pos.clone());
-      const c = n.pos.clone().add(n.localX.clone().multiplyScalar(-k)), T = Math.max(16, Math.ceil(a / 5));
-      for (let g = 1; g <= T; g++) {
-        const V = p * g / T, B = new H().makeRotationAxis(n.localZ, V), Z = n.localX.clone().multiplyScalar(k).applyMatrix4(B), ee = c.clone().add(Z);
-        r.push(ee);
-      }
-      const A = Ut(r, v * I);
-      A.userData = {
-        segmentType: "bend",
-        segmentIndex: m,
-        frameIndex: s,
-        angle: a,
-        radius: C,
-        centerPoint: c.toArray(),
-        frame: { Y: f, B: w, C: a, R: C }
-      }, A.name = `弯段_${m}`, d.add(A), Math.floor(r.length / 2), r[0], n.pos = r[r.length - 1].clone();
-      const $ = new H().makeRotationAxis(n.localZ, p);
-      n.localY.applyMatrix4($), n.localX.applyMatrix4($), m++, _++;
-    }
-  }
-  return d;
-}
-function Bt(y, v, d, n) {
-  const m = new D(0, n * 2, n * 5), _ = d.clone().add(m), s = [d, _], b = new vt().setFromPoints(s), f = new ft({
-    color: 16711680,
-    dashSize: n * 0.5,
-    gapSize: n * 0.3,
-    linewidth: 1
-  }), w = new gt(b, f);
-  w.computeLineDistances(), y.add(w);
-  const a = document.createElement("canvas"), C = a.getContext("2d");
-  a.width = 128, a.height = 128, C.clearRect(0, 0, 128, 128), C.fillStyle = "#FF0000", C.font = "bold 80px Arial", C.textAlign = "center", C.textBaseline = "middle", C.fillText(v.toString(), 64, 64);
-  const p = new ht(a), k = new bt({
-    map: p,
-    transparent: !0,
-    depthTest: !1,
-    depthWrite: !1
-  }), r = new yt(k), c = n * 3;
-  r.scale.set(c, c, 1), r.position.copy(_), r.name = `Label_${v}`, r.userData = { labelNumber: v }, y.add(r);
-}
-function Lt(y, v, d) {
-  const n = new mt(y, v), m = new xe(n, 2, d, 18, !1);
-  return new Se(m, je);
-}
-function Ut(y, v) {
-  const d = new De(y, !1, "catmullrom", 0.01), n = new xe(d, Math.max(16, y.length * 2), v, 18, !1);
-  return new Se(n, je);
-}
-function Ee(y, v, d, n, m, _ = 0) {
-  let s = v.slice(0, m + 1);
-  const b = v[m + 1];
-  if (b && _ > 0) {
-    const r = {
-      ...b,
-      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
-      B: (b.B ?? 0) * _,
-      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
-      C: (b.C ?? 0) * _
-    };
-    s.push(r);
-  }
-  const f = Je(s), w = Math.max(0, d - f), a = [];
-  a.push(new D(0, 0, 0));
-  const C = new D(0, w * I, 0);
-  w > 0 && a.push(C);
-  let p = {
-    pos: C.clone(),
-    localY: new D(0, 1, 0),
-    localX: new D(1, 0, 0),
-    localZ: new D(0, 0, 1)
-  };
-  const k = [];
-  for (let r = s.length - 1; r >= 0; r--) {
-    const c = s[r], T = We(c);
-    if (T.length > 0) {
-      const A = T.map((B) => {
-        const L = B.clone(), Z = new H();
-        return Z.makeBasis(p.localX, p.localY, p.localZ), L.applyMatrix4(Z), L.add(p.pos);
-      });
-      k.push(A);
-      const $ = A[A.length - 1];
-      p.pos = $.clone();
-      const g = c.B ?? 0, V = c.C ?? 0;
-      if (g !== 0) {
-        const B = new H().makeRotationAxis(p.localY, oe(g));
-        p.localX.applyMatrix4(B), p.localZ.applyMatrix4(B);
-      }
-      if (V > 0) {
-        const B = oe(V), L = new H().makeRotationAxis(p.localZ, B);
-        p.localY.applyMatrix4(L), p.localX.applyMatrix4(L);
-      }
-    }
-  }
-  for (const r of k)
-    r.length > 1 && a.push(...r.slice(1));
-  a.length < 2 && a.push(new D(0, 1e-3, 0));
-  try {
-    const r = new De(a, !1, "catmullrom", 0.01), c = new xe(r, Math.max(2, a.length * 4), n * I, 18, !1);
-    y.geometry.dispose(), y.geometry = c;
-  } catch (r) {
-    console.error("管件更新失败", r);
-  }
-}
-function Oe(y, v, d, n = 0) {
-  let m = y.slice(0, d + 1);
-  const _ = y[d + 1];
-  if (_ && n > 0) {
-    const p = {
-      ..._,
-      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
-      B: (_.B ?? 0) * n,
-      // 根据插值因子计算当前的弯曲角度C，实现从0到目标角度的平滑过渡
-      C: (_.C ?? 0) * n
-    };
-    m.push(p);
-  }
-  const s = Je(m), b = Math.max(0, v - s), f = [];
-  f.push(new D(0, 0, 0));
-  const w = new D(0, b * I, 0);
-  b > 0 && f.push(w);
-  let a = {
-    pos: w.clone(),
-    localY: new D(0, 1, 0),
-    localX: new D(1, 0, 0),
-    localZ: new D(0, 0, 1)
-  };
-  const C = [];
-  for (let p = m.length - 1; p >= 0; p--) {
-    const k = m[p], r = We(k);
-    if (r.length > 0) {
-      const c = r.map((g) => {
-        const V = g.clone(), B = new H();
-        return B.makeBasis(a.localX, a.localY, a.localZ), V.applyMatrix4(B), V.add(a.pos);
-      });
-      C.push(c);
-      const T = c[c.length - 1];
-      a.pos = T.clone();
-      const A = k.B ?? 0, $ = k.C ?? 0;
-      if (A !== 0) {
-        const g = new H().makeRotationAxis(a.localY, oe(A));
-        a.localX.applyMatrix4(g), a.localZ.applyMatrix4(g);
-      }
-      if ($ > 0) {
-        const g = oe($), V = new H().makeRotationAxis(a.localZ, g);
-        a.localY.applyMatrix4(V), a.localX.applyMatrix4(V);
-      }
-    }
-  }
-  for (const p of C)
-    p.length > 1 && f.push(...p.slice(1));
-  return f.length < 2 && f.push(new D(0, 1e-3, 0)), f;
-}
-function Xe(y, v, d, n, m, _, s, b = 0, f = 0) {
-  const w = m - f, a = Oe(n, w, s, b);
-  let p = Oe(d, f, s, b);
-  p.forEach((r) => r.y = -r.y), p.reverse();
-  const k = [...p, ...a];
-  try {
-    const r = new De(k, !1, "catmullrom", 0.01), c = new xe(r, Math.max(2, k.length * 4), _ * I, 18, !1);
-    v.geometry.dispose(), y.geometry.dispose(), v.parent && v.parent.remove(v), y.geometry = c;
-  } catch (r) {
-    console.error("管件更新失败", r);
-  }
-}
-const jt = { class: "panel-content" }, Et = { class: "action-bar" }, Ot = { class: "animation-controls" }, Xt = { class: "control-row" }, Gt = { class: "control-row" }, Zt = { class: "frame-info" }, Nt = { class: "control-row" }, Jt = { class: "progress-bar" }, Wt = { class: "dialog-footer" }, It = /* @__PURE__ */ Le({
-  __name: "animationPanel",
-  props: {
-    model: {},
-    threeData: {}
-  },
-  setup(y, { expose: v }) {
-    const d = y, n = h(), m = h();
-    ae(() => d.threeData, (e) => {
-      const o = e == null ? void 0 : e.data;
-      m.value = o == null ? void 0 : o.type;
-    }, {
-      immediate: !0
-    });
-    const _ = async () => {
-      let e = {};
-      m.value === Te.SINGLE && (e = await Pt()), m.value === Te.DOUBLE && (e = await xt());
-      const {
-        initialPipeLength: o = 0,
-        pipeRadius: t = 0,
-        clampLength: i = 0,
-        animationData: R
-      } = e;
-      $.value = o, g.value = t, V.value = i, n.value = R;
-      const x = st(n.value), le = fe(G.value), K = (x == null ? void 0 : x["输出（动画数据）"]) || [];
-      s.value = K.length ? K : [le];
-    }, s = h([]), b = h(!1), f = h(""), w = h(!1), a = h(0), C = h(0), p = h(1e3);
-    let k = !1;
-    const r = h(null), c = be(null), T = be(null), A = be(null), $ = h(0), g = h(12.5), V = h(30), B = h([]), L = h(null), Z = Pe(() => d.model ? Tt(d.model).map((t) => t.name) : []), ee = h(["Y", "B", "C", "R"]), G = Pe(() => [...Z.value, ...ee.value]), _e = Pe(() => G.value.length > 0 ? `请按以下格式粘贴数据 (第一行为表头，使用 Tab 分隔):
-${G.value.join("	")}
-0	0	0	...
-1	2	3	...` : "请先加载模型。"), ve = () => s.value.map((e) => ({
-      Y: parseFloat(e.Y) || 0,
-      B: parseFloat(e.B) || 0,
-      C: parseFloat(e.C) || 0,
-      R: parseFloat(e.R) || 0
-    })), se = () => {
-      const e = [], o = [];
-      return s.value.forEach((t) => {
-        const { Y1: i, B1: R, C1: x, R1: le, Y2: K, B2: ue, C2: Ce, R2: z } = t;
-        e.push({
-          Y: parseFloat(i) || 0,
-          B: parseFloat(R) || 0,
-          C: parseFloat(x) || 0,
-          R: parseFloat(le) || 0
-        }), o.push({
-          Y: parseFloat(K) || 0,
-          B: parseFloat(ue) || 0,
-          C: parseFloat(Ce) || 0,
-          R: parseFloat(z) || 0
-        });
-      }), {
-        posPipeYbcr: e,
-        negPipeYbcr: o
-      };
-    }, S = (e = 0, o = 0) => {
-      if (c.value && T.value) {
-        const t = se();
-        Xe(
-          c.value,
-          T.value,
-          t.posPipeYbcr,
-          t.negPipeYbcr,
-          $.value,
-          g.value,
-          e,
-          o,
-          V.value
-        );
-      } else if (c.value) {
-        const t = ve();
-        Ee(c.value, t, $.value, g.value, e, o);
-      }
-    }, P = (e) => {
-      if (e < 0 || e >= s.value.length) {
-        console.error(`帧索引 ${e} 超出范围`);
-        return;
-      }
-      const o = s.value[e];
-      if (console.log(`应用第 ${e} 帧数据 ${o}`), a.value = e, r.value) {
-        const t = {};
-        Z.value.forEach((i) => {
-          const R = parseFloat(o[i]);
-          isNaN(R) || (t[i] = R);
-        }), r.value.setJointAngles(t);
-      }
-      S(e, 0);
-    }, N = async () => {
-      if (s.value.length === 0) {
-        j.error("无法播放动画：无数据");
-        return;
-      }
-      if (!w.value) {
-        w.value = !0, k = !1, s.value.length - 1 === a.value && (a.value = 0);
-        try {
-          for (let e = a.value + 1; e < s.value.length && !k; e++) {
-            a.value = e;
-            const o = s.value[e], t = {};
-            r.value && Z.value.forEach((i) => {
-              const R = parseFloat(o[i]);
-              isNaN(R) || (t[i] = R);
-            }), r.value ? await r.value.animateToState(
-              t,
-              p.value,
-              (i) => {
-                C.value = (e + i) / s.value.length * 100, S(e - 1, i);
-              }
-            ) : (await new Promise((i) => setTimeout(i, p.value)), C.value = (e + 1) / s.value.length * 100);
-          }
-          k || j.success("动画播放完成");
-        } catch (e) {
-          console.error("动画播放出错:", e), j.error("动画播放出错");
-        } finally {
-          w.value = !1, C.value = 0;
-        }
-      }
-    }, E = () => {
-      k = !0, w.value = !1, C.value = 0, j.info("动画已停止");
-    }, J = () => {
-      a.value = 0;
-    }, O = () => {
-      if (c.value && T.value) {
-        const e = se();
-        Xe(
-          c.value,
-          T.value,
-          e.posPipeYbcr,
-          e.negPipeYbcr,
-          $.value,
-          g.value,
-          -1,
-          0,
-          V.value
-        );
-      } else if (c.value) {
-        const e = ve();
-        Ee(
-          c.value,
-          e,
-          $.value,
-          g.value,
-          -1,
-          0
-        );
-      }
-    }, te = () => {
-      r.value && r.value.resetToZero(), O(), J(), j.success("机器人和管件已重置");
-    }, q = (e) => `第 ${e + 1} 帧`, W = (e) => {
-      w.value && E(), P(e);
-    }, ie = () => {
-      w.value && E(), !(a.value + 1 >= s.value.length) && P(a.value + 1);
-    }, F = () => {
-      w.value && E(), a.value !== 0 && P(a.value - 1);
-    }, ne = () => {
-      A.value && (A.value.visible = !0), c.value && c.value.parent && c.value.parent.remove(c.value), A.value = null, c.value = null, T.value = null;
-    }, fe = (e) => e == null ? void 0 : e.reduce((o, t) => (o[t] = "0", o), {});
-    ae(G, (e, o) => {
-      if (JSON.stringify(e) !== JSON.stringify(o))
-        if (e.length > 0) {
-          const t = fe(e);
-          s.value = [t];
-        } else
-          s.value = [];
-    }, { immediate: !0 });
-    const re = h(0), we = (e) => {
-      re.value = e;
-    }, Ae = (e, o) => {
-      if (!e || !o)
-        return;
-      const t = St(e, o), i = zt();
-      i.visible = !1, t == null || t.add(i);
-    }, $e = (e) => {
-      r.value = new lt(e), B.value = Dt(e), L.value = "Pipe_Joint";
-    }, ce = () => {
-      r.value = null, B.value = [], L.value = null;
-    }, ge = (e) => {
-      $e(e), Ae(e, L.value), we(re.value + 1), te();
-    };
-    ae(() => d.model, (e) => {
-      if (ne(), e) {
-        ge(e);
-        return;
-      }
-      ce();
-    }, { immediate: !0 });
-    const Re = (e) => {
-      var t, i;
-      const o = new Se(
-        e.geometry.clone(),
-        e.material
-      );
-      return o.name = "managed_pipe_clone", (i = (t = e == null ? void 0 : e.parent) == null ? void 0 : t.add) == null || i.call(t, o), o.position.copy(e.position), o.rotation.copy(e.rotation), o.scale.copy(e.scale), o;
-    };
-    ae([L, V, $, re], ([e, o]) => {
-      if (ne(), d.model && e) {
-        const t = Vt(d.model, e);
-        if (console.log(t, "meshToReplace"), t && t.parent) {
-          A.value = t, t.visible = !1;
-          const i = Re(t);
-          if (m.value === Te.SINGLE && (i.position.y -= o * 1e-3), c.value = i, m.value === Te.DOUBLE) {
-            const R = Re(t);
-            T.value = R;
-          }
-          S(0, 0);
-        } else
-          e && console.warn(`在 link '${e}' 中未找到可替换的网格或其没有父级。`);
-      }
-    });
-    const Fe = async () => {
-      if (G.value.length === 0) {
-        j.warning("没有可导出的表头");
-        return;
-      }
-      const e = G.value.join("	");
-      try {
-        await navigator.clipboard.writeText(e), j.success("表头已成功复制到剪贴板！");
-      } catch (o) {
-        console.error("复制失败:", o), j.error("复制失败，请检查浏览器权限或手动复制。");
-      }
-    }, ze = () => {
-      if (!f.value.trim()) {
-        j.warning("导入内容不能为空");
-        return;
-      }
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