ss-component-new 1.3.614 → 1.3.615

package/dist/urdfTree-DU02c_91.js

@@ -1,254 +0,0 @@
-import { defineComponent as I, ref as F, watch as M, onMounted as C, onUnmounted as E, openBlock as m, createElementBlock as f, Fragment as P, renderList as T, createElementVNode as d, toDisplayString as h, createCommentVNode as U, computed as L, resolveComponent as S, createVNode as A } from "vue";
-import { h as V } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-Dp7tIi0S.js";
-import { _ as b } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-const D = (i, a) => {
-  if (!a)
-    return null;
-  const l = i.joints[a];
-  return l || null;
-}, ae = (i, a) => {
-  if (!a)
-    return null;
-  const l = D(i, a);
-  if (!l)
-    return null;
-  let o = null;
-  return l.traverse((u) => {
-    u instanceof V && !o && (o = u);
-  }), o;
-}, N = (i, a) => {
-  if (!a)
-    return null;
-  const l = i.links[a];
-  return l || null;
-}, ie = (i, a) => {
-  if (!a)
-    return null;
-  const l = N(i, a);
-  if (!l)
-    return null;
-  let o = null;
-  return l.traverse((u) => {
-    u instanceof V && !o && (o = u);
-  }), o;
-}, w = (i) => {
-  const a = i.joints;
-  return Object.values(a);
-}, oe = (i) => w(i).filter((o) => o.jointType !== "fixed"), ue = (i) => {
-  const a = i.links;
-  return Object.keys(a);
-}, R = { class: "panel-content" }, O = {
-  key: 0,
-  class: "joints-list"
-}, K = { class: "joint-info-row" }, B = { class: "joint-left" }, q = { class: "joint-name" }, $ = { class: "joint-range" }, z = { class: "joint-type" }, G = {
-  key: 0,
-  class: "joint-control-row"
-}, H = { class: "slider-container" }, Q = ["min", "max", "value", "onInput"], W = { class: "value-display" }, X = { class: "joint-value" }, Y = { class: "unit" }, Z = {
-  key: 1,
-  class: "empty-state"
-}, j = /* @__PURE__ */ I({
-  __name: "urdfJointPanel",
-  props: {
-    model: {}
-  },
-  setup(i, { expose: a }) {
-    const l = i, o = F([]), u = F(null), _ = (n, e = !1) => n === "revolute" ? e ? Math.PI : -Math.PI : n === "prismatic" ? e ? 1 : -1 : 0, y = (n) => {
-      if (!n || !n.joints)
-        return console.warn("URDF模型无效或不包含关节信息"), [];
-      const e = [];
-      return w(n).forEach((r) => {
-        var c, p;
-        if (r.jointType === "fixed")
-          return;
-        let t = {
-          lower: ((c = r.limit) == null ? void 0 : c.lower) ?? _(r.jointType, !1),
-          upper: ((p = r.limit) == null ? void 0 : p.upper) ?? _(r.jointType, !0)
-        };
-        r.jointType === "continuous" && (t = {
-          lower: -10 * Math.PI,
-          upper: 10 * Math.PI
-        }), e.push({
-          name: r.name,
-          type: r.jointType || "unknown",
-          limit: t,
-          currentValue: r.angle || 0,
-          urdfJoint: r
-        });
-      }), e;
-    }, v = (n, e) => {
-      var c;
-      const s = o.value.find((p) => p.name === n);
-      if (!s) return;
-      const r = parseFloat(e), t = Math.max(s.limit.lower, Math.min(s.limit.upper, r));
-      s.currentValue = t, (c = l.model) != null && c.setJointValue ? l.model.setJointValue(n, t) : s.urdfJoint.setJointValue(t);
-    }, g = () => {
-      o.value.forEach((n) => {
-        (n.type === "revolute" || n.type === "continuous" || n.type === "prismatic") && v(n.name, 0);
-      });
-    }, J = () => {
-      l.model && o.value.forEach((n) => {
-        n.urdfJoint.angle !== void 0 && n.currentValue !== n.urdfJoint.angle && (n.currentValue = n.urdfJoint.angle);
-      });
-    }, x = () => {
-      const n = () => {
-        J(), u.value = requestAnimationFrame(n);
-      };
-      n();
-    }, k = () => {
-      u.value && (cancelAnimationFrame(u.value), u.value = null);
-    };
-    return M(
-      () => l.model,
-      (n) => {
-        n ? o.value = y(n) : o.value = [];
-      },
-      { immediate: !0 }
-    ), C(() => {
-      x();
-    }), E(() => {
-      k();
-    }), a({
-      resetAllJoints: g
-    }), (n, e) => (m(), f("div", R, [
-      o.value.length > 0 ? (m(), f("div", O, [
-        (m(!0), f(P, null, T(o.value, (s) => (m(), f("div", {
-          key: s.name,
-          class: "joint-item"
-        }, [
-          d("div", K, [
-            d("div", B, [
-              d("span", q, h(s.name), 1),
-              d("span", $, " [" + h(s.limit.lower.toFixed(2)) + ", " + h(s.limit.upper.toFixed(2)) + "] ", 1)
-            ]),
-            d("span", z, h(s.type), 1)
-          ]),
-          s.type === "revolute" || s.type === "prismatic" || s.type === "continuous" ? (m(), f("div", G, [
-            d("div", H, [
-              d("input", {
-                type: "range",
-                min: s.limit.lower,
-                max: s.limit.upper,
-                step: "0.001",
-                value: s.currentValue,
-                onInput: (r) => v(s.name, r.target.value),
-                class: "joint-slider"
-              }, null, 40, Q)
-            ]),
-            d("div", W, [
-              d("span", X, h(s.currentValue ? Number(s.currentValue).toFixed(3) : "0.000"), 1),
-              d("span", Y, h(s.type === "prismatic" ? "m" : "rad"), 1)
-            ])
-          ])) : U("", !0)
-        ]))), 128))
-      ])) : (m(), f("div", Z, [...e[0] || (e[0] = [
-        d("p", null, "未检测到可控制的关节", -1)
-      ])]))
-    ]));
-  }
-}), ce = /* @__PURE__ */ b(j, [["__scopeId", "data-v-b1467983"]]), ee = { class: "panel-content" }, te = "id", se = {
-  __name: "urdfTree",
-  props: {
-    model: Object,
-    maxExpandCount: {
-      type: Number,
-      default: 10
-    },
-    expandStrategy: {
-      type: String,
-      default: "breadth",
-      validator: (i) => ["breadth", "firstLevel"].includes(i)
-    }
-  },
-  emits: ["nodeClick"],
-  setup(i, { emit: a }) {
-    const l = i, o = a, u = F([]), _ = {
-      children: "children",
-      label: "label"
-    }, y = (e) => {
-      o("nodeClick", e);
-    }, v = (e, s = 0) => {
-      const r = [];
-      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 c = {
-            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: v(t == null ? void 0 : t.children, s + 1),
-            path: t == null ? void 0 : t.name
-          };
-          r.push(c);
-        }
-      }), r;
-    }, g = (e) => e ? [{
-      name: e == null ? void 0 : e.name,
-      label: e == null ? void 0 : e.name,
-      show: !0,
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-      type: e == null ? void 0 : e.type,
-      id: e == null ? void 0 : e.id,
-      limit: (e == null ? void 0 : e.limit) ?? "",
-      children: v(e == null ? void 0 : e.children, 1) || [],
-      path: e == null ? void 0 : e.name
-    }] : [], J = (e, s) => {
-      const r = [], t = [...e];
-      for (; t.length > 0 && r.length < s; ) {
-        const c = t.shift();
-        c.children && c.children.length > 0 && (r.push(c.id), t.push(...c.children));
-      }
-      return r;
-    }, x = (e, s) => {
-      const r = [];
-      return e.forEach((t) => {
-        if (t.children && t.children.length > 0) {
-          r.push(t.id);
-          const c = t.children.filter((p) => p.children && p.children.length > 0).slice(0, s).map((p) => p.id);
-          r.push(...c);
-        }
-      }), r.slice(0, s + 1);
-    }, k = L(() => !u.value || u.value.length === 0 ? [] : l.expandStrategy === "firstLevel" ? x(u.value, l.maxExpandCount) : J(u.value, l.maxExpandCount)), n = L(() => [{
-      name: "场景",
-      label: "场景",
-      show: !0,
-      level: 1,
-      isPenultimate: !1,
-      type: "场景",
-      id: "场景",
-      children: l != null && l.model ? g(l.model) : [],
-      path: "场景"
-    }]);
-    return M(
-      n,
-      (e) => {
-        u.value = JSON.parse(JSON.stringify(e));
-      },
-      { immediate: !0 }
-    ), (e, s) => {
-      const r = S("el-tree");
-      return m(), f("div", ee, [
-        A(r, {
-          data: u.value,
-          props: _,
-          "default-expanded-keys": k.value,
-          "node-key": te,
-          onNodeClick: y
-        }, null, 8, ["data", "default-expanded-keys"])
-      ]);
-    };
-  }
-}, de = /* @__PURE__ */ b(se, [["__scopeId", "data-v-cfde50c3"]]);
-export {
-  ce as J,
-  de as U,
-  ae as a,
-  ue as b,
-  D as c,
-  ie as d,
-  oe as g
-};