ss-component-new 1.3.615 → 1.3.616

package/dist/threeSceneView-DkImpdm3.js

@@ -0,0 +1,1291 @@
+import { defineComponent as Le, ref as h, watch as ae, shallowRef as be, computed as Pe, onUnmounted as Ie, resolveComponent as U, createElementBlock as Ve, openBlock as Q, createElementVNode as u, createVNode as l, withCtx as M, createBlock as ye, createCommentVNode as ke, unref as X, 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-BBXv1FPJ.js";
+import { u as Ne, a as Qe, b as et, C as tt } from "./iconfont-BnmSp7qc.js";
+import { U as lt, u as ot, a as nt, W as at } from "./workpieceTreePanel-DEEMKY1v.js";
+import { c as st } from "./index-D8UY4uNQ.js";
+import { av as it, E as j, aM as rt, aN as ct } from "./request-B1c8BUkR.js";
+/* empty css                                               */
+import { p as De, T as xe, V as D, n as H, o as ut, s 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-X_k372gl.js";
+import "./index-v9NjEtsA.js";
+import "./index-BHtNKL1L.js";
+import { _ as me } from "./index.vue_vue_type_script_setup_true_lang-DRzriV-s.js";
+import { y as Be, z as Ct, A as kt } from "./index-DsdWSuDi.js";
+import "./index-SQa7vB3n.js";
+import "./index-D9xMYIes.js";
+import { f as Pt, a as xt, g as Rt, b as Mt } from "./animationData-CJQE6_nu.js";
+import { g as Tt, a as Vt, b as Dt, c as St, U as At, J as $t } from "./urdfTree-D0Iom75E.js";
+import { _ as Ue } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+import { s as Ft } from "./index-11kpzK0A.js";
+import { T as Y } from "./svgIcon-4u4PW7Is.js";
+const I = 1e-3, oe = ut.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 pt();
+  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;
+      }
+      const e = f.value.trim().split(`
+`).filter((x) => x.trim() !== "");
+      if (e.length < 2) {
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+            onClick: i[1] || (i[1] = (x) => ce("剖面视图")),
+            active: b.value && f.value === "剖面视图",
+            title: "剖面视图"
+          }, null, 8, ["active"]),
+          l(Y, {
+            name: "zhaozi",
+            size: "24",
+            onClick: i[2] || (i[2] = (x) => ce("工件树")),
+            active: b.value && f.value === "工件树",
+            title: "工件 "
+          }, null, 8, ["active"]),
+          l(Y, {
+            name: "donghuafangzhen",
+            size: "24",
+            onClick: i[3] || (i[3] = (x) => ce("场景4"))
+          })
+        ]),
+        u("div", fl, [
+          Me(t.$slots, "button-right", { switchRightPanel: ge }, void 0, !0),
+          l(Y, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          l(Y, {
+            name: "donghuafangzhen",
+            size: "24"
+          }),
+          l(Y, {
+            name: "guanjiekongzhi",
+            size: "24",
+            onClick: i[4] || (i[4] = (x) => ge("关节控制")),
+            active: w.value && a.value === "关节控制",
+            title: "关节控制"
+          }, null, 8, ["active"]),
+          l(Y, {
+            name: "donghuafangzhen",
+            size: "24",
+            title: "动画仿真",
+            onClick: i[5] || (i[5] = (x) => ge("动画仿真")),
+            active: w.value && a.value === "动画仿真"
+          }, null, 8, ["active"]),
+          l(Y, {
+            name: "donghuafangzhen",
+            size: "24",
+            title: "urdf动画",
+            onClick: i[6] || (i[6] = (x) => ge("urdf动画")),
+            active: w.value && a.value === "urdf动画"
+          }, null, 8, ["active"]),
+          l(Y, {
+            name: "donghuafangzhen",
+            size: "24"
+          })
+        ]),
+        u("div", gl, [
+          l(Y, {
+            name: "kuaitui",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快退",
+            onClick: e
+          }),
+          l(Y, {
+            name: "bofang",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "播放",
+            onClick: Re
+          }),
+          l(Y, {
+            name: "kuaijin",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "快进",
+            onClick: ze
+          }),
+          l(Y, {
+            name: "zanting",
+            size: "24",
+            backgroundColor: "#ffffff",
+            title: "暂停",
+            onClick: Fe
+          })
+        ]),
+        pe(u("div", hl, [
+          u("div", bl, [
+            u("span", null, he(p.value), 1),
+            u("span", {
+              class: "close",
+              onClick: i[7] || (i[7] = (x) => C.value = !1)
+            }, " X ")
+          ]),
+          u("div", yl, [
+            l(R, { height: "100%" }, {
+              default: M(() => [
+                Me(t.$slots, "top-panel", { topPanelType: p.value }, void 0, !0)
+              ]),
+              _: 3
+            })
+          ])
+        ], 512), [
+          [de, C.value]
+        ]),
+        pe(u("div", _l, [
+          u("div", wl, [
+            u("span", null, he(f.value), 1),
+            u("span", {
+              class: "close",
+              onClick: i[8] || (i[8] = (x) => b.value = !1)
+            }, " X ")
+          ]),
+          u("div", Cl, [
+            l(R, { height: "100%" }, {
+              default: M(() => {
+                var x;
+                return [
+                  f.value === "场景树" ? (Q(), ye(At, {
+                    key: 0,
+                    model: k.value
+                  }, null, 8, ["model"])) : ke("", !0),
+                  f.value === "剖面视图" ? (Q(), ye(tt, {
+                    key: 1,
+                    value: X(J),
+                    onChange: we
+                  }, null, 8, ["value"])) : ke("", !0),
+                  f.value === "工件树" ? (Q(), ye(at, {
+                    key: 2,
+                    model: (x = X(W)) == null ? void 0 : x.obj,
+                    onVisibleChange: X(ie),
+                    onUpdatePosition: X(F),
+                    onUpdateRotation: X(ne)
+                  }, null, 8, ["model", "onVisibleChange", "onUpdatePosition", "onUpdateRotation"])) : ke("", !0)
+                ];
+              }),
+              _: 1
+            })
+          ])
+        ], 512), [
+          [de, b.value]
+        ]),
+        pe(u("div", kl, [
+          u("div", Pl, [
+            u("span", null, he(a.value), 1),
+            u("span", {
+              class: "close",
+              onClick: i[9] || (i[9] = (x) => w.value = !1)
+            }, " X ")
+          ]),
+          u("div", xl, [
+            l(R, { height: "100%" }, {
+              default: M(() => [
+                pe(l($t, { model: k.value }, null, 8, ["model"]), [
+                  [de, a.value === "关节控制"]
+                ]),
+                pe(l(Ht, {
+                  ref_key: "animationPanelRef",
+                  ref: c,
+                  model: k.value,
+                  threeData: v.threeData
+                }, null, 8, ["model", "threeData"]), [
+                  [de, a.value === "动画仿真"]
+                ]),
+                Me(t.$slots, "right-panel", { rightPanelType: a.value }, void 0, !0)
+              ]),
+              _: 3
+            })
+          ])
+        ], 512), [
+          [de, w.value]
+        ]),
+        _.value ? (Q(), Ve("div", Rl, [
+          i[10] || (i[10] = u("div", { class: "loading-spinner" }, null, -1)),
+          u("p", null, he(s.value), 1)
+        ])) : ke("", !0),
+        l(rl, {
+          ref_key: "pipeAnalysisPanelRef",
+          ref: m
+        }, null, 512)
+      ]);
+    };
+  }
+}), Jl = /* @__PURE__ */ Ue(Ml, [["__scopeId", "data-v-ec34be42"]]);
+export {
+  Jl as default
+};