ss-component-new 1.3.615 → 1.3.617

package/dist/{threeTrackPathView-DT80eKxv.js → threeTrackPathView-Bw6e-quT.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 Y, shallowRef as D, watch as Ee, onMounted as Xe, onBeforeUnmount as Ye, withDirectives as N, createCommentVNode as S, unref as A, renderSlot as ae, createBlock as le, vShow as Z, nextTick as je } from "vue";
-import { u as De, C as Ne, f as Ze, d as re } from "./iconfont-DZGSkx-_.js";
-import { u as Be, d as Ie, U as Oe, J as Ge } from "./urdfTree-Bu7OVUsr.js";
-import { C as O, h as qe, b0 as Ke, t as We, V as te, u as ue, Y as fe, a2 as Je, w as Re, a1 as He, _ as Qe, $ as Se, o as et, b1 as tt } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-X_k372gl.js";
-import "./index-D8UY4uNQ.js";
-import { E as B } from "./request-B1c8BUkR.js";
+import { defineComponent as ce, computed as U, ref as k, resolveComponent as E, openBlock as X, createElementBlock as ee, createElementVNode as d, createVNode as p, withCtx as I, toDisplayString as Y, shallowRef as D, watch as Ee, onMounted as Xe, onBeforeUnmount as Ye, unref as A, renderSlot as ae, withDirectives as N, createBlock as le, createCommentVNode as S, vShow as Z, nextTick as je } from "vue";
+import { u as De, a as Ne, b as Ze, C as Be, f as Ie, d as re } from "./iconfont-BJYdStg5.js";
+import { C as O, h as Oe, b0 as Ge, t as qe, V as te, u as ue, Y as fe, a2 as Ke, w as We, a1 as Je, _ as Re, $ as He, p as Qe, b1 as Se } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-Dp7tIi0S.js";
+import "./index-B8NQAdR4.js";
+import { U as et, J as tt } from "./urdfTree-DU02c_91.js";
+import { E as B } from "./request-BfrhYBTM.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-BlNsHiyU.js";
+import { T as w } from "./svgIcon-4m2zaZkj.js";
+import { i as nt } from "./isString-Dxm3W5iX.js";
 function ot(e = 0.5, n = 4) {
-  const o = new qe(
-    new Ke(e, n, 32),
-    new We({
+  const o = new Oe(
+    new Ge(e, n, 32),
+    new qe({
       color: "#919191ff",
       // 再提一档灰度
       metalness: 0.3,
@@ -283,11 +283,11 @@ function Lt(e) {
 function $t(e) {
   const n = new ue();
   n.setAttribute("position", new fe(e, 3));
-  const o = new Je({
+  const o = new Ke({
     color: 55551,
     linewidth: 3
   });
-  return new Re(n, o);
+  return new We(n, o);
 }
 function Vt(e, n) {
   if (!n || n.length < 3)
@@ -304,7 +304,7 @@ function Et(e, n, o, i = 4, l = 50) {
     const L = e[h], g = e[h + 1], y = e[h + 2];
     t = Math.min(t, L), s = Math.max(s, L), r = Math.min(r, g), f = Math.max(f, g), c = Math.min(c, y), m = Math.max(m, y);
   }
-  const C = Math.sqrt((s - t) ** 2 + (f - r) ** 2 + (m - c) ** 2) * 0.05, P = et.degToRad(n.fov), _ = 2 * Math.tan(P / 2) * l, T = C / _ * o.domElement.height * (i / 4);
+  const C = Math.sqrt((s - t) ** 2 + (f - r) ** 2 + (m - c) ** 2) * 0.05, P = Qe.degToRad(n.fov), _ = 2 * Math.tan(P / 2) * l, T = C / _ * o.domElement.height * (i / 4);
   return Math.min(0.4, T);
 }
 function Xt(e) {
@@ -315,13 +315,13 @@ function Xt(e) {
   const o = new Float32Array(e.length);
   for (let t = 0; t < e.length; t += 3)
     o[t] = 0, o[t + 1] = 0.847, o[t + 2] = 1;
-  n.setAttribute("color", new He(o, 3));
-  const i = new Qe({
+  n.setAttribute("color", new Je(o, 3));
+  const i = new Re({
     vertexColors: !0,
     size: 0.4,
     // 像素世界单位
     sizeAttenuation: !0
-  }), l = new Se(n, i);
+  }), l = new He(n, i);
   return i.needsUpdate = !0, l;
 }
 function Yt(e, n) {
@@ -361,7 +361,7 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
       toggleAxesVisibility: K,
       zoomIn: W,
       zoomOut: J
-    } = De(o), { isAnimating: M, toggleAnimation: me, stopAnimation: pe } = Be(h, C), { isClipping: he, activeClippingAxis: ne, toggleClipping: ge, updateClippingPlanes: ye } = Ie(h, C), Ce = () => {
+    } = De(o), { isAnimating: M, toggleAnimation: me, startAnimation: Ht, stopAnimation: pe } = Ne(h, C), { isClipping: he, activeClippingAxis: ne, toggleClipping: ge, updateClippingPlanes: ye } = Ze(h, C), Ce = () => {
       K();
     }, we = (a) => {
       ne.value = a, ye();
@@ -395,7 +395,7 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
     }, se = () => {
       Te(), ze();
     }, Ae = async (a) => {
-      const u = URL.createObjectURL(a), V = await tt(u);
+      const u = URL.createObjectURL(a), V = await Se(u);
       if (URL.revokeObjectURL(u), nt(V)) {
         Q.value = await Ut(V, n.trackFileType) || [];
         const z = Q.value;
@@ -405,7 +405,7 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
       var a, u;
       F.value = ot(), $.value = Lt(Q.value), $.value && $.value.length && (de(F.value, $.value[0], b.value, new O(16711680)), (u = (a = v.value) == null ? void 0 : a.add) == null || u.call(a, F.value));
     }, ie = async (a) => {
-      se(), await Ae(a), b.value && Ze(h, b.value), x.value && Pe();
+      se(), await Ae(a), b.value && Ie(h, b.value), x.value && Pe();
     };
     Ee(() => oe.value, async (a) => {
       a && await ie(a);
@@ -562,11 +562,11 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
           d("div", Gt, [
             p(V, { height: "100%" }, {
               default: I(() => [
-                r.value === "场景树" ? (X(), le(Oe, {
+                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(Ne, {
+                r.value === "剖面视图" ? (X(), le(Be, {
                   key: 1,
                   value: A(ne),
                   onChange: we
@@ -589,7 +589,7 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
           d("div", Wt, [
             p(V, { height: "100%" }, {
               default: I(() => [
-                N(p(Ge, { model: m.value }, null, 8, ["model"]), [
+                N(p(tt, { model: m.value }, null, 8, ["model"]), [
                   [Z, c.value === "关节控制"]
                 ]),
                 N(p(dt, {
@@ -615,7 +615,7 @@ const jt = { class: "obj-viewer-container" }, Dt = { class: "buttonGroup-topLeft
       ]);
     };
   }
-}), ln = /* @__PURE__ */ ve(Rt, [["__scopeId", "data-v-7178b621"]]);
+}), rn = /* @__PURE__ */ ve(Rt, [["__scopeId", "data-v-7178b621"]]);
 export {
-  ln as default
+  rn as default
 };

package/dist/{threeViewerHost-t6BRTmw8.js → threeViewerHost-DIiGjw_8.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 { Y as W, u as A, p as D, s as $ } from "./index-D8UY4uNQ.js";
-import { g as j, q as M, r as L } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-X_k372gl.js";
+import { defineComponent as U, defineAsyncComponent as b, computed as I, ref as R, watch as H, openBlock as T, createElementBlock as N, createElementVNode as K, renderSlot as u, unref as m, createBlock as B, withCtx as d, createCommentVNode as V } from "vue";
+import { Y as W, u as A, p as D, s as $ } from "./index-B8NQAdR4.js";
+import { g as j, q as M, r as L } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-Dp7tIi0S.js";
 import { _ as G } from "./_plugin-vue_export-helper-CHgC5LLL.js";
 const re = {
   SINGLE: "单机",
@@ -112,7 +112,7 @@ const z = { class: "three-platform mv-inline" }, J = { class: "top-menu" }, Q =
     height: { default: "100%" }
   },
   setup(E) {
-    const O = b(() => import("./threeSceneView-tLPMhgrS.js")), y = b(() => import("./threePreview-C4Ra7sjU.js")), i = b(() => import("./threeTrackPathView-DT80eKxv.js")), p = b(() => import("./threeSceneViewForCPMPIP-DZ5wkTWo.js")), n = E, P = A(D), { platName: f } = $(P), { isUrdf: _, isTrackPathFile: g } = q(), c = I(() => {
+    const O = b(() => import("./threeSceneView-CWTmvCY4.js")), y = b(() => import("./threePreview-CpcrqmFS.js")), i = b(() => import("./threeTrackPathView-Bw6e-quT.js")), p = b(() => import("./threeSceneViewForCPMPIP-VzWmr9CP.js")), n = E, P = A(D), { platName: f } = $(P), { isUrdf: _, isTrackPathFile: g } = q(), c = I(() => {
       var t;
       return (t = n == null ? void 0 : n.files) == null ? void 0 : t.map((s) => {
         const { url: e, name: r } = s;

package/dist/urdfTree-DU02c_91.js

@@ -0,0 +1,254 @@
+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,
+      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: 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
+};