ss-component-new 1.3.615 → 1.3.617

package/dist/threeSceneView-tLPMhgrS.js

@@ -1,1291 +0,0 @@
-import { defineComponent as Le, ref as g, watch as ae, shallowRef as be, computed as Pe, onUnmounted as Ie, resolveComponent as L, createElementBlock as Ve, openBlock as Q, createElementVNode as c, createVNode as l, withCtx as R, 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-t6BRTmw8.js";
-import { u as Ne, C as Qe } from "./iconfont-DZGSkx-_.js";
-import { g as et, a as tt, b as lt, c as ot, u as nt, d as at, U as st, J as it } from "./urdfTree-Bu7OVUsr.js";
-import { U as rt, u as ct, a as ut, W as pt } from "./workpieceTreePanel-CuXFoEjJ.js";
-import { c as dt } from "./index-D8UY4uNQ.js";
-import { av as mt, E, aM as vt, aN as ft } from "./request-B1c8BUkR.js";
-/* empty css                                               */
-import { p as De, T as xe, V, n as I, o as gt, s as ht, h as Se, t as bt, L as yt, u as _t, v as wt, w as Ct, x as kt, y as Pt, z as xt, l as Rt, F as Mt } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-X_k372gl.js";
-import "./index-cYgzND1g.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 Tt, A as Vt } from "./index-DsdWSuDi.js";
-import "./index-BmaW6Me9.js";
-import "./index-D9xMYIes.js";
-import { f as Dt, a as St, g as At, b as $t } from "./animationData-CJQE6_nu.js";
-import { _ as Ue } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-import { s as Ft } from "./index-11kpzK0A.js";
-import { T as z } from "./svgIcon-4u4PW7Is.js";
-const W = 1e-3, oe = gt.degToRad, je = new bt({
-  // 灰色
-  color: 13421772,
-  metalness: 0.3,
-  roughness: 0.6,
-  side: Rt
-});
-function zt(y = 5e-3, m = 64) {
-  const p = new De([new V(0, 0, 0), new V(0, 0, 0)]), n = new xe(p, m, y, 16, !1), d = je;
-  return new Se(n, d);
-}
-const Je = (y) => y.reduce((m, p) => {
-  let n = 0;
-  const d = p.Y ?? 0, _ = p.C ?? 0, s = p.R ?? 0;
-  return d > 0 && (n += d), _ > 0 && s > 0 && (n += s * oe(_)), m + n;
-}, 0), We = (y) => {
-  const m = [], p = y.Y ?? 0, n = y.B ?? 0, d = y.C ?? 0, _ = y.R ?? 0, s = {
-    pos: new V(0, 0, 0),
-    localY: new V(0, 1, 0),
-    localX: new V(1, 0, 0),
-    localZ: new V(0, 0, 1)
-  };
-  if (!p && !d) return m;
-  if (m.push(s.pos.clone()), n !== 0) {
-    const h = new I().makeRotationAxis(s.localY, oe(n));
-    s.localX.applyMatrix4(h), s.localZ.applyMatrix4(h);
-  }
-  if (p > 0 && (s.pos.add(s.localY.clone().multiplyScalar(p * W)), m.push(s.pos.clone())), d > 0 && _ > 0) {
-    const h = oe(d), v = _ * W, w = s.pos.clone().add(s.localX.clone().multiplyScalar(-v)), a = Math.max(16, Math.ceil(d / 5));
-    for (let C = 1; C <= a; C++) {
-      const u = h * C / a, k = new I().makeRotationAxis(s.localZ, u), r = s.localX.clone().multiplyScalar(v).applyMatrix4(k), M = w.clone().add(r);
-      m.push(M);
-    }
-  }
-  return m;
-};
-function Yt(y, m) {
-  const p = new ht();
-  p.name = "CompletePipe";
-  const n = {
-    pos: new V(0, 0, 0),
-    localX: new V(1, 0, 0),
-    localY: new V(0, 1, 0),
-    localZ: new V(0, 0, 1)
-  };
-  let d = 0, _ = 1;
-  for (let s = 0; s < y.length; s++) {
-    const h = y[s], v = h.Y ?? 0, w = h.B ?? 0, a = h.C ?? 0, C = h.R ?? 0;
-    if (w !== 0) {
-      const u = new I().makeRotationAxis(n.localY, oe(w));
-      n.localX.applyMatrix4(u), n.localZ.applyMatrix4(u);
-    }
-    if (v > 0) {
-      const u = n.pos.clone();
-      n.pos.add(n.localY.clone().multiplyScalar(v * W));
-      const k = n.pos.clone(), i = Lt(u, k, m * W);
-      i.userData = {
-        segmentType: "straight",
-        segmentIndex: d,
-        frameIndex: s,
-        length: v,
-        frame: { Y: v, B: w, C: a, R: C }
-      }, i.name = `直段_${d}`, p.add(i);
-      const r = u.clone();
-      Bt(p, _, r, m * W), d++;
-    }
-    if (a > 0 && C > 0) {
-      const u = oe(a), k = C * W, i = [];
-      i.push(n.pos.clone());
-      const r = n.pos.clone().add(n.localX.clone().multiplyScalar(-k)), M = Math.max(16, Math.ceil(a / 5));
-      for (let f = 1; f <= M; f++) {
-        const T = u * f / M, Y = new I().makeRotationAxis(n.localZ, T), Z = n.localX.clone().multiplyScalar(k).applyMatrix4(Y), ee = r.clone().add(Z);
-        i.push(ee);
-      }
-      const S = Ut(i, m * W);
-      S.userData = {
-        segmentType: "bend",
-        segmentIndex: d,
-        frameIndex: s,
-        angle: a,
-        radius: C,
-        centerPoint: r.toArray(),
-        frame: { Y: v, B: w, C: a, R: C }
-      }, S.name = `弯段_${d}`, p.add(S), Math.floor(i.length / 2), i[0], n.pos = i[i.length - 1].clone();
-      const A = new I().makeRotationAxis(n.localZ, u);
-      n.localY.applyMatrix4(A), n.localX.applyMatrix4(A), d++, _++;
-    }
-  }
-  return p;
-}
-function Bt(y, m, p, n) {
-  const d = new V(0, n * 2, n * 5), _ = p.clone().add(d), s = [p, _], h = new _t().setFromPoints(s), v = new wt({
-    color: 16711680,
-    dashSize: n * 0.5,
-    gapSize: n * 0.3,
-    linewidth: 1
-  }), w = new Ct(h, v);
-  w.computeLineDistances(), y.add(w);
-  const a = document.createElement("canvas"), C = a.getContext("2d");
-  a.width = 128, a.height = 128, C.clearRect(0, 0, 128, 128), C.fillStyle = "#FF0000", C.font = "bold 80px Arial", C.textAlign = "center", C.textBaseline = "middle", C.fillText(m.toString(), 64, 64);
-  const u = new kt(a), k = new Pt({
-    map: u,
-    transparent: !0,
-    depthTest: !1,
-    depthWrite: !1
-  }), i = new xt(k), r = n * 3;
-  i.scale.set(r, r, 1), i.position.copy(_), i.name = `Label_${m}`, i.userData = { labelNumber: m }, y.add(i);
-}
-function Lt(y, m, p) {
-  const n = new yt(y, m), d = new xe(n, 2, p, 18, !1);
-  return new Se(d, je);
-}
-function Ut(y, m) {
-  const p = new De(y, !1, "catmullrom", 0.01), n = new xe(p, Math.max(16, y.length * 2), m, 18, !1);
-  return new Se(n, je);
-}
-function Ee(y, m, p, n, d, _ = 0) {
-  let s = m.slice(0, d + 1);
-  const h = m[d + 1];
-  if (h && _ > 0) {
-    const i = {
-      ...h,
-      // 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: (h.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: (h.C ?? 0) * _
-    };
-    s.push(i);
-  }
-  const v = Je(s), w = Math.max(0, p - v), a = [];
-  a.push(new V(0, 0, 0));
-  const C = new V(0, w * W, 0);
-  w > 0 && a.push(C);
-  let u = {
-    pos: C.clone(),
-    localY: new V(0, 1, 0),
-    localX: new V(1, 0, 0),
-    localZ: new V(0, 0, 1)
-  };
-  const k = [];
-  for (let i = s.length - 1; i >= 0; i--) {
-    const r = s[i], M = We(r);
-    if (M.length > 0) {
-      const S = M.map((Y) => {
-        const B = Y.clone(), Z = new I();
-        return Z.makeBasis(u.localX, u.localY, u.localZ), B.applyMatrix4(Z), B.add(u.pos);
-      });
-      k.push(S);
-      const A = S[S.length - 1];
-      u.pos = A.clone();
-      const f = r.B ?? 0, T = r.C ?? 0;
-      if (f !== 0) {
-        const Y = new I().makeRotationAxis(u.localY, oe(f));
-        u.localX.applyMatrix4(Y), u.localZ.applyMatrix4(Y);
-      }
-      if (T > 0) {
-        const Y = oe(T), B = new I().makeRotationAxis(u.localZ, Y);
-        u.localY.applyMatrix4(B), u.localX.applyMatrix4(B);
-      }
-    }
-  }
-  for (const i of k)
-    i.length > 1 && a.push(...i.slice(1));
-  a.length < 2 && a.push(new V(0, 1e-3, 0));
-  try {
-    const i = new De(a, !1, "catmullrom", 0.01), r = new xe(i, Math.max(2, a.length * 4), n * W, 18, !1);
-    y.geometry.dispose(), y.geometry = r;
-  } catch (i) {
-    console.error("管件更新失败", i);
-  }
-}
-function Oe(y, m, p, n = 0) {
-  let d = y.slice(0, p + 1);
-  const _ = y[p + 1];
-  if (_ && n > 0) {
-    const u = {
-      ..._,
-      // 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
-    };
-    d.push(u);
-  }
-  const s = Je(d), h = Math.max(0, m - s), v = [];
-  v.push(new V(0, 0, 0));
-  const w = new V(0, h * W, 0);
-  h > 0 && v.push(w);
-  let a = {
-    pos: w.clone(),
-    localY: new V(0, 1, 0),
-    localX: new V(1, 0, 0),
-    localZ: new V(0, 0, 1)
-  };
-  const C = [];
-  for (let u = d.length - 1; u >= 0; u--) {
-    const k = d[u], i = We(k);
-    if (i.length > 0) {
-      const r = i.map((f) => {
-        const T = f.clone(), Y = new I();
-        return Y.makeBasis(a.localX, a.localY, a.localZ), T.applyMatrix4(Y), T.add(a.pos);
-      });
-      C.push(r);
-      const M = r[r.length - 1];
-      a.pos = M.clone();
-      const S = k.B ?? 0, A = k.C ?? 0;
-      if (S !== 0) {
-        const f = new I().makeRotationAxis(a.localY, oe(S));
-        a.localX.applyMatrix4(f), a.localZ.applyMatrix4(f);
-      }
-      if (A > 0) {
-        const f = oe(A), T = new I().makeRotationAxis(a.localZ, f);
-        a.localY.applyMatrix4(T), a.localX.applyMatrix4(T);
-      }
-    }
-  }
-  for (const u of C)
-    u.length > 1 && v.push(...u.slice(1));
-  return v.length < 2 && v.push(new V(0, 1e-3, 0)), v;
-}
-function Xe(y, m, p, n, d, _, s, h = 0, v = 0) {
-  const w = d - v, a = Oe(n, w, s, h);
-  let u = Oe(p, v, s, h);
-  u.forEach((i) => i.y = -i.y), u.reverse();
-  const k = [...u, ...a];
-  try {
-    const i = new De(k, !1, "catmullrom", 0.01), r = new xe(i, Math.max(2, k.length * 4), _ * W, 18, !1);
-    m.geometry.dispose(), y.geometry.dispose(), m.parent && m.parent.remove(m), y.geometry = r;
-  } catch (i) {
-    console.error("管件更新失败", i);
-  }
-}
-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: m }) {
-    const p = y, n = g(), d = g();
-    ae(() => p.threeData, (t) => {
-      const e = t == null ? void 0 : t.data;
-      d.value = e == null ? void 0 : e.type;
-    }, {
-      immediate: !0
-    });
-    const _ = async () => {
-      let t = {};
-      d.value === Te.SINGLE && (t = await Dt()), d.value === Te.DOUBLE && (t = await St());
-      const {
-        initialPipeLength: e = 0,
-        pipeRadius: o = 0,
-        clampLength: b = 0,
-        animationData: P
-      } = t;
-      A.value = e, f.value = o, T.value = b, n.value = P;
-      const j = dt(n.value), le = fe(G.value), K = (j == null ? void 0 : j["输出（动画数据）"]) || [];
-      s.value = K.length ? K : [le];
-    }, s = g([]), h = g(!1), v = g(""), w = g(!1), a = g(0), C = g(0), u = g(1e3);
-    let k = !1;
-    const i = g(null), r = be(null), M = be(null), S = be(null), A = g(0), f = g(12.5), T = g(30), Y = g([]), B = g(null), Z = Pe(() => p.model ? et(p.model).map((o) => o.name) : []), ee = g(["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((t) => ({
-      Y: parseFloat(t.Y) || 0,
-      B: parseFloat(t.B) || 0,
-      C: parseFloat(t.C) || 0,
-      R: parseFloat(t.R) || 0
-    })), se = () => {
-      const t = [], e = [];
-      return s.value.forEach((o) => {
-        const { Y1: b, B1: P, C1: j, R1: le, Y2: K, B2: ue, C2: Ce, R2: F } = o;
-        t.push({
-          Y: parseFloat(b) || 0,
-          B: parseFloat(P) || 0,
-          C: parseFloat(j) || 0,
-          R: parseFloat(le) || 0
-        }), e.push({
-          Y: parseFloat(K) || 0,
-          B: parseFloat(ue) || 0,
-          C: parseFloat(Ce) || 0,
-          R: parseFloat(F) || 0
-        });
-      }), {
-        posPipeYbcr: t,
-        negPipeYbcr: e
-      };
-    }, D = (t = 0, e = 0) => {
-      if (r.value && M.value) {
-        const o = se();
-        Xe(
-          r.value,
-          M.value,
-          o.posPipeYbcr,
-          o.negPipeYbcr,
-          A.value,
-          f.value,
-          t,
-          e,
-          T.value
-        );
-      } else if (r.value) {
-        const o = ve();
-        Ee(r.value, o, A.value, f.value, t, e);
-      }
-    }, x = (t) => {
-      if (t < 0 || t >= s.value.length) {
-        console.error(`帧索引 ${t} 超出范围`);
-        return;
-      }
-      const e = s.value[t];
-      if (console.log(`应用第 ${t} 帧数据 ${e}`), a.value = t, i.value) {
-        const o = {};
-        Z.value.forEach((b) => {
-          const P = parseFloat(e[b]);
-          isNaN(P) || (o[b] = P);
-        }), i.value.setJointAngles(o);
-      }
-      D(t, 0);
-    }, N = async () => {
-      if (s.value.length === 0) {
-        E.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 t = a.value + 1; t < s.value.length && !k; t++) {
-            a.value = t;
-            const e = s.value[t], o = {};
-            i.value && Z.value.forEach((b) => {
-              const P = parseFloat(e[b]);
-              isNaN(P) || (o[b] = P);
-            }), i.value ? await i.value.animateToState(
-              o,
-              u.value,
-              (b) => {
-                C.value = (t + b) / s.value.length * 100, D(t - 1, b);
-              }
-            ) : (await new Promise((b) => setTimeout(b, u.value)), C.value = (t + 1) / s.value.length * 100);
-          }
-          k || E.success("动画播放完成");
-        } catch (t) {
-          console.error("动画播放出错:", t), E.error("动画播放出错");
-        } finally {
-          w.value = !1, C.value = 0;
-        }
-      }
-    }, U = () => {
-      k = !0, w.value = !1, C.value = 0, E.info("动画已停止");
-    }, H = () => {
-      a.value = 0;
-    }, O = () => {
-      if (r.value && M.value) {
-        const t = se();
-        Xe(
-          r.value,
-          M.value,
-          t.posPipeYbcr,
-          t.negPipeYbcr,
-          A.value,
-          f.value,
-          -1,
-          0,
-          T.value
-        );
-      } else if (r.value) {
-        const t = ve();
-        Ee(
-          r.value,
-          t,
-          A.value,
-          f.value,
-          -1,
-          0
-        );
-      }
-    }, te = () => {
-      i.value && i.value.resetToZero(), O(), H(), E.success("机器人和管件已重置");
-    }, q = (t) => `第 ${t + 1} 帧`, J = (t) => {
-      w.value && U(), x(t);
-    }, ie = () => {
-      w.value && U(), !(a.value + 1 >= s.value.length) && x(a.value + 1);
-    }, $ = () => {
-      w.value && U(), a.value !== 0 && x(a.value - 1);
-    }, ne = () => {
-      S.value && (S.value.visible = !0), r.value && r.value.parent && r.value.parent.remove(r.value), S.value = null, r.value = null, M.value = null;
-    }, fe = (t) => t == null ? void 0 : t.reduce((e, o) => (e[o] = "0", e), {});
-    ae(G, (t, e) => {
-      if (JSON.stringify(t) !== JSON.stringify(e))
-        if (t.length > 0) {
-          const o = fe(t);
-          s.value = [o];
-        } else
-          s.value = [];
-    }, { immediate: !0 });
-    const re = g(0), we = (t) => {
-      re.value = t;
-    }, Ae = (t, e) => {
-      if (!t || !e)
-        return;
-      const o = ot(t, e), b = zt();
-      b.visible = !1, o == null || o.add(b);
-    }, ce = (t) => {
-      i.value = new rt(t), Y.value = lt(t), B.value = "Pipe_Joint";
-    }, ge = () => {
-      i.value = null, Y.value = [], B.value = null;
-    }, $e = (t) => {
-      ce(t), Ae(t, B.value), we(re.value + 1), te();
-    };
-    ae(() => p.model, (t) => {
-      if (ne(), t) {
-        $e(t);
-        return;
-      }
-      ge();
-    }, { immediate: !0 });
-    const Re = (t) => {
-      var o, b;
-      const e = new Se(
-        t.geometry.clone(),
-        t.material
-      );
-      return e.name = "managed_pipe_clone", (b = (o = t == null ? void 0 : t.parent) == null ? void 0 : o.add) == null || b.call(o, e), e.position.copy(t.position), e.rotation.copy(t.rotation), e.scale.copy(t.scale), e;
-    };
-    ae([B, T, A, re], ([t, e]) => {
-      if (ne(), p.model && t) {
-        const o = tt(p.model, t);
-        if (console.log(o, "meshToReplace"), o && o.parent) {
-          S.value = o, o.visible = !1;
-          const b = Re(o);
-          if (d.value === Te.SINGLE && (b.position.y -= e * 1e-3), r.value = b, d.value === Te.DOUBLE) {
-            const P = Re(o);
-            M.value = P;
-          }
-          D(0, 0);
-        } else
-          t && console.warn(`在 link '${t}' 中未找到可替换的网格或其没有父级。`);
-      }
-    });
-    const Fe = async () => {
-      if (G.value.length === 0) {
-        E.warning("没有可导出的表头");
-        return;
-      }
-      const t = G.value.join("	");
-      try {
-        await navigator.clipboard.writeText(t), E.success("表头已成功复制到剪贴板！");
-      } catch (e) {
-        console.error("复制失败:", e), E.error("复制失败，请检查浏览器权限或手动复制。");
-      }
-    }, ze = () => {
-      if (!v.value.trim()) {
-        E.warning("导入内容不能为空");
-        return;
-      }
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