ss-component-new 1.3.615 → 1.3.617

package/dist/urdfTree-Bu7OVUsr.js

@@ -1,404 +0,0 @@
-import { ref as b, defineComponent as O, watch as U, onMounted as X, onUnmounted as Y, createElementBlock as F, openBlock as E, Fragment as Z, renderList as $, createElementVNode as P, createCommentVNode as G, toDisplayString as V, computed as T, resolveComponent as W, createVNode as H } from "vue";
-import { V as d, B as R, h as I, e as L, k as Q, l as j, m as D, E as B } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-X_k372gl.js";
-import { c as z } from "./iconfont-DZGSkx-_.js";
-import { _ as N } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-function Ce(p, u) {
-  const r = b(!1);
-  let c = null, m = 12700, h = new d(), y = new d(), a = new d(), x = 0, g = null;
-  const v = (e) => e < 0.5 ? 4 * e * e * e : 1 - Math.pow(-2 * e + 2, 3) / 2, k = (e) => {
-    const n = new d(), o = x * 1.2, f = new d(a.x + o, a.y, a.z), M = new d(a.x, a.y + o, a.z), C = new d(a.x, a.y - o, a.z);
-    if (e <= 0.567) {
-      const _ = e / 0.567 * Math.PI * 2;
-      n.x = a.x + Math.cos(_) * o, n.z = a.z + Math.sin(_) * o, n.y = a.y;
-    } else if (e <= 0.724) {
-      const w = (e - 0.567) / 0.157, _ = v(w);
-      n.lerpVectors(f, M, _);
-    } else if (e <= 0.881) {
-      const w = (e - 0.724) / 0.157, A = v(w) * Math.PI;
-      n.x = a.x + Math.sin(A) * o, n.y = a.y + Math.cos(A) * o, n.z = a.z;
-    } else {
-      const w = (e - 0.881) / 0.119, _ = v(w);
-      n.lerpVectors(C, h, _);
-    }
-    return n;
-  }, l = () => {
-    const { camera: e, controls: n } = p();
-    if (!e || !n) return;
-    c || (c = Date.now());
-    const o = Date.now() - c, f = Math.min(o / m, 1);
-    if (f >= 1) {
-      i();
-      return;
-    }
-    const M = k(f);
-    e.position.copy(M), e.lookAt(a), n.target.copy(a), g = requestAnimationFrame(l);
-  }, t = () => {
-    if (u.value.length === 0) return;
-    const { camera: e, controls: n } = p();
-    if (!e || !n) return;
-    h.copy(e.position), y.copy(n.target);
-    const o = new R();
-    u.value.forEach((J) => {
-      o.expandByObject(J);
-    });
-    const f = o.getSize(new d());
-    a = o.getCenter(new d()), x = Math.max(f.x, f.y, f.z) * 1.2;
-    const M = new d(a.x + x * 1.2, a.y, a.z);
-    n.enabled = !1;
-    const C = e.position.clone(), w = 1e3, _ = Date.now(), A = () => {
-      const J = Date.now() - _, S = Math.min(J / w, 1), K = v(S);
-      e.position.lerpVectors(C, M, K), e.lookAt(a), n.target.copy(a), S < 1 ? requestAnimationFrame(A) : (r.value = !0, c = null, l());
-    };
-    A();
-  }, i = () => {
-    r.value = !1, c = null, g && (cancelAnimationFrame(g), g = null);
-    const { controls: e } = p();
-    e && (e.enabled = !0, e.target.copy(y));
-  };
-  return {
-    isAnimating: r,
-    toggleAnimation: () => {
-      if (r.value) {
-        r.value = !1, c = null, g && (cancelAnimationFrame(g), g = null);
-        const { camera: e, controls: n } = p();
-        if (!e || !n) return;
-        n.enabled = !0;
-        const o = e.position.clone(), f = n.target.clone(), M = 1500, C = Date.now(), w = () => {
-          const _ = Date.now() - C, A = Math.min(_ / M, 1), J = v(A);
-          e.position.lerpVectors(o, h, J), n.target.lerpVectors(f, y, J), A < 1 && requestAnimationFrame(w);
-        };
-        w();
-      } else
-        t();
-    },
-    startAnimation: t,
-    stopAnimation: i
-  };
-}
-function Ae(p, u) {
-  const r = b(!1), c = b("none");
-  let m = [], h = [], y = new R(), a = new d();
-  const x = () => {
-    m = [
-      new D(new d(1, 0, 0), 0),
-      // X轴平面
-      new D(new d(0, 1, 0), 0),
-      // Y轴平面
-      new D(new d(0, 0, 1), 0)
-      // Z轴平面
-    ];
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-    y.makeEmpty(), u.value.forEach((s) => {
-      y.expandByObject(s);
-    }), a = y.getCenter(new d());
-  }, v = (s) => {
-    const e = y.getSize(new d());
-    let n, o, f;
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-    const M = new Q({
-      color: 8900331,
-      transparent: !0,
-      opacity: 0.3,
-      side: j,
-      depthWrite: !1
-    }), C = new I(n, M);
-    return o && C.position.copy(o), f && C.rotation.copy(f), C;
-  }, k = () => {
-    if (l(), t(), c.value === "none")
-      return;
-    g();
-    let s = null;
-    if (c.value === z.X ? (m[0].constant = -a.x, s = m[0]) : c.value === z.Y ? (m[1].constant = -a.y, s = m[1]) : c.value === z.Z && (m[2].constant = -a.z, s = m[2]), s) {
-      u.value.forEach((n) => {
-        n.traverse((o) => {
-          o instanceof I && o.isMesh && o.material && (Array.isArray(o.material) ? o.material.forEach((f) => {
-            f.clippingPlanes = [s];
-          }) : o.material.clippingPlanes = [s]);
-        });
-      });
-      const { scene: e } = p();
-      if (e) {
-        const n = v(c.value);
-        e.add(n), h.push(n);
-      }
-    }
-  }, l = () => {
-    u.value.forEach((s) => {
-      s.traverse((e) => {
-        e instanceof I && e.isMesh && e.material && (Array.isArray(e.material) ? e.material.forEach((n) => {
-          n.clippingPlanes = [];
-        }) : e.material.clippingPlanes = []);
-      });
-    });
-  }, t = () => {
-    const { scene: s } = p();
-    s && h.forEach((e) => {
-      s.remove(e), e.geometry.dispose(), Array.isArray(e.material) ? e.material.forEach((n) => {
-        n.dispose();
-      }) : e.material.dispose();
-    }), h = [];
-  };
-  return {
-    isClipping: r,
-    activeClippingAxis: c,
-    toggleClipping: () => {
-      r.value = !r.value, r.value ? (x(), u.value.length > 0 && g()) : (c.value = "none", l(), t());
-    },
-    updateClippingPlanes: k,
-    clearClippingPlanes: l,
-    clearClippingMeshes: t
-  };
-}
-const ee = (p, u) => {
-  if (!u)
-    return null;
-  const r = p.joints[u];
-  return r || null;
-}, ke = (p, u) => {
-  if (!u)
-    return null;
-  const r = ee(p, u);
-  if (!r)
-    return null;
-  let c = null;
-  return r.traverse((m) => {
-    m instanceof I && !c && (c = m);
-  }), c;
-}, te = (p, u) => {
-  if (!u)
-    return null;
-  const r = p.links[u];
-  return r || null;
-}, Fe = (p, u) => {
-  if (!u)
-    return null;
-  const r = te(p, u);
-  if (!r)
-    return null;
-  let c = null;
-  return r.traverse((m) => {
-    m instanceof I && !c && (c = m);
-  }), c;
-}, q = (p) => {
-  const u = p.joints;
-  return Object.values(u);
-}, Ee = (p) => q(p).filter((c) => c.jointType !== "fixed"), Je = (p) => {
-  const u = p.links;
-  return Object.keys(u);
-}, ne = { class: "panel-content" }, se = {
-  key: 0,
-  class: "joints-list"
-}, ae = { class: "joint-info-row" }, oe = { class: "joint-left" }, ie = { class: "joint-name" }, re = { class: "joint-range" }, le = { class: "joint-type" }, ce = {
-  key: 0,
-  class: "joint-control-row"
-}, ue = { class: "slider-container" }, pe = ["min", "max", "value", "onInput"], me = { class: "value-display" }, de = { class: "joint-value" }, fe = { class: "unit" }, ge = {
-  key: 1,
-  class: "empty-state"
-}, he = /* @__PURE__ */ O({
-  __name: "urdfJointPanel",
-  props: {
-    model: {}
-  },
-  setup(p, { expose: u }) {
-    const r = p, c = b([]), m = b(null), h = (l, t = !1) => l === "revolute" ? t ? Math.PI : -Math.PI : l === "prismatic" ? t ? 1 : -1 : 0, y = (l) => {
-      if (!l || !l.joints)
-        return console.warn("URDF模型无效或不包含关节信息"), [];
-      const t = [];
-      return q(l).forEach((s) => {
-        var n, o;
-        if (s.jointType === "fixed")
-          return;
-        let e = {
-          lower: ((n = s.limit) == null ? void 0 : n.lower) ?? h(s.jointType, !1),
-          upper: ((o = s.limit) == null ? void 0 : o.upper) ?? h(s.jointType, !0)
-        };
-        s.jointType === "continuous" && (e = {
-          lower: -10 * Math.PI,
-          upper: 10 * Math.PI
-        }), t.push({
-          name: s.name,
-          type: s.jointType || "unknown",
-          limit: e,
-          currentValue: s.angle || 0,
-          urdfJoint: s
-        });
-      }), t;
-    }, a = (l, t) => {
-      var n;
-      const i = c.value.find((o) => o.name === l);
-      if (!i) return;
-      const s = parseFloat(t), e = Math.max(i.limit.lower, Math.min(i.limit.upper, s));
-      i.currentValue = e, (n = r.model) != null && n.setJointValue ? r.model.setJointValue(l, e) : i.urdfJoint.setJointValue(e);
-    }, x = () => {
-      c.value.forEach((l) => {
-        (l.type === "revolute" || l.type === "continuous" || l.type === "prismatic") && a(l.name, 0);
-      });
-    }, g = () => {
-      r.model && c.value.forEach((l) => {
-        l.urdfJoint.angle !== void 0 && l.currentValue !== l.urdfJoint.angle && (l.currentValue = l.urdfJoint.angle);
-      });
-    }, v = () => {
-      const l = () => {
-        g(), m.value = requestAnimationFrame(l);
-      };
-      l();
-    }, k = () => {
-      m.value && (cancelAnimationFrame(m.value), m.value = null);
-    };
-    return U(
-      () => r.model,
-      (l) => {
-        l ? c.value = y(l) : c.value = [];
-      },
-      { immediate: !0 }
-    ), X(() => {
-      v();
-    }), Y(() => {
-      k();
-    }), u({
-      resetAllJoints: x
-    }), (l, t) => (E(), F("div", ne, [
-      c.value.length > 0 ? (E(), F("div", se, [
-        (E(!0), F(Z, null, $(c.value, (i) => (E(), F("div", {
-          key: i.name,
-          class: "joint-item"
-        }, [
-          P("div", ae, [
-            P("div", oe, [
-              P("span", ie, V(i.name), 1),
-              P("span", re, " [" + V(i.limit.lower.toFixed(2)) + ", " + V(i.limit.upper.toFixed(2)) + "] ", 1)
-            ]),
-            P("span", le, V(i.type), 1)
-          ]),
-          i.type === "revolute" || i.type === "prismatic" || i.type === "continuous" ? (E(), F("div", ce, [
-            P("div", ue, [
-              P("input", {
-                type: "range",
-                min: i.limit.lower,
-                max: i.limit.upper,
-                step: "0.001",
-                value: i.currentValue,
-                onInput: (s) => a(i.name, s.target.value),
-                class: "joint-slider"
-              }, null, 40, pe)
-            ]),
-            P("div", me, [
-              P("span", de, V(i.currentValue ? Number(i.currentValue).toFixed(3) : "0.000"), 1),
-              P("span", fe, V(i.type === "prismatic" ? "m" : "rad"), 1)
-            ])
-          ])) : G("", !0)
-        ]))), 128))
-      ])) : (E(), F("div", ge, t[0] || (t[0] = [
-        P("p", null, "未检测到可控制的关节", -1)
-      ])))
-    ]));
-  }
-}), Ve = /* @__PURE__ */ N(he, [["__scopeId", "data-v-b1467983"]]), ye = { class: "panel-content" }, ve = "id", we = {
-  __name: "urdfTree",
-  props: {
-    model: Object,
-    maxExpandCount: {
-      type: Number,
-      default: 10
-    },
-    expandStrategy: {
-      type: String,
-      default: "breadth",
-      validator: (p) => ["breadth", "firstLevel"].includes(p)
-    }
-  },
-  emits: ["nodeClick"],
-  setup(p, { emit: u }) {
-    const r = p, c = u, m = b([]), h = {
-      children: "children",
-      label: "label"
-    }, y = (t) => {
-      c("nodeClick", t);
-    }, a = (t, i = 0) => {
-      const s = [];
-      return Array.isArray(t) && (t == null ? void 0 : t.length) > 0 && t.forEach((e) => {
-        if (!(e != null && e.isMesh) && ((e == null ? void 0 : e.type) === "URDFJoint" || (e == null ? void 0 : e.type) === "URDFLink")) {
-          const n = {
-            name: e == null ? void 0 : e.name,
-            label: e == null ? void 0 : e.name,
-            show: !0,
-            level: i + 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: a(e == null ? void 0 : e.children, i + 1),
-            path: e == null ? void 0 : e.name
-          };
-          s.push(n);
-        }
-      }), s;
-    }, x = (t) => t ? [{
-      name: t == null ? void 0 : t.name,
-      label: t == null ? void 0 : t.name,
-      show: !0,
-      level: 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: a(t == null ? void 0 : t.children, 1) || [],
-      path: t == null ? void 0 : t.name
-    }] : [], g = (t, i) => {
-      const s = [], e = [...t];
-      for (; e.length > 0 && s.length < i; ) {
-        const n = e.shift();
-        n.children && n.children.length > 0 && (s.push(n.id), e.push(...n.children));
-      }
-      return s;
-    }, v = (t, i) => {
-      const s = [];
-      return t.forEach((e) => {
-        if (e.children && e.children.length > 0) {
-          s.push(e.id);
-          const n = e.children.filter((o) => o.children && o.children.length > 0).slice(0, i).map((o) => o.id);
-          s.push(...n);
-        }
-      }), s.slice(0, i + 1);
-    }, k = T(() => !m.value || m.value.length === 0 ? [] : r.expandStrategy === "firstLevel" ? v(m.value, r.maxExpandCount) : g(m.value, r.maxExpandCount)), l = T(() => [{
-      name: "场景",
-      label: "场景",
-      show: !0,
-      level: 1,
-      isPenultimate: !1,
-      type: "场景",
-      id: "场景",
-      children: r != null && r.model ? x(r.model) : [],
-      path: "场景"
-    }]);
-    return U(
-      l,
-      (t) => {
-        m.value = JSON.parse(JSON.stringify(t));
-      },
-      { immediate: !0 }
-    ), (t, i) => {
-      const s = W("el-tree");
-      return E(), F("div", ye, [
-        H(s, {
-          data: m.value,
-          props: h,
-          "default-expanded-keys": k.value,
-          "node-key": ve,
-          onNodeClick: y
-        }, null, 8, ["data", "default-expanded-keys"])
-      ]);
-    };
-  }
-}, ze = /* @__PURE__ */ N(we, [["__scopeId", "data-v-cfde50c3"]]);
-export {
-  Ve as J,
-  ze as U,
-  ke as a,
-  Je as b,
-  ee as c,
-  Ae as d,
-  Fe as e,
-  Ee as g,
-  Ce as u
-};

package/public/obj/model.mtl

@@ -1,42 +0,0 @@
-# CAD Exchanger 3.24.0 (cadexchanger.com)
-# Material Count: 5
-
-newmtl Material_1
-Ns 0.000000
-Ka 0.200000 0.200000 0.200000
-Kd 0.666667 0.666667 0.666667
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-d 1.000000
-
-newmtl Material_2
-Ns 0.000000
-Ka 0.200000 0.200000 0.200000
-Kd 0.133333 0.133333 0.133333
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-d 1.000000
-
-newmtl Material_3
-Ns 0.000000
-Ka 0.200000 0.200000 0.200000
-Kd 0.733333 0.733333 0.733333
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-d 1.000000
-
-newmtl Material_5
-Ns 0.000000
-Ka 0.200000 0.200000 0.200000
-Kd 0.396078 0.941176 0.450980
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-d 1.000000
-
-newmtl Material_4
-Ns 0.000000
-Ka 0.200000 0.200000 0.200000
-Kd 1.000000 1.000000 0.000000
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-d 1.000000