ss-component-new 1.3.642 → 1.3.643

package/dist/{threeModel-CySDiDg5.js → threeModel-BbNw-rXE.js}

@@ -1,18 +1,18 @@
-import { ref as b, watch as Pe, openBlock as H, createElementBlock as q, createBlock as Le, computed as ie, onMounted as $e, onUnmounted as je, Fragment as Xe, renderList as He, createElementVNode as h, toDisplayString as ae, createCommentVNode as xe, resolveComponent as Je, createVNode as z, defineComponent as Ye, normalizeStyle as Ee, normalizeClass as Fe, nextTick as Be, onBeforeUnmount as qe, unref as O, withDirectives as se, withCtx as Te, isRef as he, vModelRadio as ye, vShow as we } from "vue";
-import { V as x, B as be, S as Ze, C as We, P as Ke, W as Ne, b as Qe, A as et, c as tt, M as Ve, X as nt, G as at, e as Me, f as ot, h as De, i as st, D as ke, H as lt, j as Re, k as Oe, l as Ue, m as ze, E as _e, n as de, o as it, T as rt, p as ct } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-DdTK-nti.js";
-import { O as ut } from "./iconfont-DGtoabuW.js";
-import { V as dt, W as pt } from "./index-CgdG1jHE.js";
+import { ref as b, watch as Pe, createElementBlock as q, openBlock as H, createBlock as Le, computed as ie, onMounted as $e, onUnmounted as je, Fragment as Xe, renderList as He, createElementVNode as h, createCommentVNode as xe, toDisplayString as ae, resolveComponent as Je, createVNode as z, defineComponent as Ye, normalizeStyle as Ee, normalizeClass as Fe, nextTick as Be, onBeforeUnmount as qe, withDirectives as se, unref as O, withCtx as Te, isRef as he, vModelRadio as ye, vShow as we } from "vue";
+import { V as M, B as be, S as Ze, C as We, P as Ke, W as Ne, b as Qe, A as et, c as tt, M as Ve, X as nt, G as at, e as Me, f as ot, h as De, i as st, D as ke, H as lt, j as Re, k as Oe, l as Ue, m as ze, E as _e, n as de, o as it, p as rt, T as ct } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-BEPFL4uU.js";
+import { O as ut } from "./iconfont-B4WPRBLy.js";
+import { V as dt, W as pt } from "./index-_fheIMoz.js";
 import { _ as me } from "./_plugin-vue_export-helper-CHgC5LLL.js";
-import { c as Ge } from "./index-DW6CZC2b.js";
-import { E as Ie } from "./request-DiogHwkN.js";
-function mt(A) {
-  let f = null, r = null, c = null, v = null, M = null, k = null, i = null, D = null;
+import { c as Ge } from "./index-DGmjWChr.js";
+import { E as Ie } from "./request-D-LN5bvn.js";
+function mt(E) {
+  let f = null, r = null, c = null, v = null, w = null, k = null, i = null, A = null;
   const F = 1e3 / 30;
   let T = 0;
-  const S = b([]), l = b(new x()), C = b(new x()), g = () => {
-    if (!A.value) return;
+  const D = b([]), l = b(new M()), C = b(new M()), g = () => {
+    if (!E.value) return;
     f = new Ze(), f.background = new We(15790320);
-    const d = A.value;
+    const d = E.value;
     r = new Ke(75, d.clientWidth / d.clientHeight, 0.1, 1e4), r.position.set(8, -8, 6), r.up.set(0, 0, 1), r.lookAt(0, 0, 0), c = new Ne({
       antialias: !0,
       alpha: !0
@@ -20,7 +20,7 @@ function mt(A) {
       LEFT: null,
       MIDDLE: Ve.PAN,
       RIGHT: Ve.ROTATE
-    }, v.panSpeed = 0.7, M = new nt(r, c, {
+    }, v.panSpeed = 0.7, w = new nt(r, c, {
       container: d,
       type: "cube",
       placement: "top-right",
@@ -50,23 +50,23 @@ function mt(A) {
       back: {
         label: "Bottom"
       }
-    }), M.attachControls(v), p(), _();
+    }), w.attachControls(v), p(), _();
   }, e = (d, a) => {
-    i && (f.remove(i), i.dispose()), D && (f.remove(D), D.geometry.dispose(), D.material.dispose());
-    const E = Math.min(Math.max(Math.floor(d / 20), 30), 40);
-    i = new at(d, E, 13421772, 14540253), i.rotateX(Math.PI / 2), i.position.copy(a), f.add(i);
+    i && (f.remove(i), i.dispose()), A && (f.remove(A), A.geometry.dispose(), A.material.dispose());
+    const S = Math.min(Math.max(Math.floor(d / 20), 30), 40);
+    i = new at(d, S, 13421772, 14540253), i.rotateX(Math.PI / 2), i.position.copy(a), f.add(i);
     const V = new Me(d, d), X = new ot({
       opacity: 0.3,
       // 阴影透明度
       color: 0
     });
-    D = new De(V, X), D.position.copy(a), D.position.z -= 0.01, D.receiveShadow = !0, f.add(D);
+    A = new De(V, X), A.position.copy(a), A.position.z -= 0.01, A.receiveShadow = !0, f.add(A);
   }, u = () => {
-    if (S.value.length === 0)
+    if (D.value.length === 0)
       return;
     const d = new be();
     let a = !1;
-    if (S.value.forEach((N) => {
+    if (D.value.forEach((N) => {
       if (N.userData.boundingBox)
         d.union(N.userData.boundingBox), a = !0;
       else if (N.userData.modelId && modelBoundingBoxes.has(N.userData.modelId)) {
@@ -78,7 +78,7 @@ function mt(A) {
       console.warn("无法计算包围盒，网格更新失败");
       return;
     }
-    const E = d.getSize(new x()), V = d.getCenter(new x()), X = Math.max(E.x, E.y, E.z), W = Math.max(X * 8, 50), K = new x(
+    const S = d.getSize(new M()), V = d.getCenter(new M()), X = Math.max(S.x, S.y, S.z), W = Math.max(X * 8, 50), K = new M(
       V.x,
       V.y,
       d.min.z
@@ -90,8 +90,8 @@ function mt(A) {
     f.add(d);
     const a = new ke(16777215, 2);
     a.position.set(10, 10, 8), a.castShadow = !0, a.shadow.mapSize.width = 4096, a.shadow.mapSize.height = 4096, a.shadow.camera.near = 0.5, a.shadow.camera.far = 50, a.shadow.camera.left = -50, a.shadow.camera.right = 50, a.shadow.camera.top = 50, a.shadow.camera.bottom = -50, f.add(a);
-    const E = new ke(16777215, 0.8);
-    E.position.set(-8, -8, 6), f.add(E);
+    const S = new ke(16777215, 0.8);
+    S.position.set(-8, -8, 6), f.add(S);
     const V = new ke(16777215, 0.6);
     V.position.set(0, -15, 2), f.add(V);
     const X = new lt(16777215, 4473924, 0.8);
@@ -103,7 +103,7 @@ function mt(A) {
   }, _ = () => {
     k = requestAnimationFrame(_), v && v.update();
     const d = performance.now(), a = d - T;
-    a < F || (T = d - a % F, c && f && r && c.render(f, r), M && M.render());
+    a < F || (T = d - a % F, c && f && r && c.render(f, r), w && w.render());
   }, U = (d) => {
     [
       "map",
@@ -117,45 +117,45 @@ function mt(A) {
       "lightMap",
       "aoMap",
       "displacementMap"
-    ].forEach((E) => {
-      d[E] && d[E].dispose && d[E].dispose();
+    ].forEach((S) => {
+      d[S] && d[S].dispose && d[S].dispose();
     }), d.dispose && d.dispose();
   }, R = (d) => {
     d == null || d.traverse((a) => {
-      a.geometry && a.geometry.dispose(), a.material && (Array.isArray(a.material) ? a.material.forEach((E) => {
-        U(E);
+      a.geometry && a.geometry.dispose(), a.material && (Array.isArray(a.material) ? a.material.forEach((S) => {
+        U(S);
       }) : U(a.material));
     });
   };
   return {
     // 响应式数据
-    currentModels: S,
+    currentModels: D,
     initialCameraPosition: l,
     initialTargetPosition: C,
     // 方法
     initThreeJS: g,
     handleResize: () => {
-      if (!A.value || !r || !c || !M) return;
-      const d = A.value, a = d.clientWidth, E = d.clientHeight;
-      r.aspect = a / E, r.updateProjectionMatrix(), c.setSize(a, E), M.update();
+      if (!E.value || !r || !c || !w) return;
+      const d = E.value, a = d.clientWidth, S = d.clientHeight;
+      r.aspect = a / S, r.updateProjectionMatrix(), c.setSize(a, S), w.update();
     },
     fitCameraToAllModels: (d) => {
-      if (!r || !v || S.value.length === 0) return;
+      if (!r || !v || D.value.length === 0) return;
       const a = new be();
-      let E = !1;
-      if (S.value.forEach((te) => {
+      let S = !1;
+      if (D.value.forEach((te) => {
         if (te.userData.boundingBox)
-          a.union(te.userData.boundingBox), E = !0;
+          a.union(te.userData.boundingBox), S = !0;
         else if (te.userData.modelId && d.has(te.userData.modelId)) {
           const re = d.get(te.userData.modelId);
-          a.union(re.box), E = !0;
+          a.union(re.box), S = !0;
         } else
-          a.expandByObject(te), E = !0;
-      }), !E) {
+          a.expandByObject(te), S = !0;
+      }), !S) {
         console.warn("无法计算包围盒");
         return;
       }
-      const V = a.getSize(new x()), X = a.getCenter(new x()), K = Math.max(V.x, V.y, V.z) * 0.8, N = new x(X.x + K, X.y - K, X.z + K);
+      const V = a.getSize(new M()), X = a.getCenter(new M()), K = Math.max(V.x, V.y, V.z) * 0.8, N = new M(X.x + K, X.y - K, X.z + K);
       r.position.copy(N), r.lookAt(X), v.target.copy(X), v.update(), l.value.copy(N), C.value.copy(X), u();
     },
     getThreeJSObjects: () => ({
@@ -163,31 +163,31 @@ function mt(A) {
       camera: r,
       renderer: c,
       controls: v,
-      gizmo: M
+      gizmo: w
     }),
     clearAllModels: () => {
       if (!f) return;
-      S.value.forEach((a) => {
+      D.value.forEach((a) => {
         f.remove(a), R(a);
       });
       const d = [];
       f.children.forEach((a) => {
-        !a.isLight && !a.isCamera && a.type !== "GridHelper" && a !== D && d.push(a);
+        !a.isLight && !a.isCamera && a.type !== "GridHelper" && a !== A && d.push(a);
       }), d.forEach((a) => {
         f.remove(a), R(a);
-      }), S.value = [], u();
+      }), D.value = [], u();
     },
     cleanup: () => {
-      k && cancelAnimationFrame(k), i && i.dispose(), D && (D.geometry.dispose(), D.material.dispose()), c && c.dispose(), v && v.dispose(), M && M.dispose();
+      k && cancelAnimationFrame(k), i && i.dispose(), A && (A.geometry.dispose(), A.material.dispose()), c && c.dispose(), v && v.dispose(), w && w.dispose();
     },
     updateGridForModels: u
   };
 }
-function ft(A, f) {
+function ft(E, f) {
   const r = b(!1);
-  let c = null, v = 12700, M = new x(), k = new x(), i = new x(), D = 0, L = null;
+  let c = null, v = 12700, w = new M(), k = new M(), i = new M(), A = 0, L = null;
   const F = (e) => e < 0.5 ? 4 * e * e * e : 1 - Math.pow(-2 * e + 2, 3) / 2, T = (e) => {
-    const u = new x(), p = D * 1.2, _ = new x(i.x + p, i.y, i.z), U = new x(i.x, i.y + p, i.z), R = new x(i.x, i.y - p, i.z);
+    const u = new M(), p = A * 1.2, _ = new M(i.x + p, i.y, i.z), U = new M(i.x, i.y + p, i.z), R = new M(i.x, i.y - p, i.z);
     if (e <= 0.567) {
       const G = e / 0.567 * Math.PI * 2;
       u.x = i.x + Math.cos(G) * p, u.z = i.z + Math.sin(G) * p, u.y = i.y;
@@ -199,11 +199,11 @@ function ft(A, f) {
       u.x = i.x + Math.sin(j) * p, u.y = i.y + Math.cos(j) * p, u.z = i.z;
     } else {
       const J = (e - 0.881) / 0.119, G = F(J);
-      u.lerpVectors(R, M, G);
+      u.lerpVectors(R, w, G);
     }
     return u;
-  }, S = () => {
-    const { camera: e, controls: u } = A();
+  }, D = () => {
+    const { camera: e, controls: u } = E();
     if (!e || !u) return;
     c || (c = Date.now());
     const p = Date.now() - c, _ = Math.min(p / v, 1);
@@ -212,28 +212,28 @@ function ft(A, f) {
       return;
     }
     const U = T(_);
-    e.position.copy(U), e.lookAt(i), u.target.copy(i), L = requestAnimationFrame(S);
+    e.position.copy(U), e.lookAt(i), u.target.copy(i), L = requestAnimationFrame(D);
   }, l = () => {
     if (f.value.length === 0) return;
-    const { camera: e, controls: u } = A();
+    const { camera: e, controls: u } = E();
     if (!e || !u) return;
-    M.copy(e.position), k.copy(u.target);
+    w.copy(e.position), k.copy(u.target);
     const p = new be();
     f.value.forEach((Z) => {
       p.expandByObject(Z);
     });
-    const _ = p.getSize(new x());
-    i = p.getCenter(new x()), D = Math.max(_.x, _.y, _.z) * 1.2;
-    const U = new x(i.x + D * 1.2, i.y, i.z);
+    const _ = p.getSize(new M());
+    i = p.getCenter(new M()), A = Math.max(_.x, _.y, _.z) * 1.2;
+    const U = new M(i.x + A * 1.2, i.y, i.z);
     u.enabled = !1;
     const R = e.position.clone(), J = 1e3, G = Date.now(), j = () => {
       const Z = Date.now() - G, ee = Math.min(Z / J, 1), d = F(ee);
-      e.position.lerpVectors(R, U, d), e.lookAt(i), u.target.copy(i), ee < 1 ? requestAnimationFrame(j) : (r.value = !0, c = null, S());
+      e.position.lerpVectors(R, U, d), e.lookAt(i), u.target.copy(i), ee < 1 ? requestAnimationFrame(j) : (r.value = !0, c = null, D());
     };
     j();
   }, C = () => {
     r.value = !1, c = null, L && (cancelAnimationFrame(L), L = null);
-    const { controls: e } = A();
+    const { controls: e } = E();
     e && (e.enabled = !0, e.target.copy(k));
   };
   return {
@@ -241,12 +241,12 @@ function ft(A, f) {
     toggleAnimation: () => {
       if (r.value) {
         r.value = !1, c = null, L && (cancelAnimationFrame(L), L = null);
-        const { camera: e, controls: u } = A();
+        const { camera: e, controls: u } = E();
         if (!e || !u) return;
         u.enabled = !0;
         const p = e.position.clone(), _ = u.target.clone(), U = 1500, R = Date.now(), J = () => {
           const G = Date.now() - R, j = Math.min(G / U, 1), Z = F(j);
-          e.position.lerpVectors(p, M, Z), u.target.lerpVectors(_, k, Z), j < 1 && requestAnimationFrame(J);
+          e.position.lerpVectors(p, w, Z), u.target.lerpVectors(_, k, Z), j < 1 && requestAnimationFrame(J);
         };
         J();
       } else
@@ -256,26 +256,26 @@ function ft(A, f) {
     stopAnimation: C
   };
 }
-function vt(A, f) {
+function vt(E, f) {
   const r = b(!1), c = b("none");
-  let v = [], M = [], k = new be(), i = new x();
-  const D = () => {
+  let v = [], w = [], k = new be(), i = new M();
+  const A = () => {
     v = [
-      new ze(new x(1, 0, 0), 0),
+      new ze(new M(1, 0, 0), 0),
       // X轴平面
-      new ze(new x(0, 1, 0), 0),
+      new ze(new M(0, 1, 0), 0),
       // Y轴平面
-      new ze(new x(0, 0, 1), 0)
+      new ze(new M(0, 0, 1), 0)
       // Z轴平面
     ];
   }, L = () => {
     k.makeEmpty(), f.value.forEach((g) => {
       k.expandByObject(g);
-    }), i = k.getCenter(new x());
+    }), i = k.getCenter(new M());
   }, F = (g) => {
-    const e = k.getSize(new x());
+    const e = k.getSize(new M());
     let u, p, _;
-    g === "x" ? (u = new Me(e.z * 1.2, e.y * 1.2), p = new x(i.x, i.y, i.z), _ = new _e(0, Math.PI / 2, 0)) : g === "y" ? (u = new Me(e.x * 1.2, e.z * 1.2), p = new x(i.x, i.y, i.z), _ = new _e(Math.PI / 2, 0, 0)) : g === "z" && (u = new Me(e.x * 1.2, e.y * 1.2), p = new x(i.x, i.y, i.z), _ = new _e(0, 0, 0));
+    g === "x" ? (u = new Me(e.z * 1.2, e.y * 1.2), p = new M(i.x, i.y, i.z), _ = new _e(0, Math.PI / 2, 0)) : g === "y" ? (u = new Me(e.x * 1.2, e.z * 1.2), p = new M(i.x, i.y, i.z), _ = new _e(Math.PI / 2, 0, 0)) : g === "z" && (u = new Me(e.x * 1.2, e.y * 1.2), p = new M(i.x, i.y, i.z), _ = new _e(0, 0, 0));
     const U = new Oe({
       color: 8900331,
       transparent: !0,
@@ -285,7 +285,7 @@ function vt(A, f) {
     }), R = new De(u, U);
     return R.position.copy(p), R.rotation.copy(_), R;
   }, T = () => {
-    if (S(), l(), c.value === "none")
+    if (D(), l(), c.value === "none")
       return;
     L();
     let g = null;
@@ -297,13 +297,13 @@ function vt(A, f) {
           }) : p.material.clippingPlanes = [g]);
         });
       });
-      const { scene: e } = A();
+      const { scene: e } = E();
       if (e) {
         const u = F(c.value);
-        e.add(u), M.push(u);
+        e.add(u), w.push(u);
       }
     }
-  }, S = () => {
+  }, D = () => {
     f.value.forEach((g) => {
       g.traverse((e) => {
         e.isMesh && e.material && (Array.isArray(e.material) ? e.material.forEach((u) => {
@@ -312,19 +312,19 @@ function vt(A, f) {
       });
     });
   }, l = () => {
-    const { scene: g } = A();
-    g && M.forEach((e) => {
+    const { scene: g } = E();
+    g && w.forEach((e) => {
       g.remove(e), e.geometry.dispose(), e.material.dispose();
-    }), M = [];
+    }), w = [];
   };
   return {
     isClipping: r,
     activeClippingAxis: c,
     toggleClipping: () => {
-      r.value = !r.value, r.value ? (D(), f.value.length > 0 && L()) : (c.value = "none", S(), l());
+      r.value = !r.value, r.value ? (A(), f.value.length > 0 && L()) : (c.value = "none", D(), l());
     },
     updateClippingPlanes: T,
-    clearClippingPlanes: S,
+    clearClippingPlanes: D,
     clearClippingMeshes: l
   };
 }
@@ -334,8 +334,8 @@ const gt = { class: "panel-content" }, ht = {
     animationData: Object,
     model: Object
   },
-  setup(A) {
-    const f = A;
+  setup(E) {
+    const f = E;
     b();
     const r = b();
     return Pe(
@@ -347,10 +347,10 @@ const gt = { class: "panel-content" }, ht = {
       },
       { deep: !0, immediate: !0 }
     ), (c, v) => {
-      var M, k, i;
+      var w, k, i;
       return H(), q("div", gt, [
         (H(), Le(dt, {
-          itemData: (M = r.value) == null ? void 0 : M.compData,
+          itemData: (w = r.value) == null ? void 0 : w.compData,
           key: (k = r.value) == null ? void 0 : k.id,
           index: (i = r.value) == null ? void 0 : i.id,
           showHeader: !1
@@ -374,16 +374,16 @@ const gt = { class: "panel-content" }, ht = {
     scene: Object,
     animationData: Object
   },
-  setup(A, { expose: f }) {
-    const r = A;
+  setup(E, { expose: f }) {
+    const r = E;
     b(!0);
-    const c = b([]), v = b(null), M = b(null), k = b(12.5), i = b(), D = b(1302), L = b(30), F = b(!1), T = b(!1), S = b(0), l = b(0), C = b(null), g = ct.degToRad, e = b(1), u = () => Bt / Ae / e.value;
+    const c = b([]), v = b(null), w = b(null), k = b(12.5), i = b(), A = b(1302), L = b(30), F = b(!1), T = b(!1), D = b(0), l = b(0), C = b(null), g = it.degToRad, e = b(1), u = () => Bt / Ae / e.value;
     let p = [];
     Pe(
       () => r.animationData,
       (n) => {
         var s;
-        D.value = n.extra.管长, k.value = n.extra.外径 / 2;
+        A.value = n.extra.管长, k.value = n.extra.外径 / 2;
         let m = ((s = Ge(n)) == null ? void 0 : s["输出（动画数据）"]) ?? [];
         m && m.length > 0 && (p = m);
       },
@@ -406,15 +406,15 @@ const gt = { class: "panel-content" }, ht = {
       if (!n || !n.joints)
         return console.warn("URDF模型没有关节信息"), [];
       let m = null;
-      if (n.traverse((w) => {
-        w.name === "Pipe_Link" && !m && (m = w);
+      if (n.traverse((x) => {
+        x.name === "Pipe_Link" && !m && (m = x);
       }), m)
         i.value = m;
       else
         return console.warn("未找到管子模型"), [];
       const s = [];
-      return Object.keys(n.joints).forEach((w) => {
-        const o = n.joints[w];
+      return Object.keys(n.joints).forEach((x) => {
+        const o = n.joints[x];
         if (o._jointType === "fixed")
           return;
         const t = o.limit ? {
@@ -425,37 +425,37 @@ const gt = { class: "panel-content" }, ht = {
           upper: _(o._jointType, !0)
         };
         s.push({
-          name: w,
+          name: x,
           type: o._jointType || "unknown",
           limit: t,
           currentValue: o.angle || 0,
           urdfJoint: o
         });
-      }), s.sort((w, o) => w.name.localeCompare(o.name));
+      }), s.sort((x, o) => x.name.localeCompare(o.name));
     }, J = (n, m) => {
       const s = c.value.find((o) => o.name === n);
       if (!s) return;
-      const w = parseFloat(m);
+      const x = parseFloat(m);
       if (s.limit) {
-        const o = Math.max(s.limit.lower, Math.min(s.limit.upper, w));
+        const o = Math.max(s.limit.lower, Math.min(s.limit.upper, x));
         s.currentValue = o;
       } else
-        s.currentValue = w;
+        s.currentValue = x;
       r.model && r.model.setJointValue ? r.model.setJointValue(n, s.currentValue) : s.urdfJoint && s.urdfJoint.setJointValue(s.currentValue);
     }, G = (n) => n.reduce((m, s) => {
-      let w = 0;
+      let x = 0;
       const o = s.Y ?? 0, t = s.C ?? 0, y = s.R ?? 0;
-      return o > 0 && (w += o), t > 0 && y > 0 && (w += y * g(t)), m + w;
+      return o > 0 && (x += o), t > 0 && y > 0 && (x += y * g(t)), m + x;
     }, 0), j = (n) => {
-      const m = [], s = n.Y ?? 0, w = n.B ?? 0, o = n.C ?? 0, t = n.R ?? 0, y = {
-        pos: new x(0, 0, 0),
-        localY: new x(0, 1, 0),
-        localX: new x(1, 0, 0),
-        localZ: new x(0, 0, 1)
+      const m = [], s = n.Y ?? 0, x = n.B ?? 0, o = n.C ?? 0, t = n.R ?? 0, y = {
+        pos: new M(0, 0, 0),
+        localY: new M(0, 1, 0),
+        localX: new M(1, 0, 0),
+        localZ: new M(0, 0, 1)
       };
       if (!s && !o) return m;
-      if (m.push(y.pos.clone()), w !== 0) {
-        const Y = new de().makeRotationAxis(y.localY, g(w));
+      if (m.push(y.pos.clone()), x !== 0) {
+        const Y = new de().makeRotationAxis(y.localY, g(x));
         y.localX.applyMatrix4(Y), y.localZ.applyMatrix4(Y);
       }
       if (s > 0 && (y.pos.add(y.localY.clone().multiplyScalar(s * pe)), m.push(y.pos.clone())), o > 0 && t > 0) {
@@ -468,26 +468,26 @@ const gt = { class: "panel-content" }, ht = {
       return m;
     }, Z = (n, m = 0) => {
       let s = p.slice(0, n + 1);
-      const w = p[n + 1];
-      if (w && m > 0) {
+      const x = p[n + 1];
+      if (x && m > 0) {
         const I = {
-          ...w,
+          ...x,
           // 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: (w.B ?? 0) * m,
+          B: (x.B ?? 0) * m,
           // 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: (w.C ?? 0) * m
+          C: (x.C ?? 0) * m
         };
         s.push(I);
       }
-      const o = G(s), t = Math.max(0, D.value - o), y = [];
-      y.push(new x(0, 0, 0));
-      const Y = new x(0, t * pe, 0);
+      const o = G(s), t = Math.max(0, A.value - o), y = [];
+      y.push(new M(0, 0, 0));
+      const Y = new M(0, t * pe, 0);
       t > 0 && y.push(Y);
       let $ = {
         pos: Y.clone(),
-        localY: new x(0, 1, 0),
-        localX: new x(1, 0, 0),
-        localZ: new x(0, 0, 1)
+        localY: new M(0, 1, 0),
+        localX: new M(1, 0, 0),
+        localZ: new M(0, 0, 1)
       };
       const ne = [];
       for (let I = s.length - 1; I >= 0; I--) {
@@ -513,57 +513,57 @@ const gt = { class: "panel-content" }, ht = {
       }
       for (const I of ne)
         I.length > 1 && y.push(...I.slice(1));
-      y.length < 2 && y.push(new x(0, 1e-3, 0));
+      y.length < 2 && y.push(new M(0, 1e-3, 0));
       try {
-        const I = new it(y, !1, "catmullrom", 0.01), P = new rt(I, Math.max(2, y.length * 4), k.value * pe, 18, !1);
+        const I = new rt(y, !1, "catmullrom", 0.01), P = new ct(I, Math.max(2, y.length * 4), k.value * pe, 18, !1);
         i.value.geometry.dispose(), i.value.geometry = P;
       } catch (I) {
         console.error("管件更新失败", I);
       }
     }, ee = (n, m, s = 1) => {
-      n && (Object.keys(n).forEach((w) => {
-        const o = n[w], t = c.value.find((y) => y.name === w);
-        t && (t.currentValue = o, r.model && r.model.setJointValue ? r.model.setJointValue(w, o) : t.urdfJoint && t.urdfJoint.setJointValue(o));
+      n && (Object.keys(n).forEach((x) => {
+        const o = n[x], t = c.value.find((y) => y.name === x);
+        t && (t.currentValue = o, r.model && r.model.setJointValue ? r.model.setJointValue(x, o) : t.urdfJoint && t.urdfJoint.setJointValue(o));
       }), Z(m, s));
     }, d = (n, m, s) => n + (m - n) * s, a = (n, m, s) => {
       if (!n || !m) return n || m;
-      const w = {};
+      const x = {};
       return Object.keys(n).forEach((o) => {
         const t = n[o], y = m[o];
-        w[o] = d(t, y || t, s);
-      }), w;
-    }, E = () => {
+        x[o] = d(t, y || t, s);
+      }), x;
+    }, S = () => {
       if (p.length === 0) {
         console.warn("没有动画数据");
         return;
       }
-      U(), F.value = !0, T.value = !1, S.value = 0, l.value = 0, V();
+      U(), F.value = !0, T.value = !1, D.value = 0, l.value = 0, V();
     }, V = () => {
       if (!F.value || T.value) return;
-      const n = S.value;
+      const n = D.value;
       if (n >= p.length - 1) {
         const o = p[p.length - 1];
         ee(o, p.length - 1, 1), W();
         return;
       }
-      const m = l.value / Ae, s = p[n], w = p[n + 1];
-      if (w) {
-        const o = a(s, w, m);
+      const m = l.value / Ae, s = p[n], x = p[n + 1];
+      if (x) {
+        const o = a(s, x, m);
         ee(o, n, m);
       } else
         ee(s, n);
-      l.value++, l.value > Ae && (l.value = 0, S.value++), C.value = setTimeout(V, u());
+      l.value++, l.value > Ae && (l.value = 0, D.value++), C.value = setTimeout(V, u());
     }, X = () => {
       T.value = !0, C.value && (clearTimeout(C.value), C.value = null);
     }, W = () => {
       F.value = !1, T.value = !1, e.value = 1, C.value && (clearTimeout(C.value), C.value = null);
     };
     f({
-      startAnimation: E,
+      startAnimation: S,
       pauseAnimation: X,
       stopAnimation: W,
       resetAll: () => {
-        W(), S.value = 0, l.value = 0, c.value.forEach((n) => {
+        W(), D.value = 0, l.value = 0, c.value.forEach((n) => {
           (n.type === "revolute" || n.type === "prismatic") && J(n.name, 0);
         }), Z(-1, 0);
       },
@@ -586,11 +586,11 @@ const gt = { class: "panel-content" }, ht = {
       });
     }, fe = () => {
       const n = () => {
-        re(), M.value = requestAnimationFrame(n);
+        re(), w.value = requestAnimationFrame(n);
       };
       n();
     }, Ce = () => {
-      M.value && (cancelAnimationFrame(M.value), M.value = null);
+      w.value && (cancelAnimationFrame(w.value), w.value = null);
     };
     return $e(() => {
       fe();
@@ -599,7 +599,7 @@ const gt = { class: "panel-content" }, ht = {
     }), (n, m) => (H(), q("div", wt, [
       c.value.length > 0 ? (H(), q("div", xt, [
         (H(!0), q(Xe, null, He(c.value, (s) => {
-          var w, o, t, y;
+          var x, o, t, y;
           return H(), q("div", {
             key: s.name,
             class: "joint-item"
@@ -607,7 +607,7 @@ const gt = { class: "panel-content" }, ht = {
             h("div", Mt, [
               h("div", Pt, [
                 h("span", bt, ae(s.name), 1),
-                h("span", Ct, " [" + ae(((w = s.limit) == null ? void 0 : w.lower.toFixed(2)) ?? (s.type === "revolute" ? "-3.14" : "-1.00")) + ", " + ae(((o = s.limit) == null ? void 0 : o.upper.toFixed(2)) ?? (s.type === "revolute" ? "3.14" : "1.00")) + "] ", 1)
+                h("span", Ct, " [" + ae(((x = s.limit) == null ? void 0 : x.lower.toFixed(2)) ?? (s.type === "revolute" ? "-3.14" : "-1.00")) + ", " + ae(((o = s.limit) == null ? void 0 : o.upper.toFixed(2)) ?? (s.type === "revolute" ? "3.14" : "1.00")) + "] ", 1)
               ]),
               h("span", kt, ae(s.type), 1)
             ]),
@@ -631,9 +631,9 @@ const gt = { class: "panel-content" }, ht = {
             ])) : xe("", !0)
           ]);
         }), 128))
-      ])) : (H(), q("div", Ft, [...m[0] || (m[0] = [
+      ])) : (H(), q("div", Ft, m[0] || (m[0] = [
         h("p", null, "未检测到可控制的关节", -1)
-      ])]))
+      ])))
     ]));
   }
 }, Vt = /* @__PURE__ */ me(Tt, [["__scopeId", "data-v-bcf4fa92"]]), Rt = { class: "panel-content" }, It = "id", Lt = {
@@ -647,12 +647,12 @@ const gt = { class: "panel-content" }, ht = {
     expandStrategy: {
       type: String,
       default: "breadth",
-      validator: (A) => ["breadth", "firstLevel"].includes(A)
+      validator: (E) => ["breadth", "firstLevel"].includes(E)
     }
   },
   emits: ["nodeClick"],
-  setup(A, { emit: f }) {
-    const r = A, c = f, v = b([]), M = {
+  setup(E, { emit: f }) {
+    const r = E, c = f, v = b([]), w = {
       children: "children",
       label: "label"
     }, k = (l) => {
@@ -676,7 +676,7 @@ const gt = { class: "panel-content" }, ht = {
           g.push(u);
         }
       }), g;
-    }, D = (l) => l ? [{
+    }, A = (l) => l ? [{
       name: l == null ? void 0 : l.name,
       label: l == null ? void 0 : l.name,
       show: !0,
@@ -703,9 +703,9 @@ const gt = { class: "panel-content" }, ht = {
           g.push(...u);
         }
       }), g.slice(0, C + 1);
-    }, T = ie(() => !v.value || v.value.length === 0 ? [] : r.expandStrategy === "firstLevel" ? F(v.value, r.maxExpandCount) : L(v.value, r.maxExpandCount)), S = ie(() => r != null && r.model ? D(r.model) : []);
+    }, T = ie(() => !v.value || v.value.length === 0 ? [] : r.expandStrategy === "firstLevel" ? F(v.value, r.maxExpandCount) : L(v.value, r.maxExpandCount)), D = ie(() => r != null && r.model ? A(r.model) : []);
     return Pe(
-      S,
+      D,
       (l) => {
         v.value = JSON.parse(JSON.stringify(l));
       },
@@ -715,7 +715,7 @@ const gt = { class: "panel-content" }, ht = {
       return H(), q("div", Rt, [
         z(g, {
           data: v.value,
-          props: M,
+          props: w,
           "default-expanded-keys": T.value,
           "node-key": It,
           onNodeClick: k
@@ -733,25 +733,25 @@ const gt = { class: "panel-content" }, ht = {
     spin: { type: Boolean, default: !1 },
     active: { type: Boolean, default: !1 }
   },
-  setup(A) {
-    const f = A, r = ie(
+  setup(E) {
+    const f = E, r = ie(
       () => ({
         backgroundColor: f.backgroundColor
       })
     ), c = ie(() => `#${f.prefix}-${f.name}`), v = ie(() => {
-      const { size: M } = f;
-      let k = `${M}`;
+      const { size: w } = f;
+      let k = `${w}`;
       return k = `${k.replace("px", "")}px`, {
         width: k,
         height: k
       };
     });
-    return (M, k) => (H(), q("div", {
-      class: Fe(["container", { active: A.active }]),
+    return (w, k) => (H(), q("div", {
+      class: Fe(["container", { active: w.active }]),
       style: Ee(r.value)
     }, [
       (H(), q("svg", {
-        class: Fe(["svg-icon", [M.$attrs.class, A.spin && "svg-icon-spin"]]),
+        class: Fe(["svg-icon", [w.$attrs.class, w.spin && "svg-icon-spin"]]),
         style: Ee(v.value),
         "aria-hidden": "true"
       }, [
@@ -775,12 +775,12 @@ const gt = { class: "panel-content" }, ht = {
     }
   },
   emits: ["getAnimationData"],
-  setup(A, { expose: f, emit: r }) {
+  setup(E, { expose: f, emit: r }) {
     const c = r;
-    let v = null, M = !1;
-    const k = b(null), i = b(!1), D = b("");
+    let v = null, w = !1;
+    const k = b(null), i = b(!1), A = b("");
     b(!1);
-    const L = b(!1), F = b(!1), T = b(""), S = b(!1), l = b(""), C = b(), {
+    const L = b(!1), F = b(!1), T = b(""), D = b(!1), l = b(""), C = b(), {
       currentModels: g,
       initialCameraPosition: e,
       initialTargetPosition: u,
@@ -790,14 +790,14 @@ const gt = { class: "panel-content" }, ht = {
       getThreeJSObjects: R,
       clearAllModels: J,
       cleanup: G
-    } = mt(k), { isAnimating: j, toggleAnimation: Z, stopAnimation: ee } = ft(R, g), { isClipping: d, activeClippingAxis: a, toggleClipping: E, updateClippingPlanes: V } = vt(
+    } = mt(k), { isAnimating: j, toggleAnimation: Z, stopAnimation: ee } = ft(R, g), { isClipping: d, activeClippingAxis: a, toggleClipping: S, updateClippingPlanes: V } = vt(
       R,
       g
     ), { addModelsFromUrls: X, loadModelByDefaultPath: W, urdfModel: K, modelBoundingBoxes: N } = pt(
       R,
       g,
       i,
-      D,
+      A,
       J
     ), te = () => {
       if (L.value || g.value.length === 0) return;
@@ -810,24 +810,24 @@ const gt = { class: "panel-content" }, ht = {
         o.position.lerpVectors(Y, e.value, ce), t.target.lerpVectors($, u.value, ce), oe < 1 ? requestAnimationFrame(P) : L.value = !1;
       };
       P();
-    }, re = async () => M ? Promise.resolve() : new Promise((o) => {
+    }, re = async () => w ? Promise.resolve() : new Promise((o) => {
       const t = () => {
-        M ? o() : requestAnimationFrame(t);
+        w ? o() : requestAnimationFrame(t);
       };
       t();
     }), fe = async (o, t) => {
       try {
-        await re(), j.value && ee(), d.value && E();
+        await re(), j.value && ee(), d.value && S();
         const y = await t(o);
         return U(N), y;
       } catch (y) {
         throw console.error("加载模型失败:", y), y;
       }
     }, Ce = async (o) => fe(o, X), n = async (o) => fe(o, W), m = (o) => {
-      F.value = !0, T.value = o, o === "剖面视图" && !d.value && E();
+      F.value = !0, T.value = o, o === "剖面视图" && !d.value && S();
     }, s = (o) => {
-      S.value = !0, l.value = o, o === "动画仿真" && c("getAnimationData");
-    }, w = () => {
+      D.value = !0, l.value = o, o === "动画仿真" && c("getAnimationData");
+    }, x = () => {
       Be(() => {
         var o;
         (o = C.value) == null || o.startAnimation();
@@ -836,12 +836,12 @@ const gt = { class: "panel-content" }, ht = {
     return $e(async () => {
       await Be();
       try {
-        p(), v = R().scene, M = !0, window.addEventListener("resize", _);
+        p(), v = R().scene, w = !0, window.addEventListener("resize", _);
       } catch (o) {
         console.error("Three.js初始化失败:", o);
       }
     }), qe(() => {
-      M = !1, T.value = "", l.value = "", window.removeEventListener("resize", _), j.value && ee(), G();
+      w = !1, T.value = "", l.value = "", window.removeEventListener("resize", _), j.value && ee(), G();
     }), f({
       addModelsFromUrls: Ce,
       loadModelByDefaultPath: n
@@ -939,7 +939,7 @@ const gt = { class: "panel-content" }, ht = {
             name: "guanjiekongzhi",
             size: "24",
             onClick: t[4] || (t[4] = (P) => s("关节控制")),
-            active: S.value && l.value === "关节控制",
+            active: D.value && l.value === "关节控制",
             title: "关节控制"
           }, null, 8, ["active"]),
           z(B, {
@@ -947,7 +947,7 @@ const gt = { class: "panel-content" }, ht = {
             size: "24",
             title: "动画仿真",
             onClick: t[5] || (t[5] = (P) => s("动画仿真")),
-            active: S.value && l.value === "动画仿真"
+            active: D.value && l.value === "动画仿真"
           }, null, 8, ["active"]),
           z(B, {
             name: "donghuafangzhen",
@@ -971,7 +971,7 @@ const gt = { class: "panel-content" }, ht = {
             size: "24",
             backgroundColor: "#ffffff",
             title: "播放",
-            onClick: w
+            onClick: x
           }),
           z(B, {
             name: "kuaijin",
@@ -1072,7 +1072,7 @@ const gt = { class: "panel-content" }, ht = {
             h("span", null, ae(l.value), 1),
             h("span", {
               class: "close",
-              onClick: t[15] || (t[15] = (P) => S.value = !1)
+              onClick: t[15] || (t[15] = (P) => D.value = !1)
             }, " X ")
           ]),
           z(y, { "max-height": "650px" }, {
@@ -1082,22 +1082,22 @@ const gt = { class: "panel-content" }, ht = {
                 ref: C,
                 model: O(K),
                 scene: O(v),
-                animationData: A.animationData
+                animationData: E.animationData
               }, null, 8, ["model", "scene", "animationData"]), [
                 [we, l.value === "关节控制"]
               ]),
-              se(z(yt, { animationData: A.animationData }, null, 8, ["animationData"]), [
+              se(z(yt, { animationData: E.animationData }, null, 8, ["animationData"]), [
                 [we, l.value === "动画仿真"]
               ])
             ]),
             _: 1
           })
         ], 512), [
-          [we, S.value]
+          [we, D.value]
         ]),
         i.value ? (H(), q("div", on, [
           t[20] || (t[20] = h("div", { class: "loading-spinner" }, null, -1)),
-          h("p", null, ae(D.value), 1)
+          h("p", null, ae(A.value), 1)
         ])) : xe("", !0)
       ]);
     };