ss-component-new 1.3.664 → 1.3.666

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Files changed (84) hide show
  1. package/dist/MTLLoader-DI0avKtj.js +657 -0
  2. package/dist/URDFLoader-PUxvYFDe.js +2304 -0
  3. package/dist/animationData-05aVUytq.js +83 -0
  4. package/dist/array-BHRYnJKv.js +1044 -0
  5. package/dist/clone-Ddn1p6-1.js +8 -0
  6. package/dist/config.js +1 -1
  7. package/dist/eleIcon-BWVKfp5t.js +29 -0
  8. package/dist/iconfont-BNdGaGPn.js +1018 -0
  9. package/dist/icons/svg/Update.svg +1 -0
  10. package/dist/icons/svg/functionList.svg +1 -0
  11. package/dist/icons/svg/uploadCopy.svg +1 -0
  12. package/dist/index-7mFTFA3-.js +107 -0
  13. package/dist/index-BDhIWgKn.js +658 -0
  14. package/dist/index-BFqUz4pN.js +52 -0
  15. package/dist/index-BP1mKUQP.js +627 -0
  16. package/dist/index-BczRQX8N.js +407 -0
  17. package/dist/index-BnrvtCYj.js +55 -0
  18. package/dist/index-Bpr501oZ.js +78 -0
  19. package/dist/index-BvbZiTVB.js +342 -0
  20. package/dist/index-Bvvz41NY.js +44 -0
  21. package/dist/index-C2M8MGB3.js +83 -0
  22. package/dist/index-C67QqPPT.js +24865 -0
  23. package/dist/index-C85-PeF1.js +11773 -0
  24. package/dist/index-C9DBY1gg.js +103 -0
  25. package/dist/index-CFFbhR3G.js +996 -0
  26. package/dist/index-COr2mcbl.js +48 -0
  27. package/dist/index-CQ8DCGnJ.js +98 -0
  28. package/dist/index-CV2cha0T.js +864 -0
  29. package/dist/index-CV_jQDcg.js +9 -0
  30. package/dist/index-CXe4q28L.js +447 -0
  31. package/dist/{index-BobGeNMx.js → index-ChNfRlIP.js} +5 -5
  32. package/dist/index-CqNlqFQ5.js +117 -0
  33. package/dist/index-D-5v1Jx7.js +93 -0
  34. package/dist/index-D4LcEpQ7.js +619 -0
  35. package/dist/index-D9w3QWuY.js +468 -0
  36. package/dist/index-DGObzWyL.js +8984 -0
  37. package/dist/index-DJ59jXR0.js +28483 -0
  38. package/dist/index-DJrzqi4-.js +209 -0
  39. package/dist/index-D_kI6aHR.js +98 -0
  40. package/dist/index-DhQcwkOc.js +61958 -0
  41. package/dist/index-DhULdX5n.js +2623 -0
  42. package/dist/index-Dibj25i7.js +93 -0
  43. package/dist/index-Dr9Wt5nC.js +84 -0
  44. package/dist/index-Dwt0Wlg_.js +201 -0
  45. package/dist/index-WPJbEuld.js +62 -0
  46. package/dist/index-YVR3acYT.js +61 -0
  47. package/dist/{index-BKK_dL6t.js → index-dD-mKgue.js} +3 -3
  48. package/dist/index-roQK_1xA.js +30 -0
  49. package/dist/index-uF-ibwG0.js +9 -0
  50. package/dist/{index.vue_vue_type_script_setup_true_lang-DRzriV-s.js → index.vue_vue_type_script_setup_true_lang-DwbHXtUp.js} +2 -2
  51. package/dist/index.vue_vue_type_style_index_0_scoped_39e1db95_lang-CG9X8aa2.js +137728 -0
  52. package/dist/isString-CoCw_sp3.js +8 -0
  53. package/dist/localIcon-CoJHw5ss.js +76 -0
  54. package/dist/main-Dlo2i9wB.js +502 -0
  55. package/dist/menuIndex-Dt0NyAyE.js +159 -0
  56. package/dist/request-DiogHwkN.js +9465 -0
  57. package/dist/ss-component.css +8 -2
  58. package/dist/ss-component.js +64 -28
  59. package/dist/ss-component2.js +75 -15
  60. package/dist/ss-component3.js +1 -1
  61. package/dist/threeModel-BfY7WDWB.js +1108 -0
  62. package/dist/threePreview-BHLSA5YS.js +2259 -0
  63. package/dist/threeSceneView-ZTUK-ls2.js +1289 -0
  64. package/dist/threeSceneViewForCPMPIP-DCG4eBvk.js +538 -0
  65. package/dist/threeTrackPathView-BR8-g2Tr.js +620 -0
  66. package/dist/threeViewerHost-BwblfmOC.js +233 -0
  67. package/dist/urdfTree-IEJgkVzs.js +254 -0
  68. package/dist/workpieceTreePanel-aZV2ut3W.js +555 -0
  69. package/package.json +4 -4
  70. package/public/config.js +1 -1
  71. package/public/icons/svg/Update.svg +1 -0
  72. package/public/icons/svg/functionList.svg +1 -0
  73. package/public/icons/svg/uploadCopy.svg +1 -0
  74. package/dist/index-CoXdIQt_.js +0 -50
  75. package/dist/index-DJWOuBw9.js +0 -195
  76. package/dist/index-DK2pco3V.js +0 -1044
  77. package/dist/index-DfraOPVU.js +0 -9022
  78. package/dist/index-MHAwX3y9.js +0 -182
  79. package/dist/menu-B8iV5Rhf.js +0 -5215
  80. package/dist/origin-C4Shcrcr.js +0 -11428
  81. /package/dist/icons/svg/{table-close.svg → tableClose.svg} +0 -0
  82. /package/dist/icons/svg/{table-expand.svg → tableExpand.svg} +0 -0
  83. /package/public/icons/svg/{table-close.svg → tableClose.svg} +0 -0
  84. /package/public/icons/svg/{table-expand.svg → tableExpand.svg} +0 -0
@@ -0,0 +1,555 @@
1
+ var ce = Object.defineProperty;
2
+ var de = (b, l, t) => l in b ? ce(b, l, { enumerable: !0, configurable: !0, writable: !0, value: t }) : b[l] = t;
3
+ var J = (b, l, t) => de(b, typeof l != "symbol" ? l + "" : l, t);
4
+ import { U as me } from "./URDFLoader-PUxvYFDe.js";
5
+ import { S as ve, M as pe, O as fe } from "./MTLLoader-DI0avKtj.js";
6
+ import { b2 as be, b3 as re, s as O, k as we, h as he, b4 as E, B as ge, b5 as _e, ap as je, V as ye } from "./index.vue_vue_type_style_index_0_scoped_39e1db95_lang-CG9X8aa2.js";
7
+ import { ref as T, defineComponent as Le, computed as M, watch as ue, resolveComponent as x, openBlock as k, createElementBlock as V, createVNode as U, withCtx as F, createTextVNode as D, createElementVNode as c, toDisplayString as C } from "vue";
8
+ import { c as Re, e as Ue, g as $e } from "./iconfont-BNdGaGPn.js";
9
+ import { _ as Ce } from "./_plugin-vue_export-helper-CHgC5LLL.js";
10
+ const Se = "http://222.92.178.198:60000/chfs/shared/Insofrobot/urdf";
11
+ function Me(b) {
12
+ const { mtlUrl: l, manager: t, resourcePath: s, onLoad: m, onProgress: i, onError: h } = b, v = new pe(t);
13
+ return s && v.setResourcePath(s), v.load(l, m, i, h), v;
14
+ }
15
+ function Fe(b) {
16
+ const { objUrl: l, manager: t, materials: s, onLoad: m, onProgress: i, onError: h } = b, v = new fe(t);
17
+ return s && v.setMaterials(s), v.load(l, m, i, h), v;
18
+ }
19
+ function De(b) {
20
+ const { manager: l, baseFolderUrl: t, onFileProgress: s } = b, m = new me(l);
21
+ return m.packages = (i) => `${t.endsWith("/") ? t : t + "/"}${i}/`, m.loadMeshCb = (i, h, v) => {
22
+ const y = (() => {
23
+ const g = i.split("?")[0].split("#")[0], r = g.lastIndexOf(".");
24
+ return r >= 0 ? g.slice(r + 1).toLowerCase() : void 0;
25
+ })();
26
+ switch (y) {
27
+ // OBJ+MTL
28
+ case "obj": {
29
+ const g = (() => {
30
+ try {
31
+ return new URL(".", i).toString();
32
+ } catch {
33
+ const n = i.lastIndexOf("/");
34
+ return n >= 0 ? i.slice(0, n + 1) : i;
35
+ }
36
+ })(), r = (() => {
37
+ var u;
38
+ return (((u = i.split("/").pop()) == null ? void 0 : u.split("?")[0].split("#")[0]) ?? "").replace(/\.[^/.?#]+$/, "");
39
+ })(), f = `${g}${r}.mtl`, _ = (n) => {
40
+ Fe({
41
+ objUrl: i,
42
+ manager: h,
43
+ materials: n,
44
+ onLoad: (u) => v(u),
45
+ onProgress: (u) => s == null ? void 0 : s(i, u == null ? void 0 : u.loaded, u == null ? void 0 : u.total),
46
+ onError: (u) => {
47
+ console.error(`[URDF 资源加载失败,已跳过] 无法加载 OBJ 模型: ${i}`, u), v(new O());
48
+ }
49
+ });
50
+ };
51
+ Me({
52
+ mtlUrl: f,
53
+ manager: h,
54
+ resourcePath: g,
55
+ onLoad: (n) => {
56
+ try {
57
+ n.preload();
58
+ } catch {
59
+ }
60
+ _(n);
61
+ },
62
+ onProgress: (n) => s == null ? void 0 : s(f, n == null ? void 0 : n.loaded, n == null ? void 0 : n.total),
63
+ onError: (n) => {
64
+ console.warn(`[URDF 资源警告] 未找到或加载材质失败: ${f}。将尝试无材质加载。`), _(void 0);
65
+ }
66
+ });
67
+ break;
68
+ }
69
+ case "stl": {
70
+ new ve(h).load(
71
+ i,
72
+ (r) => {
73
+ const f = new we({ color: 12303291, shininess: 30 }), _ = new he(r, f);
74
+ _.castShadow = !0, _.receiveShadow = !0, v(_);
75
+ },
76
+ (r) => s == null ? void 0 : s(i, r == null ? void 0 : r.loaded, r == null ? void 0 : r.total),
77
+ (r) => {
78
+ console.error(`[URDF 资源加载失败,已跳过] 无法加载 STL 模型: ${i}`, r), v(new O());
79
+ }
80
+ );
81
+ break;
82
+ }
83
+ default:
84
+ console.error(`[URDF 资源加载失败,已跳过] 不支持的网格格式: .${y} (路径: ${i})`), v(new O());
85
+ }
86
+ }, m;
87
+ }
88
+ function dt(b, l, t, s) {
89
+ return { loadSceneFromFile: (i) => new Promise((h, v) => {
90
+ t.value = !0, s.value = "正在初始化 URDF 加载器...";
91
+ let y = 0, g = 0, r = null;
92
+ const f = new be();
93
+ f.onStart = (n, u, j) => {
94
+ y = j || 0, g = u || 0, s.value = y > 0 ? `开始下载资源: 0 / ${y}` : "开始下载资源...", t.value = !0;
95
+ }, f.onProgress = (n, u, j) => {
96
+ g = u, y = j;
97
+ const $ = `正在加载 ${u} / ${j} 个文件: ${re(n)}`;
98
+ s.value = $, u === j && (s.value = "资源加载完成,正在处理模型...", setTimeout(() => {
99
+ if (r) {
100
+ r.updateMatrixWorld(!0);
101
+ const p = new ge().setFromObject(r);
102
+ p.isEmpty() && console.warn("模型加载完成,但所有可视化网格均加载失败,模型将不可见。"), r.userData.boundingBox = p, r.traverse((d) => {
103
+ d.isMesh && (d.castShadow = !0, d.receiveShadow = !0);
104
+ }), h(r);
105
+ } else
106
+ v(new Error("URDF 文件本身加载失败。"));
107
+ s.value = "模型加载完成", setTimeout(() => {
108
+ s.value === "模型加载完成" && (t.value = !1, s.value = "");
109
+ }, 500);
110
+ }, 100));
111
+ }, f.onError = (n) => {
112
+ console.warn(`LoadingManager 报告一个资源加载失败: ${n}。加载流程将继续。`);
113
+ };
114
+ const _ = (n, u, j) => {
115
+ const $ = re(n);
116
+ let p;
117
+ j && j > 0 ? p = `${$}(${E(u)} / ${E(j)})` : u && u > 0 ? p = `${$}(已下载 ${E(u)})` : p = `${$}`, s.value = `正在下载第 ${g + 1} / ${y} 个文件: ${p}`;
118
+ };
119
+ try {
120
+ const n = URL.createObjectURL(i);
121
+ De({
122
+ manager: f,
123
+ baseFolderUrl: Se,
124
+ onFileProgress: _
125
+ }).load(
126
+ n,
127
+ (j) => {
128
+ r = j;
129
+ },
130
+ void 0,
131
+ (j) => {
132
+ console.error(`加载 URDF 文件 (${i.name}) 时发生致命错误:`, j), s.value = "URDF 文件解析失败", t.value = !1, v(new Error(`加载 URDF 文件失败: ${i.name}`));
133
+ }
134
+ );
135
+ } catch (n) {
136
+ console.error("初始化 URDF 加载时发生致命错误:", n), s.value = "模型加载失败", t.value = !1, v(n);
137
+ }
138
+ }) };
139
+ }
140
+ function mt(b, l, t, s = ["URDFVisual"]) {
141
+ let m = null;
142
+ const i = T(null), h = new _e(), v = new je(), y = /* @__PURE__ */ new Map();
143
+ function g() {
144
+ t.value.forEach((p) => {
145
+ p.traverse((d) => {
146
+ s != null && s.includes(d.type) && y.set(d.id, {
147
+ obj: d,
148
+ axis: d.axis || new ye(1, 0, 0),
149
+ // URDF 里的 <axis>
150
+ limits: d.limits
151
+ });
152
+ });
153
+ });
154
+ }
155
+ function r(p) {
156
+ i.value && i.value.obj.traverse((d) => {
157
+ var e;
158
+ d.material && ((e = d.material.emissive) == null || e.set(0));
159
+ }), i.value = p, p.obj.traverse((d) => {
160
+ var e;
161
+ d.material && ((e = d.material.emissive) == null || e.set(65280));
162
+ });
163
+ }
164
+ function f(p) {
165
+ const d = b.value.getBoundingClientRect();
166
+ v.x = (p.clientX - d.left) / d.width * 2 - 1, v.y = -((p.clientY - d.top) / d.height) * 2 + 1, h.setFromCamera(v, m);
167
+ const e = h.intersectObjects(t.value, !0);
168
+ if (e.length === 0) return;
169
+ let o = e[0].object, w = null;
170
+ for (; o; ) {
171
+ if (y.has(o.id)) {
172
+ w = y.get(o.id);
173
+ break;
174
+ }
175
+ o = o.parent;
176
+ }
177
+ w && r(w);
178
+ }
179
+ function _() {
180
+ b.value && b.value.removeEventListener("click", f, !1);
181
+ }
182
+ function n() {
183
+ const { scene: p, camera: d } = l();
184
+ m = d, g(), b.value && b.value.addEventListener("click", f, !1);
185
+ }
186
+ function u(p) {
187
+ i.value && (i.value.obj.visible = p);
188
+ }
189
+ function j(p) {
190
+ var o;
191
+ const { axis: d, value: e } = p;
192
+ Ue((o = i.value) == null ? void 0 : o.obj, d, e);
193
+ }
194
+ function $(p) {
195
+ var o;
196
+ const { axis: d, value: e } = p;
197
+ Re((o = i.value) == null ? void 0 : o.obj, d, e);
198
+ }
199
+ return {
200
+ initRaycaster: n,
201
+ dispose: _,
202
+ selectedObject3D: i,
203
+ setSelectedObjVisible: u,
204
+ updatePosition: j,
205
+ updateRotation: $
206
+ };
207
+ }
208
+ class vt {
209
+ constructor(l) {
210
+ J(this, "robot");
211
+ J(this, "movableJoints");
212
+ this.robot = l, this.movableJoints = this.getMovableJoints();
213
+ }
214
+ /**
215
+ * 获取所有可动关节
216
+ */
217
+ getMovableJoints() {
218
+ return Object.values(this.robot.joints).filter((l) => l.jointType !== "fixed");
219
+ }
220
+ /**
221
+ * 获取可动关节名称列表
222
+ */
223
+ getMovableJointNames() {
224
+ return this.movableJoints.map((l) => l.name);
225
+ }
226
+ /**
227
+ * 设置单个关节角度
228
+ */
229
+ setJointAngle(l, t) {
230
+ const s = this.robot.joints[l];
231
+ if (!s || s.jointType === "fixed")
232
+ return console.warn(`关节 ${l} 不存在或不可动`), !1;
233
+ if (s.limit) {
234
+ const m = Math.max(s.limit.lower, Math.min(s.limit.upper, t));
235
+ m !== t && console.warn(`关节 ${l} 角度被限制在 [${s.limit.lower}, ${s.limit.upper}]`), s.setJointValue(m);
236
+ } else
237
+ s.setJointValue(t);
238
+ return !0;
239
+ }
240
+ /**
241
+ * 批量设置关节角度
242
+ */
243
+ setJointAngles(l) {
244
+ Object.entries(l).forEach(([t, s]) => {
245
+ typeof s == "number" && !isNaN(s) && this.setJointAngle(t, s);
246
+ });
247
+ }
248
+ /**
249
+ * 获取当前所有关节状态
250
+ */
251
+ getCurrentJointStates() {
252
+ const l = {};
253
+ return this.movableJoints.forEach((t) => {
254
+ l[t.name] = t.angle || 0;
255
+ }), l;
256
+ }
257
+ /**
258
+ * 重置所有关节到零位
259
+ */
260
+ resetToZero() {
261
+ this.movableJoints.forEach((l) => {
262
+ l.setJointValue(0);
263
+ });
264
+ }
265
+ /**
266
+ * 获取关节限制信息
267
+ */
268
+ getJointLimits(l) {
269
+ const t = this.robot.joints[l];
270
+ return !t || !t.limit ? null : {
271
+ lower: t.limit.lower,
272
+ upper: t.limit.upper
273
+ };
274
+ }
275
+ /**
276
+ * 线性插值动画到目标状态
277
+ */
278
+ async animateToState(l, t = 1e3, s) {
279
+ const m = this.getCurrentJointStates(), i = Date.now();
280
+ return new Promise((h) => {
281
+ const v = () => {
282
+ const y = Date.now() - i, g = Math.min(y / t, 1), r = this.easeInOutCubic(g), f = {};
283
+ Object.keys(l).forEach((_) => {
284
+ const n = m[_] || 0, u = l[_];
285
+ f[_] = n + (u - n) * r;
286
+ }), this.setJointAngles(f), s && s(g), g < 1 ? requestAnimationFrame(v) : h();
287
+ };
288
+ v();
289
+ });
290
+ }
291
+ /**
292
+ * 缓动函数
293
+ */
294
+ easeInOutCubic(l) {
295
+ return l < 0.5 ? 4 * l * l * l : 1 - Math.pow(-2 * l + 2, 3) / 2;
296
+ }
297
+ /**
298
+ * 播放关键帧动画序列
299
+ */
300
+ async playSequence(l, t = 1e3, s) {
301
+ for (let m = 0; m < l.length; m++)
302
+ await this.animateToState(l[m], t, (i) => {
303
+ s && s(m, i);
304
+ });
305
+ }
306
+ }
307
+ const Je = { class: "panel-content" }, Oe = { class: "obj" }, Ee = {
308
+ key: 0,
309
+ class: "obj-base"
310
+ }, xe = ["title"], ke = ["title"], Ve = { key: 1 }, Te = { class: "obj-position" }, ze = { class: "coord-item" }, Pe = { class: "coord-item" }, Ae = { class: "coord-item" }, Ie = { class: "obj-rotation" }, Be = { class: "coord-item" }, Ne = { class: "coord-item" }, We = { class: "coord-item" }, qe = { class: "world" }, Xe = { class: "coord-line" }, Ye = { class: "coord-text" }, Ze = { class: "world-position-item" }, Ke = { class: "world-position-item" }, Ge = { class: "world-position-item" }, He = { class: "coord-line" }, Qe = { class: "coord-text" }, et = { class: "world-rotation-item" }, tt = { class: "world-rotation-item" }, ot = { class: "world-rotation-item" }, st = /* @__PURE__ */ Le({
311
+ __name: "workpieceTreePanel",
312
+ props: {
313
+ model: {},
314
+ maxExpandCount: { default: 10 },
315
+ expandStrategy: { default: "breadth" }
316
+ },
317
+ emits: ["nodeClick", "visibleChange", "updatePosition", "updateRotation"],
318
+ setup(b, { emit: l }) {
319
+ const t = b, s = l, m = T([]), i = T({}), h = (e, o = 0) => {
320
+ const w = [];
321
+ return Array.isArray(e) && (e == null ? void 0 : e.length) > 0 && e.forEach((a) => {
322
+ if (!(a != null && a.isMesh)) {
323
+ const L = {
324
+ name: a == null ? void 0 : a.name,
325
+ label: (a == null ? void 0 : a.name) || (a == null ? void 0 : a.type),
326
+ show: !0,
327
+ level: o + 1,
328
+ isPenultimate: !1,
329
+ type: a == null ? void 0 : a.type,
330
+ id: a == null ? void 0 : a.id,
331
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22
- id: "1",
23
- request_method: "Post",
24
- request_url: "/platform/getdata",
25
- request_param: JSON.stringify({
26
- userName: l.value.userName,
27
- password: l.value.password
28
- }),
29
- request_result: "{}",
30
- is_delete: !1,
31
- request_table: "admin_user",
32
- request_type: "login"
33
- }
34
- ];
35
- try {
36
- const a = ((r = l == null ? void 0 : l.value) == null ? void 0 : r.plat_id) || ((i = _.value) == null ? void 0 : i.plat_id);
37
- return await v({
38
- platId: parseInt(a),
39
- changeContents: [{
40
- tableName: "log",
41
- tableContents: u
42
- }]
43
- }), e;
44
- } catch {
45
- return e;
46
- }
47
- };
48
- export {
49
- E as l
50
- };