ss-component-new 1.3.665 → 1.3.666

package/dist/threeModel-BfY7WDWB.js

@@ -0,0 +1,1108 @@
+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-CG9X8aa2.js";
+import { O as ut } from "./iconfont-BNdGaGPn.js";
+import { V as dt, W as pt } from "./index-DhQcwkOc.js";
+import { _ as me } from "./_plugin-vue_export-helper-CHgC5LLL.js";
+import { c as Ge } from "./index-DGObzWyL.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;
+  const F = 1e3 / 30;
+  let T = 0;
+  const S = b([]), l = b(new x()), C = b(new x()), g = () => {
+    if (!A.value) return;
+    f = new Ze(), f.background = new We(15790320);
+    const d = A.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
+    }), c.setSize(d.clientWidth, d.clientHeight), c.localClippingEnabled = !0, c.shadowMap.enabled = !0, c.shadowMap.type = Qe, c.toneMapping = et, c.toneMappingExposure = 1, c.outputColorSpace = tt, d.appendChild(c.domElement), v = new ut(r, c.domElement), v.enableDamping = !0, v.dampingFactor = 0.05, v.mouseButtons = {
+      LEFT: null,
+      MIDDLE: Ve.PAN,
+      RIGHT: Ve.ROTATE
+    }, v.panSpeed = 0.7, M = new nt(r, c, {
+      container: d,
+      type: "cube",
+      placement: "top-right",
+      offset: {
+        top: 10,
+        right: 10
+      },
+      background: {
+        color: "#D1D1D1",
+        opacity: 1
+      },
+      front: {
+        label: "Top"
+      },
+      bottom: {
+        label: "Front"
+      },
+      left: {
+        label: "Left"
+      },
+      right: {
+        label: "Right"
+      },
+      top: {
+        label: "Back"
+      },
+      back: {
+        label: "Bottom"
+      }
+    }), M.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);
+    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);
+  }, u = () => {
+    if (S.value.length === 0)
+      return;
+    const d = new be();
+    let a = !1;
+    if (S.value.forEach((N) => {
+      if (N.userData.boundingBox)
+        d.union(N.userData.boundingBox), a = !0;
+      else if (N.userData.modelId && modelBoundingBoxes.has(N.userData.modelId)) {
+        const te = modelBoundingBoxes.get(N.userData.modelId);
+        d.union(te.box), a = !0;
+      } else
+        d.expandByObject(N), a = !0;
+    }), !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(
+      V.x,
+      V.y,
+      d.min.z
+      // 模型的最底部
+    );
+    e(W, K);
+  }, p = () => {
+    const d = new st(4210752, 0.6);
+    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 V = new ke(16777215, 0.6);
+    V.position.set(0, -15, 2), f.add(V);
+    const X = new lt(16777215, 4473924, 0.8);
+    f.add(X);
+    const W = new Re(16777215, 1, 50);
+    W.position.set(15, 15, 15), f.add(W);
+    const K = new Re(16777215, 0.5, 50);
+    K.position.set(-15, -15, 15), f.add(K);
+  }, _ = () => {
+    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());
+  }, U = (d) => {
+    [
+      "map",
+      "normalMap",
+      "bumpMap",
+      "roughnessMap",
+      "metalnessMap",
+      "emissiveMap",
+      "specularMap",
+      "envMap",
+      "lightMap",
+      "aoMap",
+      "displacementMap"
+    ].forEach((E) => {
+      d[E] && d[E].dispose && d[E].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);
+      }) : U(a.material));
+    });
+  };
+  return {
+    // 响应式数据
+    currentModels: S,
+    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();
+    },
+    fitCameraToAllModels: (d) => {
+      if (!r || !v || S.value.length === 0) return;
+      const a = new be();
+      let E = !1;
+      if (S.value.forEach((te) => {
+        if (te.userData.boundingBox)
+          a.union(te.userData.boundingBox), E = !0;
+        else if (te.userData.modelId && d.has(te.userData.modelId)) {
+          const re = d.get(te.userData.modelId);
+          a.union(re.box), E = !0;
+        } else
+          a.expandByObject(te), E = !0;
+      }), !E) {
+        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);
+      r.position.copy(N), r.lookAt(X), v.target.copy(X), v.update(), l.value.copy(N), C.value.copy(X), u();
+    },
+    getThreeJSObjects: () => ({
+      scene: f,
+      camera: r,
+      renderer: c,
+      controls: v,
+      gizmo: M
+    }),
+    clearAllModels: () => {
+      if (!f) return;
+      S.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);
+      }), d.forEach((a) => {
+        f.remove(a), R(a);
+      }), S.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();
+    },
+    updateGridForModels: u
+  };
+}
+function ft(A, f) {
+  const r = b(!1);
+  let c = null, v = 12700, M = new x(), k = new x(), i = new x(), D = 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);
+    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;
+    } else if (e <= 0.724) {
+      const J = (e - 0.567) / 0.157, G = F(J);
+      u.lerpVectors(_, U, G);
+    } else if (e <= 0.881) {
+      const J = (e - 0.724) / 0.157, j = F(J) * Math.PI;
+      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);
+    }
+    return u;
+  }, S = () => {
+    const { camera: e, controls: u } = A();
+    if (!e || !u) return;
+    c || (c = Date.now());
+    const p = Date.now() - c, _ = Math.min(p / v, 1);
+    if (_ >= 1) {
+      C();
+      return;
+    }
+    const U = T(_);
+    e.position.copy(U), e.lookAt(i), u.target.copy(i), L = requestAnimationFrame(S);
+  }, l = () => {
+    if (f.value.length === 0) return;
+    const { camera: e, controls: u } = A();
+    if (!e || !u) return;
+    M.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);
+    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());
+    };
+    j();
+  }, C = () => {
+    r.value = !1, c = null, L && (cancelAnimationFrame(L), L = null);
+    const { controls: e } = A();
+    e && (e.enabled = !0, e.target.copy(k));
+  };
+  return {
+    isAnimating: r,
+    toggleAnimation: () => {
+      if (r.value) {
+        r.value = !1, c = null, L && (cancelAnimationFrame(L), L = null);
+        const { camera: e, controls: u } = A();
+        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);
+        };
+        J();
+      } else
+        l();
+    },
+    startAnimation: l,
+    stopAnimation: C
+  };
+}
+function vt(A, f) {
+  const r = b(!1), c = b("none");
+  let v = [], M = [], k = new be(), i = new x();
+  const D = () => {
+    v = [
+      new ze(new x(1, 0, 0), 0),
+      // X轴平面
+      new ze(new x(0, 1, 0), 0),
+      // Y轴平面
+      new ze(new x(0, 0, 1), 0)
+      // Z轴平面
+    ];
+  }, L = () => {
+    k.makeEmpty(), f.value.forEach((g) => {
+      k.expandByObject(g);
+    }), i = k.getCenter(new x());
+  }, F = (g) => {
+    const e = k.getSize(new x());
+    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));
+    const U = new Oe({
+      color: 8900331,
+      transparent: !0,
+      opacity: 0.3,
+      side: Ue,
+      depthWrite: !1
+    }), R = new De(u, U);
+    return R.position.copy(p), R.rotation.copy(_), R;
+  }, T = () => {
+    if (S(), l(), c.value === "none")
+      return;
+    L();
+    let g = null;
+    if (c.value === "x" ? (v[0].constant = -i.x, g = v[0]) : c.value === "y" ? (v[1].constant = -i.y, g = v[1]) : c.value === "z" && (v[2].constant = -i.z, g = v[2]), g) {
+      f.value.forEach((u) => {
+        u.traverse((p) => {
+          p.isMesh && p.material && (Array.isArray(p.material) ? p.material.forEach((_) => {
+            _.clippingPlanes = [g];
+          }) : p.material.clippingPlanes = [g]);
+        });
+      });
+      const { scene: e } = A();
+      if (e) {
+        const u = F(c.value);
+        e.add(u), M.push(u);
+      }
+    }
+  }, S = () => {
+    f.value.forEach((g) => {
+      g.traverse((e) => {
+        e.isMesh && e.material && (Array.isArray(e.material) ? e.material.forEach((u) => {
+          u.clippingPlanes = [];
+        }) : e.material.clippingPlanes = []);
+      });
+    });
+  }, l = () => {
+    const { scene: g } = A();
+    g && M.forEach((e) => {
+      g.remove(e), e.geometry.dispose(), e.material.dispose();
+    }), M = [];
+  };
+  return {
+    isClipping: r,
+    activeClippingAxis: c,
+    toggleClipping: () => {
+      r.value = !r.value, r.value ? (D(), f.value.length > 0 && L()) : (c.value = "none", S(), l());
+    },
+    updateClippingPlanes: T,
+    clearClippingPlanes: S,
+    clearClippingMeshes: l
+  };
+}
+const gt = { class: "panel-content" }, ht = {
+  __name: "animationPanel",
+  props: {
+    animationData: Object,
+    model: Object
+  },
+  setup(A) {
+    const f = A;
+    b();
+    const r = b();
+    return Pe(
+      () => [f == null ? void 0 : f.animationData],
+      () => {
+        var v;
+        let c = ((v = Ge(f == null ? void 0 : f.animationData)) == null ? void 0 : v["输出（动画数据）Content"]) ?? [];
+        c && (r.value = c);
+      },
+      { deep: !0, immediate: !0 }
+    ), (c, v) => {
+      var M, k, i;
+      return H(), q("div", gt, [
+        (H(), Le(dt, {
+          itemData: (M = r.value) == null ? void 0 : M.compData,
+          key: (k = r.value) == null ? void 0 : k.id,
+          index: (i = r.value) == null ? void 0 : i.id,
+          showHeader: !1
+        }, null, 8, ["itemData", "index"]))
+      ]);
+    };
+  }
+}, yt = /* @__PURE__ */ me(ht, [["__scopeId", "data-v-2387536e"]]), wt = { class: "panel-content" }, xt = {
+  key: 0,
+  class: "joints-list"
+}, Mt = { class: "joint-info-row" }, Pt = { class: "joint-left" }, bt = { class: "joint-name" }, Ct = { class: "joint-range" }, kt = { class: "joint-type" }, zt = {
+  key: 0,
+  class: "joint-control-row"
+}, _t = { class: "slider-container" }, At = ["min", "max", "value", "onInput", "disabled"], Dt = { class: "value-display" }, St = { class: "joint-value" }, Et = { class: "unit" }, Ft = {
+  key: 1,
+  class: "empty-state"
+}, pe = 1e-3, Bt = 1e3, Ae = 60, Tt = {
+  __name: "jointPanel",
+  props: {
+    model: Object,
+    scene: Object,
+    animationData: Object
+  },
+  setup(A, { expose: f }) {
+    const r = A;
+    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;
+    let p = [];
+    Pe(
+      () => r.animationData,
+      (n) => {
+        var s;
+        D.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);
+      },
+      { deep: !0 }
+    ), ie(() => p.length > 0);
+    const _ = (n, m = !1) => n === "revolute" ? m ? Math.PI : -Math.PI : n === "prismatic" ? m ? 1 : -1 : 0, U = () => {
+      if (!v.value)
+        return Ie.error("未加载 URDF"), !1;
+      let n = null;
+      return v.value.traverse((m) => {
+        n || m.name === "Pipe_Link" && m.traverse((s) => {
+          s instanceof De && !n && (n = s);
+        });
+      }), n ? (n.position.y -= L.value * pe, i.value = n, n.material = new Oe({
+        color: 11184810,
+        shininess: 80,
+        side: Ue
+      }), !0) : (Ie.error('在 "Pipe_Link" 内未找到任何 Mesh'), !1);
+    }, R = (n) => {
+      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);
+      }), 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];
+        if (o._jointType === "fixed")
+          return;
+        const t = o.limit ? {
+          lower: o.limit.lower ?? _(o._jointType, !1),
+          upper: o.limit.upper ?? _(o._jointType, !0)
+        } : {
+          lower: _(o._jointType, !1),
+          upper: _(o._jointType, !0)
+        };
+        s.push({
+          name: w,
+          type: o._jointType || "unknown",
+          limit: t,
+          currentValue: o.angle || 0,
+          urdfJoint: o
+        });
+      }), s.sort((w, o) => w.name.localeCompare(o.name));
+    }, J = (n, m) => {
+      const s = c.value.find((o) => o.name === n);
+      if (!s) return;
+      const w = parseFloat(m);
+      if (s.limit) {
+        const o = Math.max(s.limit.lower, Math.min(s.limit.upper, w));
+        s.currentValue = o;
+      } else
+        s.currentValue = w;
+      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;
+      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;
+    }, 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)
+      };
+      if (!s && !o) return m;
+      if (m.push(y.pos.clone()), w !== 0) {
+        const Y = new de().makeRotationAxis(y.localY, g(w));
+        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) {
+        const Y = g(o), $ = t * pe, ne = y.pos.clone().add(y.localX.clone().multiplyScalar(-$)), I = Math.max(16, Math.ceil(o / 5));
+        for (let P = 1; P <= I; P++) {
+          const Q = Y * P / I, oe = new de().makeRotationAxis(y.localZ, Q), ve = y.localX.clone().multiplyScalar($).applyMatrix4(oe), ge = ne.clone().add(ve);
+          m.push(ge);
+        }
+      }
+      return m;
+    }, Z = (n, m = 0) => {
+      let s = p.slice(0, n + 1);
+      const w = p[n + 1];
+      if (w && m > 0) {
+        const I = {
+          ...w,
+          // 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,
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+                      [ye, O(a)]
+                    ]),
+                    t[17] || (t[17] = h("span", { class: "radio-text" }, "X轴切割", -1))
+                  ]),
+                  h("label", en, [
+                    se(h("input", {
+                      type: "radio",
+                      name: "clipping-axis",
+                      value: "y",
+                      "onUpdate:modelValue": t[11] || (t[11] = (P) => he(a) ? a.value = P : null),
+                      onChange: t[12] || (t[12] = (...P) => O(V) && O(V)(...P))
+                    }, null, 544), [
+                      [ye, O(a)]
+                    ]),
+                    t[18] || (t[18] = h("span", { class: "radio-text" }, "Y轴切割", -1))
+                  ]),
+                  h("label", tn, [
+                    se(h("input", {
+                      type: "radio",
+                      name: "clipping-axis",
+                      value: "z",
+                      "onUpdate:modelValue": t[13] || (t[13] = (P) => he(a) ? a.value = P : null),
+                      onChange: t[14] || (t[14] = (...P) => O(V) && O(V)(...P))
+                    }, null, 544), [
+                      [ye, O(a)]
+                    ]),
+                    t[19] || (t[19] = h("span", { class: "radio-text" }, "Z轴切割", -1))
+                  ])
+                ])
+              ])) : xe("", !0)
+            ]),
+            _: 1
+          })
+        ], 512), [
+          [we, F.value]
+        ]),
+        se(h("div", nn, [
+          h("div", an, [
+            h("span", null, ae(l.value), 1),
+            h("span", {
+              class: "close",
+              onClick: t[15] || (t[15] = (P) => S.value = !1)
+            }, " X ")
+          ]),
+          z(y, { "max-height": "650px" }, {
+            default: Te(() => [
+              se(z(Vt, {
+                ref_key: "jointRef",
+                ref: C,
+                model: O(K),
+                scene: O(v),
+                animationData: A.animationData
+              }, null, 8, ["model", "scene", "animationData"]), [
+                [we, l.value === "关节控制"]
+              ]),
+              se(z(yt, { animationData: A.animationData }, null, 8, ["animationData"]), [
+                [we, l.value === "动画仿真"]
+              ])
+            ]),
+            _: 1
+          })
+        ], 512), [
+          [we, S.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)
+        ])) : xe("", !0)
+      ]);
+    };
+  }
+}, fn = /* @__PURE__ */ me(sn, [["__scopeId", "data-v-eb64b36c"]]);
+export {
+  fn as default
+};