From 529886cd6647523861517627adab176cad37904c Mon Sep 17 00:00:00 2001
From: caill <815519168@qq.com>
Date: Sat, 30 Aug 2025 00:34:49 +0800
Subject: [PATCH] no message

---
 src/pages/modules/building.vue |   2 +-
 src/pages/modules/gl-map-4.vue | 520 +++++++++++++++++++++++++++++++++
 2 files changed, 521 insertions(+), 1 deletion(-)
 create mode 100644 src/pages/modules/gl-map-4.vue

diff --git a/src/pages/modules/building.vue b/src/pages/modules/building.vue
index ba427e7..842a2e0 100644
--- a/src/pages/modules/building.vue
+++ b/src/pages/modules/building.vue
@@ -50,7 +50,7 @@
 </template>
 
 <script>
-import GlMap from './gl-map-3.vue'
+import GlMap from './gl-map-4.vue'
 import { driver } from 'driver.js'
 import 'driver.js/dist/driver.css'
 // import { startMapping } from '../../config/mork.js'
diff --git a/src/pages/modules/gl-map-4.vue b/src/pages/modules/gl-map-4.vue
new file mode 100644
index 0000000..e3ba293
--- /dev/null
+++ b/src/pages/modules/gl-map-4.vue
@@ -0,0 +1,520 @@
+<template>
+  <div class="point-cloud-map">
+    <div ref="canvasContainer" class="canvas-container">
+      <canvas ref="pointCloudCanvas"></canvas>
+    </div>
+    <el-button icon="el-icon-location" size="mini" class="locate-button" @click="locateCar">
+    </el-button>
+    <div v-if="isLoading" class="loading-indicator">{{ $t('Loading') }}</div>
+  </div>
+</template>
+
+<script>
+/* eslint-disable */
+import * as THREE from 'three'
+import { mapGetters } from 'vuex'
+// import { points } from '../../config/point.js'
+// import { points1 } from '../../config/point1.js'
+// import { points2 } from '../../config/point2.js'
+export default {
+  name: 'PointCloudMap',
+  data() {
+    return {
+      // Three.js相关
+      scene: null,
+      camera: null,
+      renderer: null,
+      pointCloud: null,
+      pointMaterial: null,
+      pointGeometry: null,
+      carMesh: null,
+      carTexture: null,
+      // 点云数据
+      allPoints: [],
+      pointCount: 0,
+      maxPoints: 1000000, // 最大点数限制
+      // 小车相关
+      vehicleImage: require('../../images/new/agv.png'),
+      carMovementEnabled: true,
+      carSize: 30,
+      // 视图控制
+      isDragging: false,
+      previousTouchX: 0,
+      previousTouchY: 0,
+      cameraX: 0,
+      cameraY: 0,
+      cameraZoom: 1,
+      initialPinchDistance: null,
+      initialZoom: null,
+      // UI控制
+      pointSize: 1.5,
+      // WebSocket相关
+      socket: null,
+      isLoading: true,
+      reconnectTimer: null, // 重连计时器
+      animationFrameId: null,
+      // 优化相关参数
+      updateThrottle: 50, // 数据更新节流间隔(ms)
+      lastUpdateTime: 0,
+      resizeHandler: null // 存储resize事件处理函数
+    }
+  },
+  computed: {
+    ...mapGetters(['serverUrl', 'userRole', 'carPosition']),
+  },
+  watch: {
+    carPosition: {
+      handler(newVal) {
+        this.updateCarPosition(newVal)
+      },
+      deep: true
+    }
+  },
+  beforeDestroy() {
+    this.cleanupResources();
+  },
+  methods: {
+    cleanupResources() {
+      if (this.reconnectTimer) clearTimeout(this.reconnectTimer)
+      if (this.animationFrameId) cancelAnimationFrame(this.animationFrameId)
+      this.closeWebSocket()
+      // 清理Three.js资源
+      if (this.renderer) {
+        this.renderer.dispose();
+        this.renderer.forceContextLoss();
+        this.renderer = null;
+      }
+      if (this.pointGeometry) {
+        this.pointGeometry.dispose();
+        this.pointGeometry = null;
+      }
+      if (this.pointMaterial) {
+        this.pointMaterial.dispose();
+        this.pointMaterial = null;
+      }
+      if (this.carTexture) {
+        this.carTexture.dispose();
+        this.carTexture = null;
+      }
+      if (this.scene) {
+        this.scene.clear();
+        this.scene = null;
+      }
+      if (this.resizeHandler) {
+        window.removeEventListener('resize', this.resizeHandler);
+        this.resizeHandler = null;
+      }
+      const canvas = this.$refs.pointCloudCanvas;
+      if (canvas) {
+        canvas.removeEventListener('touchstart', null);
+        canvas.removeEventListener('touchmove', null);
+        canvas.removeEventListener('touchend', null);
+        canvas.removeEventListener('mousedown', null);
+        canvas.removeEventListener('mousemove', null);
+        canvas.removeEventListener('mouseup', null);
+        canvas.removeEventListener('mouseleave', null);
+        canvas.removeEventListener('wheel', null);
+      }
+      this.camera = null;
+      this.pointCloud = null;
+      this.carMesh = null;
+      this.allPoints = [];
+      this.pointCount = 0;
+    },
+    initThreeJS() {
+      // 初始化Three.js场景
+      const container = this.$refs.canvasContainer;
+      const aspectRatio = container.clientWidth / container.clientHeight;
+      const pointRange = 1000; // 点云范围 -500 到 500
+      const viewHeight = pointRange;
+      const viewWidth = viewHeight * aspectRatio;
+      this.scene = new THREE.Scene();
+      this.camera = new THREE.OrthographicCamera(
+        -viewWidth / 2,
+        viewWidth / 2,
+        viewHeight / 2,
+        -viewHeight / 2,
+        0.1,
+        2000
+      );
+      this.camera.position.z = 10;
+      const canvas = this.$refs.pointCloudCanvas;
+      this.renderer = new THREE.WebGLRenderer({
+        canvas: canvas,
+        antialias: false,
+        alpha: true,  // 关键：启用alpha通道
+        transparent: true  // 关键：允许透明
+      });
+      
+      this.updateRendererSize();
+      this.createPointCloud();
+      this.createCar();
+      this.setupEventListeners();
+      this.animate();
+    },
+    createPointCloud() {
+      this.pointGeometry = new THREE.BufferGeometry();
+      this.pointMaterial = new THREE.PointsMaterial({
+        size: this.pointSize,
+        color: 0xFFFFFF,
+        sizeAttenuation: false,
+        transparent: false, // 不透明
+        depthWrite: true,
+        antialias: false
+      });
+      this.pointCloud = new THREE.Points(this.pointGeometry, this.pointMaterial);
+      this.scene.add(this.pointCloud);
+    },
+    createCar() {
+      const textureLoader = new THREE.TextureLoader();
+      textureLoader.load(this.vehicleImage, (texture) => {
+        this.carTexture = texture;
+        // 纹理过滤设置
+        texture.minFilter = THREE.LinearFilter;
+        texture.magFilter = THREE.LinearFilter;
+        texture.needsUpdate = true;
+
+        const carMaterial = new THREE.SpriteMaterial({ 
+          map: texture,
+          transparent: true,
+          opacity: 1,
+          depthWrite: false // 避免z-fight
+        });
+        this.carMesh = new THREE.Sprite(carMaterial);
+
+        const container = this.$refs.canvasContainer;
+        const containerHeight = container.clientHeight;
+        const scale = this.carSize / containerHeight * 1000;
+        this.carMesh.scale.set(scale * 1.5, scale * 1.5, 1);
+        this.carMesh.position.set(this.carPosition.x, this.carPosition.y, 5);
+        this.carMesh.rotation.z = this.carPosition.angle;
+        this.scene.add(this.carMesh);
+      });
+    },
+    updatePointCloud(points) {
+      if (!points || !Array.isArray(points) || points.length === 0) return;
+
+      const pointSet = new Set();
+      this.allPoints.forEach(point => {
+        const key = `${point.x},${point.y}`;
+        pointSet.add(key);
+      });
+      const newUniquePoints = points.filter(point => {
+        const key = `${point.x},${point.y}`;
+        if (pointSet.has(key)) return false;
+        pointSet.add(key);
+        return true;
+      });
+      if (newUniquePoints.length === 0) return;
+      this.allPoints.push(...newUniquePoints);
+      if (this.allPoints.length > this.maxPoints) {
+        this.allPoints.splice(0, this.allPoints.length - this.maxPoints);
+      }
+      this.pointCount = this.allPoints.length;
+      
+      this.updatePointCloudGeometry();
+    },
+    updatePointCloudGeometry() {
+      const positions = new Float32Array(this.pointCount * 3);
+      
+      // 填充坐标数据
+      for (let i = 0; i < this.pointCount; i++) {
+        const point = this.allPoints[i];
+        positions[i * 3] = point.x || 0;
+        positions[i * 3 + 1] = point.y || 0;
+        positions[i * 3 + 2] = 0; // 固定z轴
+      }
+      
+      // 正确处理缓冲区大小变化的情况
+      if (this.pointGeometry.attributes.position) {
+        // 如果数组大小不同，需要先删除旧属性再添加新属性
+        if (this.pointGeometry.attributes.position.array.length !== positions.length) {
+          this.pointGeometry.deleteAttribute('position');
+          this.pointGeometry.setAttribute(
+            'position', 
+            new THREE.BufferAttribute(positions, 3)
+          );
+        } else {
+          // 大小相同则直接更新内容
+          this.pointGeometry.attributes.position.array.set(positions);
+          this.pointGeometry.attributes.position.needsUpdate = true;
+        }
+      } else {
+        // 首次创建属性
+        this.pointGeometry.setAttribute(
+          'position', 
+          new THREE.BufferAttribute(positions, 3)
+        );
+      }
+    },
+    updateCarPosition(position) {
+      if (!this.carMovementEnabled || !this.carMesh) return;
+      this.carMesh.position.set(position.x, position.y, 5);
+      this.carMesh.rotation.z = position.angle;
+    },
+    animate() {
+      this.animationFrameId = requestAnimationFrame(this.animate);
+      let isCameraUpdated = false;
+
+      // 优化：仅在相机状态变化时更新
+      if (this.camera.position.x !== this.cameraX || this.camera.position.y !== this.cameraY) {
+        this.camera.position.x = this.cameraX;
+        this.camera.position.y = this.cameraY;
+        isCameraUpdated = true;
+      }
+
+      if (this.camera.zoom !== this.cameraZoom) {
+        this.camera.zoom = this.cameraZoom;
+        isCameraUpdated = true;
+      }
+
+      if (isCameraUpdated) {
+        this.camera.updateProjectionMatrix();
+      }
+
+      this.renderer.render(this.scene, this.camera);
+    },
+    updateRendererSize() {
+      const container = this.$refs.canvasContainer;
+      const width = container.clientWidth;
+      const height = container.clientHeight;
+      const aspectRatio = width / height;
+      const viewHeight = 1000;
+      const viewWidth = viewHeight * aspectRatio;
+      this.camera.left = -viewWidth / 2 / this.cameraZoom;
+      this.camera.right = viewWidth / 2 / this.cameraZoom;
+      this.camera.top = viewHeight / 2 / this.cameraZoom;
+      this.camera.bottom = -viewHeight / 2 / this.cameraZoom;
+      this.camera.updateProjectionMatrix();
+      this.renderer.setSize(width, height);
+    },
+    locateCar() {
+      // 将相机对准小车
+      this.cameraX = this.carPosition.x;
+      this.cameraY = this.carPosition.y;
+    },
+    setupEventListeners() {
+      const canvas = this.$refs.pointCloudCanvas;
+      this.resizeHandler = () => this.updateRendererSize();
+      window.addEventListener('resize', this.resizeHandler);
+      // 触摸事件 - 平移
+      canvas.addEventListener('touchstart', (e) => {
+        if (e.touches.length === 1) {
+          this.isDragging = true;
+          this.previousTouchX = e.touches[0].clientX;
+          this.previousTouchY = e.touches[0].clientY;
+          e.preventDefault();
+        }
+      });
+      canvas.addEventListener('touchmove', (e) => {
+        if (this.isDragging && e.touches.length === 1) {
+          const deltaX = e.touches[0].clientX - this.previousTouchX;
+          const deltaY = e.touches[0].clientY - this.previousTouchY;
+
+          // 添加最小移动阈值
+          if (Math.abs(deltaX) < 1 && Math.abs(deltaY) < 1) return;
+          
+          // 移动相机（反转方向以获得自然拖动效果）
+          this.cameraX -= deltaX * 2 / this.cameraZoom;
+          this.cameraY += deltaY * 2 / this.cameraZoom;
+          
+          this.previousTouchX = e.touches[0].clientX;
+          this.previousTouchY = e.touches[0].clientY;
+          e.preventDefault();
+        }
+        
+        // 双指 pinch 缩放
+        if (e.touches.length === 2) {
+          const touch1 = e.touches[0];
+          const touch2 = e.touches[1];
+          
+          // 计算当前两点间的距离
+          const currentDistance = Math.hypot(
+            touch1.clientX - touch2.clientX,
+            touch1.clientY - touch2.clientY
+          );
+          
+          // 计算初始两点间的距离
+          if (!this.initialPinchDistance) {
+            this.initialPinchDistance = currentDistance;
+            this.initialZoom = this.cameraZoom;
+          }
+          
+          // 计算缩放比例
+          const zoomFactor = currentDistance / this.initialPinchDistance;
+          this.cameraZoom = Math.max(0.2, Math.min(5, this.initialZoom * zoomFactor));
+          
+          this.updateRendererSize();
+          e.preventDefault();
+        }
+      });
+      
+      canvas.addEventListener('touchend', ()=> {
+        this.isDragging = false;
+        this.initialPinchDistance = null;
+        this.initialZoom = null
+      });
+      
+      // 鼠标事件（用于桌面设备测试）
+      canvas.addEventListener('mousedown', (e) => {
+        this.isDragging = true;
+        this.previousTouchX = e.clientX;
+        this.previousTouchY = e.clientY;
+      });
+      
+      canvas.addEventListener('mousemove', (e) => {
+        if (this.isDragging) {
+          const deltaX = e.clientX - this.previousTouchX;
+          const deltaY = e.clientY - this.previousTouchY;
+
+          if (Math.abs(deltaX) < 1 && Math.abs(deltaY) < 1) return;
+          
+          this.cameraX -= deltaX * 2 / this.cameraZoom;
+          this.cameraY += deltaY * 2 / this.cameraZoom;
+          
+          this.previousTouchX = e.clientX;
+          this.previousTouchY = e.clientY;
+        }
+      });
+      
+      canvas.addEventListener('mouseup', () => {
+        this.isDragging = false;
+      });
+      
+      canvas.addEventListener('mouseleave', () => {
+        this.isDragging = false;
+      });
+      
+      // 鼠标滚轮缩放
+      canvas.addEventListener('wheel', (e)=> {
+        e.preventDefault();
+        // 优化：减小缩放步长
+        this.cameraZoom = e.deltaY < 0 
+          ? Math.min(5, this.cameraZoom * 1.05)
+          : Math.max(0.2, this.cameraZoom / 1.05);
+        this.updateRendererSize();
+      });
+    },
+    initWebSocket() {
+      if (this.reconnectTimer) clearTimeout(this.reconnectTimer)
+      const protocol = this.serverUrl.startsWith('https') ? 'wss' : 'ws'
+      const wsHost = this.serverUrl.replace(/^https?:\/\//, '')
+      this.socket = new WebSocket(`${protocol}://${wsHost}/webSocket/PointCloudData/${this.userRole}`)
+      this.socket.onopen = () => {
+        console.log('WebSocket连接已建立')
+        this.isLoading = false
+      }
+      this.socket.onmessage = (event) => {
+        try {
+          const now = Date.now()
+          if (now - this.lastUpdateTime < this.updateInterval) {
+            return
+          }
+          this.lastUpdateTime = now
+          if (this.reconnectTimer) clearTimeout(this.reconnectTimer)
+          const pointData = JSON.parse(event.data)
+          this.updatePointCloud(pointData.data)
+        } catch (error) {
+          console.error('解析点云数据失败:', error)
+        }
+      }
+      this.socket.onclose = (event) => {
+        console.log('WebSocket连接已关闭，代码:', event.code)
+        this.isLoading = true
+        this.reconnectTimer = setTimeout(() => this.initWebSocket(), 3000)
+      }
+      this.socket.onerror = (error) => {
+        if (this.reconnectTimer) clearTimeout(this.reconnectTimer)
+        console.error('WebSocket错误:', error)
+        this.isLoading = true
+      }
+    },
+    closeWebSocket() {
+      if (this.reconnectTimer) clearTimeout(this.reconnectTimer)
+      if (this.socket) {
+        this.socket.onopen = null
+        this.socket.onmessage = null
+        this.socket.onclose = null
+        this.socket.onerror = null
+        this.socket.close(1000, '组件销毁')
+        this.socket = null
+      }
+      this.allPoints = []
+    },
+    init() {
+      this.initThreeJS();
+      this.initWebSocket()
+      // this.isLoading = false;
+      // const pointData = points.data
+      // this.updatePointCloud(pointData);
+      // setTimeout(() => {
+      //   const arr = points1.data
+      //   this.updatePointCloud(arr);
+      // }, 1000)
+      // setTimeout(() => {
+      //   const arr = points2.data
+      //   this.updatePointCloud(arr);
+      // }, 2000)
+    }
+  }
+}
+</script>
+
+<style lang="stylus" scoped>
+.point-cloud-map
+  position relative
+  width 100%
+  height 100%
+  background-color rgba(4, 33, 58, 70%)
+  box-shadow inset 1px 1px 7px 2px #4d9bcd
+  overflow hidden
+
+.canvas-container
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  width: 100%
+  height: 100%
+  position: relative
+  z-index: 0
+
+// 定位按钮样式
+.locate-button
+  position: absolute
+  bottom: 20px
+  right: 20px
+  width: 40px
+  height: 40px
+  border-radius: 50%
+  background-color: rgba(255, 255, 255, 0.8)
+  border: none
+  color: #333
+  font-size: 18px
+  cursor: pointer
+  display: flex
+  align-items: center
+  justify-content: center
+  box-shadow: 0 2px 10px rgba(0, 0, 0, 0.2)
+  z-index: 100
+  transition: all 0.2s ease
+  &:hover
+    background-color: white
+    transform: scale(1.05)
+  &:active
+    transform: scale(0.95)
+
+.loading-indicator
+  position: absolute
+  top: 50%
+  left: 50%
+  transform: translate(-50%, -50%)
+  background-color: rgba(255, 255, 255, 0.8)
+  padding: .01rem .02rem
+  border-radius: 4px
+  box-shadow: 0 2px 10px rgba(0, 0, 0, 0.1)
+  font-size: .12rem
+  color: #333
+  z-index: 100
+  display: flex
+  align-items: center
+</style>