potree-sdk/src/custom/modules/panos/Images360.js

import * as THREE from "../../../../libs/three.js/build/three.module.js"; 
import {TextSprite} from "../../objects/TextSprite.js";
import ModelTextureMaterial from "../../materials/ModelTextureMaterial.js";
import FastTranPass from '../../materials/FastTranPass.js'  
import Common from "../../utils/Common.js";
import math from "../../utils/math.js";
import cameraLight from "../../utils/cameraLight.js";
import {MeshDraw, LineDraw} from '../../utils/DrawUtil.js'
import Panorama from "./Panorama.js";
import browser from '../../utils/browser.js' 
import QualityManager from './tile/QualityManager.js' 
import TileDownloader from './tile/TileDownloader.js'
import PanoRenderer from './tile/PanoRenderer.js' 
import TilePrioritizer from './tile/TilePrioritizer.js'  
import {transitions, easing, lerp} from "../../utils/transitions.js";
import DepthImageSampler from './DepthImageSampler.js' 
let {PanoSizeClass,Vectors,GLCubeFaces, PanoramaEvents} = Potree.defines

    

 
var rot90 = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0,0,1),  Math.PI/2 ); //使用的是刚好适合全景图的，给cube贴图需要转90°
 
let raycaster = new THREE.Raycaster();
//let currentlyHovered = null;

let texLoader = new THREE.TextureLoader()
let addLine = (origin, dir, len, color='#fff') => { 
    var line1 = LineDraw.createLine([origin, origin.clone().add(dir.clone().multiplyScalar(len || 1))], { color })
    //console.log(origin.toArray(), dir.toArray())
    viewer.scene.scene.add(line1)
    return line1
}
 
let tileArr = []
let previousView = {
	controls: null,
	position: null,
	target: null,
};

const HighMapCubeWidth = 1
 
 
const directionFactor = 400 //原先10，几乎只往距离近的走了；设置太大容易略过近处漫游点走向下坡，因为鼠标一般在地面，下坡的漫游点更有利
 
 
 
 
        
 
 
export class Images360 extends THREE.EventDispatcher{

	constructor(viewer ){
		super();

		this.viewer = viewer;
 
		this.panos = [];
        this.neighbourMap = {}
        
        
		this.node = new THREE.Object3D();
        this.node.name = 'ImagesNode'
         
        this.cubePanos = [];
        this.fastTranMaskPass = new FastTranPass(viewer.renderer)
        
        {
            this.cube = new THREE.Mesh(new THREE.BoxBufferGeometry(1,1,1,1),new ModelTextureMaterial());
            Potree.Utils.updateVisible(this.cube,'showSkybox', false )
             
            this.cube.layers.set(Potree.config.renderLayers.skybox)
            this.cube.name = 'skyboxCube'
            viewer.scene.scene.add(this.cube)
        }
        if(Potree.settings.testCube){
            this.cubeTest = this.cube.clone() 
            this.cubeTest.material = new THREE.MeshBasicMaterial({
                wireframe:true,
                color:'#FF3377',
                transparent:true,
                opacity:0.7,
                depthWrite:false,
                depthTest:false,
            }) 
            viewer.scene.scene.add(this.cubeTest)
            this.cubeTest.visible = true
        }
        

         
        this.flying_ = false
		 
        

		this.currentPano = null;
        this.mouseLastMoveTime = Date.now()    
        this.scrollZoomSpeed = 0.06
        this.zoomLevel = 1
    
        this.tileDownloader = new TileDownloader;
        this.qualityManager = new QualityManager
        this.panoRenderer = new PanoRenderer(viewer, this.tileDownloader, this.qualityManager)
    
        this.basePanoSize = this.qualityManager.getPanoSize(PanoSizeClass.BASE);
        this.standardPanoSize = this.qualityManager.getPanoSize(PanoSizeClass.STANDARD);
        this.highPanoSize = this.qualityManager.getPanoSize(PanoSizeClass.HIGH);
        this.ultraHighPanoSize = this.qualityManager.getPanoSize(PanoSizeClass.ULTRAHIGH);
        this.tileDownloader.processPriorityQueue = !1;
        this.tileDownloader.tilePrioritizer = new TilePrioritizer(this.qualityManager, this.basePanoSize, this.standardPanoSize, this.highPanoSize, this.ultraHighPanoSize);    
        
        
        {//高分辨率cube 放大
            this.addHighMapCube()
            viewer.addEventListener(PanoramaEvents.Enter,(e)=>{
                this.setHighMap(e.newPano)
            })
            viewer.addEventListener('panoSetZoom',(e)=>{ 
                if(Potree.settings.displayMode == 'showPanos'){
                    e.zoomed ? this.showHighMap() : this.hideHighMap() //add
                } 
            })  
        }
        
        
        
        this.depthSampler = new DepthImageSampler(); 
 
        
        
 
        
        viewer.fpControls.addEventListener('dollyStopCauseUnable',(e)=>{ 
            if(/* e.hoverViewport != viewer.mainViewport ||  */!Potree.settings.zoom.enabled)return 
            
            if(e.scale != void 0){//触屏
                this.zoomBy(e.scale, e.pointer)
            }else{//滚轮
                let zoom;
                if(e.delta > 0){
                    zoom = 1 + this.scrollZoomSpeed 
                }else{
                    zoom = 1 - this.scrollZoomSpeed
                }
                e.delta != 0 && this.zoomBy(zoom)
            } 
        })  
        
        

        let click = (e) => {//不用"mouseup" 是因为 mouseup有drag object时也会触发 
            if(e.clickElement ||
                Potree.settings.unableNavigate || this.flying  || !e.isTouch && e.button != THREE.MOUSE.LEFT || e.drag &&  e.drag.object //拖拽结束时不算
               || Potree.settings.editType == 'pano' && viewer.modules.PanoEditor.activeViewName != 'mainView'
                ||   Potree.settings.editType == 'merge' && !e.intersectPoint || viewer.inputHandler.hoveredElements[0] && viewer.inputHandler.hoveredElements[0].isModel && e.intersectPoint.distance > viewer.inputHandler.hoveredElements[0].distance
            )  return 
             
            if(Potree.settings.editType != 'pano' && Potree.settings.editType != 'merge'){
                if( e.hoverViewport == viewer.mapViewer.viewports[0]){
                    return viewer.mapViewer.dispatchEvent(e/* {type:'global_click',e } */) 
                }else if(e.hoverViewport != viewer.mainViewport){ //如数据集校准其他viewport
                    return
                }
            }
              
            if(!Potree.settings.dblToFocusPoint/*  && this.currentPano */){//双击不会focus点云 或者 已经focusPano了
                this.flyToPanoClosestToMouse()   
            }
             
        }
        viewer.addEventListener('global_click' , click)
      

        viewer.addEventListener("global_mousemove", (e) => { 
            if(!Potree.settings.unableNavigate && Potree.settings.ifShowMarker && e.hoverViewport == viewer.mainViewport){//如果不显示marker，就在点击时再更新
                this.updateClosestPano(e.intersect)
            }
		});
        
        
        this.addEventListener('markerHover',(e)=>{
            this.updateClosestPano(e.pano, e.hovered)
        })
        


        if(!Potree.settings.isOfficial){
            this.domRoot = viewer.renderer.domElement.parentElement;
            let elUnfocus = $("<input type='button' value='unfocus'></input>");
            elUnfocus.css({
                position : "absolute",
                right : '25%',
                bottom: '20px',
                zIndex: "10000",
                fontSize:'1em', color:"black",
                display:'none',
                background:'rgba(255,255,255,0.8)',
            })
            elUnfocus.on("click", () => this.unfocus());
            this.elUnfocus = elUnfocus;
            this.domRoot.appendChild(elUnfocus[0]);
            
            if(Potree.settings.editType != 'merge'){
            
                let elHide = $("<input type='button' value='隐藏点云'></input>")
                elHide.css({
                    position : "absolute",
                    right : '40%',
                    bottom: '20px',
                    zIndex: "10000",
                    fontSize:'1em'  ,color:"black",
                    width : '100px',
                    background:'rgba(255,255,255,0.8)',
                }) 
                this.domRoot.appendChild(elHide[0]);
                elHide.on("click", (e) => { 
                    let visi = Potree.Utils.getObjVisiByReason(viewer.scene.pointclouds[0], 'force')
                    viewer.scene.pointclouds.forEach(e=>{ 
                        Potree.Utils.updateVisible(e, 'force', !visi) 
                    })
                    elHide.val(!visi ? "隐藏点云" : "显示点云")  
                });
                
            }
            
            let elDisplayModel = $("<input type='button' value='>>全景'></input>")
            elDisplayModel.css({
                position : "absolute",
                right : '65%',
                bottom: '20px',
                zIndex: "10000",
                fontSize:'1em',color:"black",
                width : '100px',
                background:'rgba(255,255,255,0.8)',                
            })
            
            this.domRoot.appendChild(elDisplayModel[0]);
            elDisplayModel.on("click", (e) => { 
                if(Potree.settings.displayMode == 'showPointCloud' && this.panos.length == 0)return
                Potree.settings.displayMode = Potree.settings.displayMode == 'showPointCloud' ? 'showPanos' : 'showPointCloud'
            });
 
            this.elDisplayModel = elDisplayModel
            
            
             
            if(viewer.mapViewer){
                let mapStyleBtn = $("<input type='button' value='普通'></input>")
                mapStyleBtn.css({
                    position : "absolute",
                    right : '50%',
                    bottom: '20px',
                    zIndex: "10000",
                    fontSize:'1em'  ,color:"black",
                    width : '100px',
                    background:'rgba(255,255,255,0.8)',
                }) 
                this.domRoot.appendChild(mapStyleBtn[0]);
                let map = viewer.mapViewer.mapLayer.maps.find(e=>e.name == 'map') 
                mapStyleBtn.on("click", (e) => {  
                    map.switchStyle(map.style == 'satellite' ? 'standard' : 'satellite') 
                    mapStyleBtn.val(map.style == 'satellite' ? '卫星' : '普通')
                });
                
            }
            
            
            
            
            
        }
         
        
        
        {//切换模式
            let displayMode = '';  
            this.latestRequestMode = '';//因为可能延迟，所以记录下每次的请求模式，延迟后判断这个
            Object.defineProperty(Potree.settings , "displayMode",{  
                get: function() {
                    return displayMode
                },
                set:  (mode)=> {
                    this.latestRequestMode = mode
                    console.warn('Request setMode: ' + mode)  
                    this.dispatchEvent({type:'requestMode',mode})
                    let config2 

                    let config = Potree.config.displayMode[mode]
                    if(this.isAtPano() && !this.latestToPano){ 
                        config2 = config.atPano 
                    }else{
                        config2 = config.transition 
                    }

                    let changeTileDownload = ()=>{
                        if(config2.showSkybox || config2.showPoint && config2.pointUsePanoTex){
                            this.tileDownloader.start() 
                            this.currentPano && this.currentPano.enter()
                        }else{
                            this.tileDownloader.stop()
                            this.currentPano && this.currentPano.exit()
                            this.nextPano && (viewer.cancelLoad(this.nextPano))
                        } 
                    }

                    
                    if(mode != displayMode){ 
                        
                        
                        let camera = viewer.scene.getActiveCamera()
                        if(mode == 'showPanos' && viewer.mainViewport.view.isFlying()){//飞完才能切换全景 
                            let f = ()=>{
                                if(this.latestRequestMode == mode){//如果ui还是停在这个模式的话
                                    Potree.settings.displayMode = mode 
                                }
                                viewer.mainViewport.view.removeEventListener('flyingDone', f)
                            } 
                            viewer.mainViewport.view.addEventListener('flyingDone', f) //once
                            return
                        } 
                        
                        if(this.isAtPano() && !this.latestToPano){ 
                            config2 = config.atPano 
                        }else{
                            config2 = config.transition  
                            if(mode == 'showPanos'){//自动飞入一个pano
                                //要改成飞进最近的。。。 
                                if(this.panos.length == 0)return
                                //this.modeChanging = true //主要是因为到全景图不会立刻成功
                                let wait = (e)=>{
                                    console.log('flyToPanoDone')
                                    this.removeEventListener('flyToPanoDone',wait) 
                                    setTimeout(()=>{
                                        if(this.latestRequestMode == mode ){
                                            Potree.settings.displayMode = mode 
                                        } 
                                    },e.makeIt ? 1 : 50) 
                                }
                                this.addEventListener('flyToPanoDone',wait)   //等待飞行完毕。flyToPano的callback可能不执行所以换这个。但也可能被cancel
                                this.flyToPano({
                                    pano: this.findNearestPano(),   
                                    //dealDoneWhenCancel:true,
                                    /* callback: ()=>{ 
                                        setTimeout(()=>{ //防止循环，所以延迟
                                           if(this.latestRequestMode == mode ){
                                                Potree.settings.displayMode = mode 
                                            } 
                                        },1)  
                                    } */
                                }) 
                                
                                return;
                            }else{
                                
                            } 
                        }
                        
                        changeTileDownload()
                        
                        
                        
                            
                        if(config2.showSkybox || config2.pointUsePanoTex){ 
                            let wait = ( )=> { 
                                //console.log('waitdone')
                                //if(e.pano && e.pano != this.currentPano)return  //loadedDepthImg
                                setTimeout( ()=>{
                                    if(this.latestRequestMode == mode ){
                                        Potree.settings.displayMode = mode 
                                    }
                                },1) 
                            }
                            
                            //this.updateDepthTex()  
                            if(this.checkAndWaitForPanoLoad(this.currentPano,  this.basePanoSize, wait)){
                                //console.log('等待贴图加载2', this.currentPano.id)
                                return
                            }  
                        } 
                        
                         
                        
                        viewer.scene.pointclouds.forEach(e=>{
                            Potree.Utils.updateVisible(e, 'displayMode', config2.showPoint, 2 ) 
                        })
                        
                        if(config2.pointUsePanoTex){  
                            viewer.scene.pointclouds.forEach(e=>{
                                e.material.setProjectedPanos(this.currentPano,this.currentPano,  1) 
                            })
                        }else{
                            viewer.scene.pointclouds.forEach(e=>{
                                e.material.stopProjectedPanos() 
                            })
                        }
                        

                        Potree.Utils.updateVisible(this.cube,'showSkybox',config2.showSkybox )// this.cube.visible = config2.showSkybox
                        
                        //this.cube.visible = config.atPano.showSkybox 
                        if(this.cube.visible){
                            //this.cube.material.setProjectedPanos(this.currentPano, this.currentPano, 1)
                        
                            this.setProjectedPanos({
                                progress:1,
                                ifSkybox: true,
                                ifPointcloud : false,
                                easeInOutRatio : 0,
                                pano0:this.currentPano,
                                pano1:this.currentPano
                            })
                        
                        }else{
                            this.smoothZoomTo(1)
                            this.resetHighMap()
                            this.hideHighMap() 
                        }
                        
                        
                        
                        /* viewer.dispatchEvent({
                            type: "enableChangePos",
                            canLeavePano :  config.canLeavePano ,
                            viewport: 
                        }) */
                        
                        //viewer.mainViewport.unableChangePos = !config.canLeavePano
                         
                        
                        displayMode = mode
                        
                        
                        
                         
                        if(mode == 'showPanos'){  
                            camera.far = viewer.farWhenShowPano  //修改far
                            Potree.settings.pointDensity = 'panorama'
                            if(Potree.config.displayMode.showPanos.transition.pointUsePanoTex){
                                viewer.scene.pointclouds.forEach(e=>{
                                    e.material.pointSizeType = 'FIXED'   
                                })
                            }  
                            this.updateCube(this.currentPano)
                            
                        }else{
                            if(camera.limitFar)   camera.far = Potree.settings.cameraFar;//修改far
                            Potree.settings.pointDensity = Potree.settings.UserPointDensity   

                            //Potree.sdk && Potree.sdk.scene.changePointOpacity() 
                            if(Potree.config.displayMode.showPanos.transition.pointUsePanoTex){
                                viewer.scene.pointclouds.forEach(e=>{
                                    e.material.pointSizeType = Potree.config.material.pointSizeType
                                }) 
                            }
                        }   
                        camera.updateProjectionMatrix() 
                        
                        
                        
                        
                        if(this.elDisplayModel){
                            this.elDisplayModel.val( mode == 'showPointCloud' ? ">>全景" : '>>点云')
                        }
                         
                        /* this.panos.forEach(e=>{
                            Potree.Utils.updateVisible(e, 'modeIsShowPanos', mode == 'showPanos', 1,  mode == 'showPanos' ? 'add':'cancel') // 
                        }) */
                         
                         
                        this.dispatchEvent({type:'endChangeMode',mode})  
                        console.log('setModeSuccess: ' + mode)       
                    }else{
                        changeTileDownload()
                        //this.dispatchEvent({type:'endChangeMode',mode})    
                    }



                    



                    
                }
            }) 
            Potree.settings.displayMode =  'showPointCloud'  
        }// 切换模式 end
        
        {//
            let currentPano = null;  
            Object.defineProperty(this , "currentPano",{  
                get: function() {
                    return currentPano 
                },
                set: function(e) {
                    if(e != currentPano){
                        //console.log('set currentPano ', e.id)
                        currentPano && currentPano.exit()
                        e && e.enter()
                        currentPano = e
                    }
                     
                } 
            })  
        }            
                
        {//是否显示marker
            let ifShowMarker = true;  
            Object.defineProperty(Potree.settings, "ifShowMarker",{  
                get: function() {
                    return ifShowMarker 
                },
                set:  (show)=>{
                    show = !!show
                    if(show != ifShowMarker){
                        this.panos.forEach(pano=>{
                            Potree.Utils.updateVisible(pano, 'ifShowMarker', show, 1 ) 
                        })
                        //this.emit('markersDisplayChange', show) 
                        ifShowMarker = show 
                        viewer.dispatchEvent('showMarkerChanged') 
                        viewer.dispatchEvent('content_changed') 
                    }
                     
                } 
            })  
        }            
                
                
        


        
        viewer.addEventListener("update", () => {
			this.update(viewer);
		});
		//viewer.inputHandler.addInputListener(this);
        
        
         
        var keys = {
			FORWARD: ['W'.charCodeAt(0), 38],
			BACKWARD: ['S'.charCodeAt(0), 40],
			LEFT: ['A'.charCodeAt(0), 37],
			RIGHT: ['D'.charCodeAt(0), 39],
        }
        viewer.inputHandler.addEventListener('keydown',(e)=>{ 
            if(Potree.settings.displayMode == 'showPanos'){
                for(let i in keys){
                    if(keys[i].some(a => a == e.keyCode)){
                        switch(i){
                            case 'FORWARD':
                                this.flyLocalDirection(Vectors.FORWARD.clone()); 
                                break;
                            case 'BACKWARD':
                                this.flyLocalDirection(Vectors.BACK.clone()); 
                                break;
                            case 'LEFT':
                                this.flyLocalDirection(Vectors.LEFT.clone());
                                break;
                            case 'RIGHT':
                                this.flyLocalDirection(Vectors.RIGHT.clone());
                                break;
                            
                        }
                         
                        break;
                    } 
                } 
            }
        }) 
  
	}; 
    
    
    updateDepthTex(pano){ 
        if(this.currentPano != pano || !pano.depthTex)return 
        //this.depthSampler.changeImg(pano.depthTex.image);  //pick sampler要飞到了才能切换图，而skybox贴图是随着全景图切换而切换的
        this.cube.material.updateDepthTex(pano)  //确保一下 
        
        
    }
    
    findNearestPano(pos){
        pos = pos ? new THREE.Vector3().copy(pos) : this.position
        let result = Common.sortByScore(this.panos,[Images360.filters.isEnabled()],[e=>-e.position.distanceTo(pos)])
        let pano = result[0] && result[0].item
        return pano
        
    }
    

    /* set flying(v){//正在飞向pano
        this.flying_ = !!v
        //console.log('this.flying_ ', !!v )
        //this.emit('flying', this.flying_)
        let config = Potree.config.displayMode[Potree.settings.displayMode]
        viewer.mainViewport.unableChangePos = !config.canLeavePano || !!v  
        
    }
    get flying(){
        return this.flying_
    } */
    
    
    
    
    
    
    flyLocalDirection(dir) {
        var direction = this.getDirection(dir),
            option1 = 1 === dir.y ? .4 : .75,
            option2 = 1 === Math.abs(dir.x);
        return this.flyDirection(direction, option1, option2, true)
    }
    getDirection(e) {
        if(!e){
            return viewer.scene.view.direction
        }else{
            return e = e ? e : (new THREE.Vector3).copy(Vectors.FORWARD),
            e.applyQuaternion(viewer.mainViewport.camera.quaternion)
        }
       
    }
    get position(){
        return this.viewer.scene.view.position.clone()
    }
    
    
 
 
    isAtPano(precision){//是否在某个漫游点上  
        if(precision){
            return this.currentPano && math.closeTo(viewer.scene.view.position, this.currentPano.position, precision)
        }
        return this.currentPano && viewer.scene.view.position.equals(this.currentPano.position)
    }
 
 
 
 

    updateProjectedPanos(){//更新材质贴图
        //console.warn('updateProjectedPanos')
        this.projectedPano0 && this.projectedPano1 && this.setProjectedPanos({pano0:this.projectedPano0, pano1:this.projectedPano1})
    }
     


    setProjectedPanos(o={}){//设置cube和点云的材质贴图
        this.cube.material.setProjectedPanos(o.pano0, o.pano1, o.progress)
        if(o.ifPointcloud){
            viewer.scene.pointclouds.forEach(e=>{
                e.material.setProjectedPanos(o.pano0, o.pano1, o.progress, o.easeInOutRatio)
            })
        }
        
        //console.warn('setProjectedPanos  ', o.pano0.id , o.pano1.id)
        this.projectedPano0 = o.pano0    
        this.projectedPano1 = o.pano1
        
    }


	cancelFlyToPano(toPano){//取消当前已有的飞行准备，前提是相机还未移动 
        if(viewer.mainViewport.view.isFlying() || toPano && this.latestToPano != toPano)return
        //Potree.Log('cancelFlyToPano', this.latestToPano && this.latestToPano.pano.id)
        this.nextPano = null 
        this.latestToPano = null 
    }


    flyToPano(toPano) {  //飞向漫游点
        if(!toPano)return
        if(typeof toPano == 'number')toPano = this.panos[toPano]
        if(toPano instanceof Panorama){
            toPano = {pano: toPano}
        }
         
        
        let done = (makeIt, disturb)=>{
            //console.log('flyToPano done ', toPano.pano.id, makeIt, disturb ) 
            if(makeIt || disturb) { // disturb已经开始飞行但中途取消
                toPano.callback && toPano.callback(makeIt) 
                //this.flying = false
                this.cancelFlyToPano(toPano)
                this.updateClosestPano(this.closestPano,false) //飞行结束后取消点击漫游点时得到的closestPano
            }else{ 
            }
           
            this.dispatchEvent({type:'flyToPanoDone', makeIt, disturb})
            this.fastTranMaskPass.stop() 
            toPano.deferred && toPano.deferred.resolve(makeIt)  //测量线截图时发现，resolve需要写在flying=false 后才行。
        }
        
        if(!toPano.pano.enabled)return done(false,true);
        //Potree.Log('hope flyToPano: '+toPano.pano.id, toPano.pano.position.toArray() )
        
        
         
        
        if(this.latestToPano && this.latestToPano != toPano && (//还在飞
            this.latestToPano.pano != this.currentPano || !this.isAtPano())){//如果旧的toPano只在pano旋转镜头，就直接取消旧的，继续执行 
            return done(false) 
        }
         
        if(this.currentPano == toPano.pano && this.isAtPano() && !toPano.target && !toPano.quaternion  ){
            //已在该pano
            this.dispatchEvent({type:'flyToPano', toPano})
            return done(true);
        }
        //Potree.Log('flyToPano: '+toPano.pano.id, toPano.pano.position.toArray()  /* this.latestToPano && this.latestToPano.pano.id */ )
         
        
        
        let target = toPano.target   
        let config = Potree.config.displayMode[Potree.settings.displayMode]
        
        
        let pano = toPano.pano
        let dis = pano.position.distanceTo(this.position)
         
        this.nextPano = pano 
        this.latestToPano = toPano
        //this.flying = true  //防止新的请求
        //Potree.Log('flyToPano:'+pano.id + ' , duration:'+toPano.duration, null, 12)  
        
        
        {//不飞的话是否不要执行这段？
            
            let wait = (e)=> {
                //console.log('wait done', pano.id)
                if(/* e.pano &&  */this.latestToPano && pano != this.latestToPano.pano)return//loadedDepthImg
                if(this.latestToPano != toPano)return   Potree.Log('已经取消', pano.id)  //如果取消了
                setTimeout(()=>{ 
                    if(this.latestToPano != toPano)return
                    this.flyToPano(toPano) 
                },1)
                 
            }
            if(!pano.depthTex && pano.pointcloud.hasDepthTex){ //点云模式也要加载depthTex,因获取neighbour需要用到
                 console.log('等待加载depthtex', pano.id)
                pano.addEventListener('loadedDepthImg', wait, {once:true})           
                return pano.loadDepthImg()
            }
            
            if(config.atPano.showSkybox || config.atPano.pointUsePanoTex){ 
                let a = this.updateCube(this.currentPano, toPano.pano)
                if(a == 'useBound'){
                    toPano.useBound = true
                }
                
              
                if(this.checkAndWaitForPanoLoad(pano, toPano.basePanoSize || this.basePanoSize,  wait )){
                    //console.log('等待贴图加载',pano.id)
                    return
                }  
            } 
        }
        
        config = Potree.config.displayMode[Potree.settings.displayMode] //可能换了
        let pointcloudVisi = config.atPano.showPoint  //viewer.scene.pointclouds[0].visible
        
        
        Potree.Utils.updateVisible(this.cube,'showSkybox', config.atPano.showSkybox ) // this.cube.visible = config.atPano.showSkybox 
        //console.log('开始飞1')
         
        if(config.transition.showPoint){
            viewer.scene.pointclouds.forEach(e=>{
                Potree.Utils.updateVisible(e, 'displayMode', true) 
            }) 
        }  
                   
        
        
        const endPosition = pano.position.clone() 
        let T = Potree.config.transitionsTime
        /* let maxTime = this.isAtPano() ? T.panoToPanoMax : T.flyIn 
        let duration = toPano.duration == void 0 ? (T.flyMinTime+Math.min(T.flytimeDistanceMultiplier * dis, maxTime)) : toPano.duration 
         */
        /* let maxDis = this.isAtPano() ? T.maxDistanceThreshold : T.maxDistanceThresholdFlyIn
        let duration = toPano.duration == void 0 ? Math.min(dis, T.maxDistanceThreshold) * T.flytimeDistanceMultiplier + T.flyMinTime : toPano.duration 
          */
        
        let maxDis = 7
        let duration = toPano.duration == void 0 ? Math.min(dis, maxDis) * T.flytimeDistanceMultiplier + T.flyMinTime : toPano.duration 
        
        
         
        if(config.transition.showSkybox || config.transition.pointUsePanoTex){
            
             if(Potree.settings.fastTran ){
                this.fastTranMaskPass.start() //截图当前画面
                viewer.scene.view.position.copy(endPosition)
             }
            
            
             this.setProjectedPanos({
                progress: 0,
                ifSkybox: this.cube.visible,
                ifPointcloud : config.transition.pointUsePanoTex,
                easeInOutRatio : pointcloudVisi ? 0.3 : 0,
                pano0:this.currentPano,
                pano1:pano
            })  
        }
        
        
        if(toPano.useBound){
            duration = Math.min(1500, duration)
            toPano.easeName = 'easeInOutQuad'
        }else{
            if(endPosition.equals(this.position))toPano.easeName = 'easeOutSine'
        }
        
        { 
            toPano.easeName = toPano.easeName || 'linearTween'
            toPano.duration = duration 
            this.beforeFlyToPano(toPano)
        }
         
        
        
        /* let fly = ()=>{
            
            this.dispatchEvent({type:'flyToPano', toPano})
            viewer.scene.view.setView({position:endPosition, target, quaternion:toPano.quaternion , duration,  
                callback:()=>{ 
                    
                    if(!config.atPano.pointUsePanoTex){ 
                        viewer.scene.pointclouds.forEach(e=>{
                            e.material.stopProjectedPanos()
                        })
                    }
                  
                    this.currentPano = pano;
                    
                    this.nextPano = null;
                    if(Potree.settings.displayMode == 'showPanos'){
                        viewer.scene.pointclouds.forEach(e=>{
                            Potree.Utils.updateVisible(e, 'displayMode',pointcloudVisi) 
                        })
                    }
                    done(true);
                   
                    this.updateDepthTex(this.currentPano)
                    
                    
                    
                }, onUpdate:(progress)=>{
                    //console.log('uniforms progress',progress)                    
                    this.cube.material.uniforms.progress.value = progress 
                    
                    viewer.scene.pointclouds.forEach(e=>{
                        e.material.uniforms.progress.value = progress 
                    })
                },
                cancelFun:()=>{ done(false, true) },
                Easing:easeName  
            })
            
            //duration > 0 && (this.flying = true) //再写一遍 防止cancel其他项目导致flying为false
             
        } */
        
        let onUpdate = (progress)=>{
            
            this.cube.material.uniforms.progress.value = progress 
            
            viewer.scene.pointclouds.forEach(e=>{
                e.material.uniforms.progress.value = progress 
            }) 
            
        }
       
        
        let fly = ()=>{
            let startProgress = toPano.progress = toPano.progress || 0
            let loadNextProgress = THREE.MathUtils.clamp(1 - 2.5 / dis, 0.3, 0.8)
            //console.log(loadNextProgress, (1-loadNextProgress) * dis )
            this.dispatchEvent({type:'flyToPano', toPano})
            
             
            
             
             
            viewer.scene.view.setView({position:endPosition, target, quaternion:toPano.quaternion , duration:toPano.duration,  
                onUpdate:(progress_, delta)=>{
                    
                    let progress = startProgress + progress_ * (1 - startProgress)
                    
                    
                    let currentSpeed
                    if (progress_ != 1 && progress_ != 0) { // 1的时候不准，往往偏小, 0的时候速度为0，也不记录
                        currentSpeed = ((progress - toPano.progress) * dis) / delta //记录下当前速度，当变为匀速时可以过渡到flySpeed
                       
                    } else {
                        currentSpeed = toPano.currentSpeed || 0
                    }
                    toPano.currentSpeed = currentSpeed
                    toPano.progress = progress
                    
                    //console.log('progress_', progress_, 'delta',delta , 'progress', progress/*, 'currentSpeed', currentSpeed, */  )                    
                    
                    if (progress > loadNextProgress && toPano.easeName == 'linearTween' && currentSpeed){// 减速. 如果仅旋转就不停止 
                        //console.log('减速', /* currentSpeed , */progress_ )
                        toPano.easeName = 'easeOutSine'
                        let restDis = (1 - progress) * dis
                        toPano.duration = (Math.PI / 2 * restDis) / currentSpeed // 这样能保证初始速度为currentSpeed
                        viewer.scene.view.cancelFlying('all',false) //为了防止执行cancelFun先主动cancel
                        toPano.flyCount = 2
                        
                        fly(toPano)
                    }
                    onUpdate(progress)
                },
                
                callback:()=>{  
                    if(!config.atPano.pointUsePanoTex){ 
                        viewer.scene.pointclouds.forEach(e=>{
                            e.material.stopProjectedPanos()
                        })
                    }
                    this.lastPano = this.currentPano //记录，调试
                    this.currentPano = pano;
                    
                    this.nextPano = null;
                    if(Potree.settings.displayMode == 'showPanos'){
                        viewer.scene.pointclouds.forEach(e=>{
                            Potree.Utils.updateVisible(e, 'displayMode',pointcloudVisi) 
                        })
                    }
                    done(true);
                   
                    this.updateDepthTex(this.currentPano) //删除dispose的depthTex
                    
                    
                    
                }, 
                cancelFun:()=>{ done(false, true) },
                Easing:toPano.easeName,
                ignoreFirstFrame : toPano.flyCount != 2    //变换transition时不停一帧   
            }) 
            
             
        }
        if(Potree.settings.displayMode == 'showPanos'){
            setTimeout(fly, 40); //更新geo后缓冲
        }else{
            fly()
        }
       
        //console.log('flyToPano:', toPano.pano.id) 
    }







    beforeFlyToPano(toPano){
        if(this.currentPano != toPano.pano) {
            if(Potree.settings.displayMode == 'showPanos'){
                this.resetHighMap() 
            }
            
            this.smoothZoomTo(toPano.zoomLevel || 1, toPano.duration / 2);  
        } 
    }

 

    /* updateCube(pano0, pano1){ 
        if(Potree.settings.displayMode != 'showPanos')return
        if(!viewer.scene.pointclouds.some(e=>!e.hasDepthTex))   return this.updateCube2(pano0, pano1) //都hasDepthTex的话
        
        let useBound = (bound, size)=>{  
            size = size || bound.getSize(new THREE.Vector3) 
            let center = bound.getCenter(new THREE.Vector3)
            size.max(new THREE.Vector3(HighMapCubeWidth,HighMapCubeWidth,HighMapCubeWidth)) 
            this.cube.scale.copy(size)  
            this.cube.position.copy(center)  
        }
        
        let getPanoBound = (pano)=>{//因漫游点可能在点云外部，如室外平地，所以需要union进漫游点
            let panoBound = new THREE.Box3
            panoBound.expandByPoint(pano.position)
            panoBound.expandByVector(new THREE.Vector3(10,10,10));//give pano a margin
            return pano.pointcloud.bound.clone().union(panoBound)
        }
        let getDis = (bound1, bound2)=>{ //获取bound1边界到bound2边界距离
            if(bound1.intersectsBox(bound2))return 0
            let center1 = bound1.getCenter(new THREE.Vector3) 
            let center2 = bound2.getCenter(new THREE.Vector3) 
            let dis = center1.distanceTo(center2)
            let dis1 = bound1.distanceToPoint(center2)
            let dis2 = bound2.distanceToPoint(center1)
            return dis1 + dis2 - dis
        }
        
        if(pano1){//过渡
            if(pano0.pointcloud == pano1.pointcloud){//同一个数据集内的过渡
                useBound(getPanoBound(pano0)) 
            }else{//非同一个数据集内的过渡  
                let bound = getPanoBound(pano0).union(getPanoBound(pano1))
                if(getDis(pano0.pointcloud.bound, pano1.pointcloud.bound) < 100){  
                    useBound(bound)
                }else{//如果两个数据集boundingbox距离大于这个距离，扩大一下，防止精度问题导致失真//对很远的数据集似乎没有什么用
                    let size = bound.getSize(new THREE.Vector3) 
                    let max = Math.max(size.x, size.y, size.z)
                    size.set(max,max,max)
                    useBound(pano0.pointcloud.bound.clone().union(pano1.pointcloud.bound), size)
                    
                }
            }
        }else{
            useBound(getPanoBound(pano0)) //假定一个数据集不会太大，否则会造成失真，且bump时移动距离看起来很小。或者可以考虑用固定大小
           
        } 
        
    }  */
    
    
    getIntersect(pano, dir, origin){
        if(pano && pano.pointcloud.hasDepthTex ){
            return this.depthSampler.sample( {dir }, pano, true )
        }else{
            origin = origin || pano.position
            return viewer.inputHandler.getIntersect({
                viewport:viewer.inputHandler.hoverViewport, 
                onlyGetIntersect:true,  usePointcloud:true, 
                point: origin.clone().add(dir),
                cameraPos: origin
            })
        }
    } 
    
     
    



    /* updateCube(pano0, pano1){//增加细分的版本，且垂直方向上也分多个
        if(Potree.settings.displayMode != 'showPanos')return
        console.log('updateCube',pano0.id, pano1&&pano1.id)
        
        let f = (bound, size)=>{
            size = size || bound.getSize(new THREE.Vector3) 
            let center = bound.getCenter(new THREE.Vector3)
            size.max(new THREE.Vector3(HighMapCubeWidth,HighMapCubeWidth,HighMapCubeWidth))
            this.cube.scale.copy(size)  
            this.cube.position.copy(center) 
            
        }
        
        
        this.cube.geometry.dispose();
        
        if(pano1){//过渡 
            let count1, count2;
            
        
            let panoIndex = 0
            let add = (pano, dir )=>{
                let getPI = function(index, panoIndex_){
                    if(panoIndex_ == void 0) panoIndex_ = panoIndex
                    return (count1 * count2 + 2  ) * panoIndex_ + index + 2
                }
                let minZ, maxZ
                minZ = pano.floorPosition.z
                
                {//天花板高度值
                    //用三个间隔120度散开，和中心垂直线成一定夹角的三个向量去求 最高高度 （不求平均的原因：万一是0不好算）
                    let rotMat = new THREE.Matrix4().makeRotationX(THREE.Math.degToRad(40))// 角度不能小于天花板中空的半径，大概就是0.2*Math.PI=36度
                    let dir1 = new THREE.Vector3(0,0,1).applyMatrix4(rotMat)
                    let rotMat1 = new THREE.Matrix4().makeRotationZ(Math.PI*2 / 3);
                    let rotMat2 = new THREE.Matrix4().makeRotationZ(-Math.PI*2 / 3);
                    
                    let dir2 = dir1.clone().applyMatrix4(rotMat1)
                    let dir3 = dir1.clone().applyMatrix4(rotMat2)
                    
                    let zs = [dir1,dir2,dir3].map(dir_=>{ 
                        let intersect = this.depthSampler.sample( {dir: dir_}, pano, true )
                        let z = intersect ? intersect.location.z :  pano.position.z
                        return z 
                    })
                    zs.sort((a,b)=>{return b-a});//得最大值
                    maxZ = zs[0]
                    
                    let min = pano.position.z + 1 
                    if(maxZ < pano.position.z + 0.04){//户外
                        maxZ = pano.position.z + 50
                    }
                    maxZ = Math.max(min,maxZ)
                    console.log(pano.id, 'maxZ:',maxZ )
                    console.log(pano.id, 'minZ:',minZ )
                }
                [maxZ, minZ ].forEach(z=>{  
                    posArr.push(pano.position.clone().setZ(z))
                })
                
                const angle = Math.PI/8   
                
                let getDir = (angle_)=>{ 
                    let rotMat = new THREE.Matrix4().makeRotationZ(angle_)
                    return dir.clone().applyMatrix4(rotMat) 
                }
                
                let dirs = [ getDir(angle*4), getDir(angle*3), getDir(angle*2), getDir(angle), dir.clone(), getDir(-angle) , getDir(-angle*2), getDir(-angle*3), getDir(-angle*4)  ]; // 夹角总和180度
                count1 = dirs.length
                dirs.forEach((dir, index)=>{//获取在这个方向上和墙体intersect的最远距离，使用中、上、下三个方向
                     
                    let dirs_ = [
                    
                        dir.clone().setZ(Math.tan(THREE.Math.degToRad(30))).normalize(), 
                        dir.clone().setZ(Math.tan(THREE.Math.degToRad(15))).normalize(),
                        dir.clone(),            // 水平方向
                        dir.clone().setZ(-Math.tan(THREE.Math.degToRad(15))).normalize(),
                        dir.clone().setZ(-Math.tan(THREE.Math.degToRad(30))).normalize(), 
                    
                    
                    ]; 
                    count2 = dirs_.length
                    dirs_.forEach((dir_, i) =>{   
                        let intersect = this.depthSampler.sample( {dir: dir_}, pano, true )  
                        let location 
                        if(!intersect){ //超级远
                            let distance = 100
                            location = dir_.clone().multiplyScalar(distance).add(pano.position) 
                            intersect = {distance,location}
                        }  
                        //intersect.distance 
                        location = intersect.location.clone() 
                        let shouldZ// = THREE.Math.clamp(intersect.location.z, minZ, maxZ);
                        let needShrink = false 
                        
                        if(i == 0){//最上方的点高度直接等于天花板
                            shouldZ = maxZ 
                            if(location.z<maxZ)location.z = maxZ
                            else needShrink = true
                        }else if(i == count2-1){//最下方的点高度直接等于地板
                            shouldZ = minZ
                            if(location.z>minZ)location.z = minZ
                            else needShrink = true
                        } 
                        if(needShrink ){//需要在保持dir_不变的情况下修改z
                            let len = (shouldZ - pano.position.z) / (intersect.location.z - pano.position.z) * intersect.distance
                            location = dir_.clone().multiplyScalar(len).add(pano.position) 
                        }  
                        
                        posArr.push(location)
                        
                        if(index!=0 && i!=0){//加入一块四方面 
                            let curIndex =  getPI(count2 * index + i);
                        
                            faceArr.push([curIndex-1, curIndex-count2-1, curIndex-count2],
                                        [curIndex-1, curIndex, curIndex-count2])
                        }
                        
                    }) 
                    
                    if(index!=0){
                        let top = -2;
                        let btm = -1 
                        faceArr.push([getPI(count2*(index-1) ), getPI(count2*index ), getPI(top)  ])//天花板扇形
                        faceArr.push([getPI(count2*index-1), getPI(count2*(index+1)-1), getPI(btm)  ]  )//地板扇形
                    }else{
                         //加入和另一个pano连接的其中一个侧边
                        let panoIndex2 = (panoIndex + 1) % 2;
                        for(let i=1;i<count2;i++){
                            faceArr.push([getPI(i-1), getPI(i),  getPI((count1-1)*count2 +i, panoIndex2)],
                                    [getPI(i-1), getPI((count1-1)*count2+i , panoIndex2) , getPI((count1-1)*count2+i-1 ,panoIndex2)])
                        } 
                         faceArr.push([getPI(0), getPI((count1-1)*count2), getPI(0, panoIndex2)])//加入顶部的一半
                        faceArr.push([getPI(count2-1), getPI(count1*count2-1), getPI(count2-1, panoIndex2)])//加入底部的一半
                      
                    
                    }  
                    
                }); 

                panoIndex ++
                
            }
            
            
            
            let posArr = [];
            let faceArr = [] 
            
            
            
            //两点连线的水平向量
            let vec = new THREE.Vector3().subVectors(pano0.position, pano1.position).setZ(0).normalize()
            
            add(pano0, vec)
            add(pano1, vec.negate())
            
           
        
            let geo = MeshDraw.createGeometry(posArr, faceArr)
            this.cube.geometry = geo
            this.cube.scale.set(1,1,1);
            this.cube.position.set(0,0,0)
            
            
        }else{ 
            this.cube.geometry = new THREE.BoxBufferGeometry(1,1,1,1)
            f(pano0.pointcloud.bound) 
        }
    } */
    
    

 




    isNeighbour(pano0, pano1, {dontCompute, onlyUseTex,  computeDirFirst, computeTwoDir}={}){//是否之间没有遮挡（在加载visibles之前，自己算） 最好pano0是currentPano
         
        if(!pano0 || !pano1 )return
        
        let margin = 0.1;
        
        let map0 = this.neighbourMap[pano0.id]; //主
        let map1 = this.neighbourMap[pano1.id]; //副
        
         
        
        
        
        /* if(map0[pano1.id] != void 0){
            ifNeighbour = map0[pano1.id]
        }
        if(!ifNeighbour && map1[pano0.id] != void 0){
            ifNeighbour = map1[pano0.id]
        } */
        let ifNeighbour = map1[pano0.id] == void 0 ? map0[pano1.id] : map0[pano1.id] && map1[pano0.id] //如果map1没计算就只要返回map0
         
        let dis = pano0.position.distanceTo(pano1.position) 
        if(math.closeTo(dis,0) ){//两个点相同
            ifNeighbour = map1[pano0.id] = map0[pano1.id] = true
            return true
        }
          
        if(dontCompute)  return ifNeighbour 
        
        
        
        let logSids = [/* '1739923562316697600|3','1739923562316697600|2' */]
        let ifLog = pano0.sid == logSids[0] && pano1.sid == logSids[1] || pano0.sid == logSids[1] && pano1.sid == logSids[0]
        if(ifLog){
            console.log(2)
        }
        
        
        let ifSheltered = (mainPano, subPano  )=>{ //该点前方近处是否都被遮挡 。   为了防止杂点干扰，多个方向探测
             
            let vec = new THREE.Vector3().subVectors(subPano.position, mainPano.position).normalize() 
             
            let getDir = (angle_, upDown)=>{  //基于vec的方向 向左向右旋转 
                //if(upDown) vec.clone().applyAxisAngle(new THREE.Vector3(1, 0, 0), upDown);
                return vec.clone().applyAxisAngle(new THREE.Vector3(0, 0, 1), angle_); 
                 
            } 
            let minScore = 0.25
            let angles = [20,16,12.5,10,8,6,4.5,3,1, -1,-3,-4.5,-6,-8,-10,-12.5,-16,-20]  //水平方向角度     3之间有较大概率杂点， 3以外一部分有较大概率有空隙所以紧凑点
            let wellCount = 0 
            let seccess = [];
            for(let i=0; i<angles.length; i++){
                let rad = THREE.Math.degToRad(angles[i])
                let dir = getDir(rad)
                let color 
                let intersectPoint = viewer.images360.depthSampler.sample({dir}, mainPano, true) 
                if(!intersectPoint || intersectPoint.distance * Math.cos(Math.abs(rad)) /* + margin */ > dis   ){//投影在vec方向的长度不超过漫游点间距 
                    wellCount ++ ;   seccess.push(angles[i]); color = new THREE.Color('#0f8')
                }
                ifLog && addLine(mainPano.position, dir, dis, color)
            }
            //console.log('ifSheltered')
            if(ifLog){
                console.log('ifSheltered seccess',  seccess, 'id:', mainPano.originID, subPano.originID)
            } 
            
            let score = wellCount / angles.length
            if(score >= minScore){//合格个数 
                return score
            }
            
        }  
        /*  
        识别一定角度范围内是否有遮挡时
        几种奇葩的情况： 
           1 在墙的两边的但是墙是倾斜的漫游点：
               A / 
                /  
               / B
            从B出发和BA成20度的射线和墙面的交点会远于A，导致识别为无遮挡。
            所以还是改为识别范围内多个深度图像素， 合格像素个数占比 至少要大于50%，因为半边墙壁是50%
            如SG-9UsbysDufBw&formal&test 的 6、9点。  而SS-GTmFBp1JN8k&formal&test的 2、3两点是人物遮挡
            
           2  可以通行，但是右边是墙，右边的都检测失败，左侧的又有一些杂点，导致成功dir个数很低。
                所以minRatio 要降低于0.5
            
            
        */
        
        
        
        
        
        //三个方向 ： position0到position1, position0到floorPosition1, position1到floorPosition0。 只要有一个满足ifNeighbour就为true。 不过为了不使sampler总换图，先只考虑从主pano到副pano的方向
  
        let getNeighbour = (mainPano, subPano   )=>{
            
            let dirPoints = [[subPano.position, mainPano.position]] //注： 点A能到B不代表点B能到A，因为拍摄时物体会移动，或点位相对位置不对，无论是否是意外遮挡都且记下来，反正最后只要有一方可行就算相邻。
           
            if(dis < 20){//在远处去掉对floorPosition的判断
                dirPoints.push([subPano.floorPosition.clone().add(new THREE.Vector3(0,0,0.1)), mainPano.position])
            }
            if(dis < 12){//为了防止楼梯拐角、杂点遮挡。 尽量只在穿墙时不可通行
                dirPoints.push([subPano.position.clone().add(new THREE.Vector3(0,0,0.8)), mainPano.position])
                
                let normal = math.getNormal2d({p1:subPano.position, p2:mainPano.position}).multiplyScalar(0.3)  //左右方向
                
                dirPoints.push([subPano.position.clone().add(new THREE.Vector3(normal.x,normal.y,0.1)), mainPano.position])
                dirPoints.push([subPano.position.clone().add(new THREE.Vector3(-normal.x,-normal.y,0.1)), mainPano.position])
            }
             
            //console.warn('getNeighbour', mainPano.id,subPano.id)
            for(let i=0; i<dirPoints.length; i++){
                let dir = new THREE.Vector3().subVectors(dirPoints[i][0], dirPoints[i][1]).normalize();
                let intersectPoint = viewer.images360.depthSampler.sample({dir}, mainPano, true, true) 
                if(!intersectPoint || intersectPoint.distance+margin > dirPoints[i][0].distanceTo(dirPoints[i][1])){ 
                    //if(i>2)console.log('haha',i,'id:',mainPano.id,subPano.id)
                    return true
                }
            }
        } 
           
        //if(!ifNeighbour && (map0[pano1.id] == void 0 ||  computeTwoDir && !map0[pano1.id] && map1[pano0.id] == void 0 )) {//主方向为空且不为邻居
          
          
            
        if(pano0.pointcloud.hasDepthTex || pano1.pointcloud.hasDepthTex){
            if(computeTwoDir ? (map0[pano1.id] == void 0 || map1[pano0.id] == void 0) : (map0[pano1.id] == void 0 && map1[pano0.id] !== false)  ){             
            //2024.3.20改为必须两个方向都为true才行。 因为如果两个点分别在两个数据集相距很远，A确定有墙无法到B，B朝A看 没有B所在的数据集点云遮挡，因深度图不会包含别的数据集的点，故深度图探测到A处为无遮挡，就会导致会飞到遥远的A。 即使在同一个数据集，因为点云可以编辑位置，导致AB相对位置错误，也要避免这种情况可以互相乱走。  缺点是更容易被杂点阻挡，所以需要ifShelter降低阈值。   
                     
                if(map0[pano1.id] == void 0 && pano0.depthTex){
                    let is = getNeighbour(pano0, pano1) 
                    map0[pano1.id] = !!is   
                } 
                 
                if(computeTwoDir && map0[pano1.id] && pano1.depthTex && map1[pano0.id] == void 0 ){  //computeTwoDir : 允许反向计算，即可以读取另一张的深度图 。  如果map0为false，map1就不用计算，只需要等待计算ifShelter
                    let is = getNeighbour(pano1, pano0) 
                    map1[pano0.id] = !!is        
                } 
                 
                 
                  
                if( map0[pano1.id] === false || map1[pano0.id] === false){
                    if(dis<20) {//再检查下 只要两方都没有被完全遮挡就算可通行 针对杂点较多的情况  
                        if(pano0.depthTex && pano1.depthTex){
                            ifNeighbour = false 
                            let a = ifSheltered(pano0,pano1)
                            if(a){
                                let b = ifSheltered(pano1,pano0)  
                                if(b && (a+b >= 0.6)){
                                    ifNeighbour = true 
                                }    
                            }
                            map0[pano1.id] = map1[pano0.id] = ifNeighbour        
                        }                        
                    }else{
                        //标记为无需再计算, 因已经失败。  当map0和map1都不为void 0后就无法再计算了。
                        if(map0[pano1.id] === void 0) map0[pano1.id] = 0 ;
                        if(map1[pano0.id] === void 0) map1[pano0.id] = 0 ; 
                    }
                }


                    
                
                ifNeighbour = map1[pano0.id] == void 0 ? map0[pano1.id] : map0[pano1.id] && map1[pano0.id] //如果map1没计算就只要返回map0
                
                
               
                
                
                
                if(ifLog){
                    console.log('isNeighbour', pano0.id+"("+pano0.originID+")", pano1.id+"("+pano1.originID+")", map0[pano1.id], map1[pano0.id])
                }
                
                
            }
        }else if(!onlyUseTex && !ifNeighbour){//使用点云判断(有深度贴图时不会执行到这)
            
            let inDirection = ()=>{
                let dir = new THREE.Vector3().subVectors(pano1.position,pano0.position).normalize()
                let dis = pano1.position.distanceTo(pano0.position)
                let fov = THREE.Math.degToRad(viewer.mainViewport.camera.fov)
                let hfov = cameraLight.getHFOVForCamera(viewer.mainViewport.camera , true  );
                let hov = Math.min(fov, hfov)
                let max = Math.cos(THREE.Math.degToRad(10))
                let min = Math.cos(THREE.Math.degToRad(40))
                if(this.getDirection().dot(dir) > THREE.Math.clamp(Math.cos(hov/2 ) * dis / 10, min, max )){//距离越远要求和视线角度越接近
                     return true
                }  

            }   
            if(computeDirFirst){//先计算方向，防止重复计算ifBlockedByIntersect
                if(inDirection()){
                    ifNeighbour = !viewer.inputHandler.ifBlockedByIntersect({point:pano1.position, margin,  cameraPos:pano0.position})
                }
            }else{
                ifNeighbour = !viewer.inputHandler.ifBlockedByIntersect({point:pano1.position, margin,  cameraPos:pano0.position})
                if(ifNeighbour && !inDirection()){
                    ifNeighbour = undefined //不确定
                } 
            }
                

            
            map0[pano1.id] = map1[pano0.id] = ifNeighbour ? 'byCloud' : ifNeighbour//写简单点
            
        }
                                                                       
                                                                      
         

        
        if(map0[pano1.id] && map1[pano0.id]){
            pano0.neighbours.includes(pano1) || pano0.neighbours.push(pano1)
            pano1.neighbours.includes(pano0) || pano1.neighbours.push(pano0)
        }
        
         
        
        return ifNeighbour  
    }

     
 


    bump(direction) {//撞墙弹回效果
        if (!this.bumping && !this.latestToPano) {  
            let distance = Potree.settings.displayMode == 'showPanos' ? 0.15 : 0.12;//感觉点云模式比全景模式更明显，所以降低
            let currentPos = this.position.clone()
            let endPosition = new THREE.Vector3().addVectors(this.position, direction.clone().multiplyScalar(distance)) 
            
            let duration = 150 
            viewer.scene.view.setView({position:endPosition,   duration,  
                callback:()=>{ 
                    viewer.scene.view.setView({position:currentPos, duration: duration*5, 
                        callback: ()=>{ 
                            this.bumping = false
                            //this.dispatchEvent('cameraMoveDone')
                        }, 
                        Easing:'easeInOutSine',
                        cancelFun:()=>{this.bumping = false}
                    })
                    this.bumping = true  
                }, 
                
                cancelFun:()=>{this.bumping = false},  
                Easing:'easeInOutSine'
            })  
            this.bumping = true        
        }
        //备注：将4dkk中的‘前后方向变化fov、左右方向移动镜头’ 都改为移动镜头。 因为这里无法判断左右离壁距离。
 
    }


 



    flyToPanoClosestToMouse() {
        /* if (Date.now() - this.mouseLastMoveTime > 50) {
            //this.intersect = this.getMouseIntersect();
            this.intersect && this.updateClosestPano(this.intersect);
        } */
         
        if(!Potree.settings.ifShowMarker){//不显示marker的时候mousemove没更新鼠标最近点所以更新
            this.updateClosestPano(viewer.inputHandler.intersect)
        }
        //console.log('flyToPanoClosestToMouse',this.closestPano)
        
        if (this.closestPano) {
            let pano = this.closestPano 
            return this.flyToPano({
                pano, easeName: this.isAtPano() ? 'linearTween' : 'easeInOutQuad'
            });
            
        } 
        var direction = this.viewer.inputHandler.getMouseDirection().direction;
        this.flyDirection(direction)
    }


    flyDirection(direction, option1, option2, byKey) {
        if(viewer.mainViewport.view.isFlying()){// closestPanoInDirection函数耗时长，飞行时运行会卡顿(如果以后加无缝过渡再说)
            return
        }
        
        var deferred = $.Deferred();
        //this.history.invalidate();
        var panoSet = this.closestPanoInDirection(direction, option1, option2, byKey);
        if (panoSet) {
            this.flyToPano({
                pano: panoSet,
                callback: deferred.resolve.bind(deferred, !0)
            }  );
        } else {
            //如果离数据集较远，转动也很难找到点云，就飞到就近点：
            if(Potree.settings.displayMode == 'showPointcloud'){
                let po = viewer.scene.pointclouds.find(e=>e.visibleNodes.some(a=>a.getLevel() > Math.ceil(e.maxLevel * 0.15) )) //虽然当点云在前方很远的地方也可能符合
                 
                if(!po){//无可见点云
                    //console.log('no visi cloud')
                    
                    if(!this.panos.length){//如果场景中没有漫游点，如SG-t-XPf1k9pv3Zg 点击后回到可见区域
                        if(viewer.scene.pointclouds.length == 0)return 
                        let map = new Map() 
                        let clouds = viewer.scene.pointclouds.filter(e=>e.root.geometryNode)
                        clouds.forEach(e=>map.set(e, e.bound.distanceToPoint(this.position))) 
                        clouds.sort((a,b)=>map.get(a) - map.get(b)) 
                        
                        viewer.flyToDataset({focusOnPoint:true, pointcloud:clouds[0], duration:500 })//飞最近的一个点云
                        return deferred.promise();
                    }
                     
                    this.flyToPano({
                        pano: this.findNearestPano(),
                        duration:500,
                        callback: deferred.resolve.bind(deferred, !0)
                    });
                    return deferred.promise();
                     
                }
            }
             
            this.bump(direction);
            deferred.resolve(!1);
        }

        return deferred.promise();
    }
    
    closestPanoInDirection(direction, option1, option2, byKey) {
        return this.rankedPanoInDirection(0, direction, option1, option2, byKey)
    }
    
    
    rankedPanoInDirection(t, direction, option1, option2, byKey){
        //此direction为mouseDirection,是否需要加上相机角度的权重
        let startTime = Date.now()
        var panoSet = {
            pano: null,
            candidates: [] //缓存顺序--如果需要打印的话
        };
        t || (t = 0);
        option1 = void 0 !== option1 ? option1 : 0.6   //.75;    2024.3.22改小，也就是可以走的角度范围增加，主要针对像山野那种很大的场景，不知道可以走哪，容易因角度范围内无近点而飞到远处的情况。但不能太小，总是横着走路
        var o = option2 ? "angle" : "direction";
        
        var floor = viewer.modules.SiteModel.currentFloor;
        var entity = viewer.modules.SiteModel.inEntity;
        
        var getHeightDis = (pano)=>{
            if(floor && !floor.panos.includes(pano) && pano.position.z < this.position.z){ //若是上方的漫游点，就正常走。因为一般不会点击天花板。
                return this.position.z - pano.position.z  
            }else{
                return 0
            }  
        } 
        
        
        let disSquareMap = new Map()
        this.panos.forEach(pano=>{
            let dis2 = pano.position.distanceToSquared(this.position);  //距离目标点
            disSquareMap.set(pano, dis2)
        })
        
        let changeTexCount = 0, maxWaitDur = 300  
            //maxSamplerChangeTex = THREE.Math.clamp( maxWaitDur / Potree.timeCollect.depthSampler.median, 2, 10)  //计算换贴图最大数目
        
        
        
        var request = [//必要条件 
            Images360.filters.not(this.currentPano),
            Images360.filters.isEnabled(), 
            //Images360.filters.inFloorDirection( this.position, direction, option1 ),  //原先用inPanoDirection，但容易穿楼层，当mouse较低或较高 //因不束缚纵向所以可能往相反反向
            (pano)=>{ 
                /* let isNeighbour = this.isNeighbour(this.currentPano, pano, true, true); //不计算的
                if(isNeighbour == void 0){
                    let willChangeTex = pano.depthTex && !this.depthSampler.imgDatas.some(e=>e.pano == pano)
                    if(changeTexCount < maxSamplerChangeTex || !willChangeTex ){
                        isNeighbour = this.isNeighbour(this.currentPano, pano, false, true);//计算
                        if(willChangeTex && isNeighbour != void 0) changeTexCount++ 
                    }else{
                        if(disSquareMap.get(pano) < 500)return true //因为费时，超过一定个数就不计算了，距离近的话先可通行。
                    } 
                } */ 
                // 不会再changeTex了
                let isNeighbour = this.isNeighbour(this.currentPano, pano,  {onlyUseTex:true});  
                 
                if(isNeighbour || pano.noNeighbour && disSquareMap.get(pano) < 200){//在靠近孤立点时可以通行。但是不好把握这个距离，太远的话很多地方都会不小心到孤立点，太近的话可能永远到不了。
                    return true
                } 
            },
            /* (pano)=>{ //防止不小心穿越地板到下一层, 尽量走楼梯，实在没有楼梯或楼梯漫游点稀疏的话就通过楼层按钮。
                let dis = getHeightDis(pano)
                //console.log('getHeightDis',pano.id,dis)
                if(dis < 3){//不能超过最大高度差（ 最大高度差暂定为接近一层楼的高度。)(最好的解决方案是设置漫游可行)
                    return true
                }else{
                    return this.isNeighbour(this.currentPano, pano)
                } 
            }  */
        ] 
        
        if(!byKey){
            request.push(Images360.filters.inPanoDirection( this.position, this.getDirection(), option1/* , true */))   //垂直方向上再稍微限制一下, 要接近视线方向，避免点击前方时因无路而到下一楼。但不能太高，否则楼梯上稍微朝下点击都到不了上方。之所以使用视线方向是因为镜头方向比鼠标方向目的性更强。
        }

         
        var list = [//决胜项目
            (pano)=>{
                return -disSquareMap.get(pano)
            },
            
            Images360.scoreFunctions[o]( this.position, direction, true),
               
            (pano)=>{
                let neighbour = this.isNeighbour(this.currentPano, pano, {dontCompute:true, isNeighbour:true}) //不计算的
                                                                                        
                return neighbour ? directionFactor  : 0; 
            }  ,
            /* (pano)=>{//尽量不穿越地板到下一层
                let dis = getHeightDis(pano)
                return -dis * directionFactor * 0.1;
            }, */
            
            /* (pano)=>{ //尽量在一个建筑内行走，这样不易穿墙
                let score = 0  
                if(entity ){  
                    if(!entity.panos.includes(pano) )  score -= directionFactor * 0.01;  //不能设置太高，否则会走不进大房间的小房间中，因为容易穿过小房间的一个门到另一个门外
                    if(!floor.panos.includes(pano)) {//避免穿楼层
                        let heightDiff = Math.abs(pano.position.z - this.position.z);
                        if(heightDiff > 2){
                            score -= directionFactor * 0.1 * heightDiff;  
                        }
                    } 
                } 
                return score
            }  */
        ]; 
        if(!byKey && viewer.inputHandler.intersect && this.currentPano ){//方便上下楼， 考虑panos之间的角度差  
            let pos1 = this.currentPano.floorPosition 
            let vec1 = new THREE.Vector3().subVectors(viewer.inputHandler.intersect.location, pos1 ).normalize()//应该只有atPano时才会执行到这吧？ 
            list.push(  function(pano) { 
                var pos2 = pano.floorPosition; 
                var vec2 = pos2.clone().sub(pos1).normalize(); 
                                                                                             
                return vec2.dot(vec1) * directionFactor * 4 
            })
        } 
        
        this.findRankedByScore(t,request,list,panoSet);
        
        //console.log( 'costTime:',Date.now() - startTime) 
        
        return panoSet.pano;
		
    }


    findRankedByScore(e, t, i, n) {
        n && (n.candidates = null,  //candidates 缓存顺序--如果需要打印的话
        n.pano = null),
        e || (e = 0);
        var r = Common.sortByScore(this.panos, t, i);
        //console.log('findRankedByScore', r && r.map(u=>u.item.id + '|  ' + math.toPrecision(u.score,4) + "  | " + math.toPrecision(u.scores,4)))
        
        
        return !r || 0 === r.length || e >= r.length ? null : (n && (n.candidates = r,
        n.pano = r[e].item),
        r[e].item)
    }
    


    updateClosestPano(intersect, state) {//hover到的pano   大多数时候是null 
         
        var pano
         
        if(intersect instanceof Panorama){ //漫游模式 
            pano = state ? intersect : null
        }else{
            if(this.isAtPano() || this.bumping){
                return
            }else{ 
                var filterFuncs = [];
                intersect = intersect && intersect.location
                if(!intersect)return
                let sortFuncs = Potree.settings.editType != 'pano'? [Images360.sortFunctions.floorDisSquaredToPoint(intersect)] : [Images360.sortFunctions.disSquaredToPoint(intersect)] 
                pano = Common.find(this.panos,  filterFuncs, sortFuncs);
            }
        }
        
        if (pano != this.closestPano) {
            pano && (this.isPanoHover = !0);
             
            this.closestPanoChanging(this.closestPano, pano) // 高亮marker
            //console.log('closestPano '+ (pano ? pano.id : 'null' )) 
            this.closestPano = pano;
        } else { 
            this.isPanoHover = !1;
        }
    }



    closestPanoChanging(oldPano, newPano){
        if(!Potree.settings.ifShowMarker)return
        
        oldPano && oldPano.hoverOff({byImages360:true})
        newPano && newPano.hoverOn({byImages360:true})
        
        
    }


 
    
    getTileDirection(){//根据不同dataset的来存储
        var vectorForward = viewer.scene.view.direction.clone() 
            
        var vectorForwards = viewer.scene.pointclouds.map(e=>{
            var inv = new THREE.Matrix4().copy(e.rotateMatrix).invert()//乘上dataset的旋转的反转
            var direction = vectorForward.clone().applyMatrix4(inv)
            return {
                datasetId: e.dataset_id,
                direction: math.convertVector.ZupToYup(direction)
            }
        })
        //return vectorForwards[0].direction
         
        
        return {
            datasetsLocal: vectorForwards,
            vectorForward
        }
        
        
    }
    
    
    
	update(){ 
        //if(this.tileDownloader.started){
            
            var vectorForwards = this.getTileDirection()
            
            //vectorForwards = vectorForwards[0].direction
            
            this.updateTileDownloader(tileArr, vectorForwards);
            this.updatePanoRenderer(vectorForwards) 
        //}
        
        this.updateZoomPano();
        

	}
    
     
    
    
     
  
    updateTileDownloader(t, vectorForward) { 
        var i = this.nextPano || this.currentPano; 
        if(i){  
            this.tileDownloader.tilePrioritizer.updateCriteria(i, viewer.scene.view.position.clone() , vectorForward, t.length > 0 ? t : null),
            this.tileDownloader.processPriorityQueue = !0 
        }  
    } 
    
    
    updatePanoRenderer(vectorForward) {
        var i = this.nextPano || this.currentPano; 
        if(i){  
            if (this.panoRenderer.hasQueuedTiles() && i) {                  
                this.panoRenderer.updateDirection(vectorForward);
            }
        }
         
    } 
    
    
    
    
    
    
    //等待部分加载完
    checkAndWaitForTiledPanoLoad(pano, basePanoSize, callback1, callback2, progressCallback, iswait, isclear, l) {
        //console.log('checkAndWaitForTiledPanoLoad',pano.id)  
        if (!pano) {
            console.error("Player.checkAndWaitForTiledPanoLoad() -> Cannot load texture for null pano.");
        }
          
        var vectorForward = this.getTileDirection() 
         
            
        if (!pano.isLoaded(basePanoSize)) {
            iswait && viewer.waitForLoad(pano, function() {//发送loading
                return pano.isLoaded(basePanoSize)
            }); 
              
        
              
            /* var fov = {//test for direction  预加载的边缘有一丢丢不准确，尤其在相机倾斜时（4dkk也是）。
                hFov: cameraLight.getHFOVForCamera(viewer.scene.getActiveCamera()  ),
				vFov: viewer.scene.getActiveCamera().fov
            }//原先是null，不要求方向 */
            var fov = null  //若不为null的话，因为可能可见范围的tile下载过了从而无法触发下载，然后得不到下载成功的消息，怎么办
             
             
             
            pano.loadTiledPano(/* 1024  */ basePanoSize  , vectorForward, fov, isclear, l, null).done(function(e, t) {
                    callback1 && callback1(e, t)
                }
                .bind(this)).fail(function(msg) {
                    callback2 && callback2(msg)
                }
                .bind(this)).progress(function(e, t, i) {
                    progressCallback && progressCallback(e, t, i)
                }
                .bind(this));

            return !0;
        }  
          
    } 
  
     
     
     
  
  


    fitPanoTowardPoint(o){  //寻找最适合的点位
		var point = o.point,     //相机最佳位置
            target = o.target || o.point,   //实际要看的位置 
			require = o.require || [],
			rank = o.rank || [],
			force = o.force,
			getAll = o.getAll,  
            bestDistance = o.bestDistance || 0,
            sameFloor = o.sameFloor,
            maxDis = o.maxDis,
            dir = o.dir
            
        let camera = viewer.scene.getActiveCamera()
        if(target && !dir){
            dir = new THREE.Vector3().subVectors(target,point).normalize()
        }
        let atFloor = sameFloor && viewer.modules.SiteModel.pointInWhichEntity(point, 'floor')
        
        //if(o.floor)require.push(Panorama.filters.atFloor(o.floor))
               
        let checkIntersect = o.checkIntersect 
        let base = Math.max(300, viewer.bound.boundSize.length()*3);      
                     
              
        if(o.boundSphere){//只接受boundSphere
            let aspect = 1//size.x / size.y
            let dis
            if(camera.aspect > aspect){//视野更宽则用bound的纵向来决定
                dis = /* size.y */o.boundSphere.radius/* / 2  *// THREE.Math.degToRad(camera.fov / 2)
            }else{
                let hfov = cameraLight.getHFOVForCamera(camera , true  );
                dis = /* size.x */ o.boundSphere.radius /* / 2 */ /  (hfov / 2) 
            }  
            bestDistance = dis//*0.8  
            
        } 
        let disSquareMap = new Map()
        
        let bestDisSquared = bestDistance * bestDistance
        let maxDisSquared = maxDis && (maxDis * maxDis)
        this.panos.forEach(pano=>{
            let dis2 = pano.position.distanceToSquared(target);  //距离目标点
            disSquareMap.set(pano, dis2)
        })
        let panos = this.panos.sort((p1,p2)=>{return disSquareMap.get(p1)-disSquareMap.get(p2)})
         
         
        if(maxDisSquared){//热点超过最大距离不可见的
            let panos2 = [], pano, i=0 
            while(pano = panos[i],  disSquareMap.get(pano) < maxDisSquared){
                panos2.push(pano)
                i++;
            }
            if(panos2.length == 0)return {pano, msg:'tooFar'} //全部都大于maxDis， 就返回最近的
            panos = panos2
        }
        
        
        
        rank.push((pano)=>{
                let dis1 = Math.abs(pano.position.distanceToSquared(point) - bestDisSquared); //距离最佳位置
                disSquareMap.set(pano, dis1)
                if(!target){
                    return -dis1 
                }else{
                    let dis2 = disSquareMap.get(pano)
                    
                    if(o.gotoBestView){//忽略和当前视线的角度
                        return -(dis1 + dis2*0.3)
                    }
                    
                    let vec2 = new THREE.Vector3().subVectors(target,pano.position).normalize()
                    let cos = dir.dot(vec2)  
                    //let result = (- dis1  - Math.pow(dis2 , 1.5)) / (cos + 2)  // cos+2是为了调整到1-3, 
                    
                    let result =  (dis1 + dis2*0.3) * ( -1 + cos*0.9 ) //尽量贴近最佳位置的角度, 或贴近相机原来的角度 。尽量靠近最佳观测点，并且优先选择靠近目标点的位置.(注意cos的乘数不能太接近1，否则容易只考虑角度)
                    //Potree.Log(pano.id, dis1, dis2,  cos,  result,{font:{toFixed:2,fontSize:10}}) 
                     
                    return  result
                } 
                
                //注：热点最好加上法线信息，这样可以多加一个限制，尽量顺着热点像展示的方向。 
            },
            (pano)=>{
                let  score = 0
                if(pano.depthTex && checkIntersect){    
                    let intersect = !!viewer.ifPointBlockedByIntersect(target, pano.id, true)       //viewer.inputHandler.ifBlockedByIntersect({point:target, margin:0.1, cameraPos:pano})
                    if(intersect){ 
                        score = 0
                    }else { 
                        score = base * 2 
                    } 
                }else{
                    score = base * 1.5  //没加载好的话，不管了 ， 几乎当做无遮挡，否则容易到不了最近点 
                }
                return score
            }
        
        ) 
        
		 
		var g = Common.sortByScore(panos,  require, rank);
        // console.log(g)
        
		/* let result1 = g && g.slice(0, 10)
        if(result1){ 
            g = Common.sortByScore(result1,  [], [(e)=>{//避免遮挡
                let pano = e.item;
                let  score = 0, log = '' 
                  
                if(atFloor && atFloor.panos.includes(pano)){//如果不在任何一楼呢？
                    score += 600,  log+='atFloor' 
                } 
                return  {score, log}
            }]);
            if(g){
                g.forEach(e=>{e.item = e.item.item})
            }   
            console.log(g)            
        } */
        let pano = g && g.length > 0 && g[0].item
        if(pano && checkIntersect){
            let intersect = !!viewer.ifPointBlockedByIntersect(target, pano.id, true)
            
            if(intersect){
                return {pano, msg : 'sheltered'}
            } 
        } 
        
		//if(getAll)return g;
		return pano

        
		//注：深度图有的位置会不准确，以至于会算出错误的遮挡、选择错误的pano，解决办法只能是移动下热点到更好的位置
	}



    //---------------scroll zoom ------------------------------------------
    
    
    /* zoomIn = function() { //放大
        this.zoomBy(1 + this.zoomSpeed);
    }
    zoomOut = function() {//缩小
        this.zoomBy(1 - this.zoomSpeed);
    } */
    zoomBy(e, pointer) {//以倍数
        this.zoomTo(this.zoomLevel * e, pointer);
    } 
    zoomTo(zoomLevel, pointer) {//缩放到某绝对zoomLevel
        let zoom = Potree.settings.zoom
        if (zoom.enabled) {
            
            
            zoomLevel = THREE.Math.clamp(zoomLevel, zoom.min, zoom.max)
            //console.log(zoomLevel)
            
            if(zoomLevel == this.zoomLevel) return;
            
            
            this.zoomLevel = zoomLevel;
            
            if(Potree.settings.panoZoomByPointer){
                //定点缩放：使当前鼠标所在的位置缩放后不变
                let view = viewer.scene.view 
                let originDir = viewer.scene.view.direction;
                let oldPointerDir = viewer.inputHandler.getMouseDirection(pointer).direction
                viewer.setFOV(Potree.config.view.fov * (1 / this.zoomLevel)) 
                let newPointerDir = viewer.inputHandler.getMouseDirection(pointer).direction
                  
                view.direction = oldPointerDir; //获取一下鼠标所在位置的yaw 和 pitch
                let oldPitch = view.pitch, oldYaw = view.yaw;
                view.direction = newPointerDir;
                let newPitch = view.pitch, newYaw = view.yaw;
                 
                view.direction = originDir //还原
                viewer.scene.view.pitch -= newPitch - oldPitch
                viewer.scene.view.yaw -= newYaw - oldYaw
            }else{
                viewer.setFOV(Potree.config.view.fov * (1 / this.zoomLevel)) 
            }
        }
    }
     
     
     
     

    zoomFovTo( fov ) { //通过fov来算zoomLevel 
        let zoomLevel = Potree.config.view.fov /* this.baseFov */ / fov;
        this.zoomTo( zoomLevel );
    }
	smoothZoomTo(aimLevel, dur=0) {
		var currentLevel = this.zoomLevel 
		if(currentLevel == aimLevel)return;	
			
		var fun = (progress)=>{
            //progress > 1 && (progress = 1) 
            let level = currentLevel * (1 - progress) +  aimLevel * progress 
            this.zoomTo(level, !0)
        }
        
			 
		transitions.start(fun, dur, null, null, 0  , easing['easeInOutQuad'] )
	}
    
    
                   
                          
      
                               
                                  
                             
                                 
                                        
                                      
             
                        
                            
                                   
                                                 
             
                        
                                                                                    
        
  
    

    updateZoomPano() { 
        if (!this.panoRenderer.zoomPanoRenderingDisabled && Potree.settings.displayMode == 'showPanos') {
            var currentPano = this.currentPano;
            if (currentPano) {
                
                let levelThreshold1 = Potree.settings.navTileClass == '1k' ? 1.3 : 1.7 , levelThreshold2 = 2
                 
                var t = this.zoomLevel > levelThreshold1,
                    n = !(this.flying && this.nextPano && this.nextPano !== this.currentPano),
                    r = t && n;
                this.tileDownloader.tilePrioritizer.setZoomingActive(r);
                this.panoRenderer.setZoomingActive(r, currentPano, !0);
                
                var o = (pano, ifZoom)=>{
                    this.panoRenderer.resetRenderStatus(pano.id, !1, !0, this.qualityManager.getMaxNavPanoSize());
                    this.panoRenderer.clearAllQueuedUploadsForPano(pano.id);
                    this.panoRenderer.renderPanoTiles(pano.id, null, !1, !1);
                    pano.setZoomed(ifZoom);
                }
                  
                
                if (r && (!currentPano.zoomed || this.qualityManager.zoomLevelResolution && this.qualityManager.zoomLevelResolution != '4k')) {//needZoom
                    currentPano.zoomed || o(currentPano, !0); 
                    
                    if(Potree.settings.navTileClass == '1k' && Potree.settings.tileClass != '1k' && this.zoomLevel < levelThreshold2){
                        this.panoRenderer.enableHighQuality( function() {//开启2k 
                            if(Potree.settings.tileClass != '4k')  o(currentPano, !0); 
                        }.bind(this));
                    }else{ 
                        this.panoRenderer.enableUltraHighQualityMode(function() {//开启4k getMaxZoomPanoSize
                            this.qualityManager.useUltraHighResolutionPanos && (Potree.settings.zoom.max = Potree.config.ultraHighQualityMaxZoom);
                            o(currentPano, !0)
                        }.bind(this));
                    } 
                } else {  
                    !t && currentPano.zoomed && o(currentPano, !1);
                }
                
                
                
                if(r && Potree.settings.navTileClass == '1k' && Potree.settings.tileClass == '4k'  ){ //目前只有手机端navTileClass == '1k' （分三个梯度）
                    var change = (zoomedFlag)=>{ 
                        this.qualityManager.updateMaximums()//更新maxZoomPanoSize
                        this.panoRenderer.setupZoomRenderTarget() //更新renderTarget  
                        //currentPano.setZoomed(t);//更新uniforms贴图 
                    }
                    this.qualityManager.zoomLevelResolution = this.zoomLevel >= levelThreshold2 ? '4k' : this.zoomLevel > levelThreshold1 ? '2k' : '1k'
                    
                    if(this.oldZoomLevel < levelThreshold2 && this.zoomLevel >= levelThreshold2){//1k/2k-4k
                        change()
                        o(currentPano, t)
                    }else if(this.oldZoomLevel <= levelThreshold1 && this.zoomLevel > levelThreshold1){//1k-2k
                        change()
                    }else if(this.oldZoomLevel > levelThreshold2 && this.zoomLevel <= levelThreshold2){//4k-2k/1k
                        change()
                        o(currentPano, t)
                    }else if(this.oldZoomLevel > levelThreshold1 && this.zoomLevel <= levelThreshold1){//2k-1k
                        change() 
                    } 
                    this.oldZoomLevel = this.zoomLevel  
                }   
            }
        }
    }






    //--------------------


    addHighMapCube(){//创建8*8的tile  cube   主要因手机版崩溃  要在电脑端测试得设置maxRenderTargetSize
        
        if( Potree.settings.tileClass == '4k' && this.qualityManager.maxRenderTargetSize == 2048){
            
            var geo = new THREE.PlaneGeometry(1, 1, 1, 1)
            var cube = new THREE.Object3D;
            cube.tiles = []
            for(var cubeIndex=0; cubeIndex<6; cubeIndex++){
                var face = new THREE.Object3D;
                for(var i=0;i<8;i++){
                    for(var j=0;j<8;j++){
                        var tile = new THREE.Mesh(geo, new THREE.MeshBasicMaterial({
                            //side:THREE.DoubleSide
                            transparent:true,
                            opacity : 0.4,
                            depthTest:false,
                        }))
                        tile.position.set(i-3.5, j-3.5, -4);
                         
                        
                        
                        if(Potree.settings.isTest){
                            var colorHue = Math.random();
                            tile.material.color = (new THREE.Color()).setHSL(colorHue, 0.6, 0.7)  
                            
                            
                            /* tile.scoreLabel = new TextSprite(  { 
                                backgroundColor: { r: 0, g: 0, b: 0, a: 0 },
                                textColor: { r: 0, g: 0, b: 0, a: 1 },
                                borderRadius: 15,
                                renderOrder: 50,  fontsize : 13,
                                text: '' ,
                                dontFixOrient:true
                            })  
                            tile.scoreLabel.sprite.material.side = 2;
                            tile.scoreLabel.rotation.x = Math.PI
                            
                            tile.add(tile.scoreLabel)  */
                            
                        }
                        
                        tile.visible = false 
                        tile.tileX = i
                        tile.tileY = j
                        tile.cubeFace = cubeIndex
                        //tile.renderOrder = RenderOrder.highTileCube
                        cube.tiles.push(tile)
                        face.add(tile)
                    }
                }
                switch(cubeIndex){
                    case GLCubeFaces.GL_TEXTURE_CUBE_MAP_POSITIVE_X: 
                        face.rotation.set(0,Math.PI/2,0);
                        break;
                    case GLCubeFaces.GL_TEXTURE_CUBE_MAP_NEGATIVE_X:
                        face.rotation.set(0,-Math.PI/2,0);
                        break;
                    case GLCubeFaces.GL_TEXTURE_CUBE_MAP_POSITIVE_Y:
                        var rot1 = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0,1,0),Math.PI)
                        var rot2 = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(1,0,0),Math.PI/2)
                        
                        face.quaternion.copy(rot1).multiply(rot2)
                        //face.rotation.set(Math.PI/2,0,0);
                        break;
                    case GLCubeFaces.GL_TEXTURE_CUBE_MAP_NEGATIVE_Y:
                        //face.rotation.set(-Math.PI/2,0,0);
                        var rot1 = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0,1,0),Math.PI)
                        var rot2 = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(1,0,0),-Math.PI/2)
                        
                        face.quaternion.copy(rot1).multiply(rot2)
                        break;
                    case GLCubeFaces.GL_TEXTURE_CUBE_MAP_POSITIVE_Z:
                        face.rotation.set(0,Math.PI,0);
                        break;
                    case GLCubeFaces.GL_TEXTURE_CUBE_MAP_NEGATIVE_Z:
                        face.rotation.set(0,0,0);
                   
                }  
                face.scale.set(1,-1,1)
                face.cubeFace = cubeIndex
                cube.add(face) 
            }
            cube.name = 'highMapCube'
            this.highMapCube = cube
            viewer.scene.scene.add(cube)
            
            {
                let s = 0.1
                cube.scale.set(s,s,s)
            }//注：由于原本的mesh上加了深度贴图，可能距离镜头比这里的近。凡是在cube以内的部分都会挡住cube导致模糊。但是应该不常见吧（另外到天空的边缘也是很近）。姑且depthTest=false
            
            this.highMapCube.visible = false; 
            Potree.Utils.setObjectLayers(this.highMapCube, 'sceneObjects'/* 'skybox' */) //因它的深度是错误的，故不在skybox层渲染，影响edlRT， 而在renderOverlay时渲染覆盖。
            //console.warn('addHighMapCube')
            
            
            viewer.addEventListener('update',()=>{
                if (this.highMapCube.visibleTiles) {
                    this.updateTiles() //逐步将visibleTiles加载完
                } 
            })
            
            viewer.addEventListener('camera_changed',(e)=>{ 
                if(e.viewport == viewer.mainViewport){
                    //重新获取visibleTiles
                    Common.intervalTool.isWaiting(
                        'update4kTiles',
                        () => { 
                            let vectorForward = this.getDirection()
                            this.updateTiles(vectorForward)
                        },
                        500
                    ) 
                }
            })  
        }    
        
    }
    
    
    isHighMapLoaded( cubeFace, tileX, tileY){
        var tile = this.highMapCube.children[cubeFace].children[tileX*8+tileY];
        return !!tile.material.map
    }
    
    
    updateTiles(direction) {
        if (!this.highMapCube || !this.highMapCube.visible) return

        if (this.highMapCube.tiles.filter(e => e.image).length <= 10) return //加载的太少了
        //performance.mark('updateTiles-start')

        if (direction) {
            let camera = viewer.mainViewport.camera
            let hfov = cameraLight.getHFOVForCamera(camera, true) / 2
            let vfov = THREE.MathUtils.degToRad(camera.fov) / 2
            /* let hcos = Math.cos(hfov / 2)
            let vcos = Math.cos(vfov / 2)  */
            let list = this.highMapCube.tiles
            list.forEach(e => {
                //屏幕外的不显示
                let pos = e.getWorldPosition(new THREE.Vector3())
                let dir = new THREE.Vector3().subVectors(pos, this.highMapCube.position).normalize()

                let hcos_ = dir.clone().setZ(direction.z).normalize().dot(direction) //在direction的斜面上水平角度差
                let hRad = Math.acos(hcos_)
                let vRad = -200
                if (/* hRad > hfov + 0.08 */ hRad / hfov > 1.5 ) {   
                    e.score = -100
                } else {
                    vRad = Math.abs(Math.acos(dir.z) - Math.acos(direction.z))
                    if (/* vRad > vfov + 0.08 */ vRad / vfov > 1.5 ) {
                        e.score = -100
                    } else {
                        e.score = -(hRad / hfov + vRad / vfov)
                    }
                }
                e.scores = hRad.toFixed(3) + ', ' + vRad.toFixed(3)

                if (e.score == -100) {
                    this.resetTile(e)
                }
            })
            this.highMapCube.visibleTiles = list.filter(e => e.score > -100)
            //list.forEach(e=>e.scoreLabel.setText(e.scores))
        }

        let needRecover = this.highMapCube.visibleTiles.filter(e => !e.material.map)

        if (needRecover.length) {
            let maxCount = Common.getBestCount( '4kmaxTileRecover',  0,  2,   1.5,   6,  false, 2 )
            let count = 0
            console.log(maxCount)
            needRecover.forEach((e, i) => {
                //只更新若干个，因为太耗时了, 其余的等下帧更新
                if (count >= maxCount) return
                let r = this.recoverTile(e)
                if (r) count++
            })
        }
    }
    
    
    getHighImage(image, cubeFace, tileX, tileY) {
        let tile = this.highMapCube.children[cubeFace].children[tileX * 8 + tileY]
        tile.image = image //先记录下来
    }
    
    
    
     
    updateHighMap(image, cubeFace, tileX, tileY){ 
        //console.warn('updateHighMap')
        var tile = this.highMapCube.children[cubeFace].children[tileX*8+tileY]; 
        if (image) tile.image = image //先记录下来
        if(tile.material.map)return
        
        if (this.highMapCube.visibleTiles && !this.highMapCube.visibleTiles.includes(tile) /* this.highMapCube.texLoadedCount >= this.getMaxTileCount() */) {
            return
        }
        
        //简易创建贴图
        /* var tex = this.$app.core.get('SceneRenderer').initSizedTexture2D(512, THREE.ClampToEdgeWrapping)
        //var loaded = this.$app.core.get('Player').model.isHighMapLoaded(tile.cubeFace, tile.tileX, tile.tileY)
        this.$app.core.get('SceneRenderer').uploadTexture2D(image, tex, 0, 0, 512, 512) //只替换tex对应的img,不新建
         */
        var tex = new THREE.Texture()
        tex.image = image
        tex.flipY = false
        tex.wrapS = tex.wrapT = THREE.ClampToEdgeWrapping
        tex.generateMipmaps = false
        tex.minFilter = THREE.LinearFilter
        tex.needsUpdate = true
        
        tile.material.map = tex;
        
        tile.material.opacity = 1;
        tile.material.transparent = false
        
        
        tile.visible = true
        tile.material.needsUpdate = true  //发现每次开始放大但还未放大到4k时也会把之前加载过的4k加载
    }
    
    recoverTile(tile) {
        if (tile.material.map) return
        if (tile.image) {
            this.updateHighMap(tile.image, tile.cubeFace, tile.tileX, tile.tileY)
            return true
        } else {
            //console.log('no image')
        }
    }
    
    resetTile(tile, kill) {
        if (kill) {
            //完全消灭
            tile.image = null
        }

        let map = tile.material.map
        if (map) {
            map.dispose() //这句执行了以后，h.__webglTexture一直就是undefined
            map.loaded = !1
            map.version = 0

            //保底再执行一下这个，类似app.sceneRenderer.deallocateCubeTexture(tile.material.map)
            var h = viewer.renderer.properties.get(map)
            //console.log('__webglTexture',!!h.__webglTexture)
            viewer.renderer.getContext().deleteTexture(h.__webglTexture)

            tile.material.map = null

             
            tile.material.needsUpdate = true
            tile.visible = false

            //this.highMapCube.texLoadedCount --
            //console.log('resetTile'/* , tile.cubeFace, tile.tileX, tile.tileY */)
        }
    }    
    
    
    
    
    resetHighMap() {
        if (!this.highMapCube) return
        this.highMapCube.children.forEach(e =>
            e.children.forEach(tile => {
                this.resetTile(tile, true)
            })
        )
        //this.highMapCube.texLoadedCount = 0
        this.highMapCube.visibleTiles = null
        this.hideHighMap()
        //console.log('resetHighMap')
    }
    
    setHighMap(pano){ 
        if(!this.highMapCube)   return 
        this.highMapCube.position.copy(pano.position)
 
        //可以利用第0个pano查看，其 rotation4dkk是（_x: 0, _y: -1.5707963267948966, _z: 0 ）而手动旋转至（_x:1.5707963, _y: -1.57079, _z: 0）时才正确，说明要在4dkk的旋转基础上，绕x轴转90度，（也就是转成navvis坐标系）， 然后得到YupToZup的函数写法的
         
        this.highMapCube.quaternion.copy( math.convertQuaternion.YupToZup( pano.quaternion4dkk ) )
        
        
        //乘上数据集整体的旋转：
        let modelRotQua = new THREE.Quaternion().setFromRotationMatrix(pano.pointcloud.rotateMatrix)
        this.highMapCube.quaternion.premultiply(modelRotQua)
        
        
    }
    
    showHighMap(){  
        if(!this.highMapCube)   return 
        //console.warn('showHighMap')
        this.highMapCube.visible = true; 
         
    } 
    hideHighMap(){ 
        if(!this.highMapCube)   return
        //console.warn('hideHighMap')        
        this.highMapCube.visible = false;
    }
    //缩小后继续显示cube呢还是不显示？  不显示的话，就要把cube上的复制到renderTarget上……会不会又崩溃，or没加载的显示？？？
    
    
    addPanoData(data, datasetId ){//加载漫游点
        //data[0].file_id = '00019'
         
        if(data.data) data = data.data 
        if(data.length == 0)console.error(datasetId + ' 没有漫游点') 
        //data = data.sort(function(a,b){return a.id-b.id})
        
        data.forEach((info)=>{  
            //if(Potree.fileServer){
                info.id = this.panos.length             //把info的id的一长串数字改简单点
            //} 
            let pano = new Panorama( info, this   );
             
            pano.addEventListener('dispose',(e)=>{
                if(this.closestPano == pano) this.closestPano = null
            })
            
            this.panos.push(pano);
            if(Potree.settings.editType == 'pano'){
                Potree.settings.datasetsPanos[datasetId].panos.push(pano);
            }
        })   
    }
    
    
    loadDone(){
        Potree.Utils.setObjectLayers(this.node, 'sceneObjects')
        //this.updateCube(/* viewer.bound */)
        
        this.panos.forEach(e=>{
            this.neighbourMap[e.id] = {}
            e.label && Potree.Utils.setObjectLayers(e.label, 'bothMapAndScene') 
            e.label2 && Potree.Utils.setObjectLayers(e.label2, 'bothMapAndScene') 
        }) 
        
        this.tileDownloader.setPanoData(this.panos, [] /* , Potree.settings.number */);

        {        
            let minSize = new THREE.Vector3(1,1,1)
            this.bound = math.getBoundByPoints(this.panos.map(e=>e.position), minSize) 
            viewer.scene.pointclouds.forEach(pointcloud=>pointcloud.getPanosBound()) 
              
        }
          
        if(viewer.scene.pointclouds.some(e=>e.panos.length == 0)){
            //console.warn('存在数据集没有pano');
            viewer.hasNoPanoDataset = true
        }   
    }
    
    
    
    getPano(value, typeName='id'){ //默认找的是id，也可以是sid、uuid
        return this.panos.find(p=>p[typeName] == value)
    }       
};



   


//判断当前点是否加载了全景图
Images360.prototype.checkAndWaitForPanoLoad = function() {
    var isLoadedPanos = {},
        LoadedTimePanos = {},
        loadedCallback = {}, //add
        maxTime = 5e3;
    var withinTime = function() {
        for (var panoId in isLoadedPanos)
            if (isLoadedPanos.hasOwnProperty(panoId) && isLoadedPanos[panoId]) {
                var differTime = performance.now() - LoadedTimePanos[panoId];
                if (differTime < maxTime)
                    return !0
            }
        return !1
    }
    
    
    
    
    return function(pano, basePanoSize, doneFun1, doneFun2, progressCallback, iswait, isclear, p   ) {
        loadedCallback[pano.id] = doneFun1//add 因为有可能之前请求的没加doneFun1， 如果加载好就执行最新的doneFun1
         
        if (withinTime()){//距离上次请求时间很近
            //console.log(11) 
            return !0;    //这里感觉应该是!1
        } 
        
        
        let changeMode = (e)=>{
            if(e.mode == 'showPointCloud'){
                console.warn('切到点云模式了，就删除loadedCallback记录',pano.id)//否则再次转为showPanos会被withinTime阻拦
                delete isLoadedPanos[pano.id] 
                viewer.cancelLoad(pano)
                
                loadedCallback[pano.id] && loadedCallback[pano.id]();  //可以飞行了
                doneFun2 && doneFun2(); 
                this.removeEventListener('requestMode', changeMode)
            }
        }
        this.addEventListener('requestMode', changeMode)
            
        
        
        
        
        
        var callback1 = (param1, param2)=>{ 
            setTimeout(()=>{
                isLoadedPanos[pano.id] = !1;
                loadedCallback[pano.id] && loadedCallback[pano.id](param1, param2); 
                this.removeEventListener('requestMode', changeMode)
            },1)
        } 


        var callback2 = (param)=>{//没有看到有传doneFun2的
            setTimeout(()=>{
                isLoadedPanos[pano.id] = !1;
                doneFun2 && doneFun2(param); 
            },1)
        } 

        try {
            null !== iswait && void 0 !== iswait || (iswait = !0); 
            isLoadedPanos[pano.id] = this.checkAndWaitForTiledPanoLoad(pano, basePanoSize, callback1, callback2, progressCallback, iswait, isclear, p   );
            //true代表没加载好
            isLoadedPanos[pano.id] && (LoadedTimePanos[pano.id] = performance.now());
            return isLoadedPanos[pano.id];
        } catch (msg) {
            isLoadedPanos[pano.id] = !1;
            LoadedTimePanos[pano.id] = performance.now() - maxTime;
            throw msg;
        }
    }
}()//加载全景图的流程：请求下载当前点的最低分辨率图（不过有可能已经下载了），并且请求uploadTile渲染当前漫游点，若tile都upload完（先6个）会发送消息，LoadComplete 从而回调成功。


Images360.prototype.getNeighbours = function(){ //逐渐自动获取neighbours。 200个点差不多在半分钟内算完
    let lastIndex, inited//标记上次查询到哪，防止重新sortByScore
    
    
    
    return function( interacted){
          
        if(!this.currentPano || viewer.mainViewport.view.isFlying() || viewer.lastFrameChanged || viewer.inputHandler.drag /* interacted */){ //拖拽时不更新，否则移动端卡
            return lastIndex = 0; 
        }
          
        let nearPanos = this.tileDownloader.tilePrioritizer.nearPanos;
        if(!nearPanos)return; 
        //let startTime = Date.now()
        
        let panos = [this.currentPano, ...nearPanos ]
        this.depthSampler.updateNearPanos(panos)
        
        let maxWaitDur = browser.isMobile() ? 40 : 60  
        let changeCount = 0,  maxChangeTex = browser.isMobile() ? 1 : 3,    getCount = 0 
        let changeTexCount = ()=>{
            changeCount ++;
        }
        let median = Potree.timeCollect.depthSamChangeImg.median 
          
        
        let ifOverTime = ()=>{ 
            let is = changeCount >= maxChangeTex || changeCount * median  +  getCount * 0.01 > maxWaitDur//不换贴图也要一丢丢计算时间 
            /* if(is){
                console.log('OverTime, changeCount', changeCount)
            } */  
            return is
        }
        this.depthSampler.addEventListener('changeImg', changeTexCount)
        
        outer: for(let i=lastIndex,j=panos.length; i<j; i++){
            let pano = panos[i];
            let others = panos.slice(i+1, j)
            lastIndex = i
            if(!pano.pointcloud.hasDepthTex && i>0)break; //点云的情况下最好不改相机位置，因为其他位置点云还没加载完，所以不判断当前点以外的漫游点
            var g = Common.sortByScore(others, [ ], [
                Images360.scoreFunctions.distanceSquared(pano.position)
            ]);
             
            for(let a=0, b=g.length; a<b; a++){
                let item = g[a]
                if(item.item == pano)continue  
                if( this.neighbourMap[pano.id][item.item.id] != void 0 && this.neighbourMap[item.item.id][pano.id] != void 0    /* this.isNeighbour(pano,item.item,{dontCompute:true}) != void 0  */)continue //确定结果了就不需要算
                
                //console.log('check isNeighbour', pano.id, item.item.id)
                 
                let byCloud = !pano.pointcloud.hasDepthTex
                let result = this.isNeighbour(pano, item.item,  {onlyUseTex: !byCloud, computeDirFirst:true, computeTwoDir:true})//计算 
                
                if(result != void 0){//计算了 （byTex时其实并不一定）
                    //console.log('提前计算neighbor', pano.id,  item.item.id)
                    this.dispatchEvent({type:'getNeighbourAuto', panos:[pano,item.item]})
                    
                    if(byCloud){ //只计算一次
                        //console.log('提前计算neighbor byCloud', result, pano.id,  item.item.id)
                        break outer;
                    } 
                    getCount ++ 
                    if(ifOverTime()){
                        break outer
                    } 
                }
                
                
            }
            
            lastIndex = i+1  //这轮结束
        } 
         
        /* if(changeCount){
            console.log( 'changeCount', changeCount)
        } */
        this.depthSampler.removeEventListener('changeImg', changeTexCount)
        
        
        
        if(!inited){
            inited = true
            this.addEventListener('loadedDepthImg',(e)=>{
                //console.log('loadedDepthImg',e.pano)  
                lastIndex = 0           //主要针对刚打开场景第一个点有杂点时单向不成功，要立即进一步双向计算ifShelter
            })
        }
        
        /* let costTime = Date.now() - startTime
        costTime > maxWaitDur && console.log( 'costTime:',costTime)  */
    } 

}()


Images360.filters = { 
    inPanoDirection : function(pos, dir, i, log) { //pano在mouse的方向上
        return function(pano) { 
            var r = pano.floorPosition.clone().sub(pos).normalize() 
            var o = pano.position.clone().sub(pos).normalize()
            log && console.log('dire',pano.id, r.dot(dir),  o.dot(dir) )
            return r.dot(dir) > i || o.dot(dir) > i  
        }
    },
    inFloorDirection: function(pos, dir, min, log) { //pano在mouse的水平方向上
		return function(pano) {
            var vec = new THREE.Vector2().subVectors(pano.floorPosition, pos).normalize()
            var dir_ = new THREE.Vector2().copy(dir).normalize()
            log && console.log('dire', pano.id, vec.dot(dir_)  )
            return vec.dot(dir_) > min
            
			/* var i = pano.floorPosition.clone().sub(pos).setZ(0).normalize();//改成在xz方向上,否则点击墙面不会移动
			return i.dot(dir.clone().setZ(0)) > min  */
		}
	}, 
    isNotBehindNormal: function(e, t) {
        var i = new THREE.Vector3;
        return t = t.clone(),
        function(n) {
            var r = i.copy(n.position).sub(e).normalize();
            return r.dot(t) > 0
        }
    },
    isCloseEnoughTo: function(e, t) {
        return function(i) {//因为marker可能比地面高，所以识别范围要比marker看起来更近一些。(因为投影到地板的位置比marker更近)
            return e.distanceTo(i.floorPosition) < t //许钟文
        }
    },
    
    not: function(e) {
        return function(t) { 
            return t !== e
        }
    } , 
    isEnabled:function() {
        return function(t) {
            return t.enabled
        }
    },
    isVisible:function() {
        return function(t) {
            return t.visible
        }
    }    
}





Images360.scoreFunctions = {
   direction: function(curPos, dir, ifLog) {
        return function(pano) { 
            var pos1 = /* pano.floorPosition */  pano.position         //旧：改为权重放在marker上，这样对有斜坡的更准确，如上楼, 但这样近距离的pano角度就会向下了，以致于走不到
            var n = pos1.clone().sub(curPos).normalize();
            //ifLog && console.log('direction', pano.id, n.dot(dir) * directionFactor )
            return n.dot(dir) * directionFactor  
        }   
       
    },
     
    distance: function(pos1, r=1, ifLog) { 
        if(pos1.position)pos1 = pos1.position
        return  function(pano) {//许钟文 改
            var pos2 = pano.position.clone()
            //ifLog && console.log('distance', pano.id, pos1.distance(pos2) * -1 )
            return pos1.distanceTo(pos2) * -1 * r;
        }
    }, 
    distanceSquared: function(pos1, r=1 ) { 
        if(pos1.position)pos1 = pos1.position
        return  function(pano) {//许钟文 改
            var pos2 = pano.position.clone() 
            return pos1.distanceToSquared(pos2) * -1 * r;
        }
    },
     
    angle: function(e, t) {
        return function(i) {
            var n = i.position.clone().sub(e).normalize();
            return n.angleTo(t) * Potree.config.navigation.angleFactor
        }
    },   
}

Images360.sortFunctions =  {//排序函数，涉及到两个item相减
    floorDisSquaredToPoint: function(e) {
        return function(t, i) {
            return t.floorPosition.distanceToSquared(e) - i.floorPosition.distanceToSquared(e)
        }
    }, 
    disSquaredToPoint: function(e) {
        return function(t, i) {
            return t.position.distanceToSquared(e) - i.position.distanceToSquared(e)
        }
    }, 
        
} 
   
Images360.prototype.updateCube = (function(){//增加细分的版本，且垂直方向上取中位数  侧边多条
    
    const minDis = 0.2; //pano和墙距离不能小于相机的near 
    const height = 1  //准确计算的话要分别计算两个pano的地面、天花板之间的俯仰角，和pano之间的还不一样。这里统一假设一个比较小的高度，因高度越大 maxSinAlpha 越大
    let minTanBeta = minDis / height    /* (pano0.position.z - pano0.floorPosition.z) */
    let minBeta = Math.atan(minTanBeta)
    const maxSinAlpha = Math.cos(minBeta) // 注：beta = Math/2 - alpha
    const skyHeight = 50
    return function(pano0, pano1){
    
        if(Potree.settings.displayMode != 'showPanos' || pano0 == pano1
            ||  this.cubePanos.includes(pano0) && this.cubePanos.includes(pano1) 
        ) return 
        
        this.cubePanos = [pano0, pano1]
        
        viewer.addTimeMark('updateCube','start')
         
        //console.log('updateCube',pano0.id, pano1&&pano1.id)
        
        let useBound = (bound, size)=>{ 
           
            size = size || bound.getSize(new THREE.Vector3) 
            let center = bound.getCenter(new THREE.Vector3)
            size.max(new THREE.Vector3(HighMapCubeWidth,HighMapCubeWidth,HighMapCubeWidth))
            this.cube.geometry = new THREE.BoxBufferGeometry(1,1,1,1) 
            this.cube.scale.copy(size)  
            this.cube.position.copy(center)  
            if(Potree.settings.testCube){
                this.cubeTest.geometry = this.cube.geometry
                this.cubeTest.scale.copy(size)  
                this.cubeTest.position.copy(center)  
            }
            
            return 'useBound'
        }
        
        
        
        let getPanoBound = (pano,  dis)=>{//因漫游点可能在点云外部，如室外平地，所以需要union进漫游点
            let panoBound = new THREE.Box3
            panoBound.expandByPoint(pano.position)
            let margin = dis ? Math.max(dis * 0.1,  10) : 10
            panoBound.expandByVector(new THREE.Vector3(margin,margin,margin)); //give pano a margin 。 随着bound扩大，margin要相应扩大，否则当距离很远时看起来就像没有
            return pano.pointcloud.bound.clone().union(panoBound)
        }
        
        this.cube.geometry.dispose();
         
        if(pano1){//过渡  
            let dontAddSides  
            let dis = pano0.position.distanceTo(pano1.position)
            if(dis == 0)return 
            let sinAlpha = Math.abs(pano0.position.z - pano1.position.z) / dis //俯仰角的sin，随角度增大而增大 0-1
            let score = (1+sinAlpha*20) * dis //score越大创建的mesh越不适合 
            let isNeighbour = this.isNeighbour(pano0, pano1)   
            //console.log(pano0.id, pano1.id,  maxSinAlpha.toFixed(2), sinAlpha.toFixed(2),  score.toFixed(2), isNeighbour)
            
            if(sinAlpha>maxSinAlpha || !pano0.pointcloud.hasDepthTex || !pano1.pointcloud.hasDepthTex || (isNeighbour ?  score > 100 : score > 50  ) ){  
                let bound = getPanoBound(pano0, dis).union(getPanoBound(pano1, dis))
                let size = bound.getSize(new THREE.Vector3) 
                let max = Math.max(size.x, size.y, size.z) 
                size.set(max,max,max)        //距离太远的数据集，过渡会畸变。所以扩大skybox，且为立方体
                return useBound(bound, size)
            }else if( isNeighbour ? score > 70 : score > 15 ){
                dontAddSides = true //pano间有阻挡时得到的side点可能使通道变窄，所以去掉。
            }
            //俯仰角增大时可能不在同一楼层，算出来的mesh不太好，所以更倾向直接使用cube，或去除side。
             
             
             
            let half =  browser.isMobile() ? 4 : 8   //自行输入  （点云计算的慢，还不准）  
            let count1 = 2*half//偶数个 每个pano向 外dir 个数 
            //奇数个的好处：在窄空间内能探测到最远距离，坏处是前方有尖角。偶数个的坏处就是可能检测距离太近。
          
            
            let getDir = (angle_, vec)=>{ //旋转获得水平向量
                let rotMat = new THREE.Matrix4().makeRotationZ(angle_)
                return vec.clone().applyMatrix4(rotMat) 
            }
            let getFar = (dir, pano, origin, height)=>{//获取在这个方向上和墙体intersect的距离  
                //在垂直方向上分出多个方向，取一个最可能的接近真实的距离
                let maxH = 40, minH = 2, minR = 0.5, maxR = 2  
                height = height == void 0 ? Math.min(skyHeight,  pano.ceilZ - pano.floorPosition.z) : height
                //let r = height (maxH - minH)* 0.14  // 高度越小，角度越小 
                //let r = minR + ( maxR - minR) * THREE.Math.clamp((height - minH)  / (maxH - minH),0,1)   //THREE.Math.smoothstep(currentDis,  op.nearBound,  op.farBound);
                let r = math.linearClamp(height, [minH,maxH],   [minR,  maxR]) 
                
                
                let getZ = (deg)=>{
                    deg *= r 
                    deg = THREE.Math.clamp(deg, 1,  80);
                    return Math.tan(THREE.Math.degToRad(deg))
                }
                let dirs_  //注意：角度太大会碰到天花板或地板，越远越容易碰到, 在地下停车场就会伸展不开。  更多取接近0度的，否则围墙矮一点就会取到远处。 
                dirs_ = [15, 8, 3, -1, -5] 
                dirs_ = dirs_.map(deg=> dir.clone().setZ(getZ(deg)).normalize() )
              
                
                let max = 50
                let count2 = dirs_.length
                let disArr = dirs_.map((dir_, i) =>{   
                    let intersect = this.getIntersect(pano, dir_, origin) 
                    let projectLen = intersect && intersect.distance ? dir_.dot(dir)*intersect.distance : max; //得到project在dir的长度 
                    return projectLen //得水平距离
                }) 
                //console.log(pano ? pano.id : 'side','disArr', disArr.slice(0))
                disArr.sort((a,b)=>{return b-a}); //从大到小
                //console.log(pano ? pano.id : 'side','disArr', disArr)
                let dis = disArr[Math.floor(count2/2-0.5)] //对半、取前(中位数) 
                return dis
            }

            let sideCount = [0,0]
            
            let addPos = (pano, vec )=>{//添加这个pano这一侧向外半圆的顶点
                //添加pano位置对应的最高点最低点：
                let minZ, maxZ
                minZ = pano.floorPosition.z
                
                maxZ = pano.getCeilHeight()
                
                if(maxZ == Infinity) maxZ = skyHeight + pano.position.z;   //maxZ = Math.max(skyHeight, maxZ)
                  
                [maxZ, minZ ].forEach(z=>{  
                    posArr.push(pano.position.clone().setZ(z))
                })
                 
                //在画面上线条从左往右数
                const angle = Math.PI/(count1-1)  
                const dirs = [];  //平分这半边180度
                for(let i=0;i<count1;i++){ 
                    dirs.push(getDir(Math.PI/2-i*angle, vec))//正的在左边
                } 
                  
                  
                let dirs2 = dirs.map((dir)=>{
                    return {
                        dir,
                        dis: getFar(dir, pano)  
                    }   
                })
                
                //剔除那些突然间离相机很近的dir。有可能是拍摄的人、或者杆子、树
                
                /* dirs2.forEach((e,i)=>{
                    console.log(i,  e.dis)
                    let smallThanBefore = ()=>{
                        return dirs2[i-1].dis / e.dis > maxRatio 
                    }
                    let smallThanAfter = ()=>{
                        return dirs2[i+1].dis / e.dis > maxRatio 
                    }
                     
                    if(i>0 && i<count1-1 && smallThanBefore() && smallThanAfter()){//比左右两边都小很多
                        e.disB = (dirs2[i-1].dis + dirs2[i+1].dis) / 2   //平均数
                        console.log('两者之间',i,e.disB)    
                    }else if(i==count1-1 && smallThanBefore() ) {//比前者小很多
                        e.disB =  dirs2[i-1].dis * 0.8
                        console.log('smallThanBefore', i, e.disB)    
                    }else if(i==0 && smallThanAfter() ){//比后者小很多
                        e.disB =  dirs2[i+1].dis * 0.8
                        console.log('smallThanAftere', i, e.disB)    
                    }                        
                    
                }) */
                const maxRatio1 = 3  , maxRatio2 = 8  //超过maxRatio1就要加入判断，而最终结果的设限其实是maxRatio2 
                const minWidth = 0.5 
                let computeWidth = (start,end)=>{
                    start+=1 //不包含start和end
                    let count = end - start ; 
                    let dis = 0
                    for(let m=start;m<end;m++){//得平均数
                        dis += dirs2[m].dis
                    }
                    dis /= count
                    let angle = Math.PI / (count1-1) * count / 2
                    let width = dis * Math.tan(angle) //得到block的半宽度
                    return width
                }
                let changeDis = (start,end )=>{ //不包含start
                    start+=1 //不包含start和end
                    for(let m=start;m<end;m++){ 
                        dirs2[m].disB = dirs2[end].dis * 0.8
                        //console.log('changeDis', m, dirs2[m].disB) 
                    }
                }
                let start = -1 
                for(let i=0;i<count1;i++){//遍历时将左边dis比之小很多且宽度较小的改大 
                    //console.log(i, dirs2[i].dis) 
                    let j = i-1
                    let ratios = 0
                    while(j>start && dirs2[i].dis / dirs2[j].dis > maxRatio1){
                        ratios += dirs2[i].dis / dirs2[j].dis 
                        j--  
                    }  
                    let count = i-j-1
                    ratios /= count
                    if(count > 0 && computeWidth(j,i)< minWidth * ratios / maxRatio2  ){ //怎么感觉好像改成了视觉宽度小于某个值即可，那直接用count好了？
                        changeDis(j,i)  
                        start = i  //在此之前的修改过，之后不用再判断
                    }
                    /* if(count > 0  && (count == 1 || computeWidth(j,i)<minWidth)){//若只有一个不用判断宽度直接修改
                        changeDis(j,i)  
                        start = i  //在此之前的修改过，之后不用再判断
                    } */
                } 
                 
                 
                dirs2.forEach((e, index)=>{
                    let dir = e.dir.clone().multiplyScalar(e.disB || e.dis);
                    [maxZ,minZ].forEach(z=>{  
                        posArr.push(pano.position.clone().setZ(z).add(dir))  //获取到外墙点
                    })  
                });                 
            }
            
            
            
            let addSide = ()=>{//两个漫游点间两边各加一些侧线 
                //中点处的
                let top0 = pano0.ceilZ == Infinity ?  pano0.position.z+skyHeight : pano0.ceilZ 
                let top1 = pano1.ceilZ == Infinity ?  pano1.position.z+skyHeight : pano1.ceilZ 
                let midMaxZ = (top0 + top1)/2
                let midMinZ = (pano0.floorPosition.z+pano1.floorPosition.z)/2;
                let mid = new THREE.Vector3().addVectors(pano0.position, pano1.position).multiplyScalar(0.5)
                 
                if(!dontAddSides){ 
                    if( pano0.pointcloud.hasDepthTex && pano0.pointcloud.hasDepthTex){
                        let panos = [pano0,pano1]
                        let vecs = [vec.clone().negate(), vec]
                        let axis = [[-1,1],[1,-1]]
                        let dis2d = new THREE.Vector2().subVectors(pano0.position, pano1.position).length()//水平上的距离
                         
                        let maxDis = 50, minDis = 0.5,  minR = 0.2, maxR = 1.2 
                        //let r = maxR - ( maxR - minR) * THREE.Math.clamp((dis2d - minDis)  / (maxDis - minDis),0,1) //dis2d越大，角度要越小  //THREE.Math.smoothstep(currentDis,  op.nearBound,  op.farBound);
                        let r = math.linearClamp(dis2d, [minDis,maxDis],   [maxR,  minR]) 
                        //console.log('dis2d',dis2d,'r',r) 
                         
                        
                        let angles = ((browser.isMobile()/* || dis2d<4 */)? [60] : [50,70]   /*  [35,65] */).map(deg=>{ //正的在左边  尽量能够平分中间这段墙体。 (角度为从中心向外)
                            let angle = THREE.Math.clamp(deg * r, 5, 80);
                            //console.log('angle',angle)  
                            return THREE.Math.degToRad(angle)
                        })     
                       
                        axis.forEach((axis_, index0)=>{
                            let disToSides = []
                            let accordingPano = index0 == 0 ? pano0 : pano1; //根据离该点在vec方向上的距离顺序来存顶点
                            panos.forEach((pano,index)=>{ 
                                let dirs = angles.map(angle=>getDir(axis_[index]*angle, vecs[index]))//一侧的若干角度
                                 
                                dirs.forEach((dir_,i)=>{
                                    let dis1 = getFar(dir_, pano); 
                                    let disToPano2d = dis1 * Math.cos(angles[i])
                                     
                                    if(disToPano2d<dis2d){//超过的话都到另一半pano的半圆了，不计入。(角度越小越容易超过)
                                        let disToSide = dis1 * Math.sin(angles[i]) 
                                         
                                        if(pano != accordingPano){
                                            disToPano2d = dis2d - disToPano2d //反一下
                                        } 
                                        
                                        dir_.multiplyScalar( dis1 );
                                        disToSides.push({disToSide,disToPano2d, pano, dir_})
                                    }else{
                                        //console.log('超过',index0,index,i)
                                    }  
                                    
                                }) 
                            })
                           
                            if(disToSides.length){
                                //disToSides.sort((a,b)=>{return b-a});//从大到小
                                //由距离accordingPano的近到远：
                                disToSides.sort((a,b)=>{return a.disToPano2d-b.disToPano2d})
                                  
                                //console.log('disToSides', index0, disToSides)
                                if(disToSides.length == 1 && disToSides[0].disToSide < 0.5){
                                    disToSides = []     //如果太近直接去除
                                }
                             
                                disToSides.forEach(e=>{//求z
                                    let ratio = e.disToPano2d / dis2d
                                    let r = accordingPano == pano0 ? (1-ratio) : ratio
                                    let sideMaxZ_ = top0 * r + top1 * (1-r);
                                    let sideMinZ_ = pano0.floorPosition.z * r + pano1.floorPosition.z * (1-r);
                                    [sideMaxZ_,sideMinZ_].forEach(z=>{  
                                        posArr.push(e.pano.position.clone().setZ(z).add(e.dir_)) //是直接使用最长dis的那个intersect点好还是mid
                                    })
                                    
                                }) 
                                
                            } 
                            sideCount[index0] = disToSides.length //记录侧边个数                        
                        })
                        
                    }else{
                        //这段针对点云时，仅测试才会执行到
                        sideCount = [1,1]
                        let sideDirs = [getDir(Math.PI/2, vec), getDir(-Math.PI/2, vec)]
                        sideDirs.forEach((dir_ ,index)=>{
                            let dis = getFar(dir_, null, mid, midMaxZ-midMinZ); //直接从中点求两侧的距离
                            dir_.multiplyScalar(  /* Math.max( */dis/* , sideDis[index]) */  );   
                            [midMaxZ,midMinZ].forEach(z=>{  
                                posArr.push(mid.clone().setZ(z).add(dir_))
                            })
                        }) 
                    } 
                }  
                    
                //中心:
                [midMaxZ,midMinZ].forEach(z=>{  
                    posArr.push(mid.clone().setZ(z))
                })
            }
            
            
            
            
            //positions存放顺序：pano的每边的 zMax和zMin 、count1个dir的点 ；侧边的点 ；连接处顶底的中点
            let addFaces = ()=>{
                
                let getPI = function(index, posType, panoIndex){//获取顶点序号
                    return 2 + (count1*2 + 2 ) * panoIndex + index*2 + (posType == 'top' ? 0 : 1)
                }
                let getSidePI = function(index, posType, panoIndex){//获取侧边顶点序号 
                    if(panoIndex == 1) index += sideCount[0] 
                    return getPI(index, posType, 2)-2
                }
                let getPanoPI = function(posType, panoIndex){//获取pano处对应的点序号
                    return getPI(-1, posType, panoIndex)
                }
                let topCenter = posArr.length-2;        //最后添加的两个中心点
                let btmCenter = posArr.length-1;
                
                for(let i=0;i<2;i++){ 
                    for(let index=1; index<count1; index++){
                        //pano外侧半圆围墙
                        faceArr.push([getPI(index,'top',i), getPI(index-1,'btm',i), getPI(index-1,'top',i)],//加入一块四方面 
                                    [getPI(index,'top',i), getPI(index,'btm',i), getPI(index-1,'btm',i)])
                                     
                        faceArr.push([getPI(index,'top',i), getPI(index-1,'top',i), getPanoPI('top',i)])//天花板扇形
                        faceArr.push([getPI(index,'btm',i), getPI(index-1,'btm',i), getPanoPI('btm',i)])//地板扇形    
                                    
                    } 
                    
                    let j = (i + 1) % 2; //另一个pano
                      
                     
                    //侧边  
                    
                    for(let u=0; u<=sideCount[i]; u++){
                        //侧边每个四方的左上右上左下右下四个点
                        let pLT = u == 0 ? getPI(0,'top',i) : getSidePI(u-1, 'top',i)
                        let pRT = u == sideCount[i] ? getPI(count1-1,'top',j) : getSidePI(u, 'top',i)
                        let pLB = u == 0 ? getPI(0,'btm',i) : getSidePI(u-1, 'btm',i)
                        let pRB = u == sideCount[i] ? getPI(count1-1,'btm',j) : getSidePI(u, 'btm',i)
                        
                        faceArr.push([pLT,pLB,pRB],[pLT,pRB,pRT])//外侧四方面 
                        faceArr.push([pLT,topCenter,pRT] ,[pLB,btmCenter,pRB] )//顶部和底部到整体中心的扇形(由于点的顺序是根据和两个pano的距离，因此到中心的夹角并没按顺序排列，所以可能会重叠)
                        
                        if(i==0){//只需要算一次
                            //顶部和底部中心与两个pano边构成的三角形
                            if(u == 0){
                                faceArr.push([pLT,getPI(count1-1,'top',i),topCenter],
                                    [pLB,getPI(count1-1,'btm',i),btmCenter],
                                ) 
                            }
                            //不能用else 因为当length==0时u==0也==sideCount[i]，此时就是要两个面
                            if(u == sideCount[i]){
                                faceArr.push([pRT,getPI(0,'top',j),topCenter],
                                    [pRB,getPI(0,'btm',j),btmCenter],
                                )
                            }
                        }
                        
                    }   
                    
                }
                
            }
            
            
            
            
            let posArr = [];
            let faceArr = [] 
            
            
            
            //两点连线的水平向量
            let vec = new THREE.Vector3().subVectors(pano0.position, pano1.position).setZ(0).normalize()
             
            /* let sideDis0 =  */addPos(pano0, vec)
            /* let sideDis1 =  */addPos(pano1, vec.clone().negate())
            addSide()
            addFaces()
           
            //MeshDraw.updateGeometry(this.cube.geometry, posArr, faceArr)
            let geo = MeshDraw.createGeometry(posArr, faceArr)
            this.cube.geometry = geo
            this.cube.scale.set(1,1,1);
            this.cube.position.set(0,0,0)
            
            if(Potree.settings.testCube){
                this.cubeTest.geometry = geo
                this.cubeTest.scale.set(1,1,1);
                this.cubeTest.position.set(0,0,0)
            }
             
        }else{ 
            
            useBound(getPanoBound(pano0)) 
            
        }
        
        viewer.addTimeMark('updateCube','end')
        return true
            
        /* 
            关于卡顿：
            即使使用cube，若scale设置为只容纳两个pano，也会卡顿。但也是有的卡有的不卡。
            若按照原先的复杂geo，一般在平直的街道上行走流畅，经过拐弯或者复杂区域较卡。减小geo复杂度没有什么作用。
              
         
            注： 修改skybox，若不准的话，会遮住其他mesh，比如marker。尤其在没有深度贴图时。 
            
            
            耗时： chrome： 20+ ,但是firefox:500+  咋回事 ?    iphonex safari: 40+
            
            
         */
    } 
})()

    
/* 
viewer.images360.flyToPano(viewer.images360.getPano('1765955963253690368|70','sid'))   
viewer.images360.flyToPano(viewer.images360.lastPano)
 */