feat(web-platform): release V0.8.1 常规地图优化

web_platform/src/simulation/PhysicsAdapter.ts

@@ -24,7 +24,8 @@ import type {
 import { composePhysicalMap } from '../map/physicalMap';
 import { composeProjectMap } from '../map/MapComposer';
 import { resolveProjectMap } from '../map/MapLoader';
-import { DEFAULT_MAP_SELECTION, type MapSelection } from '../map/types';
+import { composePlacedMapAssets } from '../map/MapStackComposer';
+import { DEFAULT_MAP_SELECTION, type MapSelection, type PlacedMapAsset } from '../map/types';
 
 export type UrdfLoadMode = 'mjcf' | 'native';
 export type { UrdfBaseMode, UrdfEnhancementOptions };
@@ -38,7 +39,9 @@ export interface PhysicsLoadOptions {
   urdfMode?: UrdfLoadMode;
   baseMode?: UrdfBaseMode;
   enhancements?: UrdfEnhancementOptions;
+  /** @deprecated 单地图兼容入口；新场景应使用 mapAssets。 */
   map?: MapSelection;
+  mapAssets?: readonly PlacedMapAsset[];
   onProgress?: (progress: PhysicsLoadProgress) => void;
 }
 
@@ -126,6 +129,8 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
       sensorType: 'camera',
     };
     const mapSelection = options.map ?? DEFAULT_MAP_SELECTION;
+    const placedMapAssets = options.mapAssets;
+    const hasMaps = placedMapAssets ? placedMapAssets.length > 0 : mapSelection.kind !== 'none';
     const report = (value: number, label: string) => {
       if (!this.disposed && generation === this.loadGeneration)
         options.onProgress?.({ value, label });
@@ -191,24 +196,31 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
           intermediate.dispose();
         }
       }
-      if (mapSelection.kind !== 'none') {
+      if (hasMaps) {
         report(0.72, '组合机器人与物理地图');
         if (entry?.format === 'urdf' && urdfMode === 'native')
           throw new Error('原生 URDF 模式暂不支持地图，请切换为转换模式');
         const slash = modelRelativePath.lastIndexOf('/');
         const directory = slash >= 0 ? modelRelativePath.slice(0, slash + 1) : '';
         const mapPath = `${directory}.__mujoco_map_scene_${manifest.id.replace(/[^a-zA-Z0-9_-]/g, '_')}.xml`;
-        if (mapSelection.kind === 'builtin') {
-          const composed = composePhysicalMap(
-            new TextEncoder().encode(workspace.readText(modelRelativePath)),
-            mapSelection.config,
+        const source = new TextEncoder().encode(workspace.readText(modelRelativePath));
+        if (placedMapAssets) {
+          const composed = composePlacedMapAssets(
+            source,
+            mapPath,
+            prepared.manifest,
+            placedMapAssets,
           );
           workspace.writeGenerated(mapPath, composed.data);
+          warnings.push(...composed.warnings);
+        } else if (mapSelection.kind === 'builtin') {
+          const composed = composePhysicalMap(source, mapSelection.config);
+          workspace.writeGenerated(mapPath, composed.data);
           if (composed.summary) warnings.push(composed.summary);
-        } else {
+        } else if (mapSelection.kind === 'project') {
           const resolvedMap = resolveProjectMap(prepared.manifest, mapSelection.descriptorPath);
           const composed = composeProjectMap(
-            new TextEncoder().encode(workspace.readText(modelRelativePath)),
+            source,
             mapPath,
             prepared.manifest,
             resolvedMap,
@@ -339,21 +351,41 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
     return this.supportFiles.map((file) => ({ ...file, data: file.data.slice() }));
   }
   releaseRetired(): void {
-    this.retiredSession?.dispose();
+    const retiredSession = this.retiredSession;
+    const retiredWorkspace = this.retiredWorkspace;
     this.retiredSession = null;
-    this.retiredWorkspace?.dispose();
     this.retiredWorkspace = null;
     this.retiredSupportFiles = [];
+    try {
+      retiredSession?.dispose();
+    } catch (error) {
+      console.warn('[MuJoCo] 释放旧仿真会话失败', error);
+    }
+    try {
+      retiredWorkspace?.dispose();
+    } catch (error) {
+      console.warn('[MuJoCo] 释放旧内存工作区失败', error);
+    }
   }
   rollbackRetired(): void {
-    this.session?.dispose();
-    this.workspace?.dispose();
+    const failedSession = this.session;
+    const failedWorkspace = this.workspace;
     this.session = this.retiredSession;
     this.workspace = this.retiredWorkspace;
     this.supportFiles = this.retiredSupportFiles;
     this.retiredSession = null;
     this.retiredWorkspace = null;
     this.retiredSupportFiles = [];
+    try {
+      failedSession?.dispose();
+    } catch (error) {
+      console.warn('[MuJoCo] 释放失败的候选仿真会话失败', error);
+    }
+    try {
+      failedWorkspace?.dispose();
+    } catch (error) {
+      console.warn('[MuJoCo] 释放失败的候选内存工作区失败', error);
+    }
   }
   exportMjcf(): Uint8Array {
     if (!this.session || !this.workspace) throw new Error('尚未加载可导出的模型');