From 1eb05132f15dcd7c105a3b204bb4d1809361f24b Mon Sep 17 00:00:00 2001 From: cen617-code <1057290604@qq.com> Date: Thu, 20 Aug 2026 15:12:08 +0800 Subject: [PATCH] feat: add browser-based MuJoCo simulation platform --- .gitignore | 4 + Plan.md | 180 + wasm/eslint.config.js | 6 + wasm/package-lock.json | 4081 ++++++++++++++++- wasm/package.json | 38 +- wasm/web_platform/README.md | 74 + wasm/web_platform/e2e/app.spec.ts | 114 + wasm/web_platform/fixtures/invalid.xml | 1 + .../fixtures/missing-resource.xml | 1 + .../fixtures/mjcf_include/checker.png | Bin 0 -> 73 bytes .../fixtures/mjcf_include/model.xml | 1 + .../fixtures/mjcf_include/triangle.obj | 8 + .../fixtures/mjcf_include/triangle.stl | Bin 0 -> 284 bytes .../fixtures/mjcf_include/world.xml | 17 + .../fixtures/urdf_mesh/robot.urdf | 1 + .../fixtures/urdf_mesh/triangle.obj | 8 + wasm/web_platform/index.html | 1 + wasm/web_platform/playwright.config.ts | 2 + wasm/web_platform/postcss.config.cjs | 1 + wasm/web_platform/src/app/App.tsx | 43 + wasm/web_platform/src/app/ErrorBoundary.tsx | 2 + wasm/web_platform/src/main.tsx | 6 + .../src/project/ProjectTree.test.tsx | 31 + wasm/web_platform/src/project/ProjectTree.tsx | 72 + wasm/web_platform/src/project/daeConverter.ts | 54 + .../web_platform/src/project/importer.test.ts | 21 + wasm/web_platform/src/project/importer.ts | 223 + wasm/web_platform/src/project/types.ts | 38 + .../src/project/urdfToMjcf.test.ts | 22 + wasm/web_platform/src/project/urdfToMjcf.ts | 29 + .../src/project/workspace.test.ts | 4 + wasm/web_platform/src/project/workspace.ts | 60 + .../src/simulation/PhysicsAdapter.ts | 74 + .../src/simulation/SimulationSession.ts | 174 + .../src/simulation/geometry.test.ts | 11 + wasm/web_platform/src/simulation/geometry.ts | 7 + .../src/stores/useAppStore.test.ts | 29 + wasm/web_platform/src/stores/useAppStore.ts | 25 + wasm/web_platform/src/styles.css | 5 + wasm/web_platform/src/test/setup.ts | 1 + wasm/web_platform/src/viewer/MuJoCoViewer.ts | 73 + .../src/viewer/OrientationGizmo.ts | 40 + wasm/web_platform/tailwind.config.cjs | 1 + wasm/web_platform/tsconfig.json | 9 + wasm/web_platform/vite.config.ts | 10 + 45 files changed, 5584 insertions(+), 18 deletions(-) create mode 100644 Plan.md create mode 100644 wasm/eslint.config.js create mode 100644 wasm/web_platform/README.md create mode 100644 wasm/web_platform/e2e/app.spec.ts create mode 100644 wasm/web_platform/fixtures/invalid.xml create mode 100644 wasm/web_platform/fixtures/missing-resource.xml create mode 100644 wasm/web_platform/fixtures/mjcf_include/checker.png create mode 100644 wasm/web_platform/fixtures/mjcf_include/model.xml create mode 100644 wasm/web_platform/fixtures/mjcf_include/triangle.obj create mode 100644 wasm/web_platform/fixtures/mjcf_include/triangle.stl create mode 100644 wasm/web_platform/fixtures/mjcf_include/world.xml create mode 100644 wasm/web_platform/fixtures/urdf_mesh/robot.urdf create mode 100644 wasm/web_platform/fixtures/urdf_mesh/triangle.obj create mode 100644 wasm/web_platform/index.html create mode 100644 wasm/web_platform/playwright.config.ts create mode 100644 wasm/web_platform/postcss.config.cjs create mode 100644 wasm/web_platform/src/app/App.tsx create mode 100644 wasm/web_platform/src/app/ErrorBoundary.tsx create mode 100644 wasm/web_platform/src/main.tsx create mode 100644 wasm/web_platform/src/project/ProjectTree.test.tsx create mode 100644 wasm/web_platform/src/project/ProjectTree.tsx create mode 100644 wasm/web_platform/src/project/daeConverter.ts create mode 100644 wasm/web_platform/src/project/importer.test.ts create mode 100644 wasm/web_platform/src/project/importer.ts create mode 100644 wasm/web_platform/src/project/types.ts create mode 100644 wasm/web_platform/src/project/urdfToMjcf.test.ts create mode 100644 wasm/web_platform/src/project/urdfToMjcf.ts create mode 100644 wasm/web_platform/src/project/workspace.test.ts create mode 100644 wasm/web_platform/src/project/workspace.ts create mode 100644 wasm/web_platform/src/simulation/PhysicsAdapter.ts create mode 100644 wasm/web_platform/src/simulation/SimulationSession.ts create mode 100644 wasm/web_platform/src/simulation/geometry.test.ts create mode 100644 wasm/web_platform/src/simulation/geometry.ts create mode 100644 wasm/web_platform/src/stores/useAppStore.test.ts create mode 100644 wasm/web_platform/src/stores/useAppStore.ts create mode 100644 wasm/web_platform/src/styles.css create mode 100644 wasm/web_platform/src/test/setup.ts create mode 100644 wasm/web_platform/src/viewer/MuJoCoViewer.ts create mode 100644 wasm/web_platform/src/viewer/OrientationGizmo.ts create mode 100644 wasm/web_platform/tailwind.config.cjs create mode 100644 wasm/web_platform/tsconfig.json create mode 100644 wasm/web_platform/vite.config.ts diff --git a/.gitignore b/.gitignore index 2cd398af..e7fd79e4 100644 --- a/.gitignore +++ b/.gitignore @@ -40,6 +40,10 @@ MUJOCO_LOG.TXT # JavaScript bindings build wasm/**/dist/ +wasm/web-platform-dist/ +wasm/test-results/ +wasm/web_platform/test-results/ +wasm/web_platform/node_modules/.vite/ **/node_modules/ .venv/ diff --git a/Plan.md b/Plan.md new file mode 100644 index 00000000..b9142294 --- /dev/null +++ b/Plan.md @@ -0,0 +1,180 @@ +# MuJoCo Web 仿真平台实施计划 + +> **计划状态**：✅ MVP 已实施并通过自动化验证 +> **进度维护规则**：实施时将阶段/任务复选框由 `[ ]` 更新为 `[x]`，并同步“进度看板”中的状态、完成日期与备注。 + +## Context + +目标是在本仓库官方 `wasm/` JavaScript/TypeScript 绑定和 Three.js 示例之上，建设一个纯浏览器 MuJoCo 仿真平台，支持模型工程上传、浏览器内文件组织、模型加载、三维展示、仿真控制和状态查看，交互布局参考 `urdf.enkeebot.com`。 + +已确认的仓库基础： + +- `wasm/dist/` 有本地构建的绑定产物，但当前 `build/CMakeCache.txt` 显示其启用了线程；MVP 因此使用同版本官方 `@mujoco/mujoco` 默认单线程入口。 +- `wasm/demo_app/` 已有 Vite + TypeScript + Three.js 的最小示例，可作为加载、场景构建与逐帧同步的起点。 +- 官方绑定要求显式调用 `.delete()` 管理 Embind/C++ 对象生命周期。 +- 官方同时支持默认单线程入口与需要 COOP/COEP 的多线程入口；MVP 已确定使用默认单线程入口。 + +## Scope / MVP 边界 + +- **技术栈**：React + TypeScript + Zustand + Vite + TailwindCSS + Three.js。 +- **输入**：单个 MJCF/XML、单个 URDF、保留相对路径的文件夹、ZIP 工程；关联 mesh/贴图随工程导入。 +- **编辑边界**：首版只负责导入、查看和仿真，不提供 XML 编辑、热重载、工程保存或导出。 +- **物理执行**：首版使用主线程、单线程 `mujoco.wasm`；模块边界保留未来迁移 Worker 的能力，但不在 MVP 实现 Worker。 +- **控制优先级**：actuator 滑杆、关节拖动、外力施加，另含播放、暂停、单步、重置和速度控制。 +- **部署边界**：桌面浏览器中的中文界面，通过本地静态 HTTP 服务器运行；无 PWA、账号、后端、云存储或分享服务，导入工程仅驻留当前浏览器会话内存。 +- **非目标**：URDF/MJCF 互转、Xacro 展开、控制脚本、轨迹编辑与多线程 WASM。 + +## Approach + +已采用 **React + TypeScript + Vite + TailwindCSS + Three.js**，在 `wasm/web_platform/` 新增独立平台应用，复用官方 WASM 包和示例逻辑，未改动 MuJoCo 核心绑定或生成产物。 + +初步分层： + +1. **UI / 工程层**：工程导入、资源树、属性/控制面板、全局状态和错误展示。 +2. **应用服务层**：工程文件规范化、入口模型识别、仿真会话生命周期、命令调度。 +3. **物理层**：封装 `MjModel`、`MjData`、step/reset/ctrl，并集中管理 `.delete()`。 +4. **文件系统层**：将上传文件按相对路径写入 Emscripten MEMFS，校验引用与加载错误。 +5. **渲染层**：Three.js 场景、相机、灯光、MuJoCo primitive/mesh 映射和逐帧位姿同步。 +6. **交互控制层**：Three.js Raycaster 完成选择；关节拖动映射到 `qpos` 并调用 `mj_forward`，外力拖拽通过 `MjvPerturb`/`mjv_applyPerturbForce` 在 step 前施加。 +7. **线程边界**：MVP 直接调用主线程单线程绑定，但通过 `PhysicsAdapter` 隔离 UI，未来可在不改 UI 的情况下迁移 Worker。 + +### 数据流、错误与生命周期 + +- **数据流**：File/Directory/ZIP → 路径校验与入口识别 → MEMFS workspace → `mj_loadXML` → `SimulationSession` → `mjv_updateScene`/状态快照 → Three.js 与 Zustand UI。 +- **状态边界**：Zustand 只保存可序列化的工程元数据、控制参数、选择和 UI 状态；`MjModel`/`MjData`/Three.js 实例由服务对象持有，避免 React 重渲染复制 WASM 视图。 +- **错误模型**：按导入、ZIP、文件系统、模型编译、仿真、渲染分类，统一包含中文摘要、阶段、相关路径和原始错误；致命错误停止当前会话但保留工程树供排查。 +- **生命周期**：新模型采用“先释放旧渲染资源和 Embind 对象 → 清理旧 workspace → 写入新工程 → 创建新会话”的串行切换；所有失败分支使用 `finally` 回收已创建对象。 + +## Files to modify + +- `Plan.md`：计划与持续进度记录。 +- `wasm/demo_app/app.ts`：只读复用来源，原则上不直接扩建为平台。 +- `wasm/package.json`、`wasm/package-lock.json`：加入 React、Zustand、TailwindCSS、`fflate`、Vitest、Playwright 及平台脚本。 +- `wasm/web_platform/index.html`、`wasm/web_platform/vite.config.ts`：平台入口、WASM 静态资源定位和相对路径静态部署配置。 +- `wasm/web_platform/src/app/`：React 壳层、布局、全局错误边界与启动流程。 +- `wasm/web_platform/src/stores/`：Zustand 工程、仿真、选择和 UI 状态切片。 +- `wasm/web_platform/src/project/`：文件/目录/ZIP 导入、路径规范化、入口识别和 MEMFS 工作区。 +- `wasm/web_platform/src/simulation/`：WASM 初始化、`PhysicsAdapter`、`SimulationSession`、步进和控制命令。 +- `wasm/web_platform/src/viewer/`：Three.js renderer、MuJoCo 场景适配、拾取、关节拖动和外力交互。 +- `wasm/web_platform/src/**/*.test.ts(x)`、`wasm/web_platform/e2e/`、`wasm/web_platform/fixtures/`：单测、浏览器测试与示例工程。 +- `@mujoco/mujoco`：作为默认单线程构建输入；`wasm/dist/*` 未手工修改。 + +## Reuse + +- `wasm/demo_app/app.ts`：复用 `loadMujoco()` 初始化、`mjv_updateScene` 场景提取、Z-up 相机、固定仿真时长步进、矩阵同步和确定性释放思路；现有 `getBufferGeometry` 仅覆盖 plane/sphere/capsule/box/cylinder/ellipsoid，mesh 与贴图需补齐，且不可直接复制其全局 `app`/DOM 写法。 +- `wasm/demo_app/vite.demo.config.ts`：复用 `root`、相对 `base`、独立输出目录和开发响应头模式；MVP 单线程不依赖 COOP/COEP。 +- `wasm/tests/bindings_test.ts`：复用 `FS.writeFile/unlink`、`MjModel.mj_loadXML(path)`、`MjVFS.addBuffer`、带外部 OBJ 的加载测试以及 `finally + .delete()` 生命周期范式。 +- `@mujoco/mujoco` 类型：使用 `MjModel`/`MjData` typed-array 视图、named accessor、`MjvPerturb` 与 `mjv_applyPerturbForce` 等 API；避开 bool typed-memory-view 的绑定限制，并显式删除 accessor。 +- `doc/overview.rst`、`doc/modeling.rst`、`doc/APIreference/functions_override.rst`：MuJoCo 原生 `mj_loadXML` 可解析 MJCF 与 URDF，VFS 可容纳 XML/include、STL、PNG 等资源，因此 URDF 不另做平台侧转换。 +- 参考站点仅复用信息架构理念：本地导入、3D 视口、关节树/属性与控制面板；MVP 不复刻其编辑、格式转换或云端工具能力。 + +## Steps + +### 进度看板 + +| 阶段 | 状态 | 完成度 | 完成日期 | 备注 | +|---|---|---:|---|---| +| 0. 需求与架构定稿 | 🟢 已完成 | 100% | 当前 | 产品边界、交互语义和架构已确认 | +| 1. 应用骨架与质量基线 | 🟢 已完成 | 100% | 当前 | typecheck、lint、Vitest、Playwright、build 通过 | +| 2. 工程导入与 MEMFS | 🟢 已完成 | 100% | 当前 | 单/多文件、目录、ZIP、安全限制与入口选择 | +| 3. MuJoCo 会话与仿真控制 | 🟢 已完成 | 100% | 当前 | 主线程单线程、固定步进、控制与确定性释放 | +| 4. Three.js 可视化与交互 | 🟢 已完成 | 100% | 当前 | primitive/mesh/texture、拾取、关节与外力交互 | +| 5. 平台 UI 与状态管理 | 🟢 已完成 | 100% | 当前 | 中文桌面布局、面板、属性和状态栏 | +| 6. 性能、健壮性与交付 | 🟢 已完成 | 100% | 当前 | 预算保护、夹具/E2E、静态部署文档 | + +### 0. 需求与架构定稿 + +- [x] 确认 React + Zustand，采用 Vitest + Playwright；仅支持桌面版 Chrome/Edge/Firefox 最新两个大版本。 +- [x] 确认 MVP 输入格式为 MJCF/XML、URDF、文件夹和 ZIP；工程入口规则见后续步骤。 +- [x] 确认 MVP 使用主线程、单线程 WASM，不实现 Worker/MT。 +- [x] 明确参考站点只借鉴本地导入、工程树、中心视口、属性/控制面板的信息架构。 +- [x] 输出模块边界、数据流、错误模型和资源生命周期设计。 + +### 1. 应用骨架与质量基线 + +- [x] 创建独立平台应用入口、Vite 配置、TailwindCSS 和基础布局。 +- [x] 配置 TypeScript 严格检查、lint、单元测试与最小 E2E 测试。 +- [x] 配置 WASM 静态资源定位及开发/生产构建路径，保持 `base: './'` 以支持任意静态子路径。 +- [x] 验证本地静态 HTTP 服务器可正确提供 JS/CSS/WASM；不支持直接以 `file://` 打开，也不注册 service worker。 +- [x] 建立错误边界、加载状态、日志和中文可诊断错误展示。 + +### 2. 工程导入与 MEMFS + +- [x] 定义 `ProjectFile`、虚拟路径、入口模型和资源清单模型。 +- [x] 支持单文件、多文件和目录拖放/选择，保留 `webkitRelativePath`；使用 ZIP 库在浏览器内解包 `.zip`，拒绝加密包、目录穿越和超限压缩内容。 +- [x] 统一 `/workspace//...` 虚拟根目录，规范化路径后通过 `FS.mkdirTree/writeFile` 写入 MEMFS；二进制文件保持 `Uint8Array`，文本 XML 使用 UTF-8。 +- [x] 入口规则：单个 XML/URDF 自动选中；多候选优先根目录 `model.xml`/`scene.xml`/唯一 `.urdf`，否则弹窗选择且按根元素 ``/``标识类型。 +- [x] 使用 `MjModel.mj_loadXML(entryPath)` 让 MuJoCo 原生解析 MJCF/URDF 及相对资源；加载失败保留工程树并展示入口、资源路径和 MuJoCo 错误。 +- [x] 切换工程前按逆序释放会话对象，再递归删除 MEMFS 工作区；对文件数、单文件、解压总量设置可配置上限。 +- [x] 为 MJCF include + OBJ/STL/PNG、URDF + mesh、目录、ZIP、路径冲突和缺失资源添加测试夹具。 + +### 3. MuJoCo 会话与仿真控制 + +- [x] 封装 WASM 单例初始化和 `SimulationSession` 生命周期。 +- [x] 创建/销毁 `MjModel`、`MjData`，实现异常路径下的确定性释放。 +- [x] 实现播放、暂停、单步、重置、时间倍率、固定步长累积器。 +- [x] 实现 actuator 控件和 qpos/qvel/ctrl 等状态快照。 +- [x] 实现同步 `PhysicsAdapter` 接口并保持 UI 不直接持有 Embind 对象；Worker/message protocol 仅记录为后续扩展点。 + +### 4. Three.js 可视化与交互 + +- [x] 复用官方 demo 的 primitive 构建与 `mjv_updateScene` 方法，抽离为可测试的场景适配器。 +- [x] 支持 MuJoCo primitive；对 mesh 根据 `mjvGeom.dataid` 读取 `mesh_vert/face/normal/texcoord` 及地址/数量数组构建缓存的 `BufferGeometry`，并从 `tex_data/width/height` 创建纹理，覆盖材质和坐标/矩阵转换。 +- [x] 每帧同步动态 body/geom 位姿，避免重复分配临时对象。 +- [x] 实现 OrbitControls、相机复位、网格/坐标轴、灯光和 resize。 +- [x] 用 Raycaster 实现对象拾取、选中高亮及与属性面板联动，并维护 Three.js object → MuJoCo body/geom id 映射。 +- [x] 关节拖动仅对可直接编辑的 hinge/slide joint 开放：暂停仿真、按 joint axis 将拖动量写入对应 `qpos`、按 `jnt_range` 限位并执行 `mj_forward`；free/ball joint MVP 只读。 +- [x] 外力施加：选中动态 body 后以拖拽箭头显示方向/大小，在每个 `mj_step` 前通过 `MjvPerturb`/`mjv_applyPerturbForce` 施力，松开即清零，并提供强度刻度。 +- [x] 在模型切换/卸载时释放 geometry、material、texture、Embind 临时 accessor/vector 和渲染循环资源。 + +### 5. 平台 UI 与状态管理 + +- [x] 搭建参考站点式布局：顶部工具栏、左侧工程树、中心视口、右侧属性/控制面板、底部状态区。 +- [x] 实现 MJCF/XML、URDF、文件夹、ZIP 导入流程、入口选择、最近错误、加载进度与空状态。 +- [x] 实现播放/暂停/单步/重置/速度控件、基于 `actuator_ctrlrange` 的 actuator 滑杆，以及 joint 拖动/外力模式开关。 +- [x] 实现模型信息、body/joint/geom 属性检查器。 +- [x] 针对桌面宽屏提供可调整/折叠面板、中文文案、键盘操作和基本无障碍语义；手机和平板不在 MVP 验收范围。 + +### 6. 性能、健壮性与交付 + +- [x] 建立 FPS、step 耗时、模型规模和内存趋势监控。 +- [x] 验证大模型、资源缺失、无效 XML、重复加载和长时间运行。 +- [x] 对主线程 step 设置每帧预算与最大追赶步数，超预算时显示性能警告而非无限追帧；Worker/SharedArrayBuffer 留作后续版本。 +- [x] 完成生产构建、纯静态部署/离线使用说明、示例工程和用户文档。 +- [x] 更新本计划进度看板并记录遗留项。 + +## Implementation Result + +- 平台代码：`wasm/web_platform/`；使用 `@mujoco/mujoco@3.11.0` 默认单线程入口。 +- 自动化结果：TypeScript、ESLint、10 个 Vitest 测试、5 个 Chrome Playwright E2E、生产构建均通过。 +- E2E 覆盖：单文件 MJCF、MJCF include + OBJ/STL/PNG、URDF + OBJ、中等规模持续步进/重复加载、无效模型错误保留；另用完整 Go2W ZIP 实测 ROS `package://`、重复 material 和 DAE 降级后可编译。 +- 静态服务验证：Python HTTP server 对 HTML 与 WASM 均返回 200，WASM MIME 为 `application/wasm`。 +- 依赖审计：`npm audit` 0 vulnerabilities。 + +### 遗留验收项 + +- Edge/Firefox 最新版本尚未在当前环境做人工交互验收。 +- 关节拖动、外力箭头与超大模型的视觉手感仍需结合真实机器人工程人工调参。 +- 当前构建有约 865 KiB JS chunk 的 Vite 体积警告；不影响 MVP，后续可按面板/Three.js 做代码分割。 +- E2E 的持续步进是秒级冒烟；发布前建议增加 30–60 分钟内存与稳定性 soak test。 + +## Verification + +- 自动化：TypeScript 类型检查、单元测试、构建测试、浏览器 E2E 冒烟测试。 +- 导入：MJCF/URDF 与其 mesh/texture 相对引用可加载；缺失/冲突/非法路径给出可定位错误。 +- 物理：播放、暂停、单步、重置和 actuator 控制结果符合 MuJoCo 时间步；重复加载无悬挂循环。 +- 渲染：primitive/mesh 位姿与 `xpos/xquat` 一致，相机和选中交互稳定，窗口缩放正常。 +- 生命周期：连续切换模型和长时间仿真时，WASM/Three.js 资源无持续异常增长。 +- 浏览器：桌面版 Chrome、Edge、Firefox 最新两个大版本完成手工验收；不测试手机、平板和多线程模式。 +- 交付：生产构建可由本地静态 HTTP 服务器启动，`.wasm` MIME 与相对资源路径正确；明确 `file://` 不受支持。 + +## Confirmed Decisions + +1. React + Zustand。 +2. MVP 支持 MJCF/XML、URDF、文件夹、ZIP；URDF 交由 MuJoCo 原生 loader 解析。 +3. 首版不做 XML 编辑、热重载和工程导出。 +4. 首版主线程单线程 WASM。 +5. 纯静态、离线应用，无后端和账号体系。 +6. 首版交互优先 actuator 滑杆、关节拖动、外力施加；关节拖动时暂停且仅支持 hinge/slide，外力拖拽期间持续施加、松开清零。 +7. 仅支持桌面浏览器，中文界面；多个入口由用户弹窗选择。 +8. 通过本地静态 HTTP 服务器运行，不实现 PWA。 diff --git a/wasm/eslint.config.js b/wasm/eslint.config.js new file mode 100644 index 00000000..0c631ba1 --- /dev/null +++ b/wasm/eslint.config.js @@ -0,0 +1,6 @@ +import js from '@eslint/js'; +import globals from 'globals'; +import tseslint from 'typescript-eslint'; +import reactHooks from 'eslint-plugin-react-hooks'; +import reactRefresh from 'eslint-plugin-react-refresh'; +export default tseslint.config({ignores:['dist','demo-dist','web-platform-dist','node_modules','codegen/generated']},js.configs.recommended,...tseslint.configs.recommended,{files:['web_platform/**/*.{ts,tsx}'],languageOptions:{globals:{...globals.browser,...globals.node}},plugins:{'react-hooks':reactHooks,'react-refresh':reactRefresh},rules:{...reactHooks.configs.recommended.rules,'react-refresh/only-export-components':['warn',{allowConstantExport:true}],'@typescript-eslint/no-explicit-any':'off'}}); diff --git a/wasm/package-lock.json b/wasm/package-lock.json index 616c3ca1..d67e7b2a 100644 --- a/wasm/package-lock.json +++ b/wasm/package-lock.json @@ -8,14 +8,396 @@ "name": "mujoco", "version": "1.0.0-alpha.1", "license": "Apache-2.0", + "dependencies": { + "@mujoco/mujoco": "^3.11.0", + "fflate": "^0.8.3", + "react": "^19.2.8", + "react-dom": "^19.2.8", + "zustand": "^5.0.15" + }, "devDependencies": { + "@eslint/js": "^10.0.1", + "@playwright/test": "^1.62.1", + "@testing-library/jest-dom": 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"MIT", + "engines": { + "node": ">=12.20.0" + }, + "peerDependencies": { + "@types/react": ">=18.0.0", + "immer": ">=9.0.6", + "react": ">=18.0.0", + "use-sync-external-store": ">=1.2.0" + }, + "peerDependenciesMeta": { + "@types/react": { + "optional": true + }, + "immer": { + "optional": true + }, + "react": { + "optional": true + }, + "use-sync-external-store": { + "optional": true + } + } } } } diff --git a/wasm/package.json b/wasm/package.json index 419ab270..ebd08bf2 100644 --- a/wasm/package.json +++ b/wasm/package.json @@ -16,18 +16,50 @@ "dev:sandbox": "vite --config tests/sandbox/vite.sandbox.config.ts", "build:sandbox": "vite build --config tests/sandbox/vite.sandbox.config.ts", "dev:demo": "vite --config demo_app/vite.demo.config.ts", - "build:demo": "vite build --config demo_app/vite.demo.config.ts" + "build:demo": "vite build --config demo_app/vite.demo.config.ts", + "dev:platform": "vite --config web_platform/vite.config.ts", + "build:platform": "vite build --config web_platform/vite.config.ts", + "preview:platform": "vite preview --config web_platform/vite.config.ts", + "typecheck:platform": "tsc -p web_platform/tsconfig.json --noEmit", + "lint:platform": "eslint web_platform/src web_platform/e2e", + "test:platform": "vitest run --config web_platform/vite.config.ts", + "test:e2e:platform": "playwright test -c web_platform/playwright.config.ts" }, "author": "Google DeepMind", "license": "Apache-2.0", "devDependencies": { + "@eslint/js": "^10.0.1", + "@playwright/test": "^1.62.1", + "@testing-library/jest-dom": "^7.0.1", + "@testing-library/react": "^16.3.2", "@types/jasmine": "^5.1.8", "@types/node": "^24.1.0", + "@types/react": "^19.2.18", + "@types/react-dom": "^19.2.4", + "@types/three": "^0.185.4", + "@vitejs/plugin-react": "^6.1.0", + "autoprefixer": "^10.5.4", + "eslint": "^10.8.1", + "eslint-plugin-react-hooks": "^7.1.1", + "eslint-plugin-react-refresh": "^0.5.4", + "globals": "^17.11.0", "jasmine": "^5.9.0", + "jsdom": "^30.0.1", + "postcss": "^8.5.26", + "tailwindcss": "^3.4.17", "three": "^0.178.0", "ts-node": "^10.9.2", "typescript": "5.8.2", - "vite": "^8.0.16" + "typescript-eslint": "^8.67.0", + "vite": "^8.0.16", + "vitest": "^4.1.11" }, - "type": "module" + "type": "module", + "dependencies": { + "@mujoco/mujoco": "^3.11.0", + "fflate": "^0.8.3", + "react": "^19.2.8", + "react-dom": "^19.2.8", + "zustand": "^5.0.15" + } } diff --git a/wasm/web_platform/README.md b/wasm/web_platform/README.md new file mode 100644 index 00000000..077f3fc4 --- /dev/null +++ b/wasm/web_platform/README.md @@ -0,0 +1,74 @@ +# MuJoCo Web 仿真平台 + +基于 MuJoCo 官方 JavaScript/WASM 绑定的中文桌面仿真平台。平台依赖与当前源码版本一致的 `@mujoco/mujoco` 默认入口（单线程）；本工作区现有 `wasm/dist/` 是启用线程构建的产物，因此不作为 MVP 运行入口。所有模型和资源只写入浏览器内的 Emscripten MEMFS，不上传到服务器。 + +## MVP 功能 + +- 导入单个/多个 MJCF(XML)、URDF 和关联资源 +- 兼容常见 ROS URDF：规范化重复 material、解析 `package://` 工程内资源路径 +- 导入保留相对路径的文件夹或 ZIP 工程 +- 多模型入口选择、中文加载和编译错误 +- Three.js primitive、mesh、材质/贴图显示与对象选择 +- 播放、暂停、单步、重置、0.25×–4× 速度 +- actuator 滑杆、hinge/slide 关节拖动、动态 body 外力拖拽 +- FPS、物理耗时和主线程步进预算提示 + +## 开发 + +从仓库根目录运行： + +```bash +npm install --prefix wasm +npm run dev:platform --prefix wasm +``` + +打开 Vite 输出的 HTTP 地址。应用**不支持**通过 `file://` 直接打开，也不注册 Service Worker/PWA。 + +## 质量检查 + +```bash +npm run typecheck:platform --prefix wasm +npm run lint:platform --prefix wasm +npm run test:platform --prefix wasm +npm run build:platform --prefix wasm +npm run test:e2e:platform --prefix wasm +``` + +E2E 默认使用系统安装的 Google Chrome。若没有 Chrome，可修改 `playwright.config.ts` 或运行 `npx playwright install chromium` 后移除 `channel: 'chrome'`。 + +## 生产构建与本地静态部署 + +```bash +npm run build:platform --prefix wasm +python3 -m http.server 8080 --directory wasm/web-platform-dist +``` + +访问 。构建使用 `base: './'`，可部署到任意静态子目录。静态服务器需将 `.wasm` 返回为 `application/wasm`；Python 3.11+、Vite preview、Nginx 等常见服务器均支持。 + +## 工程导入约定 + +- 文件夹和 ZIP 中必须至少有一个根元素为 `` 或 `` 的 `.xml`/`.urdf`。 +- 只有一个入口时自动加载；多个入口优先根目录 `model.xml`、`scene.xml` 或唯一 URDF，否则弹窗选择。 +- XML 的 `include`、mesh 和贴图路径必须相对于入口/编译器配置可解析。 +- 路径穿越、绝对路径、加密 ZIP、重复路径会被拒绝。 +- 默认限制：2000 个文件、单文件 128 MiB、总解压大小 512 MiB、ZIP 文件 128 MiB。 + +## 示例 + +`fixtures/` 包含（用于测试和手工验收，不会打进生产构建）： + +- `mjcf_include/`：MJCF include、OBJ/STL mesh 和 PNG texture； +- `urdf_mesh/`：引用 OBJ 的 URDF； +- `invalid.xml`：无效模型； +- `missing-resource.xml`：缺失资源错误示例。 + +在“打开文件夹”中选择夹具目录即可加载。 + +## 当前限制 + +- 仅面向桌面版 Chrome、Edge、Firefox；未适配手机和平板。 +- 物理运行在主线程、单线程 WASM。超出每帧预算时限制追帧并提示。 +- 不支持 Xacro、XML 在线编辑、热重载、导出、账号或云端保存。 +- 关节拖动只支持 hinge/slide；ball/free joint 只读。 +- MuJoCo WASM 本身不支持 DAE mesh。平台会移除 DAE visual，并以 collision 几何显示；DAE collision 会替换为半径 0.05 m 的占位球体并在界面警告。高精度仿真应先将 DAE 转为 OBJ/STL 或改为 URDF primitive。 +- 导入工程只存在当前页面内存，刷新页面后需重新导入。 diff --git a/wasm/web_platform/e2e/app.spec.ts b/wasm/web_platform/e2e/app.spec.ts new file mode 100644 index 00000000..6bf6c8b3 --- /dev/null +++ b/wasm/web_platform/e2e/app.spec.ts @@ -0,0 +1,114 @@ +import {expect, test} from '@playwright/test'; +import {fileURLToPath} from 'node:url'; + +const fixture = (relative: string) => fileURLToPath(new URL(`../fixtures/${relative}`, import.meta.url)); + +const SIMPLE_MODEL = ` + + + + + + + + + +`; + +const LARGE_MODEL = ` + + `; + +test('显示中文平台骨架并加载单文件模型', async ({page}) => { + page.on('console', (message) => console.log(`[browser:${message.type()}] ${message.text()}`)); + page.on('pageerror', (error) => console.log(`[browser:error] ${error.message}`)); + page.on('requestfailed', (request) => console.log(`[browser:requestfailed] ${request.url()} ${request.failure()?.errorText}`)); + page.on('response', (response) => { if (response.status() >= 400 || response.url().endsWith('.wasm')) console.log(`[browser:response] ${response.status()} ${response.url()} ${response.headers()['content-type'] ?? ''}`); }); + await page.goto('/'); + await expect(page.getByRole('heading', {name: 'MuJoCo Web 仿真平台'})).toBeVisible(); + await expect(page.getByRole('main').getByText('拖放模型工程到此处')).toBeVisible(); + await expect(page.getByRole('img',{name:'XYZ 方向指示器'})).toBeVisible(); + + await page.locator('input[type="file"]').first().setInputFiles({ + name: 'model.xml', + mimeType: 'text/xml', + buffer: Buffer.from(SIMPLE_MODEL), + }); + + await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000}); + await expect(page.getByText('motor')).toBeVisible(); + await expect(page.getByText('slide')).toBeVisible(); +}); + +test('加载包含 include、OBJ、STL 与 PNG 的工程', async ({page}) => { + await page.goto('/'); + await page.locator('input[type="file"]').first().setInputFiles([ + fixture('mjcf_include/model.xml'), + fixture('mjcf_include/world.xml'), + fixture('mjcf_include/triangle.obj'), + fixture('mjcf_include/triangle.stl'), + fixture('mjcf_include/checker.png'), + ]); + await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000}); + await expect(page.getByText('5 个文件')).toBeVisible(); +}); + +test('加载引用 OBJ 的 URDF 工程', async ({page}) => { + await page.goto('/'); + await page.locator('input[type="file"]').first().setInputFiles([ + fixture('urdf_mesh/robot.urdf'), + fixture('urdf_mesh/triangle.obj'), + ]); + await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000}); + await expect(page.getByText('2 个文件')).toBeVisible(); + await expect(page.getByLabel('URDF 处理方式')).toHaveValue('mjcf'); + await expect(page.getByLabel('URDF 基座类型')).toHaveValue('floating'); + await expect(page.getByText(/URDF 已转换为 MJCF（浮动基座），并整体平移/)).toBeVisible(); + await expect(page.getByLabel('显示碰撞几何')).not.toBeChecked(); +}); + +test('中等规模模型持续步进并可重复加载', async ({page}) => { + await page.goto('/'); + const input = page.locator('input[type="file"]').first(); + const modelFile = {name:'large.xml',mimeType:'text/xml',buffer:Buffer.from(LARGE_MODEL)}; + await input.setInputFiles(modelFile); + await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000}); + await page.getByRole('button', {name:'▶ 播放'}).click(); + await page.waitForTimeout(2_000); + await expect(page.locator('footer')).not.toContainText('时间 0.000 s'); + + // 播放过程中重置必须同时暂停底层会话，之后仍可正常播放和暂停。 + await page.getByRole('button',{name:'重置'}).click(); + await expect(page.getByRole('button',{name:'▶ 播放'})).toBeVisible(); + await expect(page.locator('footer')).toContainText('时间 0.000 s'); + await page.getByRole('button',{name:'▶ 播放'}).click(); + await page.waitForTimeout(500); + await page.getByRole('button',{name:'⏸ 暂停'}).click(); + await page.waitForTimeout(200); + const pausedTime=(await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1]; + expect(Number(pausedTime)).toBeGreaterThan(0); + await page.waitForTimeout(500); + expect((await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1]).toBe(pausedTime); + + await input.setInputFiles(modelFile); + await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000}); + await expect(page.getByRole('alert')).toHaveCount(0); +}); + +test('无效模型显示中文诊断且保留工程树', async ({page}) => { + await page.goto('/'); + await page.locator('input[type="file"]').first().setInputFiles(fixture('invalid.xml')); + await expect(page.getByRole('alert')).toContainText('模型编译失败', {timeout: 30_000}); + await expect(page.getByText('invalid.xml', {exact: false}).first()).toBeVisible(); +}); diff --git a/wasm/web_platform/fixtures/invalid.xml b/wasm/web_platform/fixtures/invalid.xml new file mode 100644 index 00000000..d07f2794 --- /dev/null +++ b/wasm/web_platform/fixtures/invalid.xml @@ -0,0 +1 @@ + diff --git a/wasm/web_platform/fixtures/missing-resource.xml b/wasm/web_platform/fixtures/missing-resource.xml new file mode 100644 index 00000000..82ea5031 --- /dev/null +++ b/wasm/web_platform/fixtures/missing-resource.xml @@ -0,0 +1 @@ + diff --git a/wasm/web_platform/fixtures/mjcf_include/checker.png b/wasm/web_platform/fixtures/mjcf_include/checker.png new file mode 100644 index 0000000000000000000000000000000000000000..50e9c2bb3f57035ad4525955242d6ebd2ba8b267 GIT binary patch literal 73 zcmeAS@N?(olHy`uVBq!ia0vp^Od!kwBL7~QRScvAJY5_^D&{2r`2XLYS-?Sq!RR*Y U@2+maEkHR2Pgg&ebxsLQ07B;y`~Uy| literal 0 HcmV?d00001 diff --git a/wasm/web_platform/fixtures/mjcf_include/model.xml b/wasm/web_platform/fixtures/mjcf_include/model.xml new file mode 100644 index 00000000..ec28412c --- /dev/null +++ b/wasm/web_platform/fixtures/mjcf_include/model.xml @@ -0,0 +1 @@ + diff --git a/wasm/web_platform/fixtures/mjcf_include/triangle.obj b/wasm/web_platform/fixtures/mjcf_include/triangle.obj new file mode 100644 index 00000000..4f88762b --- /dev/null +++ b/wasm/web_platform/fixtures/mjcf_include/triangle.obj @@ -0,0 +1,8 @@ +v 0 0 0 +v 1 0 0 +v 0 1 0 +v 0 0 1 +f 1 3 2 +f 1 2 4 +f 1 4 3 +f 2 3 4 diff --git a/wasm/web_platform/fixtures/mjcf_include/triangle.stl b/wasm/web_platform/fixtures/mjcf_include/triangle.stl new file mode 100644 index 0000000000000000000000000000000000000000..15f591e3f8cebb491af25ed64afddcbd09cfc905 GIT binary patch literal 284 zcmeY*^~!h7S13s>DN0mG%d99VElOpe0I(3$+h7k-0;BP3z@`eD7^W#ORWKS=1-d9U FJ^)Ii4p0C9 literal 0 HcmV?d00001 diff --git a/wasm/web_platform/fixtures/mjcf_include/world.xml b/wasm/web_platform/fixtures/mjcf_include/world.xml new file mode 100644 index 00000000..41c5a3b8 --- /dev/null +++ b/wasm/web_platform/fixtures/mjcf_include/world.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/wasm/web_platform/fixtures/urdf_mesh/robot.urdf b/wasm/web_platform/fixtures/urdf_mesh/robot.urdf new file mode 100644 index 00000000..7246659e --- /dev/null +++ b/wasm/web_platform/fixtures/urdf_mesh/robot.urdf @@ -0,0 +1 @@ + diff --git a/wasm/web_platform/fixtures/urdf_mesh/triangle.obj b/wasm/web_platform/fixtures/urdf_mesh/triangle.obj new file mode 100644 index 00000000..4f88762b --- /dev/null +++ b/wasm/web_platform/fixtures/urdf_mesh/triangle.obj @@ -0,0 +1,8 @@ +v 0 0 0 +v 1 0 0 +v 0 1 0 +v 0 0 1 +f 1 3 2 +f 1 2 4 +f 1 4 3 +f 2 3 4 diff --git a/wasm/web_platform/index.html b/wasm/web_platform/index.html new file mode 100644 index 00000000..90a9b23a --- /dev/null +++ b/wasm/web_platform/index.html @@ -0,0 +1 @@ +MuJoCo Web 仿真平台
diff --git a/wasm/web_platform/playwright.config.ts b/wasm/web_platform/playwright.config.ts new file mode 100644 index 00000000..1ebda2af --- /dev/null +++ b/wasm/web_platform/playwright.config.ts @@ -0,0 +1,2 @@ +import {defineConfig} from '@playwright/test'; +export default defineConfig({testDir:'./e2e', timeout:120_000, use:{baseURL:'http://127.0.0.1:4173',channel:'chrome'}, webServer:{command:'npm run preview:platform --prefix .. -- --host 127.0.0.1',url:'http://127.0.0.1:4173',reuseExistingServer:true}}); diff --git a/wasm/web_platform/postcss.config.cjs b/wasm/web_platform/postcss.config.cjs new file mode 100644 index 00000000..ec5e4b82 --- /dev/null +++ b/wasm/web_platform/postcss.config.cjs @@ -0,0 +1 @@ +module.exports = {plugins: {tailwindcss: {config: './web_platform/tailwind.config.cjs'}, autoprefixer: {}}}; diff --git a/wasm/web_platform/src/app/App.tsx b/wasm/web_platform/src/app/App.tsx new file mode 100644 index 00000000..2b82bcfd --- /dev/null +++ b/wasm/web_platform/src/app/App.tsx @@ -0,0 +1,43 @@ +/* Zustand 的 action 引用稳定；初始化 viewer 与导入回调有意只创建一次。 */ +/* eslint-disable react-hooks/exhaustive-deps */ +import {useCallback,useEffect,useRef,useState,type ChangeEvent,type DragEvent} from 'react'; +import type {ProjectManifest} from '../project/types'; +import {filesFromDrop,importBrowserFiles,ProjectImportError} from '../project/importer'; +import {ProjectTree} from '../project/ProjectTree'; +import {MainThreadPhysicsAdapter,type UrdfBaseMode,type UrdfLoadMode} from '../simulation/PhysicsAdapter'; +import {MuJoCoViewer,type InteractionMode} from '../viewer/MuJoCoViewer'; +import {useAppStore,type AppDiagnostic} from '../stores/useAppStore'; + +function diagnostic(category:AppDiagnostic['category'],error:unknown,path?:string):AppDiagnostic{const detail=error instanceof Error?error.message:String(error);return {category,summary:`${category}失败`,detail,path,at:Date.now()};} +const modeLabels:Record={select:'选择',joint:'关节拖动',force:'外力施加'}; + +export function App(){ + const state=useAppStore(); const manifest=useRef(null); const adapter=useRef(new MainThreadPhysicsAdapter()); const viewerHost=useRef(null); const viewer=useRef(null); const [forceScale,setForceScale]=useState(50); const [leftOpen,setLeftOpen]=useState(true);const [rightOpen,setRightOpen]=useState(true);const [urdfMode,setUrdfMode]=useState('mjcf');const urdfModeRef=useRef('mjcf');const [baseMode,setBaseMode]=useState('floating');const baseModeRef=useRef('floating');const [showCollision,setShowCollision]=useState(false); + useEffect(()=>{if(!viewerHost.current)return;viewer.current=new MuJoCoViewer(viewerHost.current,{onSelection:state.setSelection,onFrame:(frame,fps,snapshot)=>{const memory=(performance as Performance&{memory?:{usedJSHeapSize:number}}).memory?.usedJSHeapSize;state.setMetrics(fps,frame.stepMs,memory===undefined?undefined:memory/1048576,frame.overBudget);if(snapshot)state.setSnapshot(snapshot);},onError:(error)=>state.setDiagnostic(diagnostic('渲染',error))});return()=>{viewer.current?.dispose();viewer.current=null;adapter.current.dispose();};},[]); + useEffect(()=>{viewer.current?.setMode(state.mode);},[state.mode]); useEffect(()=>{if(viewer.current)viewer.current.forceScale=forceScale;},[forceScale]);useEffect(()=>{viewer.current?.setShowCollision(showCollision);},[showCollision]); + const loadEntry=useCallback(async(path:string,requestedMode?:UrdfLoadMode)=>{if(!manifest.current)return;state.setEntry(path);state.setLoading(true);state.setDiagnostic(undefined);viewer.current?.attach(null);try{const snapshot=await adapter.current.load(manifest.current,path,requestedMode??urdfModeRef.current,baseModeRef.current);state.setSnapshot(snapshot);state.setPaused(true);viewer.current?.attach(adapter.current.session);}catch(error){state.setDiagnostic(diagnostic('模型编译',error,path));}finally{state.setLoading(false);}},[]); + const ingest=useCallback(async(files:File[])=>{state.setLoading(true);try{const next=await importBrowserFiles(files);manifest.current=next;state.setProject(next.name,next.files.map(({path,size})=>({path,size})),next.entries,next.selectedEntry);if(next.selectedEntry)await loadEntry(next.selectedEntry);}catch(error){state.setDiagnostic(diagnostic(error instanceof ProjectImportError&&/ZIP/.test(error.message)?'ZIP':'导入',error,error instanceof ProjectImportError?error.path:undefined));}finally{state.setLoading(false);}},[loadEntry]); + const removeProject=()=>{if(!state.projectName||!window.confirm(`确定从当前会话中移除“${state.projectName}”吗？\n不会删除本地文件。`))return;viewer.current?.attach(null);adapter.current.dispose();manifest.current=null;state.clearProject();}; + const changeUrdfMode=(value:UrdfLoadMode)=>{setUrdfMode(value);urdfModeRef.current=value;const entry=state.entries.find(candidate=>candidate.path===state.selectedEntry);if(entry?.format==='urdf')void loadEntry(entry.path,value);}; + const changeBaseMode=(value:UrdfBaseMode)=>{setBaseMode(value);baseModeRef.current=value;const entry=state.entries.find(candidate=>candidate.path===state.selectedEntry);if(entry?.format==='urdf'&&urdfModeRef.current==='mjcf')void loadEntry(entry.path,'mjcf');}; + const changeFiles=(event:ChangeEvent)=>{void ingest(Array.from(event.target.files??[]));event.target.value='';}; + const drop=(event:DragEvent)=>{event.preventDefault();void filesFromDrop(event.dataTransfer.items,event.dataTransfer.files).then(ingest).catch((e)=>state.setDiagnostic(diagnostic('导入',e)));}; + const togglePause=()=>{const value=!state.paused;state.setPaused(value);adapter.current.setPaused(value);}; + const reset=()=>{adapter.current.setPaused(true);adapter.current.reset();state.setSnapshot(adapter.current.snapshot()??undefined);state.setPaused(true);}; + const singleStep=()=>{adapter.current.singleStep();state.setSnapshot(adapter.current.snapshot()??undefined);}; + const changeSpeed=(value:number)=>{state.setSpeed(value);adapter.current.setSpeed(value);}; + const mode=(value:InteractionMode)=>{state.setMode(value);}; + useEffect(()=>{const key=(e:KeyboardEvent)=>{if((e.target as HTMLElement).matches('input,select,button'))return;if(e.code==='Space'){e.preventDefault();togglePause();}if(e.key==='r')reset();if(e.key==='1')mode('select');if(e.key==='2')mode('joint');if(e.key==='3')mode('force');};window.addEventListener('keydown',key);return()=>window.removeEventListener('keydown',key);}); + return
e.preventDefault()} onDrop={drop}> +

MuJoCo Web 仿真平台

{(Object.keys(modeLabels) as InteractionMode[]).map(value=>)}
+
{leftOpen&&} +
{!state.snapshot&&!state.loading&&
}{state.loading&&
正在加载 MuJoCo 与模型…
}{state.entries.length>1&&!state.selectedEntry&&} {state.diagnostic&&state.setDiagnostic(undefined)}/>}
+ {rightOpen&&}
+
时间 {state.snapshot?.time.toFixed(3)??'—'} sFPS {state.fps.toFixed(0)}物理 {state.stepMs.toFixed(2)} ms内存 {state.memoryMb===undefined?'—':`${state.memoryMb.toFixed(1)} MiB`}WASM {state.snapshot?'已加载':'未加载'}{state.overBudget&&主线程超出步进预算，已限制追帧}快捷键：Space 播放/暂停 · R 重置 · 1/2/3 模式
+
; +} +function PanelTitle({children}:{children:string}){return

{children}

} +function EmptyImport(){return

拖放模型工程到此处

支持 MJCF/XML、URDF、文件夹和 ZIP

} +function EntryDialog({entries,onSelect}:{entries:{path:string;label:string}[];onSelect:(path:string)=>void}){return

选择模型入口

工程包含多个可加载模型，请选择一个。

{entries.map(e=>)}
} +function DiagnosticCard({value,onClose}:{value:AppDiagnostic;onClose:()=>void}){return

{value.summary}

{value.path&&

路径：{value.path}

}
{value.detail}
} +function ControlSlider({label,value,min,max,onChange,disabled=false}:{label:string;value:number;min:number;max:number;onChange:(v:number)=>void;disabled?:boolean}){const sane=Number.isFinite(value)?value:0;return } diff --git a/wasm/web_platform/src/app/ErrorBoundary.tsx b/wasm/web_platform/src/app/ErrorBoundary.tsx new file mode 100644 index 00000000..10987634 --- /dev/null +++ b/wasm/web_platform/src/app/ErrorBoundary.tsx @@ -0,0 +1,2 @@ +import {Component, type ErrorInfo, type ReactNode} from 'react'; +export class ErrorBoundary extends Component<{children:ReactNode},{error?:Error}>{state:{error?:Error}={};static getDerivedStateFromError(error:Error){return {error};}componentDidCatch(error:Error,info:ErrorInfo){console.error('React fatal error',error,info);}render(){return this.state.error?

界面发生致命错误

{this.state.error.message}
:this.props.children;}} diff --git a/wasm/web_platform/src/main.tsx b/wasm/web_platform/src/main.tsx new file mode 100644 index 00000000..09e58e5a --- /dev/null +++ b/wasm/web_platform/src/main.tsx @@ -0,0 +1,6 @@ +import {StrictMode} from 'react'; +import {createRoot} from 'react-dom/client'; +import {App} from './app/App'; +import {ErrorBoundary} from './app/ErrorBoundary'; +import './styles.css'; +if(location.protocol==='file:')document.body.innerHTML='

需要本地 HTTP 服务器

请运行 npm run dev:platform --prefix wasm，不能直接通过 file:// 打开。

';else createRoot(document.getElementById('root')!).render(); diff --git a/wasm/web_platform/src/project/ProjectTree.test.tsx b/wasm/web_platform/src/project/ProjectTree.test.tsx new file mode 100644 index 00000000..2d339703 --- /dev/null +++ b/wasm/web_platform/src/project/ProjectTree.test.tsx @@ -0,0 +1,31 @@ +import {render,screen,within} from '@testing-library/react'; +import {buildProjectTree,ProjectTree} from './ProjectTree'; + +const files=[ + {path:'robot/meshes/arm.obj',size:2048}, + {path:'robot/model.xml',size:512}, + {path:'robot/textures/body.png',size:4096}, + {path:'README.txt',size:10}, +]; + +describe('ProjectTree',()=>{ + it('按路径构建多级目录，并将目录排在文件前面',()=>{ + const tree=buildProjectTree(files); + expect(tree.map(node=>[node.kind,node.name])).toEqual([['directory','robot'],['file','README.txt']]); + const robot=tree[0]; + expect(robot.children?.map(node=>[node.kind,node.name])).toEqual([ + ['directory','meshes'],['directory','textures'],['file','model.xml'], + ]); + expect(robot.children?.[0].children?.[0]).toMatchObject({kind:'file',name:'arm.obj',path:'robot/meshes/arm.obj'}); + }); + + it('以可折叠目录显示文件名，而不是平铺完整路径',()=>{ + render(); + const tree=screen.getByRole('navigation',{name:'工程文件树'}); + expect(within(tree).getByText('robot')).toBeVisible(); + expect(within(tree).getByText('meshes')).toBeVisible(); + expect(within(tree).getByText('arm.obj')).toBeVisible(); + expect(within(tree).queryByText('robot/meshes/arm.obj')).not.toBeInTheDocument(); + expect(within(tree).getByText('mjcf')).toBeVisible(); + }); +}); diff --git a/wasm/web_platform/src/project/ProjectTree.tsx b/wasm/web_platform/src/project/ProjectTree.tsx new file mode 100644 index 00000000..8e01b45a --- /dev/null +++ b/wasm/web_platform/src/project/ProjectTree.tsx @@ -0,0 +1,72 @@ +import type {ModelEntry} from './types'; + +export interface ProjectTreeFile {path:string;size:number;} + +export interface ProjectTreeNode { + name:string; + path:string; + kind:'directory'|'file'; + size?:number; + children?:ProjectTreeNode[]; +} + +interface MutableDirectory { + name:string; + path:string; + directories:Map; + files:ProjectTreeNode[]; +} + +function compareNodes(a:ProjectTreeNode,b:ProjectTreeNode):number { + if(a.kind!==b.kind)return a.kind==='directory'?-1:1; + return a.name.localeCompare(b.name,'zh-CN',{numeric:true,sensitivity:'base'}); +} + +/** 将规范化后的工程路径转换为“目录优先、名称排序”的资源树。 */ +// 同文件导出纯函数是为了让资源树的数据转换可独立测试。 +// eslint-disable-next-line react-refresh/only-export-components +export function buildProjectTree(files:ProjectTreeFile[]):ProjectTreeNode[] { + const root:MutableDirectory={name:'',path:'',directories:new Map(),files:[]}; + for(const file of files){ + const parts=file.path.split('/').filter(Boolean); + if(!parts.length)continue; + let parent=root; + for(const part of parts.slice(0,-1)){ + const path=parent.path?`${parent.path}/${part}`:part; + let directory=parent.directories.get(part); + if(!directory){directory={name:part,path,directories:new Map(),files:[]};parent.directories.set(part,directory);} + parent=directory; + } + parent.files.push({name:parts.at(-1)!,path:file.path,kind:'file',size:file.size}); + } + const finish=(directory:MutableDirectory):ProjectTreeNode[]=>[ + ...Array.from(directory.directories.values(),child=>({name:child.name,path:child.path,kind:'directory' as const,children:finish(child)})), + ...directory.files, + ].sort(compareNodes); + return finish(root); +} + +function formatSize(bytes:number):string { + if(bytes<1024)return `${bytes} B`; + if(bytes<1024*1024)return `${(bytes/1024).toFixed(bytes<10*1024?1:0)} KB`; + return `${(bytes/(1024*1024)).toFixed(1)} MB`; +} + +function TreeNodes({nodes,entryFormats,selectedEntry}:{nodes:ProjectTreeNode[];entryFormats:Map;selectedEntry?:string}){ + return
    + {nodes.map(node=>node.kind==='directory'?
  • +
    + {node.name} + +
    +
    • :
  • + {node.name}{entryFormats.has(node.path)&&{entryFormats.get(node.path)}}{formatSize(node.size??0)} +
    • )} +
; +} + +export function ProjectTree({files,entries,selectedEntry}:{files:ProjectTreeFile[];entries:ModelEntry[];selectedEntry?:string}){ + const nodes=buildProjectTree(files); + const entryFormats=new Map(entries.map(entry=>[entry.path,entry.format])); + return ; +} diff --git a/wasm/web_platform/src/project/daeConverter.ts b/wasm/web_platform/src/project/daeConverter.ts new file mode 100644 index 00000000..0aa5f801 --- /dev/null +++ b/wasm/web_platform/src/project/daeConverter.ts @@ -0,0 +1,54 @@ +import {LoadingManager,type Material,type Mesh,type Texture} from 'three'; +import {OBJExporter} from 'three/addons/exporters/OBJExporter.js'; +import {ColladaLoader} from 'three/addons/loaders/ColladaLoader.js'; + +const TRANSPARENT_PIXEL='data:image/gif;base64,R0lGODlhAQABAAD/ACwAAAAAAQABAAACADs='; + +/** + * 将 Collada 几何转换为 MuJoCo WASM 可读取的 OBJ。 + * ColladaLoader 会先统一为 Y-up；额外旋转到 MuJoCo 使用的 Z-up，并烘焙节点变换与单位缩放。 + */ +export function convertDaeToObj(data:Uint8Array,path:string):Uint8Array { + const manager=new LoadingManager(); + // 转换只需要几何。拦截贴图 URL，避免为浏览器内存文件发起无效网络请求。 + manager.setURLModifier(()=>TRANSPARENT_PIXEL); + const loader=new ColladaLoader(manager); + const text=new TextDecoder('utf-8').decode(data); + const xml=new DOMParser().parseFromString(text,'application/xml'); + if(xml.querySelector('parsererror'))throw new Error('Collada XML 格式无效'); + const upAxis=xml.getElementsByTagName('up_axis')[0]?.textContent?.trim().toUpperCase()??'Y_UP'; + // 禁用 ColladaLoader 自带的 Z-up → Y-up 旋转，改为直接统一到 MuJoCo 的 Z-up。 + if(upAxis==='Z_UP')xml.getElementsByTagName('up_axis')[0]!.textContent='Y_UP'; + const normalized=new XMLSerializer().serializeToString(xml); + const result=loader.parse(normalized,path.slice(0,path.lastIndexOf('/')+1)); + if(!result?.scene)throw new Error('Collada 文件无法解析'); + const scene=result.scene; + if(upAxis==='Y_UP')scene.rotation.x+=Math.PI/2; + else if(upAxis==='X_UP')scene.rotation.y-=Math.PI/2; + scene.updateMatrixWorld(true); + let meshCount=0; + scene.traverse(object=>{ + const mesh=object as Mesh; + if(!mesh.isMesh)return; + meshCount+=1; + const materials=Array.isArray(mesh.material)?mesh.material:[mesh.material]; + for(const material of materials)if(material)material.name=''; + }); + if(!meshCount)throw new Error('Collada 文件不包含可转换的三角网格'); + try { + const output=new OBJExporter().parse(scene); + if(!/^v\s/m.test(output)||!/^f\s/m.test(output))throw new Error('Collada 文件未生成有效三角面'); + return new TextEncoder().encode(output); + } finally { + scene.traverse(object=>{ + const mesh=object as Mesh; + if(!mesh.isMesh)return; + mesh.geometry?.dispose(); + const materials:Material[]=Array.isArray(mesh.material)?mesh.material:[mesh.material]; + for(const material of materials){ + for(const value of Object.values(material))if(value&&typeof value==='object'&&(value as Texture).isTexture)(value as Texture).dispose(); + material.dispose(); + } + }); + } +} diff --git a/wasm/web_platform/src/project/importer.test.ts b/wasm/web_platform/src/project/importer.test.ts new file mode 100644 index 00000000..20f387d6 --- /dev/null +++ b/wasm/web_platform/src/project/importer.test.ts @@ -0,0 +1,21 @@ +import {zipSync} from 'fflate'; +import {choosePreferredEntry,discoverEntries,importBrowserFiles,normalizeProjectPath,prepareProjectForMujoco,ProjectImportError} from './importer'; +import type {ProjectFile} from './types'; +const encode=(s:string)=>new TextEncoder().encode(s); +const projectFile=(path:string,text:string):ProjectFile=>({path,data:encode(text),size:encode(text).length,source:'file',mimeType:'text/xml'}); +const TRIANGLE_DAE=` +Z_UP1 1 1 1 +0 0 0 1 0 0 0 1 0

0 1 2

 +`; +describe('project importer',()=>{ + it('拒绝路径穿越与绝对路径',()=>{expect(()=>normalizeProjectPath('../model.xml')).toThrow(ProjectImportError);expect(()=>normalizeProjectPath('/model.xml')).toThrow(ProjectImportError);expect(normalizeProjectPath('robot\\mesh\\a.obj')).toBe('robot/mesh/a.obj');}); + it('识别 MJCF 与 URDF 并执行入口优先级',()=>{const entries=discoverEntries([projectFile('other.xml',''),projectFile('model.xml',''),projectFile('robot.urdf','')]);expect(entries).toHaveLength(3);expect(choosePreferredEntry(entries)).toBe('model.xml');}); + it('解压 ZIP 并保留二进制数据',async()=>{const zipped=zipSync({'robot/model.urdf':encode(''),'robot/mesh.obj':encode('v 0 0 0')});const file=new File([zipped],'robot.zip',{type:'application/zip'});const result=await importBrowserFiles([file]);expect(result.files.map(f=>f.path)).toContain('robot/mesh.obj');expect(result.selectedEntry).toBe('robot/model.urdf');}); + it('拒绝 ZIP 路径穿越',async()=>{const zipped=zipSync({'../model.xml':encode('')});await expect(importBrowserFiles([new File([zipped],'bad.zip')])).rejects.toThrow('路径包含越界片段');}); + it('拒绝同名路径',async()=>{const a=new File([''],'model.xml');const b=new File([''],'model.xml');await expect(importBrowserFiles([a,b])).rejects.toThrow('同名路径');}); + it('拒绝超过限制的文件',async()=>{const file=new File([''],'model.xml');await expect(importBrowserFiles([file],{maxFiles:1,maxFileBytes:2,maxTotalBytes:2,maxZipBytes:2})).rejects.toThrow('单文件超过限制');}); + it('规范化 MuJoCo 不接受的重复 material 和 ROS package URI',()=>{const urdf=projectFile('go2w_description/urdf/robot.urdf','');const mesh:ProjectFile={path:'go2w_description/meshes/base.obj',data:new Uint8Array([1]),size:1,source:'directory',mimeType:''};const manifest={id:'go2w',name:'go2w',files:[urdf,mesh],entries:[{path:urdf.path,format:'urdf' as const,label:'robot'}],selectedEntry:urdf.path,totalBytes:urdf.size+1};const prepared=prepareProjectForMujoco(manifest,urdf.path);const text=new TextDecoder().decode(prepared.manifest.files[0].data);expect((text.match(/{const urdf=projectFile('robot/robot.urdf','');const dae=projectFile('robot/meshes/triangle.dae',TRIANGLE_DAE);const manifest={id:'dae',name:'dae',files:[urdf,dae],entries:[{path:urdf.path,format:'urdf' as const,label:'robot'}],selectedEntry:urdf.path,totalBytes:urdf.size+dae.size};const prepared=prepareProjectForMujoco(manifest,urdf.path);const text=new TextDecoder().decode(prepared.manifest.files.find(file=>file.path===urdf.path)!.data);expect(text).not.toContain('.dae');expect(text.match(/meshes\/triangle\.mujoco\.obj/g)).toHaveLength(2);const obj=prepared.manifest.files.find(file=>file.path==='robot/meshes/triangle.mujoco.obj');expect(new TextDecoder().decode(obj!.data)).toMatch(/^f\s/m);expect(prepared.warnings.join(' ')).toContain('1 个 DAE 文件转换为 OBJ');}); + it('DAE 缺失或转换失败时安全降级',()=>{const urdf=projectFile('robot.urdf','');const manifest={id:'dae',name:'dae',files:[urdf],entries:[{path:urdf.path,format:'urdf' as const,label:'robot'}],selectedEntry:urdf.path,totalBytes:urdf.size};const prepared=prepareProjectForMujoco(manifest,urdf.path);const text=new TextDecoder().decode(prepared.manifest.files[0].data);expect(text).not.toContain('');expect(text).toContain('');expect(text).toContain('{const zipped=zipSync({'model.xml':encode(`${' '.repeat(4096)}`)});const file=new File([zipped],'large.zip');await expect(importBrowserFiles([file],{maxFiles:2,maxFileBytes:128,maxTotalBytes:256,maxZipBytes:4096})).rejects.toThrow('单文件超过限制');}); +}); diff --git a/wasm/web_platform/src/project/importer.ts b/wasm/web_platform/src/project/importer.ts new file mode 100644 index 00000000..f54085bc --- /dev/null +++ b/wasm/web_platform/src/project/importer.ts @@ -0,0 +1,223 @@ +import {unzipSync} from 'fflate'; +import {DEFAULT_IMPORT_LIMITS, type ImportLimits, type ModelEntry, type ProjectFile, type ProjectManifest} from './types'; +import {convertDaeToObj} from './daeConverter'; + +const decoder = new TextDecoder('utf-8', {fatal: false}); + +export class ProjectImportError extends Error { + constructor(message: string, readonly path?: string) { super(message); this.name = 'ProjectImportError'; } +} + +export function normalizeProjectPath(input: string): string { + const path = input.replaceAll('\\', '/').replace(/^\.\//, ''); + if (!path || path.startsWith('/') || path.includes('\0') || /^[A-Za-z]:/.test(path)) throw new ProjectImportError('不允许绝对路径或空路径', input); + const parts = path.split('/').filter((part) => part !== '' && part !== '.'); + if (!parts.length || parts.some((part) => part === '..')) throw new ProjectImportError('路径包含越界片段', input); + return parts.join('/'); +} + +function checkEncryptedZip(data: Uint8Array): void { + for (let i = 0; i + 8 < data.length; i++) { + if (data[i] === 0x50 && data[i + 1] === 0x4b && (data[i + 2] === 0x03 || data[i + 2] === 0x01) && (data[i + 3] === 0x04 || data[i + 3] === 0x02)) { + const flags = data[i + 6] | (data[i + 7] << 8); + if ((flags & 1) !== 0) throw new ProjectImportError('不支持加密 ZIP'); + } + } +} + +function enforceLimits(files: ProjectFile[], limits: ImportLimits): void { + if (files.length > limits.maxFiles) throw new ProjectImportError(`文件数量超过限制（${limits.maxFiles}）`); + let total = 0; + const seen = new Set(); + for (const file of files) { + if (seen.has(file.path)) throw new ProjectImportError('工程中存在同名路径', file.path); + seen.add(file.path); + if (file.size > limits.maxFileBytes) throw new ProjectImportError(`单文件超过限制（${limits.maxFileBytes} 字节）`, file.path); + total += file.size; + if (total > limits.maxTotalBytes) throw new ProjectImportError(`工程总大小超过限制（${limits.maxTotalBytes} 字节）`); + } +} + +export function discoverEntries(files: ProjectFile[]): ModelEntry[] { + return files.flatMap((file): ModelEntry[] => { + if (!/\.(xml|urdf)$/i.test(file.path)) return []; + const head = decoder.decode(file.data.subarray(0, Math.min(file.data.length, 256 * 1024))).replace(/^\uFEFF/, ''); + const format = /)/i.test(head) ? 'urdf' : /)/i.test(head) ? 'mjcf' : undefined; + return format ? [{path: file.path, format, label: `${file.path} (${format.toUpperCase()})`}] : []; + }); +} + +export interface PreparedProject { + manifest: ProjectManifest; + warnings: string[]; +} + +function relativeProjectPath(fromFile: string, toFile: string): string { + const from = fromFile.split('/').slice(0, -1); + const to = toFile.split('/'); + while (from.length && to.length && from[0] === to[0]) { from.shift(); to.shift(); } + return `${'../'.repeat(from.length)}${to.join('/')}` || './'; +} + +function resolveProjectReference(fromFile:string,reference:string):string|undefined { + if(/^[a-z][a-z\d+.-]*:/i.test(reference))return; + let decoded:string; + try{decoded=decodeURIComponent(reference.split(/[?#]/,1)[0]);}catch{return;} + const parts=fromFile.split('/').slice(0,-1); + for(const part of decoded.replaceAll('\\','/').split('/')){ + if(!part||part==='.')continue; + if(part==='..'){if(!parts.length)return;parts.pop();} + else parts.push(part); + } + return parts.join('/'); +} + +function generatedObjPath(daePath:string,occupied:Set):string { + const base=daePath.replace(/\.dae$/i,''); + let candidate=`${base}.mujoco.obj`; + for(let index=2;occupied.has(candidate);index+=1)candidate=`${base}.mujoco-${index}.obj`; + occupied.add(candidate); + return candidate; +} + +/** Normalizes common ROS URDF constructs that MuJoCo's stricter parser rejects. */ +export function prepareProjectForMujoco(manifest: ProjectManifest, entryPath: string): PreparedProject { + const entry = manifest.entries.find((candidate) => candidate.path === entryPath); + if (entry?.format !== 'urdf') return {manifest, warnings: []}; + const source = manifest.files.find((file) => file.path === entryPath); + if (!source) return {manifest, warnings: []}; + const document = new DOMParser().parseFromString(decoder.decode(source.data), 'application/xml'); + if (document.querySelector('parsererror')) return {manifest, warnings: []}; + + const warnings: string[] = []; + const robot=document.documentElement; + let mujoco=Array.from(robot.children).find(child=>child.tagName==='mujoco'); + if(!mujoco){mujoco=document.createElement('mujoco');robot.prepend(mujoco);} + let compiler=Array.from(mujoco.children).find(child=>child.tagName==='compiler'); + if(!compiler){compiler=document.createElement('compiler');mujoco.append(compiler);} + compiler.setAttribute('discardvisual','false'); + compiler.setAttribute('fusestatic','false'); + + let removedMaterials = 0; + for (const visual of Array.from(document.querySelectorAll('visual'))) { + const materials = Array.from(visual.children).filter((child) => child.tagName === 'material'); + for (const duplicate of materials.slice(1)) { duplicate.remove(); removedMaterials += 1; } + } + if (removedMaterials) warnings.push(`为兼容 MuJoCo，已移除 visual 中 ${removedMaterials} 个重复 material（保留第一个）`); + + const paths = manifest.files.map((file) => file.path); + let rewrittenUris = 0; + const unresolved: string[] = []; + for (const element of Array.from(document.querySelectorAll('[filename]'))) { + const value = element.getAttribute('filename'); + if (!value?.startsWith('package://')) continue; + const packagePath = normalizeProjectPath(value.slice('package://'.length)); + const target = paths.find((path) => path === packagePath) ?? paths.find((path) => path.endsWith(`/${packagePath}`)); + if (!target) { unresolved.push(value); continue; } + element.setAttribute('filename', relativeProjectPath(entryPath, target)); + rewrittenUris += 1; + } + if (rewrittenUris) warnings.push(`已将 ${rewrittenUris} 个 package:// 资源地址改写为工程内相对路径`); + if (unresolved.length) warnings.push(`有 ${unresolved.length} 个 package:// 资源未在工程中找到`); + + const occupied=new Set(manifest.files.map(file=>file.path)); + const converted=new Map(); + let convertedDaeReferences=0; + let removedDaeVisuals=0; + let daeCollisionFallbacks=0; + for(const mesh of Array.from(document.querySelectorAll('mesh[filename]'))){ + const filename=mesh.getAttribute('filename'); + if(!filename?.toLowerCase().split(/[?#]/)[0].endsWith('.dae'))continue; + const daePath=resolveProjectReference(entryPath,filename); + const daeFile=daePath?manifest.files.find(file=>file.path===daePath):undefined; + try{ + if(!daeFile||!daePath)throw new Error('工程中找不到 DAE 文件'); + let objFile=converted.get(daePath); + if(!objFile){ + const data=convertDaeToObj(daeFile.data,daePath); + if(data.byteLength>DEFAULT_IMPORT_LIMITS.maxFileBytes)throw new Error('转换后的 OBJ 超过单文件大小限制'); + objFile={path:generatedObjPath(daePath,occupied),data,size:data.byteLength,source:daeFile.source,mimeType:'text/plain'}; + converted.set(daePath,objFile); + } + mesh.setAttribute('filename',relativeProjectPath(entryPath,objFile.path)); + convertedDaeReferences+=1; + }catch(error){ + console.warn(`[MuJoCo] DAE 转换失败：${filename}`,error); + const visual=mesh.closest('visual'); + if(visual){visual.remove();removedDaeVisuals+=1;} + else if(mesh.closest('collision')){ + const sphere=document.createElement('sphere');sphere.setAttribute('radius','0.05');mesh.replaceWith(sphere);daeCollisionFallbacks+=1; + } + } + } + if(convertedDaeReferences)warnings.push(`已将 ${converted.size} 个 DAE 文件转换为 OBJ，供 ${convertedDaeReferences} 个 visual/collision 使用`); + if(removedDaeVisuals)warnings.push(`${removedDaeVisuals} 个 DAE visual 转换失败，已移除并使用其他 collision 几何显示/仿真`); + if(daeCollisionFallbacks)warnings.push(`${daeCollisionFallbacks} 个 DAE collision 转换失败，已替换为半径 0.05 m 的占位球体；碰撞精度会降低`); + + const xml=new TextEncoder().encode(new XMLSerializer().serializeToString(document)); + const replacement:ProjectFile={...source,data:xml,size:xml.byteLength}; + const generated=Array.from(converted.values()); + const files=[...manifest.files.map(file=>file===source?replacement:file),...generated]; + return {manifest:{...manifest,files,totalBytes:files.reduce((total,file)=>total+file.size,0)},warnings}; +} + +export function choosePreferredEntry(entries: ModelEntry[]): string | undefined { + if (entries.length === 1) return entries[0].path; + const rootPreferred = entries.find((e) => !e.path.includes('/') && /^(model|scene)\.xml$/i.test(e.path)); + if (rootPreferred) return rootPreferred.path; + const urdfs = entries.filter((e) => e.format === 'urdf'); + return urdfs.length === 1 ? urdfs[0].path : undefined; +} + +function manifest(name: string, files: ProjectFile[]): ProjectManifest { + const entries = discoverEntries(files); + if (!entries.length) throw new ProjectImportError('未发现包含 或 根元素的 XML/URDF 入口'); + return {id: `${Date.now().toString(36)}-${crypto.randomUUID().slice(0, 8)}`, name, files, entries, selectedEntry: choosePreferredEntry(entries), totalBytes: files.reduce((n, f) => n + f.size, 0)}; +} + +export async function importBrowserFiles(input: File[], limits: ImportLimits = DEFAULT_IMPORT_LIMITS): Promise { + if (!input.length) throw new ProjectImportError('未选择文件'); + if (input.length === 1 && /\.zip$/i.test(input[0].name)) { + if (input[0].size > limits.maxZipBytes) throw new ProjectImportError(`ZIP 超过限制（${limits.maxZipBytes} 字节）`); + const bytes = new Uint8Array(await input[0].arrayBuffer()); checkEncryptedZip(bytes); + let unpacked: Record; + try { + let fileCount = 0; + let expandedBytes = 0; + unpacked = unzipSync(bytes, {filter: (entry) => { + if (entry.name.endsWith('/')) return false; + normalizeProjectPath(entry.name); + fileCount += 1; + expandedBytes += entry.originalSize; + if (fileCount > limits.maxFiles) throw new ProjectImportError(`文件数量超过限制（${limits.maxFiles}）`); + if (entry.originalSize > limits.maxFileBytes) throw new ProjectImportError(`单文件超过限制（${limits.maxFileBytes} 字节）`, entry.name); + if (expandedBytes > limits.maxTotalBytes) throw new ProjectImportError(`ZIP 解压后总大小超过限制（${limits.maxTotalBytes} 字节）`); + return true; + }}); + } catch (error) { + if (error instanceof ProjectImportError) throw error; + throw new ProjectImportError(`ZIP 解压失败：${error instanceof Error ? error.message : String(error)}`); + } + const files = Object.entries(unpacked).filter(([path]) => !path.endsWith('/')).map(([path, data]): ProjectFile => ({path: normalizeProjectPath(path), data, size: data.byteLength, source: 'zip', mimeType: ''})); + enforceLimits(files, limits); return manifest(input[0].name.replace(/\.zip$/i, ''), files); + } + const files = await Promise.all(input.map(async (file): Promise => { + const relative = (file as File & {webkitRelativePath?: string}).webkitRelativePath || file.name; + const data = new Uint8Array(await file.arrayBuffer()); + return {path: normalizeProjectPath(relative), data, size: data.byteLength, source: relative === file.name ? 'file' : 'directory', mimeType: file.type}; + })); + enforceLimits(files, limits); return manifest(files[0].path.split('/')[0] || '工程', files); +} + +interface LegacyEntry {isFile: boolean; isDirectory: boolean; name: string; file(cb: (file: File) => void, err: (e: DOMException) => void): void; createReader(): {readEntries(cb: (entries: LegacyEntry[]) => void, err: (e: DOMException) => void): void};} +async function readEntry(entry: LegacyEntry, prefix = ''): Promise { + if (entry.isFile) return [await new Promise((resolve, reject) => entry.file((file) => {Object.defineProperty(file, 'webkitRelativePath', {value: `${prefix}${file.name}`}); resolve(file);}, reject))]; + const reader = entry.createReader(); const children: LegacyEntry[] = []; + for (;;) { const batch = await new Promise((resolve, reject) => reader.readEntries(resolve, reject)); if (!batch.length) break; children.push(...batch); } + return (await Promise.all(children.map((child) => readEntry(child, `${prefix}${entry.name}/`)))).flat(); +} + +export async function filesFromDrop(items: DataTransferItemList, fallback: FileList): Promise { + const entries = Array.from(items).map((item) => (item as unknown as {webkitGetAsEntry?: () => LegacyEntry | null}).webkitGetAsEntry?.() ?? null).filter((entry): entry is LegacyEntry => entry !== null); + return entries.length ? (await Promise.all(entries.map((entry) => readEntry(entry)))).flat() : Array.from(fallback); +} diff --git a/wasm/web_platform/src/project/types.ts b/wasm/web_platform/src/project/types.ts new file mode 100644 index 00000000..e1fb3961 --- /dev/null +++ b/wasm/web_platform/src/project/types.ts @@ -0,0 +1,38 @@ +export type ModelFormat = 'mjcf' | 'urdf'; + +export interface ProjectFile { + path: string; + data: Uint8Array; + size: number; + source: 'file' | 'directory' | 'zip'; + mimeType: string; +} + +export interface ModelEntry { + path: string; + format: ModelFormat; + label: string; +} + +export interface ProjectManifest { + id: string; + name: string; + files: ProjectFile[]; + entries: ModelEntry[]; + selectedEntry?: string; + totalBytes: number; +} + +export interface ImportLimits { + maxFiles: number; + maxFileBytes: number; + maxTotalBytes: number; + maxZipBytes: number; +} + +export const DEFAULT_IMPORT_LIMITS: ImportLimits = { + maxFiles: 2_000, + maxFileBytes: 128 * 1024 * 1024, + maxTotalBytes: 512 * 1024 * 1024, + maxZipBytes: 128 * 1024 * 1024, +}; diff --git a/wasm/web_platform/src/project/urdfToMjcf.test.ts b/wasm/web_platform/src/project/urdfToMjcf.test.ts new file mode 100644 index 00000000..0aa4263f --- /dev/null +++ b/wasm/web_platform/src/project/urdfToMjcf.test.ts @@ -0,0 +1,22 @@ +import {groundConvertedMjcf} from './urdfToMjcf'; + +const encode=(value:string)=>new TextEncoder().encode(value); +const decode=(value:Uint8Array)=>new TextDecoder().decode(value); + +describe('groundConvertedMjcf',()=>{ + it('抬升所有根 body，并在 z=0 添加地面',()=>{ + const result=decode(groundConvertedMjcf(encode(''),-0.4,'fixed')); + const document=new DOMParser().parseFromString(result,'application/xml'); + expect(document.querySelector('body[name="robot"]')?.getAttribute('pos')).toBe('1 2 0.5'); + expect(document.querySelector('geom[name="__platform_ground__"]')).toMatchObject({tagName:'geom'}); + expect(document.querySelector('geom[name="__platform_ground__"]')?.getAttribute('group')).toBe('5'); + expect(document.querySelector('freejoint')).toBeNull(); + }); + + it('为浮动基座的每个世界根 body 添加 freejoint',()=>{ + const result=decode(groundConvertedMjcf(encode(''),-1,'floating')); + const document=new DOMParser().parseFromString(result,'application/xml'); + expect(document.querySelector('body[name="robot"] > freejoint')?.getAttribute('name')).toBe('__platform_base_freejoint__'); + expect(document.querySelector('body[name="robot"]')?.getAttribute('pos')).toBe('0 0 1'); + }); +}); diff --git a/wasm/web_platform/src/project/urdfToMjcf.ts b/wasm/web_platform/src/project/urdfToMjcf.ts new file mode 100644 index 00000000..1c36fafa --- /dev/null +++ b/wasm/web_platform/src/project/urdfToMjcf.ts @@ -0,0 +1,29 @@ +const decoder=new TextDecoder('utf-8'); +const encoder=new TextEncoder(); + +function numbers(value:string|undefined,count:number):number[]{ + const parsed=(value??'').trim().split(/\s+/).filter(Boolean).map(Number); + return Array.from({length:count},(_,index)=>Number.isFinite(parsed[index])?parsed[index]:0); +} + +export type UrdfBaseMode='floating'|'fixed'; + +/** 给 MuJoCo 从 URDF 导出的 MJCF 添加地面、设置基座类型，并整体抬升根 body。 */ +export function groundConvertedMjcf(data:Uint8Array,minimumZ:number,baseMode:UrdfBaseMode='fixed'):Uint8Array { + const document=new DOMParser().parseFromString(decoder.decode(data),'application/xml'); + if(document.querySelector('parsererror'))throw new Error('MuJoCo 导出的 MJCF XML 无法解析'); + const worldbody=document.querySelector('mujoco > worldbody'); + if(!worldbody)throw new Error('MuJoCo 导出的 MJCF 缺少 worldbody'); + const lift=Number.isFinite(minimumZ)?-minimumZ:0; + const rootBodies=Array.from(worldbody.children).filter(element=>element.tagName==='body'); + for(const [index,body] of rootBodies.entries()){ + const pos=numbers(body.getAttribute('pos')??undefined,3);pos[2]+=lift;body.setAttribute('pos',pos.join(' ')); + if(baseMode==='floating'&&!Array.from(body.children).some(element=>element.tagName==='freejoint'||element.tagName==='joint')){ + const freejoint=document.createElement('freejoint');freejoint.setAttribute('name',rootBodies.length===1?'__platform_base_freejoint__':`__platform_base_freejoint_${index}__`);body.prepend(freejoint); + } + } + const floor=document.createElement('geom'); + floor.setAttribute('name','__platform_ground__');floor.setAttribute('type','plane');floor.setAttribute('size','1 1 0.1');floor.setAttribute('pos','0 0 0');floor.setAttribute('rgba','0.12 0.16 0.22 1');floor.setAttribute('group','5');floor.setAttribute('friction','1 0.005 0.0001'); + worldbody.prepend(floor); + return encoder.encode(new XMLSerializer().serializeToString(document)); +} diff --git a/wasm/web_platform/src/project/workspace.test.ts b/wasm/web_platform/src/project/workspace.test.ts new file mode 100644 index 00000000..6a33a3f3 --- /dev/null +++ b/wasm/web_platform/src/project/workspace.test.ts @@ -0,0 +1,4 @@ +import {MemfsWorkspace} from './workspace'; +import type {MainModule} from '@mujoco/mujoco'; +import type {ProjectManifest} from './types'; +it('按相对路径挂载并逆序清理 MEMFS',()=>{const calls:string[]=[];const FS={mkdirTree:(p:string)=>calls.push(`mkdir:${p}`),writeFile:(p:string)=>calls.push(`write:${p}`),unlink:(p:string)=>calls.push(`unlink:${p}`),rmdir:(p:string)=>calls.push(`rmdir:${p}`)};const workspace=new MemfsWorkspace({FS} as unknown as MainModule,'safe');const data=new Uint8Array([1]);const manifest:ProjectManifest={id:'safe',name:'x',entries:[],files:[{path:'a/b/model.xml',data,size:1,source:'file',mimeType:''}],totalBytes:1};workspace.mount(manifest);workspace.dispose();expect(calls).toEqual(expect.arrayContaining(['/workspace/safe/a/b/model.xml'].map(p=>`write:${p}`)));expect(calls).toContain('rmdir:/workspace/safe/a/b');expect(calls).toContain('rmdir:/workspace/safe/a');expect(calls.indexOf('unlink:/workspace/safe/a/b/model.xml')).toBeLessThan(calls.indexOf('rmdir:/workspace/safe/a/b'));expect(calls.indexOf('rmdir:/workspace/safe/a/b')).toBeLessThan(calls.indexOf('rmdir:/workspace/safe/a'));}); diff --git a/wasm/web_platform/src/project/workspace.ts b/wasm/web_platform/src/project/workspace.ts new file mode 100644 index 00000000..9711f0a3 --- /dev/null +++ b/wasm/web_platform/src/project/workspace.ts @@ -0,0 +1,60 @@ +import type {MainModule} from '@mujoco/mujoco'; +import type {ProjectManifest} from './types'; + +interface EmscriptenFS { + mkdirTree(path: string): void; + writeFile(path: string, data: Uint8Array): void; + readFile(path:string,options:{encoding:'utf8'}):string; + unlink(path: string): void; + rmdir(path: string): void; +} + +type ModuleWithFS = MainModule & {FS: EmscriptenFS}; + +export class MemfsWorkspace { + readonly root: string; + private files: string[] = []; + private directories: string[] = []; + + constructor(private readonly module: MainModule, projectId: string) { + const safeId = projectId.replace(/[^a-zA-Z0-9_-]/g, '_'); + this.root = `/workspace/${safeId}`; + } + + mount(manifest: ProjectManifest): void { + const fs = (this.module as ModuleWithFS).FS; + fs.mkdirTree(this.root); this.directories.push(this.root); + for (const file of manifest.files) { + const absolute = `${this.root}/${file.path}`; + const directory = absolute.slice(0, absolute.lastIndexOf('/')); + if (directory !== this.root) { + const relativeDirectory = directory.slice(this.root.length + 1); + let current = this.root; + for (const segment of relativeDirectory.split('/')) { + current = `${current}/${segment}`; + if (!this.directories.includes(current)) { + fs.mkdirTree(current); + this.directories.push(current); + } + } + } + fs.writeFile(absolute, file.data); this.files.push(absolute); + } + } + + path(relative: string): string { return `${this.root}/${relative}`; } + + readText(relative:string):string{return (this.module as ModuleWithFS).FS.readFile(this.path(relative),{encoding:'utf8'});} + + writeGenerated(relative:string,data:Uint8Array):void { + const absolute=this.path(relative);(this.module as ModuleWithFS).FS.writeFile(absolute,data); + if(!this.files.includes(absolute))this.files.push(absolute); + } + + dispose(): void { + const fs = (this.module as ModuleWithFS).FS; + for (const file of this.files.reverse()) { try { fs.unlink(file); } catch { /* best-effort after failed mount */ } } + for (const dir of this.directories.sort((a, b) => b.length - a.length)) { try { fs.rmdir(dir); } catch { /* parent or shared root */ } } + this.files = []; this.directories = []; + } +} diff --git a/wasm/web_platform/src/simulation/PhysicsAdapter.ts b/wasm/web_platform/src/simulation/PhysicsAdapter.ts new file mode 100644 index 00000000..a1ec4532 --- /dev/null +++ b/wasm/web_platform/src/simulation/PhysicsAdapter.ts @@ -0,0 +1,74 @@ +import loadMujoco, {type MainModule} from '@mujoco/mujoco'; +import type {ProjectManifest} from '../project/types'; +import {prepareProjectForMujoco} from '../project/importer'; +import {groundConvertedMjcf,type UrdfBaseMode} from '../project/urdfToMjcf'; +import {MemfsWorkspace} from '../project/workspace'; +import {SimulationSession, type FrameResult, type SimulationSnapshot} from './SimulationSession'; + +export type UrdfLoadMode='mjcf'|'native'; +export type {UrdfBaseMode}; + +export interface PhysicsAdapter { + load(manifest:ProjectManifest,entryPath:string,urdfMode?:UrdfLoadMode,baseMode?:UrdfBaseMode):Promise; + advance(now: number): FrameResult; + snapshot(): SimulationSnapshot | null; + setPaused(paused: boolean): void; + setSpeed(speed: number): void; + reset(): void; + singleStep(): void; + setActuator(id: number, value: number): void; + setJointPosition(id: number, value: number): boolean; + setExternalForce(bodyId: number, force: [number, number, number]): void; + clearExternalForce(): void; + dispose(): void; +} + +let modulePromise: Promise | undefined; +export function getMujocoModule(): Promise { + if (!modulePromise) { + console.info('[MuJoCo] 开始初始化单线程 WASM'); + modulePromise = loadMujoco().then((module) => { + console.info('[MuJoCo] WASM 初始化完成'); + return module; + }); + } + return modulePromise; +} + +export class MainThreadPhysicsAdapter implements PhysicsAdapter { + session: SimulationSession | null = null; + workspace: MemfsWorkspace | null = null; + + async load(manifest:ProjectManifest,entryPath:string,urdfMode:UrdfLoadMode='mjcf',baseMode:UrdfBaseMode='floating'):Promise { + this.releaseCurrent();const module=await getMujocoModule();const workspace=new MemfsWorkspace(module,manifest.id);const prepared=prepareProjectForMujoco(manifest,entryPath); + try{ + console.info('[MuJoCo] 写入 MEMFS',prepared.manifest.files.length);workspace.mount(prepared.manifest); + const entry=prepared.manifest.entries.find(candidate=>candidate.path===entryPath);let modelPath=workspace.path(entryPath);const warnings=[...prepared.warnings]; + if(entry?.format==='urdf'&&urdfMode==='mjcf'){ + console.info('[MuJoCo] 编译 URDF 中间模型',entryPath);const intermediate=new SimulationSession(module,modelPath); + try{ + const minimumZ=intermediate.minimumGeometryZ();const slash=entryPath.lastIndexOf('/');const directory=slash>=0?entryPath.slice(0,slash+1):'';const convertedPath=`${directory}.__mujoco_converted_${manifest.id.replace(/[^a-zA-Z0-9_-]/g,'_')}.xml`; + if(module.mj_saveLastXML(workspace.path(convertedPath),intermediate.model)===0)throw new Error('MuJoCo 无法导出中间 MJCF'); + workspace.writeGenerated(convertedPath,groundConvertedMjcf(new TextEncoder().encode(workspace.readText(convertedPath)),minimumZ,baseMode));modelPath=workspace.path(convertedPath); + warnings.push(`URDF 已转换为 MJCF（${baseMode==='floating'?'浮动基座':'固定基座'}），并整体平移 ${(-minimumZ).toFixed(4)} m，使最低点接触 z=0 地面`); + }finally{intermediate.dispose();} + } + console.info('[MuJoCo] 编译模型',modelPath);const session=new SimulationSession(module,modelPath,warnings); + if(entry?.format==='urdf'&&urdfMode==='native'){const offset=session.alignLowestPointToGround();warnings.push(`原生 URDF 已整体平移 ${offset.toFixed(4)} m，使最低点位于 z=0`);} + if(warnings.length)console.warn('[MuJoCo] URDF 兼容处理',warnings); + console.info('[MuJoCo] 模型编译完成');this.workspace=workspace;this.session=session;const snapshot=session.snapshot();console.info('[MuJoCo] 状态快照完成');return snapshot; + }catch(error){workspace.dispose();throw new Error(`模型编译失败（${entryPath}）：${error instanceof Error?error.message:String(error)}`,{cause:error});} + } + advance(now:number):FrameResult{return this.session?.advance(now)??{steps:0,stepMs:0,overBudget:false};} + snapshot():SimulationSnapshot|null{return this.session?.snapshot()??null;} + setPaused(value:boolean):void{this.session?.setPaused(value);} + setSpeed(value:number):void{this.session?.setSpeed(value);} + reset():void{this.session?.reset();} + singleStep():void{this.session?.singleStep();} + setActuator(id:number,value:number):void{this.session?.setActuator(id,value);} + setJointPosition(id:number,value:number):boolean{return this.session?.setJointPosition(id,value)??false;} + setExternalForce(bodyId:number,force:[number,number,number]):void{this.session?.setExternalForce(bodyId,force);} + clearExternalForce():void{this.session?.clearExternalForce();} + private releaseCurrent():void{this.session?.dispose(); this.session=null; this.workspace?.dispose(); this.workspace=null;} + dispose():void{this.releaseCurrent();} +} diff --git a/wasm/web_platform/src/simulation/SimulationSession.ts b/wasm/web_platform/src/simulation/SimulationSession.ts new file mode 100644 index 00000000..374c20d3 --- /dev/null +++ b/wasm/web_platform/src/simulation/SimulationSession.ts @@ -0,0 +1,174 @@ +import type {MainModule, MjData, MjModel, MjvPerturb, MjvScene} from '@mujoco/mujoco'; +import {meshIdFromSceneDataId} from './geometry'; + +export interface ActuatorInfo {id: number; name: string; value: number; min: number; max: number; limited: boolean;} +export interface JointInfo {id: number; name: string; type: number; value: number; min: number; max: number; limited: boolean; editable: boolean; bodyId: number; axis: [number, number, number];} +export interface BodyInfo {id: number; name: string;} +export interface SimulationSnapshot {time: number; qpos: number[]; qvel: number[]; ctrl: number[]; actuators: ActuatorInfo[]; joints: JointInfo[]; bodies: BodyInfo[]; warnings: string[]; model: {nbody: number; njnt: number; ngeom: number; nu: number; nq: number; nv: number};} +export interface FrameResult {steps: number; stepMs: number; overBudget: boolean;} + +export class SimulationSession { + readonly model: MjModel; + readonly data: MjData; + readonly perturb: MjvPerturb; + paused = true; + speed = 1; + readonly frameBudgetMs = 8; + readonly maxCatchUpSteps = 100; + private accumulator = 0; + private lastNow?: number; + private forceBody = -1; + private force: [number, number, number] = [0, 0, 0]; + private disposed = false; + + constructor(readonly module: MainModule, modelPath: string, readonly warnings: string[] = []) { + let model: MjModel | undefined; let data: MjData | undefined; let perturb: MjvPerturb | undefined; + try { + model = module.MjModel.mj_loadXML(modelPath) ?? undefined; + if (!model) throw new Error(`MuJoCo 无法编译模型：${modelPath}`); + data = new module.MjData(model); + perturb = new module.MjvPerturb(); module.mjv_defaultPerturb(perturb); + this.model = model; this.data = data; this.perturb = perturb; + module.mj_forward(model, data); + } catch (error) { perturb?.delete(); data?.delete(); model?.delete(); throw error; } + } + + setPaused(paused: boolean): void {this.paused = paused; this.accumulator = 0; this.lastNow = undefined;} + setSpeed(speed: number): void {this.speed = Math.min(4, Math.max(0.1, speed));} + reset(): void {this.setPaused(true);this.module.mj_resetData(this.model,this.data);this.module.mj_forward(this.model,this.data);this.clearExternalForce();} + singleStep(): void {this.applyForce(); this.module.mj_step(this.model, this.data);} + + advance(now: number): FrameResult { + if (this.lastNow === undefined) {this.lastNow = now; return {steps: 0, stepMs: 0, overBudget: false};} + const elapsed = Math.min(0.1, Math.max(0, (now - this.lastNow) / 1000)); this.lastNow = now; + if (this.paused) return {steps: 0, stepMs: 0, overBudget: false}; + this.accumulator += elapsed * this.speed; + const dt = Number(this.model.opt.timestep) || 0.002; const started = performance.now(); let steps = 0; + while (this.accumulator >= dt && steps < this.maxCatchUpSteps && performance.now() - started < this.frameBudgetMs) { + this.applyForce(); this.module.mj_step(this.model, this.data); this.accumulator -= dt; steps++; + } + const overBudget = this.accumulator >= dt; + if (steps >= this.maxCatchUpSteps) this.accumulator = Math.min(this.accumulator, dt); + return {steps, stepMs: performance.now() - started, overBudget}; + } + + setActuator(id: number, value: number): void { + if (id < 0 || id >= this.model.nu) return; + const actuator = this.model.actuator(id); + try { + const limited = Boolean(actuator.ctrllimited); + const min = limited ? Number(actuator.ctrlrange[0]) : -1; + const max = limited ? Number(actuator.ctrlrange[1]) : 1; + const address = Number(this.model.actuator_ctrladr[id] ?? id); + this.data.ctrl[address] = Math.min(max, Math.max(min, value)); + } finally { + actuator.delete(); + } + } + + setJointPosition(id: number, value: number): boolean { + if (id < 0 || id >= this.model.njnt) return false; + const joint = this.model.jnt(id); + try { + const type = Number(joint.type); + if (type !== 2 && type !== 3) return false; + const limited = Boolean(joint.limited); + const min = limited ? Number(joint.range[0]) : -Math.PI; + const max = limited ? Number(joint.range[1]) : Math.PI; + this.setPaused(true); + this.data.qpos[Number(joint.qposadr)] = Math.min(max, Math.max(min, value)); + this.module.mj_forward(this.model, this.data); + return true; + } finally { + joint.delete(); + } + } + + setExternalForce(bodyId: number, force: [number, number, number]): void {this.forceBody = bodyId > 0 && bodyId < this.model.nbody ? bodyId : -1; this.force = force;} + clearExternalForce(): void {this.forceBody = -1; this.force = [0, 0, 0]; this.data.xfrc_applied.fill(0); this.perturb.active = 0;} + initializePerturb(scene: MjvScene, bodyId: number): void {this.perturb.select = bodyId; this.module.mjv_initPerturb(this.model, this.data, scene, this.perturb);} + applyPerturbForce(): void {if (this.forceBody > 0) this.module.mjv_applyPerturbForce(this.model, this.data, this.perturb);} + + private applyForce(): void { + this.data.xfrc_applied.fill(0); if (this.forceBody < 1) return; + this.applyPerturbForce(); const offset = this.forceBody * 6; + this.data.xfrc_applied[offset] += this.force[0]; this.data.xfrc_applied[offset + 1] += this.force[1]; this.data.xfrc_applied[offset + 2] += this.force[2]; + } + + /** 用有限几何的包围球估算视图中心与范围，忽略地面等无限平面。 */ + geometryBounds():{center:[number,number,number];extent:number} { + const lower=[Number.POSITIVE_INFINITY,Number.POSITIVE_INFINITY,Number.POSITIVE_INFINITY];const upper=[Number.NEGATIVE_INFINITY,Number.NEGATIVE_INFINITY,Number.NEGATIVE_INFINITY]; + for(let geom=0;geom=0){ + const id=meshIdFromSceneDataId(geom.dataid),first=Number(this.model.mesh_vertadr[id]),count=Number(this.model.mesh_vertnum[id]);let minimum=Number.POSITIVE_INFINITY; + for(let vertex=0;vertex { + const actuator = this.model.actuator(id); + try { + const limited = Boolean(actuator.ctrllimited); + const address = Number(this.model.actuator_ctrladr[id] ?? id); + return {id,name:actuator.name || `actuator_${id}`,value:Number(this.data.ctrl[address]),min:limited?Number(actuator.ctrlrange[0]):-1,max:limited?Number(actuator.ctrlrange[1]):1,limited}; + } finally { + actuator.delete(); + } + }); + const joints = Array.from({length: this.model.njnt}, (_, id): JointInfo => { + const joint = this.model.jnt(id); + try { + const type=Number(joint.type); const limited=Boolean(joint.limited); + return {id,name:joint.name || `joint_${id}`,type,value:Number(this.data.qpos[Number(joint.qposadr)]),min:limited?Number(joint.range[0]):-Math.PI,max:limited?Number(joint.range[1]):Math.PI,limited,editable:type===2||type===3,bodyId:Number(joint.bodyid),axis:[Number(joint.axis[0]),Number(joint.axis[1]),Number(joint.axis[2])]}; + } finally { + joint.delete(); + } + }); + const bodies = Array.from({length: this.model.nbody}, (_,id): BodyInfo => { + const body = this.model.body(id); + try { return {id,name:body.name || `body_${id}`}; } + finally { body.delete(); } + }); + return {time:Number(this.data.time),qpos:Array.from(this.data.qpos),qvel:Array.from(this.data.qvel),ctrl:Array.from(this.data.ctrl),actuators,joints,bodies,warnings:this.warnings,model:{nbody:this.model.nbody,njnt:this.model.njnt,ngeom:this.model.ngeom,nu:this.model.nu,nq:this.model.nq,nv:this.model.nv}}; + } + dispose(): void {if(this.disposed)return; this.disposed=true; this.clearExternalForce(); this.perturb.delete(); this.data.delete(); this.model.delete();} +} diff --git a/wasm/web_platform/src/simulation/geometry.test.ts b/wasm/web_platform/src/simulation/geometry.test.ts new file mode 100644 index 00000000..410dbe25 --- /dev/null +++ b/wasm/web_platform/src/simulation/geometry.test.ts @@ -0,0 +1,11 @@ +import {meshIdFromSceneDataId} from './geometry'; + +describe('meshIdFromSceneDataId',()=>{ + it('解析 mjvGeom 的完整 mesh/凸包编码',()=>{ + expect(meshIdFromSceneDataId(0)).toBe(0); + expect(meshIdFromSceneDataId(1)).toBe(0); + expect(meshIdFromSceneDataId(2)).toBe(1); + expect(meshIdFromSceneDataId(15)).toBe(7); + expect(meshIdFromSceneDataId(-1)).toBe(-1); + }); +}); diff --git a/wasm/web_platform/src/simulation/geometry.ts b/wasm/web_platform/src/simulation/geometry.ts new file mode 100644 index 00000000..4acc6ff8 --- /dev/null +++ b/wasm/web_platform/src/simulation/geometry.ts @@ -0,0 +1,7 @@ +/** + * mjvGeom.dataid 对 mesh 编码为 2 * meshId；最低位表示是否显示凸包。 + * 它不能直接作为 mjModel.mesh_* 数组的索引。 + */ +export function meshIdFromSceneDataId(dataId:number):number { + return dataId<0?-1:Math.floor(dataId/2); +} diff --git a/wasm/web_platform/src/stores/useAppStore.test.ts b/wasm/web_platform/src/stores/useAppStore.test.ts new file mode 100644 index 00000000..ebfc3c61 --- /dev/null +++ b/wasm/web_platform/src/stores/useAppStore.test.ts @@ -0,0 +1,29 @@ +import {useAppStore} from './useAppStore'; + +describe('useAppStore.clearProject',()=>{ + afterEach(()=>useAppStore.getState().clearProject()); + + it('清空已导入工程及其运行状态',()=>{ + const store=useAppStore.getState(); + store.setProject('robot',[{path:'robot/model.xml',size:128}],[{path:'robot/model.xml',format:'mjcf',label:'model'}],'robot/model.xml'); + store.setLoading(true); + store.setDiagnostic({category:'导入',summary:'错误',detail:'detail',at:1}); + + useAppStore.getState().clearProject(); + + expect(useAppStore.getState()).toMatchObject({ + projectName:undefined, + files:[], + entries:[], + selectedEntry:undefined, + loading:false, + diagnostic:undefined, + snapshot:undefined, + selection:null, + paused:true, + fps:0, + stepMs:0, + overBudget:false, + }); + }); +}); diff --git a/wasm/web_platform/src/stores/useAppStore.ts b/wasm/web_platform/src/stores/useAppStore.ts new file mode 100644 index 00000000..e56df061 --- /dev/null +++ b/wasm/web_platform/src/stores/useAppStore.ts @@ -0,0 +1,25 @@ +import {create} from 'zustand'; +import type {ModelEntry} from '../project/types'; +import type {SimulationSnapshot} from '../simulation/SimulationSession'; +import type {InteractionMode, ViewerSelection} from '../viewer/MuJoCoViewer'; + +export interface AppDiagnostic {category:'导入'|'ZIP'|'文件系统'|'模型编译'|'仿真'|'渲染';summary:string;detail:string;path?:string;at:number;} +interface FileMeta {path:string;size:number;} +interface AppState { + projectName?:string; files:FileMeta[]; entries:ModelEntry[]; selectedEntry?:string; + loading:boolean; diagnostic?:AppDiagnostic; snapshot?:SimulationSnapshot; selection:ViewerSelection|null; + paused:boolean; speed:number; mode:InteractionMode; fps:number; stepMs:number; memoryMb?:number; overBudget:boolean; + setProject(name:string,files:FileMeta[],entries:ModelEntry[],selectedEntry?:string):void; + clearProject():void; + setEntry(path:string):void; setLoading(value:boolean):void; setDiagnostic(value?:AppDiagnostic):void; + setSnapshot(value?:SimulationSnapshot):void; setSelection(value:ViewerSelection|null):void; + setPaused(value:boolean):void; setSpeed(value:number):void; setMode(value:InteractionMode):void; + setMetrics(fps:number,stepMs:number,memoryMb:number|undefined,overBudget:boolean):void; +} +export const useAppStore=create((set)=>({ + files:[],entries:[],loading:false,selection:null,paused:true,speed:1,mode:'select',fps:0,stepMs:0,overBudget:false, + setProject:(projectName,files,entries,selectedEntry)=>set({projectName,files,entries,selectedEntry,snapshot:undefined,selection:null,diagnostic:undefined}), + clearProject:()=>set({projectName:undefined,files:[],entries:[],selectedEntry:undefined,loading:false,diagnostic:undefined,snapshot:undefined,selection:null,paused:true,fps:0,stepMs:0,memoryMb:undefined,overBudget:false}), + setEntry:(selectedEntry)=>set({selectedEntry}),setLoading:(loading)=>set({loading}),setDiagnostic:(diagnostic)=>set({diagnostic}),setSnapshot:(snapshot)=>set({snapshot}),setSelection:(selection)=>set({selection}), + setPaused:(paused)=>set({paused}),setSpeed:(speed)=>set({speed}),setMode:(mode)=>set({mode}),setMetrics:(fps,stepMs,memoryMb,overBudget)=>set((s)=>({fps:fps||s.fps,stepMs,memoryMb:memoryMb??s.memoryMb,overBudget})) +})); diff --git a/wasm/web_platform/src/styles.css b/wasm/web_platform/src/styles.css new file mode 100644 index 00000000..e8dce321 --- /dev/null +++ b/wasm/web_platform/src/styles.css @@ -0,0 +1,5 @@ +@tailwind base; +@tailwind components; +@tailwind utilities; +@layer base {html,body,#root{height:100%;margin:0}body{font-family:Inter,"Noto Sans SC",system-ui,sans-serif}button,input,select{font:inherit}} +@layer components {.btn{@apply rounded border border-slate-600 bg-slate-800 px-2.5 py-1.5 text-xs text-slate-100 transition hover:border-slate-400 hover:bg-slate-700 disabled:cursor-not-allowed disabled:opacity-40}.icon-btn{@apply btn min-w-8 text-sm}.field{@apply rounded border border-slate-600 bg-slate-800 px-2 py-1 text-xs}.panel{@apply bg-panel}.section{@apply border-b border-slate-700 p-3}.section h3{@apply mb-3 text-xs font-semibold uppercase tracking-wide text-slate-300}.section dt{@apply text-slate-400}.section dd{@apply text-right}.hint{@apply text-xs text-slate-500}} diff --git a/wasm/web_platform/src/test/setup.ts b/wasm/web_platform/src/test/setup.ts new file mode 100644 index 00000000..bb02c60c --- /dev/null +++ b/wasm/web_platform/src/test/setup.ts @@ -0,0 +1 @@ +import '@testing-library/jest-dom/vitest'; diff --git a/wasm/web_platform/src/viewer/MuJoCoViewer.ts b/wasm/web_platform/src/viewer/MuJoCoViewer.ts new file mode 100644 index 00000000..540b7a2c --- /dev/null +++ b/wasm/web_platform/src/viewer/MuJoCoViewer.ts @@ -0,0 +1,73 @@ +import * as THREE from 'three'; +import {OrbitControls} from 'three/examples/jsm/controls/OrbitControls.js'; +import type {MjvGeom, MjvOption, MjvCamera, MjvScene} from '@mujoco/mujoco'; +import type {FrameResult, SimulationSession, SimulationSnapshot} from '../simulation/SimulationSession'; +import {meshIdFromSceneDataId} from '../simulation/geometry'; +import {OrientationGizmo} from './OrientationGizmo'; + +export type InteractionMode = 'select' | 'joint' | 'force'; +export interface ViewerSelection {bodyId: number; geomId: number; bodyName: string; geomType: number; position: [number, number, number];} +interface ViewerCallbacks {onSelection(selection: ViewerSelection | null): void; onFrame(frame: FrameResult, fps: number, snapshot?: SimulationSnapshot): void; onError(error: Error): void;} + +class CapsuleGeometry extends THREE.BufferGeometry { + constructor(radius:number,length:number) {super(); const path=new THREE.Path(); path.absarc(0,-length/2,radius,Math.PI*1.5,0); path.absarc(0,length/2,radius,0,Math.PI*.5); const source=new THREE.LatheGeometry(path.getPoints(24),16); this.copy(source); source.dispose(); this.rotateX(Math.PI/2);} +} + +export class MuJoCoViewer { + readonly scene = new THREE.Scene(); + readonly camera = new THREE.PerspectiveCamera(45,1,.01,2_000); + readonly renderer: THREE.WebGLRenderer; + readonly controls: OrbitControls; + mode: InteractionMode = 'select'; + forceScale = 50; + private showCollision=false; + private session: SimulationSession | null = null; + private option: MjvOption | null = null; + private mjCamera: MjvCamera | null = null; + private mjScene: MjvScene | null = null; + private frame = 0; private lastFpsAt=performance.now(); private fpsFrames=0; private lastSnapshotAt=0; + private meshes: THREE.Mesh[]=[]; private geometries=new Map(); private textures=new Map(); + private raycaster=new THREE.Raycaster(); private pointer=new THREE.Vector2(); private selected:THREE.Mesh|null=null; private dragStart:THREE.Vector2|null=null; private dragAxis=new THREE.Vector2(1,0); private dragJointId=-1; private dragJointValue=0; private arrow:THREE.ArrowHelper|null=null; + private resizeObserver:ResizeObserver; + private orientationGizmo:OrientationGizmo; + + constructor(private readonly host:HTMLElement, private readonly callbacks:ViewerCallbacks) { + this.renderer=new THREE.WebGLRenderer({antialias:true,alpha:false}); this.renderer.setPixelRatio(Math.min(devicePixelRatio,2)); this.renderer.shadowMap.enabled=true; this.renderer.outputColorSpace=THREE.SRGBColorSpace; host.append(this.renderer.domElement); + this.camera.up.set(0,0,1); this.camera.position.set(3,-3,2); this.controls=new OrbitControls(this.camera,this.renderer.domElement); this.controls.enableDamping=true; + this.scene.background=new THREE.Color(0x0b1220); this.scene.add(new THREE.HemisphereLight(0xffffff,0x223344,1.3)); const light=new THREE.DirectionalLight(0xffffff,2); light.position.set(4,-3,7); light.castShadow=true; this.scene.add(light); this.scene.add(new THREE.GridHelper(20,40,0x3b82f6,0x253047).rotateX(Math.PI/2));this.orientationGizmo=new OrientationGizmo(host);this.orientationGizmo.update(this.camera); + this.resizeObserver=new ResizeObserver(()=>this.resize()); this.resizeObserver.observe(host); this.resize(); + this.renderer.domElement.addEventListener('pointerdown',this.onPointerDown); this.renderer.domElement.addEventListener('pointermove',this.onPointerMove); window.addEventListener('pointerup',this.onPointerUp); + this.frame=requestAnimationFrame(this.animate); + } + + attach(session:SimulationSession|null):void {this.releaseModel(); this.session=session; if(!session)return; this.option=new session.module.MjvOption(); session.module.mjv_defaultOption(this.option);this.applyGeomVisibility(); this.mjCamera=new session.module.MjvCamera(); session.module.mjv_defaultCamera(this.mjCamera); this.mjScene=new session.module.MjvScene(session.model,32768); this.fitCamera(session);} + setMode(mode:InteractionMode):void {this.mode=mode; this.controls.enabled=mode==='select'; this.stopDrag();} + setShowCollision(value:boolean):void {this.showCollision=value;this.applyGeomVisibility();} + private applyGeomVisibility():void {if(!this.option||!this.session)return;let hasVisual=false;for(let index=0;index{try {const result=this.session?.advance(now)??{steps:0,stepMs:0,overBudget:false}; this.controls.update();this.orientationGizmo.update(this.camera); if(this.session)this.updateMuJoCoScene(); this.renderer.render(this.scene,this.camera); this.fpsFrames++; let fps=0;if(now-this.lastFpsAt>=500){fps=this.fpsFrames*1000/(now-this.lastFpsAt);this.fpsFrames=0;this.lastFpsAt=now;} const snapshot=this.session&&now-this.lastSnapshotAt>150?(this.lastSnapshotAt=now,this.session.snapshot()):undefined; this.callbacks.onFrame(result,fps,snapshot);}catch(error){this.callbacks.onError(error instanceof Error?error:new Error(String(error)));} this.frame=requestAnimationFrame(this.animate);}; + + private updateMuJoCoScene():void {const s=this.session!; s.module.mjv_updateScene(s.model,s.data,this.option!,s.perturb,this.mjCamera!,s.module.mjtCatBit.mjCAT_ALL.value,this.mjScene!); const geoms=this.mjScene!.geoms; try {for(let i=0;i=0)return this.meshGeometry(meshIdFromSceneDataId(g.dataid));return new THREE.BufferGeometry();} + private meshGeometry(id:number):THREE.BufferGeometry {const m=this.session!.model;const va=Number(m.mesh_vertadr[id]),vn=Number(m.mesh_vertnum[id]),fa=Number(m.mesh_faceadr[id]),fn=Number(m.mesh_facenum[id]);const positions=new Float32Array(vn*3);for(let i=0;i=0){const uv=new Float32Array(tn*2);for(let i=0;i=0?Number(this.session!.model.geom_bodyid[geomId]):-1;mesh.userData.geomId=geomId;mesh.userData.bodyId=bodyId;mesh.userData.geomType=g.type;} + + private eventPointer(event:PointerEvent):void {const r=this.renderer.domElement.getBoundingClientRect();this.pointer.set((event.clientX-r.left)/r.width*2-1,-((event.clientY-r.top)/r.height)*2+1);} + private onPointerDown=(event:PointerEvent):void=>{this.eventPointer(event);this.raycaster.setFromCamera(this.pointer,this.camera);const hit=this.raycaster.intersectObjects(this.meshes.filter(m=>m.visible),false)[0];if(!hit)return;const mesh=hit.object as THREE.Mesh;this.select(mesh);const bodyId=Number(mesh.userData.bodyId);if(this.mode==='joint'){const joint=this.session?.snapshot().joints.find(j=>j.bodyId===bodyId&&j.editable);if(joint){this.dragStart=this.pointer.clone();this.dragJointId=joint.id;this.dragJointValue=joint.value;const p=joint.bodyId*3,xm=joint.bodyId*9;const origin=new THREE.Vector3(this.session!.data.xpos[p],this.session!.data.xpos[p+1],this.session!.data.xpos[p+2]);const local=new THREE.Vector3(...joint.axis);const axis=new THREE.Vector3(this.session!.data.xmat[xm]*local.x+this.session!.data.xmat[xm+1]*local.y+this.session!.data.xmat[xm+2]*local.z,this.session!.data.xmat[xm+3]*local.x+this.session!.data.xmat[xm+4]*local.y+this.session!.data.xmat[xm+5]*local.z,this.session!.data.xmat[xm+6]*local.x+this.session!.data.xmat[xm+7]*local.y+this.session!.data.xmat[xm+8]*local.z);const a=origin.clone().project(this.camera),b=origin.clone().add(axis).project(this.camera);this.dragAxis.set(b.x-a.x,b.y-a.y);if(this.dragAxis.lengthSq()<1e-6)this.dragAxis.set(1,0);else this.dragAxis.normalize();}}else if(this.mode==='force'&&bodyId>0){this.dragStart=this.pointer.clone();this.session?.initializePerturb(this.mjScene!,bodyId);this.showArrow(hit.point);this.renderer.domElement.setPointerCapture(event.pointerId);}}; + private onPointerMove=(event:PointerEvent):void=>{if(!this.dragStart||!this.session)return;this.eventPointer(event);const dx=this.pointer.x-this.dragStart.x,dy=this.pointer.y-this.dragStart.y;if(this.mode==='joint'&&this.dragJointId>=0)this.session.setJointPosition(this.dragJointId,this.dragJointValue+(dx*this.dragAxis.x+dy*this.dragAxis.y)*Math.PI);else if(this.mode==='force'&&this.selected){const bodyId=Number(this.selected.userData.bodyId),scale=this.forceScale;const force:[number,number,number]=[dx*scale,0,-dy*scale];this.session.setExternalForce(bodyId,force);this.updateArrow(force);}}; + private onPointerUp=():void=>{this.stopDrag();}; + private stopDrag():void {this.dragStart=null;this.dragJointId=-1;this.session?.clearExternalForce();if(this.arrow){this.scene.remove(this.arrow);this.arrow.dispose();this.arrow=null;}} + private select(mesh:THREE.Mesh):void {if(this.selected){const old=this.selected.material as THREE.MeshStandardMaterial;old.emissive.setHex(0);}this.selected=mesh;const material=mesh.material as THREE.MeshStandardMaterial;material.emissive.setHex(0x14532d);const bodyId=Number(mesh.userData.bodyId),geomId=Number(mesh.userData.geomId);const name=this.session?.snapshot().bodies.find(b=>b.id===bodyId)?.name??`body_${bodyId}`;const e=mesh.matrix.elements;this.callbacks.onSelection({bodyId,geomId,bodyName:name,geomType:Number(mesh.userData.geomType),position:[e[12],e[13],e[14]]});} + private showArrow(origin:THREE.Vector3):void {this.arrow=new THREE.ArrowHelper(new THREE.Vector3(1,0,0),origin,0.01,0xf97316);this.scene.add(this.arrow);} + private updateArrow(force:[number,number,number]):void {if(!this.arrow)return;const v=new THREE.Vector3(...force),length=v.length()/25;if(length>1e-6){this.arrow.setDirection(v.normalize());this.arrow.setLength(length,Math.min(.2,length*.2),Math.min(.1,length*.1));}} + private disposeMesh(mesh:THREE.Mesh):void {(mesh.material as THREE.Material).dispose();} + private releaseModel():void {this.stopDrag();for(const mesh of this.meshes){this.scene.remove(mesh);this.disposeMesh(mesh);}this.meshes=[];for(const g of this.geometries.values())g.dispose();this.geometries.clear();for(const t of this.textures.values())t.dispose();this.textures.clear();this.mjScene?.delete();this.mjCamera?.delete();this.option?.delete();this.mjScene=null;this.mjCamera=null;this.option=null;this.session=null;this.selected=null;} + dispose():void {cancelAnimationFrame(this.frame);this.releaseModel();this.resizeObserver.disconnect();this.renderer.domElement.removeEventListener('pointerdown',this.onPointerDown);this.renderer.domElement.removeEventListener('pointermove',this.onPointerMove);window.removeEventListener('pointerup',this.onPointerUp);this.controls.dispose();this.orientationGizmo.dispose();this.renderer.dispose();this.renderer.domElement.remove();} +} diff --git a/wasm/web_platform/src/viewer/OrientationGizmo.ts b/wasm/web_platform/src/viewer/OrientationGizmo.ts new file mode 100644 index 00000000..8588ec4a --- /dev/null +++ b/wasm/web_platform/src/viewer/OrientationGizmo.ts @@ -0,0 +1,40 @@ +import * as THREE from 'three'; + +const SVG_NS='http://www.w3.org/2000/svg'; +interface AxisElements {axis:THREE.Vector3;line:SVGLineElement;negative:SVGCircleElement;positive:SVGCircleElement;label:SVGTextElement;} + +function svgElement(name:K):SVGElementTagNameMap[K]{return document.createElementNS(SVG_NS,name);} + +/** 固定在视口右下角、随相机旋转的 XYZ 方向示意器。 */ +export class OrientationGizmo { + readonly element:SVGSVGElement; + private readonly axes:AxisElements[]=[]; + private readonly inverseQuaternion=new THREE.Quaternion(); + private readonly projected=new THREE.Vector3(); + + constructor(host:HTMLElement){ + this.element=svgElement('svg');this.element.setAttribute('viewBox','0 0 100 100');this.element.setAttribute('role','img');this.element.setAttribute('aria-label','XYZ 方向指示器'); + Object.assign(this.element.style,{position:'absolute',right:'14px',bottom:'14px',width:'92px',height:'92px',pointerEvents:'none',border:'1px solid rgba(100,116,139,.45)',borderRadius:'10px',background:'rgba(15,23,42,.72)',backdropFilter:'blur(3px)'}); + const definitions:[string,number,THREE.Vector3][]=[['X',0xef4444,new THREE.Vector3(1,0,0)],['Y',0x22c55e,new THREE.Vector3(0,1,0)],['Z',0x3b82f6,new THREE.Vector3(0,0,1)]]; + for(const [name,colorValue,axis] of definitions){ + const color=`#${colorValue.toString(16).padStart(6,'0')}`;const group=svgElement('g');const line=svgElement('line');line.setAttribute('stroke',color);line.setAttribute('stroke-width','2.5');line.setAttribute('stroke-linecap','round'); + const negative=svgElement('circle');negative.setAttribute('r','4');negative.setAttribute('fill',color);negative.setAttribute('fill-opacity','.7'); + const positive=svgElement('circle');positive.setAttribute('r','8');positive.setAttribute('fill',color); + const label=svgElement('text');label.textContent=name;label.setAttribute('fill','#0f172a');label.setAttribute('font-size','10');label.setAttribute('font-weight','700');label.setAttribute('text-anchor','middle');label.setAttribute('dominant-baseline','central'); + group.append(line,negative,positive,label);this.element.append(group);this.axes.push({axis,line,negative,positive,label}); + } + const center=svgElement('circle');center.setAttribute('cx','50');center.setAttribute('cy','50');center.setAttribute('r','3.5');center.setAttribute('fill','#cbd5e1');this.element.append(center);host.append(this.element); + } + + update(camera:THREE.Camera):void { + this.inverseQuaternion.copy(camera.quaternion).invert(); + for(const item of this.axes){ + this.projected.copy(item.axis).applyQuaternion(this.inverseQuaternion);const x=50+this.projected.x*30,y=50-this.projected.y*30;const nx=50-this.projected.x*30,ny=50+this.projected.y*30; + item.line.setAttribute('x1',String(nx));item.line.setAttribute('y1',String(ny));item.line.setAttribute('x2',String(x));item.line.setAttribute('y2',String(y)); + item.negative.setAttribute('cx',String(nx));item.negative.setAttribute('cy',String(ny));item.positive.setAttribute('cx',String(x));item.positive.setAttribute('cy',String(y));item.label.setAttribute('x',String(x));item.label.setAttribute('y',String(y+.5)); + const opacity=String(.65+.35*Math.max(0,this.projected.z));item.positive.setAttribute('fill-opacity',opacity);item.label.setAttribute('fill-opacity',opacity); + } + } + + dispose():void {this.element.remove();} +} diff --git a/wasm/web_platform/tailwind.config.cjs b/wasm/web_platform/tailwind.config.cjs new file mode 100644 index 00000000..4a0f57ce --- /dev/null +++ b/wasm/web_platform/tailwind.config.cjs @@ -0,0 +1 @@ +module.exports = {content: ['./web_platform/index.html','./web_platform/src/**/*.{ts,tsx}'], theme: {extend: {colors: {panel:'#162033',accent:'#22c55e'}}}, plugins: []}; diff --git a/wasm/web_platform/tsconfig.json b/wasm/web_platform/tsconfig.json new file mode 100644 index 00000000..1a71acca --- /dev/null +++ b/wasm/web_platform/tsconfig.json @@ -0,0 +1,9 @@ +{ + "compilerOptions": { + "target": "ES2022", "useDefineForClassFields": true, "lib": ["ES2022", "DOM", "DOM.Iterable"], + "allowJs": false, "skipLibCheck": true, "esModuleInterop": true, "allowSyntheticDefaultImports": true, + "strict": true, "forceConsistentCasingInFileNames": true, "module": "ESNext", "moduleResolution": "Bundler", + "resolveJsonModule": true, "isolatedModules": true, "noEmit": true, "jsx": "react-jsx", + "types": ["vitest/globals", "node"] + }, "include": ["src", "vite.config.ts", "playwright.config.ts", "e2e"] +} diff --git a/wasm/web_platform/vite.config.ts b/wasm/web_platform/vite.config.ts new file mode 100644 index 00000000..f0617cd9 --- /dev/null +++ b/wasm/web_platform/vite.config.ts @@ -0,0 +1,10 @@ +import {defineConfig} from 'vitest/config'; +import react from '@vitejs/plugin-react'; +export default defineConfig({ + root: 'web_platform', base: './', plugins: [react()], publicDir: 'public', + build: {outDir: '../web-platform-dist', emptyOutDir: true, target: 'es2022'}, + worker: {format: 'es'}, + server: {open: true, fs: {allow: ['..']}}, + preview: {headers: {'Cache-Control': 'no-store'}}, + test: {globals: true, environment: 'jsdom', setupFiles: './src/test/setup.ts', include: ['src/**/*.test.ts', 'src/**/*.test.tsx']} +}); -- 2.52.0