import { expect, test } from '@playwright/test';
import { resolve } from 'node:path';
import { writeFile } from 'node:fs/promises';
import type {} from '../physics/runner';

test('真实 WASM：上臂不能穿过自身臂座组件，接触后仍能反向离开', async ({ page }, info) => {
  const errors: string[] = [];
  page.on('pageerror', (error) => errors.push(error.message));
  await page.goto('/physics/runner.html');
  await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
  const initial = await page.evaluate(
    (path) => window.lekiwiPhysics.boot(path),
    `/@fs${resolve('build/lekiwi')}`,
  );
  try {
    const samples = await page.evaluate(() => window.lekiwiPhysics.armSelfCollisionChecks());
    console.log('arm/base contacts', JSON.stringify(samples));
    const evidence = info.outputPath('arm-base-contacts.json');
    await writeFile(evidence, JSON.stringify({ version: initial.version, samples }, null, 2));
    await info.attach('arm-base-contacts', { path: evidence, contentType: 'application/json' });
    expect(initial.version).toBe('3.11.0');
    for (const sample of samples) {
      expect(Math.abs(sample.neutral.actual), `neutral, pan=${sample.pan}`).toBeLessThan(0.01);
      expect(sample.neutral.contacts).toEqual([]);
      // Full CAD changes the first obstruction: WaveShare plate at pan=0,
      // rotating shoulder clip at +/-0.8. Keep real contact/penetration/release
      // assertions; original Base_08q coverage is independently probed from STL.
      expect(sample.blocked.maxContacts, `blocked, pan=${sample.pan}`).toBeGreaterThan(0);
      expect(sample.blocked.contacts.length).toBeGreaterThan(0);
      expect(sample.blocked.actual).toBeLessThan(sample.blocked.target - 0.15);
      expect(sample.blocked.maxPenetration).toBeLessThan(0.002);
      for (const contact of sample.blocked.contacts)
        expect(contact.distance).toBeGreaterThan(-0.0005);
      expect(sample.blocked.finite).toBe(true);
      expect(Math.abs(sample.released.actual + 0.3)).toBeLessThan(0.01);
      expect(sample.released.contacts).toEqual([]);
    }
    expect(errors).toEqual([]);
  } finally {
    await page.evaluate(() => window.lekiwiPhysics.dispose());
  }
});