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：夹爪两侧指尖覆盖、开度方向和物体阻挡，不能只检查关节数值', 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));
  await page.evaluate((path) => window.lekiwiPhysics.boot(path), `/@fs${resolve('build/lekiwi')}`);
  try {
    const result = await page.evaluate(() => window.lekiwiPhysics.gripperCollisionChecks());
    console.log('gripper contacts', JSON.stringify(result));
    await writeFile(info.outputPath('gripper-contacts.json'), JSON.stringify(result, null, 2));
    await writeFile(
      info.outputPath('gripper-scene.xml'),
      await page.evaluate(() => window.lekiwiPhysics.xml()),
    );
    expect(result.finite).toBe(true);
    for (const tip of result.coverage) {
      expect(
        tip.contacts.some((c) =>
          c.other.startsWith(
            tip.name === 'fixed_tip'
              ? '__lekiwi_cad_Wrist_Roll_08c-v1__'
              : '__lekiwi_cad_Moving_Jaw_08d-v1__',
          ),
        ),
        tip.name,
      ).toBe(true);
    }
    for (const state of result.openings) {
      expect(Math.abs(state.actual - state.target)).toBeLessThan(0.01);
      expect(state.contacts).toEqual([]);
    }
    expect(result.openings[0].separation).toBeGreaterThan(0);
    expect(result.openings[0].separation).toBeLessThan(0.002);
    expect(result.openings[1].separation).toBeGreaterThan(result.openings[0].separation + 0.02);
    expect(result.openings[2].separation).toBeGreaterThan(result.openings[1].separation + 0.01);
    expect(result.gapContacts).toEqual([]); // a hull must not seal the open space
    expect(result.obstruction.maxContacts).toBeGreaterThan(0);
    expect(result.obstruction.maxPenetration).toBeLessThan(0.0015);
    expect(result.obstruction.actual).toBeGreaterThan(result.obstruction.target + 0.03);
    expect(result.obstruction.contacts.length).toBeGreaterThan(0);
    for (const contact of result.obstruction.contacts)
      expect(contact.distance).toBeGreaterThan(-0.0002);
    expect(result.fingerSelfContacts).toBeGreaterThan(0);
    expect(errors).toEqual([]);
  } finally {
    await page.evaluate(() => window.lekiwiPhysics.dispose());
  }
});