import { expect, test } from '@playwright/test'; import { readFileSync } from 'node:fs'; import { fileURLToPath } from 'node:url'; import { zipSync } from 'fflate'; const fixture = (relative: string) => fileURLToPath(new URL(`../fixtures/${relative}`, import.meta.url)); const SIMPLE_MODEL = ` `; const SLIDE_DIRECTION_MODEL = ``; function minimalGlb(): Buffer { const json = Buffer.from( JSON.stringify({ asset: { version: '2.0' }, scene: 0, scenes: [{ nodes: [0] }], nodes: [{ mesh: 0 }], meshes: [{ primitives: [{ attributes: { POSITION: 0 } }] }], buffers: [{ byteLength: 36 }], bufferViews: [{ buffer: 0, byteOffset: 0, byteLength: 36, target: 34962 }], accessors: [ { bufferView: 0, componentType: 5126, count: 3, type: 'VEC3', min: [0, 0, 0], max: [1, 1, 0], }, ], }), ); const jsonPadding = (4 - (json.length % 4)) % 4; const jsonChunk = Buffer.concat([json, Buffer.alloc(jsonPadding, 0x20)]); const positions = Buffer.from(new Float32Array([0, 0, 0, 1, 0, 0, 0, 1, 0]).buffer); const totalLength = 12 + 8 + jsonChunk.length + 8 + positions.length; const glb = Buffer.alloc(totalLength); glb.writeUInt32LE(0x46546c67, 0); glb.writeUInt32LE(2, 4); glb.writeUInt32LE(totalLength, 8); glb.writeUInt32LE(jsonChunk.length, 12); glb.writeUInt32LE(0x4e4f534a, 16); jsonChunk.copy(glb, 20); const binOffset = 20 + jsonChunk.length; glb.writeUInt32LE(positions.length, binOffset); glb.writeUInt32LE(0x004e4942, binOffset + 4); positions.copy(glb, binOffset + 8); return glb; } const LARGE_MODEL = ` `; test('独立自调参工作台不需要加载 MuJoCo 主应用即可打开', async ({ page }) => { await page.goto('/tuning.html'); await expect(page.getByRole('heading', { name: 'Go2 奖励函数自调参 Agent' })).toBeVisible(); await expect(page.getByText('新建 Unitree-Go2-Flat 调参 Session')).toBeVisible(); await expect(page.getByLabel('访问令牌（仅当前标签页）')).toBeVisible(); await expect(page.getByRole('button', { name: '启动自调参' })).toBeVisible(); }); test('显示中文平台骨架并加载单文件模型', async ({ page }) => { page.on('console', (message) => console.log(`[browser:${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 page.setViewportSize({ width: 1024, height: 768 }); const resetCameraBox = await page.getByRole('button', { name: '相机复位' }).boundingBox(), playBox = await page.getByRole('button', { name: '▶ 播放' }).boundingBox(); expect( resetCameraBox && playBox && resetCameraBox.x + resetCameraBox.width <= playBox.x, ).toBeTruthy(); await page.getByRole('button', { name: '更多工作台操作' }).click(); await expect(page.getByRole('menuitem', { name: '工作台设置' })).toBeVisible(); await page.keyboard.press('Escape'); await page.setViewportSize({ width: 1440, height: 900 }); 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 expect(page.getByRole('button', { name: '切换到白天主题' })).toBeVisible(); await page.getByRole('button', { name: '布局设置' }).click(); await expect(page.getByRole('dialog', { name: '布局设置' })).toBeVisible(); await page.keyboard.press('Escape'); await page.getByRole('button', { name: '工作台设置' }).click(); await expect(page.getByRole('dialog', { name: '工作台设置' })).toBeVisible(); await page.keyboard.press('Escape'); await page.keyboard.press('Control+k'); await expect(page.getByRole('dialog', { name: '命令面板' })).toBeVisible(); await page.getByLabel('搜索命令').fill('复位相机'); await expect(page.getByRole('option', { name: /复位相机/ })).toBeVisible(); await page.keyboard.press('Escape'); await page.getByRole('button', { name: '进入全屏' }).click(); await expect(page.getByRole('button', { name: '退出全屏' })).toBeVisible(); await page.keyboard.press('Control+k'); await expect(page.getByRole('dialog', { name: '命令面板' })).toBeVisible(); await page.keyboard.press('Escape'); await page.getByRole('button', { name: '退出全屏' }).click(); await page.getByRole('button', { name: '切换到白天主题' }).click(); await expect(page.locator('#root > div')).toHaveClass(/theme-light/); await expect(page.getByRole('button', { name: '切换到黑夜主题' })).toBeVisible(); await page.getByRole('button', { name: '切换到黑夜主题' }).click(); await expect(page.locator('#root > div')).toHaveClass(/theme-dark/); 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 page.getByRole('button', { name: '显示设置' }).click(); const displayDialog = page.getByRole('dialog', { name: '视图显示设置' }); await expect(displayDialog).toBeVisible(); await expect(displayDialog.getByRole('switch')).toHaveCount(7); const centerOfMassSwitch = displayDialog.getByRole('switch', { name: /^质心/ }); await centerOfMassSwitch.click(); await expect(centerOfMassSwitch).toHaveAttribute('aria-checked', 'true'); await page.keyboard.press('Escape'); await expect(displayDialog).toBeHidden(); await page.getByRole('button', { name: '通知中心' }).click(); await expect(page.getByRole('dialog', { name: '通知中心' })).toContainText('模型加载完成'); await page.getByText('事件日志').click(); await expect(page.getByRole('dialog', { name: '诊断与事件日志' })).toBeVisible(); await page.keyboard.press('Escape'); await page.getByRole('button', { name: /FPS .*物理/ }).click(); await expect(page.getByRole('dialog', { name: '性能详情' })).toBeVisible(); await page.keyboard.press('Escape'); await page.getByRole('tab', { name: '控制' }).click(); await page.getByRole('button', { name: 'Actuator' }).click(); await expect(page.getByText('motor', { exact: true })).toBeVisible(); await expect( page.getByRole('tabpanel', { name: '控制' }).getByText('slide', { exact: true }), ).toBeVisible(); await page.getByRole('tab', { name: '模型结构' }).click(); const structure = page.getByRole('navigation', { name: '模型结构树' }); await expect(structure).toBeVisible(); await structure.getByRole('treeitem', { name: /hinge/ }).hover(); await expect(page.getByRole('alert')).toHaveCount(0); await expect(page.getByRole('button', { name: '重置关节' })).toBeVisible(); await page.getByRole('button', { name: '高级' }).click(); await expect(page.getByText('下限 -1.571 rad')).toBeVisible(); await expect(page.getByText('上限 1.571 rad')).toBeVisible(); await page.getByRole('button', { name: 'rad 弧度制' }).click(); await expect(page.getByText('下限 -90.000°')).toBeVisible(); await expect(page.getByText('上限 90.000°')).toBeVisible(); await page.getByRole('button', { name: '忽略关节限位' }).click(); await expect(page.getByRole('button', { name: '忽略关节限位' })).toHaveAttribute( 'aria-pressed', 'true', ); await expect(page.getByText('已忽略').first()).toBeVisible(); await page.getByRole('button', { name: '重置关节' }).click(); await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible(); }); test('窄视口默认保留完整视口并可按需打开侧栏', async ({ page }) => { await page.setViewportSize({ width: 800, height: 700 }); await page.goto('/'); await expect(page.getByRole('main')).toBeInViewport(); await expect(page.getByRole('button', { name: '显示工程面板' })).toBeVisible(); await expect(page.getByRole('button', { name: '显示属性面板' })).toBeVisible(); await page.getByRole('button', { name: '显示属性面板' }).click(); await expect( page.getByRole('complementary').filter({ hasText: '导入模型后显示属性' }), ).toBeVisible(); }); test('工作区布局与视口显示偏好在刷新后保留', async ({ page }) => { await page.setViewportSize({ width: 1440, height: 900 }); await page.goto('/'); await page.getByRole('button', { name: '隐藏工程面板' }).click(); await page.getByRole('button', { name: '显示设置' }).click(); await page.getByRole('switch', { name: /^坐标系/ }).click(); await page.reload(); await expect(page.getByRole('button', { name: '显示工程面板' })).toBeVisible(); await page.getByRole('button', { name: '显示设置' }).click(); await expect(page.getByRole('switch', { name: /^坐标系/ })).toHaveAttribute( 'aria-checked', 'true', ); }); test('转换后的 MJCF 可编辑并重新载入', async ({ page }) => { await page.goto('/'); 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 page.getByRole('button', { name: '源代码' }).click(); const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' }); await expect(dialog).toBeVisible(); await expect(dialog.getByText('缓存文件 · 可编辑')).toBeVisible(); await expect(dialog.getByText('转换后的 MJCF', { exact: true })).toBeVisible(); const editor = dialog.locator('.monaco-editor'); await editor.click({ position: { x: 240, y: 120 } }); await page.keyboard.press('Control+a'); await page.keyboard.insertText(SIMPLE_MODEL.replace('model="e2e"', 'model="cached-edit"')); await dialog.getByRole('button', { name: '保存并重新载入', exact: true }).click(); await expect(dialog.getByRole('button', { name: '保存并重新载入', exact: true })).toBeDisabled({ timeout: 30_000, }); await dialog.getByRole('button', { name: '关闭源代码编辑器' }).click(); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await expect(page.getByRole('button', { name: '导出 URDF' })).toHaveCount(0); await expect(page.getByRole('button', { name: '导出 MJCF' })).toHaveCount(0); }); test('关闭已修改的 MJCF 前要求确认', async ({ page }) => { await page.goto('/'); 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 page.getByRole('button', { name: '源代码' }).click(); const editorDialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' }); await editorDialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } }); await page.keyboard.press('Control+End'); await page.keyboard.insertText('\n'); await editorDialog.getByRole('button', { name: '关闭源代码编辑器' }).click(); const confirm = page.getByRole('dialog', { name: '放弃未保存的修改？' }); await expect(confirm).toBeVisible(); await confirm.getByRole('button', { name: '继续编辑' }).click(); await expect(editorDialog).toBeVisible(); await editorDialog.getByRole('button', { name: '关闭源代码编辑器' }).click(); await page .getByRole('dialog', { name: '放弃未保存的修改？' }) .getByRole('button', { name: '放弃修改' }) .click(); await expect(editorDialog).toHaveCount(0); }); 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')]); const options = page.getByRole('dialog', { name: '配置 URDF 仿真组件' }); await expect(options.getByRole('checkbox', { name: /为关节添加驱动器/ })).toBeChecked(); await expect(options.getByRole('checkbox', { name: /添加传感器/ })).toBeChecked(); await options.getByRole('button', { name: '转换并加载' }).click(); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await expect(page.getByText('2 个文件')).toBeVisible(); await page.getByRole('button', { name: 'URDF 处理方式' }).click(); await expect(page.getByLabel('URDF 处理方式')).toHaveValue('mjcf'); await expect(page.getByLabel('URDF 基座类型')).toHaveValue('floating'); await page.getByRole('button', { name: '通知中心' }).click(); const notifications = page.getByRole('dialog', { name: '通知中心' }); await expect(notifications).toContainText(/模型已加载 · \d+ 项兼容调整/); await expect(notifications).toContainText(/URDF 已转换为 MJCF（浮动基座），并整体平移/); await page.keyboard.press('Escape'); await expect(page.getByLabel('显示碰撞几何')).not.toBeChecked(); await page.getByRole('button', { name: '源代码' }).click(); const sourceDialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' }); await expect(sourceDialog.getByText('缓存文件 · 可编辑')).toBeVisible(); await sourceDialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } }); await page.keyboard.press('Control+End'); await page.keyboard.insertText('\n'); await sourceDialog.getByRole('button', { name: '保存并重新载入', exact: true }).click(); await expect( sourceDialog.getByRole('button', { name: '保存并重新载入', exact: true }), ).toBeDisabled({ timeout: 30_000 }); await expect(page.getByText('WASM 已加载')).toBeVisible(); await sourceDialog.getByRole('button', { name: '关闭源代码编辑器' }).click(); }); test('URDF 自动生成的关节驱动器与摄像头可通过 MuJoCo 编译', async ({ page }) => { const urdf = ``; await page.goto('/'); await page .locator('input[type="file"]') .first() .setInputFiles({ name: 'jointed.urdf', mimeType: 'application/xml', buffer: Buffer.from(urdf), }); await page .getByRole('dialog', { name: '配置 URDF 仿真组件' }) .getByRole('button', { name: '转换并加载' }) .click(); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await expect(page.getByLabel('摄像头画面')).toBeVisible(); await page.getByRole('button', { name: '隐藏画面' }).click(); await page.getByRole('button', { name: '显示摄像头画面' }).click(); await expect(page.getByLabel('摄像头画面')).toBeVisible(); await page.getByRole('button', { name: '通知中心' }).click(); const notifications = page.getByRole('dialog', { name: '通知中心' }); await expect(notifications).toContainText('已为 1 个 hinge/slide 关节生成 motor 驱动器'); await expect(notifications).toContainText('已将 640×480 摄像头固连到 arm'); await page.keyboard.press('Escape'); await page.getByRole('tab', { name: '控制' }).click(); await page.getByRole('button', { name: 'Actuator' }).click(); await expect(page.getByText('shoulder_motor')).toBeVisible(); await expect(page.getByText('关节：shoulder')).toBeVisible(); await expect(page.getByText('N·m', { exact: true })).toBeVisible(); await page.getByText('常用参数').click(); const kp = page.getByLabel(/kp（MJCF stiffness/), kv = page.getByLabel(/kv（MJCF damping/); await kp.fill('150'); await kp.press('Enter'); await kv.fill('15'); await kv.press('Enter'); await expect(kp).toHaveValue('150'); await expect(kv).toHaveValue('15'); }); test('转换后的 MJCF 保存时保留 DAE 转换缓存资源', async ({ page }) => { const zip = zipSync({ 'robot/urdf/robot.urdf': new Uint8Array( readFileSync(fixture('urdf_dae/robot/urdf/robot.urdf')), ), 'robot/dae/triangle.dae': new Uint8Array( readFileSync(fixture('urdf_dae/robot/dae/triangle.dae')), ), }); await page.goto('/'); await page .locator('input[type="file"]') .first() .setInputFiles({ name: 'dae.zip', mimeType: 'application/zip', buffer: Buffer.from(zip) }); await page .getByRole('dialog', { name: '配置 URDF 仿真组件' }) .getByRole('button', { name: '转换并加载' }) .click(); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await page.getByRole('button', { name: '源代码' }).click(); const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' }); await dialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } }); await page.keyboard.press('Control+End'); await page.keyboard.insertText('\n'); await dialog.getByRole('button', { name: '保存并重新载入', exact: true }).click(); await expect(dialog.getByRole('button', { name: '保存并重新载入', exact: true })).toBeDisabled({ timeout: 30_000, }); await expect(page.getByText('WASM 已加载')).toBeVisible(); await expect(page.getByText('模型编译失败')).toHaveCount(0); }); test('slide 关节向屏幕轴正方向拖动时 qpos 同向增加', async ({ page }) => { await page.goto('/'); await page .locator('input[type="file"]') .first() .setInputFiles({ name: 'slide.xml', mimeType: 'text/xml', buffer: Buffer.from(SLIDE_DIRECTION_MODEL), }); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await page.getByRole('button', { name: '关节拖动' }).click(); const canvas = page.locator('main canvas').first(), box = await canvas.boundingBox(); expect(box).not.toBeNull(); const x = box!.x + box!.width / 2, y = box!.y + box!.height / 2; await page.mouse.move(x, y); await page.mouse.down(); await page.mouse.move(x + 70, y, { steps: 8 }); await page.mouse.up(); await page.getByRole('tab', { name: '控制' }).click(); const jointSection = page.getByRole('button', { name: '关节 1' }); if ((await jointSection.getAttribute('aria-expanded')) === 'false') await jointSection.click(); const output = page.getByText('screen_x').locator('..').locator('output'); await expect .poll(async () => Number.parseFloat((await output.textContent()) || '0')) .toBeGreaterThan(0); }); test('可导入并启用 Python 控制器', async ({ page }) => { await page.goto('/'); 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 page.getByRole('tab', { name: '控制' }).click(); const python = `NAME = "测试 PD 控制器"\nCONTROL_HZ = 100\ndef init(api):\n return {"joint": api.joint("slide"), "actuator": api.actuator("motor"), "body": api.body("box")}\ndef step(ctx, state):\n assert len(ctx.body_quat(state["body"])) == 4\n assert len(ctx.body_position(state["body"])) == 3\n ctx.set_control(state["actuator"], -ctx.qpos(state["joint"]) - 0.1 * ctx.qvel(state["joint"]))\n`; await page .locator('input[accept=".py,text/x-python"]') .setInputFiles({ name: 'balance.py', mimeType: 'text/x-python', buffer: Buffer.from(python) }); await expect(page.getByText('测试 PD 控制器', { exact: true })).toBeVisible({ timeout: 30_000 }); await expect(page.getByText('Python / Pyodide')).toBeVisible(); await page.getByRole('button', { name: '启用', exact: true }).click(); await expect(page.getByText('运行中')).toBeVisible(); }); 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', exact: true }).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('认证资产可点击创建场景并拖到画布落位', async ({ page }) => { await page.goto('/'); await page .locator('input[type="file"]') .first() .setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL), }); await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 }); await page.getByRole('tab', { name: '地图' }).click(); const library = page.getByLabel('认证资产'); await expect(library.getByText('点击添加，或按住资产拖到画布落位。')).toBeVisible(); await library.getByRole('button', { name: '添加基础方盒' }).click(); await expect(page.getByText('正在加载 MuJoCo 与模型…')).toHaveCount(0); await expect(page.getByLabel('地图来源')).toHaveValue('project:maps/scene_1/map.json', { timeout: 30_000, }); await expect(page.getByText('V3 地图编辑器')).toBeVisible(); await expect(page.getByLabel('地图对象列表').getByText('基础方盒 · 方盒')).toBeVisible(); await page.locator('[data-map-asset="ramp"]').dragTo(page.locator('main canvas')); await expect(page.getByLabel('地图对象列表').getByText('标准坡道 · 坡道')).toBeVisible(); await expect(page.getByText('地图草稿尚未应用')).toBeVisible(); await page.getByLabel('地图对象列表').getByText('基础方盒 · 方盒').click(); await page.getByLabel('对象放置方式').selectOption('locked'); await expect(page.getByLabel('对象位置X')).toBeDisabled(); await page.getByLabel('对象放置方式').selectOption('auto_ground'); await expect(page.getByLabel('对象位置X')).toBeEnabled(); const gizmoLine = page.getByRole('img', { name: 'XYZ 方向指示器' }).locator('line').first(); const beforeRotation = await gizmoLine.getAttribute('x2'); const canvasBox = await page.locator('main canvas').first().boundingBox(); expect(canvasBox).not.toBeNull(); await page.mouse.move(canvasBox!.x + 24, canvasBox!.y + 24); await page.mouse.down({ button: 'left' }); await page.mouse.move(canvasBox!.x + 104, canvasBox!.y + 50, { steps: 8 }); await page.mouse.up({ button: 'left' }); await expect.poll(() => gizmoLine.getAttribute('x2')).not.toBe(beforeRotation); }); test('应用内置 MJCF 楼梯物理地图', async ({ page }) => { await page.goto('/'); await page.setViewportSize({ width: 1440, height: 900 }); await page .locator('input[type="file"]') .first() .setInputFiles({ name: 'map-model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL), }); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await page.getByRole('tab', { name: '地图' }).click(); await page.getByLabel('地图来源').selectOption('builtin'); await page.getByLabel('物理地图预设').selectOption('stairs'); await page.getByLabel('台阶数量').fill('6'); await page.getByRole('button', { name: '应用并重新编译' }).click(); await expect(page.getByText(/已加载楼梯物理地图/)).toBeVisible({ timeout: 30_000 }); await expect(page.getByText('WASM 已加载')).toBeVisible(); }); test('依次应用全部系统参数化地形', async ({ page }) => { const terrains = [ ['discrete_obstacles', '离散障碍地形'], ['gap', '沟壑地形'], ['inverted_pyramid_stairs', '倒金字塔阶梯'], ['pit', '深坑地形'], ['pyramid_stairs', '金字塔阶梯'], ['rails', '轨道地形'], ['rough', '随机粗糙地形'], ['stepping_stones', '踏石地形'], ['wave', '波浪地形'], ] as const; await page.goto('/'); await page.setViewportSize({ width: 1440, height: 900 }); await page .locator('input[type="file"]') .first() .setInputFiles({ name: 'terrain-model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL), }); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await page.getByRole('tab', { name: '地图' }).click(); await page.getByLabel('地图来源').selectOption('builtin'); for (const [preset, label] of terrains) { await page.getByLabel('物理地图预设').selectOption(preset); await page.getByLabel('地形边长（m）').fill('6'); if (preset === 'rough' || preset === 'wave') await page.getByLabel('水平采样间距（m）').fill('0.25'); await page.getByRole('button', { name: '应用并重新编译' }).click(); await expect(page.getByText(new RegExp(`已加载${label}物理地图`))).toBeVisible({ timeout: 30_000, }); } await expect(page.getByText('WASM 已加载')).toBeVisible(); }); test('导入并应用分层工程地图包', async ({ page }) => { const mapJson = JSON.stringify({ schemaVersion: 1, id: 'test-room', name: '测试场景', coordinateSystem: { units: 'm', up: 'Z', forward: '+X' }, physics: { source: 'physics/world.xml' }, visual: { source: 'visuals/scene.glb' }, spawnPoints: [{ id: 'start', name: '起点', position: [2, 0, 0.5], yawDeg: 0 }], }); const project = zipSync({ 'model.xml': Buffer.from(SIMPLE_MODEL), 'maps/test/map.json': Buffer.from(mapJson), 'maps/test/physics/world.xml': Buffer.from( '', ), 'maps/test/visuals/scene.glb': minimalGlb(), }); await page.goto('/'); await page.setViewportSize({ width: 1440, height: 900 }); await page .locator('input[type="file"]') .first() .setInputFiles({ name: 'map-project.zip', mimeType: 'application/zip', buffer: Buffer.from(project), }); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await page.getByRole('tab', { name: '地图' }).click(); await page.getByLabel('地图来源').selectOption({ label: '测试场景' }); await expect(page.getByLabel('地图出生点')).toHaveValue('start'); await page.getByRole('button', { name: '应用并重新编译' }).click(); await expect(page.getByText(/已加载工程地图“测试场景”/)).toBeVisible({ timeout: 30_000 }); await expect(page.getByText(/视觉地图加载失败/)).toHaveCount(0); }); test('将受支持的只读物理地图转换为可编辑副本', async ({ page }) => { const mapJson = JSON.stringify({ schemaVersion: 1, id: 'legacy-room', name: '旧版基础场景', coordinateSystem: { units: 'm', up: 'Z', forward: '+X' }, physics: { source: 'physics/world.xml' }, spawnPoints: [{ id: 'start', name: '入口', position: [0, 0, 0], yawDeg: 0 }], }); const project = zipSync({ 'model.xml': Buffer.from(SIMPLE_MODEL), 'maps/legacy/map.json': Buffer.from(mapJson), 'maps/legacy/physics/world.xml': Buffer.from( '', ), }); await page.goto('/'); await page.setViewportSize({ width: 1440, height: 900 }); await page .locator('input[type="file"]') .first() .setInputFiles({ name: 'legacy-map.zip', mimeType: 'application/zip', buffer: Buffer.from(project), }); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await page.getByRole('tab', { name: '地图' }).click(); await page.getByLabel('地图来源').selectOption({ label: '旧版基础场景' }); await page.getByRole('button', { name: '应用并重新编译' }).click(); const editor = page.getByText('V3 地图编辑器').locator('..'); await expect(editor.getByText(/保持只读/)).toBeVisible({ timeout: 30_000 }); await editor.getByRole('button', { name: '创建可编辑副本' }).click(); await expect(page.getByText('已创建可编辑地图副本')).toBeVisible({ timeout: 30_000 }); await expect(editor.getByRole('button', { name: '移动工具 W' })).toBeVisible(); await expect(editor.getByRole('button', { name: /floor · 方盒/ })).toBeVisible(); await expect(editor.getByRole('button', { name: /wall · 方盒/ })).toBeVisible(); }); test('编辑 V3 地图对象并事务式应用', async ({ page }) => { const authoring = JSON.stringify({ schemaVersion: 1, mapId: 'editable-room', revision: 0, objects: [], spawnPoints: [], }); const mapJson = JSON.stringify({ schemaVersion: 2, id: 'editable-room', name: '可编辑场景', coordinateSystem: { units: 'm', up: 'Z', forward: '+X' }, physics: { source: 'physics/world.xml' }, authoring: { source: 'authoring/map.scene.json' }, spawnPoints: [], }); const project = zipSync({ 'model.xml': Buffer.from(SIMPLE_MODEL), 'maps/edit/map.json': Buffer.from(mapJson), 'maps/edit/physics/world.xml': Buffer.from(''), 'maps/edit/authoring/map.scene.json': Buffer.from(authoring), }); await page.goto('/'); await page.setViewportSize({ width: 1440, height: 900 }); await page .locator('input[type="file"]') .first() .setInputFiles({ name: 'editable-map.zip', mimeType: 'application/zip', buffer: Buffer.from(project), }); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await page.getByRole('tab', { name: '地图' }).click(); await page.getByLabel('地图来源').selectOption({ label: '可编辑场景' }); await page.getByRole('button', { name: '应用并重新编译' }).click(); await expect(page.getByText('V3 地图编辑器')).toBeVisible({ timeout: 30_000 }); const editor = page.getByText('V3 地图编辑器').locator('..'); await expect(editor.getByRole('button', { name: '移动工具 W' })).toHaveAttribute( 'aria-pressed', 'true', ); await page.keyboard.press('e'); await expect(editor.getByRole('button', { name: '旋转工具 E' })).toHaveAttribute( 'aria-pressed', 'true', ); await page.keyboard.press('s'); await expect(editor.getByRole('button', { name: '缩放工具 S' })).toHaveAttribute( 'aria-pressed', 'true', ); await editor.getByRole('button', { name: '新增', exact: true }).click(); await editor.getByLabel('对象位置X').fill('2'); await editor.getByRole('button', { name: '应用并重新编译' }).click(); await expect(editor.getByRole('button', { name: /box · 方盒/ })).toBeVisible({ timeout: 30_000 }); await expect(editor.getByText('地图草稿尚未应用')).toHaveCount(0); await expect(page.getByText('WASM 已加载')).toBeVisible(); }); test('工程地图编译失败时保留上一仿真会话', async ({ page }) => { const mapJson = JSON.stringify({ schemaVersion: 1, id: 'invalid-map', name: '动态错误地图', coordinateSystem: { units: 'm', up: 'Z', forward: '+X' }, physics: { source: 'world.xml' }, spawnPoints: [], }); const project = zipSync({ 'model.xml': Buffer.from(SIMPLE_MODEL), 'maps/invalid/map.json': Buffer.from(mapJson), 'maps/invalid/world.xml': Buffer.from( '', ), }); await page.goto('/'); await page.setViewportSize({ width: 1440, height: 900 }); await page .locator('input[type="file"]') .first() .setInputFiles({ name: 'invalid-map.zip', mimeType: 'application/zip', buffer: Buffer.from(project), }); await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 }); await page.getByRole('tab', { name: '地图' }).click(); await page.getByLabel('地图来源').selectOption({ label: '动态错误地图' }); await page.getByRole('button', { name: '应用并重新编译' }).click(); await expect(page.getByRole('alert')).toContainText('模型编译失败', { timeout: 30_000 }); await expect(page.getByLabel('地图来源')).toHaveValue('none'); await page.getByRole('button', { name: '关闭错误' }).click(); await page.getByRole('button', { name: '▶ 播放' }).click(); await page.waitForTimeout(300); await expect(page.locator('footer')).not.toContainText('时间 0.000 s'); }); 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(); });