Mujoco_WASM/web_platform/e2e/lekiwi.fullCollision.spec.ts

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：相邻 Mirror/Square 连杆主体阻挡、反向脱离，机器人禁止 qpos 瞬移', async ({
  page,
}, info) => {
  const errors: string[] = [];
  page.on('pageerror', (e) => errors.push(e.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.adjacentArmChecks());
    console.log('adjacent arm', JSON.stringify(result));
    await writeFile(info.outputPath('adjacent-arm-contacts.json'), JSON.stringify(result, null, 2));
    expect(result.teleportAccepted).toBe(false);
    expect(result.jointResetError).toMatch(/profile.*瞬移/);
    expect(result.editable).toBe(false);
    expect(result.before).toEqual(result.after);
    for (const sample of result.samples) {
      expect(sample.neutral.contacts).toEqual([]);
      expect(Math.abs(sample.neutral.panActual - sample.pan)).toBeLessThan(0.01);
      expect(Math.abs(sample.neutral.actual)).toBeLessThan(0.015);
      expect(sample.blocked.maxContacts).toBeGreaterThan(0);
      expect(sample.blocked.contacts.length).toBeGreaterThan(0);
      expect(sample.blocked.actual).toBeGreaterThan(sample.blocked.target + 0.5);
      expect(sample.blocked.minContactRadius).toBeGreaterThan(0.04); // structural contact, NOT the bearing core
      expect(sample.blocked.maxPenetration).toBeLessThan(0.002);
      expect(sample.blocked.finite).toBe(true);
      for (const c of sample.blocked.contacts) expect(c.distance).toBeGreaterThan(-0.0005);
      expect(Math.abs(sample.released.actual - 0.3)).toBeLessThan(0.015);
      expect(sample.released.contacts).toEqual([]);
    }
    expect(errors).toEqual([]);
  } finally {
    await page.evaluate(() => window.lekiwiPhysics.dispose());
  }
});

test('真实 WASM：六关节双向有界目标扫掠，无整体穿入或数值重置', async ({ page }, info) => {
  const errors: string[] = [];
  page.on('pageerror', (e) => errors.push(e.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.jointSweepChecks());
    await writeFile(info.outputPath('joint-sweeps.json'), JSON.stringify(result, null, 2));
    console.log('joint sweeps', JSON.stringify(result));
    expect(result).toHaveLength(12);
    for (const sample of result) {
      expect(sample.finite, sample.joint).toBe(true);
      expect(sample.elapsed).toBeCloseTo(sample.expectedTime, 6);
      expect(sample.maxPenetration, sample.joint).toBeLessThan(0.002);
      if (sample.joint === 'arm_shoulder_pan') {
        expect(Math.abs(sample.actual - sample.target)).toBeLessThan(0.01);
        expect(sample.maxContacts).toBe(0); // core/structural straddlers must not lock the bearing
      }
      if (Math.abs(sample.actual - sample.target) > 0.05)
        expect(sample.maxContacts, sample.joint).toBeGreaterThan(0);
    }
    expect(errors).toEqual([]);
  } finally {
    await page.evaluate(() => window.lekiwiPhysics.dispose());
  }
});

test('真实 WASM：从原始 STL 独立取六向极值，整臂 18 个视觉网格均有外部物体接触覆盖', async ({
  page,
}, info) => {
  const errors: string[] = [];
  page.on('pageerror', (e) => errors.push(e.message));
  await page.goto('/physics/runner.html');
  await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
  await page.evaluate((path) => window.lekiwiPhysics.boot(path), `/@fs${resolve('build/lekiwi')}`);
  try {
    const result = await page.evaluate(() => window.lekiwiPhysics.visualCollisionCoverage());
    await writeFile(info.outputPath('arm-visual-coverage.json'), JSON.stringify(result, null, 2));
    expect(result).toHaveLength(18);
    for (const sample of result) {
      expect(sample.probes).toHaveLength(6);
      for (const probe of sample.probes)
        expect(probe.contacts.length, `${sample.visual}: ${probe.point}`).toBeGreaterThan(0);
    }
    expect(errors).toEqual([]);
  } finally {
    await page.evaluate(() => window.lekiwiPhysics.dispose());
  }
});