Mujoco_WASM/wasm/web_platform/src/app/App.tsx

/* 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 {Camera,ChevronLeft,ChevronRight,CircleHelp,Crosshair,Hand,Maximize,MousePointer2,PanelsTopLeft,Pause,Play,RotateCcw,Settings as SettingsIcon,SunMoon} from 'lucide-react';
import type {ProjectManifest} from '../project/types';
import {filesFromDrop,importBrowserFiles,ProjectImportError} from '../project/importer';
import {MainThreadPhysicsAdapter,type UrdfBaseMode,type UrdfLoadMode} from '../simulation/PhysicsAdapter';
import {MuJoCoViewer,type InteractionMode,type ViewerTheme} from '../viewer/MuJoCoViewer';
import {useAppStore,type AppDiagnostic} from '../stores/useAppStore';
import {WorkbenchHeader} from './components/WorkbenchHeader';
import {ViewerToolDock} from './components/ViewerToolDock';
import {ProjectSidebar,ModelControlsSidebar} from './components/SidebarPanel';
import {WorkspaceOverlays,type ImportProgress} from './components/WorkspaceOverlays';
import {EntrySelectionDialog} from './components/EntrySelectionDialog';
import {ErrorRecoveryPanel} from './components/ErrorRecoveryPanel';
import {StatusBar} from './components/StatusBar';
import {ViewportHUD} from './components/ViewportHUD';
import {ShortcutHelpDialog} from './components/ShortcutHelpDialog';
import {CommandPalette,type WorkbenchCommand} from './components/CommandPalette';
import {NotificationCenter,ToastViewport,type WorkbenchNotification} from './components/NotificationCenter';
import {SettingsDialog} from './components/SettingsDialog';
import {dispatchLayoutWidths,LayoutSettingsDialog,type LayoutPreset} from './components/LayoutSettingsDialog';
import {ConfirmDialog,IconButton} from '../components/ui';
import {DiagnosticsDrawer} from './components/DiagnosticsDrawer';
import {ToolbarOverflowMenu} from './components/ToolbarOverflowMenu';

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()};}
function initialTheme():ViewerTheme{try{return localStorage.getItem('mujoco-platform-theme')==='light'?'light':'dark';}catch{return'dark';}}

export function App(){
  const state=useAppStore();
  const manifest=useRef<ProjectManifest|null>(null),notificationId=useRef(0),loadInFlight=useRef(false),importInFlight=useRef(false),adapter=useRef(new MainThreadPhysicsAdapter()),root=useRef<HTMLDivElement>(null),viewerHost=useRef<HTMLDivElement>(null),viewer=useRef<MuJoCoViewer|null>(null);
  const [forceScale,setForceScale]=useState(50),[leftOpen,setLeftOpen]=useState(true),[rightOpen,setRightOpen]=useState(true),[helpOpen,setHelpOpen]=useState(false),[commandOpen,setCommandOpen]=useState(false),[removeConfirmOpen,setRemoveConfirmOpen]=useState(false),[fullscreen,setFullscreen]=useState(false),[settingsOpen,setSettingsOpen]=useState(false),[layoutOpen,setLayoutOpen]=useState(false),[diagnosticsOpen,setDiagnosticsOpen]=useState(false),[importProgress,setImportProgress]=useState<ImportProgress>(),[notifications,setNotifications]=useState<WorkbenchNotification[]>([]),[toast,setToast]=useState<WorkbenchNotification>();
  const [urdfMode,setUrdfMode]=useState<UrdfLoadMode>('mjcf'),urdfModeRef=useRef<UrdfLoadMode>('mjcf');
  const [baseMode,setBaseMode]=useState<UrdfBaseMode>('floating'),baseModeRef=useRef<UrdfBaseMode>('floating');
  const [showCollision,setShowCollision]=useState(false),[theme,setTheme]=useState<ViewerTheme>(initialTheme),[jointAdvanced,setJointAdvanced]=useState(false),[ignoreJointLimits,setIgnoreJointLimits]=useState(false),[angleUnit,setAngleUnit]=useState<'rad'|'deg'>('rad');
  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]);
  useEffect(()=>{viewer.current?.setTheme(theme);document.documentElement.style.colorScheme=theme;try{localStorage.setItem('mujoco-platform-theme',theme);}catch{/* 当前会话仍可切换 */}},[theme]);
  useEffect(()=>{const change=()=>setFullscreen(document.fullscreenElement===root.current);document.addEventListener('fullscreenchange',change);return()=>document.removeEventListener('fullscreenchange',change);},[]);
  const loadEntry=useCallback(async(path:string,requestedMode?:UrdfLoadMode)=>{if(!manifest.current||loadInFlight.current)return;loadInFlight.current=true;setIgnoreJointLimits(false);state.setEntry(path);state.setLoading(true);setImportProgress({label:'初始化 WASM 与编译模型',value:.65});state.setDiagnostic(undefined);viewer.current?.attach(null);state.setSnapshot(undefined);state.setSelection(null);try{const snapshot=await adapter.current.load(manifest.current,path,requestedMode??urdfModeRef.current,baseModeRef.current);setImportProgress({label:'创建视口场景',value:.92});adapter.current.setSpeed(useAppStore.getState().speed);state.setSnapshot(snapshot);state.setPaused(true);viewer.current?.attach(adapter.current.session);const notice:WorkbenchNotification={id:++notificationId.current,title:snapshot.warnings.length?'URDF 兼容处理':'模型加载完成',detail:snapshot.warnings.length?snapshot.warnings.join('\n'):path,tone:snapshot.warnings.length?'warning':'success',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}catch(error){state.setDiagnostic(diagnostic('模型编译',error,path));const notice:WorkbenchNotification={id:++notificationId.current,title:'模型编译失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{loadInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[]);
  const ingest=useCallback(async(files:File[],lockOwned=false)=>{if(importInFlight.current&&!lockOwned)return;importInFlight.current=true;state.setLoading(true);setImportProgress({label:'读取工程文件',value:.12});try{const next=await importBrowserFiles(files);setImportProgress({label:'处理模型资源与入口',value:.38});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));const notice:WorkbenchNotification={id:++notificationId.current,title:'工程导入失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{importInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[loadEntry]);
  const removeProject=()=>{if(state.projectName)setRemoveConfirmOpen(true);};
  const confirmRemoveProject=()=>{viewer.current?.attach(null);adapter.current.dispose();manifest.current=null;state.clearProject();setRemoveConfirmOpen(false);};
  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<HTMLInputElement>)=>{void ingest(Array.from(event.target.files??[]));event.target.value='';};
  const drop=(event:DragEvent)=>{event.preventDefault();if(state.loading||importInFlight.current)return;importInFlight.current=true;state.setLoading(true);setImportProgress({label:'读取拖放文件',value:.05});void (async()=>{try{const files=await filesFromDrop(event.dataTransfer.items,event.dataTransfer.files);await ingest(files,true);}catch(error){importInFlight.current=false;setImportProgress(undefined);state.setLoading(false);state.setDiagnostic(diagnostic('导入',error));}})();};
  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);
  const resetJoints=()=>{adapter.current.resetJoints();state.setPaused(true);state.setSnapshot(adapter.current.snapshot()??undefined);};
  const toggleJointLimits=()=>{const next=!ignoreJointLimits;adapter.current.setIgnoreJointLimits(next);setIgnoreJointLimits(next);state.setSnapshot(adapter.current.snapshot()??undefined);};
  const setActuator=(id:number,value:number)=>{adapter.current.setActuator(id,value);state.setSnapshot(adapter.current.snapshot()??undefined);};
  const setJoint=(id:number,value:number)=>{adapter.current.setJointPosition(id,value);state.setPaused(true);state.setSnapshot(adapter.current.snapshot()??undefined);};
  const toggleFullscreen=()=>{if(document.fullscreenElement)void document.exitFullscreen().catch(()=>{});else if(root.current)void root.current.requestFullscreen().catch(()=>{});};
  const applyLayoutPreset=(preset:LayoutPreset)=>{if(preset==='viewport'){setLeftOpen(false);setRightOpen(false);dispatchLayoutWidths(288,288);}else if(preset==='project'){setLeftOpen(true);setRightOpen(false);dispatchLayoutWidths(384,288);}else if(preset==='control'){setLeftOpen(false);setRightOpen(true);dispatchLayoutWidths(288,384);}else{setLeftOpen(true);setRightOpen(true);dispatchLayoutWidths(288,288);}};
  useEffect(()=>{const key=(event:KeyboardEvent)=>{if(document.activeElement instanceof HTMLElement&&document.activeElement.closest('[role="dialog"]'))return;if((event.ctrlKey||event.metaKey)&&event.key.toLocaleLowerCase()==='k'){event.preventDefault();setCommandOpen(true);return;}if((event.target as HTMLElement).matches('input,select,button'))return;if(event.code==='Space'){event.preventDefault();togglePause();}if(event.key==='r')reset();if(event.key==='1')mode('select');if(event.key==='2')mode('joint');if(event.key==='3')mode('force');};window.addEventListener('keydown',key);return()=>window.removeEventListener('keydown',key);});
  const selectedFormat=state.entries.find(entry=>entry.path===state.selectedEntry)?.format;
  const commands:WorkbenchCommand[]=[
    {id:'play',label:state.paused?'播放仿真':'暂停仿真',group:'仿真',icon:state.paused?<Play className="h-4 w-4"/>:<Pause className="h-4 w-4"/>,shortcut:'Space',disabled:!state.snapshot,run:togglePause},
    {id:'reset',label:'重置仿真',group:'仿真',icon:<RotateCcw className="h-4 w-4"/>,shortcut:'R',disabled:!state.snapshot,run:reset},
    {id:'select',label:'切换到选择模式',group:'视口',icon:<MousePointer2 className="h-4 w-4"/>,shortcut:'1',run:()=>mode('select')},
    {id:'joint',label:'切换到关节拖动',group:'视口',icon:<Hand className="h-4 w-4"/>,shortcut:'2',run:()=>mode('joint')},
    {id:'force',label:'切换到外力施加',group:'视口',icon:<Crosshair className="h-4 w-4"/>,shortcut:'3',run:()=>mode('force')},
    {id:'camera',label:'复位相机',group:'视口',icon:<Camera className="h-4 w-4"/>,run:()=>viewer.current?.resetCamera()},
    {id:'left',label:leftOpen?'隐藏工程面板':'显示工程面板',group:'布局',icon:leftOpen?<ChevronLeft className="h-4 w-4"/>:<ChevronRight className="h-4 w-4"/>,run:()=>setLeftOpen(value=>!value)},
    {id:'right',label:rightOpen?'隐藏属性面板':'显示属性面板',group:'布局',icon:rightOpen?<ChevronRight className="h-4 w-4"/>:<ChevronLeft className="h-4 w-4"/>,run:()=>setRightOpen(value=>!value)},
    {id:'theme',label:theme==='dark'?'切换到白天主题':'切换到黑夜主题',group:'外观',icon:<SunMoon className="h-4 w-4"/>,run:()=>setTheme(value=>value==='dark'?'light':'dark')},
    {id:'fullscreen',label:fullscreen?'退出全屏':'进入全屏',group:'布局',icon:<Maximize className="h-4 w-4"/>,run:toggleFullscreen},
    {id:'help',label:'查看快捷键帮助',group:'帮助',icon:<CircleHelp className="h-4 w-4"/>,run:()=>setHelpOpen(true)},
  ];
  return <div ref={root} className={`${theme==='light'?'theme-light':'theme-dark'} flex h-screen min-w-[1024px] flex-col overflow-hidden bg-app text-text-primary`} onDragOver={event=>event.preventDefault()} onDrop={drop}>
    <WorkbenchHeader paused={state.paused} ready={Boolean(state.snapshot)} speed={state.speed} theme={theme} loading={state.loading} leftOpen={leftOpen} rightOpen={rightOpen} fullscreen={fullscreen} onFiles={changeFiles} onFolder={changeFiles} onTogglePause={togglePause} onStep={singleStep} onReset={reset} onSpeed={changeSpeed} onToggleLeft={()=>setLeftOpen(value=>!value)} onToggleRight={()=>setRightOpen(value=>!value)} onToggleTheme={()=>setTheme(value=>value==='dark'?'light':'dark')} onHelp={()=>setHelpOpen(true)} endActions={<><NotificationCenter items={notifications} onDismiss={id=>setNotifications(items=>items.filter(item=>item.id!==id))} onClear={()=>setNotifications([])} onOpenLog={()=>setDiagnosticsOpen(true)}/><span className="hidden items-center gap-0.5 xl:flex"><IconButton tooltip="布局设置" aria-label="布局设置" onClick={()=>setLayoutOpen(true)}><PanelsTopLeft className="h-4 w-4"/></IconButton><IconButton tooltip="工作台设置" aria-label="工作台设置" onClick={()=>setSettingsOpen(true)}><SettingsIcon className="h-4 w-4"/></IconButton></span></>} compactMenu={<ToolbarOverflowMenu fullscreen={fullscreen} onCommands={()=>setCommandOpen(true)} onLayout={()=>setLayoutOpen(true)} onSettings={()=>setSettingsOpen(true)} onFullscreen={toggleFullscreen} onHelp={()=>setHelpOpen(true)} onTheme={()=>setTheme(value=>value==='dark'?'light':'dark')}/>} onCommands={()=>setCommandOpen(true)} onToggleFullscreen={toggleFullscreen} center={<ViewerToolDock mode={state.mode} onModeChange={mode} onResetCamera={()=>viewer.current?.resetCamera()}/>}/>
    <div className="flex min-h-0 flex-1"><ProjectSidebar visible={leftOpen} projectName={state.projectName} files={state.files} entries={state.entries} selectedEntry={state.selectedEntry} snapshot={state.snapshot} loading={state.loading} onRemove={removeProject} onSelectEntry={path=>void loadEntry(path)} onJointHover={jointId=>viewer.current?.highlightJoint(jointId)}/><main className="relative min-w-0 flex-1"><div ref={viewerHost} className="absolute inset-0"/><ViewportHUD paused={state.paused} mode={state.mode} selection={state.selection} ready={Boolean(state.snapshot)}/><WorkspaceOverlays loading={state.loading} hasSnapshot={Boolean(state.snapshot)} progress={importProgress}/><ToastViewport item={toast} onDismiss={()=>setToast(undefined)}/>{state.entries.length>1&&!state.selectedEntry&&<EntrySelectionDialog entries={state.entries} onSelect={loadEntry}/>} {state.diagnostic&&<ErrorRecoveryPanel key={state.diagnostic.at} value={state.diagnostic} onClose={()=>state.setDiagnostic(undefined)} onRetry={state.diagnostic.category==='模型编译'&&state.diagnostic.path?()=>void loadEntry(state.diagnostic!.path!):undefined} onOpenProject={()=>{setLeftOpen(true);state.setDiagnostic(undefined);}}/>}</main><ModelControlsSidebar visible={rightOpen} snapshot={state.snapshot} selection={state.selection} selectedFormat={selectedFormat} loading={state.loading} urdfMode={urdfMode} baseMode={baseMode} showCollision={showCollision} ignoreJointLimits={ignoreJointLimits} jointAdvanced={jointAdvanced} angleUnit={angleUnit} forceScale={forceScale} onUrdfMode={changeUrdfMode} onBaseMode={changeBaseMode} onShowCollision={setShowCollision} onResetJoints={resetJoints} onToggleJointLimits={toggleJointLimits} onToggleAdvanced={()=>setJointAdvanced(value=>!value)} onToggleAngleUnit={()=>setAngleUnit(value=>value==='rad'?'deg':'rad')} onActuator={setActuator} onJoint={setJoint} onForceScale={setForceScale}/></div>
    <ShortcutHelpDialog open={helpOpen} onClose={()=>setHelpOpen(false)}/><DiagnosticsDrawer open={diagnosticsOpen} items={notifications} onClose={()=>setDiagnosticsOpen(false)} onClear={()=>setNotifications([])}/><SettingsDialog open={settingsOpen} onClose={()=>setSettingsOpen(false)} theme={theme} angleUnit={angleUnit} showCollision={showCollision} jointAdvanced={jointAdvanced} forceScale={forceScale} onTheme={setTheme} onAngleUnit={setAngleUnit} onShowCollision={setShowCollision} onJointAdvanced={setJointAdvanced} onForceScale={setForceScale}/><LayoutSettingsDialog open={layoutOpen} onClose={()=>setLayoutOpen(false)} leftOpen={leftOpen} rightOpen={rightOpen} onLeftOpen={setLeftOpen} onRightOpen={setRightOpen} onPreset={applyLayoutPreset} onReset={()=>applyLayoutPreset('default')}/><CommandPalette open={commandOpen} onClose={()=>setCommandOpen(false)} commands={commands}/><ConfirmDialog open={removeConfirmOpen} title="移除当前工程" confirmLabel="移除工程" danger onConfirm={confirmRemoveProject} onClose={()=>setRemoveConfirmOpen(false)}><p className="text-sm text-text-secondary">确定从当前会话中移除“<strong className="text-text-primary">{state.projectName}</strong>”吗？</p><p className="mt-2 text-xs text-text-tertiary">该操作不会删除本地文件。</p></ConfirmDialog><StatusBar time={state.snapshot?.time} fps={state.fps} stepMs={state.stepMs} memoryMb={state.memoryMb} loaded={Boolean(state.snapshot)} overBudget={state.overBudget}/>
  </div>;
}