Initial commit

2026-06-01 15:55:59 +08:00
commit 40f9bdb590
1799 changed files with 362227 additions and 0 deletions
--- a/3.txt
+++ b/3.txt
@@ -0,0 +1,69 @@
+emcc `
+    src/KinematicsWebAPI.cpp `
+    src/main.cpp `
+    src/Robot.cpp `
+    src/spc_core.cpp `
+    src/QuadrupedRobotSimulation/BaseClass.cpp `
+    src/QuadrupedRobotSimulation/KinematicsSimulation.cpp `
+    src/QuadrupedRobotSimulation/CompleteJsonExporter.cpp `
+    src/QuadrupedRobotSimulation/KinematicsReverse.cpp `
+    src/CrankSliderMechanism.cpp `
+    src/RobotManager.cpp `
+    src/utils.cpp `
+    src/math_utils.cpp `
+    src/smart_json_wrapper.cpp `
+    src/kdl_parser/src/kdl_parser.cpp `
+    src/kdl_parser/src/joint.cpp `
+    src/kdl_parser/src/link.cpp `
+    src/kdl_parser/src/model.cpp `
+    src/kdl_parser/src/pose.cpp `
+    src/kdl_parser/src/tinystr.cpp `
+    src/kdl_parser/src/tinyxml.cpp `
+    src/kdl_parser/src/tinyxml2.cpp `
+    src/kdl_parser/src/tinyxmlerror.cpp `
+    src/kdl_parser/src/tinyxmlparser.cpp `
+    src/kdl_parser/src/twist.cpp `
+    src/kdl_parser/src/world.cpp `
+    -I./inc `
+    -I./inc/QuadrupedRobotSimulation `
+    -I./src/kdl_parser/include `
+    -I./KDL/install_wasm/include `
+    -I./Eigen3 `
+    -I./Eigen3/eigen3 `
+    -L./KDL/install_wasm/lib `
+    -lorocos-kdl `
+    -gsource-map `
+    -O0 `
+    --source-map-base http://localhost:8080/ `
+    -s WASM=1 `
+    -s ASSERTIONS=2 `
+    -s STACK_OVERFLOW_CHECK=2 `
+    -s ALLOW_MEMORY_GROWTH=1 `
+    -s INITIAL_MEMORY=67108864 `
+    -s MAXIMUM_MEMORY=268435456 `
+    -s USE_PTHREADS=0 `
+    -s MODULARIZE=1 `
+    -s EXPORT_NAME='createSmartMathModule' `
+    -s EXPORTED_FUNCTIONS='["_init_func","_func","_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_malloc","_free","_main"]' `
+    -s EXPORTED_RUNTIME_METHODS='["UTF8ToString","stringToUTF8","lengthBytesUTF8","ccall","cwrap","HEAPU8","HEAP8","HEAPF32","HEAPF64"]' `
+    -Wno-deprecated-literal-operator `
+    -o public/wasm/smart_math.js
+
+
+
+
+    @echo off
+echo 🚀 启动带调试支持的 Chrome...
+
+REM 停止所有 Chrome 实例
+taskkill /F /IM chrome.exe 2>nul
+
+REM 使用调试标志启动 Chrome
+start "" "C:\Program Files\Google\Chrome\Application\chrome.exe" ^
+    --remote-debugging-port=9222 ^
+    --enable-features=WebAssemblyDebugging ^
+    --no-first-run ^
+    --user-data-dir="C:\ChromeDebugProfile" ^
+    http://localhost:8000/debug.html
+
+echo 🌐 Chrome 已启动，访问 http://localhost:9222 进行调试