meswork/smart_wasm
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

新增四类连杆统一仿真接口

Browse Source
This commit is contained in:
zhangshun
2026-06-16 11:40:58 +08:00
parent a66952e636
commit f142b42dbe
9 changed files with 940 additions and 248 deletions
Download Patch File Download Diff File Expand all files Collapse all files

65
scripts/run_wasm_tests.js
View File

@@ -418,6 +418,71 @@ const suite = [
{ path: "res_data.slider_trajectory", lengthEquals: 5 },
],
},
{
id: "fourbar_unified_rrrp",
type: "static",
requestFile: "tests/testdata/fourbar/simulate_rrrp.json",
assertions: [
{ path: "success", equals: true },
{ path: "res_data.success", equals: true },
{ path: "res_data.mechanismType", equals: "RRRP" },
{ path: "res_data.frame_count", equals: 5 },
{ path: "res_data.frames", lengthEquals: 5 },
{ path: "res_data.frames.0.points.B.x", exists: true },
{ path: "res_data.frames.0.points.S.x", exists: true },
{ path: "res_data.trajectory", lengthEquals: 5 },
{ path: "res_data.slider_trajectory", lengthEquals: 5 },
],
},
{
id: "fourbar_unified_prrr",
type: "static",
requestFile: "tests/testdata/fourbar/simulate_prrr.json",
assertions: [
{ path: "success", equals: true },
{ path: "res_data.success", equals: true },
{ path: "res_data.mechanismType", equals: "PRRR" },
{ path: "res_data.inputName", equals: "sliderX" },
{ path: "res_data.frame_count", equals: 5 },
{ path: "res_data.frames.0.points.B.x", exists: true },
{ path: "res_data.frames.0.points.S.x", exists: true },
{ path: "res_data.trajectory", lengthEquals: 5 },
{ path: "res_data.slider_trajectory", lengthEquals: 5 },
{ path: "res_data.alternative_trajectory", lengthEquals: 5 },
],
},
{
id: "fourbar_unified_rprr",
type: "static",
requestFile: "tests/testdata/fourbar/simulate_rprr.json",
assertions: [
{ path: "success", equals: true },
{ path: "res_data.success", equals: true },
{ path: "res_data.mechanismType", equals: "RPRR" },
{ path: "res_data.frame_count", equals: 5 },
{ path: "res_data.frames.0.points.O.x", exists: true },
{ path: "res_data.frames.0.points.B.x", exists: true },
{ path: "res_data.trajectory", lengthEquals: 5 },
{ path: "res_data.crank_circle", lengthEquals: 5 },
{ path: "res_data.rocker_trajectory", lengthEquals: 5 },
],
},
{
id: "fourbar_unified_rrrr",
type: "static",
requestFile: "tests/testdata/fourbar/simulate_rrrr.json",
assertions: [
{ path: "success", equals: true },
{ path: "res_data.success", equals: true },
{ path: "res_data.mechanismType", equals: "RRRR" },
{ path: "res_data.frame_count", equals: 5 },
{ path: "res_data.frames.0.points.A.x", exists: true },
{ path: "res_data.frames.0.points.D.x", exists: true },
{ path: "res_data.trajectory", lengthEquals: 5 },
{ path: "res_data.trajectory_c", lengthEquals: 5 },
{ path: "res_data.crank_circle", lengthEquals: 5 },
],
},
{
id: "quadruped_points_from_motor_angles",
type: "static",