Initial LinuxCNC WebAssembly workspace snapshot

2026-08-20 18:21:15 +08:00
commit 5dd614c335
92 changed files with 200203 additions and 0 deletions
--- a/wasm-core/src/sim_posemath.c
+++ b/wasm-core/src/sim_posemath.c
@@ -0,0 +1,62 @@
+#include "sim_posemath.h"
+
+#include "posemath.h"
+
+#include <math.h>
+
+static int finite_cart(const sim_posemath_cartesian *value) {
+    return value != 0 && isfinite(value->x) && isfinite(value->y) && isfinite(value->z);
+}
+
+static PmCartesian to_pm(const sim_posemath_cartesian *value) {
+    PmCartesian result = {value->x, value->y, value->z};
+    return result;
+}
+
+static void from_pm(const PmCartesian *value, sim_posemath_cartesian *output) {
+    output->x = value->x;
+    output->y = value->y;
+    output->z = value->z;
+}
+
+int sim_posemath_is_finite(const sim_posemath_cartesian *value) {
+    return finite_cart(value);
+}
+
+int sim_posemath_normalize(const sim_posemath_cartesian *input, sim_posemath_cartesian *output) {
+    PmCartesian source;
+    PmCartesian result;
+    double magnitude_squared = 0.0;
+    if (!finite_cart(input) || output == 0) return SIM_POSEMATH_ERR_ARGUMENT;
+    source = to_pm(input);
+    if (pmCartMagSq(&source, &magnitude_squared) != 0 || !isfinite(magnitude_squared)) return SIM_POSEMATH_ERR_NONFINITE;
+    if (magnitude_squared <= 1e-24) return SIM_POSEMATH_ERR_DEGENERATE;
+    if (pmCartUnit(&source, &result) != 0) return SIM_POSEMATH_ERR_DEGENERATE;
+    from_pm(&result, output);
+    return SIM_POSEMATH_OK;
+}
+
+int sim_posemath_dot(const sim_posemath_cartesian *left, const sim_posemath_cartesian *right, double *output) {
+    PmCartesian lhs;
+    PmCartesian rhs;
+    if (!finite_cart(left) || !finite_cart(right) || output == 0) return SIM_POSEMATH_ERR_ARGUMENT;
+    lhs = to_pm(left);
+    rhs = to_pm(right);
+    if (pmCartCartDot(&lhs, &rhs, output) != 0 || !isfinite(*output)) return SIM_POSEMATH_ERR_NONFINITE;
+    return SIM_POSEMATH_OK;
+}
+
+int sim_posemath_line_point(const sim_posemath_cartesian *start, const sim_posemath_cartesian *end,
+                            double fraction, sim_posemath_cartesian *output) {
+    PmCartesian begin;
+    PmCartesian finish;
+    PmCartesian result;
+    PmCartesian delta;
+    if (!finite_cart(start) || !finite_cart(end) || output == 0) return SIM_POSEMATH_ERR_ARGUMENT;
+    if (!isfinite(fraction) || fraction < 0.0 || fraction > 1.0) return SIM_POSEMATH_ERR_RANGE;
+    begin = to_pm(start);
+    finish = to_pm(end);
+    if (pmCartCartSub(&finish, &begin, &delta) != 0 || pmCartScalMult(&delta, fraction, &delta) != 0 || pmCartCartAdd(&begin, &delta, &result) != 0) return SIM_POSEMATH_ERR_DEGENERATE;
+    from_pm(&result, output);
+    return SIM_POSEMATH_OK;
+}