wangdequan/linuxcncWebWASM
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Complete 3axis tutorial native and Web/WASM parity tools

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wangdequan
2026-08-24 14:01:30 +08:00
parent 938654b19d
commit 7e90142b63
147 changed files with 17639 additions and 557 deletions
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wasm-core/src/sim_posemath.c
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@@ -118,7 +118,7 @@ int sim_posemath_segment_validate(const sim_posemath_segment *segment) {
length_sq = (segment->end.tran.x - segment->start.tran.x) * (segment->end.tran.x - segment->start.tran.x) +
(segment->end.tran.y - segment->start.tran.y) * (segment->end.tran.y - segment->start.tran.y) +
(segment->end.tran.z - segment->start.tran.z) * (segment->end.tran.z - segment->start.tran.z);
if (!isfinite(length_sq) || length_sq <= 1e-24) return SIM_POSEMATH_ERR_DEGENERATE;
if (!isfinite(length_sq) || (length_sq <= 1e-24 && segment->motion_type != SIM_POSEMATH_CIRCULAR)) return SIM_POSEMATH_ERR_DEGENERATE;
if (segment->motion_type == SIM_POSEMATH_CIRCULAR) {
normal_sq = segment->normal.x * segment->normal.x + segment->normal.y * segment->normal.y + segment->normal.z * segment->normal.z;
if (!isfinite(normal_sq) || normal_sq <= 1e-24) return SIM_POSEMATH_ERR_DEGENERATE;