wangdequan/linuxcncWebWASM
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Run XYZAC through upstream LinuxCNC TP

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This commit is contained in:
wangdequan
2026-09-01 11:44:05 +08:00
parent bbdfad8364
commit d18141ec81
23 changed files with 1550 additions and 139 deletions
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31
wasm-core/src/sim_switchkins.c
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@@ -140,6 +140,16 @@ int sim_kinematics_switch_inverse(sim_kinematics_switch *switcher,
return result;
}
int sim_kinematics_switch_inverse_mode(const sim_kinematics_switch *switcher, int mode,
const sim_posemath_pose *pose, double *joints,
uint32_t joint_count,
sim_kinematics_result_info *info) {
if (switcher == 0 || pose == 0 || joints == 0) return SIM_KIN_ERR_ARGUMENT;
if (!valid_mode(mode)) return SIM_KIN_ERR_INVALID_MODE;
if (!switcher->registered[mode] || switcher->modules[mode] == 0) return SIM_KIN_ERR_MISSING_MODULE;
return sim_kinematics_inverse_ex(switcher->modules[mode], pose, joint_count, 0, joints, info);
}
int sim_kinematics_switch_select(sim_kinematics_switch *switcher, int mode,
double *joints, uint32_t joint_count,
sim_posemath_pose *pose,
@@ -161,6 +171,27 @@ int sim_kinematics_switch_select(sim_kinematics_switch *switcher, int mode,
return result;
}
int sim_kinematics_switch_select_physical(sim_kinematics_switch *switcher, int mode,
const double *joints, uint32_t joint_count,
sim_posemath_pose *pose,
sim_kinematics_result_info *info) {
int result;
if (switcher == 0 || joints == 0 || pose == 0) return SIM_KIN_ERR_ARGUMENT;
if (!valid_mode(mode)) return SIM_KIN_ERR_INVALID_MODE;
if (switcher->switching) return SIM_KIN_ERR_SWITCH_INTERRUPTED;
if (!switcher->registered[mode] || switcher->modules[mode] == 0) return SIM_KIN_ERR_MISSING_MODULE;
switcher->active_mode = mode;
switcher->pending_mode = mode;
switcher->switching = 0;
switcher->generation += 1;
switcher->switch_count += 1;
result = sim_kinematics_switch_forward(switcher, joints, joint_count, pose, info);
if (result != SIM_KIN_OK) return result;
switcher->last_pose[mode] = *pose;
switcher->have_last_pose[mode] = 1;
return SIM_KIN_OK;
}
int sim_kinematics_switch_active(const sim_kinematics_switch *switcher) {
return switcher == 0 ? SIM_KIN_ERR_ARGUMENT : switcher->active_mode;
}