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| import test from 'node:test'; | |
| import assert from 'node:assert/strict'; | |
| import fs from 'node:fs/promises'; | |
| import init, {UsdLoader} from '../public/vendor/usd-reader/wasm/usd_wasm.js'; | |
| import {composeStage,readGeometries} from '../public/vendor/usd-reader/esm/load-core.js'; | |
| import {rootLayerText,physicsResult,ROOT_KEY,ROOT_LAYER,LOCAL} from '../src/vendor/web-usd.js'; | |
| import {bodyMatrices,jointProgress,controllableJoints} from '../src/vendor/kinematics.js'; | |
| const samples = JSON.parse(await fs.readFile(new URL('../public/samples.json',import.meta.url))); | |
| await init({module_or_path:await fs.readFile(new URL('../public/vendor/usd-reader/wasm/usd_wasm_bg.wasm',import.meta.url))}); | |
| const results=[]; | |
| for (const sample of samples) { | |
| test(`USD + articulation: ${sample.name}`, async () => { | |
| const base=new URL(`../.cache/samples/${sample.id}/`,import.meta.url); | |
| const source=JSON.parse(await fs.readFile(new URL('articulation.json',base))); | |
| const bytes=new Uint8Array(await fs.readFile(new URL('asset.usdc',base))); | |
| const files = new Map([[LOCAL+ROOT_KEY,new TextEncoder().encode(rootLayerText(1))],[LOCAL+ROOT_LAYER,bytes]]); | |
| const {scene,meta,stats}=await composeStage({UsdLoader,rootUrl:LOCAL+ROOT_KEY,fetchBytes:async url=>files.get(url)??null,physics:['simready']}); | |
| let vertices=0,triangles=0; | |
| readGeometries(scene,meta,(_index,_meta,arrays)=>{if(arrays){vertices+=arrays.positions.length/3;triangles+=arrays.indices.length/3;}}); | |
| assert(vertices>0,'real geometry is present'); | |
| const result=physicsResult(true,meta,[],[],{colliders:'skip'}); | |
| assert(result.articulation,JSON.stringify(result.info)); | |
| const art=result.articulation; | |
| assert.equal(controllableJoints(art).length,controllableJoints(source).length); | |
| let checks=0,maxError=0; | |
| for(const fixture of source.selftest??[]) { | |
| const joint=art.joints.find(j=>j.id===fixture.joint); | |
| assert(joint); | |
| const matrices=bodyMatrices(art,{[joint.id]:jointProgress(joint,fixture.value)}); | |
| for(const [body,expected] of Object.entries(fixture.deltas)) { | |
| assert(matrices[body]); | |
| for(let i=0;i<16;i++){const error=Math.abs(matrices[body][i]-expected[i]);maxError=Math.max(maxError,error);assert(error<2e-5,`${body}[${i}]: error ${error}`);checks++;} | |
| } | |
| } | |
| for(const t of [0,0.25,0.5,0.75,1]) { | |
| const matrices=bodyMatrices(art,Object.fromEntries(controllableJoints(art).map(j=>[j.id,t]))); | |
| assert(Object.values(matrices).flat().every(Number.isFinite)); | |
| } | |
| scene.free(); | |
| results.push({name:sample.name,vertices,triangles,bodies:art.bodies.length,joints:controllableJoints(art).length,referenceMatrixChecks:checks,maxError,warnings:stats.warnings}); | |
| }); | |
| } | |
| test.after(async()=>{await fs.mkdir(new URL('../reports/',import.meta.url),{recursive:true});await fs.writeFile(new URL('../reports/engine.json',import.meta.url),JSON.stringify(results,null,2));}); | |