feat: 新增IK实时求解与运动模拟功能，集成正逆运动学查看器，补充定位图截图

2026-09-28 12:08:41 +08:00
parent 79c1265202
commit c0c78251b5
11 changed files with 3955 additions and 25 deletions
@@ -0,0 +1,404 @@
+/* ============================================================================
+ *  ik-glue.js —— 把 ArmIK 求解器接到「机器人手臂3D查看器」的场景与 UI 上
+ *  依赖查看器全局：JO / TRAVEL / meshes / JG / ang / applyJoint / scene / cam /
+ *                  cv / VC / sel / requestRender / az,po,rd,tx,ty,tz
+ * ==========================================================================*/
+(function () {
+'use strict';
+if (typeof ArmIK === 'undefined' || typeof JO === 'undefined') return;
+
+const D2R = Math.PI / 180;
+const ORDER = ArmIK.ORDER;
+const $ = id => document.getElementById(id);
+const JJ = {}; for (const j of JO) JJ[j.id] = j;
+const CN = {}; for (const id of ORDER) CN[id] = (JJ[id] && JJ[id].cn) || id;
+
+/* ---------- 0. TCP：末端工具法兰安装面中心（由 J6 组内零件几何自动取得）---------- */
+let tcpZ = 93;
+(function () {
+  let lo = Infinity;
+  for (const m of meshes) {
+    const u = m.userData;
+    if (!u || u.grp !== 'J6' || !u.printed || u.name.slice(0, 4) === 'ENV_') continue;
+    const b = m.geometry.boundingBox; if (!b) continue;
+    lo = Math.min(lo, b.min.y);          // 查看器系 y = CAD 系 z
+  }
+  if (isFinite(lo)) tcpZ = lo;
+})();
+const TCP0 = [JJ.J6.rear[0], JJ.J6.rear[1], tcpZ];
+
+/* ---------- 1. 建立求解器 ---------- */
+const JMap = {}; for (const j of JO) JMap[j.id] = { rear: j.rear, d: j.d };
+const TR = {}; for (const t of TRAVEL) TR[t.axis] = { lo: t.lo, hi: t.hi, continuous: !!t.continuous };
+const S = ArmIK.make({ joints: JMap, travel: TR, tcp: TCP0 });
+const LIM = S.LIM;
+let lastTool = 0;
+let TGT = [150, 128, 260];
+
+/* ---------- 2. 场景标注 ---------- */
+const gTgt = new THREE.Group(); scene.add(gTgt);
+gTgt.add(new THREE.Mesh(new THREE.SphereGeometry(8.5, 22, 16),
+  new THREE.MeshStandardMaterial({ color: 0xffb454, emissive: 0x7a4d05, metalness: .25, roughness: .4 })));
+const AXCOL = [0xff6b6b, 0x3ddc97, 0x4c9aff];
+const AXDIR = [[1, 0, 0], [0, 0, -1], [0, 1, 0]];         // CAD 的 X / Y / Z 在查看器系中的方向
+for (let i = 0; i < 3; i++) {
+  const L = 55, d = AXDIR[i], bg = new THREE.BufferGeometry();
+  bg.setAttribute('position', new THREE.BufferAttribute(new Float32Array([
+    -d[0] * L, -d[1] * L, -d[2] * L, d[0] * L, d[1] * L, d[2] * L]), 3));
+  gTgt.add(new THREE.Line(bg, new THREE.LineBasicMaterial({ color: AXCOL[i] })));
+}
+const RING = new THREE.Mesh(new THREE.RingGeometry(9.5, 12.5, 40),
+  new THREE.MeshBasicMaterial({ color: 0xffb454, side: THREE.DoubleSide, transparent: true, opacity: .45 }));
+RING.rotation.x = -Math.PI / 2; scene.add(RING);
+
+const ballTcp = new THREE.Mesh(new THREE.SphereGeometry(6.5, 20, 14),
+  new THREE.MeshStandardMaterial({ color: 0x3ddc97, emissive: 0x14603f, metalness: .3, roughness: .35 }));
+JG.J6.add(ballTcp);
+
+const linkGeo = new THREE.BufferGeometry();
+linkGeo.setAttribute('position', new THREE.BufferAttribute(new Float32Array(6), 3));
+const linkLine = new THREE.Line(linkGeo,
+  new THREE.LineBasicMaterial({ color: 0xffb454, transparent: true, opacity: .9 }));
+scene.add(linkLine);
+
+const tcpCad = () => [TCP0[0], TCP0[1], TCP0[2] - lastTool];
+function refreshTarget() {
+  const v = VC(TGT);
+  gTgt.position.set(v[0], v[1], v[2]);
+  RING.position.set(-v[0], -v[1], -v[2]);
+  RING.visible = VIEW === 'motion' && Math.abs(v[1]) > 14;
+  ballTcp.position.set(...VC(tcpCad()));
+  scene.updateMatrixWorld(true);            // 必须先刷新 6 级矩阵链再读 TCP
+  const w = new THREE.Vector3(...VC(tcpCad())).applyMatrix4(JG.J6.matrixWorld);
+  const a = gTgt.position, pa = linkGeo.attributes.position;
+  pa.array[0] = a.x; pa.array[1] = a.y; pa.array[2] = a.z;
+  pa.array[3] = w.x; pa.array[4] = w.y; pa.array[5] = w.z;
+  pa.needsUpdate = true;
+  const d = Math.hypot(w.x - a.x, w.y - a.y, w.z - a.z);
+  ballTcp.material.color.setHex(d < 1.2 ? 0x3ddc97 : 0xffb454);
+  requestRender();
+}
+
+/* ---------- 3. 关节写入（同步滑块与标签）---------- */
+let anim = null;
+function setJoints(q, doAnim) {
+  if (doAnim) { animTo(q, 620); return; }
+  for (let i = 0; i < 6; i++) {
+    const id = ORDER[i]; ang[id] = q[i];
+    const s = $('s' + id), v = $('v' + id);
+    if (s) s.value = q[i];
+    if (v) v.textContent = (+q[i]).toFixed(2) + '\u00B0';
+    applyJoint(id);
+  }
+  refreshTarget();
+}
+function animTo(q, ms) {
+  if (anim) { anim = null; }
+  const from = ORDER.map(id => ang[id]);
+  anim = { from: from, to: q.slice(), t0: performance.now(), ms: ms };
+  const tick = () => {
+    if (!anim) return;
+    const k = Math.min(1, (performance.now() - anim.t0) / anim.ms);
+    const e = k * k * (3 - 2 * k);
+    for (let i = 0; i < 6; i++) {
+      const id = ORDER[i], a = anim.from[i] + (anim.to[i] - anim.from[i]) * e;
+      ang[id] = a;
+      const sl = $('s' + id), v = $('v' + id);
+      if (sl) sl.value = a;
+      if (v) v.textContent = a.toFixed(2) + '\u00B0';
+      applyJoint(id);
+    }
+    refreshTarget();
+    if (k < 1) requestAnimationFrame(tick);
+    else { anim = null; for (let i = 0; i < 6; i++) applyJoint(ORDER[i]); requestRender(); }
+  };
+  requestAnimationFrame(tick);
+}
+
+/* ---------- 4. 结果渲染 ---------- */
+const badge = $('ikBadge');
+function renderResult(res, src) {
+  const q = res.q || [0, 0, 0, 0, 0, 0];
+  const tb = $('ikTab').tBodies[0]; tb.innerHTML = '';
+  for (let i = 0; i < 6; i++) {
+    const id = ORDER[i], t = LIM[id];
+    const tr = document.createElement('tr');
+    tr.innerHTML = '<td>' + id + '</td><td>' + CN[id] + '</td>' +
+      '<td class="num">' + q[i].toFixed(2) + '\u00B0</td>' +
+      '<td class="num dim">' + Math.abs(q[i]).toFixed(1) + '</td>' +
+      '<td class="dim">' + (t.cont ? '\u00B1180' : t.lo + '..' + t.hi) + '</td>';
+    if (i === 5 && !res.tool) tr.title = 'TCP 位于 J6 轴线上，转动 J6 不改变 TCP 位置，故取 0 使总角最小';
+    tb.appendChild(tr);
+  }
+  lastTool = res.tool || 0;
+  const dcl = res.err != null ? res.err : 0;
+  const sc = (function () {                       // 用场景图真实矩阵链复算
+    const save = ORDER.map(id => ang[id]);
+    for (let i = 0; i < 6; i++) { ang[ORDER[i]] = q[i]; applyJoint(ORDER[i]); }
+    scene.updateMatrixWorld(true);
+    const w = new THREE.Vector3(...VC(tcpCad())).applyMatrix4(JG.J6.matrixWorld);
+    for (let i = 0; i < 6; i++) { ang[ORDER[i]] = save[i]; applyJoint(ORDER[i]); }
+    return [w.x, -w.z, w.y];
+  })();
+  const dsc = Math.hypot(sc[0] - res.target[0], sc[1] - res.target[1], sc[2] - res.target[2]);
+  const sum = q.reduce((a, b) => a + b, 0);
+  $('ikSum').innerHTML =
+    '<i>总关节角 \u03A3|\u03B8|</i><b class="hi">' + S.costOf(q, null).toFixed(2) + '\u00B0</b>' +
+    '<i>\u03A3\u03B8 代数和</i><span>' + sum.toFixed(1) + '\u00B0</span>' +
+    '<i>残差 闭式/场景图</i><span class="' + (dcl < 1e-4 && dsc < .05 ? 'good' : 'bad') + '">' +
+      dcl.toExponential(1) + ' / ' + dsc.toExponential(1) + ' mm</span>' +
+    '<i>可行采样点</i><span>' + res.nSol + '</span>' +
+    '<i>耗时</i><span>' + res.ms.toFixed(0) + ' ms</span>' +
+    '<i>目标</i><span>(' + res.target.map(v => v.toFixed(1)).join(', ') + ')</span>' +
+    (res.resid != null ? '<i>距目标</i><span class="bad">' + res.resid.toFixed(2) + ' mm</span>' : '');
+  const ok = res.reachable && dcl < 1e-3;
+  badge.textContent = ok ? '已到达' : (res.reachable ? '校验偏差' : '不可达·最近位姿');
+  badge.className = 'badge ' + (ok ? 'goodb' : (res.reachable ? 'warnb' : 'badb'));
+  $('ikSrc').textContent = src;
+  $('ikBar').innerHTML = '<b class="hi">\u03A3|\u03B8| ' + S.costOf(q, null).toFixed(2) + '\u00B0</b>' +
+    '<span class="sep">|</span>\u6B8B\u5DEE ' +
+    '<span class="' + (dsc < .05 ? 'good' : 'bad') + '">' + dsc.toExponential(1) + ' mm</span>' +
+    '<span class="sep">|</span>\u53EF\u884C\u91C7\u6837\u70B9 ' + res.nSol +
+    '<span class="sep">|</span>' + res.ms.toFixed(0) + ' ms';
+  /* 备选互异构型 */
+  const alt = [];
+  for (let i = 0; i < res.list.length && alt.length < 6; i++) {
+    const s = res.list[i];
+    let dup = false;
+    for (const a of alt) {
+      let dd = 0; for (let c = 0; c < 6; c++) dd += Math.abs(a.q[c] - s.q[c]);
+      if (dd < 12) { dup = true; break; }
+    }
+    if (!dup) alt.push(s);
+  }
+  $('ikAltN').textContent = '\u4E92\u5F02\u6784\u578B ' + alt.length + ' \u4E2A\uFF08\u89E3\u65CF\u5171 ' +
+    res.nSol + ' \u91C7\u6837\u70B9\uFF09\u00B7 \u70B9\u884C\u5E94\u7528';
+  const box = $('ikAlts'); box.innerHTML = '';
+  alt.forEach((s, i) => {
+    const d = document.createElement('div');
+    d.className = 'altrow';
+    d.innerHTML = '<span class="ai">' + (i + 1) + '</span><b>' + s.cost.toFixed(2) + '\u00B0</b>' +
+      '<span class="aq">' + s.q.map(v => v.toFixed(1)).join(' / ').replace(/ /g, '') + '</span>';
+    d.title = ORDER.map((id, k) => id + ' = ' + s.q[k].toFixed(2) + '\u00B0').join('   ');
+    d.onclick = () => setJoints(s.q, true);
+    box.appendChild(d);
+  });
+}
+
+/* ---------- 5. 求解 ---------- */
+function runSolve() {
+  const X = +$('ikX').value, Y = +$('ikY').value, Z = +$('ikZ').value;
+  if (!isFinite(X) || !isFinite(Y) || !isFinite(Z)) {
+    badge.textContent = '坐标非法'; badge.className = 'badge badb'; return;
+  }
+  TGT = [X, Y, Z];
+  lastTool = +$('ikTool').value || 0;
+  refreshTarget();
+  badge.textContent = '计算中…'; badge.className = 'badge wait';
+  setTimeout(() => {
+    const opt = { tool: lastTool, step: +$('ikStep').value || 0.25 };
+    const res = S.solveTo(TGT, opt);
+    renderResult(res, res.reachable ? '闭式全域扫描 · 冗余维精确覆盖'
+      : '超工作空间 → 阻尼最小二乘最近位姿');
+    if (res.q) setJoints(res.q, true);
+  }, 0);
+}
+
+/* 实时追踪：拖动过程中同步求解、立即应用（无动画，跟在手后面）。
+   求解是同步的，同一时刻只跑一个；拖动中的后续 pointermove 只记待处理标志，
+   当前求解结束后用最新 TGT 再解一次，避免事件排队越拖越卡。 */
+let liveBusy = false, livePending = false;
+function runSolveLive() {
+  if (liveBusy) { livePending = true; return; }
+  liveBusy = true;
+  try {
+    lastTool = +$('ikTool').value || 0;
+    const res = S.solveTo(TGT, { tool: lastTool, step: +$('ikStep').value || 0.25 });
+    renderResult(res, res.reachable ? '实时追踪 · 闭式全域扫描 · 冗余维精确覆盖'
+      : '实时追踪 · 超工作空间（阻尼最小二乘最近位姿）');
+    if (res.q) setJoints(res.q, false);
+  } finally { liveBusy = false; }
+  if (livePending) { livePending = false; runSolveLive(); }
+}
+
+/* ---------- 6. 目标拖动 / 拾取 ---------- */
+let grab = null, camSnap = null, dragged = false, justPicked = false;
+const ray2 = new THREE.Raycaster();
+const snapCam = () => ({ az: az, po: po, tx: tx, ty: ty, tz: tz, rd: rd });
+const putCam = s => { az = s.az; po = s.po; tx = s.tx; ty = s.ty; tz = s.tz; rd = s.rd; };
+let mode = 'drag';
+function setMode(m) {
+  mode = m;
+  $('ikPick').classList.toggle('on', m === 'pick');
+  $('ikRt').classList.toggle('on', m === 'rt');
+  $('ikHint').textContent = m === 'pick' ? '视图单击：目标投到当前高度的水平面'
+    : (m === 'rt' ? '实时追踪中：拖动黄球即算即动，手臂跟着目标走（松手精修）'
+                  : '拖动黄球 = 移动目标（Shift 仅上下）；求解在松手后自动执行');
+}
+function projTgt() {
+  const p = gTgt.position.clone().project(cam);
+  const r = cv.getBoundingClientRect();
+  return { x: (p.x * .5 + .5) * r.width, y: (-p.y * .5 + .5) * r.height };
+}
+cv.addEventListener('pointerdown', e => {
+  if (e.button !== 0 || VIEW !== 'motion') return;   // 仅运动模拟模式可操作目标点
+  justPicked = false;
+  if (mode === 'pick') { grab = { pick: true }; dragged = false; return; }
+  const pt = projTgt();
+  if (!(Math.hypot(e.offsetX - pt.x, e.offsetY - pt.y) < 26 || e.shiftKey)) return;
+  grab = { sx: e.offsetX, sy: e.offsetY };
+  camSnap = snapCam(); dragged = false;
+});
+cv.addEventListener('pointermove', e => {
+  if (!grab || grab.pick) return;
+  const dx = e.offsetX - grab.sx, dy = e.offsetY - grab.sy;
+  if (Math.abs(dx) + Math.abs(dy) > 2) dragged = true;
+  if (camSnap) putCam(camSnap);                    // 撤销查看器自身的轨道 / 平移
+  const k = (2 * rd * Math.tan(cam.fov * Math.PI / 360)) / Math.max(1, cv.clientHeight);
+  cam.updateMatrixWorld();
+  const right = new THREE.Vector3().setFromMatrixColumn(cam.matrixWorld, 0);
+  const up = new THREE.Vector3().setFromMatrixColumn(cam.matrixWorld, 1);
+  const cur = VC(TGT), v = new THREE.Vector3(cur[0], cur[1], cur[2]);
+  if (e.shiftKey || e.altKey) {                      // 约束到世界竖直（CAD +Z）
+    const dot = Math.max(0.25, Math.abs(up.dot(new THREE.Vector3(0, 1, 0))));
+    v.addScaledVector(new THREE.Vector3(0, 1, 0), -dy * k / dot);
+  } else v.addScaledVector(right, dx * k).addScaledVector(up, -dy * k);
+  TGT = [v.x, -v.z, Math.max(0, v.y)];
+  grab.sx = e.offsetX; grab.sy = e.offsetY;
+  syncInputs(); refreshTarget();
+  if (mode === 'rt' && dragged) runSolveLive();   // 实时追踪：拖动过程中即算即动
+});
+addEventListener('pointerup', () => { camSnap = null; });
+cv.addEventListener('pointerup', e => {
+  if (!grab) return;
+  if (grab.pick) {                                  // 视图拾取：射线打到当前高度的水平面
+    grab = null; justPicked = true;
+    const r = cv.getBoundingClientRect();
+    ray2.setFromCamera(new THREE.Vector2(((e.clientX - r.left) / r.width) * 2 - 1,
+      -((e.clientY - r.top) / r.height) * 2 + 1), cam);
+    const plane = new THREE.Plane(new THREE.Vector3(0, 1, 0), -TGT[2]);   // 查看器 y = CAD z
+    const hit = new THREE.Vector3();
+    if (ray2.ray.intersectPlane(plane, hit)) {
+      TGT = [hit.x, -hit.z, Math.max(0, TGT[2])];
+      syncInputs(); refreshTarget(); runSolve();
+    }
+    return;
+  }
+  const moved = dragged; grab = null;
+  if (moved) runSolve();
+});
+cv.addEventListener('click', () => {                // 撤销交互对查看器选中态 / 高亮的副作用
+  if (justPicked) justPicked = false;
+  else if (!dragged) return;
+  dragged = false;
+  if (sel) { sel.material.emissive.setHex(0); sel.material.emissiveIntensity = 0; sel = null; }
+  const hud = $('hud'); if (hud) hud.textContent = '';
+  requestRender();
+}, true);
+
+/* ---------- 7. 控件 ---------- */
+function syncInputs() {
+  $('ikX').value = TGT[0].toFixed(1);
+  $('ikY').value = TGT[1].toFixed(1);
+  $('ikZ').value = TGT[2].toFixed(1);
+}
+['ikX', 'ikY', 'ikZ', 'ikTool'].forEach(id => {
+  const el = $(id); if (!el) return;
+  el.addEventListener('change', () => runSolve());
+});
+$('ikStep').onchange = () => runSolve();
+$('ikSolve').onclick = () => runSolve();
+$('ikPick').onclick = () => setMode(mode === 'pick' ? 'drag' : 'pick');
+$('ikRt').onclick = () => setMode(mode === 'rt' ? 'drag' : 'rt');
+$('ikHome').onclick = () => {
+  setJoints([0, 0, 0, 0, 0, 0], true);
+  badge.textContent = '已复位'; badge.className = 'badge wait';
+  $('ikSrc').textContent = '已复零位（下表为上一次求解结果，滑块与模型为当前真实姿态）';
+};
+$('ikZero').onclick = () => { TGT = [150, 128, 260]; syncInputs(); refreshTarget(); runSolve(); };
+
+/* ---------- 8. 视图模式：三维模型（静态） / 装配图 / 运动模拟 ---------- */
+let VIEW = 'model';
+const MOTION_UI = ['ikbar', 'ikpanel', 'joints', 'jointsHead', 'footIk'];
+function setView(v, keepPose) {
+  VIEW = v;
+  const isMotion = v === 'motion';
+  document.body.classList.toggle('motion', isMotion);
+  for (const id of MOTION_UI) {
+    const e = $(id);
+    if (e) e.style.display = isMotion ? '' : 'none';
+  }
+  gTgt.visible = isMotion; RING.visible = isMotion;
+  ballTcp.visible = isMotion; linkLine.visible = isMotion;
+  if (isMotion) {
+    if (+exp.value) document.getElementById('bAsm').click();   // 运动模拟须在装配状态下进行
+    runSolve();                                               // 进入即求解并动画到目标点
+  } else {
+    if (mode !== 'drag') setMode('drag');          // 离开运动模拟：交互模式复位
+    if (v === 'model' && !keepPose) setJoints([0, 0, 0, 0, 0, 0], true);  // 静态模型：关节锁定零位
+  }
+  requestRender();
+}
+document.querySelectorAll('.tab[data-view]').forEach(b =>
+  b.addEventListener('click', () => setView(b.dataset.view)));
+
+/* ---------- 9. 启动：自检 + 工作空间采样 ---------- */
+function boot() {
+  const st = S.selfTest(600);
+  const ws = (function () {
+    let lo = [1e9, 1e9, 1e9], hi = [-1e9, -1e9, -1e9], rmax = 0;
+    for (let k = 0; k < 120000; k++) {
+      const q = [];
+      for (let i = 0; i < 5; i++) { const t = LIM[ORDER[i]]; q.push(t.lo + Math.random() * (t.hi - t.lo)); }
+      q.push(0);
+      const p = S.fk(q, 0);
+      for (let i = 0; i < 3; i++) { lo[i] = Math.min(lo[i], p[i]); hi[i] = Math.max(hi[i], p[i]); }
+      rmax = Math.max(rmax, Math.hypot(p[1] - S.K.Y0, p[2] - S.K.Z1));
+    }
+    return { lo: lo, hi: hi, rmax: rmax };
+  })();
+  $('ikChk').innerHTML =
+    '<i>结构前提</i><span class="' + (st.structWarn.length ? 'bad' : 'good') + '">' +
+      (st.structWarn.length ? st.structWarn.join('；') : '自洽 ✓') + '</span>' +
+    '<i>FK 校验</i><span class="good">' + st.maxFkErr.toExponential(1) + ' mm</span>' +
+    '<i>IK 校验</i><span class="good">' + st.ikHit + '/' + st.ikTried + ' · ' + st.maxIkErr.toExponential(1) + ' mm</span>' +
+    '<i>TCP 法兰面</i><span>(' + TCP0.map(v => v.toFixed(1)).join(', ') + ')</span>' +
+    '<i>*运动学可达</i><span>限位内 12 万随机位形，未计自碰撞</span>' +
+    '<i>可达 x*</i><span>' + ws.lo[0].toFixed(0) + '…' + ws.hi[0].toFixed(0) +
+      ' mm（前伸 ' + ws.hi[0].toFixed(0) + '）</span>' +
+    '<i>可达 y*</i><span>' + ws.lo[1].toFixed(0) + '…' + ws.hi[1].toFixed(0) + ' mm</span>' +
+    '<i>可达 z*</i><span>' + ws.lo[2].toFixed(0) + '…' + ws.hi[2].toFixed(0) + ' mm</span>' +
+    '<i>离 J1 轴*</i><span class="good">最远 ' + ws.rmax.toFixed(0) + ' mm</span>';
+  /* 打包自检：确认所有依赖都在本文件内（便于单文件分发，防止被拆开后才出问题） */
+  const ext = document.querySelectorAll(
+    'script[src],link[href],img[src],iframe[src],source[src],embed[src],object[data],use[href]').length;
+  const nSheet = (typeof SHEETS !== 'undefined' && SHEETS) ? String(SHEETS).split('<svg').length - 1 : 0;
+  const ok = (t) => '<span class="' + (t ? 'good' : 'bad') + '">';
+  const nScript = document.querySelectorAll('script:not([src])').length;
+  $('ikDep').innerHTML =
+    '<i>打包方式</i><span class="good">单文件自包含，可直接拷走</span>' +
+    '<i>three.js</i>' + ok(typeof THREE !== 'undefined') + '已内联 · r' +
+      ((typeof THREE !== 'undefined' && THREE.REVISION) || '?') + '</span>' +
+    '<i>几何数据</i>' + ok(typeof DATA !== 'undefined') + '已内联 · ' + DATA.parts.length + ' 件零件</span>' +
+    '<i>关节 / 限位</i>' + ok(typeof JO !== 'undefined' && typeof TRAVEL !== 'undefined') +
+      '已内联 · ' + JO.length + ' 轴 / ' + TRAVEL.length + ' 条限位</span>' +
+    '<i>二维图纸</i>' + ok(nSheet > 0) + '已内联 · ' + nSheet + ' 张 SVG</span>' +
+    '<i>IK 求解器</i>' + ok(typeof ArmIK !== 'undefined') + '已内联（纯 JS，无依赖）</span>' +
+    '<i>内联脚本</i><span>' + nScript + ' 个（三维引擎 / 模型数据 / 求解器 / 界面）</span>' +
+    '<i>外部引用</i>' + ok(ext === 0) +
+      (ext === 0 ? '0 个（script/link/img/iframe 等全类型已查）' : ext + ' 个 —— 已破坏自包含！') + '</span>';
+
+  syncInputs(); refreshTarget();
+  const q = new URLSearchParams(location.search);
+  const hasJ = ['j1', 'j2', 'j3', 'j4', 'j5', 'j6'].some(k => q.has(k));
+  const v0 = q.get('view');
+  if ((v0 === 'motion' || v0 === 'sheet') && document.querySelector('.tab[data-view="' + v0 + '"]')) {
+    document.querySelector('.tab[data-view="' + v0 + '"]').click();
+  } else setView('model', hasJ);
+}
+boot();
+
+window.IK = { solver: S, setTarget: p => { TGT = p.slice(); syncInputs(); refreshTarget(); },
+              getTarget: () => TGT.slice(), run: runSolve, TCP0: TCP0, LIM: LIM,
+              setView: setView, getView: () => VIEW };
+})();