/* ============================================================================
 *  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];
/* 参考位姿连续项权重：以当前手臂姿态为参考解算，目标微动时锁定同族分支，
   避免某轴在等价分支间大幅倒摆（实测 4mm 步长过边界最多跳 81.9° -> 1.2°） */
const REF_W = 0.02;
const curRef = () => ORDER.map(id => ang[id]);

/* ---------- 1b. 姿态控制状态 ---------- */
let poseOn = false;
const POSE = { az: 0, el: 90, roll: 0 };        // 目标姿态：工具轴方位角 / 仰角 + 绕轴滚转（度）
const Rdes = () => ArmIK.poseMat(POSE.az, POSE.el, POSE.roll);
const syncPoseInputs = () => {
  $('ikAz').value = (+POSE.az).toFixed(1);
  $('ikEl').value = (+POSE.el).toFixed(1);
  $('ikRoll').value = (+POSE.roll).toFixed(1);
};
const fillPoseFromCurrent = () => {              // 用当前真实工具姿态回填（开启时避免姿态跳变）
  const a = ArmIK.poseAng(Uof(ORDER.map(id => ang[id])));
  POSE.az = a.az; POSE.el = a.el; POSE.roll = a.roll;
  syncPoseInputs();
};
const CAD2V = v => [v[0], v[2], -v[1]];         // CAD 向量 → 查看器坐标（与查看器 VC 一致）
const V2CAD = v => [v[0], -v[2], v[1]];         // 查看器坐标 → CAD 向量（CAD2V 的逆）
/* 用户姿态 ↔ 求解器姿态的换算：求解器内部工具坐标系 z 轴取法兰面法向（朝臂内，
   即 TCP 外伸的反向），而界面上的方位/仰角/滚转与箭头都以「工具朝外方向」描述。
   两者相差绕工具 x 轴 180°（x 不变、y/z 取反），入栈/出栈各翻一次即可。 */
const RX180 = [1, 0, 0, 0, -1, 0, 0, 0, -1];
const mul3g = (A, B) => {
  const C = new Array(9);
  for (let i = 0; i < 3; i++) for (let j = 0; j < 3; j++)
    C[i * 3 + j] = A[i * 3] * B[j] + A[i * 3 + 1] * B[3 + j] + A[i * 3 + 2] * B[6 + j];
  return C;
};
const Rsolver = () => mul3g(Rdes(), RX180);      // 交给求解器/场景校验（列 2 = 朝臂内）
const Uof = q => mul3g(S.orient(q), RX180);      // 手臂当前姿态 → 用户系（列 2 = 朝臂外）

/* ---------- 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);

/* 当前工具轴线：TCP 球沿真实工具轴伸出（绿），与目标箭头对照看姿态差 */
const curGeo = new THREE.BufferGeometry();
curGeo.setAttribute('position', new THREE.BufferAttribute(new Float32Array(6), 3));
const curLine = new THREE.Line(curGeo,
  new THREE.LineBasicMaterial({ color: 0x3ddc97, transparent: true, opacity: .95 }));
scene.add(curLine);

/* 姿态拖动箭头（挂目标球组，随目标移动）：
   拖箭头头部 = 调工具轴指向（方位/俯仰，弧球式）；拖箭杆/捏环/粉色侧球 = 绕轴滚转。
   轴向为本地 +Z：杆/锥几何预旋到 +Z，gArrow 再用四元数对准目标工具轴。
   侧球挂在目标点上、沿工具 x 轴侧向偏移——箭头正对镜头时杆身投影缩成一团，
   侧球始终在侧向，任何视角都抓得到。 */
const AXLEN = 150, HEADL = 26, HEADZ = AXLEN - HEADL / 2, GRIPZ = (AXLEN - HEADL) / 2, KNOBOFF = 0.72 * AXLEN;
const gArrow = new THREE.Group(); gTgt.add(gArrow);
const knob = new THREE.Mesh(new THREE.SphereGeometry(9, 18, 12),
  new THREE.MeshStandardMaterial({ color: 0xff8fb0, emissive: 0x5c1f38, metalness: .2, roughness: .4,
    transparent: true, opacity: .8 }));
knob.userData.role = 'roll';
gTgt.add(knob);
const arrowShaft = (function () {
  const g = new THREE.CylinderGeometry(3.0, 3.0, AXLEN - HEADL, 12);
  g.rotateX(Math.PI / 2);                                      // 圆柱默认轴向 Y → +Z
  const m = new THREE.Mesh(g,
    new THREE.MeshStandardMaterial({ color: 0xffb454, emissive: 0x6b4a10, metalness: .2, roughness: .4 }));
  m.position.z = (AXLEN - HEADL) / 2;
  m.userData.role = 'roll';                                    // 抓杆身 = 滚转
  return m;
})();
const arrowRing = (function () {
  const m = new THREE.Mesh(new THREE.TorusGeometry(10, 2.8, 10, 40),
    new THREE.MeshStandardMaterial({ color: 0xff8fb0, emissive: 0x5c1f38, metalness: .2, roughness: .4 }));
  m.rotation.x = Math.PI / 2;                                  // 环面垂直于轴
  m.position.z = GRIPZ;
  m.userData.role = 'roll';
  return m;
})();
const arrowHead = (function () {
  const g = new THREE.ConeGeometry(7.5, HEADL, 18);
  g.rotateX(Math.PI / 2);
  const m = new THREE.Mesh(g,
    new THREE.MeshStandardMaterial({ color: 0xffd166, emissive: 0x7a5a10, metalness: .2, roughness: .35 }));
  m.position.z = HEADZ;
  m.userData.role = 'head';
  return m;
})();
gArrow.add(arrowShaft, arrowRing, arrowHead);
const axisViewer = () => {                       // 目标工具轴在查看器系的方向（单位）
  const R = Rdes(), v = CAD2V([R[2], R[5], R[8]]);         // 行主序：列 2 = 工具轴（朝臂外）
  return new THREE.Vector3(v[0], v[1], v[2]).normalize();
};
/* 姿态把手拾取返回 'axis' | 'roll' | null（同时不抢黄球的位置拖动）：
   · 箭头头与侧球都做「屏幕就近」检测，谁近听谁的（箭头正对镜头时两者投影会靠近）；
   · 都够近时黄球优先交回位置拖动；再往后才是箭杆/捏环/箭头锥体的几何射线。 */
const knobScreen = () => {
  const p = knob.getWorldPosition(new THREE.Vector3()).project(cam);
  const r = cv.getBoundingClientRect();
  return { x: (p.x * .5 + .5) * r.width, y: (-p.y * .5 + .5) * r.height };
};
function pickPoseHandle(e) {
  const pt = projTgt();
  const db = Math.hypot(e.offsetX - pt.x, e.offsetY - pt.y);
  const hp = projArrow(HEADZ);
  const dh = Math.hypot(e.offsetX - hp.x, e.offsetY - hp.y);
  const kp = knobScreen();
  const dk = Math.hypot(e.offsetX - kp.x, e.offsetY - kp.y);
  if (dh < 22 && (dk >= 26 || dh <= dk) && dh <= db) return 'axis';
  if (dk < 26 && dk <= db) return 'roll';
  if (db < 26) return null;                        // 黄球抓取区：交回位置拖动
  ray2.setFromCamera(ndc2(e), cam);
  for (const h of ray2.intersectObjects([arrowShaft, arrowRing, arrowHead, knob], false)) {
    const r = h.object.userData.role;
    if (r === 'head') return 'axis';
    if (r === 'roll') return 'roll';
  }
  return null;
}

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);
  /* 目标箭头（指向工具轴）与当前工具轴线（绿，对照看姿态差） */
  gArrow.visible = poseOn && VIEW === 'motion';
  if (poseOn) {
    const R = Rdes();
    gArrow.quaternion.setFromUnitVectors(new THREE.Vector3(0, 0, 1), axisViewer());
    const xv = CAD2V([R[0], R[3], R[6]]);       // 行主序：列 0 = 工具 x 轴；侧球沿它侧偏，始终离开箭头
    knob.position.set(xv[0] * KNOBOFF, xv[1] * KNOBOFF, xv[2] * KNOBOFF);
  }
  knob.visible = poseOn && VIEW === 'motion';
  const Rcur = S.orient(ORDER.map(id => ang[id]));
  const avc = CAD2V([Rcur[2], Rcur[5], Rcur[8]]);          // 求解器列 2 = 法兰法向（朝臂内），取反为外伸方向
  const av = [-avc[0], -avc[1], -avc[2]];
  const ca = curGeo.attributes.position;
  ca.array[0] = w.x; ca.array[1] = w.y; ca.array[2] = w.z;
  ca.array[3] = w.x + av[0] * 60; ca.array[4] = w.y + av[1] * 60; ca.array[5] = w.z + av[2] * 60;
  ca.needsUpdate = true;
  curLine.visible = VIEW === 'motion';
  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');
/* 场景图矩阵链复算姿态偏差（度）：
   · 场景侧：直接取 J6 组世界旋转作用在工具 x/z 轴上的方向（transformDirection，
     免去列主序手工换算），正交化后组装成查看器系旋转 Rs；
   · 目标侧：CAD 系旋转 Rtar 经坐标旋转 Rv（CAD→查看器）共轭到查看器系
     R_viewer = Rv·R_cad·Rvᵀ（单边变换列向量不够——基变了整个旋转都要转）。 */
const RV3 = [1, 0, 0, 0, 0, 1, 0, -1, 0];            // CAD→查看器 3×3（行主序）
const RV3T = [1, 0, 0, 0, 0, -1, 0, 1, 0];           // 转置
function sceneOrientErr(q, Rtar) {
  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 M = JG.J6.matrixWorld;
  const zs = new THREE.Vector3(0, 0, 1).transformDirection(M);
  let xs = new THREE.Vector3(1, 0, 0).transformDirection(M);
  xs.sub(zs.clone().multiplyScalar(xs.dot(zs))).normalize();      // 正交化（防场景缩放引入的分量）
  const ys = new THREE.Vector3().crossVectors(zs, xs);
  const Rs = [xs.x, ys.x, zs.x, xs.y, ys.y, zs.y, xs.z, ys.z, zs.z];       // 列 = 工具 x/y/z（查看器系）
  const Rt = [];                                                          // 目标：共轭到查看器系
  for (let i = 0; i < 3; i++) for (let j = 0; j < 3; j++) {
    let s = 0;
    for (let k = 0; k < 3; k++) s += RV3[i * 3 + k] * Rtar[k * 3 + j];
    Rt.push(s);
  }
  const Rt2 = [];
  for (let i = 0; i < 3; i++) for (let j = 0; j < 3; j++) {
    let s = 0;
    for (let k = 0; k < 3; k++) s += Rt[i * 3 + k] * RV3T[k * 3 + j];
    Rt2.push(s);
  }
  for (let i = 0; i < 6; i++) { ang[ORDER[i]] = save[i]; applyJoint(ORDER[i]); }
  return ArmIK.rotErrDeg(Rs, Rt2);
}
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 = poseOn
      ? '姿态控制开启：θ6 为绕工具轴的滚转角，由目标姿态（方位/仰角/滚转）解算'
      : '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 dori = res.oerr != null ? res.oerr : 0;
  let doriSc = 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);
    if (poseOn) doriSc = sceneOrientErr(q, Rsolver());
    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);
  const pa = poseOn ? ArmIK.poseAng(Uof(q)) : null;
  $('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>' +
    (poseOn ? '<i>目标姿态</i><span>方位 ' + POSE.az.toFixed(1) + '\u00B0 · 仰角 ' + POSE.el.toFixed(1) +
      '\u00B0 · 滚转 ' + POSE.roll.toFixed(1) + '\u00B0</span>' : '') +
    (poseOn ? '<i>实际姿态</i><span>' + pa.az.toFixed(1) + '\u00B0 · ' + pa.el.toFixed(1) +
      '\u00B0 · ' + pa.roll.toFixed(1) + '\u00B0</span>' : '') +
    (poseOn ? '<i>姿态残差 闭式/场景图</i><span class="' + (dori < .05 && doriSc < .1 ? 'good' : 'bad') + '">' +
      dori.toFixed(3) + '\u00B0 / ' + doriSc.toFixed(3) + '\u00B0</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>' : '') +
    (poseOn && res.resid != null && res.oerr != null
      ? '<i>姿态偏差</i><span class="bad">' + res.oerr.toFixed(2) + '\u00B0</span>' : '');
  const oriOk = !poseOn || (dori < 0.05 && doriSc < 0.1);
  /* 以残差判到达：阻尼最小二乘兜底也可能精确到达（扫描漏掉的奇异刀尖解），不能只看 reachable */
  const posOk = dsc < .05;
  badge.textContent = (posOk && oriOk) ? '已到达'
    : (posOk && poseOn && dori > 0.05 ? '位置到达·姿态残差 ' + dori.toFixed(2) + '\u00B0' : '不可达·最近位姿');
  badge.className = 'badge ' + ((posOk && oriOk) ? 'goodb'
    : (posOk ? '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>' +
    (poseOn ? '<span class="sep">|</span>\u59FF\u6001\u6B8B\u5DEE <span class="' +
      (dori < .05 && doriSc < .1 ? 'good' : 'bad') + '">' + dori.toFixed(3) + '\u00B0</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, ref: curRef(), refW: REF_W };
    if (poseOn) opt.pose = { R: Rsolver() };
    const res = S.solveTo(TGT, opt);
    renderResult(res, res.reachable
      ? (poseOn ? '闭式全域扫描 · 位置+姿态联合 · 冗余维精确覆盖' : '闭式全域扫描 · 冗余维精确覆盖')
      : (poseOn ? '超可达位姿空间 → 阻尼最小二乘最近位姿（位置 mm + 姿态联合）'
               : '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 = +$('ikTool').value || 0;
    const opt = { tool: lastTool, step: +$('ikStep').value || 0.25, ref: curRef(), refW: REF_W };
    if (poseOn) opt.pose = { R: Rsolver() };
    const res = S.solveTo(TGT, opt);
    renderResult(res, res.reachable
      ? (poseOn ? '实时追踪 · 闭式全域扫描 · 位置+姿态联合 · 冗余维精确覆盖'
               : '实时追踪 · 闭式全域扫描 · 冗余维精确覆盖')
      : (poseOn ? '实时追踪 · 超可达位姿空间（阻尼最小二乘最近位姿）'
               : '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：拖黄球/箭头即算即动，手臂跟着走（松手精修）'
                  : '拖黄球 = 移动目标（Shift 仅上下）；拖箭头 = 调工具轴指向；拖箭杆或粉球 = 滚转；松手自动求解'))
    + (poseOn ? ' · 姿态控制中：箭头/粉球已激活，数字框可精确微调' : ' · 开「姿态控制」后出现可拖箭头');
}
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 };
}
/* 箭头头部 / 滚转圆环的世界坐标 → 屏幕（用于命中判定） */
function projArrow(localZ) {
  const p = new THREE.Vector3(0, 0, localZ).applyMatrix4(gArrow.matrixWorld).project(cam);
  const r = cv.getBoundingClientRect();
  return { x: (p.x * .5 + .5) * r.width, y: (-p.y * .5 + .5) * r.height };
}
const ndc2 = e => {
  const r = cv.getBoundingClientRect();
  return new THREE.Vector2(((e.clientX - r.left) / r.width) * 2 - 1,
    -((e.clientY - r.top) / r.height) * 2 + 1);
};
/* 指针在「目标处、垂直于工具轴的平面」上绕轴的转角（度）：滚转把手拖动用 */
function rollAngleAt(e) {
  const n = axisViewer();
  const pl = new THREE.Plane().setFromNormalAndCoplanarPoint(n, gTgt.position);
  const hit = new THREE.Vector3();
  ray2.setFromCamera(ndc2(e), cam);                    // 该版本 setFromCamera 不返回 this，勿链式
  if (!ray2.ray.intersectPlane(pl, hit)) return 0;
  const v = hit.sub(gTgt.position);
  const up = Math.abs(n.y) > 0.9 ? new THREE.Vector3(1, 0, 0) : new THREE.Vector3(0, 1, 0);
  const u = new THREE.Vector3().crossVectors(n, up).normalize();
  const w = new THREE.Vector3().crossVectors(n, u);
  return Math.atan2(v.dot(w), v.dot(u)) * 180 / Math.PI;
}
/* 弧球式瞄准：指针射线与「以目标为球心、半径 = 箭长」的球求交，方向 = 交点 − 球心 */
function aimAxis(e) {
  ray2.setFromCamera(ndc2(e), cam);
  const o = ray2.ray.origin, d = ray2.ray.direction, C = gTgt.position;
  const ox = o.x - C.x, oy = o.y - C.y, oz = o.z - C.z;
  const b = ox * d.x + oy * d.y + oz * d.z;
  const c = ox * ox + oy * oy + oz * oz - AXLEN * AXLEN;
  const disc = b * b - c;
  const t = Math.max(0, disc >= 0 ? -b - Math.sqrt(disc) : -b);   // 未命中取射线上距球心最近点
  const v = new THREE.Vector3(o.x + d.x * t - C.x, o.y + d.y * t - C.y, o.z + d.z * t - C.z);
  if (v.lengthSq() < 1e-6) return;
  v.normalize();
  const vc = V2CAD([v.x, v.y, v.z]);
  POSE.az = Math.atan2(vc[1], vc[0]) * 180 / Math.PI;
  POSE.el = Math.acos(Math.max(-1, Math.min(1, vc[2]))) * 180 / Math.PI;
  syncPoseInputs(); refreshTarget();
}
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();
  const db = Math.hypot(e.offsetX - pt.x, e.offsetY - pt.y);
  if (poseOn) {                                      // 箭头头 / 滚转把手（与黄球就近仲裁，见 pickPoseHandle）
    const part = pickPoseHandle(e);
    if (part === 'axis') { grab = { pose: 'axis' }; dragged = false; camSnap = snapCam(); return; }
    if (part === 'roll') { grab = { pose: 'roll', a0: rollAngleAt(e) }; dragged = false; camSnap = snapCam(); return; }
  }
  if (!(db < 26 || e.shiftKey)) return;
  grab = { sx: e.offsetX, sy: e.offsetY };
  camSnap = snapCam(); dragged = false;
});
cv.addEventListener('pointermove', e => {
  if (!grab || grab.pick) return;
  if (camSnap) putCam(camSnap);                      // 撤销查看器自身的轨道 / 平移
  cam.updateMatrixWorld();                           // 轨道参数已还原，射线/列向量要用新矩阵
  if (grab.pose === 'axis') {                        // 拖箭头头：工具轴指向
    dragged = true;
    aimAxis(e);
    if (mode === 'rt') runSolveLive();
    return;
  }
  if (grab.pose === 'roll') {                        // 拖圆环：绕轴滚转
    dragged = true;
    const a1 = rollAngleAt(e);
    POSE.roll = S.wrap180(POSE.roll + S.wrap180(a1 - grab.a0));
    grab.a0 = a1;
    syncPoseInputs(); refreshTarget();
    if (mode === 'rt') runSolveLive();
    return;
  }
  const dx = e.offsetX - grab.sx, dy = e.offsetY - grab.sy;
  if (Math.abs(dx) + Math.abs(dy) > 2) dragged = true;
  const k = (2 * rd * Math.tan(cam.fov * Math.PI / 360)) / Math.max(1, cv.clientHeight);
  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(); };

/* --- 姿态控制：开关 / 参数 / 快捷 --- */
const poseEls = ['ikAz', 'ikEl', 'ikRoll'].map($);
if ($('ikPose')) $('ikPose').onclick = () => {
  poseOn = !poseOn;
  $('ikPose').classList.toggle('on', poseOn);
  $('ikPoseBox').style.display = poseOn ? 'flex' : 'none';
  if (poseOn) fillPoseFromCurrent();            // 开启即用当前工具姿态，避免求解跳变
  refreshTarget();
  setMode(mode);
  runSolve();
};
poseEls.forEach((el, i) => {
  if (!el) return;
  el.addEventListener('change', () => {
    POSE.az = +$('ikAz').value || 0;
    POSE.el = Math.max(0, Math.min(180, +$('ikEl').value || 0));
    POSE.roll = +$('ikRoll').value || 0;
    syncPoseInputs();
    if (poseOn) runSolve();
  });
});
if ($('ikPoseCur')) $('ikPoseCur').onclick = () => { fillPoseFromCurrent(); if (poseOn) runSolve(); };
if ($('ikPoseDown')) $('ikPoseDown').onclick = () => {
  POSE.az = 0; POSE.el = 180; POSE.roll = 0; syncPoseInputs(); if (poseOn) 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;
  curLine.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, 6);
  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>' +
    '<i>姿态 IK 校验</i><span class="' + (st.poseHit >= st.poseTried * 0.9 ? 'good' : 'bad') + '">' +
      st.poseHit + '/' + st.poseTried + ' 命中 · 最大 ' + st.poseErr.toExponential(1) +
      '° · ' + st.poseMs.toFixed(0) + ' ms/次</span>' +
    '<i>姿态结构</i><span>J5∩J6 垂直相交于腕心；θ6 为绕工具轴滚转，不影响 TCP 位置</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,
              setPose: (az, el, roll, solve) => {
                POSE.az = +az || 0; POSE.el = Math.max(0, Math.min(180, +el || 0)); POSE.roll = +roll || 0;
                syncPoseInputs(); refreshTarget(); if (solve !== false) runSolve();
              },
              getPose: () => ({ on: poseOn, az: POSE.az, el: POSE.el, roll: POSE.roll }),
              /* 可拖控点的屏幕坐标（画布内像素）：黄球 / 箭头头 / 滚转侧球 */
              pickPts: () => poseOn ? { ball: projTgt(), head: projArrow(HEADZ), knob: knobScreen() } : null,
              /* 调试：某视口坐标下的把手拾取结果（'axis'/'roll'/null） */
              _pickHandle: (cx, cy) => poseOn ? pickPoseHandle({ clientX: cx, clientY: cy,
                offsetX: cx - cv.getBoundingClientRect().left, offsetY: cy - cv.getBoundingClientRect().top }) : null };
})();