Make MATLAB verification suite merge-ready - #217
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All five fixes were found by comparing the solvers against the MATLAB reference data in PMKS-Web/PMKS_Verification (tests added separately): - ForceSolver added a parallel-axis m*d^2 term (d measured from the link CoM to an arbitrary loop joint) to the moment-of-inertia while taking moments about the CoM, skewing every dynamic force/torque result. The inertial term about the CoM is J*alpha alone. - circleCircleIntersection rejected internally tangent circles, which arise whenever a joint is collinear with the two joints it is solved from (e.g. a tracer point on a straight ternary link). Positions are rounded every timestep, so exact tangency degraded into "no intersection" and invalidated the whole mechanism. - PositionSolver never marked slider-connected joints as known and never recursed past them, so a tracer point on the slider's coupler link could not be ordered and the mechanism was rejected. - KinematicsSolver looked up a piston's revolute joint by object identity in the per-timestep joint arrays, which hold copies; the index came back -1 and slider analysis crashed. It also never reset its cached input-joint index, leaking state between mechanisms. - The joint -> coord -> settings -> utils -> joint import cycle broke class initialization when the model modules were entered from a second test entry point. The unit enums now live in their own module (re-exported from utils.ts) and joint.ts's Link import is type-only. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Six mechanism configurations from PMKS-Web/PMKS_Verification (four-bar with tracer points, two crank-sliders, two Stephenson III six-bars, and a rocking Watt I six-bar with an external load) are rebuilt from the model classes and every solver output is compared against the MATLAB reference traces: joint/CoM positions, velocities, accelerations, angular kinematics, joint reaction forces, slider normal force, and input torque, across all ~360 one-degree timesteps of each mechanism. - src/test-data/verification: generated reference series (see README for provenance and scripts/generate-verification-data.mjs to regenerate). - src/test-utils/verification: fixture builder (model objects wired the way the app wires them, incl. sliders and global-frame link loads), a crank-angle row aligner that tolerates the solvers detecting toggle points a step apart, and amplitude-relative series comparators. - src/tests/verification: one spec per mechanism plus structural tests (DOF gate, loop coverage, input-speed scaling, URL transcoder round-trips). Defects in the MATLAB reference data are excluded series-by-series with comments citing the offending MATLAB line; PMKS+'s values were hand-verified for each exclusion. A test.fails documents the known LoopSolver gap on Stephenson III Example 1. The old SixbarService spec now resets KinematicsSolver's static caches before solving, since other spec files share the worker. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Overview
This PR turns the verification-tests work into a merge-ready package: five MATLAB-verified test cases (two teaching-lab mechanisms, a slider-crank with tracer, Stephenson III Ex. 2, Watt I) with ~143k lines of committed generated reference data, a provenance-enforcing generator script, reusable comparison/fixture/suite utilities, a pinned Node 24 CI workflow, and several real production solver fixes that the suite exposed:
mechanism.ts: timestep snapshots now deep-copy joints/links/forces with full physical state. Previously timestep-0 links were shared live references and timesteps > 0 gotnew RealLink(l.id, connectedJoints)with default mass = 1, MoI = 1 and a recomputed geometric-center CoM, so any dynamic analysis past step 0 used wrong mass properties. This is a genuine correctness fix, not just test plumbing.force-solver.ts: removes the spurious parallel-axis term (J + m·d²about the loop's first joint) from the moment equation, which is taken about the CoM. This changes every dynamic force/torque result the app reports.kinematic-solver.ts: fixes identity-basedindexOfagainst per-timestep joint copies (returned −1) by matching on id, and resets previously-leaking static state (inputJointIndex,desiredAngleMap).position-solver.ts: solved slider joints now propagate solve order, so tracer points on a slider's link resolve.joint.ts/unit-enums.ts: breaks the joint→link→joint runtime import cycle with a type-only import, and extracts unit enums so SettingsService avoids the cycle throughutils.ts— with a dedicated regression spec for import order.Verification
npm test -- --watch=false— 89 tests passednpm run buildgit diff --checkThe browser run also reproduced two existing UI defects on unchanged
main: the legacy force-example URL crashes Chrome while decoding, and link right-click detection relies on a minified constructor name. Neither is introduced by this PR.Deliberate scope and gaps
Reference provenance
932951a5316b16bfa41b937b04592c974143c4bb644b26c75b07182ce04dc6466cfec74ee4130c93