C内核按库功能拆解，编译结果缓存区构建，编译过程与已有缓存结果对照功能实现

native/components/modules/mechanics.c

@@ -0,0 +1,27 @@
+#include "kernels.h"
+#include <math.h>
+
+double native_contact(double penetration, double velocity, double stiffness,
+                      double damping, double pdis, int signed_force) {
+    if (penetration <= 0) return 0;
+    double fraction = pdis > 0 ? -expm1(-penetration / pdis) : 1;
+    double force = stiffness * penetration + fraction * damping * velocity;
+    return signed_force == 1 ? force : fmax(force, 0);
+}
+
+void native_stop_motion(double x, double v, double lower, double upper,
+                        double *acceleration, double *velocity) {
+    double vt = 1e-12 * fmax(fabs(v), 1);
+    if ((x <= lower + 1e-12*fmax(fabs(lower),1) && v <= vt && *acceleration <= 0) ||
+        (x >= upper - 1e-12*fmax(fabs(upper),1) && v >= -vt && *acceleration >= 0)) {
+        *acceleration = 0;
+        *velocity = 0;
+    }
+}
+
+double native_limit_force(double penetration, double velocity, double stiffness,
+                          double damping, double depth, int signed_force) {
+    if(penetration<=0) return 0;
+    double force=stiffness*penetration+(depth>0?fmin(penetration/depth,1):1)*damping*velocity;
+    return signed_force==1?force:fmax(force,0);
+}