tick(): void {
    const angle: f32 = this.angle;

    const cos: f32 = Mathf.cos(angle);
    const sin: f32 = Mathf.sin(angle);

    const rotX: f32[][] = [
        [    1,    0,     0],
        [    0,  cos,  -sin],
        [    0,  sin,   cos]
    ];
    const rotY: f32[][] = [
        [  cos,    0,  -sin],
        [    0,    1,     0],
        [  sin,    0,   cos]
    ];
    const rotZ: f32[][] = [
        [  cos, -sin,     0],
        [  sin,  cos,     0],
        [    0,    0,     1]
    ];

export declare function draw_line(
    x0: i32, y0: i32, x1: i32, y1: i32, color: i32): void;

connect(i: u32, j: u32, k: u32[][], color: c3dev.COLOR): void {
    const a = k[i];
    const b = k[j];
    c3dev.draw_line(a[0], a[1], b[0], b[1], color);
}

  (import "c3dev" "draw_line" (func (;0;) (type 8)))
...snip...
  (export "init" (func 12))
  (export "tick" (func 19))
  (export "__new" (func 6))
  (export "__pin" (func 20))
  (export "__unpin" (func 21))
  (export "__collect" (func 22))

asc src/main.ts
  -o ../../resources/wasm/3dcube.wasm
  -t build/3dcube.wat
  -b build/3dcube.d.ts
  --runtime minimal
  --exportRuntime
  --lowMemoryLimit 32767
  --use Math=NativeMathf
  --use abort=
  -O3
  --optimize

--runtime Specifies the runtime variant to include in the program.
incremental  TLSF + incremental GC (default)
minimal      TLSF + lightweight GC invoked externally
stub         Minimal runtime stub (never frees)

# wasm-micro-runtime settings
list(APPEND EXTRA_COMPONENT_DIRS "components/wasm/wasm-micro-runtime/build-scripts/esp-idf")
set(WAMR_BUILD_INTERP 1)
set(WAMR_BUILD_FAST_INTERP 1)
set(WAMR_BUILD_AOT 0)
set(WAMR_BUILD_LIBC_BUILTIN 1)
set(WAMR_BUILD_APP_FRAMEWORK 0)

idf_component_register(
    INCLUDE_DIRS ${INCLUDEDIRS}
    SRCS ${SRCS}
    REQUIRES arduino-esp32 lcd wamr #←追加
)

// Initialize.
ESP_LOGI(TAG, "WAMR Initialize...");
wasm_engine_t* engine = wasm_engine_new();
wasm_store_t* store = wasm_store_new(engine);

// Load binary.
ESP_LOGI(TAG, "Load Wasm binary...");
SPIFFS_WASM.begin(false, "/wasm", 4, "wasm");
File wasm_file = SPIFFS_WASM.open("/3dcube.wasm", "rb");
size_t file_size = wasm_file.size();
ESP_LOGI(TAG, ".wasm size: %d", file_size);
// load wasm binary
wasm_byte_vec_t binary;
wasm_byte_vec_new_uninitialized(&binary, file_size);
if(wasm_file.read((uint8_t *)binary.data, file_size) != file_size) {
    ESP_LOGE(TAG, "Error loading module!");
    return NULL;
}
// close file
wasm_file.close();
SPIFFS_WASM.end();

// Validate.
ESP_LOGI(TAG, "Validating module...");
if (!wasm_module_validate(store, &binary)) {
    ESP_LOGE(TAG, "Error validating module!");
    return NULL;
}

// Compile.
ESP_LOGI(TAG, "Compiling module...");
own wasm_module_t* module = wasm_module_new(store, &binary);
if (!module) {
    ESP_LOGE(TAG, "Error compiling module!");
    return NULL;
}

// Create external functions.
ESP_LOGI(TAG, "Creating callback...");
// (import "c3dev" "draw_line" (func (;1;) (type 8)))   draw_line_type
own wasm_functype_t* draw_line_type = wasm_functype_new_5_0(
    wasm_valtype_new_i32(),
    wasm_valtype_new_i32(),
    wasm_valtype_new_i32(),
    wasm_valtype_new_i32(),
    wasm_valtype_new_i32()
);
own wasm_func_t* draw_line_func = wasm_func_new(store, draw_line_type, draw_line_callback);
wasm_functype_delete(draw_line_type);

/**
 * draw_line_callback (A function to be called from Wasm code)
 */
own wasm_trap_t* draw_line_callback(
    const wasm_val_vec_t* args, wasm_val_vec_t* results
) {
    tft.drawLine(
        args->data[0].of.i32,
        args->data[1].of.i32,
        args->data[2].of.i32,
        args->data[3].of.i32,
        args->data[4].of.i32
    );
    return NULL;
}

// (export "init" (func 14))        init_func
// (export "tick" (func 21))        tick_func
// (export "__new" (func 8))        -
// (export "__pin" (func 22))       -
// (export "__unpin" (func 23))     -
// (export "__collect" (func 24))   collect_func
const wasm_func_t* init_func = wasm_extern_as_func(exports.data[0]);
if(init_func == NULL) {
    ESP_LOGE(TAG, "Error accessing export!");
    return NULL;
}
const wasm_func_t* tick_func = wasm_extern_as_func(exports.data[1]);
if(tick_func == NULL) {
    ESP_LOGE(TAG, "Error accessing export!");
    return NULL;
}
const wasm_func_t* collect_func = wasm_extern_as_func(exports.data[5]);
if(collect_func == NULL) {
    ESP_LOGE(TAG, "Error accessing export!");
    return NULL;
}

ESP_LOGI(TAG, "Calling export...");
wasm_val_t as[2] = { WASM_I32_VAL(160), WASM_I32_VAL(128) };
wasm_val_vec_t args = WASM_ARRAY_VEC(as);
wasm_val_vec_t results = WASM_EMPTY_VEC;
// init
if (wasm_func_call(init_func, &args, &results)) {
    ESP_LOGE(TAG, "Error calling function!");
    return NULL;
}

// loop 10000 frame
wasm_val_vec_t args_empty = WASM_EMPTY_VEC;
wasm_val_vec_t results_empty = WASM_EMPTY_VEC;
for(size_t i = 0 ; i < 10000; i++) {
    // tick
    if(wasm_func_call(tick_func, &args_empty, &results_empty)) {
        ESP_LOGE(TAG, "Error calling function!");
        return NULL;
    }
    // GC for AssemblyScript
    if(wasm_func_call(collect_func, &args_empty, &results_empty)) {
        ESP_LOGE(TAG, "Error calling function!");
        return NULL;
    }
    delay(1); // for watch dog timer
}

I (307) main.cpp: heap_caps_get_free_size: 320940
I (1670) main.cpp: heap_caps_get_free_size: 176924