@code3d/core 0.0.1-alpha.0 → 0.0.1-alpha.2

package/bld/library/bound-solver.js

@@ -1,252 +0,0 @@
-import { addVectors, composeTransforms, identityRigidTransform, invertTransform, negateVector, origin, rotateVector, rotation, transformsAreEquivalent, } from './spatial.js';
-const axes = [
-    [1, 0, 0],
-    [0, 1, 0],
-    [0, 0, 1],
-];
-const dot = (a, b) => a.reduce((sum, x, i) => sum + x * b[i], 0);
-const scale = (v, s) => [v[0] * s, v[1] * s, v[2] * s];
-/** A rotation about a positioned, directed line. Angles are in degrees. */
-export function axisRotation(axis, angle) {
-    const direction = rotateVector([0, 1, 0], axis.quaternion);
-    const half = (angle * Math.PI) / 360;
-    const q = [...scale(direction, Math.sin(half)), Math.cos(half)];
-    return {
-        quaternion: q,
-        position: addVectors(axis.position, negateVector(rotateVector(axis.position, q))),
-    };
-}
-/** Explicit rotations determine orientation; contacts solve translations only. */
-export function solveBodies(bodies) {
-    const seeds = new Map();
-    const visiting = new Set();
-    const seed = (index) => {
-        const known = seeds.get(index);
-        if (known)
-            return known;
-        if (visiting.has(index))
-            throw new Error('Cyclic external rotation axes cannot determine an authored orientation.');
-        visiting.add(index);
-        const candidates = bodies[index].relations
-            .filter(r => r.rotations.length)
-            .map(relation => {
-            let pose = identityRigidTransform;
-            for (const action of relation.rotations) {
-                pose =
-                    'local' in action
-                        ? composeTransforms(pose, action.local)
-                        : composeTransforms(axisRotation(composeTransforms(seed(action.body), action.axis), action.angle), pose);
-            }
-            return pose;
-        });
-        const pose = candidates[0] ?? identityRigidTransform;
-        if (candidates.some(candidate => !transformsAreEquivalent(rotation(candidate.quaternion), rotation(pose.quaternion)))) {
-            throw new Error(`Conflicting explicit rotations for ${bodies[index].name}.`);
-        }
-        visiting.delete(index);
-        seeds.set(index, pose);
-        return pose;
-    };
-    bodies.forEach((_, index) => seed(index));
-    const variables = bodies.flatMap((body, index) => body.relations.length ? [index] : []);
-    const dimension = variables.length * 3;
-    const positioned = new Map();
-    const positionBody = (index) => {
-        const known = positioned.get(index);
-        if (known)
-            return known;
-        let pose = {
-            quaternion: identityRigidTransform.quaternion,
-            position: {
-                constant: origin,
-                columns: variables.flatMap(body => axes.map(axis => (body === index ? axis : origin))),
-            },
-        };
-        const actions = bodies[index].relations.find(relation => relation.rotations.length)
-            ?.rotations ?? [];
-        for (const action of actions) {
-            if ('local' in action) {
-                pose = {
-                    position: shiftPoint(pose.position, rotateVector(action.local.position, pose.quaternion)),
-                    quaternion: composeTransforms(rotation(pose.quaternion), rotation(action.local.quaternion)).quaternion,
-                };
-            }
-            else {
-                const axisPose = positionBody(action.body);
-                const axis = composeTransforms(rotation(axisPose.quaternion), action.axis);
-                const q = axisRotation(axis, action.angle).quaternion;
-                const axisPoint = shiftPoint(axisPose.position, axis.position);
-                const rotatedAxis = rotatePoint(axisPoint, q);
-                pose = {
-                    position: addPoints(rotatePoint(pose.position, q), addPoints(axisPoint, {
-                        constant: negateVector(rotatedAxis.constant),
-                        columns: rotatedAxis.columns.map(negateVector),
-                    })),
-                    quaternion: composeTransforms(rotation(q), rotation(pose.quaternion))
-                        .quaternion,
-                };
-            }
-        }
-        positioned.set(index, pose);
-        return pose;
-    };
-    const poses = bodies.map((_, index) => positionBody(index));
-    const equations = [];
-    const preferences = new Map();
-    bodies.forEach((body, owner) => body.relations.forEach(relation => {
-        // A chain describes contact followed by its explicit rotations. Invert only
-        // this chain; every other relation still sees and constrains the final pose.
-        const baseline = undoRotations(poses[owner], relation.rotations, poses);
-        // All authored contact stages contribute equally to the free-position
-        // choice. Deduplicate identical stages so repeated conditions add no bias.
-        for (let axis = 0; axis < 3; axis++) {
-            const preference = {
-                id: relation.id,
-                coefficients: baseline.position.columns.map(column => column[axis]),
-                value: -baseline.position.constant[axis],
-            };
-            preferences.set(JSON.stringify([preference.coefficients, preference.value]), preference);
-        }
-        const source = relation.source.body === owner ? baseline : poses[relation.source.body];
-        const target = relation.target.body === owner ? baseline : poses[relation.target.body];
-        const targetFrame = composeTransforms(rotation(target.quaternion), relation.target.transform);
-        const inverseFrame = invertTransform(rotation(targetFrame.quaternion));
-        const relativeOrientation = composeTransforms(inverseFrame, rotation(source.quaternion)).quaternion;
-        const bounds = relation.source.bounds(relativeOrientation);
-        const center = [
-            (bounds[0][0] + bounds[1][0]) / 2,
-            bounds[relation.target.facing === 1 ? 0 : 1][1],
-            (bounds[0][2] + bounds[1][2]) / 2,
-        ];
-        const sourcePoint = shiftPoint(source.position, rotateVector(center, targetFrame.quaternion));
-        const targetPoint = shiftPoint(target.position, addVectors(targetFrame.position, rotateVector(relation.offset ?? origin, targetFrame.quaternion)));
-        for (const localAxis of relation.offset ? axes : [axes[1]]) {
-            const normal = rotateVector(localAxis, targetFrame.quaternion);
-            equations.push({
-                id: relation.id,
-                coefficients: sourcePoint.columns.map((column, i) => dot(addVectors(column, negateVector(targetPoint.columns[i])), normal)),
-                value: dot(addVectors(targetPoint.constant, negateVector(sourcePoint.constant)), normal),
-            });
-        }
-    }));
-    const solution = solveTranslations(equations, [...preferences.values()], dimension);
-    return poses.map(pose => ({
-        quaternion: pose.quaternion,
-        position: pose.position.columns.reduce((point, column, i) => addVectors(point, scale(column, solution[i])), pose.position.constant),
-    }));
-}
-function shiftPoint(point, offset) {
-    return { ...point, constant: addVectors(point.constant, offset) };
-}
-function rotatePoint(point, quaternion) {
-    return {
-        constant: rotateVector(point.constant, quaternion),
-        columns: point.columns.map(column => rotateVector(column, quaternion)),
-    };
-}
-function addPoints(left, right) {
-    return {
-        constant: addVectors(left.constant, right.constant),
-        columns: left.columns.map((column, i) => addVectors(column, right.columns[i])),
-    };
-}
-function undoRotations(pose, actions, poses) {
-    for (const action of [...actions].reverse()) {
-        if ('local' in action) {
-            const inverse = invertTransform(action.local);
-            pose = {
-                position: shiftPoint(pose.position, rotateVector(inverse.position, pose.quaternion)),
-                quaternion: composeTransforms(rotation(pose.quaternion), rotation(inverse.quaternion)).quaternion,
-            };
-        }
-        else {
-            const axisPose = poses[action.body];
-            const axis = composeTransforms(rotation(axisPose.quaternion), action.axis);
-            const q = axisRotation(axis, -action.angle).quaternion;
-            const axisPoint = shiftPoint(axisPose.position, axis.position);
-            const rotatedAxis = rotatePoint(axisPoint, q);
-            pose = {
-                position: addPoints(rotatePoint(pose.position, q), addPoints(axisPoint, {
-                    constant: negateVector(rotatedAxis.constant),
-                    columns: rotatedAxis.columns.map(negateVector),
-                })),
-                quaternion: composeTransforms(rotation(q), rotation(pose.quaternion))
-                    .quaternion,
-            };
-        }
-    }
-    return pose;
-}
-/** Solve Ax=b, then minimize contact-stage displacement in its nullspace. */
-function solveTranslations(equations, preferences, dimension) {
-    const basis = [];
-    const magnitude = Math.max(1, ...equations.map(equation => Math.abs(equation.value)));
-    for (const equation of equations) {
-        const row = [...equation.coefficients];
-        let value = equation.value;
-        for (let pass = 0; pass < 2; pass++) {
-            for (const previous of basis) {
-                const projection = row.reduce((sum, x, i) => sum + x * previous.row[i], 0);
-                row.forEach((x, i) => {
-                    row[i] = x - projection * previous.row[i];
-                });
-                value -= projection * previous.value;
-            }
-        }
-        const length = Math.hypot(...row);
-        if (length < 1e-10) {
-            if (Math.abs(value) > 1e-7 * magnitude)
-                throw new Error(`Conflicting bound positions (${equation.id}). on() only translates; adjust the position or an explicit rotation.`);
-        }
-        else
-            basis.push({ row: row.map(x => x / length), value: value / length });
-    }
-    const particular = Array.from({ length: dimension }, (_, i) => basis.reduce((sum, entry) => sum + entry.row[i] * entry.value, 0));
-    const nullspace = [];
-    for (let axis = 0; axis < dimension; axis++) {
-        const vector = Array.from({ length: dimension }, (_, i) => +(axis === i));
-        for (let pass = 0; pass < 2; pass++)
-            for (const row of [...basis.map(entry => entry.row), ...nullspace]) {
-                const projection = vector.reduce((sum, value, i) => sum + value * row[i], 0);
-                vector.forEach((value, i) => {
-                    vector[i] = value - projection * row[i];
-                });
-            }
-        const length = Math.hypot(...vector);
-        if (length > 1e-10)
-            nullspace.push(vector.map(value => value / length));
-    }
-    if (!nullspace.length)
-        return particular;
-    const project = (row, column) => row.reduce((sum, value, i) => sum + value * column[i], 0);
-    const columns = nullspace.map(vector => preferences.map(preference => project(preference.coefficients, vector)));
-    const residual = preferences.map(preference => preference.value - project(preference.coefficients, particular));
-    const orthogonal = [];
-    const upper = columns.map(() => columns.map(() => 0));
-    const rhs = [];
-    columns.forEach((column, index) => {
-        const vector = [...column];
-        for (let pass = 0; pass < 2; pass++)
-            orthogonal.forEach((previous, i) => {
-                const projection = project(previous, vector);
-                upper[i][index] += projection;
-                vector.forEach((value, j) => {
-                    vector[j] = value - projection * previous[j];
-                });
-            });
-        const length = Math.hypot(...vector);
-        upper[index][index] = length;
-        const normalized = vector.map(value => value / length);
-        orthogonal.push(normalized);
-        rhs.push(project(normalized, residual));
-    });
-    const free = [...rhs];
-    for (let i = free.length - 1; i >= 0; i--) {
-        for (let j = i + 1; j < free.length; j++)
-            free[i] -= upper[i][j] * free[j];
-        free[i] /= upper[i][i];
-    }
-    return particular.map((value, i) => value +
-        nullspace.reduce((sum, vector, j) => sum + vector[i] * free[j], 0));
-}
-//# sourceMappingURL=bound-solver.js.map

package/bld/library/bound-solver.js.map

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package/bld/library/extrude.js

@@ -1,28 +0,0 @@
-import { getOC, Vector } from 'replicad';
-import { castOwnedShape3D } from './kernel-shapes.js';
-import { transferShapeTopology, } from './topology.js';
-export function extrudeWithTopology(source, direction) {
-    const oc = getOC();
-    const vector = new Vector([...direction]);
-    let shape;
-    try {
-        const builder = new oc.BRepPrimAPI_MakePrism(source.shape.wrapped, vector.wrapped, false, true);
-        try {
-            if (!builder.IsDone())
-                throw new Error('Could not extrude the face into a solid.');
-            shape = castOwnedShape3D(builder.Shape());
-            return { shape, topology: transferShapeTopology([source], shape, builder) };
-        }
-        finally {
-            builder.delete();
-        }
-    }
-    catch (error) {
-        shape?.delete();
-        throw error;
-    }
-    finally {
-        vector.delete();
-    }
-}
-//# sourceMappingURL=extrude.js.map

package/bld/library/extrude.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"extrude.js","sourceRoot":"","sources":["../../src/library/extrude.ts"],"names":[],"mappings":"AAAA,OAAO,EAAC,KAAK,EAAE,MAAM,EAAe,MAAM,UAAU,CAAC;AACrD,OAAO,EAAC,gBAAgB,EAAC,MAAM,oBAAoB,CAAC;AACpD,OAAO,EACL,qBAAqB,GAGtB,MAAM,eAAe,CAAC;AAGvB,MAAM,UAAU,mBAAmB,CACjC,MAAqB,EACrB,SAAe;IAEf,MAAM,EAAE,GAAG,KAAK,EAAE,CAAC;IACnB,MAAM,MAAM,GAAG,IAAI,MAAM,CAAC,CAAC,GAAG,SAAS,CAAC,CAAC,CAAC;IAC1C,IAAI,KAA0B,CAAC;IAC/B,IAAI,CAAC;QACH,MAAM,OAAO,GAAG,IAAI,EAAE,CAAC,qBAAqB,CAC1C,MAAM,CAAC,KAAK,CAAC,OAAO,EACpB,MAAM,CAAC,OAAO,EACd,KAAK,EACL,IAAI,CACL,CAAC;QACF,IAAI,CAAC;YACH,IAAI,CAAC,OAAO,CAAC,MAAM,EAAE;gBACnB,MAAM,IAAI,KAAK,CAAC,0CAA0C,CAAC,CAAC;YAC9D,KAAK,GAAG,gBAAgB,CAAC,OAAO,CAAC,KAAK,EAAE,CAAC,CAAC;YAC1C,OAAO,EAAC,KAAK,EAAE,QAAQ,EAAE,qBAAqB,CAAC,CAAC,MAAM,CAAC,EAAE,KAAK,EAAE,OAAO,CAAC,EAAC,CAAC;QAC5E,CAAC;gBAAS,CAAC;YACT,OAAO,CAAC,MAAM,EAAE,CAAC;QACnB,CAAC;IACH,CAAC;IAAC,OAAO,KAAK,EAAE,CAAC;QACf,KAAK,EAAE,MAAM,EAAE,CAAC;QAChB,MAAM,KAAK,CAAC;IACd,CAAC;YAAS,CAAC;QACT,MAAM,CAAC,MAAM,EAAE,CAAC;IAClB,CAAC;AACH,CAAC"}

package/bld/library/kernel-artifact-codec.js

@@ -1,148 +0,0 @@
-import { getOC, Shape } from 'replicad';
-import { castOwnedShape } from './kernel-shapes.js';
-const encoder = new TextEncoder();
-const decoder = new TextDecoder('utf-8', { fatal: true });
-export function encodeKernelArtifact(signature, value) {
-    const chunks = [];
-    let offset = 0;
-    function binary(kind, bytes) {
-        const node = [kind, [offset, bytes.byteLength]];
-        chunks.push(bytes);
-        offset += bytes.byteLength;
-        return node;
-    }
-    function encode(value) {
-        if (value === undefined)
-            return ['undefined', null];
-        if (typeof value === 'number') {
-            if (Object.is(value, -0))
-                return ['number', '-0'];
-            return Number.isFinite(value) ? value : ['number', String(value)];
-        }
-        if (value === null ||
-            typeof value === 'string' ||
-            typeof value === 'boolean')
-            return value;
-        if (value instanceof Shape)
-            return binary('shape', encodeShape(value));
-        if (value instanceof Float32Array || value instanceof Uint32Array) {
-            return binary(value instanceof Float32Array ? 'float32' : 'uint32', new Uint8Array(value.buffer, value.byteOffset, value.byteLength));
-        }
-        if (Array.isArray(value))
-            return ['array', value.map(encode)];
-        if (typeof value === 'object' &&
-            Object.getPrototypeOf(value) === Object.prototype) {
-            return [
-                'object',
-                Object.entries(value).map(([key, item]) => [key, encode(item)]),
-            ];
-        }
-        throw new Error('Unsupported kernel artifact value');
-    }
-    const metadata = encoder.encode(JSON.stringify([signature, encode(value)]));
-    const bytes = new Uint8Array(4 + metadata.byteLength + offset);
-    new DataView(bytes.buffer).setUint32(0, metadata.byteLength, true);
-    bytes.set(metadata, 4);
-    offset = 4 + metadata.byteLength;
-    for (const chunk of chunks) {
-        bytes.set(chunk, offset);
-        offset += chunk.byteLength;
-    }
-    return bytes;
-}
-export function decodeKernelArtifact(bytes, signature) {
-    const metadataLength = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength).getUint32(0, true);
-    const start = 4 + metadataLength;
-    if (start > bytes.byteLength)
-        throw new Error('Truncated kernel artifact');
-    const [storedSignature, tree] = JSON.parse(decoder.decode(bytes.subarray(4, start)));
-    if (storedSignature !== signature)
-        throw new Error('Kernel artifact signature mismatch');
-    const shapes = [];
-    function decode(node) {
-        if (!Array.isArray(node))
-            return node;
-        const [kind, data] = node;
-        switch (kind) {
-            case 'undefined':
-                return undefined;
-            case 'number':
-                return Number(data);
-            case 'array':
-                return data.map(decode);
-            case 'object':
-                return Object.fromEntries(data.map(([key, item]) => [key, decode(item)]));
-            case 'shape':
-            case 'float32':
-            case 'uint32': {
-                const [offset, length] = data;
-                if (!Number.isSafeInteger(offset) ||
-                    !Number.isSafeInteger(length) ||
-                    offset < 0 ||
-                    length < 0 ||
-                    start + offset + length > bytes.byteLength) {
-                    throw new Error('Invalid kernel artifact binary range');
-                }
-                // Each retained array owns exactly its bytes, not the whole disk record.
-                const chunk = bytes.slice(start + offset, start + offset + length);
-                if (kind === 'float32')
-                    return new Float32Array(chunk.buffer);
-                if (kind === 'uint32')
-                    return new Uint32Array(chunk.buffer);
-                const shape = decodeShape(chunk);
-                shapes.push(shape);
-                return shape;
-            }
-            default:
-                throw new Error('Invalid kernel artifact node');
-        }
-    }
-    try {
-        return decode(tree);
-    }
-    catch (error) {
-        for (const shape of shapes)
-            shape.delete();
-        throw error;
-    }
-}
-// Synchronous calls are serial within an OC instance. MEMFS is only a temporary
-// bridge to the bound BinTools file overload, never the persistent store itself.
-const shapePath = '/code3d-kernel-artifact.bin';
-function encodeShape(shape) {
-    const oc = getOC();
-    const progress = new oc.Message_ProgressRange();
-    let created = false;
-    try {
-        oc.FS.writeFile(shapePath, new Uint8Array());
-        created = true;
-        if (!oc.BinTools.Write(shape.wrapped, shapePath, progress))
-            throw new Error('Could not encode kernel shape');
-        return oc.FS.readFile(shapePath);
-    }
-    finally {
-        progress.delete();
-        if (created)
-            oc.FS.unlink(shapePath);
-    }
-}
-function decodeShape(bytes) {
-    const oc = getOC();
-    const progress = new oc.Message_ProgressRange();
-    const raw = new oc.TopoDS_Shape();
-    let created = false;
-    try {
-        oc.FS.writeFile(shapePath, bytes);
-        created = true;
-        if (!oc.BinTools.Read(raw, shapePath, progress) || raw.IsNull())
-            throw new Error('Invalid kernel shape');
-        return castOwnedShape(raw.clone());
-    }
-    finally {
-        raw.delete();
-        progress.delete();
-        if (created)
-            oc.FS.unlink(shapePath);
-    }
-}
-//# sourceMappingURL=kernel-artifact-codec.js.map

package/bld/library/kernel-artifact-codec.js.map

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