@faicad/faijs-gears 0.0.0-stage → 0.29.3

package/dist/kernel/gears.js

@@ -0,0 +1,274 @@
+/**
+ * gears — raw-handle primitives for the cq_gears port (E1–E6 companion layer).
+ *
+ * cq_gears' tooth faces are B-spline patches built from (u,v) point grids and
+ * assembled by sewing — these need raw kernel construction primitives that no
+ * Workplane op exposes (bsplineSurface / approximatePoints / interpolatePoints,
+ * tolerant edge chaining, sew+makeSolid). The faijs-gears v1 port probed them
+ * in its own `kernel.ts` / `geom-build.ts` / `spline-face.ts`; per the port
+ * plan (§4) the implementations must live INSIDE cq-compat — this file is that
+ * landing spot. faijs-gears only imports from here; it must not touch
+ * occt-wasm directly.
+ *
+ * Everything here is a verbatim port of the proven v1 implementations (same
+ * kernel call sequence → bit-identical geometry).
+ */
+import { initOcctWasm } from '@faicad/faijs';
+let gearKernelPromise = null;
+/**
+ * Get the raw occt-wasm kernel (process-wide singleton).
+ *
+ * Same instance as `initOcctWasm()` — this only asserts the richer
+ * `GearKernel` type, never constructs a second kernel (handles are indices
+ * into one kernel arena and must not cross instances).
+ *
+ * @returns the raw kernel (promise; initializes wasm on first call)
+ */
+export function getGearKernel() {
+    if (!gearKernelPromise) {
+        gearKernelPromise = initOcctWasm().then((k) => k);
+    }
+    return gearKernelPromise;
+}
+function gearDist(a, b) {
+    return Math.hypot(a.x - b.x, a.y - b.y, a.z - b.z);
+}
+/**
+ * Endpoints of an edge, via the curve parameter domain.
+ *
+ * ⚠️ Endpoint red line (probed 2026-09-11): `getSubShapes(edge, 'vertex')`
+ * returns fewer than 2 vertices for **B-spline curve edges** (OCCT stores no
+ * explicit vertices on them), which used to make edge chaining treat every
+ * edge as its own wire. The correct path is `curveParameters(edge)` →
+ * `curvePointAtParam(edge, param)` — valid for ALL edge kinds (line / arc /
+ * B-spline); the vertex fallback only covers degenerate edges without an
+ * underlying curve.
+ *
+ * @param kernel raw OCCT kernel
+ * @param edge edge handle
+ * @returns both endpoints (closed edges: first == last)
+ */
+export function gearEdgeEnds(kernel, edge) {
+    try {
+        const { first, last } = kernel.curveParameters(edge);
+        return {
+            edge,
+            a: kernel.curvePointAtParam(edge, first),
+            b: kernel.curvePointAtParam(edge, last),
+        };
+    }
+    catch {
+        // Fallback: rare degenerate edges without an underlying curve.
+        const vs = kernel.getSubShapes(edge, 'vertex');
+        if (vs.length < 2) {
+            const p = kernel.vertexPosition(vs[0]);
+            return { edge, a: p, b: p };
+        }
+        return { edge, a: kernel.vertexPosition(vs[0]), b: kernel.vertexPosition(vs[1]) };
+    }
+}
+/**
+ * TS port of OCCT `ShapeAnalysis_FreeBounds::ConnectEdgesToWires` — chain
+ * unordered edges into wires by endpoint proximity within `tol`.
+ *
+ * faijs/occt-wasm has no such binding and `makeWire(edges)` is
+ * `BRepBuilderAPI_MakeWire` — measured (2026-09-08) to silently drop edges on
+ * unordered input (68 edges → 9-edge broken wire). Endpoint pairing is O(n²)
+ * (n = 4·z teeth, at most a few hundred — fine).
+ *
+ * Gaps above OCCT precision (~1e-7) get a bridging line segment, matching
+ * upstream ConnectEdgesToWires behaviour.
+ *
+ * @param kernel raw OCCT kernel
+ * @param edges unordered edge set
+ * @param tol endpoint pairing tolerance (mm); cq uses `wire_comb_tol = 1e-2`
+ * @returns one or more wires, each with its edges chained head-to-tail
+ */
+export function connectEdgesToWires(kernel, edges, tol) {
+    if (!Number.isFinite(tol) || tol <= 0) {
+        throw new Error(`connectEdgesToWires: tol must be a positive finite number, got ${String(tol)}`);
+    }
+    const pool = edges.map((e) => gearEdgeEnds(kernel, e));
+    const used = new Array(pool.length).fill(false);
+    const wires = [];
+    for (let start = 0; start < pool.length; start++) {
+        if (used[start])
+            continue;
+        used[start] = true;
+        const chain = [pool[start].edge];
+        let tail = pool[start].b;
+        const head = pool[start].a;
+        // Chain forward: find an unused edge whose endpoint touches `tail` within tol.
+        for (;;) {
+            let found = -1;
+            let best = Infinity;
+            for (let j = 0; j < pool.length; j++) {
+                if (used[j])
+                    continue;
+                const dA = gearDist(pool[j].a, tail);
+                const dB = gearDist(pool[j].b, tail);
+                const d = Math.min(dA, dB);
+                if (d <= tol && d < best) {
+                    best = d;
+                    found = j;
+                }
+            }
+            if (found < 0)
+                break;
+            used[found] = true;
+            const e = pool[found];
+            const flip = gearDist(e.a, tail) <= gearDist(e.b, tail);
+            if (best > 1e-7) {
+                chain.push(kernel.makeLineEdge(tail, flip ? e.a : e.b));
+            }
+            // Edge points the wrong way: reverseShape makes a reversed copy.
+            chain.push(flip ? e.edge : kernel.reverseShape(e.edge));
+            tail = flip ? e.b : e.a;
+            // Back at the start ⇒ closed loop, stop.
+            if (gearDist(tail, head) <= tol)
+                break;
+        }
+        // Close the loop: bridge the tail-to-head gap too.
+        const endGap = gearDist(tail, head);
+        if (chain.length > 1 && endGap > 1e-7 && endGap <= tol) {
+            chain.push(kernel.makeLineEdge(tail, head));
+        }
+        wires.push(kernel.makeWire(chain));
+    }
+    return wires;
+}
+/**
+ * cq `Face.makeFromWires(outer, holes)` analogue.
+ *
+ * @param kernel raw OCCT kernel
+ * @param outer outer wire
+ * @param holes inner hole wires (may be empty)
+ * @returns face handle
+ */
+export function gearFaceFromWires(kernel, outer, holes = []) {
+    const f = kernel.makeFace(outer);
+    return holes.length > 0 ? kernel.addHolesInFace(f, holes) : f;
+}
+/**
+ * cq `make_shell(faces, tol)` + `Solid.makeSolid(shell)` analogue.
+ *
+ * A non-shell sew result is NOT silently swallowed — that is a construction
+ * failure signal.
+ *
+ * @param kernel raw OCCT kernel
+ * @param faces faces to sew
+ * @param sewingTol sewing tolerance (mm, cq `shell_sewing_tol`)
+ * @returns solid built from the sewn shell
+ */
+export function gearShellToSolid(kernel, faces, sewingTol) {
+    const shell = kernel.sew(faces, sewingTol);
+    if (!kernel.isShell(shell) && !kernel.isSolid(shell)) {
+        throw new Error(`gearShellToSolid: sew did not produce a shell (got ${String(kernel.getShapeType(shell))})`);
+    }
+    return kernel.makeSolid(shell);
+}
+/** All selectable strategies (tests iterate in this order for the deviation table). */
+export const GEAR_SPLINE_FACE_STRATEGIES = [
+    'grid-approx',
+    'row-approx-loft',
+    'row-interp-loft',
+];
+/**
+ * Default strategy chosen by P0 measurement (2026-09-08).
+ *
+ * Per the measured table in the faijs-gears spike: S2's area relative
+ * deviation is 5.6e-7 / max sample-point distance 2.6e-6 mm — about three
+ * orders of magnitude better than S1/S3. See
+ * `docs/analysis/2026-09-08-fai-cq-gears-spike.md`.
+ */
+export const DEFAULT_GEAR_SPLINE_FACE_STRATEGY = 'row-approx-loft';
+/**
+ * Build a face from a row×col point grid with the given strategy.
+ *
+ * @throws kernel errors propagate verbatim (never swallowed — red line)
+ *
+ * @param kernel raw OCCT kernel
+ * @param grid row×col point grid
+ * @param strategy face building strategy
+ * @param options tolerance/degree options
+ * @returns single face handle (Face)
+ */
+export function buildGearSplineFace(kernel, grid, strategy, options = {}) {
+    const tol = options.tolerance ?? 1e-2;
+    switch (strategy) {
+        case 'grid-approx':
+            return buildGearGridApprox(kernel, grid);
+        case 'row-approx-loft':
+            return buildGearRowLoft(kernel, grid, (row) => kernel.approximatePoints(row, tol));
+        case 'row-interp-loft':
+            return buildGearRowLoft(kernel, grid, (row) => kernel.interpolatePoints(row, false));
+    }
+}
+/** S1: fit the whole grid to one B-spline surface at once. */
+function buildGearGridApprox(kernel, grid) {
+    const flat = [];
+    for (const row of grid.points)
+        for (const p of row)
+            flat.push(p);
+    return kernel.bsplineSurface(flat, grid.rows, grid.cols);
+}
+/** S2/S3: per-row curve → `loft` skinning. */
+function buildGearRowLoft(kernel, grid, makeCurve) {
+    const wires = grid.points.map((row) => kernel.makeWire([makeCurve(row)]));
+    // `loft(wires, isSolid=false, ruled=false)` returns a **shell** (measured
+    // 2026-09-08), while cq's tooth face is a TopoDS_Face; downstream sew /
+    // projectPointOnFace require a Face, so extract the sole face.
+    return soleGearFace(kernel, kernel.loft(wires, false, false));
+}
+/**
+ * Reduce a "single-face shell" to a Face; a Face passes through unchanged.
+ *
+ * @throws when the face count is not 1 (silently taking the first would mask problems)
+ *
+ * @param kernel raw OCCT kernel
+ * @param shape any shape (Face / single-face shell / …)
+ * @returns the sole Face
+ */
+export function soleGearFace(kernel, shape) {
+    if (kernel.isFace(shape))
+        return shape;
+    const faces = kernel.getSubShapes(shape, 'face');
+    if (faces.length !== 1) {
+        throw new Error(`soleGearFace: expected a single face, got ${faces.length} (shapeType=${String(kernel.getShapeType(shape))})`);
+    }
+    return faces[0];
+}
+/** Distance from a point to a face (`projectPointOnFace`).
+ *
+ * @param kernel raw OCCT kernel
+ * @param face target face
+ * @param p query point
+ * @returns euclidean distance (mm)
+ */
+export function gearDistanceToFace(kernel, face, p) {
+    const q = kernel.projectPointOnFace(face, p);
+    return Math.hypot(q.x - p.x, q.y - p.y, q.z - p.z);
+}
+/**
+ * Distance statistics of reference sample points against a face.
+ *
+ * Parameterization-independent: samples come from the cq side's (u,v) grid, so
+ * the two surfaces may have different parameterizations.
+ *
+ * @param kernel raw OCCT kernel
+ * @param face face under test
+ * @param samplePoints reference sample points (3D)
+ * @returns max distance / RMS / sample count
+ */
+export function gearFaceDeviation(kernel, face, samplePoints) {
+    let max = 0;
+    let sumSq = 0;
+    for (const p of samplePoints) {
+        const d = gearDistanceToFace(kernel, face, p);
+        if (d > max)
+            max = d;
+        sumSq += d * d;
+    }
+    return { max, rms: Math.sqrt(sumSq / samplePoints.length), n: samplePoints.length };
+}
+//# sourceMappingURL=gears.js.map

package/dist/kernel/gears.js.map

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package/dist/kernel/index.d.ts

@@ -0,0 +1,10 @@
+/**
+ * Raw occt-wasm kernel primitives for the gear builders.
+ *
+ * This module was migrated verbatim from cq-compat (`gears.ts`) — see the
+ * file header in gears.ts for the provenance and red lines (no direct
+ * occt-wasm usage outside `getGearKernel`).
+ */
+export { getGearKernel, connectEdgesToWires, gearFaceFromWires, gearShellToSolid, gearEdgeEnds, buildGearSplineFace, soleGearFace, gearDistanceToFace, gearFaceDeviation, DEFAULT_GEAR_SPLINE_FACE_STRATEGY, GEAR_SPLINE_FACE_STRATEGIES, } from './gears.js';
+export type { GearKernel, GearAxis, GearEdgeEnds, GearSplineFaceStrategy, GearSplineFaceOptions, GearSplineGrid, GearDeviationStats, } from './gears.js';
+//# sourceMappingURL=index.d.ts.map

package/dist/kernel/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/kernel/index.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AAEH,OAAO,EACL,aAAa,EACb,mBAAmB,EACnB,iBAAiB,EACjB,gBAAgB,EAChB,YAAY,EACZ,mBAAmB,EACnB,YAAY,EACZ,kBAAkB,EAClB,iBAAiB,EACjB,iCAAiC,EACjC,2BAA2B,GAC5B,MAAM,SAAS,CAAA;AAChB,YAAY,EACV,UAAU,EACV,QAAQ,EACR,YAAY,EACZ,sBAAsB,EACtB,qBAAqB,EACrB,cAAc,EACd,kBAAkB,GACnB,MAAM,SAAS,CAAA"}

package/dist/kernel/index.js

@@ -0,0 +1,9 @@
+/**
+ * Raw occt-wasm kernel primitives for the gear builders.
+ *
+ * This module was migrated verbatim from cq-compat (`gears.ts`) — see the
+ * file header in gears.ts for the provenance and red lines (no direct
+ * occt-wasm usage outside `getGearKernel`).
+ */
+export { getGearKernel, connectEdgesToWires, gearFaceFromWires, gearShellToSolid, gearEdgeEnds, buildGearSplineFace, soleGearFace, gearDistanceToFace, gearFaceDeviation, DEFAULT_GEAR_SPLINE_FACE_STRATEGY, GEAR_SPLINE_FACE_STRATEGIES, } from './gears.js';
+//# sourceMappingURL=index.js.map

package/dist/kernel/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/kernel/index.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AAEH,OAAO,EACL,aAAa,EACb,mBAAmB,EACnB,iBAAiB,EACjB,gBAAgB,EAChB,YAAY,EACZ,mBAAmB,EACnB,YAAY,EACZ,kBAAkB,EAClB,iBAAiB,EACjB,iCAAiC,EACjC,2BAA2B,GAC5B,MAAM,SAAS,CAAA"}

package/dist/math.d.ts

@@ -0,0 +1,200 @@
+/**
+ * math — cq_gears `utils.py` 的 numpy 子集（零依赖，TS 手写）
+ *
+ * 约定（**与 Python 逐字对齐，不要"修正"**）：
+ *
+ * - `rotationMatrix(axis, alpha)` 返回 cq 的同款 Rodrigues 矩阵 R（列向量约定 `p' = R·p`）。
+ * - cq 里齿轮点集用的是 `pts @ r_mat`（**行向量**左乘），等价于 `Rᵀ·p`，即**绕轴转 −alpha**。
+ *   这不是笔误——`spur_gear.py::_build_tooth_faces` 就是这么写的，实测
+ *   （`spur-helix15` 参考数据）确认齿面扭转方向与 `−twist_angle` 一致。
+ *   所以本模块同时提供 `applyRowMatrix()`（忠实复刻）与 `rotateRows()`（语义命名）。
+ */
+/** 三维点 / 向量（与 `BrepVec3` 同构）。 */
+export interface Vec3 {
+    x: number;
+    y: number;
+    z: number;
+}
+/**
+ * 构造一个 `Vec3`。
+ *
+ * @param x x 分量
+ * @param y y 分量
+ * @param z z 分量
+ * @returns 三维向量
+ */
+export declare const vec3: (x: number, y: number, z: number) => Vec3;
+/**
+ * 向量加法。
+ *
+ * @param a 左操作数
+ * @param b 右操作数
+ * @returns `a + b`
+ */
+export declare const add: (a: Vec3, b: Vec3) => Vec3;
+/**
+ * 向量减法。
+ *
+ * @param a 左操作数
+ * @param b 右操作数
+ * @returns `a - b`
+ */
+export declare const sub: (a: Vec3, b: Vec3) => Vec3;
+/**
+ * 标量乘法。
+ *
+ * @param a 向量
+ * @param k 标量
+ * @returns `k·a`
+ */
+export declare const scale: (a: Vec3, k: number) => Vec3;
+/**
+ * 点积。
+ *
+ * @param a 左操作数
+ * @param b 右操作数
+ * @returns `a·b`
+ */
+export declare const dot: (a: Vec3, b: Vec3) => number;
+/**
+ * 叉积。
+ *
+ * @param a 左操作数
+ * @param b 右操作数
+ * @returns `a×b`
+ */
+export declare const cross: (a: Vec3, b: Vec3) => Vec3;
+/**
+ * 向量模长。
+ *
+ * @param a 向量
+ * @returns 模长
+ */
+export declare const norm: (a: Vec3) => number;
+/**
+ * 归一化；零向量返回零向量（避免除零）。
+ *
+ * @param a 向量
+ * @returns 单位向量（零向量输入返回零向量）
+ */
+export declare const normalize: (a: Vec3) => Vec3;
+/**
+ * `np.linspace(a, b, n)` —— 闭区间，含两端。
+ *
+ * @param a 起始值
+ * @param b 结束值
+ * @param n 点数
+ * @returns n 个等距点（n <= 1 时只含 a）
+ */
+export declare function linspace(a: number, b: number, n: number): number[];
+/**
+ * 弧度夹到 [0, 2π)。
+ *
+ * @param t 任意弧度角
+ * @returns 归一化后的弧度角
+ */
+export declare function normalizeAngle2pi(t: number): number;
+/** 3×3 矩阵（行主序）。 */
+export type Mat3 = number[][];
+/**
+ * `cq_gears.utils.rotation_matrix` 的逐字移植（Rodrigues，列向量约定）。
+ *
+ * @param axis  旋转轴（无需归一化，内部归一）
+ * @param alpha 旋转角（弧度）
+ * @returns 3×3 Rodrigues 旋转矩阵（行主序）
+ */
+export declare function rotationMatrix(axis: Vec3, alpha: number): Mat3;
+/**
+ * 行向量左乘：`pts @ m`（cq 的实际用法）。
+ *
+ * 结果第 j 分量 = Σᵢ pᵢ·m[i][j]，等价于 `mᵀ · p`。
+ *
+ * @param points 行向量点集
+ * @param m 3×3 矩阵
+ * @returns 变换后的点集
+ */
+export declare function applyRowMatrix(points: Vec3[], m: Mat3): Vec3[];
+/**
+ * 语义化包装：`applyRowMatrix(pts, rotationMatrix(axis, alpha))`。
+ *
+ * ⚠️ 因为 cq 用行向量左乘，实际旋转角是 **−alpha**。
+ *
+ * @param points 点集
+ * @param axis 旋转轴
+ * @param alpha 名义旋转角（弧度，实际为 −alpha）
+ * @returns 旋转后的点集
+ */
+export declare function rotateRows(points: Vec3[], axis: Vec3, alpha: number): Vec3[];
+/**
+ * 真正按 +alpha 旋转（标准列向量约定），用于 TS 侧需要正向旋转的场景。
+ *
+ * @param points 点集
+ * @param axis 旋转轴
+ * @param alpha 旋转角（弧度）
+ * @returns 旋转后的点集
+ */
+export declare function rotatePoints(points: Vec3[], axis: Vec3, alpha: number): Vec3[];
+/**
+ * `cq_gears.utils.sphere_to_cartesian` 的逐字移植：球坐标 → 笛卡尔。
+ *
+ * ⚠️ 注意极点角 `gamma` 是**从 +Z 轴量起**（`z = r·cos(gamma)`），
+ * 而不是数学习惯里从 XY 平面量起的仰角——BevelGear 的整套公式都建立在这个约定上。
+ *
+ * @param r 球半径
+ * @param gamma 极角（弧度，自 +Z 轴）
+ * @param theta 方位角（弧度）
+ * @returns 笛卡尔坐标
+ */
+export declare function sphereToCartesian(r: number, gamma: number, theta: number): Vec3;
+/**
+ * `cq_gears.utils.s_inv` 的逐字移植：球面渐开线（给定极角 → 方位角）。
+ *
+ * `phi = arccos(tan(gamma0)/tan(gamma))`；
+ * `return arccos(cos(gamma)/cos(gamma0))/sin(gamma0) − phi`。
+ *
+ * 定义域外（`|tan(gamma0)/tan(gamma)| > 1`）与 Python 的 numpy 一样返回 NaN——
+ * 由调用方决定是否报错，本函数不静默替换。
+ *
+ * @param gamma0 基锥极角（弧度）
+ * @param gamma 曲线上点的极角（弧度）
+ * @returns 该点的方位角（弧度）
+ */
+export declare function sInv(gamma0: number, gamma: number): number;
+/**
+ * `cq_gears.utils.s_arc` 的逐字移植：球面上的一段圆弧。
+ *
+ * Python 侧是 `cos(t)·a + sin(t)·(k×a) + (k·a)(1−cos t)·k`（`a` = 球心到弧心方向
+ * 偏移 `r_delta` 后的单位向量，`k` = 弧心的单位向量），再整体乘球半径。
+ *
+ * @param sr 球半径
+ * @param cGamma 弧心的极角（弧度）
+ * @param cTheta 弧心的方位角（弧度）
+ * @param rDelta 弧心与弧上任一点的夹角（弧度）
+ * @param start 起始角（弧度）
+ * @param end 终止角（弧度）
+ * @param n 点数（含两端）
+ * @returns 弧上 n 个点
+ */
+export declare function sArc(sr: number, cGamma: number, cTheta: number, rDelta: number, start: number, end: number, n?: number): Vec3[];
+/**
+ * `cq_gears.utils.angle_between` 的移植：向量 OA 与 OB 的夹角。
+ *
+ * @param o 公共起点
+ * @param a 向量 OA 的终点
+ * @param b 向量 OB 的终点
+ * @returns 夹角（弧度）
+ */
+export declare function angleBetween(o: Vec3, a: Vec3, b: Vec3): number;
+/**
+ * `cq_gears.utils.circle3d_by3points` 的移植：三点定圆。
+ *
+ * @param a 第一点
+ * @param b 第二点
+ * @param c 第三点
+ * @returns `{ radius, center }`
+ */
+export declare function circle3dBy3points(a: Vec3, b: Vec3, c: Vec3): {
+    radius: number;
+    center: Vec3;
+};
+//# sourceMappingURL=math.d.ts.map

package/dist/math.d.ts.map

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