@faicad/faijs 0.13.0

package/dist/vendored/brepjs/kernel/solverAdapter.js

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+/**
+ * Constraint solver adapter — analytical solver for simple assembly mates.
+ */
+import { quatRotate, quatFromAxisAngle, quatFromTo } from '../utils/quaternion.js';
+/**
+ * Degrees of freedom each constraint leaves unresolved when it can't be applied
+ * (entity-type mismatch or an unreachable reference). All four types now solve
+ * for well-typed inputs; these counts only feed the diagnostic `dof` for the
+ * unsupported cases.
+ * coincident: 3 translational · concentric: 2 rotational + 2 translational = 4
+ * distance: 1 translational · angle: 1 rotational
+ */
+const UNSUPPORTED_DOF = {
+    coincident: 3,
+    concentric: 4,
+    distance: 1,
+    angle: 1,
+};
+const IDENTITY_ROTATION = [1, 0, 0, 0];
+function add(a, b) {
+    return [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
+}
+function sub(a, b) {
+    return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+}
+function dot(a, b) {
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+function cross(a, b) {
+    return [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];
+}
+function scale(a, s) {
+    return [a[0] * s, a[1] * s, a[2] * s];
+}
+function normalize(a) {
+    const l = Math.hypot(a[0], a[1], a[2]) || 1;
+    return [a[0] / l, a[1] / l, a[2] / l];
+}
+/** A unit vector perpendicular to `v` (for the parallel-normals degenerate case). */
+function anyPerpendicular(v) {
+    const ref = Math.abs(v[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];
+    return normalize(cross(v, ref));
+}
+/** Apply a pose (rotate then translate) to an entity's origin and any directions. */
+function transformEntity(e, pose) {
+    const origin = add(quatRotate(pose.rotation, e.origin), pose.position);
+    return {
+        type: e.type,
+        origin,
+        ...(e.normal ? { normal: quatRotate(pose.rotation, e.normal) } : {}),
+        ...(e.direction ? { direction: quatRotate(pose.rotation, e.direction) } : {}),
+    };
+}
+/**
+ * Position a dependent plane against an already-placed reference plane.
+ *
+ * `ref` is the reference entity already in world space. The dependent is at the
+ * origin (a node is only solved once, while unplaced), so the returned position
+ * is its absolute translation along the reference normal. `extra` is the gap for
+ * a distance mate (0 for coincident). Plane mates don't reorient the dependent.
+ */
+function solvePlanePair(ref, dep, extra) {
+    const n = ref.normal ?? [0, 0, 1];
+    const offset = dot(n, sub(ref.origin, dep.origin)) + extra;
+    return { position: scale(n, offset), rotation: IDENTITY_ROTATION };
+}
+/**
+ * Concentric (axis-axis) mate: rotate the dependent so its axis is parallel to
+ * the reference axis, then translate so the two axes are collinear (the
+ * dependent's axis point is placed on the reference axis). `ref` is in world
+ * space; the dependent is at the origin.
+ */
+function solveConcentric(ref, dep) {
+    const dRef = ref.direction ?? [0, 0, 1];
+    const dDep = dep.direction ?? [0, 0, 1];
+    const rotation = quatFromTo(dDep, dRef);
+    const rotatedOrigin = quatRotate(rotation, dep.origin);
+    return { position: sub(ref.origin, rotatedOrigin), rotation };
+}
+/**
+ * Angle mate: rotate the dependent so the angle between its (plane) normal and
+ * the reference normal equals `angleRad`. Orientation-only — position is left at
+ * the origin. `ref` is in world space; the dependent is at the origin.
+ */
+function solveAngle(ref, dep, angleRad) {
+    const nRef = normalize(ref.normal ?? [0, 0, 1]);
+    const nDep = normalize(dep.normal ?? [0, 0, 1]);
+    const phi = Math.acos(Math.max(-1, Math.min(1, dot(nDep, nRef))));
+    const c = cross(nDep, nRef);
+    const axis = Math.hypot(c[0], c[1], c[2]) < 1e-9 ? anyPerpendicular(nDep) : c;
+    // Rotating nDep about (nDep×nRef) by +phi aligns it with nRef; rotate by
+    // (phi − angle) to leave exactly `angleRad` between them.
+    return { position: [0, 0, 0], rotation: quatFromAxisAngle(axis, phi - angleRad) };
+}
+/**
+ * Point-point coincident/distance: place the dependent point on the reference
+ * point (`extra` = 0) or at `extra` along the original separation direction.
+ * If the points already coincide the direction is arbitrary (+X).
+ */
+function solvePointPair(refOrigin, depOrigin, extra) {
+    const sep = sub(depOrigin, refOrigin);
+    const len = Math.hypot(sep[0], sep[1], sep[2]);
+    const dir = len < 1e-9 ? [1, 0, 0] : scale(sep, 1 / len);
+    const target = add(refOrigin, scale(dir, extra));
+    return { position: sub(target, depOrigin), rotation: IDENTITY_ROTATION };
+}
+/**
+ * Move the dependent plane (normal `depNormal`, at the origin) so its signed
+ * distance from the reference point equals `extra` (the mirror of `solvePlanePair`
+ * for a point reference and a plane dependent).
+ */
+function solvePlaneToPoint(depNormal, refOrigin, depOrigin, extra) {
+    const n = normalize(depNormal);
+    const t = dot(n, sub(refOrigin, depOrigin)) - extra;
+    return { position: scale(n, t), rotation: IDENTITY_ROTATION };
+}
+/**
+ * Reference axis, dependent point: drop the point onto the axis line
+ * (`extra` = 0) or place it at radial distance `extra` from the line, keeping
+ * its along-axis position. A point already on the axis gets an arbitrary radial.
+ */
+function solveAxisToPoint(ref, depOrigin, extra) {
+    const d = normalize(ref.direction ?? [0, 0, 1]);
+    const foot = add(ref.origin, scale(d, dot(d, sub(depOrigin, ref.origin))));
+    if (extra === 0)
+        return { position: sub(foot, depOrigin), rotation: IDENTITY_ROTATION };
+    const radial = sub(depOrigin, foot);
+    const rlen = Math.hypot(radial[0], radial[1], radial[2]);
+    const rdir = rlen < 1e-9 ? anyPerpendicular(d) : scale(radial, 1 / rlen);
+    return { position: sub(add(foot, scale(rdir, extra)), depOrigin), rotation: IDENTITY_ROTATION };
+}
+/**
+ * Reference point, dependent axis: translate the axis line so it passes through
+ * the point (`extra` = 0) or lies at perpendicular distance `extra` from it.
+ * Translation is purely perpendicular to the axis, so the line's direction and
+ * along-axis parameterization are preserved.
+ */
+function solvePointToAxis(refOrigin, dep, extra) {
+    const d = normalize(dep.direction ?? [0, 0, 1]);
+    const w = sub(dep.origin, refOrigin);
+    const perp = sub(w, scale(d, dot(d, w)));
+    const plen = Math.hypot(perp[0], perp[1], perp[2]);
+    if (extra === 0)
+        return { position: scale(perp, -1), rotation: IDENTITY_ROTATION };
+    const pdir = plen < 1e-9 ? anyPerpendicular(d) : scale(perp, 1 / plen);
+    return { position: sub(scale(pdir, extra), perp), rotation: IDENTITY_ROTATION };
+}
+/**
+ * Axis-axis distance: align the dependent axis parallel to the reference, then
+ * offset it to perpendicular distance `extra` (parallel pin-and-spacer). With
+ * `extra` = 0 the axes become collinear, matching `concentric`.
+ */
+function solveAxisAxisDistance(ref, dep, extra) {
+    const dRef = normalize(ref.direction ?? [0, 0, 1]);
+    const dDep = normalize(dep.direction ?? [0, 0, 1]);
+    const rotation = quatFromTo(dDep, dRef);
+    const depO = quatRotate(rotation, dep.origin);
+    const w = sub(depO, ref.origin);
+    const perp = sub(w, scale(dRef, dot(dRef, w)));
+    const plen = Math.hypot(perp[0], perp[1], perp[2]);
+    const pdir = plen < 1e-9 ? anyPerpendicular(dRef) : scale(perp, 1 / plen);
+    return { position: sub(scale(pdir, extra), perp), rotation };
+}
+/**
+ * Supported entity-type pairs for the translational mates (`coincident` /
+ * `distance`), keyed `${entityA}-${entityB}`. Both orders are listed where the
+ * solver handles them, so a user need not pre-order the entities.
+ */
+const TRANSLATIONAL_PAIRS = new Set([
+    'plane-plane',
+    'plane-point',
+    'point-plane',
+    'point-point',
+    'axis-axis',
+    'axis-point',
+    'point-axis',
+]);
+/** Entity types the orientation/axis mates require of (entityA, entityB). */
+const REQUIRED_ENTITIES = {
+    angle: 'plane',
+    concentric: 'axis',
+};
+const POSITIONING_TYPES = new Set(['coincident', 'distance', 'angle', 'concentric']);
+/** Whether a positioning mate's entity pair is solvable. */
+function isSupportedPair(type, a, b) {
+    const required = REQUIRED_ENTITIES[type];
+    if (required)
+        return a === required && b === required;
+    // coincident / distance: dispatch by entity-type pair.
+    return TRANSLATIONAL_PAIRS.has(`${a}-${b}`);
+}
+/**
+ * Solve a `coincident` (extra = 0) or `distance` (extra = value) mate for any
+ * supported entity-type pair. `ref` is already in world space; the dependent is
+ * at the origin. Returns null only for an unsupported pair (filtered out
+ * upstream by `isSupportedPair`).
+ */
+function solveTranslational(ref, dep, extra) {
+    const key = `${ref.type}-${dep.type}`;
+    switch (key) {
+        case 'plane-plane':
+        case 'plane-point':
+            // Both use the reference plane normal; a point dependent has no normal.
+            return solvePlanePair(ref, dep, extra);
+        case 'point-plane':
+            return solvePlaneToPoint(dep.normal ?? [0, 0, 1], ref.origin, dep.origin, extra);
+        case 'point-point':
+            return solvePointPair(ref.origin, dep.origin, extra);
+        case 'axis-axis':
+            return extra === 0 ? solveConcentric(ref, dep) : solveAxisAxisDistance(ref, dep, extra);
+        case 'axis-point':
+            return solveAxisToPoint(ref, dep.origin, extra);
+        case 'point-axis':
+            return solvePointToAxis(ref.origin, dep, extra);
+        default:
+            return null;
+    }
+}
+/** Dispatch a positioning mate to its solver. `ref` is already in world space. */
+function solveMate(c, ref, dep) {
+    switch (c.type) {
+        case 'concentric':
+            return solveConcentric(ref, dep);
+        case 'angle':
+            return solveAngle(ref, dep, ((c.value ?? 0) * Math.PI) / 180);
+        default: {
+            // coincident (extra = 0) / distance (extra = value). isSupportedPair has
+            // already filtered out unsupported pairs upstream, so a null here means
+            // TRANSLATIONAL_PAIRS and solveTranslational drifted out of sync — surface
+            // that invariant violation loudly rather than guessing with plane logic.
+            const extra = c.type === 'distance' ? (c.value ?? 0) : 0;
+            const pose = solveTranslational(ref, dep, extra);
+            if (!pose) {
+                throw new Error(`solveMate: unsupported entity pair escaped filter: ${ref.type}-${dep.type}`);
+            }
+            return pose;
+        }
+    }
+}
+/**
+ * Solve assembly constraints analytically.
+ *
+ * Handles: fixed, concentric (axis-axis), angle (plane-plane orientation), and
+ * coincident/distance for any supported entity-type pair (plane-plane,
+ * plane-point, point-point, axis-axis, axis-point, and both point orders — see
+ * `TRANSLATIONAL_PAIRS`). For a positioning mate, entityA is the reference and
+ * entityB the dependent. Chain roots (nodes never positioned by a
+ * mate) and explicit `fixed` nodes anchor at the origin; constraints then resolve
+ * in topological order — each places its dependent against the reference's solved
+ * pose (rotation included), so multi-body chains compose. Returns
+ * `converged: false` with details for entity-type mismatches and any constraint
+ * whose reference never resolves.
+ */
+export function solveConstraints(nodes, constraints) {
+    const transforms = new Map();
+    // Initialize all nodes at origin
+    for (const node of nodes) {
+        transforms.set(node, { position: [0, 0, 0], rotation: IDENTITY_ROTATION });
+    }
+    const unsupported = [];
+    // For positioning mates, entityA is the reference and entityB the dependent.
+    const positioning = constraints.filter((c) => POSITIONING_TYPES.has(c.type) && c.entityA && c.entityB);
+    const dependents = new Set();
+    for (const c of positioning)
+        if (c.entityB)
+            dependents.add(c.entityB.node);
+    // Anchors are placed at the origin: any node never positioned by a mate (a
+    // chain root), plus any explicit `fixed` node.
+    const placed = new Set();
+    for (const node of nodes)
+        if (!dependents.has(node))
+            placed.add(node);
+    for (const c of constraints)
+        if (c.type === 'fixed' && c.entityA)
+            placed.add(c.entityA.node);
+    // Entity-type mismatches are unsupported regardless of order; report them
+    // eagerly and keep only well-typed mates for topological resolution. A node
+    // left unplaced by such a mate (it's a dependent, so not a root) will cause
+    // any downstream mate that references it to end up `(unanchored)` — intended:
+    // an unsolved reference can't compose, so the chain doesn't converge.
+    const pending = [];
+    for (const c of positioning) {
+        if (!c.entityA || !c.entityB)
+            continue;
+        const a = c.entityA.entity.type;
+        const b = c.entityB.entity.type;
+        if (!isSupportedPair(c.type, a, b)) {
+            unsupported.push(`${c.type}(${a}-${b})`);
+            continue;
+        }
+        pending.push(c);
+    }
+    // Resolve in topological rounds: a mate solves once its reference (entityA) is
+    // placed, positioning the dependent (entityB) against the reference's solved
+    // world-space pose so multi-body chains compose.
+    let progress = true;
+    while (progress && pending.length > 0) {
+        progress = false;
+        for (let i = pending.length - 1; i >= 0; i--) {
+            const c = pending[i];
+            if (!c?.entityA || !c.entityB)
+                continue;
+            const ref = c.entityA;
+            const dep = c.entityB;
+            if (!placed.has(ref.node))
+                continue; // reference not solved yet — defer
+            pending.splice(i, 1);
+            progress = true;
+            if (placed.has(dep.node))
+                continue; // dependent already anchored (fixed) — redundant
+            const refPose = transforms.get(ref.node) ?? {
+                position: [0, 0, 0],
+                rotation: IDENTITY_ROTATION,
+            };
+            const refWorld = transformEntity(ref.entity, refPose);
+            transforms.set(dep.node, solveMate(c, refWorld, dep.entity));
+            placed.add(dep.node);
+        }
+    }
+    // Anything still pending has a reference that never resolved (e.g. a cycle).
+    for (const c of pending)
+        unsupported.push(`${c.type}(unanchored)`);
+    const dof = unsupported.reduce((sum, type) => {
+        // Look up by exact key first, then by base type (before parenthesis)
+        const baseDof = UNSUPPORTED_DOF[type] ?? UNSUPPORTED_DOF[type.split('(')[0] ?? ''] ?? 0;
+        return sum + baseDof;
+    }, 0);
+    return { transforms, dof, converged: unsupported.length === 0, unsupported };
+}
+//# sourceMappingURL=solverAdapter.js.map

package/dist/vendored/brepjs/kernel/solverAdapter.js.map

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* Constraint solver adapter — analytical solver for simple assembly mates.\n */\n\nimport { quatRotate, quatFromAxisAngle, quatFromTo } from '../utils/quaternion.js';\n\n/** 3D vector (local alias to avoid cross-layer import). */\ntype Vec3 = readonly [number, number, number];\n\nexport interface SolverEntity {\n  type: 'plane' | 'axis' | 'point';\n  origin: Vec3;\n  normal?: Vec3;\n  direction?: Vec3;\n}\n\nexport interface SolverConstraint {\n  type: 'coincident' | 'concentric' | 'distance' | 'angle' | 'fixed';\n  entityA?: { node: string; entity: SolverEntity };\n  entityB?: { node: string; entity: SolverEntity };\n  value?: number;\n}\n\nexport interface SolverResult {\n  transforms: Map<string, { position: Vec3; rotation: [number, number, number, number] }>;\n  dof: number;\n  converged: boolean;\n  /** Constraint types that were passed in but not solved (not yet implemented). */\n  unsupported: string[];\n}\n\n/**\n * Degrees of freedom each constraint leaves unresolved when it can't be applied\n * (entity-type mismatch or an unreachable reference). All four types now solve\n * for well-typed inputs; these counts only feed the diagnostic `dof` for the\n * unsupported cases.\n * coincident: 3 translational · concentric: 2 rotational + 2 translational = 4\n * distance: 1 translational · angle: 1 rotational\n */\nconst UNSUPPORTED_DOF: Readonly<Record<string, number>> = {\n  coincident: 3,\n  concentric: 4,\n  distance: 1,\n  angle: 1,\n};\n\ntype Quat = [number, number, number, number];\ntype Pose = { position: Vec3; rotation: Quat };\n\nconst IDENTITY_ROTATION: Quat = [1, 0, 0, 0];\n\nfunction add(a: Vec3, b: Vec3): Vec3 {\n  return [a[0] + b[0], a[1] + b[1], a[2] + b[2]];\n}\n\nfunction sub(a: Vec3, b: Vec3): Vec3 {\n  return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];\n}\n\nfunction dot(a: Vec3, b: Vec3): number {\n  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];\n}\n\nfunction cross(a: Vec3, b: Vec3): Vec3 {\n  return [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];\n}\n\nfunction scale(a: Vec3, s: number): Vec3 {\n  return [a[0] * s, a[1] * s, a[2] * s];\n}\n\nfunction normalize(a: Vec3): Vec3 {\n  const l = Math.hypot(a[0], a[1], a[2]) || 1;\n  return [a[0] / l, a[1] / l, a[2] / l];\n}\n\n/** A unit vector perpendicular to `v` (for the parallel-normals degenerate case). */\nfunction anyPerpendicular(v: Vec3): Vec3 {\n  const ref: Vec3 = Math.abs(v[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];\n  return normalize(cross(v, ref));\n}\n\n/** Apply a pose (rotate then translate) to an entity's origin and any directions. */\nfunction transformEntity(e: SolverEntity, pose: Pose): SolverEntity {\n  const origin = add(quatRotate(pose.rotation, e.origin), pose.position);\n  return {\n    type: e.type,\n    origin,\n    ...(e.normal ? { normal: quatRotate(pose.rotation, e.normal) } : {}),\n    ...(e.direction ? { direction: quatRotate(pose.rotation, e.direction) } : {}),\n  };\n}\n\n/**\n * Position a dependent plane against an already-placed reference plane.\n *\n * `ref` is the reference entity already in world space. The dependent is at the\n * origin (a node is only solved once, while unplaced), so the returned position\n * is its absolute translation along the reference normal. `extra` is the gap for\n * a distance mate (0 for coincident). Plane mates don't reorient the dependent.\n */\nfunction solvePlanePair(ref: SolverEntity, dep: SolverEntity, extra: number): Pose {\n  const n = ref.normal ?? [0, 0, 1];\n  const offset = dot(n, sub(ref.origin, dep.origin)) + extra;\n  return { position: scale(n, offset), rotation: IDENTITY_ROTATION };\n}\n\n/**\n * Concentric (axis-axis) mate: rotate the dependent so its axis is parallel to\n * the reference axis, then translate so the two axes are collinear (the\n * dependent's axis point is placed on the reference axis). `ref` is in world\n * space; the dependent is at the origin.\n */\nfunction solveConcentric(ref: SolverEntity, dep: SolverEntity): Pose {\n  const dRef = ref.direction ?? [0, 0, 1];\n  const dDep = dep.direction ?? [0, 0, 1];\n  const rotation = quatFromTo(dDep, dRef);\n  const rotatedOrigin = quatRotate(rotation, dep.origin);\n  return { position: sub(ref.origin, rotatedOrigin), rotation };\n}\n\n/**\n * Angle mate: rotate the dependent so the angle between its (plane) normal and\n * the reference normal equals `angleRad`. Orientation-only — position is left at\n * the origin. `ref` is in world space; the dependent is at the origin.\n */\nfunction solveAngle(ref: SolverEntity, dep: SolverEntity, angleRad: number): Pose {\n  const nRef = normalize(ref.normal ?? [0, 0, 1]);\n  const nDep = normalize(dep.normal ?? [0, 0, 1]);\n  const phi = Math.acos(Math.max(-1, Math.min(1, dot(nDep, nRef))));\n  const c = cross(nDep, nRef);\n  const axis = Math.hypot(c[0], c[1], c[2]) < 1e-9 ? anyPerpendicular(nDep) : c;\n  // Rotating nDep about (nDep×nRef) by +phi aligns it with nRef; rotate by\n  // (phi − angle) to leave exactly `angleRad` between them.\n  return { position: [0, 0, 0], rotation: quatFromAxisAngle(axis, phi - angleRad) };\n}\n\n/**\n * Point-point coincident/distance: place the dependent point on the reference\n * point (`extra` = 0) or at `extra` along the original separation direction.\n * If the points already coincide the direction is arbitrary (+X).\n */\nfunction solvePointPair(refOrigin: Vec3, depOrigin: Vec3, extra: number): Pose {\n  const sep = sub(depOrigin, refOrigin);\n  const len = Math.hypot(sep[0], sep[1], sep[2]);\n  const dir: Vec3 = len < 1e-9 ? [1, 0, 0] : scale(sep, 1 / len);\n  const target = add(refOrigin, scale(dir, extra));\n  return { position: sub(target, depOrigin), rotation: IDENTITY_ROTATION };\n}\n\n/**\n * Move the dependent plane (normal `depNormal`, at the origin) so its signed\n * distance from the reference point equals `extra` (the mirror of `solvePlanePair`\n * for a point reference and a plane dependent).\n */\nfunction solvePlaneToPoint(depNormal: Vec3, refOrigin: Vec3, depOrigin: Vec3, extra: number): Pose {\n  const n = normalize(depNormal);\n  const t = dot(n, sub(refOrigin, depOrigin)) - extra;\n  return { position: scale(n, t), rotation: IDENTITY_ROTATION };\n}\n\n/**\n * Reference axis, dependent point: drop the point onto the axis line\n * (`extra` = 0) or place it at radial distance `extra` from the line, keeping\n * its along-axis position. A point already on the axis gets an arbitrary radial.\n */\nfunction solveAxisToPoint(ref: SolverEntity, depOrigin: Vec3, extra: number): Pose {\n  const d = normalize(ref.direction ?? [0, 0, 1]);\n  const foot = add(ref.origin, scale(d, dot(d, sub(depOrigin, ref.origin))));\n  if (extra === 0) return { position: sub(foot, depOrigin), rotation: IDENTITY_ROTATION };\n  const radial = sub(depOrigin, foot);\n  const rlen = Math.hypot(radial[0], radial[1], radial[2]);\n  const rdir = rlen < 1e-9 ? anyPerpendicular(d) : scale(radial, 1 / rlen);\n  return { position: sub(add(foot, scale(rdir, extra)), depOrigin), rotation: IDENTITY_ROTATION };\n}\n\n/**\n * Reference point, dependent axis: translate the axis line so it passes through\n * the point (`extra` = 0) or lies at perpendicular distance `extra` from it.\n * Translation is purely perpendicular to the axis, so the line's direction and\n * along-axis parameterization are preserved.\n */\nfunction solvePointToAxis(refOrigin: Vec3, dep: SolverEntity, extra: number): Pose {\n  const d = normalize(dep.direction ?? [0, 0, 1]);\n  const w = sub(dep.origin, refOrigin);\n  const perp = sub(w, scale(d, dot(d, w)));\n  const plen = Math.hypot(perp[0], perp[1], perp[2]);\n  if (extra === 0) return { position: scale(perp, -1), rotation: IDENTITY_ROTATION };\n  const pdir = plen < 1e-9 ? anyPerpendicular(d) : scale(perp, 1 / plen);\n  return { position: sub(scale(pdir, extra), perp), rotation: IDENTITY_ROTATION };\n}\n\n/**\n * Axis-axis distance: align the dependent axis parallel to the reference, then\n * offset it to perpendicular distance `extra` (parallel pin-and-spacer). With\n * `extra` = 0 the axes become collinear, matching `concentric`.\n */\nfunction solveAxisAxisDistance(ref: SolverEntity, dep: SolverEntity, extra: number): Pose {\n  const dRef = normalize(ref.direction ?? [0, 0, 1]);\n  const dDep = normalize(dep.direction ?? [0, 0, 1]);\n  const rotation = quatFromTo(dDep, dRef);\n  const depO = quatRotate(rotation, dep.origin);\n  const w = sub(depO, ref.origin);\n  const perp = sub(w, scale(dRef, dot(dRef, w)));\n  const plen = Math.hypot(perp[0], perp[1], perp[2]);\n  const pdir = plen < 1e-9 ? anyPerpendicular(dRef) : scale(perp, 1 / plen);\n  return { position: sub(scale(pdir, extra), perp), rotation };\n}\n\n/**\n * Supported entity-type pairs for the translational mates (`coincident` /\n * `distance`), keyed `${entityA}-${entityB}`. Both orders are listed where the\n * solver handles them, so a user need not pre-order the entities.\n */\nconst TRANSLATIONAL_PAIRS = new Set([\n  'plane-plane',\n  'plane-point',\n  'point-plane',\n  'point-point',\n  'axis-axis',\n  'axis-point',\n  'point-axis',\n]);\n\n/** Entity types the orientation/axis mates require of (entityA, entityB). */\nconst REQUIRED_ENTITIES: Readonly<Record<string, SolverEntity['type']>> = {\n  angle: 'plane',\n  concentric: 'axis',\n};\n\nconst POSITIONING_TYPES = new Set(['coincident', 'distance', 'angle', 'concentric']);\n\n/** Whether a positioning mate's entity pair is solvable. */\nfunction isSupportedPair(type: string, a: SolverEntity['type'], b: SolverEntity['type']): boolean {\n  const required = REQUIRED_ENTITIES[type];\n  if (required) return a === required && b === required;\n  // coincident / distance: dispatch by entity-type pair.\n  return TRANSLATIONAL_PAIRS.has(`${a}-${b}`);\n}\n\n/**\n * Solve a `coincident` (extra = 0) or `distance` (extra = value) mate for any\n * supported entity-type pair. `ref` is already in world space; the dependent is\n * at the origin. Returns null only for an unsupported pair (filtered out\n * upstream by `isSupportedPair`).\n */\nfunction solveTranslational(ref: SolverEntity, dep: SolverEntity, extra: number): Pose | null {\n  const key = `${ref.type}-${dep.type}`;\n  switch (key) {\n    case 'plane-plane':\n    case 'plane-point':\n      // Both use the reference plane normal; a point dependent has no normal.\n      return solvePlanePair(ref, dep, extra);\n    case 'point-plane':\n      return solvePlaneToPoint(dep.normal ?? [0, 0, 1], ref.origin, dep.origin, extra);\n    case 'point-point':\n      return solvePointPair(ref.origin, dep.origin, extra);\n    case 'axis-axis':\n      return extra === 0 ? solveConcentric(ref, dep) : solveAxisAxisDistance(ref, dep, extra);\n    case 'axis-point':\n      return solveAxisToPoint(ref, dep.origin, extra);\n    case 'point-axis':\n      return solvePointToAxis(ref.origin, dep, extra);\n    default:\n      return null;\n  }\n}\n\n/** Dispatch a positioning mate to its solver. `ref` is already in world space. */\nfunction solveMate(c: SolverConstraint, ref: SolverEntity, dep: SolverEntity): Pose {\n  switch (c.type) {\n    case 'concentric':\n      return solveConcentric(ref, dep);\n    case 'angle':\n      return solveAngle(ref, dep, ((c.value ?? 0) * Math.PI) / 180);\n    default: {\n      // coincident (extra = 0) / distance (extra = value). isSupportedPair has\n      // already filtered out unsupported pairs upstream, so a null here means\n      // TRANSLATIONAL_PAIRS and solveTranslational drifted out of sync — surface\n      // that invariant violation loudly rather than guessing with plane logic.\n      const extra = c.type === 'distance' ? (c.value ?? 0) : 0;\n      const pose = solveTranslational(ref, dep, extra);\n      if (!pose) {\n        throw new Error(\n          `solveMate: unsupported entity pair escaped filter: ${ref.type}-${dep.type}`\n        );\n      }\n      return pose;\n    }\n  }\n}\n\n/**\n * Solve assembly constraints analytically.\n *\n * Handles: fixed, concentric (axis-axis), angle (plane-plane orientation), and\n * coincident/distance for any supported entity-type pair (plane-plane,\n * plane-point, point-point, axis-axis, axis-point, and both point orders — see\n * `TRANSLATIONAL_PAIRS`). For a positioning mate, entityA is the reference and\n * entityB the dependent. Chain roots (nodes never positioned by a\n * mate) and explicit `fixed` nodes anchor at the origin; constraints then resolve\n * in topological order — each places its dependent against the reference's solved\n * pose (rotation included), so multi-body chains compose. Returns\n * `converged: false` with details for entity-type mismatches and any constraint\n * whose reference never resolves.\n */\nexport function solveConstraints(nodes: string[], constraints: SolverConstraint[]): SolverResult {\n  const transforms = new Map<string, Pose>();\n\n  // Initialize all nodes at origin\n  for (const node of nodes) {\n    transforms.set(node, { position: [0, 0, 0], rotation: IDENTITY_ROTATION });\n  }\n\n  const unsupported: string[] = [];\n\n  // For positioning mates, entityA is the reference and entityB the dependent.\n  const positioning = constraints.filter(\n    (c) => POSITIONING_TYPES.has(c.type) && c.entityA && c.entityB\n  );\n  const dependents = new Set<string>();\n  for (const c of positioning) if (c.entityB) dependents.add(c.entityB.node);\n\n  // Anchors are placed at the origin: any node never positioned by a mate (a\n  // chain root), plus any explicit `fixed` node.\n  const placed = new Set<string>();\n  for (const node of nodes) if (!dependents.has(node)) placed.add(node);\n  for (const c of constraints) if (c.type === 'fixed' && c.entityA) placed.add(c.entityA.node);\n\n  // Entity-type mismatches are unsupported regardless of order; report them\n  // eagerly and keep only well-typed mates for topological resolution. A node\n  // left unplaced by such a mate (it's a dependent, so not a root) will cause\n  // any downstream mate that references it to end up `(unanchored)` — intended:\n  // an unsolved reference can't compose, so the chain doesn't converge.\n  const pending: SolverConstraint[] = [];\n  for (const c of positioning) {\n    if (!c.entityA || !c.entityB) continue;\n    const a = c.entityA.entity.type;\n    const b = c.entityB.entity.type;\n    if (!isSupportedPair(c.type, a, b)) {\n      unsupported.push(`${c.type}(${a}-${b})`);\n      continue;\n    }\n    pending.push(c);\n  }\n\n  // Resolve in topological rounds: a mate solves once its reference (entityA) is\n  // placed, positioning the dependent (entityB) against the reference's solved\n  // world-space pose so multi-body chains compose.\n  let progress = true;\n  while (progress && pending.length > 0) {\n    progress = false;\n    for (let i = pending.length - 1; i >= 0; i--) {\n      const c = pending[i];\n      if (!c?.entityA || !c.entityB) continue;\n      const ref = c.entityA;\n      const dep = c.entityB;\n      if (!placed.has(ref.node)) continue; // reference not solved yet — defer\n\n      pending.splice(i, 1);\n      progress = true;\n      if (placed.has(dep.node)) continue; // dependent already anchored (fixed) — redundant\n\n      const refPose = transforms.get(ref.node) ?? {\n        position: [0, 0, 0],\n        rotation: IDENTITY_ROTATION,\n      };\n      const refWorld = transformEntity(ref.entity, refPose);\n      transforms.set(dep.node, solveMate(c, refWorld, dep.entity));\n      placed.add(dep.node);\n    }\n  }\n\n  // Anything still pending has a reference that never resolved (e.g. a cycle).\n  for (const c of pending) unsupported.push(`${c.type}(unanchored)`);\n\n  const dof = unsupported.reduce((sum, type) => {\n    // Look up by exact key first, then by base type (before parenthesis)\n    const baseDof = UNSUPPORTED_DOF[type] ?? UNSUPPORTED_DOF[type.split('(')[0] ?? ''] ?? 0;\n    return sum + baseDof;\n  }, 0);\n\n  return { transforms, dof, converged: unsupported.length === 0, unsupported };\n}\n"]}

package/dist/vendored/brepjs/kernel/stlBuilder.d.ts

@@ -0,0 +1,21 @@
+/**
+ * Kernel-agnostic STL serializers.
+ *
+ * Both writers take a triangle soup (positions + indices) and emit STL. Facet
+ * normals are derived from triangle winding (right-hand rule) rather than the
+ * mesh's per-vertex normals, matching the per-facet STL format.
+ * @module
+ */
+/**
+ * Default tessellation tolerances for STL export, shared by every kernel
+ * adapter so per-adapter defaults can't drift. Callers normally pass explicit
+ * values (the public `exportSTL` derives them from the active quality level);
+ * these apply only to direct kernel-level calls made without arguments.
+ */
+export declare const DEFAULT_STL_TOLERANCE = 0.001;
+export declare const DEFAULT_STL_ANGULAR_TOLERANCE = 0.1;
+/** Serialize a triangle soup as a binary STL (80-byte header + uint32 count + 50B/tri). */
+export declare function buildBinarySTL(vertices: ArrayLike<number>, triangles: ArrayLike<number>): ArrayBuffer;
+/** Serialize a triangle soup as an ASCII STL. */
+export declare function buildAsciiSTL(vertices: ArrayLike<number>, triangles: ArrayLike<number>): string;
+//# sourceMappingURL=stlBuilder.d.ts.map

package/dist/vendored/brepjs/kernel/stlBuilder.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"stlBuilder.d.ts","sourceRoot":"","sources":["../../../../src/vendored/brepjs/kernel/stlBuilder.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH;;;;;GAKG;AACH,eAAO,MAAM,qBAAqB,QAAO,CAAC;AAC1C,eAAO,MAAM,6BAA6B,MAAM,CAAC;AA2EjD,2FAA2F;AAC3F,wBAAgB,cAAc,CAC5B,QAAQ,EAAE,SAAS,CAAC,MAAM,CAAC,EAC3B,SAAS,EAAE,SAAS,CAAC,MAAM,CAAC,GAC3B,WAAW,CAwBb;AAED,iDAAiD;AACjD,wBAAgB,aAAa,CAAC,QAAQ,EAAE,SAAS,CAAC,MAAM,CAAC,EAAE,SAAS,EAAE,SAAS,CAAC,MAAM,CAAC,GAAG,MAAM,CAe/F"}

package/dist/vendored/brepjs/kernel/stlBuilder.js

@@ -0,0 +1,106 @@
+/**
+ * Kernel-agnostic STL serializers.
+ *
+ * Both writers take a triangle soup (positions + indices) and emit STL. Facet
+ * normals are derived from triangle winding (right-hand rule) rather than the
+ * mesh's per-vertex normals, matching the per-facet STL format.
+ * @module
+ */
+/**
+ * Default tessellation tolerances for STL export, shared by every kernel
+ * adapter so per-adapter defaults can't drift. Callers normally pass explicit
+ * values (the public `exportSTL` derives them from the active quality level);
+ * these apply only to direct kernel-level calls made without arguments.
+ */
+export const DEFAULT_STL_TOLERANCE = 1e-3;
+export const DEFAULT_STL_ANGULAR_TOLERANCE = 0.1;
+// Reused across the serialization loop — each facet is consumed before the next
+// call, so a single mutable scratch object avoids per-triangle allocation.
+const scratch = {
+    nx: 0,
+    ny: 0,
+    nz: 0,
+    ax: 0,
+    ay: 0,
+    az: 0,
+    bx: 0,
+    by: 0,
+    bz: 0,
+    cx: 0,
+    cy: 0,
+    cz: 0,
+};
+function facetAt(vertices, triangles, i) {
+    const ia = (triangles[i * 3] ?? 0) * 3;
+    const ib = (triangles[i * 3 + 1] ?? 0) * 3;
+    const ic = (triangles[i * 3 + 2] ?? 0) * 3;
+    const ax = vertices[ia] ?? 0, ay = vertices[ia + 1] ?? 0, az = vertices[ia + 2] ?? 0;
+    const bx = vertices[ib] ?? 0, by = vertices[ib + 1] ?? 0, bz = vertices[ib + 2] ?? 0;
+    const cx = vertices[ic] ?? 0, cy = vertices[ic + 1] ?? 0, cz = vertices[ic + 2] ?? 0;
+    const ux = bx - ax, uy = by - ay, uz = bz - az;
+    const vx = cx - ax, vy = cy - ay, vz = cz - az;
+    let nx = uy * vz - uz * vy;
+    let ny = uz * vx - ux * vz;
+    let nz = ux * vy - uy * vx;
+    const len = Math.hypot(nx, ny, nz) || 1;
+    nx /= len;
+    ny /= len;
+    nz /= len;
+    scratch.nx = nx;
+    scratch.ny = ny;
+    scratch.nz = nz;
+    scratch.ax = ax;
+    scratch.ay = ay;
+    scratch.az = az;
+    scratch.bx = bx;
+    scratch.by = by;
+    scratch.bz = bz;
+    scratch.cx = cx;
+    scratch.cy = cy;
+    scratch.cz = cz;
+    return scratch;
+}
+/** Serialize a triangle soup as a binary STL (80-byte header + uint32 count + 50B/tri). */
+export function buildBinarySTL(vertices, triangles) {
+    const triCount = Math.floor(triangles.length / 3);
+    const buffer = new ArrayBuffer(84 + triCount * 50);
+    const view = new DataView(buffer);
+    view.setUint32(80, triCount, true);
+    let offset = 84;
+    for (let i = 0; i < triCount; i++) {
+        const f = facetAt(vertices, triangles, i);
+        view.setFloat32(offset, f.nx, true);
+        view.setFloat32(offset + 4, f.ny, true);
+        view.setFloat32(offset + 8, f.nz, true);
+        view.setFloat32(offset + 12, f.ax, true);
+        view.setFloat32(offset + 16, f.ay, true);
+        view.setFloat32(offset + 20, f.az, true);
+        view.setFloat32(offset + 24, f.bx, true);
+        view.setFloat32(offset + 28, f.by, true);
+        view.setFloat32(offset + 32, f.bz, true);
+        view.setFloat32(offset + 36, f.cx, true);
+        view.setFloat32(offset + 40, f.cy, true);
+        view.setFloat32(offset + 44, f.cz, true);
+        view.setUint16(offset + 48, 0, true);
+        offset += 50;
+    }
+    return buffer;
+}
+/** Serialize a triangle soup as an ASCII STL. */
+export function buildAsciiSTL(vertices, triangles) {
+    const triCount = Math.floor(triangles.length / 3);
+    const lines = ['solid faijs'];
+    for (let i = 0; i < triCount; i++) {
+        const f = facetAt(vertices, triangles, i);
+        lines.push(`facet normal ${f.nx} ${f.ny} ${f.nz}`);
+        lines.push('outer loop');
+        lines.push(`vertex ${f.ax} ${f.ay} ${f.az}`);
+        lines.push(`vertex ${f.bx} ${f.by} ${f.bz}`);
+        lines.push(`vertex ${f.cx} ${f.cy} ${f.cz}`);
+        lines.push('endloop');
+        lines.push('endfacet');
+    }
+    lines.push('endsolid faijs');
+    return lines.join('\n') + '\n';
+}
+//# sourceMappingURL=stlBuilder.js.map

package/dist/vendored/brepjs/kernel/stlBuilder.js.map

@@ -0,0 +1 @@
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* Kernel-agnostic STL serializers.\n *\n * Both writers take a triangle soup (positions + indices) and emit STL. Facet\n * normals are derived from triangle winding (right-hand rule) rather than the\n * mesh's per-vertex normals, matching the per-facet STL format.\n * @module\n */\n\n/**\n * Default tessellation tolerances for STL export, shared by every kernel\n * adapter so per-adapter defaults can't drift. Callers normally pass explicit\n * values (the public `exportSTL` derives them from the active quality level);\n * these apply only to direct kernel-level calls made without arguments.\n */\nexport const DEFAULT_STL_TOLERANCE = 1e-3;\nexport const DEFAULT_STL_ANGULAR_TOLERANCE = 0.1;\n\ninterface Facet {\n  nx: number;\n  ny: number;\n  nz: number;\n  ax: number;\n  ay: number;\n  az: number;\n  bx: number;\n  by: number;\n  bz: number;\n  cx: number;\n  cy: number;\n  cz: number;\n}\n\n// Reused across the serialization loop — each facet is consumed before the next\n// call, so a single mutable scratch object avoids per-triangle allocation.\nconst scratch: Facet = {\n  nx: 0,\n  ny: 0,\n  nz: 0,\n  ax: 0,\n  ay: 0,\n  az: 0,\n  bx: 0,\n  by: 0,\n  bz: 0,\n  cx: 0,\n  cy: 0,\n  cz: 0,\n};\n\nfunction facetAt(vertices: ArrayLike<number>, triangles: ArrayLike<number>, i: number): Facet {\n  const ia = (triangles[i * 3] ?? 0) * 3;\n  const ib = (triangles[i * 3 + 1] ?? 0) * 3;\n  const ic = (triangles[i * 3 + 2] ?? 0) * 3;\n  const ax = vertices[ia] ?? 0,\n    ay = vertices[ia + 1] ?? 0,\n    az = vertices[ia + 2] ?? 0;\n  const bx = vertices[ib] ?? 0,\n    by = vertices[ib + 1] ?? 0,\n    bz = vertices[ib + 2] ?? 0;\n  const cx = vertices[ic] ?? 0,\n    cy = vertices[ic + 1] ?? 0,\n    cz = vertices[ic + 2] ?? 0;\n  const ux = bx - ax,\n    uy = by - ay,\n    uz = bz - az;\n  const vx = cx - ax,\n    vy = cy - ay,\n    vz = cz - az;\n  let nx = uy * vz - uz * vy;\n  let ny = uz * vx - ux * vz;\n  let nz = ux * vy - uy * vx;\n  const len = Math.hypot(nx, ny, nz) || 1;\n  nx /= len;\n  ny /= len;\n  nz /= len;\n  scratch.nx = nx;\n  scratch.ny = ny;\n  scratch.nz = nz;\n  scratch.ax = ax;\n  scratch.ay = ay;\n  scratch.az = az;\n  scratch.bx = bx;\n  scratch.by = by;\n  scratch.bz = bz;\n  scratch.cx = cx;\n  scratch.cy = cy;\n  scratch.cz = cz;\n  return scratch;\n}\n\n/** Serialize a triangle soup as a binary STL (80-byte header + uint32 count + 50B/tri). */\nexport function buildBinarySTL(\n  vertices: ArrayLike<number>,\n  triangles: ArrayLike<number>\n): ArrayBuffer {\n  const triCount = Math.floor(triangles.length / 3);\n  const buffer = new ArrayBuffer(84 + triCount * 50);\n  const view = new DataView(buffer);\n  view.setUint32(80, triCount, true);\n  let offset = 84;\n  for (let i = 0; i < triCount; i++) {\n    const f = facetAt(vertices, triangles, i);\n    view.setFloat32(offset, f.nx, true);\n    view.setFloat32(offset + 4, f.ny, true);\n    view.setFloat32(offset + 8, f.nz, true);\n    view.setFloat32(offset + 12, f.ax, true);\n    view.setFloat32(offset + 16, f.ay, true);\n    view.setFloat32(offset + 20, f.az, true);\n    view.setFloat32(offset + 24, f.bx, true);\n    view.setFloat32(offset + 28, f.by, true);\n    view.setFloat32(offset + 32, f.bz, true);\n    view.setFloat32(offset + 36, f.cx, true);\n    view.setFloat32(offset + 40, f.cy, true);\n    view.setFloat32(offset + 44, f.cz, true);\n    view.setUint16(offset + 48, 0, true);\n    offset += 50;\n  }\n  return buffer;\n}\n\n/** Serialize a triangle soup as an ASCII STL. */\nexport function buildAsciiSTL(vertices: ArrayLike<number>, triangles: ArrayLike<number>): string {\n  const triCount = Math.floor(triangles.length / 3);\n  const lines: string[] = ['solid faijs'];\n  for (let i = 0; i < triCount; i++) {\n    const f = facetAt(vertices, triangles, i);\n    lines.push(`facet normal ${f.nx} ${f.ny} ${f.nz}`);\n    lines.push('outer loop');\n    lines.push(`vertex ${f.ax} ${f.ay} ${f.az}`);\n    lines.push(`vertex ${f.bx} ${f.by} ${f.bz}`);\n    lines.push(`vertex ${f.cx} ${f.cy} ${f.cz}`);\n    lines.push('endloop');\n    lines.push('endfacet');\n  }\n  lines.push('endsolid faijs');\n  return lines.join('\\n') + '\\n';\n}\n"]}