@faicad/faijs 0.13.0

package/dist/vendored/brepjs/operations/compoundOpsFns.js

@@ -0,0 +1,368 @@
+/**
+ * Compound operations — high-level CAD features built from primitives + booleans.
+ *
+ * drill(), pocket(), boss(), mirrorJoin(), rectangularPattern()
+ */
+var __addDisposableResource = (this && this.__addDisposableResource) || function (env, value, async) {
+    if (value !== null && value !== void 0) {
+        if (typeof value !== "object" && typeof value !== "function") throw new TypeError("Object expected.");
+        var dispose, inner;
+        if (async) {
+            if (!Symbol.asyncDispose) throw new TypeError("Symbol.asyncDispose is not defined.");
+            dispose = value[Symbol.asyncDispose];
+        }
+        if (dispose === void 0) {
+            if (!Symbol.dispose) throw new TypeError("Symbol.dispose is not defined.");
+            dispose = value[Symbol.dispose];
+            if (async) inner = dispose;
+        }
+        if (typeof dispose !== "function") throw new TypeError("Object not disposable.");
+        if (inner) dispose = function() { try { inner.call(this); } catch (e) { return Promise.reject(e); } };
+        env.stack.push({ value: value, dispose: dispose, async: async });
+    }
+    else if (async) {
+        env.stack.push({ async: true });
+    }
+    return value;
+};
+var __disposeResources = (this && this.__disposeResources) || (function (SuppressedError) {
+    return function (env) {
+        function fail(e) {
+            env.error = env.hasError ? new SuppressedError(e, env.error, "An error was suppressed during disposal.") : e;
+            env.hasError = true;
+        }
+        var r, s = 0;
+        function next() {
+            while (r = env.stack.pop()) {
+                try {
+                    if (!r.async && s === 1) return s = 0, env.stack.push(r), Promise.resolve().then(next);
+                    if (r.dispose) {
+                        var result = r.dispose.call(r.value);
+                        if (r.async) return s |= 2, Promise.resolve(result).then(next, function(e) { fail(e); return next(); });
+                    }
+                    else s |= 1;
+                }
+                catch (e) {
+                    fail(e);
+                }
+            }
+            if (s === 1) return env.hasError ? Promise.reject(env.error) : Promise.resolve();
+            if (env.hasError) throw env.error;
+        }
+        return next();
+    };
+})(typeof SuppressedError === "function" ? SuppressedError : function (error, suppressed, message) {
+    var e = new Error(message);
+    return e.name = "SuppressedError", e.error = error, e.suppressed = suppressed, e;
+});
+import { ok, err, isErr } from '../core/result.js';
+import { validationError, queryError, BrepErrorCode } from '../core/errors.js';
+import { vecScale, vecNormalize, vecIsZero } from '../core/vecOps.js';
+import { resolve } from '../topology/apiTypes.js';
+import { getBounds, getFaces, translate, mirror } from '../topology/shapeFns.js';
+import { fuse, cut, fuseAll } from '../topology/booleanFns.js';
+import { DisposalScope } from '../core/disposal.js';
+import { extrude } from './extrudeFns.js';
+import { faceFinder } from '../query/finderFns.js';
+import { normalAt, faceCenter } from '../topology/faceFns.js';
+import { makeFace as _makeFace, makeCylinder as _makeCylinder } from '../topology/shapeHelpers.js';
+import { firstOrThrow, getAtOrThrow } from '../utils/arrayAccess.js';
+import { wasmIndex } from '../utils/vec3.js';
+// ---------------------------------------------------------------------------
+// Helpers
+// ---------------------------------------------------------------------------
+/** Resolve a face selection: Face, FinderFn, or default (top Z-facing face). */
+function resolveTargetFace(shape, faceSpec) {
+    if (faceSpec === undefined) {
+        // Default: top face — face whose center has the highest Z
+        const faces = getFaces(shape);
+        if (faces.length === 0) {
+            return err(validationError(BrepErrorCode.COMPOUND_NO_FACES, 'compoundOps: shape has no faces'));
+        }
+        let best = firstOrThrow(faces);
+        let bestZ = faceCenter(best)[2];
+        for (let i = 1; i < faces.length; i++) {
+            const f = getAtOrThrow(faces, i);
+            const z = faceCenter(f)[2];
+            if (z > bestZ) {
+                best = f;
+                bestZ = z;
+            }
+        }
+        return ok(best);
+    }
+    if (typeof faceSpec === 'function') {
+        const finder = faceSpec(faceFinder());
+        const found = finder.findAll(shape);
+        if (found.length === 0) {
+            return err(queryError(BrepErrorCode.COMPOUND_FACE_NOT_FOUND, 'compoundOps: face finder matched no faces'));
+        }
+        return ok(wasmIndex(found, 0));
+    }
+    return ok(faceSpec);
+}
+/**
+ * Convert a DrawingLike or Wire to a ClosedWire & PlanarWire (profiles are always
+ * closed and planar). `owned` is true when we materialised a fresh sketch wire
+ * (the caller must dispose it); false when the caller's own Wire is passed through.
+ */
+function toWire(profile) {
+    if ('sketchOnPlane' in profile && typeof profile.sketchOnPlane === 'function') {
+        // planar by construction: sketch operates on XY plane
+        return { wire: profile.sketchOnPlane('XY').wire, owned: true };
+    }
+    // planar by construction: remaining cases are either DrawingLike 2D profiles
+    // or Wire inputs — callers are expected to pass closed, planar profiles here.
+    return { wire: profile, owned: false };
+}
+// ---------------------------------------------------------------------------
+// drill — create hole(s) by cutting a cylinder
+// ---------------------------------------------------------------------------
+/**
+ * Drill a hole through a 3D shape.
+ *
+ * Creates a cylinder at the specified position and cuts it from the shape.
+ * If no depth is given, cuts all the way through (computed from bounding box).
+ */
+export function drill(shape, options) {
+    const s = resolve(shape);
+    const { at, radius, axis: rawAxis } = options;
+    const axis = rawAxis ?? [0, 0, 1];
+    if (radius <= 0) {
+        return err(validationError('DRILL_INVALID_RADIUS', 'Drill radius must be positive'));
+    }
+    if (vecIsZero(axis)) {
+        return err(validationError('DRILL_ZERO_AXIS', 'Drill axis cannot be zero'));
+    }
+    const dir = vecNormalize(axis);
+    // Resolve position — Vec2 projects onto axis origin
+    const pos = at.length === 2 ? [at[0], at[1], 0] : [at[0], at[1], at[2]];
+    // Compute depth and starting position
+    let tool;
+    if (options.depth !== undefined) {
+        // Explicit depth: cylinder starts at pos, extends along dir
+        tool = _makeCylinder(radius, options.depth, pos, dir);
+    }
+    else {
+        // Through-all: project bounding box onto drill axis to find exact extent,
+        // then add a small overshoot. This avoids creating an oversized tool that
+        // confuses the mesh boolean's inside/outside classification.
+        const b = getBounds(s);
+        const corners = [
+            [b.xMin, b.yMin, b.zMin],
+            [b.xMax, b.yMin, b.zMin],
+            [b.xMin, b.yMax, b.zMin],
+            [b.xMax, b.yMax, b.zMin],
+            [b.xMin, b.yMin, b.zMax],
+            [b.xMax, b.yMin, b.zMax],
+            [b.xMin, b.yMax, b.zMax],
+            [b.xMax, b.yMax, b.zMax],
+        ];
+        // Project each corner onto the drill axis relative to pos
+        let tMin = Infinity;
+        let tMax = -Infinity;
+        for (const c of corners) {
+            const t = (c[0] - pos[0]) * dir[0] + (c[1] - pos[1]) * dir[1] + (c[2] - pos[2]) * dir[2];
+            if (t < tMin)
+                tMin = t;
+            if (t > tMax)
+                tMax = t;
+        }
+        const overshoot = 1;
+        tMin -= overshoot;
+        tMax += overshoot;
+        const depth = tMax - tMin;
+        const startPos = [pos[0] + dir[0] * tMin, pos[1] + dir[1] * tMin, pos[2] + dir[2] * tMin];
+        tool = _makeCylinder(radius, depth, startPos, dir);
+    }
+    try {
+        return cut(s, tool, { unsafe: true });
+    }
+    finally {
+        // cut is immutable and does not consume the tool — dispose it.
+        tool[Symbol.dispose]();
+    }
+}
+// ---------------------------------------------------------------------------
+// pocket — cut a 2D profile into a face
+// ---------------------------------------------------------------------------
+/**
+ * Cut a pocket (2D profile extruded inward) into a shape.
+ *
+ * The profile (Drawing or Wire) is positioned on the target face and extruded
+ * inward by the specified depth, then subtracted from the shape.
+ */
+export function pocket(shape, options) {
+    const env_1 = { stack: [], error: void 0, hasError: false };
+    try {
+        const s = resolve(shape);
+        const { profile, depth } = options;
+        if (depth <= 0) {
+            return err(validationError('POCKET_INVALID_DEPTH', 'Pocket depth must be positive'));
+        }
+        const targetResult = resolveTargetFace(s, options.face);
+        if (isErr(targetResult))
+            return targetResult;
+        const targetFace = targetResult.value;
+        const normal = normalAt(targetFace);
+        const center = faceCenter(targetFace);
+        // The profile wire (if materialised here), its face, the positioned face, and
+        // the extruded tool are all intermediates consumed by cut — dispose them.
+        const scope = __addDisposableResource(env_1, new DisposalScope(), false);
+        const { wire: w, owned } = toWire(profile);
+        if (owned)
+            scope.register(w);
+        const faceResult = _makeFace(w);
+        if (isErr(faceResult))
+            return faceResult;
+        scope.register(faceResult.value);
+        // Position the profile on the target face before extruding
+        const positioned = scope.register(translate(faceResult.value, center));
+        const extDir = vecScale(vecNormalize(normal), -depth);
+        const toolResult = extrude(positioned, extDir);
+        if (isErr(toolResult))
+            return toolResult;
+        scope.register(toolResult.value);
+        return cut(s, toolResult.value, { unsafe: true });
+    }
+    catch (e_1) {
+        env_1.error = e_1;
+        env_1.hasError = true;
+    }
+    finally {
+        __disposeResources(env_1);
+    }
+}
+// ---------------------------------------------------------------------------
+// boss — extrude a 2D profile onto a face
+// ---------------------------------------------------------------------------
+/**
+ * Add a boss (2D profile extruded outward) onto a shape.
+ *
+ * The profile (Drawing or Wire) is positioned on the target face and extruded
+ * outward by the specified height, then fused with the shape.
+ */
+export function boss(shape, options) {
+    const env_2 = { stack: [], error: void 0, hasError: false };
+    try {
+        const s = resolve(shape);
+        const { profile, height } = options;
+        if (height <= 0) {
+            return err(validationError('BOSS_INVALID_HEIGHT', 'Boss height must be positive'));
+        }
+        const targetResult = resolveTargetFace(s, options.face);
+        if (isErr(targetResult))
+            return targetResult;
+        const targetFace = targetResult.value;
+        const normal = normalAt(targetFace);
+        const center = faceCenter(targetFace);
+        // The profile wire (if materialised here), its face, the positioned face, and
+        // the extruded tool are all intermediates consumed by fuse — dispose them.
+        const scope = __addDisposableResource(env_2, new DisposalScope(), false);
+        const { wire: w, owned } = toWire(profile);
+        if (owned)
+            scope.register(w);
+        const faceResult = _makeFace(w);
+        if (isErr(faceResult))
+            return faceResult;
+        scope.register(faceResult.value);
+        // Position the profile on the target face before extruding
+        const positioned = scope.register(translate(faceResult.value, center));
+        const extDir = vecScale(vecNormalize(normal), height);
+        const toolResult = extrude(positioned, extDir);
+        if (isErr(toolResult))
+            return toolResult;
+        scope.register(toolResult.value);
+        return fuse(s, toolResult.value, { unsafe: true });
+    }
+    catch (e_2) {
+        env_2.error = e_2;
+        env_2.hasError = true;
+    }
+    finally {
+        __disposeResources(env_2);
+    }
+}
+// ---------------------------------------------------------------------------
+// mirrorJoin — mirror and fuse in one step
+// ---------------------------------------------------------------------------
+/**
+ * Mirror a shape and fuse it with the original.
+ *
+ * Common pattern: model half a part, then mirror-join for symmetry.
+ */
+export function mirrorJoin(shape, options) {
+    const env_3 = { stack: [], error: void 0, hasError: false };
+    try {
+        const s = resolve(shape);
+        const normal = options?.normal ?? [1, 0, 0];
+        const planeOrigin = options?.at;
+        if (vecIsZero(normal)) {
+            return err(validationError('MIRROR_ZERO_NORMAL', 'Mirror plane normal cannot be zero'));
+        }
+        const mirrored = __addDisposableResource(env_3, mirror(s, normal, planeOrigin), false);
+        return fuse(s, mirrored, { unsafe: true });
+    }
+    catch (e_3) {
+        env_3.error = e_3;
+        env_3.hasError = true;
+    }
+    finally {
+        __disposeResources(env_3);
+    }
+}
+// ---------------------------------------------------------------------------
+// rectangularPattern — 2D array of copies fused together
+// ---------------------------------------------------------------------------
+/**
+ * Create a rectangular (2D grid) pattern of a shape.
+ *
+ * Replicates the shape along two directions with specified counts and spacings,
+ * then fuses all copies into a single shape.
+ */
+export function rectangularPattern(shape, options) {
+    const s = resolve(shape);
+    const { xDir, xCount, xSpacing, yDir, yCount, ySpacing } = options;
+    if (xCount < 1 || yCount < 1) {
+        return err(validationError('PATTERN_INVALID_COUNT', 'Pattern counts must be at least 1'));
+    }
+    if (vecIsZero(xDir)) {
+        return err(validationError('PATTERN_ZERO_DIRECTION', 'X direction cannot be zero'));
+    }
+    if (vecIsZero(yDir)) {
+        return err(validationError('PATTERN_ZERO_DIRECTION', 'Y direction cannot be zero'));
+    }
+    if (xCount === 1 && yCount === 1)
+        return ok(s);
+    const xNorm = vecNormalize(xDir);
+    const yNorm = vecNormalize(yDir);
+    // Collect all copies first, then batch-fuse with native N-way boolean.
+    // This replaces sequential fuse() (N-1 pairwise operations on growing shapes)
+    // with a single BRepAlgoAPI_BuilderAlgo call.
+    const copies = [s];
+    const owned = []; // the translated copies we allocate (not the caller's `s`)
+    for (let xi = 0; xi < xCount; xi++) {
+        for (let yi = 0; yi < yCount; yi++) {
+            if (xi === 0 && yi === 0)
+                continue; // skip original
+            const offset = [
+                xNorm[0] * xSpacing * xi + yNorm[0] * ySpacing * yi,
+                xNorm[1] * xSpacing * xi + yNorm[1] * ySpacing * yi,
+                xNorm[2] * xSpacing * xi + yNorm[2] * ySpacing * yi,
+            ];
+            const c = translate(s, offset);
+            copies.push(c);
+            owned.push(c);
+        }
+    }
+    try {
+        return fuseAll(copies, { unsafe: true });
+    }
+    finally {
+        // fuseAll is immutable and does not consume its inputs — dispose the copies
+        // we created (never `s`, which the caller owns).
+        for (const c of owned)
+            c[Symbol.dispose]();
+    }
+}
+//# sourceMappingURL=compoundOpsFns.js.map

package/dist/vendored/brepjs/operations/compoundOpsFns.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"compoundOpsFns.js","sourceRoot":"","sources":["../../../../src/vendored/brepjs/operations/compoundOpsFns.ts"],"names":[],"mappings":"AAAA;;;;GAIG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;AAIH,OAAO,EAAE,EAAE,EAAE,GAAG,EAAE,KAAK,EAAE,MAAM,mBAAmB,CAAC;AAEnD,OAAO,EAAE,eAAe,EAAE,UAAU,EAAE,aAAa,EAAE,MAAM,mBAAmB,CAAC;AAC/E,OAAO,EAAE,QAAQ,EAAE,YAAY,EAAE,SAAS,EAAE,MAAM,mBAAmB,CAAC;AAWtE,OAAO,EAAE,OAAO,EAAE,MAAM,yBAAyB,CAAC;AAClD,OAAO,EAAE,SAAS,EAAE,QAAQ,EAAE,SAAS,EAAE,MAAM,EAAE,MAAM,yBAAyB,CAAC;AACjF,OAAO,EAAE,IAAI,EAAE,GAAG,EAAE,OAAO,EAAE,MAAM,2BAA2B,CAAC;AAC/D,OAAO,EAAE,aAAa,EAAE,MAAM,qBAAqB,CAAC;AACpD,OAAO,EAAE,OAAO,EAAE,MAAM,iBAAiB,CAAC;AAC1C,OAAO,EAAE,UAAU,EAAE,MAAM,uBAAuB,CAAC;AACnD,OAAO,EAAE,QAAQ,EAAE,UAAU,EAAE,MAAM,wBAAwB,CAAC;AAC9D,OAAO,EAAE,QAAQ,IAAI,SAAS,EAAE,YAAY,IAAI,aAAa,EAAE,MAAM,6BAA6B,CAAC;AACnG,OAAO,EAAE,YAAY,EAAE,YAAY,EAAE,MAAM,yBAAyB,CAAC;AACrE,OAAO,EAAE,SAAS,EAAE,MAAM,kBAAkB,CAAC;AAE7C,8EAA8E;AAC9E,UAAU;AACV,8EAA8E;AAE9E,gFAAgF;AAChF,SAAS,iBAAiB,CACxB,KAAc,EACd,QAA2C;IAE3C,IAAI,QAAQ,KAAK,SAAS,EAAE,CAAC;QAC3B,0DAA0D;QAC1D,MAAM,KAAK,GAAG,QAAQ,CAAC,KAAK,CAAC,CAAC;QAC9B,IAAI,KAAK,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YACvB,OAAO,GAAG,CACR,eAAe,CAAC,aAAa,CAAC,iBAAiB,EAAE,iCAAiC,CAAC,CACpF,CAAC;QACJ,CAAC;QACD,IAAI,IAAI,GAAG,YAAY,CAAC,KAAK,CAAC,CAAC;QAC/B,IAAI,KAAK,GAAG,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;QAChC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,KAAK,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;YACtC,MAAM,CAAC,GAAG,YAAY,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;YACjC,MAAM,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YAC3B,IAAI,CAAC,GAAG,KAAK,EAAE,CAAC;gBACd,IAAI,GAAG,CAAC,CAAC;gBACT,KAAK,GAAG,CAAC,CAAC;YACZ,CAAC;QACH,CAAC;QACD,OAAO,EAAE,CAAC,IAAI,CAAC,CAAC;IAClB,CAAC;IACD,IAAI,OAAO,QAAQ,KAAK,UAAU,EAAE,CAAC;QACnC,MAAM,MAAM,GAAG,QAAQ,CAAC,UAAU,EAAE,CAAC,CAAC;QACtC,MAAM,KAAK,GAAG,MAAM,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;QACpC,IAAI,KAAK,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YACvB,OAAO,GAAG,CACR,UAAU,CACR,aAAa,CAAC,uBAAuB,EACrC,2CAA2C,CAC5C,CACF,CAAC;QACJ,CAAC;QACD,OAAO,EAAE,CAAC,SAAS,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,EAAE,CAAC,QAAQ,CAAC,CAAC;AACtB,CAAC;AAED;;;;GAIG;AACH,SAAS,MAAM,CAAC,OAA2B;IACzC,IAAI,eAAe,IAAI,OAAO,IAAI,OAAO,OAAO,CAAC,aAAa,KAAK,UAAU,EAAE,CAAC;QAC9E,sDAAsD;QACtD,OAAO,EAAE,IAAI,EAAE,OAAO,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,IAA+B,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC;IAC5F,CAAC;IACD,6EAA6E;IAC7E,8EAA8E;IAC9E,OAAO,EAAE,IAAI,EAAE,OAAkC,EAAE,KAAK,EAAE,KAAK,EAAE,CAAC;AACpE,CAAC;AAED,8EAA8E;AAC9E,+CAA+C;AAC/C,8EAA8E;AAE9E;;;;;GAKG;AACH,MAAM,UAAU,KAAK,CAAoB,KAAmB,EAAE,OAAqB;IACjF,MAAM,CAAC,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC;IACzB,MAAM,EAAE,EAAE,EAAE,MAAM,EAAE,IAAI,EAAE,OAAO,EAAE,GAAG,OAAO,CAAC;IAC9C,MAAM,IAAI,GAAG,OAAO,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAElC,IAAI,MAAM,IAAI,CAAC,EAAE,CAAC;QAChB,OAAO,GAAG,CAAC,eAAe,CAAC,sBAAsB,EAAE,+BAA+B,CAAC,CAAC,CAAC;IACvF,CAAC;IACD,IAAI,SAAS,CAAC,IAAI,CAAC,EAAE,CAAC;QACpB,OAAO,GAAG,CAAC,eAAe,CAAC,iBAAiB,EAAE,2BAA2B,CAAC,CAAC,CAAC;IAC9E,CAAC;IAED,MAAM,GAAG,GAAG,YAAY,CAAC,IAAI,CAAC,CAAC;IAE/B,oDAAoD;IACpD,MAAM,GAAG,GAAS,EAAE,CAAC,MAAM,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;IAE9E,sCAAsC;IACtC,IAAI,IAAa,CAAC;IAClB,IAAI,OAAO,CAAC,KAAK,KAAK,SAAS,EAAE,CAAC;QAChC,4DAA4D;QAC5D,IAAI,GAAG,aAAa,CAAC,MAAM,EAAE,OAAO,CAAC,KAAK,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC;IACxD,CAAC;SAAM,CAAC;QACN,0EAA0E;QAC1E,0EAA0E;QAC1E,6DAA6D;QAC7D,MAAM,CAAC,GAAG,SAAS,CAAC,CAAC,CAAC,CAAC;QACvB,MAAM,OAAO,GAAW;YACtB,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC;YACxB,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC;YACxB,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC;YACxB,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC;YACxB,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC;YACxB,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC;YACxB,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC;YACxB,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,IAAI,CAAC;SACzB,CAAC;QACF,0DAA0D;QAC1D,IAAI,IAAI,GAAG,QAAQ,CAAC;QACpB,IAAI,IAAI,GAAG,CAAC,QAAQ,CAAC;QACrB,KAAK,MAAM,CAAC,IAAI,OAAO,EAAE,CAAC;YACxB,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC;YACzF,IAAI,CAAC,GAAG,IAAI;gBAAE,IAAI,GAAG,CAAC,CAAC;YACvB,IAAI,CAAC,GAAG,IAAI;gBAAE,IAAI,GAAG,CAAC,CAAC;QACzB,CAAC;QACD,MAAM,SAAS,GAAG,CAAC,CAAC;QACpB,IAAI,IAAI,SAAS,CAAC;QAClB,IAAI,IAAI,SAAS,CAAC;QAClB,MAAM,KAAK,GAAG,IAAI,GAAG,IAAI,CAAC;QAC1B,MAAM,QAAQ,GAAS,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,GAAG,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,GAAG,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC;QAChG,IAAI,GAAG,aAAa,CAAC,MAAM,EAAE,KAAK,EAAE,QAAQ,EAAE,GAAG,CAAC,CAAC;IACrD,CAAC;IAED,IAAI,CAAC;QACH,OAAO,GAAG,CAAC,CAAC,EAAE,IAAI,EAAE,EAAE,MAAM,EAAE,IAAI,EAAE,CAAc,CAAC;IACrD,CAAC;YAAS,CAAC;QACT,+DAA+D;QAC/D,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,EAAE,CAAC;IACzB,CAAC;AACH,CAAC;AAED,8EAA8E;AAC9E,wCAAwC;AACxC,8EAA8E;AAE9E;;;;;GAKG;AACH,MAAM,UAAU,MAAM,CAAoB,KAAmB,EAAE,OAAsB;;;QACnF,MAAM,CAAC,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC;QACzB,MAAM,EAAE,OAAO,EAAE,KAAK,EAAE,GAAG,OAAO,CAAC;QAEnC,IAAI,KAAK,IAAI,CAAC,EAAE,CAAC;YACf,OAAO,GAAG,CAAC,eAAe,CAAC,sBAAsB,EAAE,+BAA+B,CAAC,CAAC,CAAC;QACvF,CAAC;QAED,MAAM,YAAY,GAAG,iBAAiB,CAAC,CAAC,EAAE,OAAO,CAAC,IAAI,CAAC,CAAC;QACxD,IAAI,KAAK,CAAC,YAAY,CAAC;YAAE,OAAO,YAAY,CAAC;QAC7C,MAAM,UAAU,GAAG,YAAY,CAAC,KAAK,CAAC;QACtC,MAAM,MAAM,GAAG,QAAQ,CAAC,UAAU,CAAC,CAAC;QACpC,MAAM,MAAM,GAAG,UAAU,CAAC,UAAU,CAAC,CAAC;QAEtC,8EAA8E;QAC9E,0EAA0E;QAC1E,MAAM,KAAK,kCAAG,IAAI,aAAa,EAAE,QAAA,CAAC;QAClC,MAAM,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,GAAG,MAAM,CAAC,OAAO,CAAC,CAAC;QAC3C,IAAI,KAAK;YAAE,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC;QAE7B,MAAM,UAAU,GAAG,SAAS,CAAC,CAAC,CAAC,CAAC;QAChC,IAAI,KAAK,CAAC,UAAU,CAAC;YAAE,OAAO,UAAU,CAAC;QACzC,KAAK,CAAC,QAAQ,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC;QAEjC,2DAA2D;QAC3D,MAAM,UAAU,GAAG,KAAK,CAAC,QAAQ,CAAC,SAAS,CAAC,UAAU,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC;QACvE,MAAM,MAAM,GAAG,QAAQ,CAAC,YAAY,CAAC,MAAM,CAAC,EAAE,CAAC,KAAK,CAAC,CAAC;QACtD,MAAM,UAAU,GAAG,OAAO,CAAC,UAAU,EAAE,MAAM,CAAC,CAAC;QAC/C,IAAI,KAAK,CAAC,UAAU,CAAC;YAAE,OAAO,UAAU,CAAC;QACzC,KAAK,CAAC,QAAQ,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC;QAEjC,OAAO,GAAG,CAAC,CAAC,EAAE,UAAU,CAAC,KAAK,EAAE,EAAE,MAAM,EAAE,IAAI,EAAE,CAAc,CAAC;;;;;;;;;CAChE;AAED,8EAA8E;AAC9E,0CAA0C;AAC1C,8EAA8E;AAE9E;;;;;GAKG;AACH,MAAM,UAAU,IAAI,CAAoB,KAAmB,EAAE,OAAoB;;;QAC/E,MAAM,CAAC,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC;QACzB,MAAM,EAAE,OAAO,EAAE,MAAM,EAAE,GAAG,OAAO,CAAC;QAEpC,IAAI,MAAM,IAAI,CAAC,EAAE,CAAC;YAChB,OAAO,GAAG,CAAC,eAAe,CAAC,qBAAqB,EAAE,8BAA8B,CAAC,CAAC,CAAC;QACrF,CAAC;QAED,MAAM,YAAY,GAAG,iBAAiB,CAAC,CAAC,EAAE,OAAO,CAAC,IAAI,CAAC,CAAC;QACxD,IAAI,KAAK,CAAC,YAAY,CAAC;YAAE,OAAO,YAAY,CAAC;QAC7C,MAAM,UAAU,GAAG,YAAY,CAAC,KAAK,CAAC;QACtC,MAAM,MAAM,GAAG,QAAQ,CAAC,UAAU,CAAC,CAAC;QACpC,MAAM,MAAM,GAAG,UAAU,CAAC,UAAU,CAAC,CAAC;QAEtC,8EAA8E;QAC9E,2EAA2E;QAC3E,MAAM,KAAK,kCAAG,IAAI,aAAa,EAAE,QAAA,CAAC;QAClC,MAAM,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,GAAG,MAAM,CAAC,OAAO,CAAC,CAAC;QAC3C,IAAI,KAAK;YAAE,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC;QAE7B,MAAM,UAAU,GAAG,SAAS,CAAC,CAAC,CAAC,CAAC;QAChC,IAAI,KAAK,CAAC,UAAU,CAAC;YAAE,OAAO,UAAU,CAAC;QACzC,KAAK,CAAC,QAAQ,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC;QAEjC,2DAA2D;QAC3D,MAAM,UAAU,GAAG,KAAK,CAAC,QAAQ,CAAC,SAAS,CAAC,UAAU,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC;QACvE,MAAM,MAAM,GAAG,QAAQ,CAAC,YAAY,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC,CAAC;QACtD,MAAM,UAAU,GAAG,OAAO,CAAC,UAAU,EAAE,MAAM,CAAC,CAAC;QAC/C,IAAI,KAAK,CAAC,UAAU,CAAC;YAAE,OAAO,UAAU,CAAC;QACzC,KAAK,CAAC,QAAQ,CAAC,UAAU,CAAC,KAAK,CAAC,CAAC;QAEjC,OAAO,IAAI,CAAC,CAAC,EAAE,UAAU,CAAC,KAAK,EAAE,EAAE,MAAM,EAAE,IAAI,EAAE,CAAc,CAAC;;;;;;;;;CACjE;AAED,8EAA8E;AAC9E,2CAA2C;AAC3C,8EAA8E;AAE9E;;;;GAIG;AACH,MAAM,UAAU,UAAU,CACxB,KAAmB,EACnB,OAA2B;;;QAE3B,MAAM,CAAC,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC;QACzB,MAAM,MAAM,GAAG,OAAO,EAAE,MAAM,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QAC5C,MAAM,WAAW,GAAG,OAAO,EAAE,EAAE,CAAC;QAEhC,IAAI,SAAS,CAAC,MAAM,CAAC,EAAE,CAAC;YACtB,OAAO,GAAG,CAAC,eAAe,CAAC,oBAAoB,EAAE,oCAAoC,CAAC,CAAC,CAAC;QAC1F,CAAC;QAED,MAAM,QAAQ,kCAAG,MAAM,CAAC,CAAC,EAAE,MAAM,EAAE,WAAW,CAAC,QAAA,CAAC;QAChD,OAAO,IAAI,CAAC,CAAC,EAAE,QAAQ,EAAE,EAAE,MAAM,EAAE,IAAI,EAAE,CAAc,CAAC;;;;;;;;;CACzD;AAED,8EAA8E;AAC9E,yDAAyD;AACzD,8EAA8E;AAE9E;;;;;GAKG;AACH,MAAM,UAAU,kBAAkB,CAChC,KAAmB,EACnB,OAAkC;IAElC,MAAM,CAAC,GAAG,OAAO,CAAC,KAAK,CAAC,CAAC;IACzB,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,QAAQ,EAAE,IAAI,EAAE,MAAM,EAAE,QAAQ,EAAE,GAAG,OAAO,CAAC;IAEnE,IAAI,MAAM,GAAG,CAAC,IAAI,MAAM,GAAG,CAAC,EAAE,CAAC;QAC7B,OAAO,GAAG,CAAC,eAAe,CAAC,uBAAuB,EAAE,mCAAmC,CAAC,CAAC,CAAC;IAC5F,CAAC;IACD,IAAI,SAAS,CAAC,IAAI,CAAC,EAAE,CAAC;QACpB,OAAO,GAAG,CAAC,eAAe,CAAC,wBAAwB,EAAE,4BAA4B,CAAC,CAAC,CAAC;IACtF,CAAC;IACD,IAAI,SAAS,CAAC,IAAI,CAAC,EAAE,CAAC;QACpB,OAAO,GAAG,CAAC,eAAe,CAAC,wBAAwB,EAAE,4BAA4B,CAAC,CAAC,CAAC;IACtF,CAAC;IAED,IAAI,MAAM,KAAK,CAAC,IAAI,MAAM,KAAK,CAAC;QAAE,OAAO,EAAE,CAAC,CAAC,CAAC,CAAC;IAE/C,MAAM,KAAK,GAAG,YAAY,CAAC,IAAI,CAAC,CAAC;IACjC,MAAM,KAAK,GAAG,YAAY,CAAC,IAAI,CAAC,CAAC;IAEjC,uEAAuE;IACvE,8EAA8E;IAC9E,8CAA8C;IAC9C,MAAM,MAAM,GAAc,CAAC,CAAC,CAAC,CAAC;IAC9B,MAAM,KAAK,GAAc,EAAE,CAAC,CAAC,2DAA2D;IACxF,KAAK,IAAI,EAAE,GAAG,CAAC,EAAE,EAAE,GAAG,MAAM,EAAE,EAAE,EAAE,EAAE,CAAC;QACnC,KAAK,IAAI,EAAE,GAAG,CAAC,EAAE,EAAE,GAAG,MAAM,EAAE,EAAE,EAAE,EAAE,CAAC;YACnC,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC;gBAAE,SAAS,CAAC,gBAAgB;YACpD,MAAM,MAAM,GAAS;gBACnB,KAAK,CAAC,CAAC,CAAC,GAAG,QAAQ,GAAG,EAAE,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,QAAQ,GAAG,EAAE;gBACnD,KAAK,CAAC,CAAC,CAAC,GAAG,QAAQ,GAAG,EAAE,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,QAAQ,GAAG,EAAE;gBACnD,KAAK,CAAC,CAAC,CAAC,GAAG,QAAQ,GAAG,EAAE,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,QAAQ,GAAG,EAAE;aACpD,CAAC;YACF,MAAM,CAAC,GAAG,SAAS,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC;YAC/B,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;YACf,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QAChB,CAAC;IACH,CAAC;IAED,IAAI,CAAC;QACH,OAAO,OAAO,CAAC,MAAM,EAAE,EAAE,MAAM,EAAE,IAAI,EAAE,CAAc,CAAC;IACxD,CAAC;YAAS,CAAC;QACT,4EAA4E;QAC5E,iDAAiD;QACjD,KAAK,MAAM,CAAC,IAAI,KAAK;YAAE,CAAC,CAAC,MAAM,CAAC,OAAO,CAAC,EAAE,CAAC;IAC7C,CAAC;AACH,CAAC","sourcesContent":["/**\n * Compound operations — high-level CAD features built from primitives + booleans.\n *\n * drill(), pocket(), boss(), mirrorJoin(), rectangularPattern()\n */\n\nimport type { Vec3 } from '../core/types.js';\nimport type { Result } from '../core/result.js';\nimport { ok, err, isErr } from '../core/result.js';\nimport type { ClosedWire, Face, PlanarWire, Shape3D, Wire } from '../core/shapeTypes.js';\nimport { validationError, queryError, BrepErrorCode } from '../core/errors.js';\nimport { vecScale, vecNormalize, vecIsZero } from '../core/vecOps.js';\nimport type {\n  Shapeable,\n  FinderFn,\n  DrawingLike,\n  DrillOptions,\n  PocketOptions,\n  BossOptions,\n  MirrorJoinOptions,\n  RectangularPatternOptions,\n} from '../topology/apiTypes.js';\nimport { resolve } from '../topology/apiTypes.js';\nimport { getBounds, getFaces, translate, mirror } from '../topology/shapeFns.js';\nimport { fuse, cut, fuseAll } from '../topology/booleanFns.js';\nimport { DisposalScope } from '../core/disposal.js';\nimport { extrude } from './extrudeFns.js';\nimport { faceFinder } from '../query/finderFns.js';\nimport { normalAt, faceCenter } from '../topology/faceFns.js';\nimport { makeFace as _makeFace, makeCylinder as _makeCylinder } from '../topology/shapeHelpers.js';\nimport { firstOrThrow, getAtOrThrow } from '../utils/arrayAccess.js';\nimport { wasmIndex } from '../utils/vec3.js';\n\n// ---------------------------------------------------------------------------\n// Helpers\n// ---------------------------------------------------------------------------\n\n/** Resolve a face selection: Face, FinderFn, or default (top Z-facing face). */\nfunction resolveTargetFace(\n  shape: Shape3D,\n  faceSpec: Face | FinderFn<Face> | undefined\n): Result<Face> {\n  if (faceSpec === undefined) {\n    // Default: top face — face whose center has the highest Z\n    const faces = getFaces(shape);\n    if (faces.length === 0) {\n      return err(\n        validationError(BrepErrorCode.COMPOUND_NO_FACES, 'compoundOps: shape has no faces')\n      );\n    }\n    let best = firstOrThrow(faces);\n    let bestZ = faceCenter(best)[2];\n    for (let i = 1; i < faces.length; i++) {\n      const f = getAtOrThrow(faces, i);\n      const z = faceCenter(f)[2];\n      if (z > bestZ) {\n        best = f;\n        bestZ = z;\n      }\n    }\n    return ok(best);\n  }\n  if (typeof faceSpec === 'function') {\n    const finder = faceSpec(faceFinder());\n    const found = finder.findAll(shape);\n    if (found.length === 0) {\n      return err(\n        queryError(\n          BrepErrorCode.COMPOUND_FACE_NOT_FOUND,\n          'compoundOps: face finder matched no faces'\n        )\n      );\n    }\n    return ok(wasmIndex(found, 0));\n  }\n  return ok(faceSpec);\n}\n\n/**\n * Convert a DrawingLike or Wire to a ClosedWire & PlanarWire (profiles are always\n * closed and planar). `owned` is true when we materialised a fresh sketch wire\n * (the caller must dispose it); false when the caller's own Wire is passed through.\n */\nfunction toWire(profile: DrawingLike | Wire): { wire: ClosedWire & PlanarWire; owned: boolean } {\n  if ('sketchOnPlane' in profile && typeof profile.sketchOnPlane === 'function') {\n    // planar by construction: sketch operates on XY plane\n    return { wire: profile.sketchOnPlane('XY').wire as ClosedWire & PlanarWire, owned: true };\n  }\n  // planar by construction: remaining cases are either DrawingLike 2D profiles\n  // or Wire inputs — callers are expected to pass closed, planar profiles here.\n  return { wire: profile as ClosedWire & PlanarWire, owned: false };\n}\n\n// ---------------------------------------------------------------------------\n// drill — create hole(s) by cutting a cylinder\n// ---------------------------------------------------------------------------\n\n/**\n * Drill a hole through a 3D shape.\n *\n * Creates a cylinder at the specified position and cuts it from the shape.\n * If no depth is given, cuts all the way through (computed from bounding box).\n */\nexport function drill<T extends Shape3D>(shape: Shapeable<T>, options: DrillOptions): Result<T> {\n  const s = resolve(shape);\n  const { at, radius, axis: rawAxis } = options;\n  const axis = rawAxis ?? [0, 0, 1];\n\n  if (radius <= 0) {\n    return err(validationError('DRILL_INVALID_RADIUS', 'Drill radius must be positive'));\n  }\n  if (vecIsZero(axis)) {\n    return err(validationError('DRILL_ZERO_AXIS', 'Drill axis cannot be zero'));\n  }\n\n  const dir = vecNormalize(axis);\n\n  // Resolve position — Vec2 projects onto axis origin\n  const pos: Vec3 = at.length === 2 ? [at[0], at[1], 0] : [at[0], at[1], at[2]];\n\n  // Compute depth and starting position\n  let tool: Shape3D;\n  if (options.depth !== undefined) {\n    // Explicit depth: cylinder starts at pos, extends along dir\n    tool = _makeCylinder(radius, options.depth, pos, dir);\n  } else {\n    // Through-all: project bounding box onto drill axis to find exact extent,\n    // then add a small overshoot. This avoids creating an oversized tool that\n    // confuses the mesh boolean's inside/outside classification.\n    const b = getBounds(s);\n    const corners: Vec3[] = [\n      [b.xMin, b.yMin, b.zMin],\n      [b.xMax, b.yMin, b.zMin],\n      [b.xMin, b.yMax, b.zMin],\n      [b.xMax, b.yMax, b.zMin],\n      [b.xMin, b.yMin, b.zMax],\n      [b.xMax, b.yMin, b.zMax],\n      [b.xMin, b.yMax, b.zMax],\n      [b.xMax, b.yMax, b.zMax],\n    ];\n    // Project each corner onto the drill axis relative to pos\n    let tMin = Infinity;\n    let tMax = -Infinity;\n    for (const c of corners) {\n      const t = (c[0] - pos[0]) * dir[0] + (c[1] - pos[1]) * dir[1] + (c[2] - pos[2]) * dir[2];\n      if (t < tMin) tMin = t;\n      if (t > tMax) tMax = t;\n    }\n    const overshoot = 1;\n    tMin -= overshoot;\n    tMax += overshoot;\n    const depth = tMax - tMin;\n    const startPos: Vec3 = [pos[0] + dir[0] * tMin, pos[1] + dir[1] * tMin, pos[2] + dir[2] * tMin];\n    tool = _makeCylinder(radius, depth, startPos, dir);\n  }\n\n  try {\n    return cut(s, tool, { unsafe: true }) as Result<T>;\n  } finally {\n    // cut is immutable and does not consume the tool — dispose it.\n    tool[Symbol.dispose]();\n  }\n}\n\n// ---------------------------------------------------------------------------\n// pocket — cut a 2D profile into a face\n// ---------------------------------------------------------------------------\n\n/**\n * Cut a pocket (2D profile extruded inward) into a shape.\n *\n * The profile (Drawing or Wire) is positioned on the target face and extruded\n * inward by the specified depth, then subtracted from the shape.\n */\nexport function pocket<T extends Shape3D>(shape: Shapeable<T>, options: PocketOptions): Result<T> {\n  const s = resolve(shape);\n  const { profile, depth } = options;\n\n  if (depth <= 0) {\n    return err(validationError('POCKET_INVALID_DEPTH', 'Pocket depth must be positive'));\n  }\n\n  const targetResult = resolveTargetFace(s, options.face);\n  if (isErr(targetResult)) return targetResult;\n  const targetFace = targetResult.value;\n  const normal = normalAt(targetFace);\n  const center = faceCenter(targetFace);\n\n  // The profile wire (if materialised here), its face, the positioned face, and\n  // the extruded tool are all intermediates consumed by cut — dispose them.\n  using scope = new DisposalScope();\n  const { wire: w, owned } = toWire(profile);\n  if (owned) scope.register(w);\n\n  const faceResult = _makeFace(w);\n  if (isErr(faceResult)) return faceResult;\n  scope.register(faceResult.value);\n\n  // Position the profile on the target face before extruding\n  const positioned = scope.register(translate(faceResult.value, center));\n  const extDir = vecScale(vecNormalize(normal), -depth);\n  const toolResult = extrude(positioned, extDir);\n  if (isErr(toolResult)) return toolResult;\n  scope.register(toolResult.value);\n\n  return cut(s, toolResult.value, { unsafe: true }) as Result<T>;\n}\n\n// ---------------------------------------------------------------------------\n// boss — extrude a 2D profile onto a face\n// ---------------------------------------------------------------------------\n\n/**\n * Add a boss (2D profile extruded outward) onto a shape.\n *\n * The profile (Drawing or Wire) is positioned on the target face and extruded\n * outward by the specified height, then fused with the shape.\n */\nexport function boss<T extends Shape3D>(shape: Shapeable<T>, options: BossOptions): Result<T> {\n  const s = resolve(shape);\n  const { profile, height } = options;\n\n  if (height <= 0) {\n    return err(validationError('BOSS_INVALID_HEIGHT', 'Boss height must be positive'));\n  }\n\n  const targetResult = resolveTargetFace(s, options.face);\n  if (isErr(targetResult)) return targetResult;\n  const targetFace = targetResult.value;\n  const normal = normalAt(targetFace);\n  const center = faceCenter(targetFace);\n\n  // The profile wire (if materialised here), its face, the positioned face, and\n  // the extruded tool are all intermediates consumed by fuse — dispose them.\n  using scope = new DisposalScope();\n  const { wire: w, owned } = toWire(profile);\n  if (owned) scope.register(w);\n\n  const faceResult = _makeFace(w);\n  if (isErr(faceResult)) return faceResult;\n  scope.register(faceResult.value);\n\n  // Position the profile on the target face before extruding\n  const positioned = scope.register(translate(faceResult.value, center));\n  const extDir = vecScale(vecNormalize(normal), height);\n  const toolResult = extrude(positioned, extDir);\n  if (isErr(toolResult)) return toolResult;\n  scope.register(toolResult.value);\n\n  return fuse(s, toolResult.value, { unsafe: true }) as Result<T>;\n}\n\n// ---------------------------------------------------------------------------\n// mirrorJoin — mirror and fuse in one step\n// ---------------------------------------------------------------------------\n\n/**\n * Mirror a shape and fuse it with the original.\n *\n * Common pattern: model half a part, then mirror-join for symmetry.\n */\nexport function mirrorJoin<T extends Shape3D>(\n  shape: Shapeable<T>,\n  options?: MirrorJoinOptions\n): Result<T> {\n  const s = resolve(shape);\n  const normal = options?.normal ?? [1, 0, 0];\n  const planeOrigin = options?.at;\n\n  if (vecIsZero(normal)) {\n    return err(validationError('MIRROR_ZERO_NORMAL', 'Mirror plane normal cannot be zero'));\n  }\n\n  using mirrored = mirror(s, normal, planeOrigin);\n  return fuse(s, mirrored, { unsafe: true }) as Result<T>;\n}\n\n// ---------------------------------------------------------------------------\n// rectangularPattern — 2D array of copies fused together\n// ---------------------------------------------------------------------------\n\n/**\n * Create a rectangular (2D grid) pattern of a shape.\n *\n * Replicates the shape along two directions with specified counts and spacings,\n * then fuses all copies into a single shape.\n */\nexport function rectangularPattern<T extends Shape3D>(\n  shape: Shapeable<T>,\n  options: RectangularPatternOptions\n): Result<T> {\n  const s = resolve(shape);\n  const { xDir, xCount, xSpacing, yDir, yCount, ySpacing } = options;\n\n  if (xCount < 1 || yCount < 1) {\n    return err(validationError('PATTERN_INVALID_COUNT', 'Pattern counts must be at least 1'));\n  }\n  if (vecIsZero(xDir)) {\n    return err(validationError('PATTERN_ZERO_DIRECTION', 'X direction cannot be zero'));\n  }\n  if (vecIsZero(yDir)) {\n    return err(validationError('PATTERN_ZERO_DIRECTION', 'Y direction cannot be zero'));\n  }\n\n  if (xCount === 1 && yCount === 1) return ok(s);\n\n  const xNorm = vecNormalize(xDir);\n  const yNorm = vecNormalize(yDir);\n\n  // Collect all copies first, then batch-fuse with native N-way boolean.\n  // This replaces sequential fuse() (N-1 pairwise operations on growing shapes)\n  // with a single BRepAlgoAPI_BuilderAlgo call.\n  const copies: Shape3D[] = [s];\n  const owned: Shape3D[] = []; // the translated copies we allocate (not the caller's `s`)\n  for (let xi = 0; xi < xCount; xi++) {\n    for (let yi = 0; yi < yCount; yi++) {\n      if (xi === 0 && yi === 0) continue; // skip original\n      const offset: Vec3 = [\n        xNorm[0] * xSpacing * xi + yNorm[0] * ySpacing * yi,\n        xNorm[1] * xSpacing * xi + yNorm[1] * ySpacing * yi,\n        xNorm[2] * xSpacing * xi + yNorm[2] * ySpacing * yi,\n      ];\n      const c = translate(s, offset);\n      copies.push(c);\n      owned.push(c);\n    }\n  }\n\n  try {\n    return fuseAll(copies, { unsafe: true }) as Result<T>;\n  } finally {\n    // fuseAll is immutable and does not consume its inputs — dispose the copies\n    // we created (never `s`, which the caller owns).\n    for (const c of owned) c[Symbol.dispose]();\n  }\n}\n"]}

package/dist/vendored/brepjs/operations/convexHullFns.d.ts

@@ -0,0 +1,27 @@
+/**
+ * Public convex hull from raw 3D points.
+ *
+ * Wraps the kernel's `hullFromPoints()` as a user-facing function
+ * that accepts `Vec3[]` and returns `Result<Solid>`.
+ */
+import type { Vec3 } from '../core/types.js';
+import type { Solid } from '../core/shapeTypes.js';
+import { type Result } from '../core/result.js';
+/**
+ * Compute the 3D convex hull of a point cloud.
+ *
+ * Returns the tightest convex solid enclosing all given points.
+ * At least 4 non-coplanar points are required to form a solid.
+ *
+ * @param points - Array of 3D coordinates.
+ * @returns `Result<Solid>` — the convex hull solid, or an error.
+ *
+ * @example
+ * ```ts
+ * const solid = unwrap(convexHull([
+ *   [0, 0, 0], [10, 0, 0], [0, 10, 0], [0, 0, 10],
+ * ]));
+ * ```
+ */
+export declare function convexHull(points: ReadonlyArray<Vec3>): Result<Solid>;
+//# sourceMappingURL=convexHullFns.d.ts.map

package/dist/vendored/brepjs/operations/convexHullFns.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"convexHullFns.d.ts","sourceRoot":"","sources":["../../../../src/vendored/brepjs/operations/convexHullFns.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAEH,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,kBAAkB,CAAC;AAC7C,OAAO,KAAK,EAAE,KAAK,EAAE,MAAM,uBAAuB,CAAC;AAEnD,OAAO,EAAE,KAAK,MAAM,EAAW,MAAM,mBAAmB,CAAC;AAIzD;;;;;;;;;;;;;;;GAeG;AACH,wBAAgB,UAAU,CAAC,MAAM,EAAE,aAAa,CAAC,IAAI,CAAC,GAAG,MAAM,CAAC,KAAK,CAAC,CAqCrE"}

package/dist/vendored/brepjs/operations/convexHullFns.js

@@ -0,0 +1,50 @@
+/**
+ * Public convex hull from raw 3D points.
+ *
+ * Wraps the kernel's `hullFromPoints()` as a user-facing function
+ * that accepts `Vec3[]` and returns `Result<Solid>`.
+ */
+import { castResultShape, disposeResultShape, isSolid } from '../core/shapeTypes.js';
+import { ok, err } from '../core/result.js';
+import { validationError, kernelError, BrepErrorCode } from '../core/errors.js';
+import { getKernel } from '../kernel/index.js';
+/**
+ * Compute the 3D convex hull of a point cloud.
+ *
+ * Returns the tightest convex solid enclosing all given points.
+ * At least 4 non-coplanar points are required to form a solid.
+ *
+ * @param points - Array of 3D coordinates.
+ * @returns `Result<Solid>` — the convex hull solid, or an error.
+ *
+ * @example
+ * ```ts
+ * const solid = unwrap(convexHull([
+ *   [0, 0, 0], [10, 0, 0], [0, 10, 0], [0, 0, 10],
+ * ]));
+ * ```
+ */
+export function convexHull(points) {
+    if (points.length < 4) {
+        return err(validationError(BrepErrorCode.HULL_EMPTY_INPUT, `convexHull: at least 4 points required, got ${points.length}`, undefined, undefined, 'Provide 4 or more non-coplanar 3D points'));
+    }
+    try {
+        const kernel = getKernel();
+        const objPoints = points.map((p) => ({ x: p[0], y: p[1], z: p[2] }));
+        const result = kernel.hullFromPoints(objPoints, 0.1);
+        const cast = castResultShape(result);
+        if (!isSolid(cast)) {
+            disposeResultShape(cast);
+            return err(kernelError(BrepErrorCode.HULL_NOT_3D, 'convexHull result is not a solid; points may be coplanar'));
+        }
+        return ok(cast);
+    }
+    catch (e) {
+        const raw = e instanceof Error ? e.message : String(e);
+        if (raw.includes('coplanar') || raw.includes('fewer than') || raw.includes('degenerate')) {
+            return err(kernelError(BrepErrorCode.HULL_DEGENERATE, `convexHull degenerate: ${raw}`, e));
+        }
+        return err(kernelError(BrepErrorCode.HULL_FAILED, `convexHull failed: ${raw}`, e));
+    }
+}
+//# sourceMappingURL=convexHullFns.js.map

package/dist/vendored/brepjs/operations/convexHullFns.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"convexHullFns.js","sourceRoot":"","sources":["../../../../src/vendored/brepjs/operations/convexHullFns.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AAIH,OAAO,EAAE,eAAe,EAAE,kBAAkB,EAAE,OAAO,EAAE,MAAM,uBAAuB,CAAC;AACrF,OAAO,EAAe,EAAE,EAAE,GAAG,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,eAAe,EAAE,WAAW,EAAE,aAAa,EAAE,MAAM,mBAAmB,CAAC;AAChF,OAAO,EAAE,SAAS,EAAE,MAAM,oBAAoB,CAAC;AAE/C;;;;;;;;;;;;;;;GAeG;AACH,MAAM,UAAU,UAAU,CAAC,MAA2B;IACpD,IAAI,MAAM,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QACtB,OAAO,GAAG,CACR,eAAe,CACb,aAAa,CAAC,gBAAgB,EAC9B,+CAA+C,MAAM,CAAC,MAAM,EAAE,EAC9D,SAAS,EACT,SAAS,EACT,0CAA0C,CAC3C,CACF,CAAC;IACJ,CAAC;IAED,IAAI,CAAC;QACH,MAAM,MAAM,GAAG,SAAS,EAAE,CAAC;QAC3B,MAAM,SAAS,GAAG,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QACrE,MAAM,MAAM,GAAG,MAAM,CAAC,cAAc,CAAC,SAAS,EAAE,GAAG,CAAC,CAAC;QACrD,MAAM,IAAI,GAAG,eAAe,CAAC,MAAM,CAAC,CAAC;QAErC,IAAI,CAAC,OAAO,CAAC,IAAI,CAAC,EAAE,CAAC;YACnB,kBAAkB,CAAC,IAAI,CAAC,CAAC;YACzB,OAAO,GAAG,CACR,WAAW,CACT,aAAa,CAAC,WAAW,EACzB,0DAA0D,CAC3D,CACF,CAAC;QACJ,CAAC;QAED,OAAO,EAAE,CAAC,IAAI,CAAC,CAAC;IAClB,CAAC;IAAC,OAAO,CAAC,EAAE,CAAC;QACX,MAAM,GAAG,GAAG,CAAC,YAAY,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QACvD,IAAI,GAAG,CAAC,QAAQ,CAAC,UAAU,CAAC,IAAI,GAAG,CAAC,QAAQ,CAAC,YAAY,CAAC,IAAI,GAAG,CAAC,QAAQ,CAAC,YAAY,CAAC,EAAE,CAAC;YACzF,OAAO,GAAG,CAAC,WAAW,CAAC,aAAa,CAAC,eAAe,EAAE,0BAA0B,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC;QAC7F,CAAC;QACD,OAAO,GAAG,CAAC,WAAW,CAAC,aAAa,CAAC,WAAW,EAAE,sBAAsB,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC;IACrF,CAAC;AACH,CAAC","sourcesContent":["/**\n * Public convex hull from raw 3D points.\n *\n * Wraps the kernel's `hullFromPoints()` as a user-facing function\n * that accepts `Vec3[]` and returns `Result<Solid>`.\n */\n\nimport type { Vec3 } from '../core/types.js';\nimport type { Solid } from '../core/shapeTypes.js';\nimport { castResultShape, disposeResultShape, isSolid } from '../core/shapeTypes.js';\nimport { type Result, ok, err } from '../core/result.js';\nimport { validationError, kernelError, BrepErrorCode } from '../core/errors.js';\nimport { getKernel } from '../kernel/index.js';\n\n/**\n * Compute the 3D convex hull of a point cloud.\n *\n * Returns the tightest convex solid enclosing all given points.\n * At least 4 non-coplanar points are required to form a solid.\n *\n * @param points - Array of 3D coordinates.\n * @returns `Result<Solid>` — the convex hull solid, or an error.\n *\n * @example\n * ```ts\n * const solid = unwrap(convexHull([\n *   [0, 0, 0], [10, 0, 0], [0, 10, 0], [0, 0, 10],\n * ]));\n * ```\n */\nexport function convexHull(points: ReadonlyArray<Vec3>): Result<Solid> {\n  if (points.length < 4) {\n    return err(\n      validationError(\n        BrepErrorCode.HULL_EMPTY_INPUT,\n        `convexHull: at least 4 points required, got ${points.length}`,\n        undefined,\n        undefined,\n        'Provide 4 or more non-coplanar 3D points'\n      )\n    );\n  }\n\n  try {\n    const kernel = getKernel();\n    const objPoints = points.map((p) => ({ x: p[0], y: p[1], z: p[2] }));\n    const result = kernel.hullFromPoints(objPoints, 0.1);\n    const cast = castResultShape(result);\n\n    if (!isSolid(cast)) {\n      disposeResultShape(cast);\n      return err(\n        kernelError(\n          BrepErrorCode.HULL_NOT_3D,\n          'convexHull result is not a solid; points may be coplanar'\n        )\n      );\n    }\n\n    return ok(cast);\n  } catch (e) {\n    const raw = e instanceof Error ? e.message : String(e);\n    if (raw.includes('coplanar') || raw.includes('fewer than') || raw.includes('degenerate')) {\n      return err(kernelError(BrepErrorCode.HULL_DEGENERATE, `convexHull degenerate: ${raw}`, e));\n    }\n    return err(kernelError(BrepErrorCode.HULL_FAILED, `convexHull failed: ${raw}`, e));\n  }\n}\n"]}

package/dist/vendored/brepjs/operations/dhFns.d.ts

@@ -0,0 +1,47 @@
+/**
+ * Denavit-Hartenberg interchange: build a brepjs joint chain from a standard
+ * (distal) DH parameter table.
+ *
+ * Each DH row maps the previous link frame to the next via
+ * `Rz(θ) · Tz(d) · Tx(a) · Rx(α)`, with one parameter the joint variable
+ * (θ for revolute, d for prismatic) and the rest fixed link geometry. A row
+ * becomes a single revolute/prismatic joint whose motion is the variable part
+ * and whose fixed link geometry rides on the joint's post-motion `offset`
+ * (see `Joint.offset`), so the chain composes correctly through
+ * `forwardKinematics` and each row contributes exactly one DOF.
+ */
+import { type Joint } from './jointFns.js';
+/** One row of a Denavit-Hartenberg table (angles in degrees). */
+export interface DHRow {
+    /** Link length: translation along the (rotated) x axis. */
+    readonly a: number;
+    /** Link twist: rotation about the x axis, in degrees. */
+    readonly alpha: number;
+    /** Link offset: translation along the z axis. For prismatic, the home offset. */
+    readonly d: number;
+    /** Joint angle about z, in degrees. For revolute, the home angle. */
+    readonly theta: number;
+    /** Which parameter is the joint variable. Default `'revolute'` (θ varies). */
+    readonly type?: 'revolute' | 'prismatic';
+    /** Joint range lower bound (degrees for revolute, length for prismatic). */
+    readonly min?: number;
+    /** Joint range upper bound. */
+    readonly max?: number;
+    /** Initial joint value (clamped to range). Default 0. */
+    readonly value?: number;
+    /** Child link name produced by this row. Default `link{i+1}`. */
+    readonly name?: string;
+}
+export interface DHOptions {
+    /** Name of the base (root) link. Default `'base'`. */
+    base?: string;
+}
+/**
+ * Build a serial revolute/prismatic joint chain from a DH table. Joint `i`
+ * connects the previous link to row `i`'s link; its motion is the variable
+ * parameter (θ for revolute, d for prismatic) about/along +z, and its fixed
+ * link geometry is carried on `Joint.offset`. The result drives correctly
+ * through `forwardKinematics` and reports `rows.length` DOF via `mechanismDOF`.
+ */
+export declare function jointsFromDH(rows: readonly DHRow[], options?: DHOptions): Joint[];
+//# sourceMappingURL=dhFns.d.ts.map

package/dist/vendored/brepjs/operations/dhFns.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"dhFns.d.ts","sourceRoot":"","sources":["../../../../src/vendored/brepjs/operations/dhFns.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AAGH,OAAO,EAAiC,KAAK,KAAK,EAAkB,MAAM,eAAe,CAAC;AAI1F,iEAAiE;AACjE,MAAM,WAAW,KAAK;IACpB,2DAA2D;IAC3D,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,yDAAyD;IACzD,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,iFAAiF;IACjF,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,qEAAqE;IACrE,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,8EAA8E;IAC9E,QAAQ,CAAC,IAAI,CAAC,EAAE,UAAU,GAAG,WAAW,CAAC;IACzC,4EAA4E;IAC5E,QAAQ,CAAC,GAAG,CAAC,EAAE,MAAM,CAAC;IACtB,+BAA+B;IAC/B,QAAQ,CAAC,GAAG,CAAC,EAAE,MAAM,CAAC;IACtB,yDAAyD;IACzD,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,iEAAiE;IACjE,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;CACxB;AAED,MAAM,WAAW,SAAS;IACxB,sDAAsD;IACtD,IAAI,CAAC,EAAE,MAAM,CAAC;CACf;AAiBD;;;;;;GAMG;AACH,wBAAgB,YAAY,CAAC,IAAI,EAAE,SAAS,KAAK,EAAE,EAAE,OAAO,GAAE,SAAc,GAAG,KAAK,EAAE,CAoBrF"}

package/dist/vendored/brepjs/operations/dhFns.js

@@ -0,0 +1,53 @@
+/**
+ * Denavit-Hartenberg interchange: build a brepjs joint chain from a standard
+ * (distal) DH parameter table.
+ *
+ * Each DH row maps the previous link frame to the next via
+ * `Rz(θ) · Tz(d) · Tx(a) · Rx(α)`, with one parameter the joint variable
+ * (θ for revolute, d for prismatic) and the rest fixed link geometry. A row
+ * becomes a single revolute/prismatic joint whose motion is the variable part
+ * and whose fixed link geometry rides on the joint's post-motion `offset`
+ * (see `Joint.offset`), so the chain composes correctly through
+ * `forwardKinematics` and each row contributes exactly one DOF.
+ */
+import { quatFromAxisAngle, quatMultiply } from '../utils/quaternion.js';
+import { revoluteJoint, prismaticJoint } from './jointFns.js';
+const DEG2RAD = Math.PI / 180;
+/**
+ * The fixed DH link transform `Rz(θ) · Tz(d) · Tx(a) · Rx(α)` as a pose.
+ * Carries the constant link geometry that rides on the joint's `offset`.
+ */
+function linkOffset(thetaDeg, d, a, alphaDeg) {
+    const theta = thetaDeg * DEG2RAD;
+    const alpha = alphaDeg * DEG2RAD;
+    const rotation = quatMultiply(quatFromAxisAngle([0, 0, 1], theta), quatFromAxisAngle([1, 0, 0], alpha));
+    // Translation of Rz(θ)·Tz(d)·Tx(a): a along the θ-rotated x, d along z.
+    return { position: [a * Math.cos(theta), a * Math.sin(theta), d], rotation };
+}
+/**
+ * Build a serial revolute/prismatic joint chain from a DH table. Joint `i`
+ * connects the previous link to row `i`'s link; its motion is the variable
+ * parameter (θ for revolute, d for prismatic) about/along +z, and its fixed
+ * link geometry is carried on `Joint.offset`. The result drives correctly
+ * through `forwardKinematics` and reports `rows.length` DOF via `mechanismDOF`.
+ */
+export function jointsFromDH(rows, options = {}) {
+    const base = options.base ?? 'base';
+    const names = rows.map((r, i) => r.name ?? `link${i + 1}`);
+    return rows.map((row, i) => {
+        const parent = i === 0 ? base : (names[i - 1] ?? `link${i}`);
+        const child = names[i] ?? `link${i + 1}`;
+        const offset = linkOffset(row.theta, row.d, row.a, row.alpha);
+        const axis = { origin: [0, 0, 0], direction: [0, 0, 1] };
+        const opts = {
+            ...(row.min !== undefined ? { min: row.min } : {}),
+            ...(row.max !== undefined ? { max: row.max } : {}),
+            ...(row.value !== undefined ? { value: row.value } : {}),
+        };
+        const joint = row.type === 'prismatic'
+            ? prismaticJoint(parent, child, axis, opts)
+            : revoluteJoint(parent, child, axis, opts);
+        return { ...joint, offset };
+    });
+}
+//# sourceMappingURL=dhFns.js.map

package/dist/vendored/brepjs/operations/dhFns.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"dhFns.js","sourceRoot":"","sources":["../../../../src/vendored/brepjs/operations/dhFns.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AAEH,OAAO,EAAE,iBAAiB,EAAE,YAAY,EAAE,MAAM,wBAAwB,CAAC;AACzE,OAAO,EAAE,aAAa,EAAE,cAAc,EAA8B,MAAM,eAAe,CAAC;AAE1F,MAAM,OAAO,GAAG,IAAI,CAAC,EAAE,GAAG,GAAG,CAAC;AA6B9B;;;GAGG;AACH,SAAS,UAAU,CAAC,QAAgB,EAAE,CAAS,EAAE,CAAS,EAAE,QAAgB;IAC1E,MAAM,KAAK,GAAG,QAAQ,GAAG,OAAO,CAAC;IACjC,MAAM,KAAK,GAAG,QAAQ,GAAG,OAAO,CAAC;IACjC,MAAM,QAAQ,GAAG,YAAY,CAC3B,iBAAiB,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,EACnC,iBAAiB,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CACpC,CAAC;IACF,wEAAwE;IACxE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,CAAC;AAC/E,CAAC;AAED;;;;;;GAMG;AACH,MAAM,UAAU,YAAY,CAAC,IAAsB,EAAE,UAAqB,EAAE;IAC1E,MAAM,IAAI,GAAG,OAAO,CAAC,IAAI,IAAI,MAAM,CAAC;IACpC,MAAM,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,IAAI,IAAI,OAAO,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;IAE3D,OAAO,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,CAAC,EAAE,EAAE;QACzB,MAAM,MAAM,GAAG,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,CAAC,IAAI,OAAO,CAAC,EAAE,CAAC,CAAC;QAC7D,MAAM,KAAK,GAAG,KAAK,CAAC,CAAC,CAAC,IAAI,OAAO,CAAC,GAAG,CAAC,EAAE,CAAC;QACzC,MAAM,MAAM,GAAG,UAAU,CAAC,GAAG,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,KAAK,CAAC,CAAC;QAC9D,MAAM,IAAI,GAAG,EAAE,MAAM,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAU,EAAE,SAAS,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAU,EAAE,CAAC;QAC3E,MAAM,IAAI,GAAG;YACX,GAAG,CAAC,GAAG,CAAC,GAAG,KAAK,SAAS,CAAC,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;YAClD,GAAG,CAAC,GAAG,CAAC,GAAG,KAAK,SAAS,CAAC,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;YAClD,GAAG,CAAC,GAAG,CAAC,KAAK,KAAK,SAAS,CAAC,CAAC,CAAC,EAAE,KAAK,EAAE,GAAG,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;SACzD,CAAC;QACF,MAAM,KAAK,GACT,GAAG,CAAC,IAAI,KAAK,WAAW;YACtB,CAAC,CAAC,cAAc,CAAC,MAAM,EAAE,KAAK,EAAE,IAAI,EAAE,IAAI,CAAC;YAC3C,CAAC,CAAC,aAAa,CAAC,MAAM,EAAE,KAAK,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;QAC/C,OAAO,EAAE,GAAG,KAAK,EAAE,MAAM,EAAE,CAAC;IAC9B,CAAC,CAAC,CAAC;AACL,CAAC","sourcesContent":["/**\n * Denavit-Hartenberg interchange: build a brepjs joint chain from a standard\n * (distal) DH parameter table.\n *\n * Each DH row maps the previous link frame to the next via\n * `Rz(θ) · Tz(d) · Tx(a) · Rx(α)`, with one parameter the joint variable\n * (θ for revolute, d for prismatic) and the rest fixed link geometry. A row\n * becomes a single revolute/prismatic joint whose motion is the variable part\n * and whose fixed link geometry rides on the joint's post-motion `offset`\n * (see `Joint.offset`), so the chain composes correctly through\n * `forwardKinematics` and each row contributes exactly one DOF.\n */\n\nimport { quatFromAxisAngle, quatMultiply } from '../utils/quaternion.js';\nimport { revoluteJoint, prismaticJoint, type Joint, type JointPose } from './jointFns.js';\n\nconst DEG2RAD = Math.PI / 180;\n\n/** One row of a Denavit-Hartenberg table (angles in degrees). */\nexport interface DHRow {\n  /** Link length: translation along the (rotated) x axis. */\n  readonly a: number;\n  /** Link twist: rotation about the x axis, in degrees. */\n  readonly alpha: number;\n  /** Link offset: translation along the z axis. For prismatic, the home offset. */\n  readonly d: number;\n  /** Joint angle about z, in degrees. For revolute, the home angle. */\n  readonly theta: number;\n  /** Which parameter is the joint variable. Default `'revolute'` (θ varies). */\n  readonly type?: 'revolute' | 'prismatic';\n  /** Joint range lower bound (degrees for revolute, length for prismatic). */\n  readonly min?: number;\n  /** Joint range upper bound. */\n  readonly max?: number;\n  /** Initial joint value (clamped to range). Default 0. */\n  readonly value?: number;\n  /** Child link name produced by this row. Default `link{i+1}`. */\n  readonly name?: string;\n}\n\nexport interface DHOptions {\n  /** Name of the base (root) link. Default `'base'`. */\n  base?: string;\n}\n\n/**\n * The fixed DH link transform `Rz(θ) · Tz(d) · Tx(a) · Rx(α)` as a pose.\n * Carries the constant link geometry that rides on the joint's `offset`.\n */\nfunction linkOffset(thetaDeg: number, d: number, a: number, alphaDeg: number): JointPose {\n  const theta = thetaDeg * DEG2RAD;\n  const alpha = alphaDeg * DEG2RAD;\n  const rotation = quatMultiply(\n    quatFromAxisAngle([0, 0, 1], theta),\n    quatFromAxisAngle([1, 0, 0], alpha)\n  );\n  // Translation of Rz(θ)·Tz(d)·Tx(a): a along the θ-rotated x, d along z.\n  return { position: [a * Math.cos(theta), a * Math.sin(theta), d], rotation };\n}\n\n/**\n * Build a serial revolute/prismatic joint chain from a DH table. Joint `i`\n * connects the previous link to row `i`'s link; its motion is the variable\n * parameter (θ for revolute, d for prismatic) about/along +z, and its fixed\n * link geometry is carried on `Joint.offset`. The result drives correctly\n * through `forwardKinematics` and reports `rows.length` DOF via `mechanismDOF`.\n */\nexport function jointsFromDH(rows: readonly DHRow[], options: DHOptions = {}): Joint[] {\n  const base = options.base ?? 'base';\n  const names = rows.map((r, i) => r.name ?? `link${i + 1}`);\n\n  return rows.map((row, i) => {\n    const parent = i === 0 ? base : (names[i - 1] ?? `link${i}`);\n    const child = names[i] ?? `link${i + 1}`;\n    const offset = linkOffset(row.theta, row.d, row.a, row.alpha);\n    const axis = { origin: [0, 0, 0] as const, direction: [0, 0, 1] as const };\n    const opts = {\n      ...(row.min !== undefined ? { min: row.min } : {}),\n      ...(row.max !== undefined ? { max: row.max } : {}),\n      ...(row.value !== undefined ? { value: row.value } : {}),\n    };\n    const joint =\n      row.type === 'prismatic'\n        ? prismaticJoint(parent, child, axis, opts)\n        : revoluteJoint(parent, child, axis, opts);\n    return { ...joint, offset };\n  });\n}\n"]}