@faicad/faijs 0.13.0

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

@@ -0,0 +1,176 @@
+/**
+ * Drivable kinematic joints — built on the assembly tree. A joint connects a
+ * `parent` (reference) body to a `child` (moving) body and carries one or more
+ * drivable degrees of freedom (DOF), each clamped to its own range.
+ *
+ * Single-DOF joints (`revolute`, `prismatic`) are sugar over the Phase-1 mate
+ * constraints — a revolute is concentric (axis alignment) plus an angle driver;
+ * a prismatic is coincident plus a distance driver. Multi-DOF joints compose
+ * several DOFs about a shared anchor: `cylindrical` (rotation + slide on one
+ * axis, 2 DOF), `planar` (two in-plane translations + a rotation about the
+ * normal, 3 DOF), and `spherical` (three rotations about a pivot, 3 DOF).
+ *
+ * The `dofs` array is the source of truth; `value`/`min`/`max`/`axis` mirror the
+ * primary (first) DOF for single-DOF ergonomics and backward compatibility.
+ * `joint.dofs` are the stored degrees of freedom, distinct from
+ * `AssemblyNode.rotate` (a static structural transform).
+ */
+import type { Vec3 } from '../core/types.js';
+import type { AssemblyNode } from './assemblyFns.js';
+/** A joint axis: a point on the axis line plus a direction. */
+export interface JointAxis {
+    readonly origin: Vec3;
+    readonly direction: Vec3;
+}
+export type JointType = 'revolute' | 'prismatic' | 'cylindrical' | 'planar' | 'spherical';
+/**
+ * A single drivable degree of freedom. A `rotation` DOF turns about the joint's
+ * anchor point along `axis` (degrees); a `translation` DOF slides along `axis`
+ * (length units). `value` is always clamped to `[min, max]`.
+ */
+export interface JointDOF {
+    readonly kind: 'rotation' | 'translation';
+    readonly axis: Vec3;
+    readonly min: number;
+    readonly max: number;
+    readonly value: number;
+}
+export interface Joint {
+    readonly type: JointType;
+    /** Reference body (stays put); the child moves relative to it. */
+    readonly parent: string;
+    readonly child: string;
+    /** Primary axis; `origin` is the anchor every rotation DOF pivots about. */
+    readonly axis: JointAxis;
+    /** Primary-DOF range bounds (mirror of `dofs[0]`). */
+    readonly min: number;
+    readonly max: number;
+    /** Primary-DOF value (mirror of `dofs[0]`), always clamped to `[min, max]`. */
+    readonly value: number;
+    /** All drivable degrees of freedom, in composition order. */
+    readonly dofs: readonly JointDOF[];
+    /**
+     * Optional fixed transform applied to the child frame *after* the joint
+     * motion (`childWorld = parentWorld ∘ jointTransform ∘ offset`). Lets a single
+     * joint carry a static link offset (e.g. a Denavit-Hartenberg link geometry)
+     * without an extra body. Defaults to identity. See `jointsFromDH`.
+     */
+    readonly offset?: JointPose;
+}
+/** A rigid transform: translation + quaternion rotation `[w, x, y, z]`. */
+export interface JointPose {
+    readonly position: Vec3;
+    readonly rotation: [number, number, number, number];
+}
+export interface JointOptions {
+    /** Range lower bound. Default: -180 (revolute) / 0 (prismatic). */
+    min?: number;
+    /** Range upper bound. Default: 180 (revolute) / 100 (prismatic). */
+    max?: number;
+    /** Initial value, clamped to the range. Default: 0. */
+    value?: number;
+}
+/** Per-DOF ranges for a cylindrical joint (rotation about + slide along one axis). */
+export interface CylindricalOptions {
+    /** Rotation DOF (degrees). Default range -180..180. */
+    rotation?: JointOptions;
+    /**
+     * Translation DOF (length). Default range 0..100, matching `prismaticJoint`
+     * (both model a slide along an axis). This is deliberately asymmetric with
+     * `planarJoint`'s in-plane translations, which default to -100..100 because
+     * an unanchored in-plane slide is naturally bidirectional.
+     */
+    translation?: JointOptions;
+}
+/** Per-DOF ranges for a planar joint (two in-plane translations + a rotation). */
+export interface PlanarOptions {
+    /** Translation along the in-plane `uDirection`. Default range -100..100. */
+    u?: JointOptions;
+    /** Translation along `normal × u`. Default range -100..100. */
+    v?: JointOptions;
+    /** Rotation about the plane normal (degrees). Default range -180..180. */
+    rotation?: JointOptions;
+    /**
+     * In-plane reference direction for the `u` translation. Projected onto the
+     * plane and normalized; defaults to an arbitrary perpendicular of the normal.
+     */
+    uDirection?: Vec3;
+}
+/** Per-DOF ranges for a spherical joint (three rotations about a pivot). */
+export interface SphericalOptions {
+    /** Rotation about local X through the pivot (degrees). Default range -180..180. */
+    x?: JointOptions;
+    /** Rotation about local Y through the pivot (degrees). Default range -180..180. */
+    y?: JointOptions;
+    /** Rotation about local Z through the pivot (degrees). Default range -180..180. */
+    z?: JointOptions;
+}
+/** A revolute (hinge) joint — the child rotates about `axis` by `value` degrees. */
+export declare function revoluteJoint(parent: string, child: string, axis: JointAxis, opts?: JointOptions): Joint;
+/**
+ * A prismatic (slider) joint — the child translates along `axis` by `value`
+ * units. Only `axis.direction` is used; `axis.origin` is ignored (a pure
+ * translation has no anchor point), unlike a revolute joint which rotates about
+ * the axis line through `origin`.
+ */
+export declare function prismaticJoint(parent: string, child: string, axis: JointAxis, opts?: JointOptions): Joint;
+/**
+ * A cylindrical joint — the child both rotates about and slides along a single
+ * `axis` (2 DOF). DOF order: `[rotation, translation]`. The two motions share
+ * the axis, so they commute; rotation pivots about `axis.origin`.
+ */
+export declare function cylindricalJoint(parent: string, child: string, axis: JointAxis, opts?: CylindricalOptions): Joint;
+/**
+ * A planar joint — the child translates within a plane and rotates about its
+ * normal (3 DOF). `plane.direction` is the normal; `plane.origin` the rotation
+ * anchor. DOF order: `[u-translation, v-translation, rotation]`, where the
+ * translations are applied in the plane frame (independent of the rotation).
+ */
+export declare function planarJoint(parent: string, child: string, plane: JointAxis, opts?: PlanarOptions): Joint;
+/**
+ * A spherical (ball) joint — the child rotates freely about a pivot point
+ * (3 DOF). DOF order: `[x, y, z]` rotations about the local axes through
+ * `pivot`, composed as `Rx · Ry · Rz`.
+ */
+export declare function sphericalJoint(parent: string, child: string, pivot: Vec3, opts?: SphericalOptions): Joint;
+/**
+ * Return a copy of `joint` with per-DOF values set (each clamped to its range).
+ * Values are positional, matching `joint.dofs`; omitted entries keep their
+ * stored value. The primary mirror (`value`) is kept in sync with `dofs[0]`.
+ */
+export declare function setJointValues(joint: Joint, values: readonly number[]): Joint;
+/** Return a copy of `joint` with its primary DOF set (clamped to range). */
+export declare function setJointValue(joint: Joint, value: number): Joint;
+/**
+ * The child's local rigid transform (relative to the parent) for given DOF
+ * values. Defaults to each DOF's stored value. A single `number` overrides only
+ * the primary DOF (single-DOF ergonomics); an array overrides positionally,
+ * with omitted entries keeping their stored value. Each value is clamped to its
+ * DOF range.
+ *
+ * DOFs are folded in array order via frame composition. For same-anchor
+ * rotations (e.g. spherical) this composes to a single rotation about the pivot;
+ * for a cylindrical axis the rotation and slide commute.
+ */
+export declare function jointTransform(joint: Joint, value?: number | readonly number[]): JointPose;
+/** Attach a joint to an assembly node. Returns a new node (immutable). */
+export declare function addJoint(assembly: AssemblyNode, joint: Joint): AssemblyNode;
+/**
+ * Forward kinematics: set joint values and propagate world poses down the
+ * kinematic chain. Each joint's axis is interpreted in its **parent's** frame,
+ * so a child's world pose is `parentWorld ∘ jointTransform(joint, value)`.
+ *
+ * Bodies not driven by a joint (chain roots) start at the origin. `jointValues`
+ * overrides a joint's stored value, keyed by the **child** node name; omitted
+ * joints use `joint.value`. Resolution is topological (reuses the Phase-0
+ * ordering), so chains of any depth compose. Returns a world pose for every node.
+ */
+export declare function forwardKinematics(assembly: AssemblyNode, jointValues?: Readonly<Record<string, number | readonly number[]>>): Map<string, JointPose>;
+/**
+ * Open-chain mobility — the number of independent degrees of freedom, summing
+ * each joint's DOF count (revolute/prismatic 1, cylindrical 2, planar/spherical
+ * 3). For a serial chain this equals the total DOF. (Closed-loop
+ * Grübler/Kutzbach analysis is future work.)
+ */
+export declare function mechanismDOF(assembly: AssemblyNode): number;
+//# sourceMappingURL=jointFns.d.ts.map

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

@@ -0,0 +1,298 @@
+/**
+ * Drivable kinematic joints — built on the assembly tree. A joint connects a
+ * `parent` (reference) body to a `child` (moving) body and carries one or more
+ * drivable degrees of freedom (DOF), each clamped to its own range.
+ *
+ * Single-DOF joints (`revolute`, `prismatic`) are sugar over the Phase-1 mate
+ * constraints — a revolute is concentric (axis alignment) plus an angle driver;
+ * a prismatic is coincident plus a distance driver. Multi-DOF joints compose
+ * several DOFs about a shared anchor: `cylindrical` (rotation + slide on one
+ * axis, 2 DOF), `planar` (two in-plane translations + a rotation about the
+ * normal, 3 DOF), and `spherical` (three rotations about a pivot, 3 DOF).
+ *
+ * The `dofs` array is the source of truth; `value`/`min`/`max`/`axis` mirror the
+ * primary (first) DOF for single-DOF ergonomics and backward compatibility.
+ * `joint.dofs` are the stored degrees of freedom, distinct from
+ * `AssemblyNode.rotate` (a static structural transform).
+ */
+import { quatFromAxisAngle, quatRotate, quatMultiply } from '../utils/quaternion.js';
+import { walkAssembly } from './assemblyFns.js';
+const DEG2RAD = Math.PI / 180;
+// ---------------------------------------------------------------------------
+// Construction
+// ---------------------------------------------------------------------------
+function clamp(value, min, max) {
+    return Math.min(max, Math.max(min, value));
+}
+function unit(v) {
+    const l = Math.hypot(v[0], v[1], v[2]) || 1;
+    return [v[0] / l, v[1] / l, v[2] / l];
+}
+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]];
+}
+/** A unit vector perpendicular to `v` (for the unspecified-reference case). */
+function anyPerpendicular(v) {
+    const ref = Math.abs(v[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];
+    return unit(cross(v, ref));
+}
+/** Build one DOF, normalizing an inverted range and clamping the initial value. */
+function makeDof(kind, axis, opts, defMin, defMax) {
+    // Normalize the range so an inverted (min > max) input can't break the
+    // "value is always within [min, max]" invariant.
+    const a = opts.min ?? defMin;
+    const b = opts.max ?? defMax;
+    const min = Math.min(a, b);
+    const max = Math.max(a, b);
+    return { kind, axis: unit(axis), min, max, value: clamp(opts.value ?? 0, min, max) };
+}
+/** Assemble a Joint from its DOFs, mirroring the primary DOF into the top level. */
+function buildJoint(type, parent, child, axis, dofs) {
+    const primary = dofs[0] ?? { kind: 'rotation', axis: [0, 0, 1], min: 0, max: 0, value: 0 };
+    return {
+        type,
+        parent,
+        child,
+        axis: { origin: axis.origin, direction: unit(axis.direction) },
+        min: primary.min,
+        max: primary.max,
+        value: primary.value,
+        dofs,
+    };
+}
+/** A revolute (hinge) joint — the child rotates about `axis` by `value` degrees. */
+export function revoluteJoint(parent, child, axis, opts = {}) {
+    return buildJoint('revolute', parent, child, axis, [
+        makeDof('rotation', axis.direction, opts, -180, 180),
+    ]);
+}
+/**
+ * A prismatic (slider) joint — the child translates along `axis` by `value`
+ * units. Only `axis.direction` is used; `axis.origin` is ignored (a pure
+ * translation has no anchor point), unlike a revolute joint which rotates about
+ * the axis line through `origin`.
+ */
+export function prismaticJoint(parent, child, axis, opts = {}) {
+    return buildJoint('prismatic', parent, child, axis, [
+        makeDof('translation', axis.direction, opts, 0, 100),
+    ]);
+}
+/**
+ * A cylindrical joint — the child both rotates about and slides along a single
+ * `axis` (2 DOF). DOF order: `[rotation, translation]`. The two motions share
+ * the axis, so they commute; rotation pivots about `axis.origin`.
+ */
+export function cylindricalJoint(parent, child, axis, opts = {}) {
+    return buildJoint('cylindrical', parent, child, axis, [
+        makeDof('rotation', axis.direction, opts.rotation ?? {}, -180, 180),
+        makeDof('translation', axis.direction, opts.translation ?? {}, 0, 100),
+    ]);
+}
+/**
+ * A planar joint — the child translates within a plane and rotates about its
+ * normal (3 DOF). `plane.direction` is the normal; `plane.origin` the rotation
+ * anchor. DOF order: `[u-translation, v-translation, rotation]`, where the
+ * translations are applied in the plane frame (independent of the rotation).
+ */
+export function planarJoint(parent, child, plane, opts = {}) {
+    const normal = unit(plane.direction);
+    // Project a requested u-direction onto the plane; fall back to an arbitrary
+    // in-plane axis. v completes a right-handed in-plane basis.
+    let u;
+    if (opts.uDirection) {
+        const d = opts.uDirection;
+        const proj = d[0] * normal[0] + d[1] * normal[1] + d[2] * normal[2];
+        const inPlane = [
+            d[0] - proj * normal[0],
+            d[1] - proj * normal[1],
+            d[2] - proj * normal[2],
+        ];
+        u =
+            Math.hypot(inPlane[0], inPlane[1], inPlane[2]) < 1e-9
+                ? anyPerpendicular(normal)
+                : unit(inPlane);
+    }
+    else {
+        u = anyPerpendicular(normal);
+    }
+    const v = unit(cross(normal, u));
+    return buildJoint('planar', parent, child, { origin: plane.origin, direction: normal }, [
+        makeDof('translation', u, opts.u ?? {}, -100, 100),
+        makeDof('translation', v, opts.v ?? {}, -100, 100),
+        makeDof('rotation', normal, opts.rotation ?? {}, -180, 180),
+    ]);
+}
+/**
+ * A spherical (ball) joint — the child rotates freely about a pivot point
+ * (3 DOF). DOF order: `[x, y, z]` rotations about the local axes through
+ * `pivot`, composed as `Rx · Ry · Rz`.
+ */
+export function sphericalJoint(parent, child, pivot, opts = {}) {
+    return buildJoint('spherical', parent, child, { origin: pivot, direction: [0, 0, 1] }, [
+        makeDof('rotation', [1, 0, 0], opts.x ?? {}, -180, 180),
+        makeDof('rotation', [0, 1, 0], opts.y ?? {}, -180, 180),
+        makeDof('rotation', [0, 0, 1], opts.z ?? {}, -180, 180),
+    ]);
+}
+/**
+ * Return a copy of `joint` with per-DOF values set (each clamped to its range).
+ * Values are positional, matching `joint.dofs`; omitted entries keep their
+ * stored value. The primary mirror (`value`) is kept in sync with `dofs[0]`.
+ */
+export function setJointValues(joint, values) {
+    const dofs = joint.dofs.map((d, i) => {
+        const v = values[i];
+        return v === undefined ? d : { ...d, value: clamp(v, d.min, d.max) };
+    });
+    const primary = dofs[0];
+    return primary ? { ...joint, dofs, value: primary.value } : { ...joint, dofs };
+}
+/** Return a copy of `joint` with its primary DOF set (clamped to range). */
+export function setJointValue(joint, value) {
+    return setJointValues(joint, [value]);
+}
+// ---------------------------------------------------------------------------
+// Kinematics
+// ---------------------------------------------------------------------------
+/** The local rigid transform contributed by a single DOF at `value`. */
+function dofPose(origin, dof, value) {
+    if (dof.kind === 'translation') {
+        // `origin` is intentionally unused: a pure translation has no pivot.
+        return {
+            position: [dof.axis[0] * value, dof.axis[1] * value, dof.axis[2] * value],
+            rotation: [1, 0, 0, 0],
+        };
+    }
+    // Rotation about the axis line through `origin`: p ↦ R·p + (origin − R·origin).
+    const rotation = quatFromAxisAngle(dof.axis, value * DEG2RAD);
+    const ro = quatRotate(rotation, origin);
+    return { position: [origin[0] - ro[0], origin[1] - ro[1], origin[2] - ro[2]], rotation };
+}
+/**
+ * The child's local rigid transform (relative to the parent) for given DOF
+ * values. Defaults to each DOF's stored value. A single `number` overrides only
+ * the primary DOF (single-DOF ergonomics); an array overrides positionally,
+ * with omitted entries keeping their stored value. Each value is clamped to its
+ * DOF range.
+ *
+ * DOFs are folded in array order via frame composition. For same-anchor
+ * rotations (e.g. spherical) this composes to a single rotation about the pivot;
+ * for a cylindrical axis the rotation and slide commute.
+ */
+export function jointTransform(joint, value = joint.value) {
+    const overrides = Array.isArray(value) ? value : undefined;
+    const primary = overrides ? undefined : value;
+    const origin = joint.axis.origin;
+    let pose = IDENTITY_POSE;
+    for (let i = 0; i < joint.dofs.length; i++) {
+        const dof = joint.dofs[i];
+        if (!dof)
+            continue;
+        const raw = overrides
+            ? (overrides[i] ?? dof.value)
+            : i === 0
+                ? (primary ?? dof.value)
+                : dof.value;
+        pose = composePose(pose, dofPose(origin, dof, clamp(raw, dof.min, dof.max)));
+    }
+    return pose;
+}
+// ---------------------------------------------------------------------------
+// Assembly integration
+// ---------------------------------------------------------------------------
+/** Attach a joint to an assembly node. Returns a new node (immutable). */
+export function addJoint(assembly, joint) {
+    const existing = (assembly.joints ?? []);
+    return { ...assembly, joints: [...existing, joint] };
+}
+// ---------------------------------------------------------------------------
+// Forward kinematics
+// ---------------------------------------------------------------------------
+const IDENTITY_POSE = { position: [0, 0, 0], rotation: [1, 0, 0, 0] };
+/** Compose two poses: the result applies `b` in `a`'s frame (`a ∘ b`). */
+function composePose(a, b) {
+    const rb = quatRotate(a.rotation, b.position);
+    return {
+        position: [a.position[0] + rb[0], a.position[1] + rb[1], a.position[2] + rb[2]],
+        rotation: quatMultiply(a.rotation, b.rotation),
+    };
+}
+/** Collect every joint attached anywhere in the assembly tree. */
+function collectJoints(assembly) {
+    const joints = [];
+    walkAssembly(assembly, (node) => {
+        if (node.joints)
+            joints.push(...node.joints);
+    });
+    return joints;
+}
+/**
+ * Forward kinematics: set joint values and propagate world poses down the
+ * kinematic chain. Each joint's axis is interpreted in its **parent's** frame,
+ * so a child's world pose is `parentWorld ∘ jointTransform(joint, value)`.
+ *
+ * Bodies not driven by a joint (chain roots) start at the origin. `jointValues`
+ * overrides a joint's stored value, keyed by the **child** node name; omitted
+ * joints use `joint.value`. Resolution is topological (reuses the Phase-0
+ * ordering), so chains of any depth compose. Returns a world pose for every node.
+ */
+export function forwardKinematics(assembly, jointValues = {}) {
+    // Single pass: gather joints and node names together.
+    const joints = [];
+    const names = new Set();
+    walkAssembly(assembly, (node) => {
+        names.add(node.name);
+        if (node.joints)
+            joints.push(...node.joints);
+    });
+    const byChild = new Map();
+    for (const j of joints) {
+        byChild.set(j.child, j);
+        names.add(j.parent);
+        names.add(j.child);
+    }
+    const poses = new Map();
+    // Roots: any node not driven by a joint sits at the origin.
+    for (const name of names)
+        if (!byChild.has(name))
+            poses.set(name, IDENTITY_POSE);
+    // Propagate down the joint graph: a joint resolves once its parent is placed.
+    const pending = [...joints];
+    let progress = true;
+    while (progress && pending.length > 0) {
+        progress = false;
+        for (let i = pending.length - 1; i >= 0; i--) {
+            const j = pending[i];
+            if (!j)
+                continue;
+            const parentPose = poses.get(j.parent);
+            if (!parentPose)
+                continue; // parent not placed yet — defer
+            pending.splice(i, 1);
+            progress = true;
+            if (poses.has(j.child))
+                continue; // already placed (duplicate/cycle) — skip
+            const value = jointValues[j.child] ?? j.value;
+            const local = j.offset
+                ? composePose(jointTransform(j, value), j.offset)
+                : jointTransform(j, value);
+            poses.set(j.child, composePose(parentPose, local));
+        }
+    }
+    // A joint whose parent never resolved (cycle/dangling) still gets an entry so
+    // the map covers every node.
+    for (const j of pending)
+        if (!poses.has(j.child))
+            poses.set(j.child, IDENTITY_POSE);
+    return poses;
+}
+/**
+ * Open-chain mobility — the number of independent degrees of freedom, summing
+ * each joint's DOF count (revolute/prismatic 1, cylindrical 2, planar/spherical
+ * 3). For a serial chain this equals the total DOF. (Closed-loop
+ * Grübler/Kutzbach analysis is future work.)
+ */
+export function mechanismDOF(assembly) {
+    return collectJoints(assembly).reduce((sum, j) => sum + j.dofs.length, 0);
+}
+//# sourceMappingURL=jointFns.js.map

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

@@ -0,0 +1 @@
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* Drivable kinematic joints — built on the assembly tree. A joint connects a\n * `parent` (reference) body to a `child` (moving) body and carries one or more\n * drivable degrees of freedom (DOF), each clamped to its own range.\n *\n * Single-DOF joints (`revolute`, `prismatic`) are sugar over the Phase-1 mate\n * constraints — a revolute is concentric (axis alignment) plus an angle driver;\n * a prismatic is coincident plus a distance driver. Multi-DOF joints compose\n * several DOFs about a shared anchor: `cylindrical` (rotation + slide on one\n * axis, 2 DOF), `planar` (two in-plane translations + a rotation about the\n * normal, 3 DOF), and `spherical` (three rotations about a pivot, 3 DOF).\n *\n * The `dofs` array is the source of truth; `value`/`min`/`max`/`axis` mirror the\n * primary (first) DOF for single-DOF ergonomics and backward compatibility.\n * `joint.dofs` are the stored degrees of freedom, distinct from\n * `AssemblyNode.rotate` (a static structural transform).\n */\n\nimport type { Vec3 } from '../core/types.js';\nimport { quatFromAxisAngle, quatRotate, quatMultiply } from '../utils/quaternion.js';\nimport type { AssemblyNode } from './assemblyFns.js';\nimport { walkAssembly } from './assemblyFns.js';\n\n// ---------------------------------------------------------------------------\n// Types\n// ---------------------------------------------------------------------------\n\n/** A joint axis: a point on the axis line plus a direction. */\nexport interface JointAxis {\n  readonly origin: Vec3;\n  readonly direction: Vec3;\n}\n\nexport type JointType = 'revolute' | 'prismatic' | 'cylindrical' | 'planar' | 'spherical';\n\n/**\n * A single drivable degree of freedom. A `rotation` DOF turns about the joint's\n * anchor point along `axis` (degrees); a `translation` DOF slides along `axis`\n * (length units). `value` is always clamped to `[min, max]`.\n */\nexport interface JointDOF {\n  readonly kind: 'rotation' | 'translation';\n  readonly axis: Vec3;\n  readonly min: number;\n  readonly max: number;\n  readonly value: number;\n}\n\nexport interface Joint {\n  readonly type: JointType;\n  /** Reference body (stays put); the child moves relative to it. */\n  readonly parent: string;\n  readonly child: string;\n  /** Primary axis; `origin` is the anchor every rotation DOF pivots about. */\n  readonly axis: JointAxis;\n  /** Primary-DOF range bounds (mirror of `dofs[0]`). */\n  readonly min: number;\n  readonly max: number;\n  /** Primary-DOF value (mirror of `dofs[0]`), always clamped to `[min, max]`. */\n  readonly value: number;\n  /** All drivable degrees of freedom, in composition order. */\n  readonly dofs: readonly JointDOF[];\n  /**\n   * Optional fixed transform applied to the child frame *after* the joint\n   * motion (`childWorld = parentWorld ∘ jointTransform ∘ offset`). Lets a single\n   * joint carry a static link offset (e.g. a Denavit-Hartenberg link geometry)\n   * without an extra body. Defaults to identity. See `jointsFromDH`.\n   */\n  readonly offset?: JointPose;\n}\n\n/** A rigid transform: translation + quaternion rotation `[w, x, y, z]`. */\nexport interface JointPose {\n  readonly position: Vec3;\n  readonly rotation: [number, number, number, number];\n}\n\nexport interface JointOptions {\n  /** Range lower bound. Default: -180 (revolute) / 0 (prismatic). */\n  min?: number;\n  /** Range upper bound. Default: 180 (revolute) / 100 (prismatic). */\n  max?: number;\n  /** Initial value, clamped to the range. Default: 0. */\n  value?: number;\n}\n\n/** Per-DOF ranges for a cylindrical joint (rotation about + slide along one axis). */\nexport interface CylindricalOptions {\n  /** Rotation DOF (degrees). Default range -180..180. */\n  rotation?: JointOptions;\n  /**\n   * Translation DOF (length). Default range 0..100, matching `prismaticJoint`\n   * (both model a slide along an axis). This is deliberately asymmetric with\n   * `planarJoint`'s in-plane translations, which default to -100..100 because\n   * an unanchored in-plane slide is naturally bidirectional.\n   */\n  translation?: JointOptions;\n}\n\n/** Per-DOF ranges for a planar joint (two in-plane translations + a rotation). */\nexport interface PlanarOptions {\n  /** Translation along the in-plane `uDirection`. Default range -100..100. */\n  u?: JointOptions;\n  /** Translation along `normal × u`. Default range -100..100. */\n  v?: JointOptions;\n  /** Rotation about the plane normal (degrees). Default range -180..180. */\n  rotation?: JointOptions;\n  /**\n   * In-plane reference direction for the `u` translation. Projected onto the\n   * plane and normalized; defaults to an arbitrary perpendicular of the normal.\n   */\n  uDirection?: Vec3;\n}\n\n/** Per-DOF ranges for a spherical joint (three rotations about a pivot). */\nexport interface SphericalOptions {\n  /** Rotation about local X through the pivot (degrees). Default range -180..180. */\n  x?: JointOptions;\n  /** Rotation about local Y through the pivot (degrees). Default range -180..180. */\n  y?: JointOptions;\n  /** Rotation about local Z through the pivot (degrees). Default range -180..180. */\n  z?: JointOptions;\n}\n\nconst DEG2RAD = Math.PI / 180;\n\n// ---------------------------------------------------------------------------\n// Construction\n// ---------------------------------------------------------------------------\n\nfunction clamp(value: number, min: number, max: number): number {\n  return Math.min(max, Math.max(min, value));\n}\n\nfunction unit(v: Vec3): Vec3 {\n  const l = Math.hypot(v[0], v[1], v[2]) || 1;\n  return [v[0] / l, v[1] / l, v[2] / l];\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\n/** A unit vector perpendicular to `v` (for the unspecified-reference case). */\nfunction anyPerpendicular(v: Vec3): Vec3 {\n  const ref: Vec3 = Math.abs(v[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];\n  return unit(cross(v, ref));\n}\n\n/** Build one DOF, normalizing an inverted range and clamping the initial value. */\nfunction makeDof(\n  kind: JointDOF['kind'],\n  axis: Vec3,\n  opts: JointOptions,\n  defMin: number,\n  defMax: number\n): JointDOF {\n  // Normalize the range so an inverted (min > max) input can't break the\n  // \"value is always within [min, max]\" invariant.\n  const a = opts.min ?? defMin;\n  const b = opts.max ?? defMax;\n  const min = Math.min(a, b);\n  const max = Math.max(a, b);\n  return { kind, axis: unit(axis), min, max, value: clamp(opts.value ?? 0, min, max) };\n}\n\n/** Assemble a Joint from its DOFs, mirroring the primary DOF into the top level. */\nfunction buildJoint(\n  type: JointType,\n  parent: string,\n  child: string,\n  axis: JointAxis,\n  dofs: readonly JointDOF[]\n): Joint {\n  const primary = dofs[0] ?? { kind: 'rotation', axis: [0, 0, 1], min: 0, max: 0, value: 0 };\n  return {\n    type,\n    parent,\n    child,\n    axis: { origin: axis.origin, direction: unit(axis.direction) },\n    min: primary.min,\n    max: primary.max,\n    value: primary.value,\n    dofs,\n  };\n}\n\n/** A revolute (hinge) joint — the child rotates about `axis` by `value` degrees. */\nexport function revoluteJoint(\n  parent: string,\n  child: string,\n  axis: JointAxis,\n  opts: JointOptions = {}\n): Joint {\n  return buildJoint('revolute', parent, child, axis, [\n    makeDof('rotation', axis.direction, opts, -180, 180),\n  ]);\n}\n\n/**\n * A prismatic (slider) joint — the child translates along `axis` by `value`\n * units. Only `axis.direction` is used; `axis.origin` is ignored (a pure\n * translation has no anchor point), unlike a revolute joint which rotates about\n * the axis line through `origin`.\n */\nexport function prismaticJoint(\n  parent: string,\n  child: string,\n  axis: JointAxis,\n  opts: JointOptions = {}\n): Joint {\n  return buildJoint('prismatic', parent, child, axis, [\n    makeDof('translation', axis.direction, opts, 0, 100),\n  ]);\n}\n\n/**\n * A cylindrical joint — the child both rotates about and slides along a single\n * `axis` (2 DOF). DOF order: `[rotation, translation]`. The two motions share\n * the axis, so they commute; rotation pivots about `axis.origin`.\n */\nexport function cylindricalJoint(\n  parent: string,\n  child: string,\n  axis: JointAxis,\n  opts: CylindricalOptions = {}\n): Joint {\n  return buildJoint('cylindrical', parent, child, axis, [\n    makeDof('rotation', axis.direction, opts.rotation ?? {}, -180, 180),\n    makeDof('translation', axis.direction, opts.translation ?? {}, 0, 100),\n  ]);\n}\n\n/**\n * A planar joint — the child translates within a plane and rotates about its\n * normal (3 DOF). `plane.direction` is the normal; `plane.origin` the rotation\n * anchor. DOF order: `[u-translation, v-translation, rotation]`, where the\n * translations are applied in the plane frame (independent of the rotation).\n */\nexport function planarJoint(\n  parent: string,\n  child: string,\n  plane: JointAxis,\n  opts: PlanarOptions = {}\n): Joint {\n  const normal = unit(plane.direction);\n  // Project a requested u-direction onto the plane; fall back to an arbitrary\n  // in-plane axis. v completes a right-handed in-plane basis.\n  let u: Vec3;\n  if (opts.uDirection) {\n    const d = opts.uDirection;\n    const proj = d[0] * normal[0] + d[1] * normal[1] + d[2] * normal[2];\n    const inPlane: Vec3 = [\n      d[0] - proj * normal[0],\n      d[1] - proj * normal[1],\n      d[2] - proj * normal[2],\n    ];\n    u =\n      Math.hypot(inPlane[0], inPlane[1], inPlane[2]) < 1e-9\n        ? anyPerpendicular(normal)\n        : unit(inPlane);\n  } else {\n    u = anyPerpendicular(normal);\n  }\n  const v = unit(cross(normal, u));\n  return buildJoint('planar', parent, child, { origin: plane.origin, direction: normal }, [\n    makeDof('translation', u, opts.u ?? {}, -100, 100),\n    makeDof('translation', v, opts.v ?? {}, -100, 100),\n    makeDof('rotation', normal, opts.rotation ?? {}, -180, 180),\n  ]);\n}\n\n/**\n * A spherical (ball) joint — the child rotates freely about a pivot point\n * (3 DOF). DOF order: `[x, y, z]` rotations about the local axes through\n * `pivot`, composed as `Rx · Ry · Rz`.\n */\nexport function sphericalJoint(\n  parent: string,\n  child: string,\n  pivot: Vec3,\n  opts: SphericalOptions = {}\n): Joint {\n  return buildJoint('spherical', parent, child, { origin: pivot, direction: [0, 0, 1] }, [\n    makeDof('rotation', [1, 0, 0], opts.x ?? {}, -180, 180),\n    makeDof('rotation', [0, 1, 0], opts.y ?? {}, -180, 180),\n    makeDof('rotation', [0, 0, 1], opts.z ?? {}, -180, 180),\n  ]);\n}\n\n/**\n * Return a copy of `joint` with per-DOF values set (each clamped to its range).\n * Values are positional, matching `joint.dofs`; omitted entries keep their\n * stored value. The primary mirror (`value`) is kept in sync with `dofs[0]`.\n */\nexport function setJointValues(joint: Joint, values: readonly number[]): Joint {\n  const dofs = joint.dofs.map((d, i) => {\n    const v = values[i];\n    return v === undefined ? d : { ...d, value: clamp(v, d.min, d.max) };\n  });\n  const primary = dofs[0];\n  return primary ? { ...joint, dofs, value: primary.value } : { ...joint, dofs };\n}\n\n/** Return a copy of `joint` with its primary DOF set (clamped to range). */\nexport function setJointValue(joint: Joint, value: number): Joint {\n  return setJointValues(joint, [value]);\n}\n\n// ---------------------------------------------------------------------------\n// Kinematics\n// ---------------------------------------------------------------------------\n\n/** The local rigid transform contributed by a single DOF at `value`. */\nfunction dofPose(origin: Vec3, dof: JointDOF, value: number): JointPose {\n  if (dof.kind === 'translation') {\n    // `origin` is intentionally unused: a pure translation has no pivot.\n    return {\n      position: [dof.axis[0] * value, dof.axis[1] * value, dof.axis[2] * value],\n      rotation: [1, 0, 0, 0],\n    };\n  }\n  // Rotation about the axis line through `origin`: p ↦ R·p + (origin − R·origin).\n  const rotation = quatFromAxisAngle(dof.axis, value * DEG2RAD);\n  const ro = quatRotate(rotation, origin);\n  return { position: [origin[0] - ro[0], origin[1] - ro[1], origin[2] - ro[2]], rotation };\n}\n\n/**\n * The child's local rigid transform (relative to the parent) for given DOF\n * values. Defaults to each DOF's stored value. A single `number` overrides only\n * the primary DOF (single-DOF ergonomics); an array overrides positionally,\n * with omitted entries keeping their stored value. Each value is clamped to its\n * DOF range.\n *\n * DOFs are folded in array order via frame composition. For same-anchor\n * rotations (e.g. spherical) this composes to a single rotation about the pivot;\n * for a cylindrical axis the rotation and slide commute.\n */\nexport function jointTransform(\n  joint: Joint,\n  value: number | readonly number[] = joint.value\n): JointPose {\n  const overrides = Array.isArray(value) ? (value as readonly number[]) : undefined;\n  const primary = overrides ? undefined : (value as number);\n  const origin = joint.axis.origin;\n\n  let pose = IDENTITY_POSE;\n  for (let i = 0; i < joint.dofs.length; i++) {\n    const dof = joint.dofs[i];\n    if (!dof) continue;\n    const raw = overrides\n      ? (overrides[i] ?? dof.value)\n      : i === 0\n        ? (primary ?? dof.value)\n        : dof.value;\n    pose = composePose(pose, dofPose(origin, dof, clamp(raw, dof.min, dof.max)));\n  }\n  return pose;\n}\n\n// ---------------------------------------------------------------------------\n// Assembly integration\n// ---------------------------------------------------------------------------\n\n/** Attach a joint to an assembly node. Returns a new node (immutable). */\nexport function addJoint(assembly: AssemblyNode, joint: Joint): AssemblyNode {\n  const existing = (assembly.joints ?? []) as readonly Joint[];\n  return { ...assembly, joints: [...existing, joint] };\n}\n\n// ---------------------------------------------------------------------------\n// Forward kinematics\n// ---------------------------------------------------------------------------\n\nconst IDENTITY_POSE: JointPose = { position: [0, 0, 0], rotation: [1, 0, 0, 0] };\n\n/** Compose two poses: the result applies `b` in `a`'s frame (`a ∘ b`). */\nfunction composePose(a: JointPose, b: JointPose): JointPose {\n  const rb = quatRotate(a.rotation, b.position);\n  return {\n    position: [a.position[0] + rb[0], a.position[1] + rb[1], a.position[2] + rb[2]],\n    rotation: quatMultiply(a.rotation, b.rotation),\n  };\n}\n\n/** Collect every joint attached anywhere in the assembly tree. */\nfunction collectJoints(assembly: AssemblyNode): Joint[] {\n  const joints: Joint[] = [];\n  walkAssembly(assembly, (node) => {\n    if (node.joints) joints.push(...(node.joints as readonly Joint[]));\n  });\n  return joints;\n}\n\n/**\n * Forward kinematics: set joint values and propagate world poses down the\n * kinematic chain. Each joint's axis is interpreted in its **parent's** frame,\n * so a child's world pose is `parentWorld ∘ jointTransform(joint, value)`.\n *\n * Bodies not driven by a joint (chain roots) start at the origin. `jointValues`\n * overrides a joint's stored value, keyed by the **child** node name; omitted\n * joints use `joint.value`. Resolution is topological (reuses the Phase-0\n * ordering), so chains of any depth compose. Returns a world pose for every node.\n */\nexport function forwardKinematics(\n  assembly: AssemblyNode,\n  jointValues: Readonly<Record<string, number | readonly number[]>> = {}\n): Map<string, JointPose> {\n  // Single pass: gather joints and node names together.\n  const joints: Joint[] = [];\n  const names = new Set<string>();\n  walkAssembly(assembly, (node) => {\n    names.add(node.name);\n    if (node.joints) joints.push(...(node.joints as readonly Joint[]));\n  });\n  const byChild = new Map<string, Joint>();\n  for (const j of joints) {\n    byChild.set(j.child, j);\n    names.add(j.parent);\n    names.add(j.child);\n  }\n\n  const poses = new Map<string, JointPose>();\n  // Roots: any node not driven by a joint sits at the origin.\n  for (const name of names) if (!byChild.has(name)) poses.set(name, IDENTITY_POSE);\n\n  // Propagate down the joint graph: a joint resolves once its parent is placed.\n  const pending = [...joints];\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 j = pending[i];\n      if (!j) continue;\n      const parentPose = poses.get(j.parent);\n      if (!parentPose) continue; // parent not placed yet — defer\n      pending.splice(i, 1);\n      progress = true;\n      if (poses.has(j.child)) continue; // already placed (duplicate/cycle) — skip\n      const value = jointValues[j.child] ?? j.value;\n      const local = j.offset\n        ? composePose(jointTransform(j, value), j.offset)\n        : jointTransform(j, value);\n      poses.set(j.child, composePose(parentPose, local));\n    }\n  }\n  // A joint whose parent never resolved (cycle/dangling) still gets an entry so\n  // the map covers every node.\n  for (const j of pending) if (!poses.has(j.child)) poses.set(j.child, IDENTITY_POSE);\n\n  return poses;\n}\n\n/**\n * Open-chain mobility — the number of independent degrees of freedom, summing\n * each joint's DOF count (revolute/prismatic 1, cylindrical 2, planar/spherical\n * 3). For a serial chain this equals the total DOF. (Closed-loop\n * Grübler/Kutzbach analysis is future work.)\n */\nexport function mechanismDOF(assembly: AssemblyNode): number {\n  return collectJoints(assembly).reduce((sum, j) => sum + j.dofs.length, 0);\n}\n"]}

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

@@ -0,0 +1,60 @@
+/**
+ * Functional loft operation using branded shape types.
+ */
+import type { PointInput } from '../core/types.js';
+import type { Dimension, Wire, Shape3D } from '../core/shapeTypes.js';
+import { type Result } from '../core/result.js';
+/** Configuration for the functional loft operation. */
+export interface LoftOptions {
+    /** Use ruled (straight) interpolation between profiles. Defaults to `true`. */
+    ruled?: boolean;
+    /** Optional start vertex before the first wire profile. */
+    startPoint?: PointInput;
+    /** Optional end vertex after the last wire profile. */
+    endPoint?: PointInput;
+    /** Sewing tolerance for ThruSections builder. Defaults to `1e-6`. */
+    tolerance?: number;
+}
+/**
+ * Loft through a set of wire profiles to create a 3D shape.
+ *
+ * Builds a `BRepOffsetAPI_ThruSections` surface through the given wires,
+ * optionally starting and/or ending at point vertices. Produces a solid
+ * by default, or a shell when `returnShell` is `true`.
+ *
+ * @param wires - Ordered wire profiles to loft through.
+ * @param config - Loft configuration (ruled interpolation, start/end points).
+ * @param returnShell - When `true`, return a shell instead of a solid.
+ * @returns `Result` containing the lofted 3D shape, or an error on failure.
+ *
+ * @example
+ * ```ts
+ * const result = loft([bottomWire, topWire], { ruled: false });
+ * ```
+ *
+ * @see {@link loft!loft | loft} for the OOP API equivalent.
+ */
+export declare function loft(wires: Wire<Dimension>[], { ruled, startPoint, endPoint, tolerance }?: LoftOptions, returnShell?: boolean): Result<Shape3D>;
+/** Configuration for a single entry in a batch loft operation. */
+export interface LoftAllEntry {
+    /** Ordered wire profiles to loft through. */
+    wires: Wire<Dimension>[];
+    /** Use ruled (straight) interpolation. Defaults to `true`. */
+    ruled?: boolean;
+    /** Optional start point before the first wire. */
+    startPoint?: PointInput;
+    /** Optional end point after the last wire. */
+    endPoint?: PointInput;
+    /** Sewing tolerance. Defaults to `1e-6`. */
+    tolerance?: number;
+}
+/**
+ * Batch loft: build N independent lofts in a single kernel call.
+ *
+ * Uses the C++ LoftBatch extractor when available (single WASM call),
+ * falling back to N individual loft operations otherwise.
+ *
+ * @returns Array of 3D shapes, one per entry.
+ */
+export declare function loftAll(entries: readonly LoftAllEntry[]): Result<Shape3D[]>;
+//# sourceMappingURL=loftFns.d.ts.map

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

@@ -0,0 +1 @@
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