@faicad/faijs 0.13.0

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

@@ -0,0 +1,145 @@
+/**
+ * Functional thread operation — builds a helical screw thread.
+ *
+ * occt-wasm's `BRepOffsetAPI_MakePipeShell` (the `sweep` path) cannot reliably
+ * sweep a profile along a helix, so the thread is built the way the OCCT bottle
+ * tutorial does it: by lofting (`BRepOffsetAPI_ThruSections`) through a series of
+ * tooth cross-sections rotated around the axis. The result is the helical thread
+ * *ridge* — fuse it to a core cylinder for an external thread, or cut it from a
+ * bore (with `inward: true`) for an internal thread.
+ */
+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 { err, isOk } from '../core/result.js';
+import { validationError } from '../core/errors.js';
+import { DisposalScope } from '../core/disposal.js';
+import { line, wire } from '../topology/primitiveFns.js';
+import { loft } from './loftFns.js';
+/**
+ * Build a helical screw-thread ridge by lofting rotated tooth sections.
+ *
+ * @param options - {@link ThreadOptions}.
+ * @returns `Result` with the thread-ridge solid, or an error.
+ *
+ * @example External thread (Ø12 rod, 2.5 mm pitch):
+ * ```ts
+ * const ridge = thread({ radius: 6, pitch: 2.5, height: 7.5 });
+ * const rod = fuse(cylinder(6.15, 7.5), unwrap(ridge));
+ * ```
+ * @example Internal thread (tapped Ø6 hole):
+ * ```ts
+ * const ridge = thread({ radius: 3, pitch: 1, height: 6, inward: true });
+ * const nut = cut(boredBlock, unwrap(ridge));
+ * ```
+ */
+export function thread(options) {
+    const env_1 = { stack: [], error: void 0, hasError: false };
+    try {
+        const { radius, pitch, height, depth = 0.6 * pitch, toothHalfWidth = 0.42 * pitch, crest = 0, sectionsPerTurn = 20, lefthand = false, inward = false, } = options;
+        if (!(radius > 0))
+            return err(validationError('THREAD_INVALID_RADIUS', 'radius must be > 0'));
+        if (!(pitch > 0))
+            return err(validationError('THREAD_INVALID_PITCH', 'pitch must be > 0'));
+        if (!(height > 0))
+            return err(validationError('THREAD_INVALID_HEIGHT', 'height must be > 0'));
+        if (!(depth > 0))
+            return err(validationError('THREAD_INVALID_DEPTH', 'depth must be > 0'));
+        if (crest < 0 || crest >= toothHalfWidth) {
+            return err(validationError('THREAD_INVALID_CREST', 'crest must be >= 0 and < toothHalfWidth'));
+        }
+        if (sectionsPerTurn < 3) {
+            return err(validationError('THREAD_TOO_FEW_SECTIONS', 'sectionsPerTurn must be >= 3'));
+        }
+        const turns = height / pitch;
+        const nSec = Math.max(2, Math.round(turns * sectionsPerTurn));
+        const sign = lefthand ? -1 : 1;
+        const apexU = inward ? -depth : depth; // tooth tip: outward (external) or inward (internal)
+        const baseU = inward ? 0.3 : -0.3; // root: slightly into the mating solid for a clean boolean
+        const a = toothHalfWidth;
+        // The per-section edges and wires are intermediate WASM handles consumed by
+        // loft — register them in a scope so they're freed on every exit path (the
+        // lofted ridge is a fresh shape and survives). See docs/memory-management.md.
+        const scope = __addDisposableResource(env_1, new DisposalScope(), false);
+        const sections = [];
+        for (let i = 0; i <= nSec; i++) {
+            const th = (sign * i * 2 * Math.PI) / sectionsPerTurn;
+            const z = (pitch * Math.abs(th)) / (2 * Math.PI);
+            const cx = radius * Math.cos(th);
+            const cy = radius * Math.sin(th);
+            const rx = Math.cos(th);
+            const ry = Math.sin(th);
+            const pt = (u, v) => [cx + u * rx, cy + u * ry, z + v];
+            // A pointed V (crest=0) closes through a single apex; a flat crest (crest>0)
+            // gives a trapezoidal power-screw tooth (Acme/square). Either way the wire is
+            // geometrically closed — pass it straight to loft (ThruSections closes it; no
+            // B-rep closed-wire proof needed).
+            const profile = crest > 0
+                ? [pt(baseU, -a), pt(apexU, -crest), pt(apexU, crest), pt(baseU, a)]
+                : [pt(baseU, -a), pt(apexU, 0), pt(baseU, a)];
+            const edges = profile.map((p, k) => scope.register(line(p, profile[(k + 1) % profile.length])));
+            const w = wire(edges);
+            if (!isOk(w))
+                return w;
+            sections.push(scope.register(w.value));
+        }
+        return loft(sections, { ruled: true });
+    }
+    catch (e_1) {
+        env_1.error = e_1;
+        env_1.hasError = true;
+    }
+    finally {
+        __disposeResources(env_1);
+    }
+}
+//# sourceMappingURL=threadFns.js.map

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

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The result is the helical thread\n * *ridge* — fuse it to a core cylinder for an external thread, or cut it from a\n * bore (with `inward: true`) for an internal thread.\n */\n\nimport type { Vec3 } from '../core/types.js';\nimport type { Dimension, Wire, Shape3D } from '../core/shapeTypes.js';\nimport { type Result, err, isOk } from '../core/result.js';\nimport { validationError } from '../core/errors.js';\nimport { DisposalScope } from '../core/disposal.js';\nimport { line, wire } from '../topology/primitiveFns.js';\nimport { loft } from './loftFns.js';\n\n/** Configuration for {@link thread}. Units are mm; angles derive from pitch. */\nexport interface ThreadOptions {\n  /** Core radius (external) or nominal hole radius (internal), at the thread root. */\n  radius: number;\n  /** Axial distance per full turn. */\n  pitch: number;\n  /** Total thread length along the axis. Turn count = `height / pitch`. */\n  height: number;\n  /** Radial thread height (crest minus root). Defaults to `0.6 * pitch` (≈ISO 60° V). */\n  depth?: number;\n  /** Axial half-width of the tooth at the root. Defaults to `0.42 * pitch`. */\n  toothHalfWidth?: number;\n  /**\n   * Axial half-width of a flat crest, giving a trapezoidal tooth instead of a\n   * pointed V. `0` (default) is a sharp V (ISO/UN). Use a positive value for a\n   * power-screw profile: `≈0.18 * pitch` ≈ Acme/trapezoidal, up near\n   * `toothHalfWidth` ≈ square thread. Must be `< toothHalfWidth`.\n   */\n  crest?: number;\n  /** Loft sections per turn — higher is smoother but slower. Defaults to `20`. */\n  sectionsPerTurn?: number;\n  /** Left-handed thread. Defaults to `false` (right-handed). */\n  lefthand?: boolean;\n  /** Point the tooth toward the axis (for an internal thread to `cut` from a bore). */\n  inward?: boolean;\n}\n\n/**\n * Build a helical screw-thread ridge by lofting rotated tooth sections.\n *\n * @param options - {@link ThreadOptions}.\n * @returns `Result` with the thread-ridge solid, or an error.\n *\n * @example External thread (Ø12 rod, 2.5 mm pitch):\n * ```ts\n * const ridge = thread({ radius: 6, pitch: 2.5, height: 7.5 });\n * const rod = fuse(cylinder(6.15, 7.5), unwrap(ridge));\n * ```\n * @example Internal thread (tapped Ø6 hole):\n * ```ts\n * const ridge = thread({ radius: 3, pitch: 1, height: 6, inward: true });\n * const nut = cut(boredBlock, unwrap(ridge));\n * ```\n */\nexport function thread(options: ThreadOptions): Result<Shape3D> {\n  const {\n    radius,\n    pitch,\n    height,\n    depth = 0.6 * pitch,\n    toothHalfWidth = 0.42 * pitch,\n    crest = 0,\n    sectionsPerTurn = 20,\n    lefthand = false,\n    inward = false,\n  } = options;\n\n  if (!(radius > 0)) return err(validationError('THREAD_INVALID_RADIUS', 'radius must be > 0'));\n  if (!(pitch > 0)) return err(validationError('THREAD_INVALID_PITCH', 'pitch must be > 0'));\n  if (!(height > 0)) return err(validationError('THREAD_INVALID_HEIGHT', 'height must be > 0'));\n  if (!(depth > 0)) return err(validationError('THREAD_INVALID_DEPTH', 'depth must be > 0'));\n  if (crest < 0 || crest >= toothHalfWidth) {\n    return err(validationError('THREAD_INVALID_CREST', 'crest must be >= 0 and < toothHalfWidth'));\n  }\n  if (sectionsPerTurn < 3) {\n    return err(validationError('THREAD_TOO_FEW_SECTIONS', 'sectionsPerTurn must be >= 3'));\n  }\n\n  const turns = height / pitch;\n  const nSec = Math.max(2, Math.round(turns * sectionsPerTurn));\n  const sign = lefthand ? -1 : 1;\n  const apexU = inward ? -depth : depth; // tooth tip: outward (external) or inward (internal)\n  const baseU = inward ? 0.3 : -0.3; // root: slightly into the mating solid for a clean boolean\n  const a = toothHalfWidth;\n\n  // The per-section edges and wires are intermediate WASM handles consumed by\n  // loft — register them in a scope so they're freed on every exit path (the\n  // lofted ridge is a fresh shape and survives). See docs/memory-management.md.\n  using scope = new DisposalScope();\n  const sections: Wire<Dimension>[] = [];\n  for (let i = 0; i <= nSec; i++) {\n    const th = (sign * i * 2 * Math.PI) / sectionsPerTurn;\n    const z = (pitch * Math.abs(th)) / (2 * Math.PI);\n    const cx = radius * Math.cos(th);\n    const cy = radius * Math.sin(th);\n    const rx = Math.cos(th);\n    const ry = Math.sin(th);\n    const pt = (u: number, v: number): Vec3 => [cx + u * rx, cy + u * ry, z + v];\n\n    // A pointed V (crest=0) closes through a single apex; a flat crest (crest>0)\n    // gives a trapezoidal power-screw tooth (Acme/square). Either way the wire is\n    // geometrically closed — pass it straight to loft (ThruSections closes it; no\n    // B-rep closed-wire proof needed).\n    const profile =\n      crest > 0\n        ? [pt(baseU, -a), pt(apexU, -crest), pt(apexU, crest), pt(baseU, a)]\n        : [pt(baseU, -a), pt(apexU, 0), pt(baseU, a)];\n    const edges = profile.map((p, k) =>\n      scope.register(line(p, profile[(k + 1) % profile.length] as Vec3))\n    );\n    const w = wire(edges);\n    if (!isOk(w)) return w;\n    sections.push(scope.register(w.value));\n  }\n\n  return loft(sections, { ruled: true });\n}\n"]}

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

@@ -0,0 +1,48 @@
+/**
+ * URDF interchange: export a brepjs assembly + its joints to URDF, and import a
+ * URDF document back into links and joints.
+ *
+ * URDF natively models single-DOF joints, so `revolute` and `prismatic` joints
+ * round-trip (parents, axes, and limits preserved). Multi-DOF joints
+ * (cylindrical/planar/spherical) and joints carrying a fixed `offset` (e.g.
+ * Denavit-Hartenberg links) have no faithful single-joint URDF representation
+ * and are reported as an error on export.
+ *
+ * Revolute limits are radians in URDF and degrees in brepjs, so they are
+ * converted on the boundary. The XML is parsed with a small URDF-shaped reader
+ * (no XML dependency); it handles the standard `<robot>/<link>/<joint>` subset.
+ */
+import { type Result } from '../core/result.js';
+import type { AssemblyNode } from './assemblyFns.js';
+import { type Joint } from './jointFns.js';
+export interface UrdfExportOptions {
+    /** `<robot name="...">`. Default `'robot'`. */
+    name?: string;
+    /** Default `effort` limit emitted for every joint. Default 0. */
+    effort?: number;
+    /** Default `velocity` limit emitted for every joint. Default 0. */
+    velocity?: number;
+    /** Per-link mesh filename for a `<visual>` reference, keyed by node name. */
+    meshes?: Readonly<Record<string, string>>;
+}
+export interface UrdfDocument {
+    readonly name: string;
+    readonly links: string[];
+    readonly joints: Joint[];
+}
+/**
+ * Serialize an assembly's links and revolute/prismatic joints to a URDF string.
+ * Returns an error if any joint is multi-DOF or carries a fixed `offset`, since
+ * URDF cannot represent those as a single joint.
+ */
+export declare function exportURDF(assembly: AssemblyNode, options?: UrdfExportOptions): Result<string>;
+/**
+ * Parse a URDF document into its robot name, link names, and revolute/prismatic
+ * joints. `continuous` joints become revolute with a full -180..180 range;
+ * `fixed`/`floating`/`planar` joints are skipped (their links are still listed).
+ * A non-zero `<origin rpy>` is folded into the joint axis direction; its
+ * residual frame rotation is not represented (URDF's pre-motion frame offset has
+ * no single-joint brepjs equivalent).
+ */
+export declare function importURDF(xml: string): Result<UrdfDocument>;
+//# sourceMappingURL=urdfFns.d.ts.map

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

@@ -0,0 +1,171 @@
+/**
+ * URDF interchange: export a brepjs assembly + its joints to URDF, and import a
+ * URDF document back into links and joints.
+ *
+ * URDF natively models single-DOF joints, so `revolute` and `prismatic` joints
+ * round-trip (parents, axes, and limits preserved). Multi-DOF joints
+ * (cylindrical/planar/spherical) and joints carrying a fixed `offset` (e.g.
+ * Denavit-Hartenberg links) have no faithful single-joint URDF representation
+ * and are reported as an error on export.
+ *
+ * Revolute limits are radians in URDF and degrees in brepjs, so they are
+ * converted on the boundary. The XML is parsed with a small URDF-shaped reader
+ * (no XML dependency); it handles the standard `<robot>/<link>/<joint>` subset.
+ */
+import { ok, err } from '../core/result.js';
+import { validationError, BrepErrorCode } from '../core/errors.js';
+import { quatFromAxisAngle, quatMultiply, quatRotate } from '../utils/quaternion.js';
+import { walkAssembly } from './assemblyFns.js';
+import { revoluteJoint, prismaticJoint } from './jointFns.js';
+const DEG2RAD = Math.PI / 180;
+const RAD2DEG = 180 / Math.PI;
+// ---------------------------------------------------------------------------
+// Export
+// ---------------------------------------------------------------------------
+function escapeXml(s) {
+    return s
+        .replace(/&/g, '&amp;')
+        .replace(/</g, '&lt;')
+        .replace(/>/g, '&gt;')
+        .replace(/"/g, '&quot;');
+}
+/** Format a number for XML, normalizing -0 to 0. */
+function fmt(n) {
+    return String(n === 0 ? 0 : n);
+}
+function vec(v) {
+    return `${fmt(v[0])} ${fmt(v[1])} ${fmt(v[2])}`;
+}
+/**
+ * Serialize an assembly's links and revolute/prismatic joints to a URDF string.
+ * Returns an error if any joint is multi-DOF or carries a fixed `offset`, since
+ * URDF cannot represent those as a single joint.
+ */
+export function exportURDF(assembly, options = {}) {
+    const robot = options.name ?? 'robot';
+    const effort = options.effort ?? 0;
+    const velocity = options.velocity ?? 0;
+    const meshes = options.meshes ?? {};
+    const links = [];
+    const joints = [];
+    walkAssembly(assembly, (n) => {
+        links.push(n.name);
+        if (n.joints)
+            joints.push(...n.joints);
+    });
+    for (const j of joints) {
+        if (j.type !== 'revolute' && j.type !== 'prismatic') {
+            return err(validationError(BrepErrorCode.VALIDATION_FAILED, `exportURDF: joint '${j.parent}->${j.child}' is '${j.type}'; URDF supports only revolute and prismatic joints`));
+        }
+        if (j.offset) {
+            return err(validationError(BrepErrorCode.VALIDATION_FAILED, `exportURDF: joint '${j.parent}->${j.child}' carries a fixed offset (e.g. a DH link) that URDF cannot represent as a single joint`));
+        }
+    }
+    const lines = ['<?xml version="1.0"?>', `<robot name="${escapeXml(robot)}">`];
+    for (const link of links) {
+        const mesh = meshes[link];
+        if (mesh) {
+            lines.push(`  <link name="${escapeXml(link)}">`, `    <visual><geometry><mesh filename="${escapeXml(mesh)}"/></geometry></visual>`, `  </link>`);
+        }
+        else {
+            lines.push(`  <link name="${escapeXml(link)}"/>`);
+        }
+    }
+    for (const j of joints) {
+        const toRad = j.type === 'revolute';
+        const lower = toRad ? j.min * DEG2RAD : j.min;
+        const upper = toRad ? j.max * DEG2RAD : j.max;
+        // brepjs prismatic FK slides from the parent origin and ignores axis.origin,
+        // so emit a zero origin to keep the URDF faithful to brepjs's own kinematics
+        // (a non-zero origin would make a ROS consumer place the slider differently).
+        const origin = j.type === 'prismatic' ? [0, 0, 0] : j.axis.origin;
+        lines.push(`  <joint name="${escapeXml(`${j.parent}_to_${j.child}`)}" type="${j.type}">`, `    <parent link="${escapeXml(j.parent)}"/>`, `    <child link="${escapeXml(j.child)}"/>`, `    <origin xyz="${vec(origin)}" rpy="0 0 0"/>`, `    <axis xyz="${vec(j.axis.direction)}"/>`, `    <limit lower="${fmt(lower)}" upper="${fmt(upper)}" effort="${fmt(effort)}" velocity="${fmt(velocity)}"/>`, `  </joint>`);
+    }
+    lines.push('</robot>', '');
+    return ok(lines.join('\n'));
+}
+// ---------------------------------------------------------------------------
+// Import
+// ---------------------------------------------------------------------------
+/** Read a string attribute from a tag's attribute text. */
+function attr(text, name) {
+    const m = new RegExp(`\\b${name}\\s*=\\s*"([^"]*)"`).exec(text);
+    return m?.[1];
+}
+/** Parse a whitespace-separated numeric triple, defaulting missing components to 0. */
+function triple(s, fallback) {
+    if (!s)
+        return fallback;
+    const parts = s.trim().split(/\s+/).map(Number);
+    return [parts[0] ?? 0, parts[1] ?? 0, parts[2] ?? 0];
+}
+/** Rotate an axis by a URDF roll-pitch-yaw (fixed-axis XYZ) triple in radians. */
+function applyRpy(axis, rpy) {
+    const q = quatMultiply(quatMultiply(quatFromAxisAngle([0, 0, 1], rpy[2]), quatFromAxisAngle([0, 1, 0], rpy[1])), quatFromAxisAngle([1, 0, 0], rpy[0]));
+    return quatRotate(q, axis);
+}
+/**
+ * Parse a URDF document into its robot name, link names, and revolute/prismatic
+ * joints. `continuous` joints become revolute with a full -180..180 range;
+ * `fixed`/`floating`/`planar` joints are skipped (their links are still listed).
+ * A non-zero `<origin rpy>` is folded into the joint axis direction; its
+ * residual frame rotation is not represented (URDF's pre-motion frame offset has
+ * no single-joint brepjs equivalent).
+ */
+export function importURDF(xml) {
+    const robotMatch = /<robot\b([^>]*)>/.exec(xml);
+    if (!robotMatch) {
+        return err(validationError(BrepErrorCode.VALIDATION_FAILED, 'importURDF: no <robot> element found'));
+    }
+    const name = attr(robotMatch[1] ?? '', 'name') ?? 'robot';
+    const links = [];
+    const linkRe = /<link\b([^>]*?)(?:\/>|>)/g;
+    for (let m = linkRe.exec(xml); m; m = linkRe.exec(xml)) {
+        const n = attr(m[1] ?? '', 'name');
+        if (n)
+            links.push(n);
+    }
+    const joints = [];
+    const jointRe = /<joint\b([^>]*)>([\s\S]*?)<\/joint>/g;
+    for (let m = jointRe.exec(xml); m; m = jointRe.exec(xml)) {
+        const head = m[1] ?? '';
+        const body = m[2] ?? '';
+        const type = attr(head, 'type') ?? 'fixed';
+        if (type === 'fixed' || type === 'floating' || type === 'planar')
+            continue;
+        const parentTag = /<parent\b([^>]*?)\/?>/.exec(body);
+        const childTag = /<child\b([^>]*?)\/?>/.exec(body);
+        const parent = attr(parentTag?.[1] ?? '', 'link');
+        const child = attr(childTag?.[1] ?? '', 'link');
+        if (!parent || !child) {
+            return err(validationError(BrepErrorCode.VALIDATION_FAILED, `importURDF: joint missing parent/child link (${attr(head, 'name') ?? 'unnamed'})`));
+        }
+        const originTag = /<origin\b([^>]*?)\/?>/.exec(body);
+        const axisTag = /<axis\b([^>]*?)\/?>/.exec(body);
+        const limitTag = /<limit\b([^>]*?)\/?>/.exec(body);
+        const origin = triple(attr(originTag?.[1] ?? '', 'xyz'), [0, 0, 0]);
+        const rpy = triple(attr(originTag?.[1] ?? '', 'rpy'), [0, 0, 0]);
+        const rawAxis = triple(attr(axisTag?.[1] ?? '', 'xyz'), [1, 0, 0]); // URDF default +X
+        const direction = applyRpy(rawAxis, rpy);
+        const lowerRaw = Number(attr(limitTag?.[1] ?? '', 'lower') ?? NaN);
+        const upperRaw = Number(attr(limitTag?.[1] ?? '', 'upper') ?? NaN);
+        if (type === 'prismatic') {
+            const opts = Number.isFinite(lowerRaw) && Number.isFinite(upperRaw)
+                ? { min: lowerRaw, max: upperRaw }
+                : {};
+            joints.push(prismaticJoint(parent, child, { origin, direction }, opts));
+        }
+        else if (type === 'revolute' || type === 'continuous') {
+            // continuous → full range
+            const opts = type === 'continuous' || !Number.isFinite(lowerRaw) || !Number.isFinite(upperRaw)
+                ? { min: -180, max: 180 }
+                : { min: lowerRaw * RAD2DEG, max: upperRaw * RAD2DEG };
+            joints.push(revoluteJoint(parent, child, { origin, direction }, opts));
+        }
+        else {
+            return err(validationError(BrepErrorCode.VALIDATION_FAILED, `importURDF: joint '${attr(head, 'name') ?? 'unnamed'}' has unrecognized type '${type}'`));
+        }
+    }
+    return ok({ name, links, joints });
+}
+//# sourceMappingURL=urdfFns.js.map

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

@@ -0,0 +1 @@
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* URDF interchange: export a brepjs assembly + its joints to URDF, and import a\n * URDF document back into links and joints.\n *\n * URDF natively models single-DOF joints, so `revolute` and `prismatic` joints\n * round-trip (parents, axes, and limits preserved). Multi-DOF joints\n * (cylindrical/planar/spherical) and joints carrying a fixed `offset` (e.g.\n * Denavit-Hartenberg links) have no faithful single-joint URDF representation\n * and are reported as an error on export.\n *\n * Revolute limits are radians in URDF and degrees in brepjs, so they are\n * converted on the boundary. The XML is parsed with a small URDF-shaped reader\n * (no XML dependency); it handles the standard `<robot>/<link>/<joint>` subset.\n */\n\nimport { type Result, ok, err } from '../core/result.js';\nimport { validationError, BrepErrorCode } from '../core/errors.js';\nimport type { Vec3 } from '../core/types.js';\nimport { quatFromAxisAngle, quatMultiply, quatRotate } from '../utils/quaternion.js';\nimport type { AssemblyNode } from './assemblyFns.js';\nimport { walkAssembly } from './assemblyFns.js';\nimport { revoluteJoint, prismaticJoint, type Joint } from './jointFns.js';\n\nconst DEG2RAD = Math.PI / 180;\nconst RAD2DEG = 180 / Math.PI;\n\nexport interface UrdfExportOptions {\n  /** `<robot name=\"...\">`. Default `'robot'`. */\n  name?: string;\n  /** Default `effort` limit emitted for every joint. Default 0. */\n  effort?: number;\n  /** Default `velocity` limit emitted for every joint. Default 0. */\n  velocity?: number;\n  /** Per-link mesh filename for a `<visual>` reference, keyed by node name. */\n  meshes?: Readonly<Record<string, string>>;\n}\n\nexport interface UrdfDocument {\n  readonly name: string;\n  readonly links: string[];\n  readonly joints: Joint[];\n}\n\n// ---------------------------------------------------------------------------\n// Export\n// ---------------------------------------------------------------------------\n\nfunction escapeXml(s: string): string {\n  return s\n    .replace(/&/g, '&amp;')\n    .replace(/</g, '&lt;')\n    .replace(/>/g, '&gt;')\n    .replace(/\"/g, '&quot;');\n}\n\n/** Format a number for XML, normalizing -0 to 0. */\nfunction fmt(n: number): string {\n  return String(n === 0 ? 0 : n);\n}\n\nfunction vec(v: Vec3): string {\n  return `${fmt(v[0])} ${fmt(v[1])} ${fmt(v[2])}`;\n}\n\n/**\n * Serialize an assembly's links and revolute/prismatic joints to a URDF string.\n * Returns an error if any joint is multi-DOF or carries a fixed `offset`, since\n * URDF cannot represent those as a single joint.\n */\nexport function exportURDF(\n  assembly: AssemblyNode,\n  options: UrdfExportOptions = {}\n): Result<string> {\n  const robot = options.name ?? 'robot';\n  const effort = options.effort ?? 0;\n  const velocity = options.velocity ?? 0;\n  const meshes = options.meshes ?? {};\n\n  const links: string[] = [];\n  const joints: Joint[] = [];\n  walkAssembly(assembly, (n) => {\n    links.push(n.name);\n    if (n.joints) joints.push(...(n.joints as readonly Joint[]));\n  });\n\n  for (const j of joints) {\n    if (j.type !== 'revolute' && j.type !== 'prismatic') {\n      return err(\n        validationError(\n          BrepErrorCode.VALIDATION_FAILED,\n          `exportURDF: joint '${j.parent}->${j.child}' is '${j.type}'; URDF supports only revolute and prismatic joints`\n        )\n      );\n    }\n    if (j.offset) {\n      return err(\n        validationError(\n          BrepErrorCode.VALIDATION_FAILED,\n          `exportURDF: joint '${j.parent}->${j.child}' carries a fixed offset (e.g. a DH link) that URDF cannot represent as a single joint`\n        )\n      );\n    }\n  }\n\n  const lines: string[] = ['<?xml version=\"1.0\"?>', `<robot name=\"${escapeXml(robot)}\">`];\n  for (const link of links) {\n    const mesh = meshes[link];\n    if (mesh) {\n      lines.push(\n        `  <link name=\"${escapeXml(link)}\">`,\n        `    <visual><geometry><mesh filename=\"${escapeXml(mesh)}\"/></geometry></visual>`,\n        `  </link>`\n      );\n    } else {\n      lines.push(`  <link name=\"${escapeXml(link)}\"/>`);\n    }\n  }\n\n  for (const j of joints) {\n    const toRad = j.type === 'revolute';\n    const lower = toRad ? j.min * DEG2RAD : j.min;\n    const upper = toRad ? j.max * DEG2RAD : j.max;\n    // brepjs prismatic FK slides from the parent origin and ignores axis.origin,\n    // so emit a zero origin to keep the URDF faithful to brepjs's own kinematics\n    // (a non-zero origin would make a ROS consumer place the slider differently).\n    const origin: Vec3 = j.type === 'prismatic' ? [0, 0, 0] : j.axis.origin;\n    lines.push(\n      `  <joint name=\"${escapeXml(`${j.parent}_to_${j.child}`)}\" type=\"${j.type}\">`,\n      `    <parent link=\"${escapeXml(j.parent)}\"/>`,\n      `    <child link=\"${escapeXml(j.child)}\"/>`,\n      `    <origin xyz=\"${vec(origin)}\" rpy=\"0 0 0\"/>`,\n      `    <axis xyz=\"${vec(j.axis.direction)}\"/>`,\n      `    <limit lower=\"${fmt(lower)}\" upper=\"${fmt(upper)}\" effort=\"${fmt(effort)}\" velocity=\"${fmt(velocity)}\"/>`,\n      `  </joint>`\n    );\n  }\n\n  lines.push('</robot>', '');\n  return ok(lines.join('\\n'));\n}\n\n// ---------------------------------------------------------------------------\n// Import\n// ---------------------------------------------------------------------------\n\n/** Read a string attribute from a tag's attribute text. */\nfunction attr(text: string, name: string): string | undefined {\n  const m = new RegExp(`\\\\b${name}\\\\s*=\\\\s*\"([^\"]*)\"`).exec(text);\n  return m?.[1];\n}\n\n/** Parse a whitespace-separated numeric triple, defaulting missing components to 0. */\nfunction triple(s: string | undefined, fallback: Vec3): Vec3 {\n  if (!s) return fallback;\n  const parts = s.trim().split(/\\s+/).map(Number);\n  return [parts[0] ?? 0, parts[1] ?? 0, parts[2] ?? 0];\n}\n\n/** Rotate an axis by a URDF roll-pitch-yaw (fixed-axis XYZ) triple in radians. */\nfunction applyRpy(axis: Vec3, rpy: Vec3): Vec3 {\n  const q = quatMultiply(\n    quatMultiply(quatFromAxisAngle([0, 0, 1], rpy[2]), quatFromAxisAngle([0, 1, 0], rpy[1])),\n    quatFromAxisAngle([1, 0, 0], rpy[0])\n  );\n  return quatRotate(q, axis);\n}\n\n/**\n * Parse a URDF document into its robot name, link names, and revolute/prismatic\n * joints. `continuous` joints become revolute with a full -180..180 range;\n * `fixed`/`floating`/`planar` joints are skipped (their links are still listed).\n * A non-zero `<origin rpy>` is folded into the joint axis direction; its\n * residual frame rotation is not represented (URDF's pre-motion frame offset has\n * no single-joint brepjs equivalent).\n */\nexport function importURDF(xml: string): Result<UrdfDocument> {\n  const robotMatch = /<robot\\b([^>]*)>/.exec(xml);\n  if (!robotMatch) {\n    return err(\n      validationError(BrepErrorCode.VALIDATION_FAILED, 'importURDF: no <robot> element found')\n    );\n  }\n  const name = attr(robotMatch[1] ?? '', 'name') ?? 'robot';\n\n  const links: string[] = [];\n  const linkRe = /<link\\b([^>]*?)(?:\\/>|>)/g;\n  for (let m = linkRe.exec(xml); m; m = linkRe.exec(xml)) {\n    const n = attr(m[1] ?? '', 'name');\n    if (n) links.push(n);\n  }\n\n  const joints: Joint[] = [];\n  const jointRe = /<joint\\b([^>]*)>([\\s\\S]*?)<\\/joint>/g;\n  for (let m = jointRe.exec(xml); m; m = jointRe.exec(xml)) {\n    const head = m[1] ?? '';\n    const body = m[2] ?? '';\n    const type = attr(head, 'type') ?? 'fixed';\n    if (type === 'fixed' || type === 'floating' || type === 'planar') continue;\n\n    const parentTag = /<parent\\b([^>]*?)\\/?>/.exec(body);\n    const childTag = /<child\\b([^>]*?)\\/?>/.exec(body);\n    const parent = attr(parentTag?.[1] ?? '', 'link');\n    const child = attr(childTag?.[1] ?? '', 'link');\n    if (!parent || !child) {\n      return err(\n        validationError(\n          BrepErrorCode.VALIDATION_FAILED,\n          `importURDF: joint missing parent/child link (${attr(head, 'name') ?? 'unnamed'})`\n        )\n      );\n    }\n\n    const originTag = /<origin\\b([^>]*?)\\/?>/.exec(body);\n    const axisTag = /<axis\\b([^>]*?)\\/?>/.exec(body);\n    const limitTag = /<limit\\b([^>]*?)\\/?>/.exec(body);\n\n    const origin = triple(attr(originTag?.[1] ?? '', 'xyz'), [0, 0, 0]);\n    const rpy = triple(attr(originTag?.[1] ?? '', 'rpy'), [0, 0, 0]);\n    const rawAxis = triple(attr(axisTag?.[1] ?? '', 'xyz'), [1, 0, 0]); // URDF default +X\n    const direction = applyRpy(rawAxis, rpy);\n\n    const lowerRaw = Number(attr(limitTag?.[1] ?? '', 'lower') ?? NaN);\n    const upperRaw = Number(attr(limitTag?.[1] ?? '', 'upper') ?? NaN);\n\n    if (type === 'prismatic') {\n      const opts =\n        Number.isFinite(lowerRaw) && Number.isFinite(upperRaw)\n          ? { min: lowerRaw, max: upperRaw }\n          : {};\n      joints.push(prismaticJoint(parent, child, { origin, direction }, opts));\n    } else if (type === 'revolute' || type === 'continuous') {\n      // continuous → full range\n      const opts =\n        type === 'continuous' || !Number.isFinite(lowerRaw) || !Number.isFinite(upperRaw)\n          ? { min: -180, max: 180 }\n          : { min: lowerRaw * RAD2DEG, max: upperRaw * RAD2DEG };\n      joints.push(revoluteJoint(parent, child, { origin, direction }, opts));\n    } else {\n      return err(\n        validationError(\n          BrepErrorCode.VALIDATION_FAILED,\n          `importURDF: joint '${attr(head, 'name') ?? 'unnamed'}' has unrecognized type '${type}'`\n        )\n      );\n    }\n  }\n\n  return ok({ name, links, joints });\n}\n"]}

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

@@ -0,0 +1,20 @@
+/**
+ * brepjs/operations — Extrusion, loft, sweep, patterns, assemblies, and history.
+ *
+ * @example
+ * ```typescript
+ * import { sweep, linearPattern } from 'brepjs/operations';
+ * ```
+ */
+export { sweep, supportExtrude, complexExtrude, twistExtrude, type SweepOptions, type ExtrusionProfile, } from './operations/extrudeFns.js';
+export { thread, type ThreadOptions } from './operations/threadFns.js';
+export { linearPattern, circularPattern, gridPattern } from './operations/patternFns.js';
+export { createAssemblyNode, addChild, removeChild, updateNode, findNode, walkAssembly, countNodes, collectShapes, type AssemblyNode, type AssemblyNodeOptions, } from './operations/assemblyFns.js';
+export { revoluteJoint, prismaticJoint, cylindricalJoint, planarJoint, sphericalJoint, setJointValue, setJointValues, jointTransform, addJoint, forwardKinematics, mechanismDOF, type Joint, type JointDOF, type JointAxis, type JointType, type JointPose, type JointOptions, type CylindricalOptions, type PlanarOptions, type SphericalOptions, } from './operations/jointFns.js';
+export { inverseKinematics, jointTrajectory, type IKTarget, type IKOptions, type IKResult, type TrajectorySample, } from './operations/ikFns.js';
+export { jointsFromDH, type DHRow, type DHOptions } from './operations/dhFns.js';
+export { exportURDF, importURDF, type UrdfExportOptions, type UrdfDocument, } from './operations/urdfFns.js';
+export { exportAssemblySTEP, type ShapeOptions, type SupportedUnit, } from './operations/exporterFns.js';
+export { createHistory, addStep, undoLast, findStep, getShape as getHistoryShape, stepCount, stepsFrom, registerShape, createRegistry, registerOperation, replayHistory, replayFrom, modifyStep, type OperationStep, type ModelHistory, type OperationFn, type OperationRegistry as HistoryOperationRegistry, } from './operations/historyFns.js';
+export { type AssemblyExporter, createAssembly } from './operations/exporters.js';
+//# sourceMappingURL=operations.d.ts.map

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

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package/dist/vendored/brepjs/operations.js

@@ -0,0 +1,26 @@
+/**
+ * brepjs/operations — Extrusion, loft, sweep, patterns, assemblies, and history.
+ *
+ * @example
+ * ```typescript
+ * import { sweep, linearPattern } from 'brepjs/operations';
+ * ```
+ */
+// ── Extrude / revolve / sweep ──
+export { sweep, supportExtrude, complexExtrude, twistExtrude, } from './operations/extrudeFns.js';
+// ── Thread ──
+export { thread } from './operations/threadFns.js';
+// ── Patterns ──
+export { linearPattern, circularPattern, gridPattern } from './operations/patternFns.js';
+// ── Assembly ──
+export { createAssemblyNode, addChild, removeChild, updateNode, findNode, walkAssembly, countNodes, collectShapes, } from './operations/assemblyFns.js';
+export { revoluteJoint, prismaticJoint, cylindricalJoint, planarJoint, sphericalJoint, setJointValue, setJointValues, jointTransform, addJoint, forwardKinematics, mechanismDOF, } from './operations/jointFns.js';
+export { inverseKinematics, jointTrajectory, } from './operations/ikFns.js';
+export { jointsFromDH } from './operations/dhFns.js';
+export { exportURDF, importURDF, } from './operations/urdfFns.js';
+export { exportAssemblySTEP, } from './operations/exporterFns.js';
+// ── History ──
+export { createHistory, addStep, undoLast, findStep, getShape as getHistoryShape, stepCount, stepsFrom, registerShape, createRegistry, registerOperation, replayHistory, replayFrom, modifyStep, } from './operations/historyFns.js';
+// ── Low-level ──
+export { createAssembly } from './operations/exporters.js';
+//# sourceMappingURL=operations.js.map

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

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package/dist/vendored/brepjs/projection/cameraFns.d.ts

@@ -0,0 +1,63 @@
+/**
+ * Functional camera API — plain immutable Camera objects for 3D projection.
+ *
+ * ADR-0006 Phase 3: this module performs 3D vector math (cross products,
+ * normalization) for view setup — pure coordinate math with no topology
+ * or geometry evaluation. Stays in TypeScript: the computation is trivial,
+ * operates on plain Vec3 tuples, and would gain no benefit from WASM
+ * round-trip overhead.
+ */
+import type { Vec3 } from '../core/types.js';
+import type { ProjectionPlane } from './projectionPlanes.js';
+import type { Edge, AnyShape } from '../core/shapeTypes.js';
+import { type Result } from '../core/result.js';
+/**
+ * Immutable plain-object representation of a projection camera.
+ */
+export interface Camera {
+    readonly position: Vec3;
+    readonly direction: Vec3;
+    readonly xAxis: Vec3;
+    readonly yAxis: Vec3;
+}
+/**
+ * Create a camera from position, direction, and an optional X-axis.
+ *
+ * If `xAxis` is omitted, it is derived automatically from the direction.
+ *
+ * @param position - Camera position in world coordinates.
+ * @param direction - View direction (camera looks along this vector).
+ * @param xAxis - Optional horizontal axis; derived automatically if not provided.
+ * @returns `Result<Camera>` -- an error if direction is zero-length.
+ */
+export declare function createCamera(position?: Vec3, direction?: Vec3, xAxis?: Vec3): Result<Camera>;
+/**
+ * Create a new camera oriented to look at a target point from the current position.
+ *
+ * @param camera - Existing camera whose position is preserved.
+ * @param target - World-space point to look at.
+ * @returns `Result<Camera>` with updated direction and derived axes.
+ */
+export declare function cameraLookAt(camera: Camera, target: Vec3): Result<Camera>;
+/**
+ * Create a camera positioned at the origin, looking along a named projection plane.
+ *
+ * @param planeName - Named projection direction (e.g., `'front'`, `'top'`).
+ * @returns `Result<Camera>` configured for that standard view.
+ */
+export declare function cameraFromPlane(planeName: ProjectionPlane): Result<Camera>;
+/**
+ * Project the edges of a 3D shape onto a 2D plane defined by a {@link Camera}.
+ *
+ * @param shape - The 3D shape to project.
+ * @param camera - Camera defining the projection plane.
+ * @param withHiddenLines - If true, compute hidden-line edges as well.
+ * @returns Separate arrays of visible and hidden projected edges.
+ *
+ * @see {@link drawProjection} for the higher-level Drawing-based API.
+ */
+export declare function projectEdges(shape: AnyShape, camera: Camera, withHiddenLines?: boolean): {
+    visible: Edge[];
+    hidden: Edge[];
+};
+//# sourceMappingURL=cameraFns.d.ts.map

package/dist/vendored/brepjs/projection/cameraFns.d.ts.map

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