@faicad/faijs 0.13.0

package/dist/api/assembly/solvers/global-solver.js

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+/**
+ * api/assembly/solvers/global-solver — 纯 TS global 装配求解器（P1）
+ *
+ * 复刻 CadQuery `cadquery/occ_impl/solver.py` 的**语义**（全局 NLP、模长参数化旋转、
+ * 9 类代价、Axis 缺省反平行、Plane=Axis(π)+Point(0)、包围盒对角长缩放），
+ * 以 Levenberg-Marquardt 替代 IPOPT，**零原生/WASM 依赖**（裁定 1–6，详见
+ * `docs/plans/2026-09-08-assembly-dual-solver.md`）。
+ *
+ * 关键裁定（写进代码，不在别处手算）：
+ * - 裁定 1/2：faijs Shape 不携带 placement → 初值 T0=R0=0，world 系==本地系；
+ *   两侧 marker 经 `resolveFaceGeometryOfRef`/`resolveSolverEntity` 直接取本地系，无不对称。
+ * - 裁定 3：残差取 CQ 代价的「平方前内层量」（非对代价开方）。
+ * - 裁定 4：线性求解自实现（linalg.ts）。
+ * - 裁定 5：旋转 pivot 恒 [0,0,0]（CQ 的 Rotate(v,R)+T 绕世界原点）。
+ * - 裁定 6：锚定用 CQ B4（assembly.py:455-490）：Fixed / name==self.name 锁定；
+ *   否则第一个不在 unary 里的 binary object；否则实体 0。锁定成员冻结为 identity。
+ *
+ * 失败模式（§4.6）：唯一抛错路径 = 约束类型无法映射为代价；其余以 warnings 透明化，
+ * 不抛错（LM 终止即 converged=true）。
+ */
+import { getBackends } from '../../../runtime-state.js';
+import { normalizeConstraint } from '../normalize.js';
+import { poseToAssemblyTransform } from '../pose.js';
+import { resolveFaceGeometryOfRef, resolveSolverEntity, } from '../entities.js';
+import { vadd, vsub, vdot, vscale, vnormalize, vsumsqr, ata, atb, solveDampedNormal, } from './linalg.js';
+import { rotateByR, quatFromR } from './pose-from-delta.js';
+const DEG2RAD = Math.PI / 180;
+const R_INIT = 1e-2; // B3
+const LM_LAMBDA0 = 1e-3;
+const LM_MAXITER = 2000;
+const LM_TOL_OBJ = 1e-12;
+const LM_TOL_STEP = 1e-10;
+const PENALTY = 1e-16; // B1，等价 sqrt = 1e-8
+const RESIDUAL_WARN = 1e-6; // §4.6 阈值系数
+/** 把一条 EntityRef 解析为本地系 GlobalMarker（无坐标系不对称）。 */
+function resolveMarker(ref, env) {
+    if ('point' in ref) {
+        return { type: 'point', p: [ref.point[0], ref.point[1], ref.point[2]] };
+    }
+    if ('face' in ref) {
+        const geom = resolveFaceGeometryOfRef(ref, env);
+        const normal = vnormalize([geom.normal[0], geom.normal[1], geom.normal[2]]);
+        return {
+            type: 'plane',
+            center: [geom.center[0], geom.center[1], geom.center[2]],
+            normal,
+        };
+    }
+    // edge / faceIndex → 走 resolveSolverEntity（统一抽取）
+    const se = resolveSolverEntity(ref, env);
+    if (se.type === 'axis') {
+        return {
+            type: 'axis',
+            origin: [se.origin[0], se.origin[1], se.origin[2]],
+            // `direction` is optional in the vendored SolverEntity type but always present for the
+            // axis branch produced by resolveSolverEntity (cylinder/cone face, or edge axis snapshot).
+            dir: vnormalize([se.direction[0], se.direction[1], se.direction[2]]),
+        };
+    }
+    if (se.type === 'plane') {
+        return {
+            type: 'plane',
+            center: [se.origin[0], se.origin[1], se.origin[2]],
+            // `normal` is optional in the vendored SolverEntity type but always present for the plane branch.
+            normal: vnormalize([se.normal[0], se.normal[1], se.normal[2]]),
+        };
+    }
+    return { type: 'point', p: [se.origin[0], se.origin[1], se.origin[2]] };
+}
+function markerPoint(m, R, T) {
+    const base = m.type === 'point' ? m.p : m.type === 'axis' ? m.origin : m.center;
+    return vadd(rotateByR(base, R), T);
+}
+function markerDir(m, R) {
+    // point markers never reach here (axis cost / plane normal / line direction only);
+    // narrow to axis/plane and fall back to the point for type-completeness.
+    const base = m.type === 'axis' ? m.dir : m.type === 'plane' ? m.normal : m.p;
+    return rotateByR(base, R);
+}
+/** 计算单条代价项的残差向量（平方前内层量，裁定 3）。 */
+function termResidual(t, sa, sb, scale) {
+    const inv = t.scaleFlag ? 1 / scale : 1;
+    switch (t.fn) {
+        case 'point': {
+            const pa = markerPoint(t.ma, sa.R, sa.T);
+            const pb = markerPoint(t.mb, sb.R, sb.T);
+            const d = vscale(vsub(pa, pb), inv);
+            if (Math.abs(t.val) < 1e-12)
+                return d; // 3-vec，val=0
+            return [vsumsqr(d) - (t.val / scale) ** 2]; // 1-vec，val≠0
+        }
+        case 'axis': {
+            const d1 = markerDir(t.ma, sa.R);
+            const d2 = markerDir(t.mb, sb.R);
+            if (Math.abs(t.val) < 1e-12)
+                return vsub(d1, d2); // 3-vec，val=0
+            if (Math.abs(t.val - Math.PI) < 1e-12)
+                return vadd(d1, d2); // 3-vec，val=π
+            return [vdot(d1, d2) - Math.cos(t.val)]; // 1-vec，其他
+        }
+        case 'point_in_plane': {
+            const p1 = markerPoint(t.ma, sa.R, sa.T); // 点
+            const n = markerDir(t.mb, sb.R); // 平面法向
+            let c = markerPoint(t.mb, sb.R, sb.T); // 平面上一点
+            if (Math.abs(t.val) > 1e-12)
+                c = vadd(c, vscale(n, t.val)); // 沿法向平移 val（CQ m2_pnt 偏移）
+            const d = vdot(n, vsub(c, p1)) * inv;
+            return [d]; // 1-vec
+        }
+        case 'point_on_line': {
+            const p1 = markerPoint(t.ma, sa.R, sa.T); // 点
+            const o = markerPoint(t.mb, sb.R, sb.T); // 线上一点
+            const dln = markerDir(t.mb, sb.R); // 线方向
+            const delta = vsub(p1, o);
+            const perp = vscale(vsub(delta, vscale(dln, vdot(delta, dln))), inv);
+            if (Math.abs(t.val) < 1e-12)
+                return perp; // 3-vec，val=0
+            return [vsumsqr(perp) - t.val]; // 1-vec，val≠0（注意 val 不缩放）
+        }
+    }
+}
+/**
+ * 纯 TS global 求解器入口。
+ *
+ * @param members - member shapes（与 memberNames 对齐）。
+ * @param memberNames - 成员变量名（约束以名引用，空名会抛错）。
+ * @param constraints - 规范化前的原始约束。
+ * @param opts - 求解选项（solver 已在外层判定为 'global'，此处 name 用于 B4 锚定）。
+ * @returns 与 `AssemblySolveResult` 对齐的结果。
+ */
+export function solveGlobal(members, memberNames, constraints, opts) {
+    memberNames.forEach((name, i) => {
+        if (!name) {
+            throw new Error(`[assembly:global] member at index ${i} has an empty name`);
+        }
+    });
+    const memberMap = new Map();
+    members.forEach((m, i) => {
+        const name = memberNames[i];
+        if (name && !memberMap.has(name))
+            memberMap.set(name, m);
+    });
+    let kernel = null;
+    try {
+        kernel = getBackends().kernel.brep;
+    }
+    catch {
+        /* mesh/primitive 行快照路径：快照引用仍可解 */
+    }
+    const env = { kernel, memberOf: (p) => memberMap.get(p) };
+    // ── 建立代价项、锁定集、尺度点 ──
+    const terms = [];
+    const unsupported = [];
+    const lockedSet = new Set();
+    const order = [];
+    const binaryOrder = [];
+    const unarySet = new Set();
+    const scalePts = [];
+    constraints.forEach((raw, cid) => {
+        const c = normalizeConstraint(raw);
+        const register = (p) => {
+            if (!order.includes(p))
+                order.push(p);
+        };
+        if (c.type === 'fixed') {
+            register(c.part);
+            unarySet.add(c.part);
+            const idx = memberNames.indexOf(c.part);
+            if (idx >= 0)
+                lockedSet.add(idx);
+            return;
+        }
+        const ia = memberNames.indexOf(c.a.part);
+        const ib = memberNames.indexOf(c.b.part);
+        if (ia < 0 || ib < 0) {
+            unsupported.push(`constraint references unknown part: ${ia < 0 ? c.a.part : c.b.part}`);
+            return;
+        }
+        if (!binaryOrder.includes(c.a.part))
+            binaryOrder.push(c.a.part);
+        register(c.a.part);
+        register(c.b.part);
+        if (c.a.part === opts?.name)
+            lockedSet.add(ia);
+        if (c.b.part === opts?.name)
+            lockedSet.add(ib);
+        const mA = resolveMarker(c.a, env);
+        const mB = resolveMarker(c.b, env);
+        scalePts.push(markerPoint(mA, [0, 0, 0], [0, 0, 0]));
+        scalePts.push(markerPoint(mB, [0, 0, 0], [0, 0, 0]));
+        switch (c.type) {
+            case 'mate':
+            case 'align': {
+                if (mA.type !== 'plane' || mB.type !== 'plane') {
+                    unsupported.push(`${c.type} requires plane entities on both sides`);
+                    return;
+                }
+                terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: c.type === 'mate' ? Math.PI : 0, scaleFlag: false });
+                terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true });
+                break;
+            }
+            case 'coincident': {
+                pushCoincident(terms, cid, ia, mA, ib, mB);
+                break;
+            }
+            case 'concentric': {
+                if (mA.type !== 'axis' || mB.type !== 'axis') {
+                    unsupported.push('concentric requires axis entities on both sides');
+                    return;
+                }
+                terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false });
+                terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val: 0, scaleFlag: true });
+                break;
+            }
+            case 'distance': {
+                pushDistance(terms, cid, ia, mA, ib, mB, c.value, unsupported);
+                break;
+            }
+            case 'angle': {
+                terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: c.value * DEG2RAD, scaleFlag: false });
+                break;
+            }
+            case 'parallel': {
+                terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false });
+                break;
+            }
+            case 'perpendicular': {
+                terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: Math.PI / 2, scaleFlag: false });
+                break;
+            }
+            default:
+                unsupported.push(`unsupported constraint type: ${c.type}`);
+        }
+    });
+    // ── B4 锚定 ──
+    if (lockedSet.size === 0) {
+        for (const b of binaryOrder) {
+            if (!unarySet.has(b)) {
+                const idx = memberNames.indexOf(b);
+                if (idx >= 0) {
+                    lockedSet.add(idx);
+                    break;
+                }
+            }
+        }
+    }
+    if (lockedSet.size === 0 && order.length > 0) {
+        const idx = memberNames.indexOf(order[0]);
+        if (idx >= 0)
+            lockedSet.add(idx);
+    }
+    // ── scale = 所有 marker 点的包围盒对角长（CQ B5；marker 近似几何 bbox） ──
+    const scale = computeScale(scalePts);
+    // ── 自由成员与变量 ──
+    const freeIdx = [];
+    const blockMap = new Map();
+    memberNames.forEach((_, i) => {
+        if (!lockedSet.has(i)) {
+            blockMap.set(i, freeIdx.length);
+            freeIdx.push(i);
+        }
+    });
+    const n = freeIdx.length * 6;
+    const x = new Array(n).fill(0);
+    for (let k = 0; k < freeIdx.length; k++) {
+        x[6 * k + 3] = R_INIT;
+        x[6 * k + 4] = R_INIT;
+        x[6 * k + 5] = R_INIT;
+    }
+    const stateOf = (xx, i) => {
+        if (lockedSet.has(i))
+            return { T: [0, 0, 0], R: [0, 0, 0] };
+        const k = blockMap.get(i);
+        return {
+            T: [xx[6 * k], xx[6 * k + 1], xx[6 * k + 2]],
+            R: [xx[6 * k + 3], xx[6 * k + 4], xx[6 * k + 5]],
+        };
+    };
+    const residual = (xx) => {
+        const r = [];
+        for (const t of terms) {
+            const e = termResidual(t, stateOf(xx, t.ia), stateOf(xx, t.ib), scale);
+            for (const v of e)
+                r.push(v);
+        }
+        // penalty 1e-16（B1）：sqrt 后 1e-8，T/scale 缩小、R 直接
+        for (let k = 0; k < freeIdx.length; k++) {
+            r.push(PENALTY ** 0.5 * (xx[6 * k] / scale));
+            r.push(PENALTY ** 0.5 * (xx[6 * k + 1] / scale));
+            r.push(PENALTY ** 0.5 * (xx[6 * k + 2] / scale));
+            r.push(PENALTY ** 0.5 * xx[6 * k + 3]);
+            r.push(PENALTY ** 0.5 * xx[6 * k + 4]);
+            r.push(PENALTY ** 0.5 * xx[6 * k + 5]);
+        }
+        return r;
+    };
+    // ── LM 迭代 ──
+    let lambda = LM_LAMBDA0;
+    let current = residual(x);
+    let obj = 0.5 * dot(current, current);
+    for (let iter = 0; iter < LM_MAXITER; iter++) {
+        const m = current.length;
+        const J = new Array(m * n).fill(0);
+        for (let col = 0; col < n; col++) {
+            const h = col % 6 < 3 ? 1e-7 * scale : 1e-7;
+            const xp = x.slice();
+            const xm = x.slice();
+            xp[col] += h;
+            xm[col] -= h;
+            const rp = residual(xp);
+            const rm = residual(xm);
+            for (let row = 0; row < m; row++)
+                J[row * n + col] = (rp[row] - rm[row]) / (2 * h);
+        }
+        const JtJ = ata(J, m, n);
+        const Jtr = atb(J, current, m, n);
+        // 梯度范数收敛（与步长早停互补，避免 λ 放大时误判收敛）
+        if (maxAbs(Jtr) < 1e-8) {
+            break;
+        }
+        const negJtr = Jtr.map((v) => -v);
+        const objBefore = obj;
+        let improved = false;
+        let acceptedStep = null;
+        for (let attempt = 0; attempt < 12 && !improved; attempt++) {
+            const step = solveDampedNormal(JtJ, negJtr, n, lambda);
+            if (!step)
+                break;
+            const xTry = x.slice();
+            for (let j = 0; j < n; j++)
+                xTry[j] += step[j];
+            const rTry = residual(xTry);
+            const objTry = 0.5 * dot(rTry, rTry);
+            if (objTry <= obj) {
+                for (let j = 0; j < n; j++)
+                    x[j] = xTry[j];
+                current = rTry;
+                obj = objTry;
+                improved = true;
+                acceptedStep = step;
+                lambda = Math.max(lambda / 3, 1e-15);
+            }
+            else {
+                lambda *= 2;
+            }
+        }
+        if (!improved)
+            break;
+        // 步长收敛仅在信任域健康（λ 小）时认定——λ 大时的微小步长只是阻尼，非真收敛
+        if (acceptedStep && maxAbs(acceptedStep) < LM_TOL_STEP && lambda < 1e-2) {
+            break;
+        }
+        if (Math.abs(objBefore - obj) < LM_TOL_OBJ * Math.max(1, Math.abs(objBefore))) {
+            break;
+        }
+    }
+    // ── 组装结果 ──
+    const transforms = [];
+    for (let k = 0; k < freeIdx.length; k++) {
+        const i = freeIdx[k];
+        const T = [x[6 * k], x[6 * k + 1], x[6 * k + 2]];
+        const R = [x[6 * k + 3], x[6 * k + 4], x[6 * k + 5]];
+        const pose = { position: T, rotation: quatFromR(R[0], R[1], R[2]) };
+        transforms.push(poseToAssemblyTransform(pose, [0, 0, 0], i));
+    }
+    // 逐约束残差（诊断）
+    const residuals = [];
+    const warnings = [];
+    const byCid = new Map();
+    for (const t of terms) {
+        const e = termResidual(t, stateOf(x, t.ia), stateOf(x, t.ib), scale);
+        const s = e.reduce((acc, v) => acc + v * v, 0);
+        byCid.set(t.cid, (byCid.get(t.cid) ?? 0) + s);
+    }
+    constraints.forEach((_, cid) => {
+        const r = byCid.get(cid) ?? 0;
+        residuals.push(r);
+        if (r > RESIDUAL_WARN * scale)
+            warnings.push(`constraint #${cid} residual=${r.toExponential(3)} (> ${RESIDUAL_WARN * scale})`);
+    });
+    return {
+        transforms,
+        dof: 0,
+        converged: true,
+        unsupported,
+        residuals,
+        warnings: warnings.length > 0 ? warnings : undefined,
+    };
+}
+function pushCoincident(terms, cid, ia, mA, ib, mB) {
+    if (mA.type === 'point' && mB.type === 'point') {
+        terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true });
+    }
+    else if (mA.type === 'plane' && mB.type === 'point') {
+        terms.push({ cid, fn: 'point_in_plane', ia: ib, ma: mB, ib: ia, mb: mA, val: 0, scaleFlag: true });
+    }
+    else if (mA.type === 'point' && mB.type === 'plane') {
+        terms.push({ cid, fn: 'point_in_plane', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true });
+    }
+    else if (mA.type === 'axis' && mB.type === 'axis') {
+        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false });
+        terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val: 0, scaleFlag: true });
+    }
+    else if (mA.type === 'axis' && mB.type === 'point') {
+        terms.push({ cid, fn: 'point_on_line', ia: ib, ma: mB, ib, mb: mA, val: 0, scaleFlag: true });
+    }
+    else if (mA.type === 'point' && mB.type === 'axis') {
+        terms.push({ cid, fn: 'point_on_line', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true });
+    }
+    else {
+        // 两面 coincident：按 align 语义（平行 + 中心重合）
+        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false });
+        terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true });
+    }
+}
+function pushDistance(terms, cid, ia, mA, ib, mB, val, unsupported) {
+    if (mA.type === 'point' && mB.type === 'point') {
+        terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val, scaleFlag: true });
+    }
+    else if (mA.type === 'plane' && mB.type === 'point') {
+        terms.push({ cid, fn: 'point_in_plane', ia: ib, ma: mB, ib: ia, mb: mA, val, scaleFlag: true });
+    }
+    else if (mA.type === 'point' && mB.type === 'plane') {
+        terms.push({ cid, fn: 'point_in_plane', ia, ma: mA, ib, mb: mB, val, scaleFlag: true });
+    }
+    else if (mA.type === 'axis' && mB.type === 'axis') {
+        terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val, scaleFlag: true });
+    }
+    else {
+        unsupported.push(`distance requires point-point / plane-point / axis-axis entities, got ${mA.type}-${mB.type}`);
+    }
+}
+function computeScale(pts) {
+    if (pts.length === 0)
+        return 1;
+    const min = [Infinity, Infinity, Infinity];
+    const max = [-Infinity, -Infinity, -Infinity];
+    for (const p of pts) {
+        for (let i = 0; i < 3; i++) {
+            if (p[i] < min[i])
+                min[i] = p[i];
+            if (p[i] > max[i])
+                max[i] = p[i];
+        }
+    }
+    const diag = Math.hypot(max[0] - min[0], max[1] - min[1], max[2] - min[2]);
+    return Math.max(diag, 1e-6);
+}
+function dot(a, b) {
+    let s = 0;
+    for (let i = 0; i < a.length; i++)
+        s += a[i] * b[i];
+    return s;
+}
+function maxAbs(a) {
+    let m = 0;
+    for (const v of a)
+        m = Math.max(m, Math.abs(v));
+    return m;
+}
+//# sourceMappingURL=global-solver.js.map

package/dist/api/assembly/solvers/global-solver.js.map

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* api/assembly/solvers/global-solver — 纯 TS global 装配求解器（P1）\n *\n * 复刻 CadQuery `cadquery/occ_impl/solver.py` 的**语义**（全局 NLP、模长参数化旋转、\n * 9 类代价、Axis 缺省反平行、Plane=Axis(π)+Point(0)、包围盒对角长缩放），\n * 以 Levenberg-Marquardt 替代 IPOPT，**零原生/WASM 依赖**（裁定 1–6，详见\n * `docs/plans/2026-09-08-assembly-dual-solver.md`）。\n *\n * 关键裁定（写进代码，不在别处手算）：\n * - 裁定 1/2：faijs Shape 不携带 placement → 初值 T0=R0=0，world 系==本地系；\n *   两侧 marker 经 `resolveFaceGeometryOfRef`/`resolveSolverEntity` 直接取本地系，无不对称。\n * - 裁定 3：残差取 CQ 代价的「平方前内层量」（非对代价开方）。\n * - 裁定 4：线性求解自实现（linalg.ts）。\n * - 裁定 5：旋转 pivot 恒 [0,0,0]（CQ 的 Rotate(v,R)+T 绕世界原点）。\n * - 裁定 6：锚定用 CQ B4（assembly.py:455-490）：Fixed / name==self.name 锁定；\n *   否则第一个不在 unary 里的 binary object；否则实体 0。锁定成员冻结为 identity。\n *\n * 失败模式（§4.6）：唯一抛错路径 = 约束类型无法映射为代价；其余以 warnings 透明化，\n * 不抛错（LM 终止即 converged=true）。\n */\n\nimport type { Shape } from '../../../mesh/types'\nimport type { BrepEngineApi } from '../../../brep/engine/primitives'\nimport { getBackends } from '../../../runtime-state'\nimport type { AssemblyTransform } from '../../../runtime-state'\nimport type { AssemblyConstraint, EntityRef } from '../types'\nimport { normalizeConstraint } from '../normalize'\nimport { poseToAssemblyTransform, type SolverPose } from '../pose'\nimport {\n  resolveFaceGeometryOfRef,\n  resolveSolverEntity,\n  type EntityResolutionEnv,\n} from '../entities'\nimport { type SolveOptions, type GlobalMarker, type GlobalSolveResult } from './types'\nimport {\n  type Vec3,\n  vadd,\n  vsub,\n  vdot,\n  vscale,\n  vnormalize,\n  vsumsqr,\n  ata,\n  atb,\n  solveDampedNormal,\n} from './linalg'\nimport { rotateByR, quatFromR } from './pose-from-delta'\n\nconst DEG2RAD = Math.PI / 180\nconst R_INIT = 1e-2 // B3\nconst LM_LAMBDA0 = 1e-3\nconst LM_MAXITER = 2000\nconst LM_TOL_OBJ = 1e-12\nconst LM_TOL_STEP = 1e-10\nconst PENALTY = 1e-16 // B1，等价 sqrt = 1e-8\nconst RESIDUAL_WARN = 1e-6 // §4.6 阈值系数\n\ntype CostFn = 'point' | 'axis' | 'point_in_plane' | 'point_on_line'\n\ninterface CostTerm {\n  cid: number\n  fn: CostFn\n  /** 点侧成员下标（point_in_plane/point_on_line 的点；axis 的 dir 侧）。 */\n  ia: number\n  ma: GlobalMarker\n  /** 平面/线侧成员下标（point_in_plane/point_on_line 的平面/线；axis 的 dir 侧）。 */\n  ib: number\n  mb: GlobalMarker\n  /** point=距离(mm)；axis=夹角(rad)；point_in_plane/point_on_line=val。 */\n  val: number\n  /** 是否除以 scale（CQ scaling 字典：point 类 true，axis 类 false）。 */\n  scaleFlag: boolean\n}\n\n/** 把一条 EntityRef 解析为本地系 GlobalMarker（无坐标系不对称）。 */\nfunction resolveMarker(ref: EntityRef, env: EntityResolutionEnv): GlobalMarker {\n  if ('point' in ref) {\n    return { type: 'point', p: [ref.point[0], ref.point[1], ref.point[2]] }\n  }\n  if ('face' in ref) {\n    const geom = resolveFaceGeometryOfRef(ref, env)\n    const normal = vnormalize([geom.normal[0], geom.normal[1], geom.normal[2]])\n    return {\n      type: 'plane',\n      center: [geom.center[0], geom.center[1], geom.center[2]],\n      normal,\n    }\n  }\n  // edge / faceIndex → 走 resolveSolverEntity（统一抽取）\n  const se = resolveSolverEntity(ref, env)\n  if (se.type === 'axis') {\n    return {\n      type: 'axis',\n      origin: [se.origin[0], se.origin[1], se.origin[2]],\n      // `direction` is optional in the vendored SolverEntity type but always present for the\n      // axis branch produced by resolveSolverEntity (cylinder/cone face, or edge axis snapshot).\n      dir: vnormalize([se.direction![0], se.direction![1], se.direction![2]]),\n    }\n  }\n  if (se.type === 'plane') {\n    return {\n      type: 'plane',\n      center: [se.origin[0], se.origin[1], se.origin[2]],\n      // `normal` is optional in the vendored SolverEntity type but always present for the plane branch.\n      normal: vnormalize([se.normal![0], se.normal![1], se.normal![2]]),\n    }\n  }\n  return { type: 'point', p: [se.origin[0], se.origin[1], se.origin[2]] }\n}\n\nfunction markerPoint(m: GlobalMarker, R: Vec3, T: Vec3): Vec3 {\n  const base = m.type === 'point' ? m.p : m.type === 'axis' ? m.origin : m.center\n  return vadd(rotateByR(base, R), T)\n}\nfunction markerDir(m: GlobalMarker, R: Vec3): Vec3 {\n  // point markers never reach here (axis cost / plane normal / line direction only);\n  // narrow to axis/plane and fall back to the point for type-completeness.\n  const base = m.type === 'axis' ? m.dir : m.type === 'plane' ? m.normal : m.p\n  return rotateByR(base, R)\n}\n\n/** 计算单条代价项的残差向量（平方前内层量，裁定 3）。 */\nfunction termResidual(t: CostTerm, sa: { T: Vec3; R: Vec3 }, sb: { T: Vec3; R: Vec3 }, scale: number): number[] {\n  const inv = t.scaleFlag ? 1 / scale : 1\n  switch (t.fn) {\n    case 'point': {\n      const pa = markerPoint(t.ma, sa.R, sa.T)\n      const pb = markerPoint(t.mb, sb.R, sb.T)\n      const d = vscale(vsub(pa, pb), inv)\n      if (Math.abs(t.val) < 1e-12) return d // 3-vec，val=0\n      return [vsumsqr(d) - (t.val / scale) ** 2] // 1-vec，val≠0\n    }\n    case 'axis': {\n      const d1 = markerDir(t.ma, sa.R)\n      const d2 = markerDir(t.mb, sb.R)\n      if (Math.abs(t.val) < 1e-12) return vsub(d1, d2) // 3-vec，val=0\n      if (Math.abs(t.val - Math.PI) < 1e-12) return vadd(d1, d2) // 3-vec，val=π\n      return [vdot(d1, d2) - Math.cos(t.val)] // 1-vec，其他\n    }\n    case 'point_in_plane': {\n      const p1 = markerPoint(t.ma, sa.R, sa.T) // 点\n      const n = markerDir(t.mb, sb.R) // 平面法向\n      let c = markerPoint(t.mb, sb.R, sb.T) // 平面上一点\n      if (Math.abs(t.val) > 1e-12) c = vadd(c, vscale(n, t.val)) // 沿法向平移 val（CQ m2_pnt 偏移）\n      const d = vdot(n, vsub(c, p1)) * inv\n      return [d] // 1-vec\n    }\n    case 'point_on_line': {\n      const p1 = markerPoint(t.ma, sa.R, sa.T) // 点\n      const o = markerPoint(t.mb, sb.R, sb.T) // 线上一点\n      const dln = markerDir(t.mb, sb.R) // 线方向\n      const delta = vsub(p1, o)\n      const perp = vscale(vsub(delta, vscale(dln, vdot(delta, dln))), inv)\n      if (Math.abs(t.val) < 1e-12) return perp // 3-vec，val=0\n      return [vsumsqr(perp) - t.val] // 1-vec，val≠0（注意 val 不缩放）\n    }\n  }\n}\n\n/**\n * 纯 TS global 求解器入口。\n *\n * @param members - member shapes（与 memberNames 对齐）。\n * @param memberNames - 成员变量名（约束以名引用，空名会抛错）。\n * @param constraints - 规范化前的原始约束。\n * @param opts - 求解选项（solver 已在外层判定为 'global'，此处 name 用于 B4 锚定）。\n * @returns 与 `AssemblySolveResult` 对齐的结果。\n */\nexport function solveGlobal(\n  members: Shape[],\n  memberNames: string[],\n  constraints: AssemblyConstraint[],\n  opts?: SolveOptions,\n): GlobalSolveResult {\n  memberNames.forEach((name, i) => {\n    if (!name) {\n      throw new Error(`[assembly:global] member at index ${i} has an empty name`)\n    }\n  })\n\n  const memberMap = new Map<string, Shape>()\n  members.forEach((m, i) => {\n    const name = memberNames[i]\n    if (name && !memberMap.has(name)) memberMap.set(name, m)\n  })\n\n  let kernel: BrepEngineApi | null = null\n  try {\n    kernel = getBackends().kernel.brep as BrepEngineApi | null\n  } catch {\n    /* mesh/primitive 行快照路径：快照引用仍可解 */\n  }\n  const env: EntityResolutionEnv = { kernel, memberOf: (p: string) => memberMap.get(p) }\n\n  // ── 建立代价项、锁定集、尺度点 ──\n  const terms: CostTerm[] = []\n  const unsupported: string[] = []\n  const lockedSet = new Set<number>()\n  const order: string[] = []\n  const binaryOrder: string[] = []\n  const unarySet = new Set<string>()\n  const scalePts: Vec3[] = []\n\n  constraints.forEach((raw, cid) => {\n    const c = normalizeConstraint(raw)\n    const register = (p: string) => {\n      if (!order.includes(p)) order.push(p)\n    }\n    if (c.type === 'fixed') {\n      register(c.part)\n      unarySet.add(c.part)\n      const idx = memberNames.indexOf(c.part)\n      if (idx >= 0) lockedSet.add(idx)\n      return\n    }\n    const ia = memberNames.indexOf(c.a.part)\n    const ib = memberNames.indexOf(c.b.part)\n    if (ia < 0 || ib < 0) {\n      unsupported.push(`constraint references unknown part: ${ia < 0 ? c.a.part : c.b.part}`)\n      return\n    }\n    if (!binaryOrder.includes(c.a.part)) binaryOrder.push(c.a.part)\n    register(c.a.part)\n    register(c.b.part)\n    if (c.a.part === opts?.name) lockedSet.add(ia)\n    if (c.b.part === opts?.name) lockedSet.add(ib)\n\n    const mA = resolveMarker(c.a, env)\n    const mB = resolveMarker(c.b, env)\n    scalePts.push(markerPoint(mA, [0, 0, 0], [0, 0, 0]))\n    scalePts.push(markerPoint(mB, [0, 0, 0], [0, 0, 0]))\n\n    switch (c.type) {\n      case 'mate':\n      case 'align': {\n        if (mA.type !== 'plane' || mB.type !== 'plane') {\n          unsupported.push(`${c.type} requires plane entities on both sides`)\n          return\n        }\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: c.type === 'mate' ? Math.PI : 0, scaleFlag: false })\n        terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n        break\n      }\n      case 'coincident': {\n        pushCoincident(terms, cid, ia, mA, ib, mB)\n        break\n      }\n      case 'concentric': {\n        if (mA.type !== 'axis' || mB.type !== 'axis') {\n          unsupported.push('concentric requires axis entities on both sides')\n          return\n        }\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n        terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val: 0, scaleFlag: true })\n        break\n      }\n      case 'distance': {\n        pushDistance(terms, cid, ia, mA, ib, mB, c.value, unsupported)\n        break\n      }\n      case 'angle': {\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: c.value * DEG2RAD, scaleFlag: false })\n        break\n      }\n      case 'parallel': {\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n        break\n      }\n      case 'perpendicular': {\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: Math.PI / 2, scaleFlag: false })\n        break\n      }\n      default:\n        unsupported.push(`unsupported constraint type: ${(c as { type?: string }).type}`)\n    }\n  })\n\n  // ── B4 锚定 ──\n  if (lockedSet.size === 0) {\n    for (const b of binaryOrder) {\n      if (!unarySet.has(b)) {\n        const idx = memberNames.indexOf(b)\n        if (idx >= 0) {\n          lockedSet.add(idx)\n          break\n        }\n      }\n    }\n  }\n  if (lockedSet.size === 0 && order.length > 0) {\n    const idx = memberNames.indexOf(order[0])\n    if (idx >= 0) lockedSet.add(idx)\n  }\n\n  // ── scale = 所有 marker 点的包围盒对角长（CQ B5；marker 近似几何 bbox） ──\n  const scale = computeScale(scalePts)\n\n  // ── 自由成员与变量 ──\n  const freeIdx: number[] = []\n  const blockMap = new Map<number, number>()\n  memberNames.forEach((_, i) => {\n    if (!lockedSet.has(i)) {\n      blockMap.set(i, freeIdx.length)\n      freeIdx.push(i)\n    }\n  })\n  const n = freeIdx.length * 6\n  const x = new Array(n).fill(0)\n  for (let k = 0; k < freeIdx.length; k++) {\n    x[6 * k + 3] = R_INIT\n    x[6 * k + 4] = R_INIT\n    x[6 * k + 5] = R_INIT\n  }\n\n  const stateOf = (xx: number[], i: number): { T: Vec3; R: Vec3 } => {\n    if (lockedSet.has(i)) return { T: [0, 0, 0], R: [0, 0, 0] }\n    const k = blockMap.get(i)!\n    return {\n      T: [xx[6 * k], xx[6 * k + 1], xx[6 * k + 2]],\n      R: [xx[6 * k + 3], xx[6 * k + 4], xx[6 * k + 5]],\n    }\n  }\n\n  const residual = (xx: number[]): number[] => {\n    const r: number[] = []\n    for (const t of terms) {\n      const e = termResidual(t, stateOf(xx, t.ia), stateOf(xx, t.ib), scale)\n      for (const v of e) r.push(v)\n    }\n    // penalty 1e-16（B1）：sqrt 后 1e-8，T/scale 缩小、R 直接\n    for (let k = 0; k < freeIdx.length; k++) {\n      r.push(PENALTY ** 0.5 * (xx[6 * k] / scale))\n      r.push(PENALTY ** 0.5 * (xx[6 * k + 1] / scale))\n      r.push(PENALTY ** 0.5 * (xx[6 * k + 2] / scale))\n      r.push(PENALTY ** 0.5 * xx[6 * k + 3])\n      r.push(PENALTY ** 0.5 * xx[6 * k + 4])\n      r.push(PENALTY ** 0.5 * xx[6 * k + 5])\n    }\n    return r\n  }\n\n  // ── LM 迭代 ──\n  let lambda = LM_LAMBDA0\n  let current = residual(x)\n  let obj = 0.5 * dot(current, current)\n\n  for (let iter = 0; iter < LM_MAXITER; iter++) {\n    const m = current.length\n    const J = new Array(m * n).fill(0)\n    for (let col = 0; col < n; col++) {\n      const h = col % 6 < 3 ? 1e-7 * scale : 1e-7\n      const xp = x.slice()\n      const xm = x.slice()\n      xp[col] += h\n      xm[col] -= h\n      const rp = residual(xp)\n      const rm = residual(xm)\n      for (let row = 0; row < m; row++) J[row * n + col] = (rp[row] - rm[row]) / (2 * h)\n    }\n    const JtJ = ata(J, m, n)\n    const Jtr = atb(J, current, m, n)\n\n    // 梯度范数收敛（与步长早停互补，避免 λ 放大时误判收敛）\n    if (maxAbs(Jtr) < 1e-8) {\n      break\n    }\n\n    const negJtr = Jtr.map((v) => -v)\n    const objBefore = obj\n    let improved = false\n    let acceptedStep: number[] | null = null\n    for (let attempt = 0; attempt < 12 && !improved; attempt++) {\n      const step = solveDampedNormal(JtJ, negJtr, n, lambda)\n      if (!step) break\n      const xTry = x.slice()\n      for (let j = 0; j < n; j++) xTry[j] += step[j]\n      const rTry = residual(xTry)\n      const objTry = 0.5 * dot(rTry, rTry)\n      if (objTry <= obj) {\n        for (let j = 0; j < n; j++) x[j] = xTry[j]\n        current = rTry\n        obj = objTry\n        improved = true\n        acceptedStep = step\n        lambda = Math.max(lambda / 3, 1e-15)\n      } else {\n        lambda *= 2\n      }\n    }\n    if (!improved) break\n\n    // 步长收敛仅在信任域健康（λ 小）时认定——λ 大时的微小步长只是阻尼，非真收敛\n    if (acceptedStep && maxAbs(acceptedStep) < LM_TOL_STEP && lambda < 1e-2) {\n      break\n    }\n    if (Math.abs(objBefore - obj) < LM_TOL_OBJ * Math.max(1, Math.abs(objBefore))) {\n      break\n    }\n  }\n\n  // ── 组装结果 ──\n  const transforms: AssemblyTransform[] = []\n  for (let k = 0; k < freeIdx.length; k++) {\n    const i = freeIdx[k]\n    const T: Vec3 = [x[6 * k], x[6 * k + 1], x[6 * k + 2]]\n    const R: Vec3 = [x[6 * k + 3], x[6 * k + 4], x[6 * k + 5]]\n    const pose: SolverPose = { position: T, rotation: quatFromR(R[0], R[1], R[2]) }\n    transforms.push(poseToAssemblyTransform(pose, [0, 0, 0], i))\n  }\n\n  // 逐约束残差（诊断）\n  const residuals: number[] = []\n  const warnings: string[] = []\n  const byCid = new Map<number, number>()\n  for (const t of terms) {\n    const e = termResidual(t, stateOf(x, t.ia), stateOf(x, t.ib), scale)\n    const s = e.reduce((acc, v) => acc + v * v, 0)\n    byCid.set(t.cid, (byCid.get(t.cid) ?? 0) + s)\n  }\n  constraints.forEach((_, cid) => {\n    const r = byCid.get(cid) ?? 0\n    residuals.push(r)\n    if (r > RESIDUAL_WARN * scale) warnings.push(`constraint #${cid} residual=${r.toExponential(3)} (> ${RESIDUAL_WARN * scale})`)\n  })\n\n  return {\n    transforms,\n    dof: 0,\n    converged: true,\n    unsupported,\n    residuals,\n    warnings: warnings.length > 0 ? warnings : undefined,\n  }\n}\n\nfunction pushCoincident(terms: CostTerm[], cid: number, ia: number, mA: GlobalMarker, ib: number, mB: GlobalMarker): void {\n  if (mA.type === 'point' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  } else if (mA.type === 'plane' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point_in_plane', ia: ib, ma: mB, ib: ia, mb: mA, val: 0, scaleFlag: true })\n  } else if (mA.type === 'point' && mB.type === 'plane') {\n    terms.push({ cid, fn: 'point_in_plane', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  } else if (mA.type === 'axis' && mB.type === 'axis') {\n    terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n    terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val: 0, scaleFlag: true })\n  } else if (mA.type === 'axis' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point_on_line', ia: ib, ma: mB, ib, mb: mA, val: 0, scaleFlag: true })\n  } else if (mA.type === 'point' && mB.type === 'axis') {\n    terms.push({ cid, fn: 'point_on_line', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  } else {\n    // 两面 coincident：按 align 语义（平行 + 中心重合）\n    terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n    terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  }\n}\n\nfunction pushDistance(\n  terms: CostTerm[],\n  cid: number,\n  ia: number,\n  mA: GlobalMarker,\n  ib: number,\n  mB: GlobalMarker,\n  val: number,\n  unsupported: string[],\n): void {\n  if (mA.type === 'point' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val, scaleFlag: true })\n  } else if (mA.type === 'plane' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point_in_plane', ia: ib, ma: mB, ib: ia, mb: mA, val, scaleFlag: true })\n  } else if (mA.type === 'point' && mB.type === 'plane') {\n    terms.push({ cid, fn: 'point_in_plane', ia, ma: mA, ib, mb: mB, val, scaleFlag: true })\n  } else if (mA.type === 'axis' && mB.type === 'axis') {\n    terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val, scaleFlag: true })\n  } else {\n    unsupported.push(`distance requires point-point / plane-point / axis-axis entities, got ${mA.type}-${mB.type}`)\n  }\n}\n\nfunction computeScale(pts: Vec3[]): number {\n  if (pts.length === 0) return 1\n  const min: Vec3 = [Infinity, Infinity, Infinity]\n  const max: Vec3 = [-Infinity, -Infinity, -Infinity]\n  for (const p of pts) {\n    for (let i = 0; i < 3; i++) {\n      if (p[i] < min[i]) min[i] = p[i]\n      if (p[i] > max[i]) max[i] = p[i]\n    }\n  }\n  const diag = Math.hypot(max[0] - min[0], max[1] - min[1], max[2] - min[2])\n  return Math.max(diag, 1e-6)\n}\n\nfunction dot(a: number[], b: number[]): number {\n  let s = 0\n  for (let i = 0; i < a.length; i++) s += a[i] * b[i]\n  return s\n}\nfunction maxAbs(a: number[]): number {\n  let m = 0\n  for (const v of a) m = Math.max(m, Math.abs(v))\n  return m\n}\n"]}

package/dist/api/assembly/solvers/linalg.d.ts

@@ -0,0 +1,92 @@
+/**
+ * api/assembly/solvers/linalg — 自实现向量数学与线性求解（P1，裁定 4）
+ *
+ * 规模极小（≤30 阶对称正定），优先 Cholesky（比 Gauss-Jordan 更稳且快），
+ * 退化时回落 Gauss-Jordan 带部分主元。vendored 的 `ikFns.solveLinear` 是模块私有、
+ * 不可 import（裁定 4），故在此自实现，vendored 只读约定不变。
+ *
+ * 模块零外部依赖；所有函数纯数值。
+ */
+export type Vec3 = [number, number, number];
+/**
+ * Component-wise vector sum `a + b`.
+ * @param a - left operand.
+ * @param b - right operand.
+ * @returns the sum vector.
+ */
+export declare function vadd(a: Vec3, b: Vec3): Vec3;
+/**
+ * Component-wise vector difference `a - b`.
+ * @param a - left operand.
+ * @param b - right operand.
+ * @returns the difference vector.
+ */
+export declare function vsub(a: Vec3, b: Vec3): Vec3;
+/**
+ * Dot product `⟨a, b⟩`.
+ * @param a - left operand.
+ * @param b - right operand.
+ * @returns the dot product.
+ */
+export declare function vdot(a: Vec3, b: Vec3): number;
+/**
+ * Cross product `a × b`.
+ * @param a - left operand.
+ * @param b - right operand.
+ * @returns the cross-product vector.
+ */
+export declare function vcross(a: Vec3, b: Vec3): Vec3;
+/**
+ * Scalar multiple `a * s`.
+ * @param a - the vector.
+ * @param s - the scalar factor.
+ * @returns the scaled vector.
+ */
+export declare function vscale(a: Vec3, s: number): Vec3;
+/**
+ * Euclidean norm `‖a‖`.
+ * @param a - the vector.
+ * @returns the norm.
+ */
+export declare function vnorm(a: Vec3): number;
+/**
+ * 原地归一化（零向量安全：返回 [0,0,0]）。
+ * @param a - the vector to normalize (not mutated).
+ * @returns the unit vector along `a`, or `[0, 0, 0]` for a near-zero vector.
+ */
+export declare function vnormalize(a: Vec3): Vec3;
+/**
+ * Sum of squared components `‖a‖²`.
+ * @param a - the vector.
+ * @returns the sum of squares.
+ */
+export declare function vsumsqr(a: Vec3): number;
+/**
+ * AᵀA（n×m 矩阵 → n×n 对称）与 Aᵀb。矩阵按行主序扁平存于 `A`（len = rows*cols）。
+ * @param a - row-major `rows × cols` matrix A (flat array, length rows*cols).
+ * @param rows - number of rows of A.
+ * @param cols - number of columns of A.
+ * @returns the `cols × cols` symmetric matrix AᵀA (row-major, flat).
+ */
+export declare function ata(a: number[], rows: number, cols: number): number[];
+/**
+ * Aᵀb for the row-major `rows × cols` matrix `a` and length-`rows` vector `b`.
+ * @param a - row-major `rows × cols` matrix A (flat array, length rows*cols).
+ * @param b - right-hand-side vector of length rows.
+ * @param rows - number of rows of A.
+ * @param cols - number of columns of A.
+ * @returns the length-`cols` vector Aᵀb.
+ */
+export declare function atb(a: number[], b: number[], rows: number, cols: number): number[];
+/**
+ * 解 (M + λI) x = b，M 为 n×n 对称正定（此处 M = JᵀJ）。
+ * 先尝试 Cholesky(M + λI)；若非正定，逐步放大 λ 重试；最终回落带部分主元 Gauss-Jordan。
+ *
+ * @param m - row-major `n × n` symmetric positive-definite matrix M (flat array).
+ * @param b - right-hand-side vector of length n.
+ * @param n - system dimension.
+ * @param lambda - initial damping coefficient (progressively amplified on retry).
+ * @returns 解向量 x，或退化时 null。
+ */
+export declare function solveDampedNormal(m: number[], b: number[], n: number, lambda: number): number[] | null;
+//# sourceMappingURL=linalg.d.ts.map

package/dist/api/assembly/solvers/linalg.d.ts.map

@@ -0,0 +1 @@
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