@faicad/faijs 0.16.0 → 0.17.0

package/LICENSE

@@ -22,8 +22,7 @@ SOFTWARE.
 
 ---
 
-Third-party components bundled in this distribution retain their own licenses:
-
-- `src/vendored/brepjs` (compiled into `dist/vendored/**`): ported from the
-  brepjs project, licensed under the Apache License 2.0. See NOTICE for the
-  full attribution. Apache-2.0 text: https://www.apache.org/licenses/LICENSE-2.0
+The brepjs-derived sources (compat facade) in `src/api/` retain their
+Apache-2.0 attribution, which now lives in the standalone
+`@faicad/faijs-brepjs` package (see `@faicad/faijs-brepjs` NOTICE and
+LICENSE). Apache-2.0 text: https://www.apache.org/licenses/LICENSE-2.0

package/NOTICE

@@ -1,12 +1,11 @@
 faijs — @faicad/faijs NOTICE
 ============================
 
-This product includes code ported from the `brepjs` project
-(https://github.com/OpenCascade/brepjs), licensed under the Apache
-License 2.0. Ported as of brepjs commit 8685273a (locked upstream
-reference; no two-way sync). The ported files retain their original
-Apache-2.0 attribution; see the vendored NOTICE in the source
-repository (packages/core/src/vendored/brepjs/NOTICE).
+This product's brepjs-compat facade contains code ported from the
+`brepjs` project (https://github.com/OpenCascade/brepjs, licensed under
+the Apache License 2.0, locked at upstream commit 8685273a).
+The ported sources now live in the standalone `@faicad/faijs-brepjs`
+package; its NOTICE and LICENSE carry the full attribution.
 
 Full Apache-2.0 text: https://www.apache.org/licenses/LICENSE-2.0
 

package/dist/api/api-namespace.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"api-namespace.d.ts","sourceRoot":"","sources":["../../src/api/api-namespace.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;GAmBG;AAyCH,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,kBAAkB,CAAA;AAEvD;;;;;;;;;;GAUG;AACH,wBAAgB,kBAAkB,IAAI,eAAe,CAmDpD"}

package/dist/api/api-namespace.js

@@ -27,13 +27,24 @@ import { knurl } from './knurl.js';
 import { sdf } from './sdf.js';
 import { screw } from './screw.js';
 import { sketch } from './sketch.js';
+import { wire } from './wire.js';
+import { helix } from './helix.js';
 import { union, subtract, intersect, cut } from './boolean.js';
 import { split } from './split.js';
+import { sweep } from './sweep.js';
+import { loft } from './loft.js';
 import { linearPattern } from './pattern.js';
 import { circularPattern, gridPattern, rectangularPattern, mirrorJoin, mirror, clone } from './replicate.js';
 import { engrave } from './engrave.js';
 import { chamfer } from './chamfer.js';
 import { fillet } from './fillet.js';
+import { shell } from './shell.js';
+import { draft } from './draft.js';
+import { thicken } from './thicken.js';
+import { defeature, reverseShape, unifySameDomain, sew, sewAndSolidify, removeHolesFromFace } from './feature-repair.js';
+import { filletVariable } from './fillet-variable.js';
+import { splitByPlane } from './split-by-plane.js';
+import { sectionByPlane } from './section-by-plane.js';
 import { faceNormal, bboxCenter, bboxMin, bboxMax } from './geom.js';
 import { edgeRef } from './edge-ref.js';
 import { faceRef } from './face-ref.js';
@@ -64,12 +75,19 @@ export function createApiNamespace() {
     return {
         contractVersion: CONTRACT_VERSION,
         box, sphere, cylinder, cone, wedge,
-        screw, sketch, sdf,
+        screw, sketch, wire, helix, sdf,
         // D1 选项 C：四个 transform op 全留核心（translate 小程序端在用，同族不拆散）。
         translate, rotate_euler, scale, scale3d,
         engrave, chamfer, fillet, knurl,
+        // Phase 5：按面/边选的特征族 + 修复薄包装（shell/draft 中立；thicken 平台 occt）。
+        shell, draft, thicken, filletVariable, splitByPlane, sectionByPlane,
+        defeature, reverseShape, unifySameDomain, sew, sewAndSolidify, removeHolesFromFace,
         union, subtract, intersect,
         extrude, revolve,
+        // Phase 4：手写扫掠 / 放样（平台 op engines:['occt']；截面接受 face → 取外环）。
+        // arg-spec 里 sweep 保留 brep-op（引擎记录）/ loft 为 skip，两者均不投脚本面，
+        // 所以这里不是 override 而是唯一实现（同 extrude / revolve 口径）。
+        sweep, loft,
         faceNormal, bboxCenter, bboxMin, bboxMax,
         edgeRef,
         faceRef,

package/dist/api/api-namespace.js.map

@@ -1 +1 @@
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* api-namespace — 把 L3 API 面（api/ 层的 fp操作）装配为 cad 命名空间（统一 ABI，B2 消灭）\n *\n *\n * 库函数签名 = .fai.js 源码形态（无隐式参数）；本文件无任何 per-函数逻辑。\n *\n * 归属（monorepo P5/E-a-1）：本文件随 stdlib 出包，是 faijs 默认标准库\n * （cad 命名空间）的装配点。K5（引擎零函数知识）的准确含义是：parser / compile /\n * runtime 不按函数名分支、不区分函数类别，函数信息统一以 defineOp 元数据（均匀数据）\n * 承载。把 cad 这套库数据内置进引擎，与第三方库走完全相同的 registerLib 路径，\n * 引擎并未对 cad 特判，因此不构成 K5 违反。cad 在 core 的 createRuntime 包装中\n * 被注册为 default 命名空间（见 cad-runtime/createRuntimeWithCad.ts）。\n *\n * D1（2026-09-23 扩展库拆分）：本命名空间只装配**平台面**。编辑器专属 op\n * （`fai_*` / `group` / `assembly` / `copy` / `load`）与两个非基础 three 链的创建 op\n * （`text` / `svgExtrude`）已迁到 `@faicad/faijs-extra`，由宿主经\n * `mergeEditorNamespace()` 合并后注册——键名与拆分前完全一致，存量 `.fai.js` 零迁移。\n * 四个 transform op（translate/rotate_euler/scale/scale3d）按 D1 选项 C 留在此处：\n * `translate` 是通用几何变换，且是小程序端唯一在用的 transform op。\n */\n\nimport { box, sphere, cylinder, cone, wedge } from './primitives'\nimport { translate, rotate_euler, scale, scale3d } from './transform'\n// cad.extrude 是平台手写 op（承载 upTo；长度形态委托 generated/operations 的投影），\n// 见 api/extrude.ts 的分层说明——up-to 不落在 fai_extrude（后者已随扩展库迁出）。\nimport { extrude } from './extrude'\nimport { knurl } from './knurl'\nimport { sdf } from './sdf'\nimport { screw } from './screw'\nimport { sketch } from './sketch'\nimport { union, subtract, intersect, cut } from './boolean'\nimport { split } from './split'\nimport { linearPattern } from './pattern'\nimport { circularPattern, gridPattern, rectangularPattern, mirrorJoin, mirror, clone } from './replicate'\nimport { engrave } from './engrave'\nimport { chamfer } from './chamfer'\nimport { fillet } from './fillet'\nimport { faceNormal, bboxCenter, bboxMin, bboxMax } from './geom'\nimport { edgeRef } from './edge-ref'\nimport { faceRef } from './face-ref'\nimport { jointTrajectory, inverseKinematics, mechanismDOF } from './assembly'\nimport { asset } from './asset'\nimport { import_brep } from './import-brep'\nimport { import_step } from './import-step'\nimport { compound as geometricCompound } from './compound-geom'\nimport { place } from './place'\nimport { scriptFaceOps } from './generated/script-face'\nimport { revolve } from './revolve'\nimport { CONTRACT_VERSION } from '../runtime-state'\nimport type { StdlibNamespace } from '../runtime-state'\n\n/**\n * Assemble stdlib functions into the cad namespace.\n *\n * P23（§4.2 ②，B1 三源一致）：cad 面 = faijs 特有 dual op（下方字面量）+\n * 生成脚本面 op（`scriptFaceOps`——`api/generated/script-face.ts` 按 arg-spec\n * 的 `scriptFace: true` 条目生成，经 `compatOp(projectBrepOp(…))` 包装的\n * brep-only 语句级 op）。`check()` 符号表（`gen-symbol-table.ts`）与\n * `api/index.ts` 导出面同源于同一份清单。\n *\n * @returns the assembled StdlibNamespace ready for runtime injection.\n */\nexport function createApiNamespace(): StdlibNamespace {\n  // D-4 strict assembly check: the cad namespace now exports dual-op functions\n  // (defineOp), so registerLib requires a matching contractVersion. Cast is\n  // needed because StdlibNamespace is an index-signature type.\n  return {\n    contractVersion: CONTRACT_VERSION,\n    box, sphere, cylinder, cone, wedge,\n    screw, sketch, sdf,\n    // D1 选项 C：四个 transform op 全留核心（translate 小程序端在用，同族不拆散）。\n    translate, rotate_euler, scale, scale3d,\n    engrave, chamfer, fillet, knurl,\n    union, subtract, intersect,\n    extrude, revolve,\n    faceNormal, bboxCenter, bboxMin, bboxMax,\n    edgeRef,\n    faceRef,\n    jointTrajectory, inverseKinematics, mechanismDOF,\n    asset,\n    // 平台几何 op（H11，方案 §4）：FCStd 迁移自此不再借用编辑器 op\n    // （group/translate/rotate_euler）；这几个与 ../3d_editor 无关系。\n    import_brep,\n    import_step,\n    compound: geometricCompound,\n    place,\n    ...scriptFaceOps,\n    // Phase 3: override generated cut (compatOp, no roleTable propagation) with\n    // handwritten cut from boolean.ts (does roleTable propagation via booleanBrep).\n    cut,\n    // Phase 3: override generated split / linearPattern (compatOp, no roleTable\n    // propagation) with handwritten versions that build replica[k] / splinter(#j)\n    // role tables (L3 / L4 抗重放词汇). Spread after scriptFaceOps so they win.\n    split,\n    linearPattern,\n    // 覆盖生成版：4 个多副本 pattern 提拔手写（keep + replica[*] 角色表）；\n    // 2 个单副本（mirror/clone）加 keep 薄 override。transformCopy 不再是脚本面\n    // op（arg-spec skip：ComposedTransform 在 .fai.js 不可构造），仅保留 TS 库导出。\n    // Spread after scriptFaceOps so they win.\n    circularPattern,\n    gridPattern,\n    rectangularPattern,\n    mirrorJoin,\n    mirror,\n    clone,\n  } as unknown as StdlibNamespace\n}\n"]}
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* api-namespace — 把 L3 API 面（api/ 层的 fp操作）装配为 cad 命名空间（统一 ABI，B2 消灭）\n *\n *\n * 库函数签名 = .fai.js 源码形态（无隐式参数）；本文件无任何 per-函数逻辑。\n *\n * 归属（monorepo P5/E-a-1）：本文件随 stdlib 出包，是 faijs 默认标准库\n * （cad 命名空间）的装配点。K5（引擎零函数知识）的准确含义是：parser / compile /\n * runtime 不按函数名分支、不区分函数类别，函数信息统一以 defineOp 元数据（均匀数据）\n * 承载。把 cad 这套库数据内置进引擎，与第三方库走完全相同的 registerLib 路径，\n * 引擎并未对 cad 特判，因此不构成 K5 违反。cad 在 core 的 createRuntime 包装中\n * 被注册为 default 命名空间（见 cad-runtime/createRuntimeWithCad.ts）。\n *\n * D1（2026-09-23 扩展库拆分）：本命名空间只装配**平台面**。编辑器专属 op\n * （`fai_*` / `group` / `assembly` / `copy` / `load`）与两个非基础 three 链的创建 op\n * （`text` / `svgExtrude`）已迁到 `@faicad/faijs-extra`，由宿主经\n * `mergeEditorNamespace()` 合并后注册——键名与拆分前完全一致，存量 `.fai.js` 零迁移。\n * 四个 transform op（translate/rotate_euler/scale/scale3d）按 D1 选项 C 留在此处：\n * `translate` 是通用几何变换，且是小程序端唯一在用的 transform op。\n */\n\nimport { box, sphere, cylinder, cone, wedge } from './primitives'\nimport { translate, rotate_euler, scale, scale3d } from './transform'\n// cad.extrude 是平台手写 op（承载 upTo；长度形态委托 generated/operations 的投影），\n// 见 api/extrude.ts 的分层说明——up-to 不落在 fai_extrude（后者已随扩展库迁出）。\nimport { extrude } from './extrude'\nimport { knurl } from './knurl'\nimport { sdf } from './sdf'\nimport { screw } from './screw'\nimport { sketch } from './sketch'\nimport { wire } from './wire'\nimport { helix } from './helix'\nimport { union, subtract, intersect, cut } from './boolean'\nimport { split } from './split'\nimport { sweep } from './sweep'\nimport { loft } from './loft'\nimport { linearPattern } from './pattern'\nimport { circularPattern, gridPattern, rectangularPattern, mirrorJoin, mirror, clone } from './replicate'\nimport { engrave } from './engrave'\nimport { chamfer } from './chamfer'\nimport { fillet } from './fillet'\nimport { shell } from './shell'\nimport { draft } from './draft'\nimport { thicken } from './thicken'\nimport { defeature, reverseShape, unifySameDomain, sew, sewAndSolidify, removeHolesFromFace } from './feature-repair'\nimport { filletVariable } from './fillet-variable'\nimport { splitByPlane } from './split-by-plane'\nimport { sectionByPlane } from './section-by-plane'\nimport { faceNormal, bboxCenter, bboxMin, bboxMax } from './geom'\nimport { edgeRef } from './edge-ref'\nimport { faceRef } from './face-ref'\nimport { jointTrajectory, inverseKinematics, mechanismDOF } from './assembly'\nimport { asset } from './asset'\nimport { import_brep } from './import-brep'\nimport { import_step } from './import-step'\nimport { compound as geometricCompound } from './compound-geom'\nimport { place } from './place'\nimport { scriptFaceOps } from './generated/script-face'\nimport { revolve } from './revolve'\nimport { CONTRACT_VERSION } from '../runtime-state'\nimport type { StdlibNamespace } from '../runtime-state'\n\n/**\n * Assemble stdlib functions into the cad namespace.\n *\n * P23（§4.2 ②，B1 三源一致）：cad 面 = faijs 特有 dual op（下方字面量）+\n * 生成脚本面 op（`scriptFaceOps`——`api/generated/script-face.ts` 按 arg-spec\n * 的 `scriptFace: true` 条目生成，经 `compatOp(projectBrepOp(…))` 包装的\n * brep-only 语句级 op）。`check()` 符号表（`gen-symbol-table.ts`）与\n * `api/index.ts` 导出面同源于同一份清单。\n *\n * @returns the assembled StdlibNamespace ready for runtime injection.\n */\nexport function createApiNamespace(): StdlibNamespace {\n  // D-4 strict assembly check: the cad namespace now exports dual-op functions\n  // (defineOp), so registerLib requires a matching contractVersion. Cast is\n  // needed because StdlibNamespace is an index-signature type.\n  return {\n    contractVersion: CONTRACT_VERSION,\n    box, sphere, cylinder, cone, wedge,\n    screw, sketch, wire, helix, sdf,\n    // D1 选项 C：四个 transform op 全留核心（translate 小程序端在用，同族不拆散）。\n    translate, rotate_euler, scale, scale3d,\n    engrave, chamfer, fillet, knurl,\n    // Phase 5：按面/边选的特征族 + 修复薄包装（shell/draft 中立；thicken 平台 occt）。\n    shell, draft, thicken, filletVariable, splitByPlane, sectionByPlane,\n    defeature, reverseShape, unifySameDomain, sew, sewAndSolidify, removeHolesFromFace,\n    union, subtract, intersect,\n    extrude, revolve,\n    // Phase 4：手写扫掠 / 放样（平台 op engines:['occt']；截面接受 face → 取外环）。\n    // arg-spec 里 sweep 保留 brep-op（引擎记录）/ loft 为 skip，两者均不投脚本面，\n    // 所以这里不是 override 而是唯一实现（同 extrude / revolve 口径）。\n    sweep, loft,\n    faceNormal, bboxCenter, bboxMin, bboxMax,\n    edgeRef,\n    faceRef,\n    jointTrajectory, inverseKinematics, mechanismDOF,\n    asset,\n    // 平台几何 op（H11，方案 §4）：FCStd 迁移自此不再借用编辑器 op\n    // （group/translate/rotate_euler）；这几个与 ../3d_editor 无关系。\n    import_brep,\n    import_step,\n    compound: geometricCompound,\n    place,\n    ...scriptFaceOps,\n    // Phase 3: override generated cut (compatOp, no roleTable propagation) with\n    // handwritten cut from boolean.ts (does roleTable propagation via booleanBrep).\n    cut,\n    // Phase 3: override generated split / linearPattern (compatOp, no roleTable\n    // propagation) with handwritten versions that build replica[k] / splinter(#j)\n    // role tables (L3 / L4 抗重放词汇). Spread after scriptFaceOps so they win.\n    split,\n    linearPattern,\n    // 覆盖生成版：4 个多副本 pattern 提拔手写（keep + replica[*] 角色表）；\n    // 2 个单副本（mirror/clone）加 keep 薄 override。transformCopy 不再是脚本面\n    // op（arg-spec skip：ComposedTransform 在 .fai.js 不可构造），仅保留 TS 库导出。\n    // Spread after scriptFaceOps so they win.\n    circularPattern,\n    gridPattern,\n    rectangularPattern,\n    mirrorJoin,\n    mirror,\n    clone,\n  } as unknown as StdlibNamespace\n}\n"]}

package/dist/api/assembly/entities.d.ts

@@ -15,7 +15,7 @@
  */
 import type { Shape } from '../../mesh/types.js';
 import type { BrepEngineApi } from '../../brep/engine/primitives.js';
-import type { SolverEntity } from '../../vendored/brepjs/kernel/solverAdapter.js';
+import type { SolverEntity } from './solvers/types.js';
 import { type ResolvedFaceGeometry } from '../topo-resolve.js';
 import type { EntityRef } from './types.js';
 /** 实体抽取环境：内核（null = mesh/primitive 行快照路径）+ 成员查找。 */

package/dist/api/assembly/entities.d.ts.map

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package/dist/api/assembly/entities.js.map

@@ -1 +1 @@
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* api/assembly/entities — EntityRef → SolverEntity 实体抽取（P1，方案 §3.6 / §5.2）\n *\n * 三要素范式（与 chamfer 同构，方案 §3.5）：\n * 1. 引用可序列化：EntityRef 进 .fai.js；\n * 2. 解析在执行期：TopoRef 复用 topo-resolve 的解析通道（BREP 现场 / mesh 行快照）；\n * 3. 句柄是瞬态：解析出的几何立即转成纯数据 SolverEntity，句柄不跨语句。\n *\n * 输出契约对齐 brepjs solverAdapter 的 SolverEntity：{ type: 'plane'|'axis'|'point',\n * origin, normal?/direction? }。dependent 侧填本地坐标（部件自身坐标系），\n * reference 侧世界变换由 solverAdapter 的 transformEntity 负责——本层不做。\n *\n * 缺轴（mesh 行快照无宿主注入的 axis、sphere 等无轴面类型）→ 抛\n * E_TOPO_NOT_FOUND（方案 R4/P0 验收③：绝不静默降级）。\n */\n\nimport type { Shape } from '../../mesh/types'\nimport type { BrepEngineApi } from '../../brep/engine/primitives'\nimport type { PartName } from '../../identity'\nimport type { SolverEntity } from '../../vendored/brepjs/kernel/solverAdapter'\nimport { TopoRefError, type AxisHint } from '../../topology/naming'\nimport { resolveTopoRef, captureEdgeAxis, captureFaceHint } from '../../topology/naming'\nimport {\n  buildShapeResolutionContext,\n  buildEdgeResolutionContext,\n  resolveFaceGeometry,\n  type ResolvedFaceGeometry,\n} from '../topo-resolve'\nimport type { EntityRef, AssemblyVec3 } from './types'\n\n/** 实体抽取环境：内核（null = mesh/primitive 行快照路径）+ 成员查找。 */\nexport interface EntityResolutionEnv {\n  kernel: BrepEngineApi | null\n  /** part 变量名 → 成员 Shape。 */\n  memberOf: (part: string) => Shape | undefined\n}\n\n/** 无轴可用的报错信息后缀（E_TOPO_NOT_FOUND）。 */\nfunction missingAxisReason(geom: ResolvedFaceGeometry): string {\n  return `face needs an axis (surfaceType=${geom.surfaceType ?? 'unknown'}) but none is available ` +\n    `(BREP path: captureFaceHint; mesh path: host must inject axis into the naming row)`\n}\n\n/**\n * 面几何 → SolverEntity（方案 §5.2 抽取规则表）。\n * 平面 → plane；圆柱/圆锥（有轴）→ axis；其它/缺轴 → E_TOPO_NOT_FOUND。\n *\n * @param geom - the resolved face geometry (live BREP or mesh row snapshot).\n * @returns the solver entity (plane or axis).\n * @throws TopoRefError with code E_TOPO_NOT_FOUND when the surface has no usable axis or is unsupported.\n */\nexport function faceGeometryToSolverEntity(geom: ResolvedFaceGeometry): SolverEntity {\n  const st = geom.surfaceType\n  if (st === 'cylinder' || st === 'cone') {\n    if (!geom.axis) {\n      throw new TopoRefError('E_TOPO_NOT_FOUND', 'face', missingAxisReason(geom))\n    }\n    return { type: 'axis', origin: geom.axis.origin, direction: geom.axis.direction }\n  }\n  if (!st || st === 'plane') {\n    return { type: 'plane', origin: geom.center, normal: geom.normal }\n  }\n  throw new TopoRefError(\n    'E_TOPO_NOT_FOUND',\n    'face',\n    `unsupported surface type for an assembly entity: ${st}` +\n      (geom.axis ? '' : ` (${missingAxisReason(geom)})`),\n  )\n}\n\n/** 快照形态 FaceRef → ResolvedFaceGeometry（无 axis——贴合语义只需 center+normal）。 */\nfunction snapshotFaceGeometry(face: { surfaceType?: string; center: AssemblyVec3; normal: AssemblyVec3 }): ResolvedFaceGeometry {\n  return { surfaceType: face.surfaceType, center: face.center, normal: face.normal }\n}\n\n/**\n * 解析一个 EntityRef 的面几何（mate/align 降级路径用：只需 center + normal，\n * 圆柱面轴不参与贴合——方案 §3.7.4 适用边界）。\n *\n * @param ref - the entity reference (must be a face reference).\n * @param env - the resolution environment.\n * @returns the resolved face geometry.\n * @throws Error when the ref is not a face reference or the part is unknown.\n */\nexport function resolveFaceGeometryOfRef(ref: EntityRef, env: EntityResolutionEnv): ResolvedFaceGeometry {\n  if (!('face' in ref)) {\n    throw new Error('[assembly] mate/align constraints require face references on both sides')\n  }\n  const shape = env.memberOf(ref.part)\n  if (!shape) throw new Error(`[assembly] constraint references unknown part: ${ref.part}`)\n  const face = ref.face as { topoRef?: unknown; center?: AssemblyVec3; normal?: AssemblyVec3; surfaceType?: string }\n  if (face.topoRef) {\n    return resolveFaceGeometry(env.kernel, shape, face.topoRef as Parameters<typeof resolveFaceGeometry>[2])\n  }\n  if (!face.center || !face.normal) {\n    throw new Error('[assembly] face snapshot requires center and normal')\n  }\n  return snapshotFaceGeometry(face as { surfaceType?: string; center: AssemblyVec3; normal: AssemblyVec3 })\n}\n\n/** 边 TopoRef → 轴（BREP 现场；mesh 无邻接能力 → E_TOPO_NOT_FOUND）。 */\nfunction resolveEdgeAxisFromTopoRef(\n  kernel: BrepEngineApi,\n  shape: Shape,\n  edgeTopoRef: Parameters<typeof resolveTopoRef>[0],\n  part: PartName,\n): AxisHint {\n  const ctx = buildEdgeResolutionContext(kernel, shape)\n  if (!ctx) {\n    throw new TopoRefError(\n      'E_TOPO_NOT_FOUND',\n      'edge',\n      `edge entity needs a BREP naming context (part=${part}); mesh parts have no edge adjacency`,\n    )\n  }\n  const resolved = resolveTopoRef(edgeTopoRef, ctx)\n  const entry = ctx.edges?.[resolved.ordinal - 1]\n  if (!entry?.handle) {\n    throw new TopoRefError(\n      'E_TOPO_NOT_FOUND',\n      'edge',\n      `resolved edge ordinal ${resolved.ordinal} has no live handle (part=${part})`,\n    )\n  }\n  const axis = captureEdgeAxis(kernel, entry.handle)\n  if (!axis) {\n    throw new TopoRefError(\n      'E_TOPO_NOT_FOUND',\n      'edge',\n      `edge ordinal ${resolved.ordinal} is not a line or circle — no axis entity available`,\n    )\n  }\n  return axis\n}\n\n/**\n * 解析一个 EntityRef → SolverEntity（coincident/concentric/distance/angle 直译路径）。\n *\n * @param ref - the entity reference.\n * @param env - the resolution environment.\n * @returns the solver entity (pure data).\n * @throws TopoRefError / Error on unresolvable or unsupported references.\n */\nexport function resolveSolverEntity(ref: EntityRef, env: EntityResolutionEnv): SolverEntity {\n  const shape = env.memberOf(ref.part)\n  if (!shape) throw new Error(`[assembly] constraint references unknown part: ${ref.part}`)\n\n  if ('point' in ref) {\n    return { type: 'point', origin: ref.point }\n  }\n  if ('face' in ref) {\n    return faceGeometryToSolverEntity(resolveFaceGeometryOfRef(ref, env))\n  }\n  if ('faceIndex' in ref) {\n    // 序号简写（1 起，调试用）：直接按 ordinal 取候选面几何（不走 TopoRef 打分）\n    const ctx = buildShapeResolutionContext(env.kernel, shape)\n    if (!ctx) {\n      throw new TopoRefError(\n        'E_TOPO_NOT_FOUND',\n        'face',\n        `faceIndex ${ref.faceIndex} has no naming context on part ${ref.part}`,\n      )\n    }\n    const entry = ctx.faces[ref.faceIndex - 1]\n    if (!entry) {\n      throw new TopoRefError(\n        'E_TOPO_NOT_FOUND',\n        'face',\n        `faceIndex ${ref.faceIndex} out of range (part ${ref.part} has ${ctx.faces.length} faces)`,\n      )\n    }\n    return faceGeometryToSolverEntity(faceGeometryFromContextEntry(env, entry, ref.part))\n  }\n  // edge 引用\n  const edge = ref.edge as { topoRef?: unknown; axis?: { origin: AssemblyVec3; direction: AssemblyVec3 } }\n  if (edge.axis) {\n    return { type: 'axis', origin: edge.axis.origin, direction: edge.axis.direction }\n  }\n  if (!env.kernel) {\n    throw new TopoRefError(\n      'E_TOPO_NOT_FOUND',\n      'edge',\n      `edge TopoRef needs a live kernel (part=${ref.part}); mesh path supports only axis snapshots`,\n    )\n  }\n  const axis = resolveEdgeAxisFromTopoRef(env.kernel, shape, edge.topoRef as Parameters<typeof resolveTopoRef>[0], ref.part)\n  return { type: 'axis', origin: axis.origin, direction: axis.direction }\n}\n\n/**\n * faceIndex 简写的面几何（从解析上下文候选行直接取）：\n * BREP 候选（活句柄）→ captureFaceHint 现场；行快照候选 → 行几何。\n */\nfunction faceGeometryFromContextEntry(\n  env: EntityResolutionEnv,\n  entry: { handle?: unknown; row?: unknown },\n  part: PartName,\n): ResolvedFaceGeometry {\n  if (entry.handle && env.kernel) {\n    const hint = captureFaceHint(env.kernel, entry.handle as Parameters<typeof captureFaceHint>[1])\n    return {\n      surfaceType: hint.surfaceType,\n      center: hint.center ?? [0, 0, 0],\n      normal: hint.normal ?? [0, 0, 1],\n      ...(hint.axis ? { axis: hint.axis } : {}),\n    }\n  }\n  const hint = entry.row as\n    | { surfaceType?: string; center?: AssemblyVec3; normal?: AssemblyVec3; axis?: AxisHint }\n    | undefined\n  if (!hint?.center || !hint?.normal) {\n    throw new TopoRefError('E_TOPO_NOT_FOUND', 'face', `faceIndex row has no geometry (part=${part})`)\n  }\n  return {\n    surfaceType: hint.surfaceType,\n    center: hint.center,\n    normal: hint.normal,\n    ...(hint.axis ? { axis: hint.axis } : {}),\n  }\n}\n"]}
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* api/assembly/entities — EntityRef → SolverEntity 实体抽取（P1，方案 §3.6 / §5.2）\n *\n * 三要素范式（与 chamfer 同构，方案 §3.5）：\n * 1. 引用可序列化：EntityRef 进 .fai.js；\n * 2. 解析在执行期：TopoRef 复用 topo-resolve 的解析通道（BREP 现场 / mesh 行快照）；\n * 3. 句柄是瞬态：解析出的几何立即转成纯数据 SolverEntity，句柄不跨语句。\n *\n * 输出契约对齐 brepjs solverAdapter 的 SolverEntity：{ type: 'plane'|'axis'|'point',\n * origin, normal?/direction? }。dependent 侧填本地坐标（部件自身坐标系），\n * reference 侧世界变换由 solverAdapter 的 transformEntity 负责——本层不做。\n *\n * 缺轴（mesh 行快照无宿主注入的 axis、sphere 等无轴面类型）→ 抛\n * E_TOPO_NOT_FOUND（方案 R4/P0 验收③：绝不静默降级）。\n */\n\nimport type { Shape } from '../../mesh/types'\nimport type { BrepEngineApi } from '../../brep/engine/primitives'\nimport type { PartName } from '../../identity'\nimport type { SolverEntity } from './solvers/types'\nimport { TopoRefError, type AxisHint } from '../../topology/naming'\nimport { resolveTopoRef, captureEdgeAxis, captureFaceHint } from '../../topology/naming'\nimport {\n  buildShapeResolutionContext,\n  buildEdgeResolutionContext,\n  resolveFaceGeometry,\n  type ResolvedFaceGeometry,\n} from '../topo-resolve'\nimport type { EntityRef, AssemblyVec3 } from './types'\n\n/** 实体抽取环境：内核（null = mesh/primitive 行快照路径）+ 成员查找。 */\nexport interface EntityResolutionEnv {\n  kernel: BrepEngineApi | null\n  /** part 变量名 → 成员 Shape。 */\n  memberOf: (part: string) => Shape | undefined\n}\n\n/** 无轴可用的报错信息后缀（E_TOPO_NOT_FOUND）。 */\nfunction missingAxisReason(geom: ResolvedFaceGeometry): string {\n  return `face needs an axis (surfaceType=${geom.surfaceType ?? 'unknown'}) but none is available ` +\n    `(BREP path: captureFaceHint; mesh path: host must inject axis into the naming row)`\n}\n\n/**\n * 面几何 → SolverEntity（方案 §5.2 抽取规则表）。\n * 平面 → plane；圆柱/圆锥（有轴）→ axis；其它/缺轴 → E_TOPO_NOT_FOUND。\n *\n * @param geom - the resolved face geometry (live BREP or mesh row snapshot).\n * @returns the solver entity (plane or axis).\n * @throws TopoRefError with code E_TOPO_NOT_FOUND when the surface has no usable axis or is unsupported.\n */\nexport function faceGeometryToSolverEntity(geom: ResolvedFaceGeometry): SolverEntity {\n  const st = geom.surfaceType\n  if (st === 'cylinder' || st === 'cone') {\n    if (!geom.axis) {\n      throw new TopoRefError('E_TOPO_NOT_FOUND', 'face', missingAxisReason(geom))\n    }\n    return { type: 'axis', origin: geom.axis.origin, direction: geom.axis.direction }\n  }\n  if (!st || st === 'plane') {\n    return { type: 'plane', origin: geom.center, normal: geom.normal }\n  }\n  throw new TopoRefError(\n    'E_TOPO_NOT_FOUND',\n    'face',\n    `unsupported surface type for an assembly entity: ${st}` +\n      (geom.axis ? '' : ` (${missingAxisReason(geom)})`),\n  )\n}\n\n/** 快照形态 FaceRef → ResolvedFaceGeometry（无 axis——贴合语义只需 center+normal）。 */\nfunction snapshotFaceGeometry(face: { surfaceType?: string; center: AssemblyVec3; normal: AssemblyVec3 }): ResolvedFaceGeometry {\n  return { surfaceType: face.surfaceType, center: face.center, normal: face.normal }\n}\n\n/**\n * 解析一个 EntityRef 的面几何（mate/align 降级路径用：只需 center + normal，\n * 圆柱面轴不参与贴合——方案 §3.7.4 适用边界）。\n *\n * @param ref - the entity reference (must be a face reference).\n * @param env - the resolution environment.\n * @returns the resolved face geometry.\n * @throws Error when the ref is not a face reference or the part is unknown.\n */\nexport function resolveFaceGeometryOfRef(ref: EntityRef, env: EntityResolutionEnv): ResolvedFaceGeometry {\n  if (!('face' in ref)) {\n    throw new Error('[assembly] mate/align constraints require face references on both sides')\n  }\n  const shape = env.memberOf(ref.part)\n  if (!shape) throw new Error(`[assembly] constraint references unknown part: ${ref.part}`)\n  const face = ref.face as { topoRef?: unknown; center?: AssemblyVec3; normal?: AssemblyVec3; surfaceType?: string }\n  if (face.topoRef) {\n    return resolveFaceGeometry(env.kernel, shape, face.topoRef as Parameters<typeof resolveFaceGeometry>[2])\n  }\n  if (!face.center || !face.normal) {\n    throw new Error('[assembly] face snapshot requires center and normal')\n  }\n  return snapshotFaceGeometry(face as { surfaceType?: string; center: AssemblyVec3; normal: AssemblyVec3 })\n}\n\n/** 边 TopoRef → 轴（BREP 现场；mesh 无邻接能力 → E_TOPO_NOT_FOUND）。 */\nfunction resolveEdgeAxisFromTopoRef(\n  kernel: BrepEngineApi,\n  shape: Shape,\n  edgeTopoRef: Parameters<typeof resolveTopoRef>[0],\n  part: PartName,\n): AxisHint {\n  const ctx = buildEdgeResolutionContext(kernel, shape)\n  if (!ctx) {\n    throw new TopoRefError(\n      'E_TOPO_NOT_FOUND',\n      'edge',\n      `edge entity needs a BREP naming context (part=${part}); mesh parts have no edge adjacency`,\n    )\n  }\n  const resolved = resolveTopoRef(edgeTopoRef, ctx)\n  const entry = ctx.edges?.[resolved.ordinal - 1]\n  if (!entry?.handle) {\n    throw new TopoRefError(\n      'E_TOPO_NOT_FOUND',\n      'edge',\n      `resolved edge ordinal ${resolved.ordinal} has no live handle (part=${part})`,\n    )\n  }\n  const axis = captureEdgeAxis(kernel, entry.handle)\n  if (!axis) {\n    throw new TopoRefError(\n      'E_TOPO_NOT_FOUND',\n      'edge',\n      `edge ordinal ${resolved.ordinal} is not a line or circle — no axis entity available`,\n    )\n  }\n  return axis\n}\n\n/**\n * 解析一个 EntityRef → SolverEntity（coincident/concentric/distance/angle 直译路径）。\n *\n * @param ref - the entity reference.\n * @param env - the resolution environment.\n * @returns the solver entity (pure data).\n * @throws TopoRefError / Error on unresolvable or unsupported references.\n */\nexport function resolveSolverEntity(ref: EntityRef, env: EntityResolutionEnv): SolverEntity {\n  const shape = env.memberOf(ref.part)\n  if (!shape) throw new Error(`[assembly] constraint references unknown part: ${ref.part}`)\n\n  if ('point' in ref) {\n    return { type: 'point', origin: ref.point }\n  }\n  if ('face' in ref) {\n    return faceGeometryToSolverEntity(resolveFaceGeometryOfRef(ref, env))\n  }\n  if ('faceIndex' in ref) {\n    // 序号简写（1 起，调试用）：直接按 ordinal 取候选面几何（不走 TopoRef 打分）\n    const ctx = buildShapeResolutionContext(env.kernel, shape)\n    if (!ctx) {\n      throw new TopoRefError(\n        'E_TOPO_NOT_FOUND',\n        'face',\n        `faceIndex ${ref.faceIndex} has no naming context on part ${ref.part}`,\n      )\n    }\n    const entry = ctx.faces[ref.faceIndex - 1]\n    if (!entry) {\n      throw new TopoRefError(\n        'E_TOPO_NOT_FOUND',\n        'face',\n        `faceIndex ${ref.faceIndex} out of range (part ${ref.part} has ${ctx.faces.length} faces)`,\n      )\n    }\n    return faceGeometryToSolverEntity(faceGeometryFromContextEntry(env, entry, ref.part))\n  }\n  // edge 引用\n  const edge = ref.edge as { topoRef?: unknown; axis?: { origin: AssemblyVec3; direction: AssemblyVec3 } }\n  if (edge.axis) {\n    return { type: 'axis', origin: edge.axis.origin, direction: edge.axis.direction }\n  }\n  if (!env.kernel) {\n    throw new TopoRefError(\n      'E_TOPO_NOT_FOUND',\n      'edge',\n      `edge TopoRef needs a live kernel (part=${ref.part}); mesh path supports only axis snapshots`,\n    )\n  }\n  const axis = resolveEdgeAxisFromTopoRef(env.kernel, shape, edge.topoRef as Parameters<typeof resolveTopoRef>[0], ref.part)\n  return { type: 'axis', origin: axis.origin, direction: axis.direction }\n}\n\n/**\n * faceIndex 简写的面几何（从解析上下文候选行直接取）：\n * BREP 候选（活句柄）→ captureFaceHint 现场；行快照候选 → 行几何。\n */\nfunction faceGeometryFromContextEntry(\n  env: EntityResolutionEnv,\n  entry: { handle?: unknown; row?: unknown },\n  part: PartName,\n): ResolvedFaceGeometry {\n  if (entry.handle && env.kernel) {\n    const hint = captureFaceHint(env.kernel, entry.handle as Parameters<typeof captureFaceHint>[1])\n    return {\n      surfaceType: hint.surfaceType,\n      center: hint.center ?? [0, 0, 0],\n      normal: hint.normal ?? [0, 0, 1],\n      ...(hint.axis ? { axis: hint.axis } : {}),\n    }\n  }\n  const hint = entry.row as\n    | { surfaceType?: string; center?: AssemblyVec3; normal?: AssemblyVec3; axis?: AxisHint }\n    | undefined\n  if (!hint?.center || !hint?.normal) {\n    throw new TopoRefError('E_TOPO_NOT_FOUND', 'face', `faceIndex row has no geometry (part=${part})`)\n  }\n  return {\n    surfaceType: hint.surfaceType,\n    center: hint.center,\n    normal: hint.normal,\n    ...(hint.axis ? { axis: hint.axis } : {}),\n  }\n}\n"]}

package/dist/api/assembly/joints.d.ts

@@ -18,8 +18,8 @@
  * 四元数顺序：faijs 对外 [x,y,z,w]，brepjs [w,x,y,z]——只经 ./pose 的转换函数
  * 换序，禁止在本模块手写分量重排。
  */
-import { type Joint, type JointPose, type IKOptions as BrepjsIKOptions } from '../../vendored/brepjs/index.js';
-import { type AssemblyNode } from '../../vendored/brepjs/index.js';
+import { type Joint, type JointPose, type IKOptions as BrepjsIKOptions } from './solvers/joints-kinematics.js';
+import { type AssemblyNode } from './solvers/assembly-tree.js';
 import { type FaijsQuat } from './pose.js';
 import type { AssemblyTransform } from '../../runtime-state.js';
 import type { AssemblyVec3 } from './types.js';

package/dist/api/assembly/joints.d.ts.map

@@ -1 +1 @@
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package/dist/api/assembly/joints.js

@@ -18,8 +18,8 @@
  * 四元数顺序：faijs 对外 [x,y,z,w]，brepjs [w,x,y,z]——只经 ./pose 的转换函数
  * 换序，禁止在本模块手写分量重排。
  */
-import { revoluteJoint, prismaticJoint, forwardKinematics as brepjsForwardKinematics, mechanismDOF as brepjsMechanismDOF, jointTrajectory as brepjsJointTrajectory, inverseKinematics as brepjsInverseKinematics, addJoint, } from '../../vendored/brepjs/index.js';
-import { createAssemblyNode, addChild } from '../../vendored/brepjs/index.js';
+import { revoluteJoint, prismaticJoint, forwardKinematics as brepjsForwardKinematics, mechanismDOF as brepjsMechanismDOF, jointTrajectory as brepjsJointTrajectory, inverseKinematics as brepjsInverseKinematics, addJoint, } from './solvers/joints-kinematics.js';
+import { createAssemblyNode, addChild } from './solvers/assembly-tree.js';
 import { fromBrepjsQuat, toBrepjsQuat, jointPoseToAssemblyTransform, isIdentityPose, } from './pose.js';
 // ── buildJoint：JointSpec → brepjs Joint ──
 /**

package/dist/api/assembly/joints.js.map

@@ -1 +1 @@
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* api/assembly/joints — 运动副声明与运动学解算（P3）\n *\n * JointSpec 是 .fai.js 可序列化子集（派生字段 dofs 由 vendored 工厂构造，\n * 与 brepjs Joint.dofs 的组合顺序对齐：cylindrical → [rotation, translation]、\n * planar → [u, v, rotation]、spherical → [x, y, z]）。\n *\n * P3 首期只实现 revolute / prismatic 两种单 DOF 运动副；cylindrical / planar /\n * spherical 在 buildJoint 里显式抛错（绝不静默降级成单 DOF），待 per-DOF ranges\n * 启用（JointSpec.dofs 已按此预留）。\n *\n * 链路：JointSpec[] → buildJoint（vendored 工厂）→ buildKinematicTree（建树三步\n * + 校验）→ solveKinematics（vendored forwardKinematics）→ per-member 位姿。\n *\n * cad.* 查询函数（jointTrajectory / inverseKinematics / mechanismDOF）是无副作用\n * 纯函数：输入纯数据、输出纯数据，不挂在 assembly receiver 上。\n *\n * 四元数顺序：faijs 对外 [x,y,z,w]，brepjs [w,x,y,z]——只经 ./pose 的转换函数\n * 换序，禁止在本模块手写分量重排。\n */\n\nimport {\n  revoluteJoint,\n  prismaticJoint,\n  forwardKinematics as brepjsForwardKinematics,\n  mechanismDOF as brepjsMechanismDOF,\n  jointTrajectory as brepjsJointTrajectory,\n  inverseKinematics as brepjsInverseKinematics,\n  addJoint,\n  type Joint,\n  type JointPose,\n  type IKResult as BrepjsIKResult,\n  type IKOptions as BrepjsIKOptions,\n  type IKTarget as BrepjsIKTarget,\n} from '../../vendored/brepjs/index'\nimport { createAssemblyNode, addChild, type AssemblyNode } from '../../vendored/brepjs/index'\nimport {\n  fromBrepjsQuat,\n  toBrepjsQuat,\n  jointPoseToAssemblyTransform,\n  isIdentityPose,\n  type FaijsQuat,\n} from './pose'\nimport type { AssemblyTransform } from '../../runtime-state'\nimport type { AssemblyVec3 } from './types'\n\n// ── JointSpec（.fai.js 可序列化子集）──\n\n/** 运动副类型：P3 首期只实现 revolute / prismatic。 */\nexport type JointType = 'revolute' | 'prismatic' | 'cylindrical' | 'planar' | 'spherical'\n\n/** 单 DOF 范围（主 DOF 镜像字段 min/max/value）。 */\nexport interface JointDofSpec {\n  min: number\n  max: number\n  value: number\n}\n\n/**\n * 可序列化运动副声明（.fai.js 对象字面量）。派生字段（dofs）由 buildJoint 内\n * vendored 工厂构造——脚本里只写纯数据。\n */\nexport interface JointSpec {\n  type: JointType\n  /**\n   * 参考体（不动）；child 相对它运动。必须是 members 里的**变量名**（字符串——\n   * `.fai.js` 可序列化子集；members 也是字符串名数组）。buildKinematicTree\n   * 校验二者 ∈ members。\n   */\n  parent: string\n  /** 从动体（同样是 members 里的变量名）。 */\n  child: string\n  /** 主轴：origin 是所有旋转 DOF 的枢轴锚点。 */\n  axis: { origin: AssemblyVec3; direction: AssemblyVec3 }\n  /** 主 DOF 范围与当前值（revolute 单位 deg / prismatic 单位 mm；由 type 决定）。 */\n  min: number\n  max: number\n  value: number\n  /**\n   * 多 DOF 运动副（cylindrical 2 / planar 3 / spherical 3）的逐 DOF 范围，\n   * **长度必须与 type 的 DOF 数一致，顺序 = brepjs `Joint.dofs` 的组合顺序**：\n   *   cylindrical → [rotation, translation]\n   *   planar      → [u, v, rotation]\n   *   spherical   → [x, y, z]\n   * P3 首期只实现 revolute/prismatic，此字段随多 DOF 类型一起启用。\n   */\n  dofs?: JointDofSpec[]\n  /** planar 专用：面内 u 参考方向（brepjs 会投影到平面并归一化）。 */\n  uDirection?: AssemblyVec3\n  /** 静态连杆偏置（childWorld = parentWorld ∘ jointTransform ∘ offset），可选。 */\n  offset?: { position?: AssemblyVec3; rotation?: FaijsQuat }\n}\n\n// ── buildJoint：JointSpec → brepjs Joint ──\n\n/**\n * 由 JointSpec 构造 brepjs Joint。\n *\n * revolute/prismatic 走 vendored 工厂（主 DOF 的 value 在工厂内 clamp 到\n * [min,max]）；cylindrical/planar/spherical 显式抛错（多 DOF 未启用，绝不\n * 静默降级）。offset 的四元数经 toBrepjsQuat 换序（faijs [x,y,z,w] → brepjs\n * [w,x,y,z]）。\n *\n * @param spec - the serializable joint declaration.\n * @returns the vendored brepjs Joint (with offset attached when declared).\n * @throws Error on multi-DOF joint types and unknown joint types.\n */\nexport function buildJoint(spec: JointSpec): Joint {\n  const axis = { origin: spec.axis.origin, direction: spec.axis.direction }\n  const options = { min: spec.min, max: spec.max, value: spec.value }\n  let joint: Joint\n  switch (spec.type) {\n    case 'revolute':\n      joint = revoluteJoint(String(spec.parent), String(spec.child), axis, options)\n      break\n    case 'prismatic':\n      joint = prismaticJoint(String(spec.parent), String(spec.child), axis, options)\n      break\n    case 'cylindrical':\n    case 'planar':\n    case 'spherical':\n      throw new Error(`[assembly] joint type '${spec.type}' is not supported yet; per-DOF ranges pending`)\n    default: {\n      const exhaustive: never = spec.type\n      throw new Error(`[assembly] unknown joint type '${String(exhaustive)}'`)\n    }\n  }\n  if (spec.offset) {\n    const rotation = spec.offset.rotation\n      ? ([...toBrepjsQuat(spec.offset.rotation)] as [number, number, number, number])\n      : ([1, 0, 0, 0] as [number, number, number, number])\n    joint = {\n      ...joint,\n      offset: {\n        position: spec.offset.position ?? ([0, 0, 0] as [number, number, number]),\n        rotation,\n      },\n    }\n  }\n  return joint\n}\n\n// ── buildKinematicTree：建树三步 + 校验 ──\n\n/**\n * 由成员名 + JointSpec[] 构建 kinematic AssemblyNode 树（vendored\n * forwardKinematics 只接受单个根；多成员必须有唯一合成根）。\n *\n * 校验（求解前，绝不静默）：\n * - 成员名空串 → 抛错（与约束求解 R7 同源）；\n * - parent/child 必须在 members 里 → 抛错并附成员名全集；\n * - 同一 child 不得被两个 joint 驱动（brepjs forwardKinematics 对重复 child\n *   静默跳过——faijs 侧必须在求解前显式失败）。\n *\n * 建树三步：\n * ① 合成根 '__asm_root'（不带 shape）；② 全部成员挂成子节点（未被 joint 驱动\n * 的成员靠这一步拿到 identity 位姿；addChild 返回新节点必须重新赋值）；③ 每个\n * joint 经 addJoint 挂到树上（FK 用 walkAssembly 收集 node.joints，位姿按\n * joint.parent/child 的名字图传播，与树边无关）。\n *\n * @param memberNames - member variable names (the tree covers every member).\n * @param joints - raw joint declarations.\n * @returns the assembled kinematic tree root.\n * @throws Error on empty member names, unknown joint parts, or duplicate child drive.\n */\nexport function buildKinematicTree(memberNames: string[], joints: JointSpec[]): AssemblyNode {\n  memberNames.forEach((name, i) => {\n    if (!name) {\n      throw new Error(\n        `[assembly] member at index ${i} has an empty name — members are referenced by name in joints`,\n      )\n    }\n  })\n  const memberSet = new Set(memberNames)\n  const driven = new Set<string>()\n  for (const j of joints) {\n    if (!memberSet.has(String(j.parent))) {\n      throw new Error(\n        `[assembly] joint parent '${String(j.parent)}' is not a member — members: ${memberNames.join(', ')}`,\n      )\n    }\n    if (!memberSet.has(String(j.child))) {\n      throw new Error(\n        `[assembly] joint child '${String(j.child)}' is not a member — members: ${memberNames.join(', ')}`,\n      )\n    }\n    if (driven.has(String(j.child))) {\n      throw new Error(\n        `[assembly] joint child '${String(j.child)}' is driven by more than one joint — each child must be driven by exactly one joint`,\n      )\n    }\n    driven.add(String(j.child))\n  }\n  // 建树三步（见函数头注释）\n  let root = createAssemblyNode('__asm_root')\n  for (const m of memberNames) root = addChild(root, createAssemblyNode(m))\n  for (const j of joints) root = addJoint(root, buildJoint(j))\n  return root\n}\n\n// ── solveKinematics：正解 ──\n\n/** per-member 运动学位姿（rotation 为 faijs [x,y,z,w]）。 */\nexport interface KinematicsPose {\n  position: AssemblyVec3\n  rotation: FaijsQuat\n}\n\n/** 运动学解算结果：装配变换（被驱动成员）+ 全成员位姿表。 */\nexport interface KinematicsSolveResult {\n  /** 被 joints 定位（非恒等）的成员装配变换；index = 成员下标。 */\n  transforms: AssemblyTransform[]\n  /** 全部成员的终态位姿（含恒等，链根也在此）；键 = 成员名。 */\n  kinematics: Record<string, KinematicsPose>\n}\n\n/** 从 joints 推导查询场景的成员名全集（parent ∪ child，保序去重）。 */\nfunction specMemberNames(joints: JointSpec[]): string[] {\n  const names: string[] = []\n  const seen = new Set<string>()\n  for (const j of joints) {\n    for (const n of [String(j.parent), String(j.child)]) {\n      if (!seen.has(n)) {\n        seen.add(n)\n        names.push(n)\n      }\n    }\n  }\n  return names\n}\n\n/**\n * 运动学正解：buildKinematicTree → vendored forwardKinematics → per-member 位姿。\n *\n * 校验（求解前）：成员名空串 / parent-child ∈ members / child 唯一驱动（都收在\n * buildKinematicTree 内）；drive 键必须 ∈ joints 的 child 集（多余键是笔误，\n * 显式失败而非静默忽略）。\n *\n * forwards 返回的 Map 含合成根 '__asm_root'——本函数按 memberNames 过滤掉，\n * 只输出成员位姿。transforms 只含非恒等（被驱动）成员，恒等成员不输出（引擎\n * 不做无谓重算，与约束求解语义一致）；kinematics 则覆盖全部成员（含恒等），\n * 供宿主动画/导出读取完整骨架。\n *\n * @param memberNames - member variable names.\n * @param joints - raw joint declarations.\n * @param drive - per-child DOF value overrides (number for the primary DOF, or\n *   a per-DOF array); keyed by child member name.\n * @returns the per-member kinematics result.\n * @throws Error on empty member names, unknown joint parts, duplicate child drive,\n *   or a drive key that is not a joint child.\n */\nexport function solveKinematics(\n  memberNames: string[],\n  joints: JointSpec[],\n  drive?: Record<string, number | number[]>,\n): KinematicsSolveResult {\n  if (drive) {\n    const jointChildren = new Set(joints.map((j) => String(j.child)))\n    for (const key of Object.keys(drive)) {\n      if (!jointChildren.has(key)) {\n        throw new Error(\n          `[assembly] drive key '${key}' does not name a joint child — joint children: ${[...jointChildren].join(', ')}`,\n        )\n      }\n    }\n  }\n  const tree = buildKinematicTree(memberNames, joints)\n  const poses = brepjsForwardKinematics(tree, drive)\n  const transforms: AssemblyTransform[] = []\n  const kinematics: Record<string, KinematicsPose> = {}\n  memberNames.forEach((name, index) => {\n    const pose = poses.get(name)\n    if (!pose) return\n    const rotation = fromBrepjsQuat(pose.rotation)\n    kinematics[name] = {\n      position: [pose.position[0], pose.position[1], pose.position[2]],\n      rotation,\n    }\n    if (!isIdentityPose(pose)) transforms.push(jointPoseToAssemblyTransform(pose, index))\n  })\n  return { transforms, kinematics }\n}\n\n// ── cad.* 查询函数（纯函数，无副作用；输入输出都是纯数据）──\n\n/** `cad.jointTrajectory({ joints, from, to, steps })` 参数。 */\nexport interface JointTrajectoryParams {\n  joints: JointSpec[]\n  from: Record<string, number | number[]>\n  to: Record<string, number | number[]>\n  steps: number\n}\n\n/** 轨迹采样（poses 的 rotation 已换序为 faijs [x,y,z,w]）。 */\nexport interface FaijsTrajectorySample {\n  /** 归一化路径参数 ∈ [0,1]。 */\n  t: number\n  /** 该步的逐 DOF 值（键 = child 成员名）。 */\n  values: Record<string, number[]>\n  /** 该步全成员世界位姿。 */\n  poses: Map<string, KinematicsPose>\n}\n\n/**\n * `cad.jointTrajectory({ joints, from, to, steps })` — 关节空间直线路径采样。\n * 产出 steps+1 个采样（含两端点）；joints 缺省值在两端取存储值。\n * 无 endEffector 参数（关节空间插值，不追踪端点）。\n *\n * @param p - trajectory query parameters.\n * @returns the sampled trajectory (poses with faijs-order quaternions).\n */\nexport function jointTrajectory(p: JointTrajectoryParams): FaijsTrajectorySample[] {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  return brepjsJointTrajectory(tree, p.from, p.to, p.steps).map((s) => ({\n    t: s.t,\n    values: s.values,\n    poses: new Map(\n      [...s.poses.entries()].map(([name, pose]) => [\n        name,\n        {\n          position: [pose.position[0], pose.position[1], pose.position[2]],\n          rotation: fromBrepjsQuat(pose.rotation),\n        },\n      ]),\n    ),\n  }))\n}\n\n/** `cad.inverseKinematics({ joints, endEffector, target, options? })` 参数。 */\nexport interface InverseKinematicsParams {\n  joints: JointSpec[]\n  /** 末端执行器 = child 成员名。 */\n  endEffector: string\n  /** 目标位姿（rotation 对外 faijs [x,y,z,w]，内部 toBrepjsQuat 换序）。 */\n  target: { position: AssemblyVec3; rotation?: FaijsQuat }\n  options?: BrepjsIKOptions\n}\n\n/** IK 结果（与 vendored IKResult 同构；values 键 = child 成员名）。 */\nexport interface IKResult {\n  values: Record<string, number[]>\n  converged: boolean\n  iterations: number\n  error: number\n}\n\n/**\n * `cad.inverseKinematics({ joints, endEffector, target, options? })` —\n * damped-least-squares IK：求使末端到达 target 的关节值。关节范围在每个迭代\n * clamp；不可达目标返回 converged:false 与最优配置。纯函数，无副作用。\n *\n * @param p - IK query parameters.\n * @returns the solved joint values plus convergence diagnostics.\n */\nexport function inverseKinematics(p: InverseKinematicsParams): IKResult {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  const target: BrepjsIKTarget = {\n    position: p.target.position,\n    ...(p.target.rotation ? { rotation: toBrepjsQuat(p.target.rotation) } : {}),\n  }\n  const result: BrepjsIKResult = brepjsInverseKinematics(tree, p.endEffector, target, p.options)\n  return {\n    values: result.values,\n    converged: result.converged,\n    iterations: result.iterations,\n    error: result.error,\n  }\n}\n\n/** `cad.mechanismDOF({ joints })` 参数。 */\nexport interface MechanismDOFParams {\n  joints: JointSpec[]\n}\n\n/**\n * `cad.mechanismDOF({ joints })` — 开链机构自由度 = 各 joint DOF 数之和\n * （revolute/prismatic 各 1；串联两 revolute = 2）。纯函数，无副作用。\n *\n * @param p - DOF query parameters.\n * @returns the mechanism's total degree of freedom.\n */\nexport function mechanismDOF(p: MechanismDOFParams): number {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  return brepjsMechanismDOF(tree)\n}\n\n// re-export：查询函数对外的类型面（IKOptions 透传给宿主）。\nexport type { JointPose, BrepjsIKOptions as IKOptions }"]}
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* api/assembly/joints — 运动副声明与运动学解算（P3）\n *\n * JointSpec 是 .fai.js 可序列化子集（派生字段 dofs 由 vendored 工厂构造，\n * 与 brepjs Joint.dofs 的组合顺序对齐：cylindrical → [rotation, translation]、\n * planar → [u, v, rotation]、spherical → [x, y, z]）。\n *\n * P3 首期只实现 revolute / prismatic 两种单 DOF 运动副；cylindrical / planar /\n * spherical 在 buildJoint 里显式抛错（绝不静默降级成单 DOF），待 per-DOF ranges\n * 启用（JointSpec.dofs 已按此预留）。\n *\n * 链路：JointSpec[] → buildJoint（vendored 工厂）→ buildKinematicTree（建树三步\n * + 校验）→ solveKinematics（vendored forwardKinematics）→ per-member 位姿。\n *\n * cad.* 查询函数（jointTrajectory / inverseKinematics / mechanismDOF）是无副作用\n * 纯函数：输入纯数据、输出纯数据，不挂在 assembly receiver 上。\n *\n * 四元数顺序：faijs 对外 [x,y,z,w]，brepjs [w,x,y,z]——只经 ./pose 的转换函数\n * 换序，禁止在本模块手写分量重排。\n */\n\nimport {\n  revoluteJoint,\n  prismaticJoint,\n  forwardKinematics as brepjsForwardKinematics,\n  mechanismDOF as brepjsMechanismDOF,\n  jointTrajectory as brepjsJointTrajectory,\n  inverseKinematics as brepjsInverseKinematics,\n  addJoint,\n  type Joint,\n  type JointPose,\n  type IKResult as BrepjsIKResult,\n  type IKOptions as BrepjsIKOptions,\n  type IKTarget as BrepjsIKTarget,\n} from './solvers/joints-kinematics'\nimport { createAssemblyNode, addChild, type AssemblyNode } from './solvers/assembly-tree'\nimport {\n  fromBrepjsQuat,\n  toBrepjsQuat,\n  jointPoseToAssemblyTransform,\n  isIdentityPose,\n  type FaijsQuat,\n} from './pose'\nimport type { AssemblyTransform } from '../../runtime-state'\nimport type { AssemblyVec3 } from './types'\n\n// ── JointSpec（.fai.js 可序列化子集）──\n\n/** 运动副类型：P3 首期只实现 revolute / prismatic。 */\nexport type JointType = 'revolute' | 'prismatic' | 'cylindrical' | 'planar' | 'spherical'\n\n/** 单 DOF 范围（主 DOF 镜像字段 min/max/value）。 */\nexport interface JointDofSpec {\n  min: number\n  max: number\n  value: number\n}\n\n/**\n * 可序列化运动副声明（.fai.js 对象字面量）。派生字段（dofs）由 buildJoint 内\n * vendored 工厂构造——脚本里只写纯数据。\n */\nexport interface JointSpec {\n  type: JointType\n  /**\n   * 参考体（不动）；child 相对它运动。必须是 members 里的**变量名**（字符串——\n   * `.fai.js` 可序列化子集；members 也是字符串名数组）。buildKinematicTree\n   * 校验二者 ∈ members。\n   */\n  parent: string\n  /** 从动体（同样是 members 里的变量名）。 */\n  child: string\n  /** 主轴：origin 是所有旋转 DOF 的枢轴锚点。 */\n  axis: { origin: AssemblyVec3; direction: AssemblyVec3 }\n  /** 主 DOF 范围与当前值（revolute 单位 deg / prismatic 单位 mm；由 type 决定）。 */\n  min: number\n  max: number\n  value: number\n  /**\n   * 多 DOF 运动副（cylindrical 2 / planar 3 / spherical 3）的逐 DOF 范围，\n   * **长度必须与 type 的 DOF 数一致，顺序 = brepjs `Joint.dofs` 的组合顺序**：\n   *   cylindrical → [rotation, translation]\n   *   planar      → [u, v, rotation]\n   *   spherical   → [x, y, z]\n   * P3 首期只实现 revolute/prismatic，此字段随多 DOF 类型一起启用。\n   */\n  dofs?: JointDofSpec[]\n  /** planar 专用：面内 u 参考方向（brepjs 会投影到平面并归一化）。 */\n  uDirection?: AssemblyVec3\n  /** 静态连杆偏置（childWorld = parentWorld ∘ jointTransform ∘ offset），可选。 */\n  offset?: { position?: AssemblyVec3; rotation?: FaijsQuat }\n}\n\n// ── buildJoint：JointSpec → brepjs Joint ──\n\n/**\n * 由 JointSpec 构造 brepjs Joint。\n *\n * revolute/prismatic 走 vendored 工厂（主 DOF 的 value 在工厂内 clamp 到\n * [min,max]）；cylindrical/planar/spherical 显式抛错（多 DOF 未启用，绝不\n * 静默降级）。offset 的四元数经 toBrepjsQuat 换序（faijs [x,y,z,w] → brepjs\n * [w,x,y,z]）。\n *\n * @param spec - the serializable joint declaration.\n * @returns the vendored brepjs Joint (with offset attached when declared).\n * @throws Error on multi-DOF joint types and unknown joint types.\n */\nexport function buildJoint(spec: JointSpec): Joint {\n  const axis = { origin: spec.axis.origin, direction: spec.axis.direction }\n  const options = { min: spec.min, max: spec.max, value: spec.value }\n  let joint: Joint\n  switch (spec.type) {\n    case 'revolute':\n      joint = revoluteJoint(String(spec.parent), String(spec.child), axis, options)\n      break\n    case 'prismatic':\n      joint = prismaticJoint(String(spec.parent), String(spec.child), axis, options)\n      break\n    case 'cylindrical':\n    case 'planar':\n    case 'spherical':\n      throw new Error(`[assembly] joint type '${spec.type}' is not supported yet; per-DOF ranges pending`)\n    default: {\n      const exhaustive: never = spec.type\n      throw new Error(`[assembly] unknown joint type '${String(exhaustive)}'`)\n    }\n  }\n  if (spec.offset) {\n    const rotation = spec.offset.rotation\n      ? ([...toBrepjsQuat(spec.offset.rotation)] as [number, number, number, number])\n      : ([1, 0, 0, 0] as [number, number, number, number])\n    joint = {\n      ...joint,\n      offset: {\n        position: spec.offset.position ?? ([0, 0, 0] as [number, number, number]),\n        rotation,\n      },\n    }\n  }\n  return joint\n}\n\n// ── buildKinematicTree：建树三步 + 校验 ──\n\n/**\n * 由成员名 + JointSpec[] 构建 kinematic AssemblyNode 树（vendored\n * forwardKinematics 只接受单个根；多成员必须有唯一合成根）。\n *\n * 校验（求解前，绝不静默）：\n * - 成员名空串 → 抛错（与约束求解 R7 同源）；\n * - parent/child 必须在 members 里 → 抛错并附成员名全集；\n * - 同一 child 不得被两个 joint 驱动（brepjs forwardKinematics 对重复 child\n *   静默跳过——faijs 侧必须在求解前显式失败）。\n *\n * 建树三步：\n * ① 合成根 '__asm_root'（不带 shape）；② 全部成员挂成子节点（未被 joint 驱动\n * 的成员靠这一步拿到 identity 位姿；addChild 返回新节点必须重新赋值）；③ 每个\n * joint 经 addJoint 挂到树上（FK 用 walkAssembly 收集 node.joints，位姿按\n * joint.parent/child 的名字图传播，与树边无关）。\n *\n * @param memberNames - member variable names (the tree covers every member).\n * @param joints - raw joint declarations.\n * @returns the assembled kinematic tree root.\n * @throws Error on empty member names, unknown joint parts, or duplicate child drive.\n */\nexport function buildKinematicTree(memberNames: string[], joints: JointSpec[]): AssemblyNode {\n  memberNames.forEach((name, i) => {\n    if (!name) {\n      throw new Error(\n        `[assembly] member at index ${i} has an empty name — members are referenced by name in joints`,\n      )\n    }\n  })\n  const memberSet = new Set(memberNames)\n  const driven = new Set<string>()\n  for (const j of joints) {\n    if (!memberSet.has(String(j.parent))) {\n      throw new Error(\n        `[assembly] joint parent '${String(j.parent)}' is not a member — members: ${memberNames.join(', ')}`,\n      )\n    }\n    if (!memberSet.has(String(j.child))) {\n      throw new Error(\n        `[assembly] joint child '${String(j.child)}' is not a member — members: ${memberNames.join(', ')}`,\n      )\n    }\n    if (driven.has(String(j.child))) {\n      throw new Error(\n        `[assembly] joint child '${String(j.child)}' is driven by more than one joint — each child must be driven by exactly one joint`,\n      )\n    }\n    driven.add(String(j.child))\n  }\n  // 建树三步（见函数头注释）\n  let root = createAssemblyNode('__asm_root')\n  for (const m of memberNames) root = addChild(root, createAssemblyNode(m))\n  for (const j of joints) root = addJoint(root, buildJoint(j))\n  return root\n}\n\n// ── solveKinematics：正解 ──\n\n/** per-member 运动学位姿（rotation 为 faijs [x,y,z,w]）。 */\nexport interface KinematicsPose {\n  position: AssemblyVec3\n  rotation: FaijsQuat\n}\n\n/** 运动学解算结果：装配变换（被驱动成员）+ 全成员位姿表。 */\nexport interface KinematicsSolveResult {\n  /** 被 joints 定位（非恒等）的成员装配变换；index = 成员下标。 */\n  transforms: AssemblyTransform[]\n  /** 全部成员的终态位姿（含恒等，链根也在此）；键 = 成员名。 */\n  kinematics: Record<string, KinematicsPose>\n}\n\n/** 从 joints 推导查询场景的成员名全集（parent ∪ child，保序去重）。 */\nfunction specMemberNames(joints: JointSpec[]): string[] {\n  const names: string[] = []\n  const seen = new Set<string>()\n  for (const j of joints) {\n    for (const n of [String(j.parent), String(j.child)]) {\n      if (!seen.has(n)) {\n        seen.add(n)\n        names.push(n)\n      }\n    }\n  }\n  return names\n}\n\n/**\n * 运动学正解：buildKinematicTree → vendored forwardKinematics → per-member 位姿。\n *\n * 校验（求解前）：成员名空串 / parent-child ∈ members / child 唯一驱动（都收在\n * buildKinematicTree 内）；drive 键必须 ∈ joints 的 child 集（多余键是笔误，\n * 显式失败而非静默忽略）。\n *\n * forwards 返回的 Map 含合成根 '__asm_root'——本函数按 memberNames 过滤掉，\n * 只输出成员位姿。transforms 只含非恒等（被驱动）成员，恒等成员不输出（引擎\n * 不做无谓重算，与约束求解语义一致）；kinematics 则覆盖全部成员（含恒等），\n * 供宿主动画/导出读取完整骨架。\n *\n * @param memberNames - member variable names.\n * @param joints - raw joint declarations.\n * @param drive - per-child DOF value overrides (number for the primary DOF, or\n *   a per-DOF array); keyed by child member name.\n * @returns the per-member kinematics result.\n * @throws Error on empty member names, unknown joint parts, duplicate child drive,\n *   or a drive key that is not a joint child.\n */\nexport function solveKinematics(\n  memberNames: string[],\n  joints: JointSpec[],\n  drive?: Record<string, number | number[]>,\n): KinematicsSolveResult {\n  if (drive) {\n    const jointChildren = new Set(joints.map((j) => String(j.child)))\n    for (const key of Object.keys(drive)) {\n      if (!jointChildren.has(key)) {\n        throw new Error(\n          `[assembly] drive key '${key}' does not name a joint child — joint children: ${[...jointChildren].join(', ')}`,\n        )\n      }\n    }\n  }\n  const tree = buildKinematicTree(memberNames, joints)\n  const poses = brepjsForwardKinematics(tree, drive)\n  const transforms: AssemblyTransform[] = []\n  const kinematics: Record<string, KinematicsPose> = {}\n  memberNames.forEach((name, index) => {\n    const pose = poses.get(name)\n    if (!pose) return\n    const rotation = fromBrepjsQuat(pose.rotation)\n    kinematics[name] = {\n      position: [pose.position[0], pose.position[1], pose.position[2]],\n      rotation,\n    }\n    if (!isIdentityPose(pose)) transforms.push(jointPoseToAssemblyTransform(pose, index))\n  })\n  return { transforms, kinematics }\n}\n\n// ── cad.* 查询函数（纯函数，无副作用；输入输出都是纯数据）──\n\n/** `cad.jointTrajectory({ joints, from, to, steps })` 参数。 */\nexport interface JointTrajectoryParams {\n  joints: JointSpec[]\n  from: Record<string, number | number[]>\n  to: Record<string, number | number[]>\n  steps: number\n}\n\n/** 轨迹采样（poses 的 rotation 已换序为 faijs [x,y,z,w]）。 */\nexport interface FaijsTrajectorySample {\n  /** 归一化路径参数 ∈ [0,1]。 */\n  t: number\n  /** 该步的逐 DOF 值（键 = child 成员名）。 */\n  values: Record<string, number[]>\n  /** 该步全成员世界位姿。 */\n  poses: Map<string, KinematicsPose>\n}\n\n/**\n * `cad.jointTrajectory({ joints, from, to, steps })` — 关节空间直线路径采样。\n * 产出 steps+1 个采样（含两端点）；joints 缺省值在两端取存储值。\n * 无 endEffector 参数（关节空间插值，不追踪端点）。\n *\n * @param p - trajectory query parameters.\n * @returns the sampled trajectory (poses with faijs-order quaternions).\n */\nexport function jointTrajectory(p: JointTrajectoryParams): FaijsTrajectorySample[] {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  return brepjsJointTrajectory(tree, p.from, p.to, p.steps).map((s) => ({\n    t: s.t,\n    values: s.values,\n    poses: new Map(\n      [...s.poses.entries()].map(([name, pose]) => [\n        name,\n        {\n          position: [pose.position[0], pose.position[1], pose.position[2]],\n          rotation: fromBrepjsQuat(pose.rotation),\n        },\n      ]),\n    ),\n  }))\n}\n\n/** `cad.inverseKinematics({ joints, endEffector, target, options? })` 参数。 */\nexport interface InverseKinematicsParams {\n  joints: JointSpec[]\n  /** 末端执行器 = child 成员名。 */\n  endEffector: string\n  /** 目标位姿（rotation 对外 faijs [x,y,z,w]，内部 toBrepjsQuat 换序）。 */\n  target: { position: AssemblyVec3; rotation?: FaijsQuat }\n  options?: BrepjsIKOptions\n}\n\n/** IK 结果（与 vendored IKResult 同构；values 键 = child 成员名）。 */\nexport interface IKResult {\n  values: Record<string, number[]>\n  converged: boolean\n  iterations: number\n  error: number\n}\n\n/**\n * `cad.inverseKinematics({ joints, endEffector, target, options? })` —\n * damped-least-squares IK：求使末端到达 target 的关节值。关节范围在每个迭代\n * clamp；不可达目标返回 converged:false 与最优配置。纯函数，无副作用。\n *\n * @param p - IK query parameters.\n * @returns the solved joint values plus convergence diagnostics.\n */\nexport function inverseKinematics(p: InverseKinematicsParams): IKResult {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  const target: BrepjsIKTarget = {\n    position: p.target.position,\n    ...(p.target.rotation ? { rotation: toBrepjsQuat(p.target.rotation) } : {}),\n  }\n  const result: BrepjsIKResult = brepjsInverseKinematics(tree, p.endEffector, target, p.options)\n  return {\n    values: result.values,\n    converged: result.converged,\n    iterations: result.iterations,\n    error: result.error,\n  }\n}\n\n/** `cad.mechanismDOF({ joints })` 参数。 */\nexport interface MechanismDOFParams {\n  joints: JointSpec[]\n}\n\n/**\n * `cad.mechanismDOF({ joints })` — 开链机构自由度 = 各 joint DOF 数之和\n * （revolute/prismatic 各 1；串联两 revolute = 2）。纯函数，无副作用。\n *\n * @param p - DOF query parameters.\n * @returns the mechanism's total degree of freedom.\n */\nexport function mechanismDOF(p: MechanismDOFParams): number {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  return brepjsMechanismDOF(tree)\n}\n\n// re-export：查询函数对外的类型面（IKOptions 透传给宿主）。\nexport type { JointPose, BrepjsIKOptions as IKOptions }"]}

package/dist/api/assembly/lower.d.ts

@@ -10,7 +10,7 @@
  *
  * 禁止把复合语义拆成多条 SolverConstraint——每节点只被定位一次（方案 §3.7.1）。
  */
-import type { SolverConstraint, SolverEntity } from '../../vendored/brepjs/kernel/solverAdapter.js';
+import type { SolverConstraint, SolverEntity } from './solvers/types.js';
 import type { ResolvedFaceGeometry } from '../topo-resolve.js';
 import type { AssemblyVec3, StructuralConstraint } from './types.js';
 import { type EntityResolutionEnv } from './entities.js';

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package/dist/api/assembly/lower.js.map

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mate  → concentric + dep 侧 axis 编码取反法向（flip 是贴合语义的正解：\n *           A 的外法向 = B 的内法向）；\n * - align → concentric + 两侧 axis 编码不取反；\n * - coincident/concentric/distance/angle → 直译；\n * - parallel/perpendicular → angle 0°/90° 语法糖。\n *\n * 禁止把复合语义拆成多条 SolverConstraint——每节点只被定位一次（方案 §3.7.1）。\n */\n\nimport type { SolverConstraint, SolverEntity } from '../../vendored/brepjs/kernel/solverAdapter'\nimport type { ResolvedFaceGeometry } from '../topo-resolve'\nimport type { AssemblyVec3, EntityRef, StructuralConstraint } from './types'\nimport { resolveFaceGeometryOfRef, resolveSolverEntity, type EntityResolutionEnv } from './entities'\n\n/**\n * 面 → 有向轴实体（§3.7.2 轴编码）。flip=true 取内法向（贴合语义）。\n * origin = 面中心：dep 侧是本地坐标，ref 侧由 brepjs transformEntity 转世界。\n *\n * @param f - the resolved face geometry (center + normal).\n * @param flip - when true, negate the normal (mate encoding on the dependent side).\n * @returns the directed axis entity.\n */\nexport function axisFromFace(f: ResolvedFaceGeometry, flip: boolean): SolverEntity {\n  const n = f.normal\n  return {\n    type: 'axis',\n    origin: f.center,\n    direction: flip ? ([-n[0], -n[1], -n[2]] as AssemblyVec3) : n,\n  }\n}\n\n/** 降级产物：SolverConstraint + dependent 实体 origin（作 AssemblyTransform 的 pivot）。 */\nexport interface LoweredConstraint {\n  constraint: SolverConstraint\n  /** dependent 侧实体 origin（本地坐标）；fixed 约束无。 */\n  depOrigin?: AssemblyVec3\n}\n\n/** 直译定位约束的形状（a/b 必有，value 可选）。 */\ninterface PairSpec {\n  type: 'coincident' | 'concentric' | 'distance' | 'angle'\n  value?: number\n  a: EntityRef\n  b: EntityRef\n}\n\n/**\n * 纯实体降级（P2-f3）：两侧 SolverEntity 已知（预览路径 / 宿主已持有几何）。\n * 与 lowerStructuralConstraint 共用 axisFromFace 的编码规则，不另写数学。\n *\n * mate/align 要求两侧都是 `plane` 实体（贴合语义只接受平面）——把 plane 还原成\n * {center, normal} 再走 axisFromFace 编码；与执行路径（lowerStructuralConstraint\n * 的 mate/align 分支）逐位一致。非 plane 输入直接抛错（绝不静默）。\n *\n * @param type - the constraint type（parallel/perpendicular 请显式用 angle 0/90）。\n * @param a - the reference-side entity (node + solver entity).\n * @param b - the dependent-side entity (node + solver entity).\n * @param value - distance/angle 用（其它类型忽略）。\n * @returns the lowered solver constraint with the dependent origin.\n */\nexport function lowerEntities(\n  type: 'mate' | 'align' | 'coincident' | 'concentric' | 'distance' | 'angle',\n  a: { node: string; entity: SolverEntity },\n  b: { node: string; entity: SolverEntity },\n  value?: number,\n): LoweredConstraint {\n  switch (type) {\n    case 'mate':\n    case 'align': {\n      const kindA = a.entity.type\n      const kindB = b.entity.type\n      if (kindA !== 'plane' || kindB !== 'plane') {\n        throw new Error(\n          `[assembly:lower] ${type} requires plane entities on both sides, got ${kindA}/${kindB}`,\n        )\n      }\n      // SolverEntity.origin/normal 是 readonly Vec3；拷贝成可变 AssemblyVec3 再传给\n      // axisFromFace（避免类型断言覆盖 readonly→mutable 的契约警告）。\n      // SolverEntity 是扁平 interface（type 联合非 tagged union），kind 检查后字段必然存在。\n      const normalA = a.entity.normal as readonly [number, number, number]\n      const normalB = b.entity.normal as readonly [number, number, number]\n      const pa = { origin: [...a.entity.origin] as AssemblyVec3, normal: [...normalA] as AssemblyVec3 }\n      const pb = { origin: [...b.entity.origin] as AssemblyVec3, normal: [...normalB] as AssemblyVec3 }\n      const flip = type === 'mate'\n      return {\n        constraint: {\n          type: 'concentric',\n          entityA: { node: a.node, entity: axisFromFace({ center: pa.origin, normal: pa.normal }, false) },\n          entityB: { node: b.node, entity: axisFromFace({ center: pb.origin, normal: pb.normal }, flip) },\n        },\n        depOrigin: pb.origin,\n      }\n    }\n    case 'coincident':\n    case 'concentric':\n    case 'distance':\n    case 'angle': {\n      const constraint: SolverConstraint = {\n        type,\n        entityA: { node: a.node, entity: a.entity },\n        entityB: { node: b.node, entity: b.entity },\n      }\n      if (value !== undefined) constraint.value = value\n      return { constraint, depOrigin: [b.entity.origin[0], b.entity.origin[1], b.entity.origin[2]] }\n    }\n    default:\n      // TS 穷尽分支防御：JS 调用方可能传越界字符串（fixed/parallel/perpendicular/其他）\n      throw new Error(\n        `[assembly:lower] unsupported constraint type for lowerEntities: ${String(type)} ` +\n          `(fixed has no displacement semantics; parallel/perpendicular use 'angle' 0/90)`,\n      )\n  }\n}\n\n/** 直译定位约束：解析两侧实体后原样翻译。 */\nfunction lowerPair(c: PairSpec, env: EntityResolutionEnv): LoweredConstraint {\n  const entityA = resolveSolverEntity(c.a, env)\n  const entityB = resolveSolverEntity(c.b, env)\n  const constraint: SolverConstraint = {\n    type: c.type,\n    entityA: { node: c.a.part, entity: entityA },\n    entityB: { node: c.b.part, entity: entityB },\n  }\n  if (c.value !== undefined) constraint.value = c.value\n  return { constraint, depOrigin: [entityB.origin[0], entityB.origin[1], entityB.origin[2]] }\n}\n\n/**\n * 把一条规范化约束降级为 brepjs SolverConstraint（§4.2 步骤 3）。\n *\n * @param c - the normalized structural constraint.\n * @param env - the entity resolution environment (kernel + member lookup).\n * @returns the lowered solver constraint with the dependent origin.\n */\nexport function lowerStructuralConstraint(c: StructuralConstraint, env: EntityResolutionEnv): LoweredConstraint {\n  switch (c.type) {\n    case 'mate':\n    case 'align': {\n      // 贴合/对齐：两侧都必须是面引用；轴编码进 concentric（§3.7.2）\n      const geomA = resolveFaceGeometryOfRef(c.a, env)\n      const geomB = resolveFaceGeometryOfRef(c.b, env)\n      const flip = c.type === 'mate'\n      return {\n        constraint: {\n          type: 'concentric',\n          entityA: { node: c.a.part, entity: axisFromFace(geomA, false) },\n          entityB: { node: c.b.part, entity: axisFromFace(geomB, flip) },\n        },\n        depOrigin: geomB.center,\n      }\n    }\n    case 'parallel':\n      return lowerPair({ type: 'angle', value: 0, a: c.a, b: c.b }, env)\n    case 'perpendicular':\n      return lowerPair({ type: 'angle', value: 90, a: c.a, b: c.b }, env)\n    case 'fixed':\n      // solver 对 fixed 只读 entityA.node；entity 占位满足 SolverConstraint 形状\n      return {\n        constraint: {\n          type: 'fixed',\n          entityA: { node: c.part, entity: { type: 'point', origin: [0, 0, 0] } },\n        },\n      }\n    case 'coincident':\n    case 'concentric':\n    case 'distance':\n    case 'angle':\n      return lowerPair(c, env)\n  }\n}\n"]}
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mate  → concentric + dep 侧 axis 编码取反法向（flip 是贴合语义的正解：\n *           A 的外法向 = B 的内法向）；\n * - align → concentric + 两侧 axis 编码不取反；\n * - coincident/concentric/distance/angle → 直译；\n * - parallel/perpendicular → angle 0°/90° 语法糖。\n *\n * 禁止把复合语义拆成多条 SolverConstraint——每节点只被定位一次（方案 §3.7.1）。\n */\n\nimport type { SolverConstraint, SolverEntity } from './solvers/types'\nimport type { ResolvedFaceGeometry } from '../topo-resolve'\nimport type { AssemblyVec3, EntityRef, StructuralConstraint } from './types'\nimport { resolveFaceGeometryOfRef, resolveSolverEntity, type EntityResolutionEnv } from './entities'\n\n/**\n * 面 → 有向轴实体（§3.7.2 轴编码）。flip=true 取内法向（贴合语义）。\n * origin = 面中心：dep 侧是本地坐标，ref 侧由 brepjs transformEntity 转世界。\n *\n * @param f - the resolved face geometry (center + normal).\n * @param flip - when true, negate the normal (mate encoding on the dependent side).\n * @returns the directed axis entity.\n */\nexport function axisFromFace(f: ResolvedFaceGeometry, flip: boolean): SolverEntity {\n  const n = f.normal\n  return {\n    type: 'axis',\n    origin: f.center,\n    direction: flip ? ([-n[0], -n[1], -n[2]] as AssemblyVec3) : n,\n  }\n}\n\n/** 降级产物：SolverConstraint + dependent 实体 origin（作 AssemblyTransform 的 pivot）。 */\nexport interface LoweredConstraint {\n  constraint: SolverConstraint\n  /** dependent 侧实体 origin（本地坐标）；fixed 约束无。 */\n  depOrigin?: AssemblyVec3\n}\n\n/** 直译定位约束的形状（a/b 必有，value 可选）。 */\ninterface PairSpec {\n  type: 'coincident' | 'concentric' | 'distance' | 'angle'\n  value?: number\n  a: EntityRef\n  b: EntityRef\n}\n\n/**\n * 纯实体降级（P2-f3）：两侧 SolverEntity 已知（预览路径 / 宿主已持有几何）。\n * 与 lowerStructuralConstraint 共用 axisFromFace 的编码规则，不另写数学。\n *\n * mate/align 要求两侧都是 `plane` 实体（贴合语义只接受平面）——把 plane 还原成\n * {center, normal} 再走 axisFromFace 编码；与执行路径（lowerStructuralConstraint\n * 的 mate/align 分支）逐位一致。非 plane 输入直接抛错（绝不静默）。\n *\n * @param type - the constraint type（parallel/perpendicular 请显式用 angle 0/90）。\n * @param a - the reference-side entity (node + solver entity).\n * @param b - the dependent-side entity (node + solver entity).\n * @param value - distance/angle 用（其它类型忽略）。\n * @returns the lowered solver constraint with the dependent origin.\n */\nexport function lowerEntities(\n  type: 'mate' | 'align' | 'coincident' | 'concentric' | 'distance' | 'angle',\n  a: { node: string; entity: SolverEntity },\n  b: { node: string; entity: SolverEntity },\n  value?: number,\n): LoweredConstraint {\n  switch (type) {\n    case 'mate':\n    case 'align': {\n      const kindA = a.entity.type\n      const kindB = b.entity.type\n      if (kindA !== 'plane' || kindB !== 'plane') {\n        throw new Error(\n          `[assembly:lower] ${type} requires plane entities on both sides, got ${kindA}/${kindB}`,\n        )\n      }\n      // SolverEntity.origin/normal 是 readonly Vec3；拷贝成可变 AssemblyVec3 再传给\n      // axisFromFace（避免类型断言覆盖 readonly→mutable 的契约警告）。\n      // SolverEntity 是扁平 interface（type 联合非 tagged union），kind 检查后字段必然存在。\n      const normalA = a.entity.normal as readonly [number, number, number]\n      const normalB = b.entity.normal as readonly [number, number, number]\n      const pa = { origin: [...a.entity.origin] as AssemblyVec3, normal: [...normalA] as AssemblyVec3 }\n      const pb = { origin: [...b.entity.origin] as AssemblyVec3, normal: [...normalB] as AssemblyVec3 }\n      const flip = type === 'mate'\n      return {\n        constraint: {\n          type: 'concentric',\n          entityA: { node: a.node, entity: axisFromFace({ center: pa.origin, normal: pa.normal }, false) },\n          entityB: { node: b.node, entity: axisFromFace({ center: pb.origin, normal: pb.normal }, flip) },\n        },\n        depOrigin: pb.origin,\n      }\n    }\n    case 'coincident':\n    case 'concentric':\n    case 'distance':\n    case 'angle': {\n      const constraint: SolverConstraint = {\n        type,\n        entityA: { node: a.node, entity: a.entity },\n        entityB: { node: b.node, entity: b.entity },\n      }\n      if (value !== undefined) constraint.value = value\n      return { constraint, depOrigin: [b.entity.origin[0], b.entity.origin[1], b.entity.origin[2]] }\n    }\n    default:\n      // TS 穷尽分支防御：JS 调用方可能传越界字符串（fixed/parallel/perpendicular/其他）\n      throw new Error(\n        `[assembly:lower] unsupported constraint type for lowerEntities: ${String(type)} ` +\n          `(fixed has no displacement semantics; parallel/perpendicular use 'angle' 0/90)`,\n      )\n  }\n}\n\n/** 直译定位约束：解析两侧实体后原样翻译。 */\nfunction lowerPair(c: PairSpec, env: EntityResolutionEnv): LoweredConstraint {\n  const entityA = resolveSolverEntity(c.a, env)\n  const entityB = resolveSolverEntity(c.b, env)\n  const constraint: SolverConstraint = {\n    type: c.type,\n    entityA: { node: c.a.part, entity: entityA },\n    entityB: { node: c.b.part, entity: entityB },\n  }\n  if (c.value !== undefined) constraint.value = c.value\n  return { constraint, depOrigin: [entityB.origin[0], entityB.origin[1], entityB.origin[2]] }\n}\n\n/**\n * 把一条规范化约束降级为 brepjs SolverConstraint（§4.2 步骤 3）。\n *\n * @param c - the normalized structural constraint.\n * @param env - the entity resolution environment (kernel + member lookup).\n * @returns the lowered solver constraint with the dependent origin.\n */\nexport function lowerStructuralConstraint(c: StructuralConstraint, env: EntityResolutionEnv): LoweredConstraint {\n  switch (c.type) {\n    case 'mate':\n    case 'align': {\n      // 贴合/对齐：两侧都必须是面引用；轴编码进 concentric（§3.7.2）\n      const geomA = resolveFaceGeometryOfRef(c.a, env)\n      const geomB = resolveFaceGeometryOfRef(c.b, env)\n      const flip = c.type === 'mate'\n      return {\n        constraint: {\n          type: 'concentric',\n          entityA: { node: c.a.part, entity: axisFromFace(geomA, false) },\n          entityB: { node: c.b.part, entity: axisFromFace(geomB, flip) },\n        },\n        depOrigin: geomB.center,\n      }\n    }\n    case 'parallel':\n      return lowerPair({ type: 'angle', value: 0, a: c.a, b: c.b }, env)\n    case 'perpendicular':\n      return lowerPair({ type: 'angle', value: 90, a: c.a, b: c.b }, env)\n    case 'fixed':\n      // solver 对 fixed 只读 entityA.node；entity 占位满足 SolverConstraint 形状\n      return {\n        constraint: {\n          type: 'fixed',\n          entityA: { node: c.part, entity: { type: 'point', origin: [0, 0, 0] } },\n        },\n      }\n    case 'coincident':\n    case 'concentric':\n    case 'distance':\n    case 'angle':\n      return lowerPair(c, env)\n  }\n}\n"]}

package/dist/api/assembly/pose.d.ts

@@ -8,9 +8,9 @@
  *     令 pivot = dependent 实体 origin（单约束场景），二者等价：
  *     translation = position − pivot + R·pivot。
  */
-import type { SolverEntity } from '../../vendored/brepjs/kernel/solverAdapter.js';
-import { quatRotate } from '../../vendored/brepjs/utils/quaternion.js';
-import type { JointPose } from '../../vendored/brepjs/operations/jointFns.js';
+import type { SolverEntity } from './solvers/types.js';
+import { quatRotate } from './solvers/quat.js';
+import type { JointPose } from './solvers/joints-kinematics.js';
 import type { AssemblyTransform } from '../../runtime-state.js';
 import type { AssemblyVec3 } from './types.js';
 /** brepjs 四元数 [w,x,y,z]。 */

package/dist/api/assembly/pose.d.ts.map

@@ -1 +1 @@
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package/dist/api/assembly/pose.js

@@ -8,7 +8,7 @@
  *     令 pivot = dependent 实体 origin（单约束场景），二者等价：
  *     translation = position − pivot + R·pivot。
  */
-import { quatRotate } from '../../vendored/brepjs/utils/quaternion.js';
+import { quatRotate } from './solvers/quat.js';
 /**
  * brepjs [w,x,y,z] → faijs [x,y,z,w]（分量换序，不改变旋转本身）。
  * @param q - the brepjs-order quaternion.

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the brepjs-order quaternion.\n * @returns the faijs-order quaternion.\n */\nexport function fromBrepjsQuat(q: BrepjsQuat): FaijsQuat {\n  return [q[1], q[2], q[3], q[0]]\n}\n\n/**\n * faijs [x,y,z,w] → brepjs [w,x,y,z]。\n * @param q - the faijs-order quaternion.\n * @returns the brepjs-order quaternion.\n */\nexport function toBrepjsQuat(q: FaijsQuat): BrepjsQuat {\n  return [q[3], q[0], q[1], q[2]]\n}\n\n/**\n * 四元数 → 旋转矩阵（3x3, row-major；brepjs 位姿换算唯一入口）。\n * @param q - the faijs-order quaternion.\n * @returns the 9-component row-major rotation matrix.\n */\nexport function quaternionToMatrix3(q: FaijsQuat): number[] {\n  const [x, y, z, w] = q\n  const xx = x * x, yy = y * y, zz = z * z\n  const xy = x * y, xz = x * z, yz = y * z\n  const wx = w * x, wy = w * y, wz = w * z\n  return [\n    1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy),\n    2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx),\n    2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy),\n  ]\n}\n\nfunction mat3MulVec(m: number[], v: AssemblyVec3): AssemblyVec3 {\n  return [\n    m[0] * v[0] + m[1] * v[1] + m[2] * v[2],\n    m[3] * v[0] + m[4] * v[1] + m[5] * v[2],\n    m[6] * v[0] + m[7] * v[1] + m[8] * v[2],\n  ]\n}\n\n/** brepjs 单节点位姿（position + [w,x,y,z] 旋转）。 */\nexport interface SolverPose {\n  position: readonly [number, number, number]\n  rotation: readonly [number, number, number, number]\n}\n\n/**\n * brepjs 位姿 → faijs AssemblyTransform（§4.3(b) 换算；T2 锁定）。\n *\n * @param pose - the solver pose (p' = R·p + position).\n * @param pivot - rotation pivot in faijs model (convention: the dependent entity's origin).\n * @param index - member index (filled by the caller).\n * @returns the AssemblyTransform with quaternion/pivot/translation/rotationMatrix.\n */\nexport function poseToAssemblyTransform(pose: SolverPose, pivot: AssemblyVec3, index: number): AssemblyTransform {\n  const q = fromBrepjsQuat(pose.rotation)\n  const m = quaternionToMatrix3(q)\n  const rp = mat3MulVec(m, pivot)\n  return {\n    index,\n    quaternion: q,\n    pivot,\n    translation: [\n      pose.position[0] - pivot[0] + rp[0],\n      pose.position[1] - pivot[1] + rp[1],\n      pose.position[2] - pivot[2] + rp[2],\n    ],\n    rotationMatrix: m,\n  }\n}\n\n/**\n * brepjs FK 位姿（JointPose = { position, rotation: [w,x,y,z] }）→ faijs AssemblyTransform。\n *\n * brepjs 前向运动学的位姿是「绕原点整体模型」（p' = R·p + position），与约束求解的\n * pivot 换算同式——故 pivot = [0,0,0]、translation = pose.position。旋转经\n * fromBrepjsQuat 换序为 faijs [x,y,z,w]；rotationMatrix 与其它变换同源。\n *\n * @param pose - the forward-kinematics pose (p' = R·p + position).\n * @param index - member index (filled by the caller).\n * @returns the AssemblyTransform with zero pivot and the FK position as translation.\n */\nexport function jointPoseToAssemblyTransform(pose: JointPose, index: number): AssemblyTransform {\n  const q = fromBrepjsQuat(pose.rotation)\n  const m = quaternionToMatrix3(q)\n  return {\n    index,\n    quaternion: q,\n    pivot: [0, 0, 0],\n    translation: [pose.position[0], pose.position[1], pose.position[2]],\n    rotationMatrix: m,\n  }\n}\n\n/**\n * 判定一个位姿是否为恒等（锚定/链根成员：跳过输出，引擎不做无谓重算）。\n * @param pose - the solver pose.\n * @returns true when the pose is exactly identity.\n */\nexport function isIdentityPose(pose: SolverPose): boolean {\n  return (\n    pose.position[0] === 0 && pose.position[1] === 0 && pose.position[2] === 0 &&\n    pose.rotation[0] === 1 && pose.rotation[1] === 0 && pose.rotation[2] === 0 && pose.rotation[3] === 0\n  )\n}\n\n/**\n * 供 solve.ts 记录 pivot 用的 dependent 实体 origin 读取。\n * @param e - the solver entity.\n * @returns a copy of the entity origin.\n */\nexport function entityOrigin(e: SolverEntity): AssemblyVec3 {\n  return [e.origin[0], e.origin[1], e.origin[2]]\n}\n\n/** brepjs quatRotate 的再导出（rotate by [w,x,y,z] quat）——测试与换算共用。 */\nexport { quatRotate }\n"]}
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the brepjs-order quaternion.\n * @returns the faijs-order quaternion.\n */\nexport function fromBrepjsQuat(q: BrepjsQuat): FaijsQuat {\n  return [q[1], q[2], q[3], q[0]]\n}\n\n/**\n * faijs [x,y,z,w] → brepjs [w,x,y,z]。\n * @param q - the faijs-order quaternion.\n * @returns the brepjs-order quaternion.\n */\nexport function toBrepjsQuat(q: FaijsQuat): BrepjsQuat {\n  return [q[3], q[0], q[1], q[2]]\n}\n\n/**\n * 四元数 → 旋转矩阵（3x3, row-major；brepjs 位姿换算唯一入口）。\n * @param q - the faijs-order quaternion.\n * @returns the 9-component row-major rotation matrix.\n */\nexport function quaternionToMatrix3(q: FaijsQuat): number[] {\n  const [x, y, z, w] = q\n  const xx = x * x, yy = y * y, zz = z * z\n  const xy = x * y, xz = x * z, yz = y * z\n  const wx = w * x, wy = w * y, wz = w * z\n  return [\n    1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy),\n    2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx),\n    2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy),\n  ]\n}\n\nfunction mat3MulVec(m: number[], v: AssemblyVec3): AssemblyVec3 {\n  return [\n    m[0] * v[0] + m[1] * v[1] + m[2] * v[2],\n    m[3] * v[0] + m[4] * v[1] + m[5] * v[2],\n    m[6] * v[0] + m[7] * v[1] + m[8] * v[2],\n  ]\n}\n\n/** brepjs 单节点位姿（position + [w,x,y,z] 旋转）。 */\nexport interface SolverPose {\n  position: readonly [number, number, number]\n  rotation: readonly [number, number, number, number]\n}\n\n/**\n * brepjs 位姿 → faijs AssemblyTransform（§4.3(b) 换算；T2 锁定）。\n *\n * @param pose - the solver pose (p' = R·p + position).\n * @param pivot - rotation pivot in faijs model (convention: the dependent entity's origin).\n * @param index - member index (filled by the caller).\n * @returns the AssemblyTransform with quaternion/pivot/translation/rotationMatrix.\n */\nexport function poseToAssemblyTransform(pose: SolverPose, pivot: AssemblyVec3, index: number): AssemblyTransform {\n  const q = fromBrepjsQuat(pose.rotation)\n  const m = quaternionToMatrix3(q)\n  const rp = mat3MulVec(m, pivot)\n  return {\n    index,\n    quaternion: q,\n    pivot,\n    translation: [\n      pose.position[0] - pivot[0] + rp[0],\n      pose.position[1] - pivot[1] + rp[1],\n      pose.position[2] - pivot[2] + rp[2],\n    ],\n    rotationMatrix: m,\n  }\n}\n\n/**\n * brepjs FK 位姿（JointPose = { position, rotation: [w,x,y,z] }）→ faijs AssemblyTransform。\n *\n * brepjs 前向运动学的位姿是「绕原点整体模型」（p' = R·p + position），与约束求解的\n * pivot 换算同式——故 pivot = [0,0,0]、translation = pose.position。旋转经\n * fromBrepjsQuat 换序为 faijs [x,y,z,w]；rotationMatrix 与其它变换同源。\n *\n * @param pose - the forward-kinematics pose (p' = R·p + position).\n * @param index - member index (filled by the caller).\n * @returns the AssemblyTransform with zero pivot and the FK position as translation.\n */\nexport function jointPoseToAssemblyTransform(pose: JointPose, index: number): AssemblyTransform {\n  const q = fromBrepjsQuat(pose.rotation)\n  const m = quaternionToMatrix3(q)\n  return {\n    index,\n    quaternion: q,\n    pivot: [0, 0, 0],\n    translation: [pose.position[0], pose.position[1], pose.position[2]],\n    rotationMatrix: m,\n  }\n}\n\n/**\n * 判定一个位姿是否为恒等（锚定/链根成员：跳过输出，引擎不做无谓重算）。\n * @param pose - the solver pose.\n * @returns true when the pose is exactly identity.\n */\nexport function isIdentityPose(pose: SolverPose): boolean {\n  return (\n    pose.position[0] === 0 && pose.position[1] === 0 && pose.position[2] === 0 &&\n    pose.rotation[0] === 1 && pose.rotation[1] === 0 && pose.rotation[2] === 0 && pose.rotation[3] === 0\n  )\n}\n\n/**\n * 供 solve.ts 记录 pivot 用的 dependent 实体 origin 读取。\n * @param e - the solver entity.\n * @returns a copy of the entity origin.\n */\nexport function entityOrigin(e: SolverEntity): AssemblyVec3 {\n  return [e.origin[0], e.origin[1], e.origin[2]]\n}\n\n/** brepjs quatRotate 的再导出（rotate by [w,x,y,z] quat）——测试与换算共用。 */\nexport { quatRotate }\n"]}

package/dist/api/assembly/preview.d.ts

@@ -15,7 +15,7 @@
  * 仅支持"恰好定位一个 dependent"的单条约束；`fixed`（无位移语义）与
  * `parallel`/`perpendicular`（请用 `angle` 0/90 显式表达）不支持，报错。
  */
-import type { SolverEntity } from '../../vendored/brepjs/kernel/solverAdapter.js';
+import type { SolverEntity } from './solvers/types.js';
 import type { AssemblyTransform } from '../../runtime-state.js';
 import type { AssemblyVec3 } from './types.js';
 /** 预览支持的约束类型（fixed 无位移语义 → 抛错；parallel/perpendicular → angle 糖）。 */

package/dist/api/assembly/preview.d.ts.map

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package/dist/api/assembly/preview.js

@@ -15,7 +15,7 @@
  * 仅支持"恰好定位一个 dependent"的单条约束；`fixed`（无位移语义）与
  * `parallel`/`perpendicular`（请用 `angle` 0/90 显式表达）不支持，报错。
  */
-import { solveConstraints } from '../../vendored/brepjs/kernel/solverAdapter.js';
+import { solveConstraints } from './solvers/chain-solver.js';
 import { lowerEntities } from './lower.js';
 import { poseToAssemblyTransform } from './pose.js';
 /**