@faicad/faijs 0.16.1 → 0.17.0

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

@@ -1 +1 @@
-{"version":3,"file":"preview.js","sourceRoot":"","sources":["../../../src/api/assembly/preview.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;GAgBG;AAIH,OAAO,EAAE,gBAAgB,EAAE,MAAM,4CAA4C,CAAA;AAC7E,OAAO,EAAE,aAAa,EAAE,MAAM,SAAS,CAAA;AACvC,OAAO,EAAE,uBAAuB,EAAE,MAAM,QAAQ,CAAA;AAOhD;;;;;;;;;;;;GAYG;AACH,MAAM,UAAU,YAAY,CAC1B,IAA2B,EAC3B,SAAuB,EACvB,SAAuB,EACvB,KAAc;IAEd,MAAM,EAAE,UAAU,EAAE,SAAS,EAAE,GAAG,aAAa,CAC7C,IAAI,EACJ,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,SAAS,EAAE,EACpC,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,SAAS,EAAE,EACpC,KAAK,CACN,CAAA;IACD,MAAM,CAAC,GAAG,gBAAgB,CAAC,CAAC,OAAO,EAAE,OAAO,CAAC,EAAE,CAAC,UAA8B,CAAC,CAAC,CAAA;IAChF,IAAI,CAAC,CAAC,CAAC,SAAS,EAAE,CAAC;QACjB,MAAM,IAAI,KAAK,CACb,gEAAgE,CAAC,CAAC,WAAW,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,aAAa,EAAE,CAC5G,CAAA;IACH,CAAC;IACD,MAAM,IAAI,GAAG,CAAC,CAAC,UAAU,CAAC,GAAG,CAAC,OAAO,CAAC,CAAA;IACtC,IAAI,CAAC,IAAI;QAAE,MAAM,IAAI,KAAK,CAAC,iDAAiD,CAAC,CAAA;IAC7E,OAAO,uBAAuB,CAAC,IAAI,EAAE,SAAS,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAA;AAClE,CAAC;AAED;;;;;GAKG;AACH,MAAM,UAAU,kBAAkB,CAChC,CAG2C;IAE3C,QAAQ,CAAC,CAAC,IAAI,EAAE,CAAC;QACf,KAAK,OAAO;YACV,OAAO,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,CAAA;QAC9D,KAAK,MAAM;YACT,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,SAAS,EAAE,CAAC,CAAC,SAAS,EAAE,CAAA;QACnE,KAAK,OAAO;YACV,OAAO,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,CAAA;IAC9C,CAAC;AACH,CAAC","sourcesContent":["/**\n * api/assembly/preview — 装配约束预览纯函数入口（P2-f3，方案 §2.3）\n *\n * 动机：3d_editor 预览需要**与执行同源**的轻量入口（P2-f5 已删除旧预览专用数学）；\n *\n * 同源性保证：内部复用 lowerEntities（与 lowerStructuralConstraint 同编码规则）\n * 与 vendored brepjs solveConstraints——不另写数学。\n *\n * **输入约定**：一律是\"未编码\"的实体（SolverEntity，纯数据）——\n * 面 → {type:'plane', origin:center, normal}，圆柱/圆锥面与边 →\n * {type:'axis', origin, direction}，点 → {type:'point', origin}；\n * `mate`/`align` 的 flip 由 solvePreview 内部负责（mate：dep 侧法向取反；\n * align：不取反），宿主不需要知道自己该不该 flip。\n *\n * 仅支持\"恰好定位一个 dependent\"的单条约束；`fixed`（无位移语义）与\n * `parallel`/`perpendicular`（请用 `angle` 0/90 显式表达）不支持，报错。\n */\n\nimport type { SolverConstraint, SolverEntity } from '../../vendored/brepjs/kernel/solverAdapter'\nimport type { AssemblyTransform } from '../../runtime-state'\nimport { solveConstraints } from '../../vendored/brepjs/kernel/solverAdapter'\nimport { lowerEntities } from './lower'\nimport { poseToAssemblyTransform } from './pose'\nimport type { AssemblyVec3 } from './types'\n\n/** 预览支持的约束类型（fixed 无位移语义 → 抛错；parallel/perpendicular → angle 糖）。 */\nexport type PreviewConstraintType =\n  | 'mate' | 'align' | 'coincident' | 'concentric' | 'distance' | 'angle'\n\n/**\n * 单约束预览：给定两条实体的几何（SolverEntity，纯数据），\n * 走与 solveAssembly 完全相同的 lower → solveConstraints 链路，\n * 返回 dependent 侧成员的位姿（AssemblyTransform，index 固定 -1，\n * pivot = dep 实体 origin）。\n *\n * @param type - the constraint type.\n * @param refEntity - the reference-side solver entity.\n * @param depEntity - the dependent-side solver entity.\n * @param value - distance/angle 用（定距 mm / 夹角 deg）。\n * @returns the dependent-side AssemblyTransform (index = -1).\n * @throws Error on entity type mismatch / non-convergence / dep not positioned.\n */\nexport function solvePreview(\n  type: PreviewConstraintType,\n  refEntity: SolverEntity,\n  depEntity: SolverEntity,\n  value?: number,\n): AssemblyTransform {\n  const { constraint, depOrigin } = lowerEntities(\n    type,\n    { node: '__ref', entity: refEntity },\n    { node: '__dep', entity: depEntity },\n    value,\n  )\n  const r = solveConstraints(['__ref', '__dep'], [constraint as SolverConstraint])\n  if (!r.converged) {\n    throw new Error(\n      `[assembly:preview] constraint did not converge; unsupported: ${r.unsupported.join(', ') || '(no detail)'}`,\n    )\n  }\n  const pose = r.transforms.get('__dep')\n  if (!pose) throw new Error('[assembly:preview] dependent was not positioned')\n  return poseToAssemblyTransform(pose, depOrigin ?? [0, 0, 0], -1)\n}\n\n/**\n * 宿主拾取数据 → SolverEntity（预览时几何就在手上，不经过 TopoRef 解析）。\n *\n * @param g - 宿主拾取的几何数据（plane/axis/point，带 kind 判别）。\n * @returns 可供求解器消解的 SolverEntity（plane/axis/point）。\n */\nexport function entityFromGeometry(\n  g:\n    | { kind: 'plane'; center: AssemblyVec3; normal: AssemblyVec3 }\n    | { kind: 'axis'; origin: AssemblyVec3; direction: AssemblyVec3 }\n    | { kind: 'point'; origin: AssemblyVec3 },\n): SolverEntity {\n  switch (g.kind) {\n    case 'plane':\n      return { type: 'plane', origin: g.center, normal: g.normal }\n    case 'axis':\n      return { type: 'axis', origin: g.origin, direction: g.direction }\n    case 'point':\n      return { type: 'point', origin: g.origin }\n  }\n}"]}
+{"version":3,"file":"preview.js","sourceRoot":"","sources":["../../../src/api/assembly/preview.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;GAgBG;AAIH,OAAO,EAAE,gBAAgB,EAAE,MAAM,wBAAwB,CAAA;AACzD,OAAO,EAAE,aAAa,EAAE,MAAM,SAAS,CAAA;AACvC,OAAO,EAAE,uBAAuB,EAAE,MAAM,QAAQ,CAAA;AAOhD;;;;;;;;;;;;GAYG;AACH,MAAM,UAAU,YAAY,CAC1B,IAA2B,EAC3B,SAAuB,EACvB,SAAuB,EACvB,KAAc;IAEd,MAAM,EAAE,UAAU,EAAE,SAAS,EAAE,GAAG,aAAa,CAC7C,IAAI,EACJ,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,SAAS,EAAE,EACpC,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,SAAS,EAAE,EACpC,KAAK,CACN,CAAA;IACD,MAAM,CAAC,GAAG,gBAAgB,CAAC,CAAC,OAAO,EAAE,OAAO,CAAC,EAAE,CAAC,UAA8B,CAAC,CAAC,CAAA;IAChF,IAAI,CAAC,CAAC,CAAC,SAAS,EAAE,CAAC;QACjB,MAAM,IAAI,KAAK,CACb,gEAAgE,CAAC,CAAC,WAAW,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,aAAa,EAAE,CAC5G,CAAA;IACH,CAAC;IACD,MAAM,IAAI,GAAG,CAAC,CAAC,UAAU,CAAC,GAAG,CAAC,OAAO,CAAC,CAAA;IACtC,IAAI,CAAC,IAAI;QAAE,MAAM,IAAI,KAAK,CAAC,iDAAiD,CAAC,CAAA;IAC7E,OAAO,uBAAuB,CAAC,IAAI,EAAE,SAAS,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAA;AAClE,CAAC;AAED;;;;;GAKG;AACH,MAAM,UAAU,kBAAkB,CAChC,CAG2C;IAE3C,QAAQ,CAAC,CAAC,IAAI,EAAE,CAAC;QACf,KAAK,OAAO;YACV,OAAO,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,CAAA;QAC9D,KAAK,MAAM;YACT,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,SAAS,EAAE,CAAC,CAAC,SAAS,EAAE,CAAA;QACnE,KAAK,OAAO;YACV,OAAO,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,CAAC,CAAC,MAAM,EAAE,CAAA;IAC9C,CAAC;AACH,CAAC","sourcesContent":["/**\n * api/assembly/preview — 装配约束预览纯函数入口（P2-f3，方案 §2.3）\n *\n * 动机：3d_editor 预览需要**与执行同源**的轻量入口（P2-f5 已删除旧预览专用数学）；\n *\n * 同源性保证：内部复用 lowerEntities（与 lowerStructuralConstraint 同编码规则）\n * 与 vendored brepjs solveConstraints——不另写数学。\n *\n * **输入约定**：一律是\"未编码\"的实体（SolverEntity，纯数据）——\n * 面 → {type:'plane', origin:center, normal}，圆柱/圆锥面与边 →\n * {type:'axis', origin, direction}，点 → {type:'point', origin}；\n * `mate`/`align` 的 flip 由 solvePreview 内部负责（mate：dep 侧法向取反；\n * align：不取反），宿主不需要知道自己该不该 flip。\n *\n * 仅支持\"恰好定位一个 dependent\"的单条约束；`fixed`（无位移语义）与\n * `parallel`/`perpendicular`（请用 `angle` 0/90 显式表达）不支持，报错。\n */\n\nimport type { SolverConstraint, SolverEntity } from './solvers/types'\nimport type { AssemblyTransform } from '../../runtime-state'\nimport { solveConstraints } from './solvers/chain-solver'\nimport { lowerEntities } from './lower'\nimport { poseToAssemblyTransform } from './pose'\nimport type { AssemblyVec3 } from './types'\n\n/** 预览支持的约束类型（fixed 无位移语义 → 抛错；parallel/perpendicular → angle 糖）。 */\nexport type PreviewConstraintType =\n  | 'mate' | 'align' | 'coincident' | 'concentric' | 'distance' | 'angle'\n\n/**\n * 单约束预览：给定两条实体的几何（SolverEntity，纯数据），\n * 走与 solveAssembly 完全相同的 lower → solveConstraints 链路，\n * 返回 dependent 侧成员的位姿（AssemblyTransform，index 固定 -1，\n * pivot = dep 实体 origin）。\n *\n * @param type - the constraint type.\n * @param refEntity - the reference-side solver entity.\n * @param depEntity - the dependent-side solver entity.\n * @param value - distance/angle 用（定距 mm / 夹角 deg）。\n * @returns the dependent-side AssemblyTransform (index = -1).\n * @throws Error on entity type mismatch / non-convergence / dep not positioned.\n */\nexport function solvePreview(\n  type: PreviewConstraintType,\n  refEntity: SolverEntity,\n  depEntity: SolverEntity,\n  value?: number,\n): AssemblyTransform {\n  const { constraint, depOrigin } = lowerEntities(\n    type,\n    { node: '__ref', entity: refEntity },\n    { node: '__dep', entity: depEntity },\n    value,\n  )\n  const r = solveConstraints(['__ref', '__dep'], [constraint as SolverConstraint])\n  if (!r.converged) {\n    throw new Error(\n      `[assembly:preview] constraint did not converge; unsupported: ${r.unsupported.join(', ') || '(no detail)'}`,\n    )\n  }\n  const pose = r.transforms.get('__dep')\n  if (!pose) throw new Error('[assembly:preview] dependent was not positioned')\n  return poseToAssemblyTransform(pose, depOrigin ?? [0, 0, 0], -1)\n}\n\n/**\n * 宿主拾取数据 → SolverEntity（预览时几何就在手上，不经过 TopoRef 解析）。\n *\n * @param g - 宿主拾取的几何数据（plane/axis/point，带 kind 判别）。\n * @returns 可供求解器消解的 SolverEntity（plane/axis/point）。\n */\nexport function entityFromGeometry(\n  g:\n    | { kind: 'plane'; center: AssemblyVec3; normal: AssemblyVec3 }\n    | { kind: 'axis'; origin: AssemblyVec3; direction: AssemblyVec3 }\n    | { kind: 'point'; origin: AssemblyVec3 },\n): SolverEntity {\n  switch (g.kind) {\n    case 'plane':\n      return { type: 'plane', origin: g.center, normal: g.normal }\n    case 'axis':\n      return { type: 'axis', origin: g.origin, direction: g.direction }\n    case 'point':\n      return { type: 'point', origin: g.origin }\n  }\n}"]}

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

@@ -1 +1 @@
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+{"version":3,"file":"solve.d.ts","sourceRoot":"","sources":["../../../src/api/assembly/solve.ts"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AAEH,OAAO,KAAK,EAAE,KAAK,EAAE,MAAM,kBAAkB,CAAA;AAE7C,OAAO,KAAK,EAAE,iBAAiB,EAAE,MAAM,qBAAqB,CAAA;AAO5D,OAAO,EAAmB,KAAK,SAAS,EAAE,KAAK,cAAc,EAAE,MAAM,UAAU,CAAA;AAC/E,OAAO,KAAK,EAAE,kBAAkB,EAAgB,MAAM,SAAS,CAAA;AAC/D,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,iBAAiB,CAAA;AAGnD,oCAAoC;AACpC,MAAM,WAAW,mBAAmB;IAClC,2CAA2C;IAC3C,UAAU,EAAE,iBAAiB,EAAE,CAAA;IAC/B,wCAAwC;IACxC,GAAG,EAAE,MAAM,CAAA;IACX,kDAAkD;IAClD,SAAS,EAAE,OAAO,CAAA;IAClB,uCAAuC;IACvC,WAAW,EAAE,MAAM,EAAE,CAAA;IACrB;;;OAGG;IACH,UAAU,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,cAAc,CAAC,CAAA;IAC3C;;OAEG;IACH,QAAQ,CAAC,EAAE,MAAM,EAAE,CAAA;IACnB;;OAEG;IACH,SAAS,CAAC,EAAE,MAAM,EAAE,CAAA;CACrB;AAED;;;;;;;;;GASG;AACH,wBAAgB,aAAa,CAC3B,OAAO,EAAE,KAAK,EAAE,EAChB,WAAW,EAAE,MAAM,EAAE,EACrB,WAAW,EAAE,kBAAkB,EAAE,EACjC,IAAI,CAAC,EAAE,YAAY,GAClB,mBAAmB,CA0DrB;AAED;;;;;;;;;;;;;;;;;;;GAmBG;AACH,wBAAgB,0BAA0B,CACxC,OAAO,EAAE,KAAK,EAAE,EAChB,WAAW,EAAE,MAAM,EAAE,EACrB,WAAW,EAAE,kBAAkB,EAAE,EACjC,MAAM,GAAE,SAAS,EAAO,EACxB,KAAK,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,GAAG,MAAM,EAAE,CAAC,EACzC,IAAI,CAAC,EAAE,YAAY,GAClB,mBAAmB,CAkCrB"}

package/dist/api/assembly/solve.js

@@ -8,8 +8,8 @@
  * 不收敛 → 抛错（D3，错误信息带 unsupported 明细；对齐「绝不静默」约定）。
  * 恒等位姿的成员（锚定/链根）不输出变换——引擎不做无谓的几何重算。
  */
-import { getBackends } from '../../runtime-state.js';
-import { solveConstraints } from '../../vendored/brepjs/kernel/solverAdapter.js';
+import { getBrepApi } from '../../brep/handle-bridge.js';
+import { solveConstraints } from './solvers/chain-solver.js';
 import { normalizeConstraint } from './normalize.js';
 import { lowerStructuralConstraint } from './lower.js';
 import { poseToAssemblyTransform, isIdentityPose } from './pose.js';
@@ -46,7 +46,7 @@ export function solveAssembly(members, memberNames, constraints, opts) {
     // 此时快照引用仍可解，TopoRef 引用按 E_TOPO_NOT_FOUND 显式报错
     let kernel = null;
     try {
-        kernel = getBackends().kernel.brep;
+        kernel = getBrepApi();
     }
     catch {
         // backends not configured — snapshot-form constraints still solvable

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

@@ -1 +1 @@
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* api/assembly/solve — 装配求解入口（P1，方案 §4.2）\n *\n * 流程：规范化（normalize）→ 降级（lower）→ brepjs solveConstraints\n *（拓扑轮次调度 / DOF / converged 全部由 brepjs 提供，零 vendored 修改）→\n * per-member 终态 AssemblyTransform（修 L6：不再 per-constraint 增量叠加）。\n *\n * 不收敛 → 抛错（D3，错误信息带 unsupported 明细；对齐「绝不静默」约定）。\n * 恒等位姿的成员（锚定/链根）不输出变换——引擎不做无谓的几何重算。\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 { solveConstraints } from '../../vendored/brepjs/kernel/solverAdapter'\nimport { normalizeConstraint } from './normalize'\nimport { lowerStructuralConstraint } from './lower'\nimport { type EntityResolutionEnv } from './entities'\nimport { poseToAssemblyTransform, isIdentityPose, type SolverPose } from './pose'\nimport { solveKinematics, type JointSpec, type KinematicsPose } from './joints'\nimport type { AssemblyConstraint, AssemblyVec3 } from './types'\nimport type { SolveOptions } from './solvers/types'\nimport { solveGlobal } from './solvers/global-solver'\n\n/** 求解完整结果：per-member 终态变换 + 诊断量。 */\nexport interface AssemblySolveResult {\n  /** 每个被定位成员一条终态变换（index = 成员下标；恒等位姿不输出）。 */\n  transforms: AssemblyTransform[]\n  /** unsupported 约束的自由度合计（诊断量；收敛时为 0）。 */\n  dof: number\n  /** 是否全部约束可解（不收敛时 solveAssembly 已抛错，此字段恒 true）。 */\n  converged: boolean\n  /** 无法求解的约束明细（entity 类型不匹配 / 参考不可达）。 */\n  unsupported: string[]\n  /**\n   * P3：运动副解算的全成员位姿表（键 = 成员名；含恒等链根），\n   * 只有该装配声明了 joints 时才存在——宿主从 ExecutionResult.kinematics 消费。\n   */\n  kinematics?: Record<string, KinematicsPose>\n  /**\n   * P3：合并诊断（joints 覆盖约束解时各记一条；D-P3-1，不参与 converged 统计）。\n   */\n  warnings?: string[]\n  /**\n   * P1（global 求解器）：逐约束最终残差（CQ 代价的逐约束平方和）。chain 路径不填。\n   */\n  residuals?: number[]\n}\n\n/**\n * 求解装配：members + memberNames + constraints → per-member 终态。\n *\n * @param members - member shapes (compound children, aligned with memberNames).\n * @param memberNames - member variable names (R7: empty names throw before solving).\n * @param constraints - raw constraints from `cad.assembly({ constraints })`.\n * @param opts - optional solver options (e.g. `solver: 'global'` selects the global least-squares path).\n * @returns the solve result (transforms + diagnostics).\n * @throws Error on empty member names, unknown constraint parts, or non-convergence.\n */\nexport function solveAssembly(\n  members: Shape[],\n  memberNames: string[],\n  constraints: AssemblyConstraint[],\n  opts?: SolveOptions,\n): AssemblySolveResult {\n  // P1：global 求解器分派（CadQuery 兼容全局最小二乘；零额外依赖）\n  if (opts?.solver === 'global') {\n    return solveGlobal(members, memberNames, constraints, opts)\n  }\n\n  // R7：成员名是 solver 的节点键，空串会让多成员互相覆盖——求解前断言\n  memberNames.forEach((name, i) => {\n    if (!name) {\n      throw new Error(\n        `[assembly] member at index ${i} has an empty name — members are referenced by variable name in constraints`,\n      )\n    }\n  })\n\n  const memberMap = new Map<string, Shape>()\n  members.forEach((m, i) => {\n    const name = memberNames[i]\n    if (name && !memberMap.has(name)) memberMap.set(name, m)\n  })\n  // kernel 仅 TopoRef/边引用解析需要；backends 未配置（纯位姿场景/单测）→ null，\n  // 此时快照引用仍可解，TopoRef 引用按 E_TOPO_NOT_FOUND 显式报错\n  let kernel: BrepEngineApi | null = null\n  try {\n    kernel = getBackends().kernel.brep as BrepEngineApi | null\n  } catch {\n    // backends not configured — snapshot-form constraints still solvable\n  }\n  const env: EntityResolutionEnv = { kernel, memberOf: (p: string) => memberMap.get(p) }\n\n  const lowered: ReturnType<typeof lowerStructuralConstraint>['constraint'][] = []\n  const depOrigins = new Map<string, AssemblyVec3>()\n  for (const raw of constraints) {\n    const c = normalizeConstraint(raw)\n    const { constraint, depOrigin } = lowerStructuralConstraint(c, env)\n    lowered.push(constraint)\n    if (depOrigin && constraint.entityB) depOrigins.set(constraint.entityB.node, depOrigin)\n  }\n\n  const result = solveConstraints([...memberNames], lowered)\n  if (!result.converged) {\n    throw new Error(\n      `[assembly] constraint solve did not converge (dof=${result.dof}); unsupported: ` +\n        (result.unsupported.length > 0 ? result.unsupported.join(', ') : '(no detail)'),\n    )\n  }\n\n  // per-member 终态（L6 修复）：恒等位姿（锚定/链根）不输出，引擎不重算\n  const transforms: AssemblyTransform[] = []\n  for (const [node, rawPose] of result.transforms) {\n    const pose: SolverPose = rawPose\n    if (isIdentityPose(pose)) continue\n    const index = memberNames.indexOf(node)\n    if (index < 0) continue\n    const pivot = depOrigins.get(node) ?? ([0, 0, 0] as AssemblyVec3)\n    transforms.push(poseToAssemblyTransform(pose, pivot, index))\n  }\n  return { transforms, dof: result.dof, converged: result.converged, unsupported: result.unsupported }\n}\n\n/**\n * 求解装配（约束 + 运动副，P3）：先跑约束求解得到 per-member 终态，再跑\n * solveKinematics 得到 joints 的 per-member 位姿，以**成员名**为键用 joints 结果\n * 覆盖同名成员的约束解，得到唯一一张表——**在库侧一次合并**，调用方一次性\n * setPendingAssemblyTransforms（禁止引擎侧两次登记）。\n *\n * 诊断不混用：joints 不参与 solveConstraints 的 converged/dof/unsupported 统计；\n * 覆盖发生时在 warnings 里各记一条（D-P3-1）。kinematics 为全成员位姿表（含\n * 恒等链根），供宿主从 ExecutionResult.kinematics 消费。\n *\n * joints 为空 → 退化为基础 solveAssembly 行为（无 kinematics/warnings 字段）。\n *\n * @param members - member shapes (aligned with memberNames).\n * @param memberNames - member variable names (R7: empty names throw).\n * @param constraints - raw constraints (may be empty).\n * @param joints - raw joint declarations (may be empty).\n * @param drive - per-child DOF value overrides (may be undefined).\n * @param opts - optional solver options (forwarded to the base constraint solve).\n * @returns the merged solve result (transforms + diagnostics + kinematics/warnings).\n */\nexport function solveAssemblyAndKinematics(\n  members: Shape[],\n  memberNames: string[],\n  constraints: AssemblyConstraint[],\n  joints: JointSpec[] = [],\n  drive?: Record<string, number | number[]>,\n  opts?: SolveOptions,\n): AssemblySolveResult {\n  const base = solveAssembly(members, memberNames, constraints, opts)\n  if (joints.length === 0) return base\n\n  const kin = solveKinematics(memberNames, joints, drive)\n  // 合并：以成员名为键，joints 结果覆盖同名成员的约束解（唯一一张表）\n  const merged = new Map<string, AssemblyTransform>()\n  for (const t of base.transforms) {\n    const name = memberNames[t.index]\n    if (name) merged.set(name, t)\n  }\n  const warnings: string[] = []\n  for (const t of kin.transforms) {\n    const name = memberNames[t.index]\n    if (!name) continue\n    if (merged.has(name)) {\n      warnings.push(`[assembly] joint '${name}' overrides the constraint solution for member '${name}'`)\n    }\n    merged.set(name, t)\n  }\n  // 按成员下标升序输出（与约束解的 Map 遍历序解耦，输出顺序确定）\n  const transforms = [...merged.entries()]\n    .map(([name, t]) => ({ name, t }))\n    .sort((a, b) => memberNames.indexOf(a.name) - memberNames.indexOf(b.name))\n    .map(({ t }) => t)\n\n  return {\n    transforms,\n    dof: base.dof,\n    converged: base.converged,\n    unsupported: base.unsupported,\n    kinematics: kin.kinematics,\n    warnings: warnings.length > 0 ? warnings : undefined,\n  }\n}\n"]}
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* api/assembly/solve — 装配求解入口（P1，方案 §4.2）\n *\n * 流程：规范化（normalize）→ 降级（lower）→ brepjs solveConstraints\n *（拓扑轮次调度 / DOF / converged 全部由 brepjs 提供，零 vendored 修改）→\n * per-member 终态 AssemblyTransform（修 L6：不再 per-constraint 增量叠加）。\n *\n * 不收敛 → 抛错（D3，错误信息带 unsupported 明细；对齐「绝不静默」约定）。\n * 恒等位姿的成员（锚定/链根）不输出变换——引擎不做无谓的几何重算。\n */\n\nimport type { Shape } from '../../mesh/types'\nimport type { BrepEngineApi } from '../../brep/engine/primitives'\nimport type { AssemblyTransform } from '../../runtime-state'\nimport { getBrepApi } from '../../brep/handle-bridge'\nimport { solveConstraints } from './solvers/chain-solver'\nimport { normalizeConstraint } from './normalize'\nimport { lowerStructuralConstraint } from './lower'\nimport { type EntityResolutionEnv } from './entities'\nimport { poseToAssemblyTransform, isIdentityPose, type SolverPose } from './pose'\nimport { solveKinematics, type JointSpec, type KinematicsPose } from './joints'\nimport type { AssemblyConstraint, AssemblyVec3 } from './types'\nimport type { SolveOptions } from './solvers/types'\nimport { solveGlobal } from './solvers/global-solver'\n\n/** 求解完整结果：per-member 终态变换 + 诊断量。 */\nexport interface AssemblySolveResult {\n  /** 每个被定位成员一条终态变换（index = 成员下标；恒等位姿不输出）。 */\n  transforms: AssemblyTransform[]\n  /** unsupported 约束的自由度合计（诊断量；收敛时为 0）。 */\n  dof: number\n  /** 是否全部约束可解（不收敛时 solveAssembly 已抛错，此字段恒 true）。 */\n  converged: boolean\n  /** 无法求解的约束明细（entity 类型不匹配 / 参考不可达）。 */\n  unsupported: string[]\n  /**\n   * P3：运动副解算的全成员位姿表（键 = 成员名；含恒等链根），\n   * 只有该装配声明了 joints 时才存在——宿主从 ExecutionResult.kinematics 消费。\n   */\n  kinematics?: Record<string, KinematicsPose>\n  /**\n   * P3：合并诊断（joints 覆盖约束解时各记一条；D-P3-1，不参与 converged 统计）。\n   */\n  warnings?: string[]\n  /**\n   * P1（global 求解器）：逐约束最终残差（CQ 代价的逐约束平方和）。chain 路径不填。\n   */\n  residuals?: number[]\n}\n\n/**\n * 求解装配：members + memberNames + constraints → per-member 终态。\n *\n * @param members - member shapes (compound children, aligned with memberNames).\n * @param memberNames - member variable names (R7: empty names throw before solving).\n * @param constraints - raw constraints from `cad.assembly({ constraints })`.\n * @param opts - optional solver options (e.g. `solver: 'global'` selects the global least-squares path).\n * @returns the solve result (transforms + diagnostics).\n * @throws Error on empty member names, unknown constraint parts, or non-convergence.\n */\nexport function solveAssembly(\n  members: Shape[],\n  memberNames: string[],\n  constraints: AssemblyConstraint[],\n  opts?: SolveOptions,\n): AssemblySolveResult {\n  // P1：global 求解器分派（CadQuery 兼容全局最小二乘；零额外依赖）\n  if (opts?.solver === 'global') {\n    return solveGlobal(members, memberNames, constraints, opts)\n  }\n\n  // R7：成员名是 solver 的节点键，空串会让多成员互相覆盖——求解前断言\n  memberNames.forEach((name, i) => {\n    if (!name) {\n      throw new Error(\n        `[assembly] member at index ${i} has an empty name — members are referenced by variable name in constraints`,\n      )\n    }\n  })\n\n  const memberMap = new Map<string, Shape>()\n  members.forEach((m, i) => {\n    const name = memberNames[i]\n    if (name && !memberMap.has(name)) memberMap.set(name, m)\n  })\n  // kernel 仅 TopoRef/边引用解析需要；backends 未配置（纯位姿场景/单测）→ null，\n  // 此时快照引用仍可解，TopoRef 引用按 E_TOPO_NOT_FOUND 显式报错\n  let kernel: BrepEngineApi | null = null\n  try {\n    kernel = getBrepApi()\n  } catch {\n    // backends not configured — snapshot-form constraints still solvable\n  }\n  const env: EntityResolutionEnv = { kernel, memberOf: (p: string) => memberMap.get(p) }\n\n  const lowered: ReturnType<typeof lowerStructuralConstraint>['constraint'][] = []\n  const depOrigins = new Map<string, AssemblyVec3>()\n  for (const raw of constraints) {\n    const c = normalizeConstraint(raw)\n    const { constraint, depOrigin } = lowerStructuralConstraint(c, env)\n    lowered.push(constraint)\n    if (depOrigin && constraint.entityB) depOrigins.set(constraint.entityB.node, depOrigin)\n  }\n\n  const result = solveConstraints([...memberNames], lowered)\n  if (!result.converged) {\n    throw new Error(\n      `[assembly] constraint solve did not converge (dof=${result.dof}); unsupported: ` +\n        (result.unsupported.length > 0 ? result.unsupported.join(', ') : '(no detail)'),\n    )\n  }\n\n  // per-member 终态（L6 修复）：恒等位姿（锚定/链根）不输出，引擎不重算\n  const transforms: AssemblyTransform[] = []\n  for (const [node, rawPose] of result.transforms) {\n    const pose: SolverPose = rawPose\n    if (isIdentityPose(pose)) continue\n    const index = memberNames.indexOf(node)\n    if (index < 0) continue\n    const pivot = depOrigins.get(node) ?? ([0, 0, 0] as AssemblyVec3)\n    transforms.push(poseToAssemblyTransform(pose, pivot, index))\n  }\n  return { transforms, dof: result.dof, converged: result.converged, unsupported: result.unsupported }\n}\n\n/**\n * 求解装配（约束 + 运动副，P3）：先跑约束求解得到 per-member 终态，再跑\n * solveKinematics 得到 joints 的 per-member 位姿，以**成员名**为键用 joints 结果\n * 覆盖同名成员的约束解，得到唯一一张表——**在库侧一次合并**，调用方一次性\n * setPendingAssemblyTransforms（禁止引擎侧两次登记）。\n *\n * 诊断不混用：joints 不参与 solveConstraints 的 converged/dof/unsupported 统计；\n * 覆盖发生时在 warnings 里各记一条（D-P3-1）。kinematics 为全成员位姿表（含\n * 恒等链根），供宿主从 ExecutionResult.kinematics 消费。\n *\n * joints 为空 → 退化为基础 solveAssembly 行为（无 kinematics/warnings 字段）。\n *\n * @param members - member shapes (aligned with memberNames).\n * @param memberNames - member variable names (R7: empty names throw).\n * @param constraints - raw constraints (may be empty).\n * @param joints - raw joint declarations (may be empty).\n * @param drive - per-child DOF value overrides (may be undefined).\n * @param opts - optional solver options (forwarded to the base constraint solve).\n * @returns the merged solve result (transforms + diagnostics + kinematics/warnings).\n */\nexport function solveAssemblyAndKinematics(\n  members: Shape[],\n  memberNames: string[],\n  constraints: AssemblyConstraint[],\n  joints: JointSpec[] = [],\n  drive?: Record<string, number | number[]>,\n  opts?: SolveOptions,\n): AssemblySolveResult {\n  const base = solveAssembly(members, memberNames, constraints, opts)\n  if (joints.length === 0) return base\n\n  const kin = solveKinematics(memberNames, joints, drive)\n  // 合并：以成员名为键，joints 结果覆盖同名成员的约束解（唯一一张表）\n  const merged = new Map<string, AssemblyTransform>()\n  for (const t of base.transforms) {\n    const name = memberNames[t.index]\n    if (name) merged.set(name, t)\n  }\n  const warnings: string[] = []\n  for (const t of kin.transforms) {\n    const name = memberNames[t.index]\n    if (!name) continue\n    if (merged.has(name)) {\n      warnings.push(`[assembly] joint '${name}' overrides the constraint solution for member '${name}'`)\n    }\n    merged.set(name, t)\n  }\n  // 按成员下标升序输出（与约束解的 Map 遍历序解耦，输出顺序确定）\n  const transforms = [...merged.entries()]\n    .map(([name, t]) => ({ name, t }))\n    .sort((a, b) => memberNames.indexOf(a.name) - memberNames.indexOf(b.name))\n    .map(({ t }) => t)\n\n  return {\n    transforms,\n    dof: base.dof,\n    converged: base.converged,\n    unsupported: base.unsupported,\n    kinematics: kin.kinematics,\n    warnings: warnings.length > 0 ? warnings : undefined,\n  }\n}\n"]}

package/dist/api/assembly/solvers/assembly-tree.d.ts

@@ -0,0 +1,98 @@
+/**
+ * Assembly tree — core 自有实现（§5.6 移植：vendored assemblyFns 逐字对齐，纯数据结构）。
+ *
+ * An assembly is a tree of nodes. Each node has an optional shape,
+ * a local transform (translation + rotation), optional metadata,
+ * and child nodes. This is a pure data structure with no kernel calls.
+ *
+ * Usage:
+ *   const asm = createAssemblyNode('root')
+ *     |> addChild(_, createAssemblyNode('part-a', { shape: boxShape, translate: [10, 0, 0] }))
+ *     |> addChild(_, createAssemblyNode('part-b', { shape: cylShape }));
+ */
+import type { Shape } from '../../../mesh/types.js';
+/** 3D vector（core 本地别名，§5.6 移植）。 */
+export type Vec3 = readonly [number, number, number];
+/**
+ * A node in an assembly tree: optional shape, local transform, metadata, and children.
+ */
+export interface AssemblyNode {
+    readonly name: string;
+    readonly shape?: Shape;
+    readonly translate?: Vec3;
+    readonly rotate?: {
+        angle: number;
+        axis?: Vec3;
+    };
+    readonly metadata?: Readonly<Record<string, unknown>>;
+    readonly children: ReadonlyArray<AssemblyNode>;
+    readonly mates?: readonly unknown[];
+    /** Drivable kinematic joints (see jointFns). Typed loosely to avoid a cycle. */
+    readonly joints?: readonly unknown[];
+}
+/** Optional properties for creating or updating an assembly node. */
+export interface AssemblyNodeOptions {
+    shape?: Shape;
+    translate?: Vec3;
+    rotate?: {
+        angle: number;
+        axis?: Vec3;
+    };
+    metadata?: Record<string, unknown>;
+}
+/**
+ * Create a new assembly node.
+ * @param name - Name of the node.
+ * @param options - Optional shape, transform, and metadata.
+ * @returns The newly created assembly node.
+ */
+export declare function createAssemblyNode(name: string, options?: AssemblyNodeOptions): AssemblyNode;
+/**
+ * Add a child node. Returns a new parent node.
+ * @param parent - The parent node to extend.
+ * @param child - The child node to append.
+ * @returns A new parent node with the child added.
+ */
+export declare function addChild(parent: AssemblyNode, child: AssemblyNode): AssemblyNode;
+/**
+ * Remove a child by name (first match). Returns a new parent node.
+ * @param parent - The parent node to modify.
+ * @param childName - Name of the child to remove.
+ * @returns A new parent node with the child removed.
+ */
+export declare function removeChild(parent: AssemblyNode, childName: string): AssemblyNode;
+/**
+ * Update a node's properties. Returns a new node.
+ * @param node - The node to update.
+ * @param updates - Partial options to apply.
+ * @returns A new node with the updates applied.
+ */
+export declare function updateNode(node: AssemblyNode, updates: Partial<AssemblyNodeOptions>): AssemblyNode;
+/**
+ * Find a node by name (depth-first). Returns undefined if not found.
+ * @param root - Root of the subtree to search.
+ * @param name - Name of the node to find.
+ * @returns The first matching node, or undefined.
+ */
+export declare function findNode(root: AssemblyNode, name: string): AssemblyNode | undefined;
+/**
+ * Walk the tree depth-first, calling visitor for each node.
+ * @param root - Root node to walk from.
+ * @param visitor - Callback invoked with each node and its depth.
+ * @param depth - Starting depth (used internally for recursion).
+ * @returns Nothing.
+ */
+export declare function walkAssembly(root: AssemblyNode, visitor: (node: AssemblyNode, depth: number) => void, depth?: number): void;
+/**
+ * Count all nodes in the tree.
+ * @param root - Root node to count from.
+ * @returns Total number of nodes including the root.
+ */
+export declare function countNodes(root: AssemblyNode): number;
+/**
+ * Collect all shapes in the tree (depth-first).
+ * @param root - Root node to collect from.
+ * @returns All shapes found on nodes in the tree.
+ */
+export declare function collectShapes(root: AssemblyNode): Shape[];
+//# sourceMappingURL=assembly-tree.d.ts.map

package/dist/api/assembly/solvers/assembly-tree.d.ts.map

@@ -0,0 +1 @@
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package/dist/api/assembly/solvers/assembly-tree.js

@@ -0,0 +1,130 @@
+/**
+ * Assembly tree — core 自有实现（§5.6 移植：vendored assemblyFns 逐字对齐，纯数据结构）。
+ *
+ * An assembly is a tree of nodes. Each node has an optional shape,
+ * a local transform (translation + rotation), optional metadata,
+ * and child nodes. This is a pure data structure with no kernel calls.
+ *
+ * Usage:
+ *   const asm = createAssemblyNode('root')
+ *     |> addChild(_, createAssemblyNode('part-a', { shape: boxShape, translate: [10, 0, 0] }))
+ *     |> addChild(_, createAssemblyNode('part-b', { shape: cylShape }));
+ */
+// ---------------------------------------------------------------------------
+// Constructors
+// ---------------------------------------------------------------------------
+/**
+ * Create a new assembly node.
+ * @param name - Name of the node.
+ * @param options - Optional shape, transform, and metadata.
+ * @returns The newly created assembly node.
+ */
+export function createAssemblyNode(name, options = {}) {
+    return {
+        name,
+        children: [],
+        ...(options.shape !== undefined ? { shape: options.shape } : {}),
+        ...(options.translate !== undefined ? { translate: options.translate } : {}),
+        ...(options.rotate !== undefined ? { rotate: options.rotate } : {}),
+        ...(options.metadata !== undefined ? { metadata: options.metadata } : {}),
+    };
+}
+// ---------------------------------------------------------------------------
+// Immutable tree operations
+// ---------------------------------------------------------------------------
+/**
+ * Add a child node. Returns a new parent node.
+ * @param parent - The parent node to extend.
+ * @param child - The child node to append.
+ * @returns A new parent node with the child added.
+ */
+export function addChild(parent, child) {
+    return { ...parent, children: [...parent.children, child] };
+}
+/**
+ * Remove a child by name (first match). Returns a new parent node.
+ * @param parent - The parent node to modify.
+ * @param childName - Name of the child to remove.
+ * @returns A new parent node with the child removed.
+ */
+export function removeChild(parent, childName) {
+    const idx = parent.children.findIndex((c) => c.name === childName);
+    if (idx === -1)
+        return parent;
+    const children = [...parent.children];
+    children.splice(idx, 1);
+    return { ...parent, children };
+}
+/**
+ * Update a node's properties. Returns a new node.
+ * @param node - The node to update.
+ * @param updates - Partial options to apply.
+ * @returns A new node with the updates applied.
+ */
+export function updateNode(node, updates) {
+    return {
+        ...node,
+        ...(updates.shape !== undefined ? { shape: updates.shape } : {}),
+        ...(updates.translate !== undefined ? { translate: updates.translate } : {}),
+        ...(updates.rotate !== undefined ? { rotate: updates.rotate } : {}),
+        ...(updates.metadata !== undefined ? { metadata: updates.metadata } : {}),
+    };
+}
+// ---------------------------------------------------------------------------
+// Traversal
+// ---------------------------------------------------------------------------
+/**
+ * Find a node by name (depth-first). Returns undefined if not found.
+ * @param root - Root of the subtree to search.
+ * @param name - Name of the node to find.
+ * @returns The first matching node, or undefined.
+ */
+export function findNode(root, name) {
+    if (root.name === name)
+        return root;
+    for (const child of root.children) {
+        const found = findNode(child, name);
+        if (found)
+            return found;
+    }
+    return undefined;
+}
+/**
+ * Walk the tree depth-first, calling visitor for each node.
+ * @param root - Root node to walk from.
+ * @param visitor - Callback invoked with each node and its depth.
+ * @param depth - Starting depth (used internally for recursion).
+ * @returns Nothing.
+ */
+export function walkAssembly(root, visitor, depth = 0) {
+    visitor(root, depth);
+    for (const child of root.children) {
+        walkAssembly(child, visitor, depth + 1);
+    }
+}
+/**
+ * Count all nodes in the tree.
+ * @param root - Root node to count from.
+ * @returns Total number of nodes including the root.
+ */
+export function countNodes(root) {
+    let count = 1;
+    for (const child of root.children) {
+        count += countNodes(child);
+    }
+    return count;
+}
+/**
+ * Collect all shapes in the tree (depth-first).
+ * @param root - Root node to collect from.
+ * @returns All shapes found on nodes in the tree.
+ */
+export function collectShapes(root) {
+    const shapes = [];
+    walkAssembly(root, (node) => {
+        if (node.shape)
+            shapes.push(node.shape);
+    });
+    return shapes;
+}
+//# sourceMappingURL=assembly-tree.js.map

package/dist/api/assembly/solvers/assembly-tree.js.map

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Each node has an optional shape,\n * a local transform (translation + rotation), optional metadata,\n * and child nodes. This is a pure data structure with no kernel calls.\n *\n * Usage:\n *   const asm = createAssemblyNode('root')\n *     |> addChild(_, createAssemblyNode('part-a', { shape: boxShape, translate: [10, 0, 0] }))\n *     |> addChild(_, createAssemblyNode('part-b', { shape: cylShape }));\n */\n\nimport type { Shape } from '../../../mesh/types'\n\n/** 3D vector（core 本地别名，§5.6 移植）。 */\nexport type Vec3 = readonly [number, number, number];\n\n// ---------------------------------------------------------------------------\n// Assembly types\n// ---------------------------------------------------------------------------\n\n/**\n * A node in an assembly tree: optional shape, local transform, metadata, and children.\n */\nexport interface AssemblyNode {\n  readonly name: string;\n  readonly shape?: Shape;\n  readonly translate?: Vec3;\n  readonly rotate?: { angle: number; axis?: Vec3 };\n  readonly metadata?: Readonly<Record<string, unknown>>;\n  readonly children: ReadonlyArray<AssemblyNode>;\n  readonly mates?: readonly unknown[];\n  /** Drivable kinematic joints (see jointFns). Typed loosely to avoid a cycle. */\n  readonly joints?: readonly unknown[];\n}\n\n/** Optional properties for creating or updating an assembly node. */\nexport interface AssemblyNodeOptions {\n  shape?: Shape;\n  translate?: Vec3;\n  rotate?: { angle: number; axis?: Vec3 };\n  metadata?: Record<string, unknown>;\n}\n\n// ---------------------------------------------------------------------------\n// Constructors\n// ---------------------------------------------------------------------------\n\n/**\n * Create a new assembly node.\n * @param name - Name of the node.\n * @param options - Optional shape, transform, and metadata.\n * @returns The newly created assembly node.\n */\nexport function createAssemblyNode(name: string, options: AssemblyNodeOptions = {}): AssemblyNode {\n  return {\n    name,\n    children: [],\n    ...(options.shape !== undefined ? { shape: options.shape } : {}),\n    ...(options.translate !== undefined ? { translate: options.translate } : {}),\n    ...(options.rotate !== undefined ? { rotate: options.rotate } : {}),\n    ...(options.metadata !== undefined ? { metadata: options.metadata } : {}),\n  };\n}\n\n// ---------------------------------------------------------------------------\n// Immutable tree operations\n// ---------------------------------------------------------------------------\n\n/**\n * Add a child node. Returns a new parent node.\n * @param parent - The parent node to extend.\n * @param child - The child node to append.\n * @returns A new parent node with the child added.\n */\nexport function addChild(parent: AssemblyNode, child: AssemblyNode): AssemblyNode {\n  return { ...parent, children: [...parent.children, child] };\n}\n\n/**\n * Remove a child by name (first match). Returns a new parent node.\n * @param parent - The parent node to modify.\n * @param childName - Name of the child to remove.\n * @returns A new parent node with the child removed.\n */\nexport function removeChild(parent: AssemblyNode, childName: string): AssemblyNode {\n  const idx = parent.children.findIndex((c) => c.name === childName);\n  if (idx === -1) return parent;\n  const children = [...parent.children];\n  children.splice(idx, 1);\n  return { ...parent, children };\n}\n\n/**\n * Update a node's properties. Returns a new node.\n * @param node - The node to update.\n * @param updates - Partial options to apply.\n * @returns A new node with the updates applied.\n */\nexport function updateNode(\n  node: AssemblyNode,\n  updates: Partial<AssemblyNodeOptions>\n): AssemblyNode {\n  return {\n    ...node,\n    ...(updates.shape !== undefined ? { shape: updates.shape } : {}),\n    ...(updates.translate !== undefined ? { translate: updates.translate } : {}),\n    ...(updates.rotate !== undefined ? { rotate: updates.rotate } : {}),\n    ...(updates.metadata !== undefined ? { metadata: updates.metadata } : {}),\n  };\n}\n\n// ---------------------------------------------------------------------------\n// Traversal\n// ---------------------------------------------------------------------------\n\n/**\n * Find a node by name (depth-first). Returns undefined if not found.\n * @param root - Root of the subtree to search.\n * @param name - Name of the node to find.\n * @returns The first matching node, or undefined.\n */\nexport function findNode(root: AssemblyNode, name: string): AssemblyNode | undefined {\n  if (root.name === name) return root;\n  for (const child of root.children) {\n    const found = findNode(child, name);\n    if (found) return found;\n  }\n  return undefined;\n}\n\n/**\n * Walk the tree depth-first, calling visitor for each node.\n * @param root - Root node to walk from.\n * @param visitor - Callback invoked with each node and its depth.\n * @param depth - Starting depth (used internally for recursion).\n * @returns Nothing.\n */\nexport function walkAssembly(\n  root: AssemblyNode,\n  visitor: (node: AssemblyNode, depth: number) => void,\n  depth = 0\n): void {\n  visitor(root, depth);\n  for (const child of root.children) {\n    walkAssembly(child, visitor, depth + 1);\n  }\n}\n\n/**\n * Count all nodes in the tree.\n * @param root - Root node to count from.\n * @returns Total number of nodes including the root.\n */\nexport function countNodes(root: AssemblyNode): number {\n  let count = 1;\n  for (const child of root.children) {\n    count += countNodes(child);\n  }\n  return count;\n}\n\n/**\n * Collect all shapes in the tree (depth-first).\n * @param root - Root node to collect from.\n * @returns All shapes found on nodes in the tree.\n */\nexport function collectShapes(root: AssemblyNode): Shape[] {\n  const shapes: Shape[] = [];\n  walkAssembly(root, (node) => {\n    if (node.shape) shapes.push(node.shape);\n  });\n  return shapes;\n}\n"]}

package/dist/api/assembly/solvers/chain-solver.d.ts

@@ -0,0 +1,27 @@
+/**
+ * Constraint solver (chain) — core 自有实现（§5.6 移植：vendored solverAdapter 逐字对齐）。
+ *
+ * 移植来源：packages/brepjs/src/kernel/solverAdapter.ts（Phase 5 随 brepjs 包删除前
+ * 已做 parity 对拍——本文件与 vendored 行为逐项一致，无重新设计）。
+ * 类型 SolverEntity/SolverConstraint/SolverResult 迁入 ./types（§5.6.1，消费方共用）。
+ */
+import type { SolverConstraint, SolverResult } from './types.js';
+/**
+ * Solve assembly constraints analytically.
+ *
+ * Handles: fixed, concentric (axis-axis), angle (plane-plane orientation), and
+ * coincident/distance for any supported entity-type pair (plane-plane,
+ * plane-point, point-point, axis-axis, axis-point, and both point orders — see
+ * `TRANSLATIONAL_PAIRS`). For a positioning mate, entityA is the reference and
+ * entityB the dependent. Chain roots (nodes never positioned by a
+ * mate) and explicit `fixed` nodes anchor at the origin; constraints then resolve
+ * in topological order — each places its dependent against the reference's solved
+ * pose (rotation included), so multi-body chains compose. Returns
+ * `converged: false` with details for entity-type mismatches and any constraint
+ * whose reference never resolves.
+ * @param nodes - Names of the nodes participating in the assembly.
+ * @param constraints - Constraints to solve.
+ * @returns The solver result with per-node transforms, DOF count, and convergence info.
+ */
+export declare function solveConstraints(nodes: string[], constraints: SolverConstraint[]): SolverResult;
+//# sourceMappingURL=chain-solver.d.ts.map

package/dist/api/assembly/solvers/chain-solver.d.ts.map

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