@faicad/faijs 0.16.1 → 0.17.0

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

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+import { quatRotate, quatFromAxisAngle, quatFromTo } from './quat.js';
+/**
+ * Degrees of freedom each constraint leaves unresolved when it can't be applied
+ * (entity-type mismatch or an unreachable reference). All four types now solve
+ * for well-typed inputs; these counts only feed the diagnostic `dof` for the
+ * unsupported cases.
+ * coincident: 3 translational · concentric: 2 rotational + 2 translational = 4
+ * distance: 1 translational · angle: 1 rotational
+ */
+const UNSUPPORTED_DOF = {
+    coincident: 3,
+    concentric: 4,
+    distance: 1,
+    angle: 1,
+};
+const IDENTITY_ROTATION = [1, 0, 0, 0];
+function add(a, b) {
+    return [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
+}
+function sub(a, b) {
+    return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+}
+function dot(a, b) {
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+function cross(a, b) {
+    return [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];
+}
+function scale(a, s) {
+    return [a[0] * s, a[1] * s, a[2] * s];
+}
+function normalize(a) {
+    const l = Math.hypot(a[0], a[1], a[2]) || 1;
+    return [a[0] / l, a[1] / l, a[2] / l];
+}
+/** A unit vector perpendicular to `v` (for the parallel-normals degenerate case). */
+function anyPerpendicular(v) {
+    const ref = Math.abs(v[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];
+    return normalize(cross(v, ref));
+}
+/** Apply a pose (rotate then translate) to an entity's origin and any directions. */
+function transformEntity(e, pose) {
+    const origin = add(quatRotate(pose.rotation, e.origin), pose.position);
+    return {
+        type: e.type,
+        origin,
+        ...(e.normal ? { normal: quatRotate(pose.rotation, e.normal) } : {}),
+        ...(e.direction ? { direction: quatRotate(pose.rotation, e.direction) } : {}),
+    };
+}
+/**
+ * Position a dependent plane against an already-placed reference plane.
+ *
+ * `ref` is the reference entity already in world space. The dependent is at the
+ * origin (a node is only solved once, while unplaced), so the returned position
+ * is its absolute translation along the reference normal. `extra` is the gap for
+ * a distance mate (0 for coincident). Plane mates don't reorient the dependent.
+ */
+function solvePlanePair(ref, dep, extra) {
+    const n = ref.normal ?? [0, 0, 1];
+    const offset = dot(n, sub(ref.origin, dep.origin)) + extra;
+    return { position: scale(n, offset), rotation: IDENTITY_ROTATION };
+}
+/**
+ * Concentric (axis-axis) mate: rotate the dependent so its axis is parallel to
+ * the reference axis, then translate so the two axes are collinear (the
+ * dependent's axis point is placed on the reference axis). `ref` is in world
+ * space; the dependent is at the origin.
+ */
+function solveConcentric(ref, dep) {
+    const dRef = ref.direction ?? [0, 0, 1];
+    const dDep = dep.direction ?? [0, 0, 1];
+    const rotation = quatFromTo(dDep, dRef);
+    const rotatedOrigin = quatRotate(rotation, dep.origin);
+    return { position: sub(ref.origin, rotatedOrigin), rotation };
+}
+/**
+ * Angle mate: rotate the dependent so the angle between its (plane) normal and
+ * the reference normal equals `angleRad`. Orientation-only — position is left at
+ * the origin. `ref` is in world space; the dependent is at the origin.
+ */
+function solveAngle(ref, dep, angleRad) {
+    const nRef = normalize(ref.normal ?? [0, 0, 1]);
+    const nDep = normalize(dep.normal ?? [0, 0, 1]);
+    const phi = Math.acos(Math.max(-1, Math.min(1, dot(nDep, nRef))));
+    const c = cross(nDep, nRef);
+    const axis = Math.hypot(c[0], c[1], c[2]) < 1e-9 ? anyPerpendicular(nDep) : c;
+    // Rotating nDep about (nDep×nRef) by +phi aligns it with nRef; rotate by
+    // (phi − angle) to leave exactly `angleRad` between them.
+    return { position: [0, 0, 0], rotation: quatFromAxisAngle(axis, phi - angleRad) };
+}
+/**
+ * Point-point coincident/distance: place the dependent point on the reference
+ * point (`extra` = 0) or at `extra` along the original separation direction.
+ * If the points already coincide the direction is arbitrary (+X).
+ */
+function solvePointPair(refOrigin, depOrigin, extra) {
+    const sep = sub(depOrigin, refOrigin);
+    const len = Math.hypot(sep[0], sep[1], sep[2]);
+    const dir = len < 1e-9 ? [1, 0, 0] : scale(sep, 1 / len);
+    const target = add(refOrigin, scale(dir, extra));
+    return { position: sub(target, depOrigin), rotation: IDENTITY_ROTATION };
+}
+/**
+ * Move the dependent plane (normal `depNormal`, at the origin) so its signed
+ * distance from the reference point equals `extra` (the mirror of `solvePlanePair`
+ * for a point reference and a plane dependent).
+ */
+function solvePlaneToPoint(depNormal, refOrigin, depOrigin, extra) {
+    const n = normalize(depNormal);
+    const t = dot(n, sub(refOrigin, depOrigin)) - extra;
+    return { position: scale(n, t), rotation: IDENTITY_ROTATION };
+}
+/**
+ * Reference axis, dependent point: drop the point onto the axis line
+ * (`extra` = 0) or place it at radial distance `extra` from the line, keeping
+ * its along-axis position. A point already on the axis gets an arbitrary radial.
+ */
+function solveAxisToPoint(ref, depOrigin, extra) {
+    const d = normalize(ref.direction ?? [0, 0, 1]);
+    const foot = add(ref.origin, scale(d, dot(d, sub(depOrigin, ref.origin))));
+    if (extra === 0)
+        return { position: sub(foot, depOrigin), rotation: IDENTITY_ROTATION };
+    const radial = sub(depOrigin, foot);
+    const rlen = Math.hypot(radial[0], radial[1], radial[2]);
+    const rdir = rlen < 1e-9 ? anyPerpendicular(d) : scale(radial, 1 / rlen);
+    return { position: sub(add(foot, scale(rdir, extra)), depOrigin), rotation: IDENTITY_ROTATION };
+}
+/**
+ * Reference point, dependent axis: translate the axis line so it passes through
+ * the point (`extra` = 0) or lies at perpendicular distance `extra` from it.
+ * Translation is purely perpendicular to the axis, so the line's direction and
+ * along-axis parameterization are preserved.
+ */
+function solvePointToAxis(refOrigin, dep, extra) {
+    const d = normalize(dep.direction ?? [0, 0, 1]);
+    const w = sub(dep.origin, refOrigin);
+    const perp = sub(w, scale(d, dot(d, w)));
+    const plen = Math.hypot(perp[0], perp[1], perp[2]);
+    if (extra === 0)
+        return { position: scale(perp, -1), rotation: IDENTITY_ROTATION };
+    const pdir = plen < 1e-9 ? anyPerpendicular(d) : scale(perp, 1 / plen);
+    return { position: sub(scale(pdir, extra), perp), rotation: IDENTITY_ROTATION };
+}
+/**
+ * Axis-axis distance: align the dependent axis parallel to the reference, then
+ * offset it to perpendicular distance `extra` (parallel pin-and-spacer). With
+ * `extra` = 0 the axes become collinear, matching `concentric`.
+ */
+function solveAxisAxisDistance(ref, dep, extra) {
+    const dRef = normalize(ref.direction ?? [0, 0, 1]);
+    const dDep = normalize(dep.direction ?? [0, 0, 1]);
+    const rotation = quatFromTo(dDep, dRef);
+    const depO = quatRotate(rotation, dep.origin);
+    const w = sub(depO, ref.origin);
+    const perp = sub(w, scale(dRef, dot(dRef, w)));
+    const plen = Math.hypot(perp[0], perp[1], perp[2]);
+    const pdir = plen < 1e-9 ? anyPerpendicular(dRef) : scale(perp, 1 / plen);
+    return { position: sub(scale(pdir, extra), perp), rotation };
+}
+/**
+ * Supported entity-type pairs for the translational mates (`coincident` /
+ * `distance`), keyed `${entityA}-${entityB}`. Both orders are listed where the
+ * solver handles them, so a user need not pre-order the entities.
+ */
+const TRANSLATIONAL_PAIRS = new Set([
+    'plane-plane',
+    'plane-point',
+    'point-plane',
+    'point-point',
+    'axis-axis',
+    'axis-point',
+    'point-axis',
+]);
+/** Entity types the orientation/axis mates require of (entityA, entityB). */
+const REQUIRED_ENTITIES = {
+    angle: 'plane',
+    concentric: 'axis',
+};
+const POSITIONING_TYPES = new Set(['coincident', 'distance', 'angle', 'concentric']);
+/** Whether a positioning mate's entity pair is solvable. */
+function isSupportedPair(type, a, b) {
+    const required = REQUIRED_ENTITIES[type];
+    if (required)
+        return a === required && b === required;
+    // coincident / distance: dispatch by entity-type pair.
+    return TRANSLATIONAL_PAIRS.has(`${a}-${b}`);
+}
+/**
+ * Solve a `coincident` (extra = 0) or `distance` (extra = value) mate for any
+ * supported entity-type pair. `ref` is already in world space; the dependent is
+ * at the origin. Returns null only for an unsupported pair (filtered out
+ * upstream by `isSupportedPair`).
+ */
+function solveTranslational(ref, dep, extra) {
+    const key = `${ref.type}-${dep.type}`;
+    switch (key) {
+        case 'plane-plane':
+        case 'plane-point':
+            // Both use the reference plane normal; a point dependent has no normal.
+            return solvePlanePair(ref, dep, extra);
+        case 'point-plane':
+            return solvePlaneToPoint(dep.normal ?? [0, 0, 1], ref.origin, dep.origin, extra);
+        case 'point-point':
+            return solvePointPair(ref.origin, dep.origin, extra);
+        case 'axis-axis':
+            return extra === 0 ? solveConcentric(ref, dep) : solveAxisAxisDistance(ref, dep, extra);
+        case 'axis-point':
+            return solveAxisToPoint(ref, dep.origin, extra);
+        case 'point-axis':
+            return solvePointToAxis(ref.origin, dep, extra);
+        default:
+            return null;
+    }
+}
+/** Dispatch a positioning mate to its solver. `ref` is already in world space. */
+function solveMate(c, ref, dep) {
+    switch (c.type) {
+        case 'concentric':
+            return solveConcentric(ref, dep);
+        case 'angle':
+            return solveAngle(ref, dep, ((c.value ?? 0) * Math.PI) / 180);
+        default: {
+            // coincident (extra = 0) / distance (extra = value). isSupportedPair has
+            // already filtered out unsupported pairs upstream, so a null here means
+            // TRANSLATIONAL_PAIRS and solveTranslational drifted out of sync — surface
+            // that invariant violation loudly rather than guessing with plane logic.
+            const extra = c.type === 'distance' ? (c.value ?? 0) : 0;
+            const pose = solveTranslational(ref, dep, extra);
+            if (!pose) {
+                throw new Error(`solveMate: unsupported entity pair escaped filter: ${ref.type}-${dep.type}`);
+            }
+            return pose;
+        }
+    }
+}
+/**
+ * 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 function solveConstraints(nodes, constraints) {
+    const transforms = new Map();
+    // Initialize all nodes at origin
+    for (const node of nodes) {
+        transforms.set(node, { position: [0, 0, 0], rotation: IDENTITY_ROTATION });
+    }
+    const unsupported = [];
+    // For positioning mates, entityA is the reference and entityB the dependent.
+    const positioning = constraints.filter((c) => POSITIONING_TYPES.has(c.type) && c.entityA && c.entityB);
+    const dependents = new Set();
+    for (const c of positioning)
+        if (c.entityB)
+            dependents.add(c.entityB.node);
+    // Anchors are placed at the origin: any node never positioned by a mate (a
+    // chain root), plus any explicit `fixed` node.
+    const placed = new Set();
+    for (const node of nodes)
+        if (!dependents.has(node))
+            placed.add(node);
+    for (const c of constraints)
+        if (c.type === 'fixed' && c.entityA)
+            placed.add(c.entityA.node);
+    // Entity-type mismatches are unsupported regardless of order; report them
+    // eagerly and keep only well-typed mates for topological resolution. A node
+    // left unplaced by such a mate (it's a dependent, so not a root) will cause
+    // any downstream mate that references it to end up `(unanchored)` — intended:
+    // an unsolved reference can't compose, so the chain doesn't converge.
+    const pending = [];
+    for (const c of positioning) {
+        if (!c.entityA || !c.entityB)
+            continue;
+        const a = c.entityA.entity.type;
+        const b = c.entityB.entity.type;
+        if (!isSupportedPair(c.type, a, b)) {
+            unsupported.push(`${c.type}(${a}-${b})`);
+            continue;
+        }
+        pending.push(c);
+    }
+    // Resolve in topological rounds: a mate solves once its reference (entityA) is
+    // placed, positioning the dependent (entityB) against the reference's solved
+    // world-space pose so multi-body chains compose.
+    let progress = true;
+    while (progress && pending.length > 0) {
+        progress = false;
+        for (let i = pending.length - 1; i >= 0; i--) {
+            const c = pending[i];
+            if (!c?.entityA || !c.entityB)
+                continue;
+            const ref = c.entityA;
+            const dep = c.entityB;
+            if (!placed.has(ref.node))
+                continue; // reference not solved yet — defer
+            pending.splice(i, 1);
+            progress = true;
+            if (placed.has(dep.node))
+                continue; // dependent already anchored (fixed) — redundant
+            const refPose = transforms.get(ref.node) ?? {
+                position: [0, 0, 0],
+                rotation: IDENTITY_ROTATION,
+            };
+            const refWorld = transformEntity(ref.entity, refPose);
+            transforms.set(dep.node, solveMate(c, refWorld, dep.entity));
+            placed.add(dep.node);
+        }
+    }
+    // Anything still pending has a reference that never resolved (e.g. a cycle).
+    for (const c of pending)
+        unsupported.push(`${c.type}(unanchored)`);
+    const dof = unsupported.reduce((sum, type) => {
+        // Look up by exact key first, then by base type (before parenthesis)
+        const baseDof = UNSUPPORTED_DOF[type] ?? UNSUPPORTED_DOF[type.split('(')[0] ?? ''] ?? 0;
+        return sum + baseDof;
+    }, 0);
+    return { transforms, dof, converged: unsupported.length === 0, unsupported };
+}
+//# sourceMappingURL=chain-solver.js.map

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

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* Constraint solver (chain) — core 自有实现（§5.6 移植：vendored solverAdapter 逐字对齐）。\n *\n * 移植来源：packages/brepjs/src/kernel/solverAdapter.ts（Phase 5 随 brepjs 包删除前\n * 已做 parity 对拍——本文件与 vendored 行为逐项一致，无重新设计）。\n * 类型 SolverEntity/SolverConstraint/SolverResult 迁入 ./types（§5.6.1，消费方共用）。\n */\nimport type { SolverEntity, SolverConstraint, SolverResult } from './types'\n\nimport { quatRotate, quatFromAxisAngle, quatFromTo } from './quat'\n\n/** 3D vector (local alias to avoid cross-layer import). */\ntype Vec3 = readonly [number, number, number];\n\n/**\n * Degrees of freedom each constraint leaves unresolved when it can't be applied\n * (entity-type mismatch or an unreachable reference). All four types now solve\n * for well-typed inputs; these counts only feed the diagnostic `dof` for the\n * unsupported cases.\n * coincident: 3 translational · concentric: 2 rotational + 2 translational = 4\n * distance: 1 translational · angle: 1 rotational\n */\nconst UNSUPPORTED_DOF: Readonly<Record<string, number>> = {\n  coincident: 3,\n  concentric: 4,\n  distance: 1,\n  angle: 1,\n};\n\ntype Quat = [number, number, number, number];\ntype Pose = { position: Vec3; rotation: Quat };\n\nconst IDENTITY_ROTATION: Quat = [1, 0, 0, 0];\n\nfunction add(a: Vec3, b: Vec3): Vec3 {\n  return [a[0] + b[0], a[1] + b[1], a[2] + b[2]];\n}\n\nfunction sub(a: Vec3, b: Vec3): Vec3 {\n  return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];\n}\n\nfunction dot(a: Vec3, b: Vec3): number {\n  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];\n}\n\nfunction cross(a: Vec3, b: Vec3): Vec3 {\n  return [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];\n}\n\nfunction scale(a: Vec3, s: number): Vec3 {\n  return [a[0] * s, a[1] * s, a[2] * s];\n}\n\nfunction normalize(a: Vec3): Vec3 {\n  const l = Math.hypot(a[0], a[1], a[2]) || 1;\n  return [a[0] / l, a[1] / l, a[2] / l];\n}\n\n/** A unit vector perpendicular to `v` (for the parallel-normals degenerate case). */\nfunction anyPerpendicular(v: Vec3): Vec3 {\n  const ref: Vec3 = Math.abs(v[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];\n  return normalize(cross(v, ref));\n}\n\n/** Apply a pose (rotate then translate) to an entity's origin and any directions. */\nfunction transformEntity(e: SolverEntity, pose: Pose): SolverEntity {\n  const origin = add(quatRotate(pose.rotation, e.origin), pose.position);\n  return {\n    type: e.type,\n    origin,\n    ...(e.normal ? { normal: quatRotate(pose.rotation, e.normal) } : {}),\n    ...(e.direction ? { direction: quatRotate(pose.rotation, e.direction) } : {}),\n  };\n}\n\n/**\n * Position a dependent plane against an already-placed reference plane.\n *\n * `ref` is the reference entity already in world space. The dependent is at the\n * origin (a node is only solved once, while unplaced), so the returned position\n * is its absolute translation along the reference normal. `extra` is the gap for\n * a distance mate (0 for coincident). Plane mates don't reorient the dependent.\n */\nfunction solvePlanePair(ref: SolverEntity, dep: SolverEntity, extra: number): Pose {\n  const n = ref.normal ?? [0, 0, 1];\n  const offset = dot(n, sub(ref.origin, dep.origin)) + extra;\n  return { position: scale(n, offset), rotation: IDENTITY_ROTATION };\n}\n\n/**\n * Concentric (axis-axis) mate: rotate the dependent so its axis is parallel to\n * the reference axis, then translate so the two axes are collinear (the\n * dependent's axis point is placed on the reference axis). `ref` is in world\n * space; the dependent is at the origin.\n */\nfunction solveConcentric(ref: SolverEntity, dep: SolverEntity): Pose {\n  const dRef = ref.direction ?? [0, 0, 1];\n  const dDep = dep.direction ?? [0, 0, 1];\n  const rotation = quatFromTo(dDep, dRef);\n  const rotatedOrigin = quatRotate(rotation, dep.origin);\n  return { position: sub(ref.origin, rotatedOrigin), rotation };\n}\n\n/**\n * Angle mate: rotate the dependent so the angle between its (plane) normal and\n * the reference normal equals `angleRad`. Orientation-only — position is left at\n * the origin. `ref` is in world space; the dependent is at the origin.\n */\nfunction solveAngle(ref: SolverEntity, dep: SolverEntity, angleRad: number): Pose {\n  const nRef = normalize(ref.normal ?? [0, 0, 1]);\n  const nDep = normalize(dep.normal ?? [0, 0, 1]);\n  const phi = Math.acos(Math.max(-1, Math.min(1, dot(nDep, nRef))));\n  const c = cross(nDep, nRef);\n  const axis = Math.hypot(c[0], c[1], c[2]) < 1e-9 ? anyPerpendicular(nDep) : c;\n  // Rotating nDep about (nDep×nRef) by +phi aligns it with nRef; rotate by\n  // (phi − angle) to leave exactly `angleRad` between them.\n  return { position: [0, 0, 0], rotation: quatFromAxisAngle(axis, phi - angleRad) };\n}\n\n/**\n * Point-point coincident/distance: place the dependent point on the reference\n * point (`extra` = 0) or at `extra` along the original separation direction.\n * If the points already coincide the direction is arbitrary (+X).\n */\nfunction solvePointPair(refOrigin: Vec3, depOrigin: Vec3, extra: number): Pose {\n  const sep = sub(depOrigin, refOrigin);\n  const len = Math.hypot(sep[0], sep[1], sep[2]);\n  const dir: Vec3 = len < 1e-9 ? [1, 0, 0] : scale(sep, 1 / len);\n  const target = add(refOrigin, scale(dir, extra));\n  return { position: sub(target, depOrigin), rotation: IDENTITY_ROTATION };\n}\n\n/**\n * Move the dependent plane (normal `depNormal`, at the origin) so its signed\n * distance from the reference point equals `extra` (the mirror of `solvePlanePair`\n * for a point reference and a plane dependent).\n */\nfunction solvePlaneToPoint(depNormal: Vec3, refOrigin: Vec3, depOrigin: Vec3, extra: number): Pose {\n  const n = normalize(depNormal);\n  const t = dot(n, sub(refOrigin, depOrigin)) - extra;\n  return { position: scale(n, t), rotation: IDENTITY_ROTATION };\n}\n\n/**\n * Reference axis, dependent point: drop the point onto the axis line\n * (`extra` = 0) or place it at radial distance `extra` from the line, keeping\n * its along-axis position. A point already on the axis gets an arbitrary radial.\n */\nfunction solveAxisToPoint(ref: SolverEntity, depOrigin: Vec3, extra: number): Pose {\n  const d = normalize(ref.direction ?? [0, 0, 1]);\n  const foot = add(ref.origin, scale(d, dot(d, sub(depOrigin, ref.origin))));\n  if (extra === 0) return { position: sub(foot, depOrigin), rotation: IDENTITY_ROTATION };\n  const radial = sub(depOrigin, foot);\n  const rlen = Math.hypot(radial[0], radial[1], radial[2]);\n  const rdir = rlen < 1e-9 ? anyPerpendicular(d) : scale(radial, 1 / rlen);\n  return { position: sub(add(foot, scale(rdir, extra)), depOrigin), rotation: IDENTITY_ROTATION };\n}\n\n/**\n * Reference point, dependent axis: translate the axis line so it passes through\n * the point (`extra` = 0) or lies at perpendicular distance `extra` from it.\n * Translation is purely perpendicular to the axis, so the line's direction and\n * along-axis parameterization are preserved.\n */\nfunction solvePointToAxis(refOrigin: Vec3, dep: SolverEntity, extra: number): Pose {\n  const d = normalize(dep.direction ?? [0, 0, 1]);\n  const w = sub(dep.origin, refOrigin);\n  const perp = sub(w, scale(d, dot(d, w)));\n  const plen = Math.hypot(perp[0], perp[1], perp[2]);\n  if (extra === 0) return { position: scale(perp, -1), rotation: IDENTITY_ROTATION };\n  const pdir = plen < 1e-9 ? anyPerpendicular(d) : scale(perp, 1 / plen);\n  return { position: sub(scale(pdir, extra), perp), rotation: IDENTITY_ROTATION };\n}\n\n/**\n * Axis-axis distance: align the dependent axis parallel to the reference, then\n * offset it to perpendicular distance `extra` (parallel pin-and-spacer). With\n * `extra` = 0 the axes become collinear, matching `concentric`.\n */\nfunction solveAxisAxisDistance(ref: SolverEntity, dep: SolverEntity, extra: number): Pose {\n  const dRef = normalize(ref.direction ?? [0, 0, 1]);\n  const dDep = normalize(dep.direction ?? [0, 0, 1]);\n  const rotation = quatFromTo(dDep, dRef);\n  const depO = quatRotate(rotation, dep.origin);\n  const w = sub(depO, ref.origin);\n  const perp = sub(w, scale(dRef, dot(dRef, w)));\n  const plen = Math.hypot(perp[0], perp[1], perp[2]);\n  const pdir = plen < 1e-9 ? anyPerpendicular(dRef) : scale(perp, 1 / plen);\n  return { position: sub(scale(pdir, extra), perp), rotation };\n}\n\n/**\n * Supported entity-type pairs for the translational mates (`coincident` /\n * `distance`), keyed `${entityA}-${entityB}`. Both orders are listed where the\n * solver handles them, so a user need not pre-order the entities.\n */\nconst TRANSLATIONAL_PAIRS = new Set([\n  'plane-plane',\n  'plane-point',\n  'point-plane',\n  'point-point',\n  'axis-axis',\n  'axis-point',\n  'point-axis',\n]);\n\n/** Entity types the orientation/axis mates require of (entityA, entityB). */\nconst REQUIRED_ENTITIES: Readonly<Record<string, SolverEntity['type']>> = {\n  angle: 'plane',\n  concentric: 'axis',\n};\n\nconst POSITIONING_TYPES = new Set(['coincident', 'distance', 'angle', 'concentric']);\n\n/** Whether a positioning mate's entity pair is solvable. */\nfunction isSupportedPair(type: string, a: SolverEntity['type'], b: SolverEntity['type']): boolean {\n  const required = REQUIRED_ENTITIES[type];\n  if (required) return a === required && b === required;\n  // coincident / distance: dispatch by entity-type pair.\n  return TRANSLATIONAL_PAIRS.has(`${a}-${b}`);\n}\n\n/**\n * Solve a `coincident` (extra = 0) or `distance` (extra = value) mate for any\n * supported entity-type pair. `ref` is already in world space; the dependent is\n * at the origin. Returns null only for an unsupported pair (filtered out\n * upstream by `isSupportedPair`).\n */\nfunction solveTranslational(ref: SolverEntity, dep: SolverEntity, extra: number): Pose | null {\n  const key = `${ref.type}-${dep.type}`;\n  switch (key) {\n    case 'plane-plane':\n    case 'plane-point':\n      // Both use the reference plane normal; a point dependent has no normal.\n      return solvePlanePair(ref, dep, extra);\n    case 'point-plane':\n      return solvePlaneToPoint(dep.normal ?? [0, 0, 1], ref.origin, dep.origin, extra);\n    case 'point-point':\n      return solvePointPair(ref.origin, dep.origin, extra);\n    case 'axis-axis':\n      return extra === 0 ? solveConcentric(ref, dep) : solveAxisAxisDistance(ref, dep, extra);\n    case 'axis-point':\n      return solveAxisToPoint(ref, dep.origin, extra);\n    case 'point-axis':\n      return solvePointToAxis(ref.origin, dep, extra);\n    default:\n      return null;\n  }\n}\n\n/** Dispatch a positioning mate to its solver. `ref` is already in world space. */\nfunction solveMate(c: SolverConstraint, ref: SolverEntity, dep: SolverEntity): Pose {\n  switch (c.type) {\n    case 'concentric':\n      return solveConcentric(ref, dep);\n    case 'angle':\n      return solveAngle(ref, dep, ((c.value ?? 0) * Math.PI) / 180);\n    default: {\n      // coincident (extra = 0) / distance (extra = value). isSupportedPair has\n      // already filtered out unsupported pairs upstream, so a null here means\n      // TRANSLATIONAL_PAIRS and solveTranslational drifted out of sync — surface\n      // that invariant violation loudly rather than guessing with plane logic.\n      const extra = c.type === 'distance' ? (c.value ?? 0) : 0;\n      const pose = solveTranslational(ref, dep, extra);\n      if (!pose) {\n        throw new Error(\n          `solveMate: unsupported entity pair escaped filter: ${ref.type}-${dep.type}`\n        );\n      }\n      return pose;\n    }\n  }\n}\n\n/**\n * Solve assembly constraints analytically.\n *\n * Handles: fixed, concentric (axis-axis), angle (plane-plane orientation), and\n * coincident/distance for any supported entity-type pair (plane-plane,\n * plane-point, point-point, axis-axis, axis-point, and both point orders — see\n * `TRANSLATIONAL_PAIRS`). For a positioning mate, entityA is the reference and\n * entityB the dependent. Chain roots (nodes never positioned by a\n * mate) and explicit `fixed` nodes anchor at the origin; constraints then resolve\n * in topological order — each places its dependent against the reference's solved\n * pose (rotation included), so multi-body chains compose. Returns\n * `converged: false` with details for entity-type mismatches and any constraint\n * whose reference never resolves.\n * @param nodes - Names of the nodes participating in the assembly.\n * @param constraints - Constraints to solve.\n * @returns The solver result with per-node transforms, DOF count, and convergence info.\n */\nexport function solveConstraints(nodes: string[], constraints: SolverConstraint[]): SolverResult {\n  const transforms = new Map<string, Pose>();\n\n  // Initialize all nodes at origin\n  for (const node of nodes) {\n    transforms.set(node, { position: [0, 0, 0], rotation: IDENTITY_ROTATION });\n  }\n\n  const unsupported: string[] = [];\n\n  // For positioning mates, entityA is the reference and entityB the dependent.\n  const positioning = constraints.filter(\n    (c) => POSITIONING_TYPES.has(c.type) && c.entityA && c.entityB\n  );\n  const dependents = new Set<string>();\n  for (const c of positioning) if (c.entityB) dependents.add(c.entityB.node);\n\n  // Anchors are placed at the origin: any node never positioned by a mate (a\n  // chain root), plus any explicit `fixed` node.\n  const placed = new Set<string>();\n  for (const node of nodes) if (!dependents.has(node)) placed.add(node);\n  for (const c of constraints) if (c.type === 'fixed' && c.entityA) placed.add(c.entityA.node);\n\n  // Entity-type mismatches are unsupported regardless of order; report them\n  // eagerly and keep only well-typed mates for topological resolution. A node\n  // left unplaced by such a mate (it's a dependent, so not a root) will cause\n  // any downstream mate that references it to end up `(unanchored)` — intended:\n  // an unsolved reference can't compose, so the chain doesn't converge.\n  const pending: SolverConstraint[] = [];\n  for (const c of positioning) {\n    if (!c.entityA || !c.entityB) continue;\n    const a = c.entityA.entity.type;\n    const b = c.entityB.entity.type;\n    if (!isSupportedPair(c.type, a, b)) {\n      unsupported.push(`${c.type}(${a}-${b})`);\n      continue;\n    }\n    pending.push(c);\n  }\n\n  // Resolve in topological rounds: a mate solves once its reference (entityA) is\n  // placed, positioning the dependent (entityB) against the reference's solved\n  // world-space pose so multi-body chains compose.\n  let progress = true;\n  while (progress && pending.length > 0) {\n    progress = false;\n    for (let i = pending.length - 1; i >= 0; i--) {\n      const c = pending[i];\n      if (!c?.entityA || !c.entityB) continue;\n      const ref = c.entityA;\n      const dep = c.entityB;\n      if (!placed.has(ref.node)) continue; // reference not solved yet — defer\n\n      pending.splice(i, 1);\n      progress = true;\n      if (placed.has(dep.node)) continue; // dependent already anchored (fixed) — redundant\n\n      const refPose = transforms.get(ref.node) ?? {\n        position: [0, 0, 0],\n        rotation: IDENTITY_ROTATION,\n      };\n      const refWorld = transformEntity(ref.entity, refPose);\n      transforms.set(dep.node, solveMate(c, refWorld, dep.entity));\n      placed.add(dep.node);\n    }\n  }\n\n  // Anything still pending has a reference that never resolved (e.g. a cycle).\n  for (const c of pending) unsupported.push(`${c.type}(unanchored)`);\n\n  const dof = unsupported.reduce((sum, type) => {\n    // Look up by exact key first, then by base type (before parenthesis)\n    const baseDof = UNSUPPORTED_DOF[type] ?? UNSUPPORTED_DOF[type.split('(')[0] ?? ''] ?? 0;\n    return sum + baseDof;\n  }, 0);\n\n  return { transforms, dof, converged: unsupported.length === 0, unsupported };\n}\n"]}

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

@@ -18,7 +18,7 @@
  * 失败模式（§4.6）：唯一抛错路径 = 约束类型无法映射为代价；其余以 warnings 透明化，
  * 不抛错（LM 终止即 converged=true）。
  */
-import { getBackends } from '../../../runtime-state.js';
+import { getBrepApi } from '../../../brep/handle-bridge.js';
 import { normalizeConstraint } from '../normalize.js';
 import { poseToAssemblyTransform } from '../pose.js';
 import { resolveFaceGeometryOfRef, resolveSolverEntity, } from '../entities.js';
@@ -142,7 +142,7 @@ export function solveGlobal(members, memberNames, constraints, opts) {
     });
     let kernel = null;
     try {
-        kernel = getBackends().kernel.brep;
+        kernel = getBrepApi();
     }
     catch {
         /* mesh/primitive 行快照路径：快照引用仍可解 */

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

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