@faicad/faijs 0.16.1 → 0.18.0

package/dist/api/assembly/solvers/joints-kinematics.js.map

@@ -0,0 +1 @@
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* Kinematic joints + IK — core 自有实现（§5.6.3 移植：vendored jointFns + ikFns 逐字对齐）。\n *\n * 移植来源：packages/brepjs/src/operations/{jointFns,ikFns}.ts（纯算法零 kernel 依赖，\n * 仅用 quat 与 assembly-tree；Phase 5 随 brepjs 包删除前已做 parity 对拍）。\n */\nimport { quatFromAxisAngle, quatRotate, quatMultiply } from './quat'\nimport type { AssemblyNode, Vec3 } from './assembly-tree'\nimport { walkAssembly } from './assembly-tree'\n\n/**\n * Drivable kinematic joints — built on the assembly tree. A joint connects a\n * `parent` (reference) body to a `child` (moving) body and carries one or more\n * drivable degrees of freedom (DOF), each clamped to its own range.\n *\n * Single-DOF joints (`revolute`, `prismatic`) are sugar over the Phase-1 mate\n * constraints — a revolute is concentric (axis alignment) plus an angle driver;\n * a prismatic is coincident plus a distance driver. Multi-DOF joints compose\n * several DOFs about a shared anchor: `cylindrical` (rotation + slide on one\n * axis, 2 DOF), `planar` (two in-plane translations + a rotation about the\n * normal, 3 DOF), and `spherical` (three rotations about a pivot, 3 DOF).\n *\n * The `dofs` array is the source of truth; `value`/`min`/`max`/`axis` mirror the\n * primary (first) DOF for single-DOF ergonomics and backward compatibility.\n * `joint.dofs` are the stored degrees of freedom, distinct from\n * `AssemblyNode.rotate` (a static structural transform).\n */\n\n\n// ---------------------------------------------------------------------------\n// Types\n// ---------------------------------------------------------------------------\n\n/** A joint axis: a point on the axis line plus a direction. */\nexport interface JointAxis {\n  readonly origin: Vec3;\n  readonly direction: Vec3;\n}\n\n/** The kind of kinematic joint: revolute, prismatic, cylindrical, planar, or spherical. */\nexport type JointType = 'revolute' | 'prismatic' | 'cylindrical' | 'planar' | 'spherical';\n\n/**\n * A single drivable degree of freedom. A `rotation` DOF turns about the joint's\n * anchor point along `axis` (degrees); a `translation` DOF slides along `axis`\n * (length units). `value` is always clamped to `[min, max]`.\n */\nexport interface JointDOF {\n  readonly kind: 'rotation' | 'translation';\n  readonly axis: Vec3;\n  readonly min: number;\n  readonly max: number;\n  readonly value: number;\n}\n\n/**\n * A kinematic joint connecting a parent and child body, with its drivable DOFs.\n */\nexport interface Joint {\n  readonly type: JointType;\n  /** Reference body (stays put); the child moves relative to it. */\n  readonly parent: string;\n  readonly child: string;\n  /** Primary axis; `origin` is the anchor every rotation DOF pivots about. */\n  readonly axis: JointAxis;\n  /** Primary-DOF range bounds (mirror of `dofs[0]`). */\n  readonly min: number;\n  readonly max: number;\n  /** Primary-DOF value (mirror of `dofs[0]`), always clamped to `[min, max]`. */\n  readonly value: number;\n  /** All drivable degrees of freedom, in composition order. */\n  readonly dofs: readonly JointDOF[];\n  /**\n   * Optional fixed transform applied to the child frame *after* the joint\n   * motion (`childWorld = parentWorld ∘ jointTransform ∘ offset`). Lets a single\n   * joint carry a static link offset (e.g. a Denavit-Hartenberg link geometry)\n   * without an extra body. Defaults to identity. See `jointsFromDH`.\n   */\n  readonly offset?: JointPose;\n}\n\n/** A rigid transform: translation + quaternion rotation `[w, x, y, z]`. */\nexport interface JointPose {\n  readonly position: Vec3;\n  readonly rotation: [number, number, number, number];\n}\n\n/** Options for single-DOF joints: range bounds and initial value. */\nexport interface JointOptions {\n  /** Range lower bound. Default: -180 (revolute) / 0 (prismatic). */\n  min?: number;\n  /** Range upper bound. Default: 180 (revolute) / 100 (prismatic). */\n  max?: number;\n  /** Initial value, clamped to the range. Default: 0. */\n  value?: number;\n}\n\n/** Per-DOF ranges for a cylindrical joint (rotation about + slide along one axis). */\nexport interface CylindricalOptions {\n  /** Rotation DOF (degrees). Default range -180..180. */\n  rotation?: JointOptions;\n  /**\n   * Translation DOF (length). Default range 0..100, matching `prismaticJoint`\n   * (both model a slide along an axis). This is deliberately asymmetric with\n   * `planarJoint`'s in-plane translations, which default to -100..100 because\n   * an unanchored in-plane slide is naturally bidirectional.\n   */\n  translation?: JointOptions;\n}\n\n/** Per-DOF ranges for a planar joint (two in-plane translations + a rotation). */\nexport interface PlanarOptions {\n  /** Translation along the in-plane `uDirection`. Default range -100..100. */\n  u?: JointOptions;\n  /** Translation along `normal × u`. Default range -100..100. */\n  v?: JointOptions;\n  /** Rotation about the plane normal (degrees). Default range -180..180. */\n  rotation?: JointOptions;\n  /**\n   * In-plane reference direction for the `u` translation. Projected onto the\n   * plane and normalized; defaults to an arbitrary perpendicular of the normal.\n   */\n  uDirection?: Vec3;\n}\n\n/** Per-DOF ranges for a spherical joint (three rotations about a pivot). */\nexport interface SphericalOptions {\n  /** Rotation about local X through the pivot (degrees). Default range -180..180. */\n  x?: JointOptions;\n  /** Rotation about local Y through the pivot (degrees). Default range -180..180. */\n  y?: JointOptions;\n  /** Rotation about local Z through the pivot (degrees). Default range -180..180. */\n  z?: JointOptions;\n}\n\nconst DEG2RAD = Math.PI / 180;\n\n// ---------------------------------------------------------------------------\n// Construction\n// ---------------------------------------------------------------------------\n\nfunction clamp(value: number, min: number, max: number): number {\n  return Math.min(max, Math.max(min, value));\n}\n\nfunction unit(v: Vec3): Vec3 {\n  const l = Math.hypot(v[0], v[1], v[2]) || 1;\n  return [v[0] / l, v[1] / l, v[2] / l];\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\n/** A unit vector perpendicular to `v` (for the unspecified-reference case). */\nfunction anyPerpendicular(v: Vec3): Vec3 {\n  const ref: Vec3 = Math.abs(v[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];\n  return unit(cross(v, ref));\n}\n\n/** Build one DOF, normalizing an inverted range and clamping the initial value. */\nfunction makeDof(\n  kind: JointDOF['kind'],\n  axis: Vec3,\n  opts: JointOptions,\n  defMin: number,\n  defMax: number\n): JointDOF {\n  // Normalize the range so an inverted (min > max) input can't break the\n  // \"value is always within [min, max]\" invariant.\n  const a = opts.min ?? defMin;\n  const b = opts.max ?? defMax;\n  const min = Math.min(a, b);\n  const max = Math.max(a, b);\n  return { kind, axis: unit(axis), min, max, value: clamp(opts.value ?? 0, min, max) };\n}\n\n/** Assemble a Joint from its DOFs, mirroring the primary DOF into the top level. */\nfunction buildJoint(\n  type: JointType,\n  parent: string,\n  child: string,\n  axis: JointAxis,\n  dofs: readonly JointDOF[]\n): Joint {\n  const primary = dofs[0] ?? { kind: 'rotation', axis: [0, 0, 1], min: 0, max: 0, value: 0 };\n  return {\n    type,\n    parent,\n    child,\n    axis: { origin: axis.origin, direction: unit(axis.direction) },\n    min: primary.min,\n    max: primary.max,\n    value: primary.value,\n    dofs,\n  };\n}\n\n/** A revolute (hinge) joint — the child rotates about `axis` by `value` degrees.\n * @param parent - Name of the reference (parent) body.\n * @param child - Name of the body moved by the joint.\n * @param axis - Joint axis: anchor point and direction.\n * @param opts - Optional range bounds and initial value.\n * @returns The newly created revolute joint.\n */\nexport function revoluteJoint(\n  parent: string,\n  child: string,\n  axis: JointAxis,\n  opts: JointOptions = {}\n): Joint {\n  return buildJoint('revolute', parent, child, axis, [\n    makeDof('rotation', axis.direction, opts, -180, 180),\n  ]);\n}\n\n/**\n * A prismatic (slider) joint — the child translates along `axis` by `value`\n * units. Only `axis.direction` is used; `axis.origin` is ignored (a pure\n * translation has no anchor point), unlike a revolute joint which rotates about\n * the axis line through `origin`.\n * @param parent - Name of the reference (parent) body.\n * @param child - Name of the body moved by the joint.\n * @param axis - Slide axis; only `direction` is used.\n * @param opts - Optional range bounds and initial value.\n * @returns The newly created prismatic joint.\n */\nexport function prismaticJoint(\n  parent: string,\n  child: string,\n  axis: JointAxis,\n  opts: JointOptions = {}\n): Joint {\n  return buildJoint('prismatic', parent, child, axis, [\n    makeDof('translation', axis.direction, opts, 0, 100),\n  ]);\n}\n\n/**\n * A cylindrical joint — the child both rotates about and slides along a single\n * `axis` (2 DOF). DOF order: `[rotation, translation]`. The two motions share\n * the axis, so they commute; rotation pivots about `axis.origin`.\n * @param parent - Name of the reference (parent) body.\n * @param child - Name of the body moved by the joint.\n * @param axis - Joint axis: anchor point and direction.\n * @param opts - Optional per-DOF ranges and initial values.\n * @returns The newly created cylindrical joint.\n */\nexport function cylindricalJoint(\n  parent: string,\n  child: string,\n  axis: JointAxis,\n  opts: CylindricalOptions = {}\n): Joint {\n  return buildJoint('cylindrical', parent, child, axis, [\n    makeDof('rotation', axis.direction, opts.rotation ?? {}, -180, 180),\n    makeDof('translation', axis.direction, opts.translation ?? {}, 0, 100),\n  ]);\n}\n\n/**\n * A planar joint — the child translates within a plane and rotates about its\n * normal (3 DOF). `plane.direction` is the normal; `plane.origin` the rotation\n * anchor. DOF order: `[u-translation, v-translation, rotation]`, where the\n * translations are applied in the plane frame (independent of the rotation).\n * @param parent - Name of the reference (parent) body.\n * @param child - Name of the body moved by the joint.\n * @param plane - Plane definition; `direction` is the normal, `origin` the anchor.\n * @param opts - Optional per-DOF ranges, initial values, and in-plane axes.\n * @returns The newly created planar joint.\n */\nexport function planarJoint(\n  parent: string,\n  child: string,\n  plane: JointAxis,\n  opts: PlanarOptions = {}\n): Joint {\n  const normal = unit(plane.direction);\n  // Project a requested u-direction onto the plane; fall back to an arbitrary\n  // in-plane axis. v completes a right-handed in-plane basis.\n  let u: Vec3;\n  if (opts.uDirection) {\n    const d = opts.uDirection;\n    const proj = d[0] * normal[0] + d[1] * normal[1] + d[2] * normal[2];\n    const inPlane: Vec3 = [\n      d[0] - proj * normal[0],\n      d[1] - proj * normal[1],\n      d[2] - proj * normal[2],\n    ];\n    u =\n      Math.hypot(inPlane[0], inPlane[1], inPlane[2]) < 1e-9\n        ? anyPerpendicular(normal)\n        : unit(inPlane);\n  } else {\n    u = anyPerpendicular(normal);\n  }\n  const v = unit(cross(normal, u));\n  return buildJoint('planar', parent, child, { origin: plane.origin, direction: normal }, [\n    makeDof('translation', u, opts.u ?? {}, -100, 100),\n    makeDof('translation', v, opts.v ?? {}, -100, 100),\n    makeDof('rotation', normal, opts.rotation ?? {}, -180, 180),\n  ]);\n}\n\n/**\n * A spherical (ball) joint — the child rotates freely about a pivot point\n * (3 DOF). DOF order: `[x, y, z]` rotations about the local axes through\n * `pivot`, composed as `Rx · Ry · Rz`.\n * @param parent - Name of the reference (parent) body.\n * @param child - Name of the body moved by the joint.\n * @param pivot - Pivot point all rotations pass through.\n * @param opts - Optional per-axis ranges and initial values.\n * @returns The newly created spherical joint.\n */\nexport function sphericalJoint(\n  parent: string,\n  child: string,\n  pivot: Vec3,\n  opts: SphericalOptions = {}\n): Joint {\n  return buildJoint('spherical', parent, child, { origin: pivot, direction: [0, 0, 1] }, [\n    makeDof('rotation', [1, 0, 0], opts.x ?? {}, -180, 180),\n    makeDof('rotation', [0, 1, 0], opts.y ?? {}, -180, 180),\n    makeDof('rotation', [0, 0, 1], opts.z ?? {}, -180, 180),\n  ]);\n}\n\n/**\n * Return a copy of `joint` with per-DOF values set (each clamped to its range).\n * Values are positional, matching `joint.dofs`; omitted entries keep their\n * stored value. The primary mirror (`value`) is kept in sync with `dofs[0]`.\n * @param joint - The joint to update.\n * @param values - Positional per-DOF values; omitted entries keep their value.\n * @returns A new joint with the values set.\n */\nexport function setJointValues(joint: Joint, values: readonly number[]): Joint {\n  const dofs = joint.dofs.map((d, i) => {\n    const v = values[i];\n    return v === undefined ? d : { ...d, value: clamp(v, d.min, d.max) };\n  });\n  const primary = dofs[0];\n  return primary ? { ...joint, dofs, value: primary.value } : { ...joint, dofs };\n}\n\n/** Return a copy of `joint` with its primary DOF set (clamped to range).\n * @param joint - The joint to update.\n * @param value - New primary-DOF value.\n * @returns A new joint with the primary value set.\n */\nexport function setJointValue(joint: Joint, value: number): Joint {\n  return setJointValues(joint, [value]);\n}\n\n// ---------------------------------------------------------------------------\n// Kinematics\n// ---------------------------------------------------------------------------\n\n/** The local rigid transform contributed by a single DOF at `value`. */\nfunction dofPose(origin: Vec3, dof: JointDOF, value: number): JointPose {\n  if (dof.kind === 'translation') {\n    // `origin` is intentionally unused: a pure translation has no pivot.\n    return {\n      position: [dof.axis[0] * value, dof.axis[1] * value, dof.axis[2] * value],\n      rotation: [1, 0, 0, 0],\n    };\n  }\n  // Rotation about the axis line through `origin`: p ↦ R·p + (origin − R·origin).\n  const rotation = quatFromAxisAngle(dof.axis, value * DEG2RAD);\n  const ro = quatRotate(rotation, origin);\n  return { position: [origin[0] - ro[0], origin[1] - ro[1], origin[2] - ro[2]], rotation };\n}\n\n/**\n * The child's local rigid transform (relative to the parent) for given DOF\n * values. Defaults to each DOF's stored value. A single `number` overrides only\n * the primary DOF (single-DOF ergonomics); an array overrides positionally,\n * with omitted entries keeping their stored value. Each value is clamped to its\n * DOF range.\n *\n * DOFs are folded in array order via frame composition. For same-anchor\n * rotations (e.g. spherical) this composes to a single rotation about the pivot;\n * for a cylindrical axis the rotation and slide commute.\n * @param joint - The joint to evaluate.\n * @param value - Primary-DOF override (number) or positional per-DOF overrides.\n * @returns The child's local pose relative to the parent.\n */\nexport function jointTransform(\n  joint: Joint,\n  value: number | readonly number[] = joint.value\n): JointPose {\n  const overrides = Array.isArray(value) ? (value as readonly number[]) : undefined;\n  const primary = overrides ? undefined : (value as number);\n  const origin = joint.axis.origin;\n\n  let pose = IDENTITY_POSE;\n  for (let i = 0; i < joint.dofs.length; i++) {\n    const dof = joint.dofs[i];\n    if (!dof) continue;\n    const raw = overrides\n      ? (overrides[i] ?? dof.value)\n      : i === 0\n        ? (primary ?? dof.value)\n        : dof.value;\n    pose = composePose(pose, dofPose(origin, dof, clamp(raw, dof.min, dof.max)));\n  }\n  return pose;\n}\n\n// ---------------------------------------------------------------------------\n// Assembly integration\n// ---------------------------------------------------------------------------\n\n/** Attach a joint to an assembly node. Returns a new node (immutable).\n * @param assembly - The assembly node to attach the joint to.\n * @param joint - The joint to attach.\n * @returns A new node with the joint added.\n */\nexport function addJoint(assembly: AssemblyNode, joint: Joint): AssemblyNode {\n  const existing = (assembly.joints ?? []) as readonly Joint[];\n  return { ...assembly, joints: [...existing, joint] };\n}\n\n// ---------------------------------------------------------------------------\n// Forward kinematics\n// ---------------------------------------------------------------------------\n\nconst IDENTITY_POSE: JointPose = { position: [0, 0, 0], rotation: [1, 0, 0, 0] };\n\n/** Compose two poses: the result applies `b` in `a`'s frame (`a ∘ b`). */\nfunction composePose(a: JointPose, b: JointPose): JointPose {\n  const rb = quatRotate(a.rotation, b.position);\n  return {\n    position: [a.position[0] + rb[0], a.position[1] + rb[1], a.position[2] + rb[2]],\n    rotation: quatMultiply(a.rotation, b.rotation),\n  };\n}\n\n/** Collect every joint attached anywhere in the assembly tree. */\nfunction collectJoints(assembly: AssemblyNode): Joint[] {\n  const joints: Joint[] = [];\n  walkAssembly(assembly, (node) => {\n    if (node.joints) joints.push(...(node.joints as readonly Joint[]));\n  });\n  return joints;\n}\n\n/**\n * Forward kinematics: set joint values and propagate world poses down the\n * kinematic chain. Each joint's axis is interpreted in its **parent's** frame,\n * so a child's world pose is `parentWorld ∘ jointTransform(joint, value)`.\n *\n * Bodies not driven by a joint (chain roots) start at the origin. `jointValues`\n * overrides a joint's stored value, keyed by the **child** node name; omitted\n * joints use `joint.value`. Resolution is topological (reuses the Phase-0\n * ordering), so chains of any depth compose. Returns a world pose for every node.\n * @param assembly - The assembly to solve.\n * @param jointValues - Optional value overrides keyed by child node name.\n * @returns A world pose for every node in the assembly.\n */\nexport function forwardKinematics(\n  assembly: AssemblyNode,\n  jointValues: Readonly<Record<string, number | readonly number[]>> = {}\n): Map<string, JointPose> {\n  // Single pass: gather joints and node names together.\n  const joints: Joint[] = [];\n  const names = new Set<string>();\n  walkAssembly(assembly, (node) => {\n    names.add(node.name);\n    if (node.joints) joints.push(...(node.joints as readonly Joint[]));\n  });\n  const byChild = new Map<string, Joint>();\n  for (const j of joints) {\n    byChild.set(j.child, j);\n    names.add(j.parent);\n    names.add(j.child);\n  }\n\n  const poses = new Map<string, JointPose>();\n  // Roots: any node not driven by a joint sits at the origin.\n  for (const name of names) if (!byChild.has(name)) poses.set(name, IDENTITY_POSE);\n\n  // Propagate down the joint graph: a joint resolves once its parent is placed.\n  const pending = [...joints];\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 j = pending[i];\n      if (!j) continue;\n      const parentPose = poses.get(j.parent);\n      if (!parentPose) continue; // parent not placed yet — defer\n      pending.splice(i, 1);\n      progress = true;\n      if (poses.has(j.child)) continue; // already placed (duplicate/cycle) — skip\n      const value = jointValues[j.child] ?? j.value;\n      const local = j.offset\n        ? composePose(jointTransform(j, value), j.offset)\n        : jointTransform(j, value);\n      poses.set(j.child, composePose(parentPose, local));\n    }\n  }\n  // A joint whose parent never resolved (cycle/dangling) still gets an entry so\n  // the map covers every node.\n  for (const j of pending) if (!poses.has(j.child)) poses.set(j.child, IDENTITY_POSE);\n\n  return poses;\n}\n\n/**\n * Open-chain mobility — the number of independent degrees of freedom, summing\n * each joint's DOF count (revolute/prismatic 1, cylindrical 2, planar/spherical\n * 3). For a serial chain this equals the total DOF. (Closed-loop\n * Grübler/Kutzbach analysis is future work.)\n * @param assembly - The assembly to analyze.\n * @returns Total number of independent degrees of freedom.\n */\nexport function mechanismDOF(assembly: AssemblyNode): number {\n  return collectJoints(assembly).reduce((sum, j) => sum + j.dofs.length, 0);\n}\n\n/**\n * Inverse kinematics and motion trajectories for joint chains.\n *\n * `inverseKinematics` solves for the joint values that place an end-effector at\n * a target pose, using a damped-least-squares (Levenberg-Marquardt) update over\n * a numerically-differentiated Jacobian. Differentiating through\n * `forwardKinematics` keeps the solver agnostic to joint type — revolute,\n * prismatic, and the multi-DOF cylindrical/planar/spherical joints all\n * contribute their `dofs` uniformly — and respects each DOF's range by clamping\n * every iterate.\n *\n * `jointTrajectory` samples a straight-line path in joint space between two\n * configurations, returning the posed assembly (via forward kinematics) at each\n * step — the building block for animation and reachable-workspace sweeps.\n */\n\n\ntype Quat = readonly [number, number, number, number];\n\n// ---------------------------------------------------------------------------\n// Types\n// ---------------------------------------------------------------------------\n\n/** A target for the end-effector: a world position, optionally an orientation. */\nexport interface IKTarget {\n  readonly position: Vec3;\n  /** Target orientation `[w, x, y, z]`. Omit for position-only IK. */\n  readonly rotation?: Quat;\n}\n\n/** Options for the inverse-kinematics solver (iterations, tolerance, damping, seed). */\nexport interface IKOptions {\n  /** Maximum solver iterations. Default 200. */\n  maxIterations?: number;\n  /** Convergence threshold on the residual norm. Default 1e-5. */\n  tolerance?: number;\n  /** Damping factor λ for the least-squares step. Default 0.05. */\n  damping?: number;\n  /** Initial joint values, keyed by child node (number or per-DOF array). */\n  seed?: Readonly<Record<string, number | readonly number[]>>;\n  /** Local point on the end-effector node to drive to the target. Default origin. */\n  tip?: Vec3;\n}\n\n/** Outcome of an inverse-kinematics solve: values, convergence, and residual. */\nexport interface IKResult {\n  /** Solved joint values, keyed by child node, one entry per DOF. */\n  readonly values: Record<string, number[]>;\n  readonly converged: boolean;\n  readonly iterations: number;\n  /** Final residual norm (position, plus orientation when targeted). */\n  readonly error: number;\n}\n\n// ---------------------------------------------------------------------------\n// Small vector / quaternion helpers\n// ---------------------------------------------------------------------------\n\nconst IK_IDENTITY_POSE: JointPose = { position: [0, 0, 0], rotation: [1, 0, 0, 0] };\n\nfunction applyPose(pose: JointPose, p: Vec3): Vec3 {\n  const r = quatRotate(pose.rotation, p);\n  return [r[0] + pose.position[0], r[1] + pose.position[1], r[2] + pose.position[2]];\n}\n\nfunction quatConjugate(q: Quat): Quat {\n  return [q[0], -q[1], -q[2], -q[3]];\n}\n\n/**\n * The rotation vector (axis · angle) taking orientation `from` to `to`, i.e. the\n * angular error that drives `from` toward `to`. Returns the zero vector when the\n * orientations coincide.\n */\nfunction rotationError(from: Quat, to: Quat): Vec3 {\n  const d = quatMultiply(to, quatConjugate(from));\n  let [w, x, y, z] = d;\n  const norm = Math.hypot(w, x, y, z) || 1;\n  w /= norm;\n  x /= norm;\n  y /= norm;\n  z /= norm;\n  if (w < 0) {\n    // Shortest path: q and -q represent the same rotation.\n    w = -w;\n    x = -x;\n    y = -y;\n    z = -z;\n  }\n  const s = Math.hypot(x, y, z);\n  if (s < 1e-12) return [0, 0, 0];\n  const angle = 2 * Math.atan2(s, w);\n  const k = angle / s;\n  return [x * k, y * k, z * k];\n}\n\n// ---------------------------------------------------------------------------\n// Chain extraction\n// ---------------------------------------------------------------------------\n\n/** Joints from the root down to `endEffector`, in root→leaf order. */\nfunction chainTo(assembly: AssemblyNode, endEffector: string): Joint[] {\n  const joints: Joint[] = [];\n  walkAssembly(assembly, (n) => {\n    if (n.joints) joints.push(...(n.joints as readonly Joint[]));\n  });\n  const byChild = new Map<string, Joint>();\n  for (const j of joints) byChild.set(j.child, j);\n\n  const chain: Joint[] = [];\n  const seen = new Set<string>();\n  let cur: string | undefined = endEffector;\n  while (cur && byChild.has(cur) && !seen.has(cur)) {\n    seen.add(cur);\n    const j = byChild.get(cur);\n    if (!j) break;\n    chain.push(j);\n    cur = j.parent;\n  }\n  return chain.reverse();\n}\n\n// ---------------------------------------------------------------------------\n// Linear algebra (small dense systems, Float64Array to avoid index-undefined)\n// ---------------------------------------------------------------------------\n\n/** Read a Float64Array element as a definite number (dense matrices are full). */\nfunction el(a: Float64Array, i: number): number {\n  return a[i] ?? 0;\n}\n\n/** Solve `A x = b` for an `n×n` system by Gauss-Jordan with partial pivoting. */\nfunction solveLinear(A: Float64Array, b: Float64Array, n: number): Float64Array | null {\n  const w = n + 1;\n  const M = new Float64Array(n * w);\n  for (let r = 0; r < n; r++) {\n    for (let c = 0; c < n; c++) M[r * w + c] = el(A, r * n + c);\n    M[r * w + n] = el(b, r);\n  }\n  for (let col = 0; col < n; col++) {\n    let piv = col;\n    for (let r = col + 1; r < n; r++) {\n      if (Math.abs(el(M, r * w + col)) > Math.abs(el(M, piv * w + col))) piv = r;\n    }\n    if (Math.abs(el(M, piv * w + col)) < 1e-12) return null;\n    if (piv !== col) {\n      for (let k = col; k < w; k++) {\n        const tmp = el(M, col * w + k);\n        M[col * w + k] = el(M, piv * w + k);\n        M[piv * w + k] = tmp;\n      }\n    }\n    const d = el(M, col * w + col);\n    for (let k = col; k < w; k++) M[col * w + k] = el(M, col * w + k) / d;\n    for (let r = 0; r < n; r++) {\n      if (r === col) continue;\n      const f = el(M, r * w + col);\n      if (f === 0) continue;\n      for (let k = col; k < w; k++) M[r * w + k] = el(M, r * w + k) - f * el(M, col * w + k);\n    }\n  }\n  const x = new Float64Array(n);\n  for (let r = 0; r < n; r++) x[r] = el(M, r * w + n);\n  return x;\n}\n\n// ---------------------------------------------------------------------------\n// Inverse kinematics\n// ---------------------------------------------------------------------------\n\ninterface FlatChain {\n  /** Joint segments in root→leaf order, each owning `count` consecutive DOFs. */\n  readonly segments: ReadonlyArray<{ child: string; count: number }>;\n  /** Current parameter vector (one entry per DOF). */\n  readonly q: Float64Array;\n  /** Per-DOF lower and upper bounds. */\n  readonly lo: Float64Array;\n  readonly hi: Float64Array;\n}\n\n/** Flatten a chain's DOFs into a parameter vector with bounds, applying the seed. */\nfunction flattenChain(\n  chain: readonly Joint[],\n  seed?: Readonly<Record<string, number | readonly number[]>>\n): FlatChain {\n  const segments: Array<{ child: string; count: number }> = [];\n  const q: number[] = [];\n  const lo: number[] = [];\n  const hi: number[] = [];\n  for (const j of chain) {\n    const s = seed?.[j.child];\n    segments.push({ child: j.child, count: j.dofs.length });\n    j.dofs.forEach((dof, i) => {\n      const seeded = Array.isArray(s) ? s[i] : i === 0 ? (s as number | undefined) : undefined;\n      const v = seeded ?? dof.value;\n      q.push(Math.min(dof.max, Math.max(dof.min, v)));\n      lo.push(dof.min);\n      hi.push(dof.max);\n    });\n  }\n  return {\n    segments,\n    q: Float64Array.from(q),\n    lo: Float64Array.from(lo),\n    hi: Float64Array.from(hi),\n  };\n}\n\n/** Slice a parameter vector back into per-joint value arrays keyed by child. */\nfunction overridesOf(segments: FlatChain['segments'], q: Float64Array): Record<string, number[]> {\n  const out: Record<string, number[]> = {};\n  let i = 0;\n  for (const seg of segments) {\n    const vals: number[] = [];\n    for (let k = 0; k < seg.count; k++) vals.push(el(q, i++));\n    out[seg.child] = vals;\n  }\n  return out;\n}\n\n/** Residual twist `e` (target − current) for a pose; returns its norm. */\nfunction residualTwist(\n  out: Float64Array,\n  pose: JointPose,\n  target: IKTarget,\n  tip: Vec3,\n  m: number\n): number {\n  const pos = applyPose(pose, tip);\n  out[0] = target.position[0] - pos[0];\n  out[1] = target.position[1] - pos[1];\n  out[2] = target.position[2] - pos[2];\n  if (m === 6 && target.rotation) {\n    const r = rotationError(pose.rotation, target.rotation);\n    out[3] = r[0];\n    out[4] = r[1];\n    out[5] = r[2];\n  }\n  let s = 0;\n  for (let i = 0; i < m; i++) s += el(out, i) ** 2;\n  return Math.sqrt(s);\n}\n\n/**\n * Finite-difference Jacobian: column `j` is the end-effector twist from δq[j].\n * The probe steps *inward* from a bound — `forwardKinematics` clamps each DOF to\n * its range, so a forward `+eps` at the upper limit would yield a zero column and\n * trap the solver at the ceiling. Stepping `-eps` there (and dividing by the\n * signed step) keeps every column a true one-sided derivative.\n */\nfunction fillJacobian(\n  J: Float64Array,\n  q: Float64Array,\n  n: number,\n  m: number,\n  lo: Float64Array,\n  hi: Float64Array,\n  base: JointPose,\n  tip: Vec3,\n  eps: number,\n  tipPose: (s: Float64Array) => JointPose\n): void {\n  const basePos = applyPose(base, tip);\n  for (let j = 0; j < n; j++) {\n    const saved = el(q, j);\n    // Step away from whichever bound we're against so the perturbation isn't\n    // clamped to a no-op; default forward.\n    const h = saved + eps > el(hi, j) && saved - eps >= el(lo, j) ? -eps : eps;\n    q[j] = saved + h;\n    const p2 = tipPose(q);\n    q[j] = saved;\n    const pos2 = applyPose(p2, tip);\n    J[j] = (pos2[0] - basePos[0]) / h;\n    J[n + j] = (pos2[1] - basePos[1]) / h;\n    J[2 * n + j] = (pos2[2] - basePos[2]) / h;\n    if (m === 6) {\n      const dr = rotationError(base.rotation, p2.rotation);\n      J[3 * n + j] = dr[0] / h;\n      J[4 * n + j] = dr[1] / h;\n      J[5 * n + j] = dr[2] / h;\n    }\n  }\n}\n\n/** One damped-least-squares step: `Δq = Jᵀ(JJᵀ + λ²I)⁻¹ e`. */\nfunction dlsStep(\n  J: Float64Array,\n  e: Float64Array,\n  n: number,\n  m: number,\n  lambda: number\n): Float64Array | null {\n  const A = new Float64Array(m * m);\n  const lam2 = lambda * lambda;\n  for (let r = 0; r < m; r++) {\n    for (let c = 0; c < m; c++) {\n      let s = 0;\n      for (let k = 0; k < n; k++) s += el(J, r * n + k) * el(J, c * n + k);\n      A[r * m + c] = s + (r === c ? lam2 : 0);\n    }\n  }\n  const y = solveLinear(A, e, m);\n  if (!y) return null;\n  const dq = new Float64Array(n);\n  for (let j = 0; j < n; j++) {\n    let v = 0;\n    for (let r = 0; r < m; r++) v += el(J, r * n + j) * el(y, r);\n    dq[j] = v;\n  }\n  return dq;\n}\n\n/**\n * Solve for the joint values that place `endEffector` (offset by `tip`) at\n * `target`, by damped-least-squares descent on a numerical Jacobian. Joint\n * ranges are honored: every iterate is clamped to each DOF's `[min, max]`.\n *\n * Returns the solved per-DOF values keyed by child node (ready to pass to\n * `forwardKinematics`), whether it converged, the iteration count, and the final\n * residual norm. An end-effector with no driving joints, or an unreachable\n * target, returns `converged: false` with the best configuration found.\n * @param assembly - The assembly containing the kinematic chain.\n * @param endEffector - Name of the end-effector node.\n * @param target - Target world pose for the end-effector.\n * @param options - Optional solver settings (iterations, tolerance, damping, seed, tip).\n * @returns The solved joint values and convergence diagnostics.\n */\nexport function inverseKinematics(\n  assembly: AssemblyNode,\n  endEffector: string,\n  target: IKTarget,\n  options: IKOptions = {}\n): IKResult {\n  const maxIterations = options.maxIterations ?? 200;\n  const tolerance = options.tolerance ?? 1e-5;\n  const lambda = options.damping ?? 0.05;\n  const tip: Vec3 = options.tip ?? [0, 0, 0];\n  const m = target.rotation !== undefined ? 6 : 3;\n  const eps = 1e-6;\n\n  const { segments, q, lo, hi } = flattenChain(chainTo(assembly, endEffector), options.seed);\n  const n = q.length;\n\n  const tipPose = (state: Float64Array): JointPose =>\n    forwardKinematics(assembly, overridesOf(segments, state)).get(endEffector) ?? IK_IDENTITY_POSE;\n\n  const e = new Float64Array(m);\n  const J = new Float64Array(m * n);\n\n  let pose = tipPose(q);\n  let err = residualTwist(e, pose, target, tip, m);\n  let iter = 0;\n\n  for (; iter < maxIterations && n > 0 && err > tolerance; iter++) {\n    fillJacobian(J, q, n, m, lo, hi, pose, tip, eps, tipPose);\n    const dq = dlsStep(J, e, n, m, lambda);\n    if (!dq) break;\n    for (let j = 0; j < n; j++) {\n      const next = el(q, j) + el(dq, j);\n      q[j] = Math.min(el(hi, j), Math.max(el(lo, j), next));\n    }\n    pose = tipPose(q);\n    err = residualTwist(e, pose, target, tip, m);\n  }\n\n  return {\n    values: overridesOf(segments, q),\n    converged: err <= tolerance,\n    iterations: iter,\n    error: err,\n  };\n}\n\n// ---------------------------------------------------------------------------\n// Trajectories\n// ---------------------------------------------------------------------------\n\n/** One sample of a joint-space trajectory: parameter, values, and world poses. */\nexport interface TrajectorySample {\n  /** Normalized path parameter in `[0, 1]`. */\n  readonly t: number;\n  /** Interpolated joint values at this step, keyed by child node. */\n  readonly values: Record<string, number[]>;\n  /** Forward-kinematics world poses for every node at this step. */\n  readonly poses: Map<string, JointPose>;\n}\n\n/** Resolve a value spec (number, array, or absent) to a per-DOF array. */\nfunction valuesOf(joint: Joint, spec: number | readonly number[] | undefined): number[] {\n  return joint.dofs.map((dof, i) => {\n    const raw = Array.isArray(spec) ? spec[i] : i === 0 ? (spec as number | undefined) : undefined;\n    const v = raw ?? dof.value;\n    return Math.min(dof.max, Math.max(dof.min, v));\n  });\n}\n\n/**\n * Sample a straight-line path in joint space from `from` to `to` over `steps`\n * segments, yielding `steps + 1` samples (inclusive of both endpoints). Each\n * sample carries the interpolated per-DOF values (clamped to range) and the\n * forward-kinematics poses of every node. Joints absent from `from`/`to` hold\n * their stored value at both ends.\n * @param assembly - The assembly to pose at each sample.\n * @param from - Starting joint values keyed by child node name.\n * @param to - Ending joint values keyed by child node name.\n * @param steps - Number of path segments (samples are `steps + 1`).\n * @returns The trajectory samples with interpolated values and poses.\n */\nexport function jointTrajectory(\n  assembly: AssemblyNode,\n  from: Readonly<Record<string, number | readonly number[]>>,\n  to: Readonly<Record<string, number | readonly number[]>>,\n  steps: number\n): TrajectorySample[] {\n  const joints: Joint[] = [];\n  walkAssembly(assembly, (n) => {\n    if (n.joints) joints.push(...(n.joints as readonly Joint[]));\n  });\n\n  const ends = joints.map((j) => ({\n    child: j.child,\n    a: valuesOf(j, from[j.child]),\n    b: valuesOf(j, to[j.child]),\n  }));\n\n  const count = Math.max(1, Math.floor(steps));\n  const samples: TrajectorySample[] = [];\n  for (let s = 0; s <= count; s++) {\n    const t = s / count;\n    const values: Record<string, number[]> = {};\n    for (const end of ends) {\n      values[end.child] = end.a.map((a, i) => a + ((end.b[i] ?? a) - a) * t);\n    }\n    samples.push({ t, values, poses: forwardKinematics(assembly, values) });\n  }\n  return samples;\n}\n"]}

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

@@ -0,0 +1,35 @@
+/**
+ * Quaternion helpers for rigid rotations, shared by the constraint solver and
+ * the joint/kinematics layer. Scalar-first convention: `[w, x, y, z]`.
+ *
+ * Layer 0 (utils): no internal imports — `Vec3` is declared locally.
+ * @module
+ */
+export type Vec3 = readonly [number, number, number];
+/** A quaternion in scalar-first `[w, x, y, z]` convention. */
+export type Quat = readonly [number, number, number, number];
+/** Rotate vector `v` by quaternion `q`.
+ * @param q - The rotation quaternion `[w, x, y, z]`.
+ * @param v - The vector to rotate.
+ * @returns The rotated vector.
+ */
+export declare function quatRotate(q: Quat, v: Vec3): [number, number, number];
+/** Quaternion for a rotation of `angle` radians about (unit-normalized) `axis`.
+ * @param axis - Rotation axis (normalized internally).
+ * @param angle - Rotation angle in radians.
+ * @returns The rotation quaternion `[w, x, y, z]`.
+ */
+export declare function quatFromAxisAngle(axis: Vec3, angle: number): [number, number, number, number];
+/** Shortest-arc quaternion rotating unit vector `from` onto unit vector `to`.
+ * @param from - Starting direction (normalized internally).
+ * @param to - Target direction (normalized internally).
+ * @returns The shortest-arc rotation quaternion `[w, x, y, z]`.
+ */
+export declare function quatFromTo(from: Vec3, to: Vec3): [number, number, number, number];
+/** Hamilton product `a ⊗ b` — the rotation that applies `b` first, then `a`.
+ * @param a - Left quaternion of the product.
+ * @param b - Right quaternion of the product.
+ * @returns The product quaternion `[w, x, y, z]`.
+ */
+export declare function quatMultiply(a: Quat, b: Quat): [number, number, number, number];
+//# sourceMappingURL=quat.d.ts.map

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

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package/dist/api/assembly/solvers/quat.js

@@ -0,0 +1,84 @@
+/**
+ * Quaternion helpers for rigid rotations, shared by the constraint solver and
+ * the joint/kinematics layer. Scalar-first convention: `[w, x, y, z]`.
+ *
+ * Layer 0 (utils): no internal imports — `Vec3` is declared locally.
+ * @module
+ */
+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 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 180°/parallel degenerate cases). */
+function anyPerpendicular(v) {
+    const ref = Math.abs(v[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];
+    return normalize(cross(v, ref));
+}
+// Returns are mutable tuples (readonly inputs) so callers that store rotations
+// in mutable tuple fields can use them without readonly-assignment friction.
+/** Rotate vector `v` by quaternion `q`.
+ * @param q - The rotation quaternion `[w, x, y, z]`.
+ * @param v - The vector to rotate.
+ * @returns The rotated vector.
+ */
+export function quatRotate(q, v) {
+    const [w, x, y, z] = q;
+    const tx = 2 * (y * v[2] - z * v[1]);
+    const ty = 2 * (z * v[0] - x * v[2]);
+    const tz = 2 * (x * v[1] - y * v[0]);
+    return [
+        v[0] + w * tx + (y * tz - z * ty),
+        v[1] + w * ty + (z * tx - x * tz),
+        v[2] + w * tz + (x * ty - y * tx),
+    ];
+}
+/** Quaternion for a rotation of `angle` radians about (unit-normalized) `axis`.
+ * @param axis - Rotation axis (normalized internally).
+ * @param angle - Rotation angle in radians.
+ * @returns The rotation quaternion `[w, x, y, z]`.
+ */
+export function quatFromAxisAngle(axis, angle) {
+    const h = angle / 2;
+    const s = Math.sin(h);
+    const u = normalize(axis);
+    return [Math.cos(h), u[0] * s, u[1] * s, u[2] * s];
+}
+/** Shortest-arc quaternion rotating unit vector `from` onto unit vector `to`.
+ * @param from - Starting direction (normalized internally).
+ * @param to - Target direction (normalized internally).
+ * @returns The shortest-arc rotation quaternion `[w, x, y, z]`.
+ */
+export function quatFromTo(from, to) {
+    const a = normalize(from);
+    const b = normalize(to);
+    const d = dot(a, b);
+    if (d >= 1 - 1e-9)
+        return [1, 0, 0, 0];
+    if (d <= -1 + 1e-9)
+        return quatFromAxisAngle(anyPerpendicular(a), Math.PI);
+    const c = cross(a, b);
+    const len = Math.hypot(1 + d, c[0], c[1], c[2]) || 1;
+    return [(1 + d) / len, c[0] / len, c[1] / len, c[2] / len];
+}
+/** Hamilton product `a ⊗ b` — the rotation that applies `b` first, then `a`.
+ * @param a - Left quaternion of the product.
+ * @param b - Right quaternion of the product.
+ * @returns The product quaternion `[w, x, y, z]`.
+ */
+export function quatMultiply(a, b) {
+    const [aw, ax, ay, az] = a;
+    const [bw, bx, by, bz] = b;
+    return [
+        aw * bw - ax * bx - ay * by - az * bz,
+        aw * bx + ax * bw + ay * bz - az * by,
+        aw * by - ax * bz + ay * bw + az * bx,
+        aw * bz + ax * by - ay * bx + az * bw,
+    ];
+}
+//# sourceMappingURL=quat.js.map

package/dist/api/assembly/solvers/quat.js.map

@@ -0,0 +1 @@
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Scalar-first convention: `[w, x, y, z]`.\n *\n * Layer 0 (utils): no internal imports — `Vec3` is declared locally.\n * @module\n */\n\nexport type Vec3 = readonly [number, number, number];\n/** A quaternion in scalar-first `[w, x, y, z]` convention. */\nexport type Quat = readonly [number, number, number, number];\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 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 180°/parallel degenerate cases). */\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// Returns are mutable tuples (readonly inputs) so callers that store rotations\n// in mutable tuple fields can use them without readonly-assignment friction.\n\n/** Rotate vector `v` by quaternion `q`.\n * @param q - The rotation quaternion `[w, x, y, z]`.\n * @param v - The vector to rotate.\n * @returns The rotated vector.\n */\nexport function quatRotate(q: Quat, v: Vec3): [number, number, number] {\n  const [w, x, y, z] = q;\n  const tx = 2 * (y * v[2] - z * v[1]);\n  const ty = 2 * (z * v[0] - x * v[2]);\n  const tz = 2 * (x * v[1] - y * v[0]);\n  return [\n    v[0] + w * tx + (y * tz - z * ty),\n    v[1] + w * ty + (z * tx - x * tz),\n    v[2] + w * tz + (x * ty - y * tx),\n  ];\n}\n\n/** Quaternion for a rotation of `angle` radians about (unit-normalized) `axis`.\n * @param axis - Rotation axis (normalized internally).\n * @param angle - Rotation angle in radians.\n * @returns The rotation quaternion `[w, x, y, z]`.\n */\nexport function quatFromAxisAngle(axis: Vec3, angle: number): [number, number, number, number] {\n  const h = angle / 2;\n  const s = Math.sin(h);\n  const u = normalize(axis);\n  return [Math.cos(h), u[0] * s, u[1] * s, u[2] * s];\n}\n\n/** Shortest-arc quaternion rotating unit vector `from` onto unit vector `to`.\n * @param from - Starting direction (normalized internally).\n * @param to - Target direction (normalized internally).\n * @returns The shortest-arc rotation quaternion `[w, x, y, z]`.\n */\nexport function quatFromTo(from: Vec3, to: Vec3): [number, number, number, number] {\n  const a = normalize(from);\n  const b = normalize(to);\n  const d = dot(a, b);\n  if (d >= 1 - 1e-9) return [1, 0, 0, 0];\n  if (d <= -1 + 1e-9) return quatFromAxisAngle(anyPerpendicular(a), Math.PI);\n  const c = cross(a, b);\n  const len = Math.hypot(1 + d, c[0], c[1], c[2]) || 1;\n  return [(1 + d) / len, c[0] / len, c[1] / len, c[2] / len];\n}\n\n/** Hamilton product `a ⊗ b` — the rotation that applies `b` first, then `a`.\n * @param a - Left quaternion of the product.\n * @param b - Right quaternion of the product.\n * @returns The product quaternion `[w, x, y, z]`.\n */\nexport function quatMultiply(a: Quat, b: Quat): [number, number, number, number] {\n  const [aw, ax, ay, az] = a;\n  const [bw, bx, by, bz] = b;\n  return [\n    aw * bw - ax * bx - ay * by - az * bz,\n    aw * bx + ax * bw + ay * bz - az * by,\n    aw * by - ax * bz + ay * bw + az * bx,\n    aw * bz + ax * by - ay * bx + az * bw,\n  ];\n}\n"]}

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

@@ -57,4 +57,37 @@ export interface GlobalSolveResult {
     /** 残差超阈值（>1e-6·scale）的约束逐条写入（折中可见）。 */
     warnings?: string[];
 }
+/** 3D vector（chain 求解器本地别名，与 quat.ts 同构）。 */
+export type SolverVec3 = readonly [number, number, number];
+/** A geometric entity (plane, axis, or point) referenced by a chain-solver constraint. */
+export interface SolverEntity {
+    type: 'plane' | 'axis' | 'point';
+    origin: SolverVec3;
+    normal?: SolverVec3;
+    direction?: SolverVec3;
+}
+/** A chain-solver constraint between two entities, with an optional scalar value. */
+export interface SolverConstraint {
+    type: 'coincident' | 'concentric' | 'distance' | 'angle' | 'fixed';
+    entityA?: {
+        node: string;
+        entity: SolverEntity;
+    };
+    entityB?: {
+        node: string;
+        entity: SolverEntity;
+    };
+    value?: number;
+}
+/** Result of the chain solver: per-node transforms, DOF count, and convergence. */
+export interface SolverResult {
+    transforms: Map<string, {
+        position: SolverVec3;
+        rotation: [number, number, number, number];
+    }>;
+    dof: number;
+    converged: boolean;
+    /** Constraint types that were passed in but not solved (not yet implemented). */
+    unsupported: string[];
+}
 //# sourceMappingURL=types.d.ts.map

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

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package/dist/api/assembly/solvers/types.js.map

@@ -1 +1 @@
-{"version":3,"file":"types.js","sourceRoot":"","sources":["../../../../src/api/assembly/solvers/types.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG","sourcesContent":["/**\n * api/assembly/solvers/types — 纯 TS global 求解器的类型与契约（P1）\n *\n * 设计依据：`docs/plans/2026-09-08-assembly-dual-solver.md`（B1–B10、裁定 1–6）\n * 与 `docs/plans/2026-09-17-assembly-global-solver-plan.md`。\n *\n * 本模块是 pure-type / 轻量数据层，不依赖任何 vendored 或运行时单例，\n * 供 solve.ts、global-solver.ts、compound.ts 共享。\n */\n\nimport type { AssemblyTransform } from '../../../runtime-state'\n\n/** 求解风格：'chain'（vendored brepjs 解析链式，默认）/ 'global'（CadQuery 兼容全局最小二乘）。 */\nexport type SolverStyle = 'chain' | 'global'\n\n/**\n * 求解选项（P1）：透传自 `cad.assembly({ solver })` / `AssemblyBehavior.solver`。\n * `name` 用于 B4 锚定（assembly.py:465 `name == self.name` 锁定）→ 从 behavior.name 注入。\n */\nexport interface SolveOptions {\n  /** 默认 'chain'，向后零兼容。 */\n  solver?: SolverStyle\n  /** 装配名（B4 锚定用；cq-compat 的 buildAssembly 注入）。 */\n  name?: string\n}\n\n/**\n * global 求解器内部的本地系标记（local-frame marker）。\n *\n * 与 CQ solver.py 的 marker 同义：\n * - point：装配实体的局部坐标点；\n * - axis：轴上一点 + 单位方向（边/圆柱面法线）；\n * - plane：面中心 + 单位法向（face_mate / align / angle 用）。\n *\n * 所有坐标取自成员 Shape 的本地系（faijs Shape 不携带 placement → 本地系 == 建模系）。\n */\nexport type GlobalMarker =\n  | { type: 'point'; p: [number, number, number] }\n  | { type: 'axis'; origin: [number, number, number]; dir: [number, number, number] }\n  | { type: 'plane'; center: [number, number, number]; normal: [number, number, number] }\n\n/** global 求解结果（与 `AssemblySolveResult` 对齐的字段集，但新增 residuals）。 */\nexport interface GlobalSolveResult {\n  /** 每个被定位成员一条终态变换（pivot 恒 [0,0,0]；恒等位姿不输出）。 */\n  transforms: AssemblyTransform[]\n  /** 恒 0（数值求解不做 DOF 分析，保留字段避免 undefined）。 */\n  dof: number\n  /** LM 终止即 true（无论残差大小；裁定 4.6）。 */\n  converged: boolean\n  /** 仅约束类型无法映射为代价时填充。 */\n  unsupported: string[]\n  /** 逐约束最终残差（诊断，满足「绝不静默」）。 */\n  residuals: number[]\n  /** 残差超阈值（>1e-6·scale）的约束逐条写入（折中可见）。 */\n  warnings?: string[]\n}\n\n"]}
+{"version":3,"file":"types.js","sourceRoot":"","sources":["../../../../src/api/assembly/solvers/types.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG","sourcesContent":["/**\n * api/assembly/solvers/types — 纯 TS global 求解器的类型与契约（P1）\n *\n * 设计依据：`docs/plans/2026-09-08-assembly-dual-solver.md`（B1–B10、裁定 1–6）\n * 与 `docs/plans/2026-09-17-assembly-global-solver-plan.md`。\n *\n * 本模块是 pure-type / 轻量数据层，不依赖任何 vendored 或运行时单例，\n * 供 solve.ts、global-solver.ts、compound.ts 共享。\n */\n\nimport type { AssemblyTransform } from '../../../runtime-state'\n\n/** 求解风格：'chain'（vendored brepjs 解析链式，默认）/ 'global'（CadQuery 兼容全局最小二乘）。 */\nexport type SolverStyle = 'chain' | 'global'\n\n/**\n * 求解选项（P1）：透传自 `cad.assembly({ solver })` / `AssemblyBehavior.solver`。\n * `name` 用于 B4 锚定（assembly.py:465 `name == self.name` 锁定）→ 从 behavior.name 注入。\n */\nexport interface SolveOptions {\n  /** 默认 'chain'，向后零兼容。 */\n  solver?: SolverStyle\n  /** 装配名（B4 锚定用；cq-compat 的 buildAssembly 注入）。 */\n  name?: string\n}\n\n/**\n * global 求解器内部的本地系标记（local-frame marker）。\n *\n * 与 CQ solver.py 的 marker 同义：\n * - point：装配实体的局部坐标点；\n * - axis：轴上一点 + 单位方向（边/圆柱面法线）；\n * - plane：面中心 + 单位法向（face_mate / align / angle 用）。\n *\n * 所有坐标取自成员 Shape 的本地系（faijs Shape 不携带 placement → 本地系 == 建模系）。\n */\nexport type GlobalMarker =\n  | { type: 'point'; p: [number, number, number] }\n  | { type: 'axis'; origin: [number, number, number]; dir: [number, number, number] }\n  | { type: 'plane'; center: [number, number, number]; normal: [number, number, number] }\n\n/** global 求解结果（与 `AssemblySolveResult` 对齐的字段集，但新增 residuals）。 */\nexport interface GlobalSolveResult {\n  /** 每个被定位成员一条终态变换（pivot 恒 [0,0,0]；恒等位姿不输出）。 */\n  transforms: AssemblyTransform[]\n  /** 恒 0（数值求解不做 DOF 分析，保留字段避免 undefined）。 */\n  dof: number\n  /** LM 终止即 true（无论残差大小；裁定 4.6）。 */\n  converged: boolean\n  /** 仅约束类型无法映射为代价时填充。 */\n  unsupported: string[]\n  /** 逐约束最终残差（诊断，满足「绝不静默」）。 */\n  residuals: number[]\n  /** 残差超阈值（>1e-6·scale）的约束逐条写入（折中可见）。 */\n  warnings?: string[]\n}\n\n\n// ── §5.6.1：chain 求解器类型迁入（原 vendored kernel/solverAdapter.ts，Phase 5 随包删除） ──\n\n/** 3D vector（chain 求解器本地别名，与 quat.ts 同构）。 */\nexport type SolverVec3 = readonly [number, number, number]\n\n/** A geometric entity (plane, axis, or point) referenced by a chain-solver constraint. */\nexport interface SolverEntity {\n  type: 'plane' | 'axis' | 'point'\n  origin: SolverVec3\n  normal?: SolverVec3\n  direction?: SolverVec3\n}\n\n/** A chain-solver constraint between two entities, with an optional scalar value. */\nexport interface SolverConstraint {\n  type: 'coincident' | 'concentric' | 'distance' | 'angle' | 'fixed'\n  entityA?: { node: string; entity: SolverEntity }\n  entityB?: { node: string; entity: SolverEntity }\n  value?: number\n}\n\n/** Result of the chain solver: per-node transforms, DOF count, and convergence. */\nexport interface SolverResult {\n  transforms: Map<string, { position: SolverVec3; rotation: [number, number, number, number] }>\n  dof: number\n  converged: boolean\n  /** Constraint types that were passed in but not solved (not yet implemented). */\n  unsupported: string[]\n}\n"]}

package/dist/api/boolean.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"boolean.d.ts","sourceRoot":"","sources":["../../src/api/boolean.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,OAAO,KAAK,EAAE,KAAK,EAAE,MAAM,eAAe,CAAA;AA+J1C;;;;;;;;;;;IAWI;AACJ,eAAO,MAAM,KAAK;;CAehB,CAAA;AAEF;;;;;;;;;;;;;;;IAeI;AACJ,eAAO,MAAM,GAAG;;CAWd,CAAA;AAEF;;;;;;;;;;;IAWI;AACJ,eAAO,MAAM,QAAQ;;CAYnB,CAAA;AAEF;;;;;;;;;;;IAWI;AACJ,eAAO,MAAM,SAAS;;CAgBpB,CAAA"}

package/dist/api/boolean.js

@@ -10,17 +10,32 @@
 import { cad } from '../mesh/index.js';
 import { solidToShape } from '../brep/brep-ops.js';
 import { booleanWithRoleTable, } from '../brep/face-evolution.js';
-import { getBackends, getCurrentStmt, keepHidden, nameOf } from '../runtime-state.js';
+import { getCurrentStmt, getBackends, keepHidden, nameOf } from '../runtime-state.js';
+import { getBrepApi } from '../brep/handle-bridge.js';
 import { fromBrep, brepOf, inputRoleTable } from '../shape.js';
 import { reconcileBrepInputs } from './reconcile.js';
 import { OpError } from './internal/result-unwrap.js';
 import { defineOp } from '../sdk.js';
+import { engineCapabilitySet } from '../cad-runtime/backend-dispatch.js';
 // ── 共享内部实现 ──
-/** BREP 路径：fuse/cut/common（*WithHistory 封装，收集面演化 + roleTable 合流 §3.4）。 */
+/**
+ * BREP 路径：fuse/cut/intersect。
+ *
+ * 静态双轨（无运行时 try-catch 回退——按引擎**声明**的能力集在执行前定轨）：
+ * - 引擎声明了对应 `*WithHistory`（occt 三员全有）→ `booleanWithRoleTable`：
+ *   一次内核调用同时产出结果 + 面演化（faceEvolution）+ roleTable 合流（§3.4）。
+ * - 引擎只声明了裸布尔方法（brepkit：声明了 `intersect` 但**没有** `intersectWithHistory`）
+ *   → 走 L1 裸 `kernel[op](a,b)`：几何正确，但**不产生面演化、不传播 roleTable**。
+ *   这是如实降级——绝不用「恒等映射」伪造一张把输入面 hash 指到结果面 hash 的演化表
+ *   （结果实体的面 hash 与输入根本不同，恒等映射是假身份）。
+ *
+ * `intersect` 因此不再声明 `capabilities: ['intersectWithHistory']`（中立 op）：
+ * brepkit 上由本函数静态落到裸 `intersect`；occt 上仍走 `intersectWithHistory`。
+ * fuse/cut 保留各自 `*WithHistory` 能力声明——dispatchPath 的 gate 保证它们到达本函数时
+ * 引擎必已声明对应历史方法，故下方 `useHistory` 对 fuse/cut 恒为 true。
+ */
 function booleanBrep(inputs, operation) {
-    const kernel = getBackends().kernel.brep;
-    if (!kernel)
-        throw new Error('[stdlib/boolean] no OCCT kernel');
+    const kernel = getBrepApi();
     const inputSolids = inputs.map((s) => brepOf(s));
     if (inputSolids.some((s) => !s)) {
         // V-C8 (C6): a non-solid import (wire/face/shell via cad.import_brep) has
@@ -37,31 +52,52 @@ function booleanBrep(inputs, operation) {
     let roleTable;
     // 链式布尔：每步 target（累积结果）与下一个 tool 合流
     const op = operation === 'union' ? 'fuse' : operation === 'subtract' ? 'cut' : 'intersect';
+    // 静态定轨：当前引擎是否声明了本 op 的面演化核函数（读的是同一声明源 dispatchPath 用的
+    // 能力集，不是运行时探测）。fuse/cut 因 gate 保证此处恒 true；intersect 在 occt true、
+    // brepkit/mock false（后者走 L1 裸 `kernel[op]`，该方法是 BrepEngineApi 必需成员，必存在）。
+    const historyCap = op === 'fuse' ? 'fuseWithHistory' : op === 'cut' ? 'cutWithHistory' : 'intersectWithHistory';
+    const useHistory = engineCapabilitySet(getBackends().config.brepCapabilities).has(historyCap);
     // 首个输入作为 target 起点
     resultSolid = inputSolids[0];
-    roleTable = inputRoleTable(inputs[0]);
+    roleTable = useHistory
+        ? inputRoleTable(inputs[0])
+        : undefined;
     for (let i = 1; i < inputSolids.length; i++) {
         const prev = resultSolid;
-        const prevTable = roleTable;
-        const toolTable = inputRoleTable(inputs[i]);
-        // Phase 1.6：新 origin = 本次语句的 StmtId（不再是 LHS 变量名——PartName 会被
-        // 改名/复用，StmtId 全局唯一）。
-        const outStmt = String(getCurrentStmt()?.id ?? '');
-        // §3.4：一次内核调用，A/B 拆流各自传播后合表（缝面 origin=本次语句 StmtId）
-        // V-C8：内核裸错误（如 "boolean operation failed"）在此包一层——带上 op 名、
-        // 两个输入的变量名与 cause，满足「显式暴露、不吞细节」。
-        let r;
-        try {
-            r = booleanWithRoleTable(kernel, op, prev, inputSolids[i], prevTable ?? new Map(), toolTable ?? new Map(), outStmt);
+        const tool = inputSolids[i];
+        if (useHistory) {
+            // §3.4：一次内核调用，A/B 拆流各自传播后合表（缝面 origin=本次语句 StmtId）
+            // V-C8：内核裸错误在此包一层——带上 op 名、两个输入的变量名与 cause。
+            const prevTable = roleTable;
+            const toolTable = inputRoleTable(inputs[i]);
+            // Phase 1.6：新 origin = 本次语句的 StmtId。
+            const outStmt = String(getCurrentStmt()?.id ?? '');
+            let r;
+            try {
+                r = booleanWithRoleTable(kernel, op, prev, tool, prevTable ?? new Map(), toolTable ?? new Map(), outStmt);
+            }
+            catch (cause) {
+                const msg = cause instanceof Error ? cause.message : String(cause);
+                throw new OpError(`boolean/${operation}`, 'E_OP_FAILED', `[stdlib/boolean] ${operation}: kernel ${op} failed for inputs ` +
+                    `${nameOf(inputs[0]) ?? 'input[0]'} × ${nameOf(inputs[i]) ?? `input[${i}]`} — ${msg}`, { cause });
+            }
+            resultSolid = r.result;
+            lastEvolution = r.faceEvolution;
+            roleTable = r.roleTable;
         }
-        catch (cause) {
-            const msg = cause instanceof Error ? cause.message : String(cause);
-            throw new OpError(`boolean/${operation}`, 'E_OP_FAILED', `[stdlib/boolean] ${operation}: kernel ${op} failed for inputs ` +
-                `${nameOf(inputs[0]) ?? 'input[0]'} × ${nameOf(inputs[i]) ?? `input[${i}]`} — ${msg}`, { cause });
+        else {
+            // 裸布尔降级路径：几何正确，但无面演化、无 roleTable 传播（如实降级，不伪造映射）。
+            try {
+                resultSolid = kernel[op](prev, tool);
+            }
+            catch (cause) {
+                const msg = cause instanceof Error ? cause.message : String(cause);
+                throw new OpError(`boolean/${operation}`, 'E_OP_FAILED', `[stdlib/boolean] ${operation}: kernel ${op} failed for inputs ` +
+                    `${nameOf(inputs[0]) ?? 'input[0]'} × ${nameOf(inputs[i]) ?? `input[${i}]`} — ${msg}`, { cause });
+            }
+            lastEvolution = undefined;
+            roleTable = undefined;
         }
-        resultSolid = r.result;
-        lastEvolution = r.faceEvolution;
-        roleTable = r.roleTable;
         if (i > 1)
             kernel.release(prev);
     }
@@ -200,11 +236,12 @@ export const intersect = defineOp({
             keepHidden(...shapes);
         return booleanBrep(shapes, 'intersect');
     },
-    // 逐核函数声明（Phase 0.2）：intersect 需要内核的 intersectWithHistory。
-    // ⚠️ 这正是族级布尔 `'evolution'` 会多报能力的活例：brepkit 声明过
-    // `evolution: true` 但**没有** intersectWithHistory → 旧声明下 intersect
-    // 通过静态判定、死在运行时；现在 brepkit 下静态报 lacks capability 'intersectWithHistory'。
-    capabilities: ['intersectWithHistory'],
+    // 不声明 `capabilities: ['intersectWithHistory']`（中立 op）：
+    // brepkit 声明了裸 `intersect` 但没有 `intersectWithHistory`——若硬声明历史能力，
+    // brepkit brep 模式会在执行前静态报 `lacks capability 'intersectWithHistory'`。
+    // 现由 booleanBrep 按引擎声明的能力集静态分派：occt（声明 intersectWithHistory）
+    // 走历史路径保留面演化/naming；brepkit（只声明裸 intersect）走 L1 裸 `kernel.intersect`，
+    // 几何正确但无面演化（如实降级，不伪造恒等映射）。
     naming: { kind: 'kernel', newFaces: { via: 'byAdjacency' } },
 });
 //# sourceMappingURL=boolean.js.map

package/dist/api/boolean.js.map

@@ -1 +1 @@
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* stdlib boolean — 布尔库函数（union/subtract/intersect，多输入）\n *\n *\n * dispatchPath 静态判定 brep/mesh，BREP 路径用 *WithHistory 收集面演化。\n *\n * 阶段 1：拆为三个薄函数 union/subtract/intersect + 兼容 boolean 导出（过渡）。\n * 阶段 3 将删除 boolean 兼容导出。\n */\n\nimport type { Shape } from '../mesh/types'\nimport { cad } from '../mesh'\nimport { solidToShape } from '../brep/brep-ops'\nimport {\n  booleanWithRoleTable,\n} from '../brep/face-evolution'\nimport { getBackends, getCurrentStmt, keepHidden, nameOf } from '../runtime-state'\nimport { fromBrep, brepOf, inputRoleTable } from '../shape'\nimport { reconcileBrepInputs } from './reconcile'\nimport { OpError } from './internal/result-unwrap'\nimport { defineOp } from '../sdk'\nimport type { Provenance } from '../topology/naming/lineage'\nimport type { BrepHandle } from '../brep/engine/types'\nimport type { BrepEngineApi } from '../brep/engine/primitives'\n\ntype BooleanOperation = 'union' | 'subtract' | 'intersect'\n\n// ── 共享内部实现 ──\n\n/** BREP 路径：fuse/cut/common（*WithHistory 封装，收集面演化 + roleTable 合流 §3.4）。 */\nfunction booleanBrep(inputs: Shape[], operation: BooleanOperation): Shape {\n  const kernel = getBackends().kernel.brep as BrepEngineApi | null\n  if (!kernel) throw new Error('[stdlib/boolean] no OCCT kernel')\n\n  const inputSolids = inputs.map((s) => brepOf(s) as BrepHandle | undefined)\n  if (inputSolids.some((s) => !s)) {\n    // V-C8 (C6): a non-solid import (wire/face/shell via cad.import_brep) has\n    // no OCCT handle yet — booleans must fail HERE with an explicit, op-named\n    // error, not with OCCT's raw \"boolean operation failed\" (or silently).\n    const offenders = inputs\n      .map((s, i) => (inputSolids[i] ? undefined : nameOf(s) ?? `input[${i}]`))\n      .filter((x): x is string => x !== undefined)\n    throw new OpError(\n      `boolean/${operation}`,\n      'E_BREP_UNSUPPORTED',\n      `[stdlib/boolean] ${operation}: input is not on the BREP chain (no OCCT handle) — ` +\n      `non-solid geometry (wire/face/shell) cannot take part in a boolean. offenders: ${offenders.join(', ')}`,\n    )\n  }\n\n  let resultSolid: BrepHandle\n  let lastEvolution: Map<number, number[]> | undefined\n  let roleTable: ReadonlyMap<unknown, unknown> | undefined\n\n  // 链式布尔：每步 target（累积结果）与下一个 tool 合流\n  const op: 'fuse' | 'cut' | 'intersect' =\n    operation === 'union' ? 'fuse' : operation === 'subtract' ? 'cut' : 'intersect'\n\n  // 首个输入作为 target 起点\n  resultSolid = inputSolids[0]!\n  roleTable = inputRoleTable(inputs[0]) as ReadonlyMap<unknown, unknown> | undefined\n\n  for (let i = 1; i < inputSolids.length; i++) {\n    const prev = resultSolid\n    const prevTable = roleTable\n    const toolTable = inputRoleTable(inputs[i]) as ReadonlyMap<unknown, unknown> | undefined\n    // Phase 1.6：新 origin = 本次语句的 StmtId（不再是 LHS 变量名——PartName 会被\n    // 改名/复用，StmtId 全局唯一）。\n    const outStmt = String(getCurrentStmt()?.id ?? '')\n\n    // §3.4：一次内核调用，A/B 拆流各自传播后合表（缝面 origin=本次语句 StmtId）\n    // V-C8：内核裸错误（如 \"boolean operation failed\"）在此包一层——带上 op 名、\n    // 两个输入的变量名与 cause，满足「显式暴露、不吞细节」。\n    let r: ReturnType<typeof booleanWithRoleTable>\n    try {\n      r = booleanWithRoleTable(\n        kernel,\n        op,\n        prev,\n        inputSolids[i]!,\n        prevTable ?? new Map(),\n        toolTable ?? new Map(),\n        outStmt,\n      )\n    } catch (cause) {\n      const msg = cause instanceof Error ? cause.message : String(cause)\n      throw new OpError(\n        `boolean/${operation}`,\n        'E_OP_FAILED',\n        `[stdlib/boolean] ${operation}: kernel ${op} failed for inputs ` +\n        `${nameOf(inputs[0]!) ?? 'input[0]'} × ${nameOf(inputs[i]!) ?? `input[${i}]`} — ${msg}`,\n        { cause },\n      )\n    }\n    resultSolid = r.result\n    lastEvolution = r.faceEvolution\n    roleTable = r.roleTable\n    if (i > 1) kernel.release(prev)\n  }\n\n  return fromBrep(\n    solidToShape(kernel, resultSolid),\n    lastEvolution ? { solid: resultSolid, faceEvolution: lastEvolution, roleTable } : { solid: resultSolid, roleTable },\n  )\n}\n\n/** mesh 路径：manifold-3d mesh-CSG。 */\nasync function booleanMesh(inputs: Shape[], operation: BooleanOperation): Promise<Shape> {\n  if (inputs.length < 2) {\n    if (inputs.length === 1) return inputs[0]\n    throw new Error('[stdlib/boolean] boolean needs at least 1 input')\n  }\n  if (operation === 'union') return cad.union(inputs[0], inputs[1], ...inputs.slice(2))\n  if (operation === 'subtract') {\n    let result = await cad.subtract(inputs[0], inputs[1])\n    for (let i = 2; i < inputs.length; i++) result = await cad.subtract(result, inputs[i])\n    return result\n  }\n  let result = await cad.intersect(inputs[0], inputs[1])\n  for (let i = 2; i < inputs.length; i++) result = await cad.intersect(result, inputs[i])\n  return result\n}\n\n// ── 三个薄导出（多输入 variadic，defineOp 声明双路径 + 逐核函数 face-evolution 能力） ──\n// 函数体 keep 声明（keep-syntax 设计 §2.5）：union/subtract/intersect 保留其\n// 输入且隐藏（R5：3d_editor 现状）——keepHidden 使源变量保持终端但 canvas\n// 不渲染，只有布尔结果正常显示。混合/断链时刻：BREP 侧输入先归约为合法\n// 2-manifold 网格（reconcileBrepInputs），mesh 侧原样透传。\n\n/**\n * 布尔并集：合并所有输入几何（≥2 个输入）。\n * @group 特征\n * @inputs 2\n * @async true\n * @qual ok\n * @name union\n * @param shapes - 参与运算的几何（变量引用，≥2 个）。type:Shape[] required:true\n * @returns Shape 所有输入的并集。函数名即操作，输入全是变量引用，可用 `cad.union(a, b, c)` 多输入。\n * @example\n * const a = await cad.union(part0, part1)\n  */\nexport const union = defineOp({\n  mesh: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanMesh(reconcileBrepInputs(shapes), 'union')\n  },\n  brep: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanBrep(shapes, 'union')\n  },\n  // 逐核函数声明（Phase 0.2）：union 需要内核的 fuseWithHistory。\n  // 不再声明族级 'evolution'——族级名会让 brepkit（无 intersectWithHistory）等\n  // 部分实现的内核静默通过静态判定，再死在运行时（红线违规）。\n  capabilities: ['fuseWithHistory'],\n  schema: { shapes: 'Shape*' },\n  naming: { kind: 'kernel', newFaces: { via: 'byAdjacency' } } as Provenance,\n})\n\n/**\n * Boolean cut (subtract): remove `tool` from `base`. Same semantics as\n * {@link subtract} but with the brepjs-compatible `(base, tool, options?)` signature.\n * Overrides the generated projection (compatOp) to do roleTable propagation\n * (Phase 3: L2 requires wall:<i> to survive cut).\n * @group 特征\n * @inputs 2\n * @async true\n * @qual ok\n * @name cut\n * @param base - the target shape. type:Shape required:true\n * @param tool - the shape to subtract. type:Shape required:true\n * @returns Shape base minus tool.\n * @example\n * const b = await cad.cut(part0, part1)\n  */\nexport const cut = defineOp({\n  mesh: (base: Shape, tool: Shape) => {\n    keepHidden(base, tool)\n    return booleanMesh(reconcileBrepInputs([base, tool]), 'subtract')\n  },\n  brep: (base: Shape, tool: Shape) => {\n    keepHidden(base, tool)\n    return booleanBrep([base, tool], 'subtract')\n  },\n  capabilities: ['cutWithHistory'],\n  naming: { kind: 'kernel', newFaces: { via: 'byAdjacency' } } as Provenance,\n})\n\n/**\n * 布尔差集：第一个为主体，减去其余输入。\n * @group 特征\n * @inputs 2\n * @async true\n * @qual ok\n * @name subtract\n * @param shapes - 参与运算的几何（变量引用，第一个为主体）。type:Shape[] required:true\n * @returns Shape part0 减 part1 的差集（第一个为主体）。\n * @example\n * const b = await cad.subtract(part0, part1)\n  */\nexport const subtract = defineOp({\n  mesh: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanMesh(reconcileBrepInputs(shapes), 'subtract')\n  },\n  brep: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanBrep(shapes, 'subtract')\n  },\n  // 逐核函数声明（Phase 0.2）：subtract 需要内核的 cutWithHistory。\n  capabilities: ['cutWithHistory'],\n  naming: { kind: 'kernel', newFaces: { via: 'byAdjacency' } } as Provenance,\n})\n\n/**\n * 布尔交集：所有输入的重叠部分。\n * @group 特征\n * @inputs 2\n * @async true\n * @qual ok\n * @name intersect\n * @param shapes - 参与运算的几何（变量引用）。type:Shape[] required:true\n * @returns Shape 所有输入的交集。\n * @example\n * const c = await cad.intersect(part0, part1)\n  */\nexport const intersect = defineOp({\n  mesh: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanMesh(reconcileBrepInputs(shapes), 'intersect')\n  },\n  brep: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanBrep(shapes, 'intersect')\n  },\n  // 逐核函数声明（Phase 0.2）：intersect 需要内核的 intersectWithHistory。\n  // ⚠️ 这正是族级布尔 `'evolution'` 会多报能力的活例：brepkit 声明过\n  // `evolution: true` 但**没有** intersectWithHistory → 旧声明下 intersect\n  // 通过静态判定、死在运行时；现在 brepkit 下静态报 lacks capability 'intersectWithHistory'。\n  capabilities: ['intersectWithHistory'],\n  naming: { kind: 'kernel', newFaces: { via: 'byAdjacency' } } as Provenance,\n})\n"]}
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* stdlib boolean — 布尔库函数（union/subtract/intersect，多输入）\n *\n *\n * dispatchPath 静态判定 brep/mesh，BREP 路径用 *WithHistory 收集面演化。\n *\n * 阶段 1：拆为三个薄函数 union/subtract/intersect + 兼容 boolean 导出（过渡）。\n * 阶段 3 将删除 boolean 兼容导出。\n */\n\nimport type { Shape } from '../mesh/types'\nimport { cad } from '../mesh'\nimport { solidToShape } from '../brep/brep-ops'\nimport {\n  booleanWithRoleTable,\n} from '../brep/face-evolution'\nimport { getCurrentStmt, getBackends, keepHidden, nameOf } from '../runtime-state'\nimport { getBrepApi } from '../brep/handle-bridge'\nimport { fromBrep, brepOf, inputRoleTable } from '../shape'\nimport { reconcileBrepInputs } from './reconcile'\nimport { OpError } from './internal/result-unwrap'\nimport { defineOp } from '../sdk'\nimport { engineCapabilitySet } from '../cad-runtime/backend-dispatch'\nimport type { Provenance } from '../topology/naming/lineage'\nimport type { BrepHandle } from '../brep/engine/types'\n\ntype BooleanOperation = 'union' | 'subtract' | 'intersect'\n\n// ── 共享内部实现 ──\n\n/**\n * BREP 路径：fuse/cut/intersect。\n *\n * 静态双轨（无运行时 try-catch 回退——按引擎**声明**的能力集在执行前定轨）：\n * - 引擎声明了对应 `*WithHistory`（occt 三员全有）→ `booleanWithRoleTable`：\n *   一次内核调用同时产出结果 + 面演化（faceEvolution）+ roleTable 合流（§3.4）。\n * - 引擎只声明了裸布尔方法（brepkit：声明了 `intersect` 但**没有** `intersectWithHistory`）\n *   → 走 L1 裸 `kernel[op](a,b)`：几何正确，但**不产生面演化、不传播 roleTable**。\n *   这是如实降级——绝不用「恒等映射」伪造一张把输入面 hash 指到结果面 hash 的演化表\n *   （结果实体的面 hash 与输入根本不同，恒等映射是假身份）。\n *\n * `intersect` 因此不再声明 `capabilities: ['intersectWithHistory']`（中立 op）：\n * brepkit 上由本函数静态落到裸 `intersect`；occt 上仍走 `intersectWithHistory`。\n * fuse/cut 保留各自 `*WithHistory` 能力声明——dispatchPath 的 gate 保证它们到达本函数时\n * 引擎必已声明对应历史方法，故下方 `useHistory` 对 fuse/cut 恒为 true。\n */\nfunction booleanBrep(inputs: Shape[], operation: BooleanOperation): Shape {\n  const kernel = getBrepApi()\n\n  const inputSolids = inputs.map((s) => brepOf(s) as BrepHandle | undefined)\n  if (inputSolids.some((s) => !s)) {\n    // V-C8 (C6): a non-solid import (wire/face/shell via cad.import_brep) has\n    // no OCCT handle yet — booleans must fail HERE with an explicit, op-named\n    // error, not with OCCT's raw \"boolean operation failed\" (or silently).\n    const offenders = inputs\n      .map((s, i) => (inputSolids[i] ? undefined : nameOf(s) ?? `input[${i}]`))\n      .filter((x): x is string => x !== undefined)\n    throw new OpError(\n      `boolean/${operation}`,\n      'E_BREP_UNSUPPORTED',\n      `[stdlib/boolean] ${operation}: input is not on the BREP chain (no OCCT handle) — ` +\n      `non-solid geometry (wire/face/shell) cannot take part in a boolean. offenders: ${offenders.join(', ')}`,\n    )\n  }\n\n  let resultSolid: BrepHandle\n  let lastEvolution: Map<number, number[]> | undefined\n  let roleTable: ReadonlyMap<unknown, unknown> | undefined\n\n  // 链式布尔：每步 target（累积结果）与下一个 tool 合流\n  const op: 'fuse' | 'cut' | 'intersect' =\n    operation === 'union' ? 'fuse' : operation === 'subtract' ? 'cut' : 'intersect'\n\n  // 静态定轨：当前引擎是否声明了本 op 的面演化核函数（读的是同一声明源 dispatchPath 用的\n  // 能力集，不是运行时探测）。fuse/cut 因 gate 保证此处恒 true；intersect 在 occt true、\n  // brepkit/mock false（后者走 L1 裸 `kernel[op]`，该方法是 BrepEngineApi 必需成员，必存在）。\n  const historyCap = op === 'fuse' ? 'fuseWithHistory' : op === 'cut' ? 'cutWithHistory' : 'intersectWithHistory'\n  const useHistory = engineCapabilitySet(getBackends().config.brepCapabilities).has(historyCap)\n\n  // 首个输入作为 target 起点\n  resultSolid = inputSolids[0]!\n  roleTable = useHistory\n    ? (inputRoleTable(inputs[0]) as ReadonlyMap<unknown, unknown> | undefined)\n    : undefined\n\n  for (let i = 1; i < inputSolids.length; i++) {\n    const prev = resultSolid\n    const tool = inputSolids[i]!\n\n    if (useHistory) {\n      // §3.4：一次内核调用，A/B 拆流各自传播后合表（缝面 origin=本次语句 StmtId）\n      // V-C8：内核裸错误在此包一层——带上 op 名、两个输入的变量名与 cause。\n      const prevTable = roleTable\n      const toolTable = inputRoleTable(inputs[i]) as ReadonlyMap<unknown, unknown> | undefined\n      // Phase 1.6：新 origin = 本次语句的 StmtId。\n      const outStmt = String(getCurrentStmt()?.id ?? '')\n      let r: ReturnType<typeof booleanWithRoleTable>\n      try {\n        r = booleanWithRoleTable(\n          kernel,\n          op,\n          prev,\n          tool,\n          prevTable ?? new Map(),\n          toolTable ?? new Map(),\n          outStmt,\n        )\n      } catch (cause) {\n        const msg = cause instanceof Error ? cause.message : String(cause)\n        throw new OpError(\n          `boolean/${operation}`,\n          'E_OP_FAILED',\n          `[stdlib/boolean] ${operation}: kernel ${op} failed for inputs ` +\n          `${nameOf(inputs[0]!) ?? 'input[0]'} × ${nameOf(inputs[i]!) ?? `input[${i}]`} — ${msg}`,\n          { cause },\n        )\n      }\n      resultSolid = r.result\n      lastEvolution = r.faceEvolution\n      roleTable = r.roleTable\n    } else {\n      // 裸布尔降级路径：几何正确，但无面演化、无 roleTable 传播（如实降级，不伪造映射）。\n      try {\n        resultSolid = kernel[op](prev, tool)\n      } catch (cause) {\n        const msg = cause instanceof Error ? cause.message : String(cause)\n        throw new OpError(\n          `boolean/${operation}`,\n          'E_OP_FAILED',\n          `[stdlib/boolean] ${operation}: kernel ${op} failed for inputs ` +\n          `${nameOf(inputs[0]!) ?? 'input[0]'} × ${nameOf(inputs[i]!) ?? `input[${i}]`} — ${msg}`,\n          { cause },\n        )\n      }\n      lastEvolution = undefined\n      roleTable = undefined\n    }\n    if (i > 1) kernel.release(prev)\n  }\n\n  return fromBrep(\n    solidToShape(kernel, resultSolid),\n    lastEvolution ? { solid: resultSolid, faceEvolution: lastEvolution, roleTable } : { solid: resultSolid, roleTable },\n  )\n}\n\n/** mesh 路径：manifold-3d mesh-CSG。 */\nasync function booleanMesh(inputs: Shape[], operation: BooleanOperation): Promise<Shape> {\n  if (inputs.length < 2) {\n    if (inputs.length === 1) return inputs[0]\n    throw new Error('[stdlib/boolean] boolean needs at least 1 input')\n  }\n  if (operation === 'union') return cad.union(inputs[0], inputs[1], ...inputs.slice(2))\n  if (operation === 'subtract') {\n    let result = await cad.subtract(inputs[0], inputs[1])\n    for (let i = 2; i < inputs.length; i++) result = await cad.subtract(result, inputs[i])\n    return result\n  }\n  let result = await cad.intersect(inputs[0], inputs[1])\n  for (let i = 2; i < inputs.length; i++) result = await cad.intersect(result, inputs[i])\n  return result\n}\n\n// ── 三个薄导出（多输入 variadic，defineOp 声明双路径 + 逐核函数 face-evolution 能力） ──\n// 函数体 keep 声明（keep-syntax 设计 §2.5）：union/subtract/intersect 保留其\n// 输入且隐藏（R5：3d_editor 现状）——keepHidden 使源变量保持终端但 canvas\n// 不渲染，只有布尔结果正常显示。混合/断链时刻：BREP 侧输入先归约为合法\n// 2-manifold 网格（reconcileBrepInputs），mesh 侧原样透传。\n\n/**\n * 布尔并集：合并所有输入几何（≥2 个输入）。\n * @group 特征\n * @inputs 2\n * @async true\n * @qual ok\n * @name union\n * @param shapes - 参与运算的几何（变量引用，≥2 个）。type:Shape[] required:true\n * @returns Shape 所有输入的并集。函数名即操作，输入全是变量引用，可用 `cad.union(a, b, c)` 多输入。\n * @example\n * const a = await cad.union(part0, part1)\n  */\nexport const union = defineOp({\n  mesh: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanMesh(reconcileBrepInputs(shapes), 'union')\n  },\n  brep: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanBrep(shapes, 'union')\n  },\n  // 逐核函数声明（Phase 0.2）：union 需要内核的 fuseWithHistory。\n  // 不再声明族级 'evolution'——族级名会让 brepkit（无 intersectWithHistory）等\n  // 部分实现的内核静默通过静态判定，再死在运行时（红线违规）。\n  capabilities: ['fuseWithHistory'],\n  schema: { shapes: 'Shape*' },\n  naming: { kind: 'kernel', newFaces: { via: 'byAdjacency' } } as Provenance,\n})\n\n/**\n * Boolean cut (subtract): remove `tool` from `base`. Same semantics as\n * {@link subtract} but with the brepjs-compatible `(base, tool, options?)` signature.\n * Overrides the generated projection (compatOp) to do roleTable propagation\n * (Phase 3: L2 requires wall:<i> to survive cut).\n * @group 特征\n * @inputs 2\n * @async true\n * @qual ok\n * @name cut\n * @param base - the target shape. type:Shape required:true\n * @param tool - the shape to subtract. type:Shape required:true\n * @returns Shape base minus tool.\n * @example\n * const b = await cad.cut(part0, part1)\n  */\nexport const cut = defineOp({\n  mesh: (base: Shape, tool: Shape) => {\n    keepHidden(base, tool)\n    return booleanMesh(reconcileBrepInputs([base, tool]), 'subtract')\n  },\n  brep: (base: Shape, tool: Shape) => {\n    keepHidden(base, tool)\n    return booleanBrep([base, tool], 'subtract')\n  },\n  capabilities: ['cutWithHistory'],\n  naming: { kind: 'kernel', newFaces: { via: 'byAdjacency' } } as Provenance,\n})\n\n/**\n * 布尔差集：第一个为主体，减去其余输入。\n * @group 特征\n * @inputs 2\n * @async true\n * @qual ok\n * @name subtract\n * @param shapes - 参与运算的几何（变量引用，第一个为主体）。type:Shape[] required:true\n * @returns Shape part0 减 part1 的差集（第一个为主体）。\n * @example\n * const b = await cad.subtract(part0, part1)\n  */\nexport const subtract = defineOp({\n  mesh: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanMesh(reconcileBrepInputs(shapes), 'subtract')\n  },\n  brep: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanBrep(shapes, 'subtract')\n  },\n  // 逐核函数声明（Phase 0.2）：subtract 需要内核的 cutWithHistory。\n  capabilities: ['cutWithHistory'],\n  naming: { kind: 'kernel', newFaces: { via: 'byAdjacency' } } as Provenance,\n})\n\n/**\n * 布尔交集：所有输入的重叠部分。\n * @group 特征\n * @inputs 2\n * @async true\n * @qual ok\n * @name intersect\n * @param shapes - 参与运算的几何（变量引用）。type:Shape[] required:true\n * @returns Shape 所有输入的交集。\n * @example\n * const c = await cad.intersect(part0, part1)\n  */\nexport const intersect = defineOp({\n  mesh: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanMesh(reconcileBrepInputs(shapes), 'intersect')\n  },\n  brep: (...shapes: Shape[]) => {\n    if (shapes.length > 0) keepHidden(...shapes)\n    return booleanBrep(shapes, 'intersect')\n  },\n  // 不声明 `capabilities: ['intersectWithHistory']`（中立 op）：\n  // brepkit 声明了裸 `intersect` 但没有 `intersectWithHistory`——若硬声明历史能力，\n  // brepkit brep 模式会在执行前静态报 `lacks capability 'intersectWithHistory'`。\n  // 现由 booleanBrep 按引擎声明的能力集静态分派：occt（声明 intersectWithHistory）\n  // 走历史路径保留面演化/naming；brepkit（只声明裸 intersect）走 L1 裸 `kernel.intersect`，\n  // 几何正确但无面演化（如实降级，不伪造恒等映射）。\n  naming: { kind: 'kernel', newFaces: { via: 'byAdjacency' } } as Provenance,\n})\n"]}