@faicad/faijs 0.29.3 → 0.30.9

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

@@ -1 +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"]}
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* Kinematic joints + IK — core 自有实现（§5.6.3 移植：brepjs 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/linalg.d.ts

@@ -2,8 +2,8 @@
  * api/assembly/solvers/linalg — 自实现向量数学与线性求解（P1，裁定 4）
  *
  * 规模极小（≤30 阶对称正定），优先 Cholesky（比 Gauss-Jordan 更稳且快），
- * 退化时回落 Gauss-Jordan 带部分主元。vendored 的 `ikFns.solveLinear` 是模块私有、
- * 不可 import（裁定 4），故在此自实现，vendored 只读约定不变。
+ * 退化时回落 Gauss-Jordan 带部分主元。brepjs 的 `ikFns.solveLinear` 是模块私有、
+ * 不可 import（裁定 4），故在此自实现，brepjs 只读约定不变。
  *
  * 模块零外部依赖；所有函数纯数值。
  */

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

@@ -2,8 +2,8 @@
  * api/assembly/solvers/linalg — 自实现向量数学与线性求解（P1，裁定 4）
  *
  * 规模极小（≤30 阶对称正定），优先 Cholesky（比 Gauss-Jordan 更稳且快），
- * 退化时回落 Gauss-Jordan 带部分主元。vendored 的 `ikFns.solveLinear` 是模块私有、
- * 不可 import（裁定 4），故在此自实现，vendored 只读约定不变。
+ * 退化时回落 Gauss-Jordan 带部分主元。brepjs 的 `ikFns.solveLinear` 是模块私有、
+ * 不可 import（裁定 4），故在此自实现，brepjs 只读约定不变。
  *
  * 模块零外部依赖；所有函数纯数值。
  */

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

@@ -1 +1 @@
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* api/assembly/solvers/linalg — 自实现向量数学与线性求解（P1，裁定 4）\n *\n * 规模极小（≤30 阶对称正定），优先 Cholesky（比 Gauss-Jordan 更稳且快），\n * 退化时回落 Gauss-Jordan 带部分主元。vendored 的 `ikFns.solveLinear` 是模块私有、\n * 不可 import（裁定 4），故在此自实现，vendored 只读约定不变。\n *\n * 模块零外部依赖；所有函数纯数值。\n */\n\nexport type Vec3 = [number, number, number]\n\n/**\n * Component-wise vector sum `a + b`.\n * @param a - left operand.\n * @param b - right operand.\n * @returns the sum vector.\n */\nexport function vadd(a: Vec3, b: Vec3): Vec3 {\n  return [a[0] + b[0], a[1] + b[1], a[2] + b[2]]\n}\n/**\n * Component-wise vector difference `a - b`.\n * @param a - left operand.\n * @param b - right operand.\n * @returns the difference vector.\n */\nexport function vsub(a: Vec3, b: Vec3): Vec3 {\n  return [a[0] - b[0], a[1] - b[1], a[2] - b[2]]\n}\n/**\n * Dot product `⟨a, b⟩`.\n * @param a - left operand.\n * @param b - right operand.\n * @returns the dot product.\n */\nexport function vdot(a: Vec3, b: Vec3): number {\n  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]\n}\n/**\n * Cross product `a × b`.\n * @param a - left operand.\n * @param b - right operand.\n * @returns the cross-product vector.\n */\nexport function vcross(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 * Scalar multiple `a * s`.\n * @param a - the vector.\n * @param s - the scalar factor.\n * @returns the scaled vector.\n */\nexport function vscale(a: Vec3, s: number): Vec3 {\n  return [a[0] * s, a[1] * s, a[2] * s]\n}\n/**\n * Euclidean norm `‖a‖`.\n * @param a - the vector.\n * @returns the norm.\n */\nexport function vnorm(a: Vec3): number {\n  return Math.hypot(a[0], a[1], a[2])\n}\n/**\n * 原地归一化（零向量安全：返回 [0,0,0]）。\n * @param a - the vector to normalize (not mutated).\n * @returns the unit vector along `a`, or `[0, 0, 0]` for a near-zero vector.\n */\nexport function vnormalize(a: Vec3): Vec3 {\n  const l = vnorm(a)\n  return l < 1e-15 ? [0, 0, 0] : [a[0] / l, a[1] / l, a[2] / l]\n}\n/**\n * Sum of squared components `‖a‖²`.\n * @param a - the vector.\n * @returns the sum of squares.\n */\nexport function vsumsqr(a: Vec3): number {\n  return a[0] * a[0] + a[1] * a[1] + a[2] * a[2]\n}\n\n/**\n * AᵀA（n×m 矩阵 → n×n 对称）与 Aᵀb。矩阵按行主序扁平存于 `A`（len = rows*cols）。\n * @param a - row-major `rows × cols` matrix A (flat array, length rows*cols).\n * @param rows - number of rows of A.\n * @param cols - number of columns of A.\n * @returns the `cols × cols` symmetric matrix AᵀA (row-major, flat).\n */\nexport function ata(a: number[], rows: number, cols: number): number[] {\n  const out = new Array(cols * cols).fill(0)\n  for (let i = 0; i < cols; i++) {\n    for (let j = 0; j < cols; j++) {\n      let s = 0\n      for (let k = 0; k < rows; k++) s += a[k * cols + i] * a[k * cols + j]\n      out[i * cols + j] = s\n    }\n  }\n  return out\n}\n/**\n * Aᵀb for the row-major `rows × cols` matrix `a` and length-`rows` vector `b`.\n * @param a - row-major `rows × cols` matrix A (flat array, length rows*cols).\n * @param b - right-hand-side vector of length rows.\n * @param rows - number of rows of A.\n * @param cols - number of columns of A.\n * @returns the length-`cols` vector Aᵀb.\n */\nexport function atb(a: number[], b: number[], rows: number, cols: number): number[] {\n  const out = new Array(cols).fill(0)\n  for (let j = 0; j < cols; j++) {\n    let s = 0\n    for (let k = 0; k < rows; k++) s += a[k * cols + j] * b[k]\n    out[j] = s\n  }\n  return out\n}\n\n/**\n * 解 (M + λI) x = b，M 为 n×n 对称正定（此处 M = JᵀJ）。\n * 先尝试 Cholesky(M + λI)；若非正定，逐步放大 λ 重试；最终回落带部分主元 Gauss-Jordan。\n *\n * @param m - row-major `n × n` symmetric positive-definite matrix M (flat array).\n * @param b - right-hand-side vector of length n.\n * @param n - system dimension.\n * @param lambda - initial damping coefficient (progressively amplified on retry).\n * @returns 解向量 x，或退化时 null。\n */\nexport function solveDampedNormal(\n  m: number[],\n  b: number[],\n  n: number,\n  lambda: number,\n): number[] | null {\n  // 尝试多级 λ（LM 阻尼放大）\n  const lambdas = [lambda, lambda * 4, lambda * 16, lambda * 64, lambda * 256, lambda * 1024]\n  for (const lam of lambdas) {\n    const md = m.slice()\n    for (let i = 0; i < n; i++) md[i * n + i] += lam\n    const x = choleskySolve(md, b, n)\n    if (x) return x\n  }\n  return gaussJordanSolve(m, b, n, lambda)\n}\n\n/** Cholesky（A = L Lᵀ）解对称正定系统；失败返回 null。 */\nfunction choleskySolve(a: number[], b: number[], n: number): number[] | null {\n  const L = new Array(n * n).fill(0)\n  for (let i = 0; i < n; i++) {\n    for (let j = 0; j <= i; j++) {\n      let s = a[i * n + j]\n      for (let k = 0; k < j; k++) s -= L[i * n + k] * L[j * n + k]\n      if (i === j) {\n        if (s <= 0) return null // 非正定\n        L[i * n + i] = Math.sqrt(s)\n      } else {\n        L[i * n + j] = s / L[j * n + j]\n      }\n    }\n  }\n  // 前代 L y = b\n  const y = new Array(n).fill(0)\n  for (let i = 0; i < n; i++) {\n    let s = b[i]\n    for (let k = 0; k < i; k++) s -= L[i * n + k] * y[k]\n    y[i] = s / L[i * n + i]\n  }\n  // 回代 Lᵀ x = y\n  const x = new Array(n).fill(0)\n  for (let i = n - 1; i >= 0; i--) {\n    let s = y[i]\n    for (let k = i + 1; k < n; k++) s -= L[k * n + i] * x[k]\n    x[i] = s / L[i * n + i]\n  }\n  return x\n}\n\n/** 带部分主元 Gauss-Jordan，附加 λI 阻尼保证可解性。 */\nfunction gaussJordanSolve(a: number[], b: number[], n: number, lambda: number): number[] | null {\n  const m = a.slice()\n  for (let i = 0; i < n; i++) m[i * n + i] += lambda\n  const x = new Array(n).fill(0)\n  const aug = new Array(n).fill(0).map((_, i) => [...m.slice(i * n, i * n + n), b[i]])\n  for (let col = 0; col < n; col++) {\n    let piv = col\n    let best = Math.abs(aug[col][col])\n    for (let r = col + 1; r < n; r++) {\n      const v = Math.abs(aug[r][col])\n      if (v > best) {\n        best = v\n        piv = r\n      }\n    }\n    if (best < 1e-15) return null\n    if (piv !== col) {\n      const tmp = aug[piv]\n      aug[piv] = aug[col]\n      aug[col] = tmp\n    }\n    const d = aug[col][col]\n    for (let j = col; j <= n; j++) aug[col][j] /= d\n    for (let r = 0; r < n; r++) {\n      if (r === col) continue\n      const f = aug[r][col]\n      if (f === 0) continue\n      for (let j = col; j <= n; j++) aug[r][j] -= f * aug[col][j]\n    }\n  }\n  for (let i = 0; i < n; i++) x[i] = aug[i][n]\n  return x\n}\n"]}
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* api/assembly/solvers/linalg — 自实现向量数学与线性求解（P1，裁定 4）\n *\n * 规模极小（≤30 阶对称正定），优先 Cholesky（比 Gauss-Jordan 更稳且快），\n * 退化时回落 Gauss-Jordan 带部分主元。brepjs 的 `ikFns.solveLinear` 是模块私有、\n * 不可 import（裁定 4），故在此自实现，brepjs 只读约定不变。\n *\n * 模块零外部依赖；所有函数纯数值。\n */\n\nexport type Vec3 = [number, number, number]\n\n/**\n * Component-wise vector sum `a + b`.\n * @param a - left operand.\n * @param b - right operand.\n * @returns the sum vector.\n */\nexport function vadd(a: Vec3, b: Vec3): Vec3 {\n  return [a[0] + b[0], a[1] + b[1], a[2] + b[2]]\n}\n/**\n * Component-wise vector difference `a - b`.\n * @param a - left operand.\n * @param b - right operand.\n * @returns the difference vector.\n */\nexport function vsub(a: Vec3, b: Vec3): Vec3 {\n  return [a[0] - b[0], a[1] - b[1], a[2] - b[2]]\n}\n/**\n * Dot product `⟨a, b⟩`.\n * @param a - left operand.\n * @param b - right operand.\n * @returns the dot product.\n */\nexport function vdot(a: Vec3, b: Vec3): number {\n  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]\n}\n/**\n * Cross product `a × b`.\n * @param a - left operand.\n * @param b - right operand.\n * @returns the cross-product vector.\n */\nexport function vcross(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 * Scalar multiple `a * s`.\n * @param a - the vector.\n * @param s - the scalar factor.\n * @returns the scaled vector.\n */\nexport function vscale(a: Vec3, s: number): Vec3 {\n  return [a[0] * s, a[1] * s, a[2] * s]\n}\n/**\n * Euclidean norm `‖a‖`.\n * @param a - the vector.\n * @returns the norm.\n */\nexport function vnorm(a: Vec3): number {\n  return Math.hypot(a[0], a[1], a[2])\n}\n/**\n * 原地归一化（零向量安全：返回 [0,0,0]）。\n * @param a - the vector to normalize (not mutated).\n * @returns the unit vector along `a`, or `[0, 0, 0]` for a near-zero vector.\n */\nexport function vnormalize(a: Vec3): Vec3 {\n  const l = vnorm(a)\n  return l < 1e-15 ? [0, 0, 0] : [a[0] / l, a[1] / l, a[2] / l]\n}\n/**\n * Sum of squared components `‖a‖²`.\n * @param a - the vector.\n * @returns the sum of squares.\n */\nexport function vsumsqr(a: Vec3): number {\n  return a[0] * a[0] + a[1] * a[1] + a[2] * a[2]\n}\n\n/**\n * AᵀA（n×m 矩阵 → n×n 对称）与 Aᵀb。矩阵按行主序扁平存于 `A`（len = rows*cols）。\n * @param a - row-major `rows × cols` matrix A (flat array, length rows*cols).\n * @param rows - number of rows of A.\n * @param cols - number of columns of A.\n * @returns the `cols × cols` symmetric matrix AᵀA (row-major, flat).\n */\nexport function ata(a: number[], rows: number, cols: number): number[] {\n  const out = new Array(cols * cols).fill(0)\n  for (let i = 0; i < cols; i++) {\n    for (let j = 0; j < cols; j++) {\n      let s = 0\n      for (let k = 0; k < rows; k++) s += a[k * cols + i] * a[k * cols + j]\n      out[i * cols + j] = s\n    }\n  }\n  return out\n}\n/**\n * Aᵀb for the row-major `rows × cols` matrix `a` and length-`rows` vector `b`.\n * @param a - row-major `rows × cols` matrix A (flat array, length rows*cols).\n * @param b - right-hand-side vector of length rows.\n * @param rows - number of rows of A.\n * @param cols - number of columns of A.\n * @returns the length-`cols` vector Aᵀb.\n */\nexport function atb(a: number[], b: number[], rows: number, cols: number): number[] {\n  const out = new Array(cols).fill(0)\n  for (let j = 0; j < cols; j++) {\n    let s = 0\n    for (let k = 0; k < rows; k++) s += a[k * cols + j] * b[k]\n    out[j] = s\n  }\n  return out\n}\n\n/**\n * 解 (M + λI) x = b，M 为 n×n 对称正定（此处 M = JᵀJ）。\n * 先尝试 Cholesky(M + λI)；若非正定，逐步放大 λ 重试；最终回落带部分主元 Gauss-Jordan。\n *\n * @param m - row-major `n × n` symmetric positive-definite matrix M (flat array).\n * @param b - right-hand-side vector of length n.\n * @param n - system dimension.\n * @param lambda - initial damping coefficient (progressively amplified on retry).\n * @returns 解向量 x，或退化时 null。\n */\nexport function solveDampedNormal(\n  m: number[],\n  b: number[],\n  n: number,\n  lambda: number,\n): number[] | null {\n  // 尝试多级 λ（LM 阻尼放大）\n  const lambdas = [lambda, lambda * 4, lambda * 16, lambda * 64, lambda * 256, lambda * 1024]\n  for (const lam of lambdas) {\n    const md = m.slice()\n    for (let i = 0; i < n; i++) md[i * n + i] += lam\n    const x = choleskySolve(md, b, n)\n    if (x) return x\n  }\n  return gaussJordanSolve(m, b, n, lambda)\n}\n\n/** Cholesky（A = L Lᵀ）解对称正定系统；失败返回 null。 */\nfunction choleskySolve(a: number[], b: number[], n: number): number[] | null {\n  const L = new Array(n * n).fill(0)\n  for (let i = 0; i < n; i++) {\n    for (let j = 0; j <= i; j++) {\n      let s = a[i * n + j]\n      for (let k = 0; k < j; k++) s -= L[i * n + k] * L[j * n + k]\n      if (i === j) {\n        if (s <= 0) return null // 非正定\n        L[i * n + i] = Math.sqrt(s)\n      } else {\n        L[i * n + j] = s / L[j * n + j]\n      }\n    }\n  }\n  // 前代 L y = b\n  const y = new Array(n).fill(0)\n  for (let i = 0; i < n; i++) {\n    let s = b[i]\n    for (let k = 0; k < i; k++) s -= L[i * n + k] * y[k]\n    y[i] = s / L[i * n + i]\n  }\n  // 回代 Lᵀ x = y\n  const x = new Array(n).fill(0)\n  for (let i = n - 1; i >= 0; i--) {\n    let s = y[i]\n    for (let k = i + 1; k < n; k++) s -= L[k * n + i] * x[k]\n    x[i] = s / L[i * n + i]\n  }\n  return x\n}\n\n/** 带部分主元 Gauss-Jordan，附加 λI 阻尼保证可解性。 */\nfunction gaussJordanSolve(a: number[], b: number[], n: number, lambda: number): number[] | null {\n  const m = a.slice()\n  for (let i = 0; i < n; i++) m[i * n + i] += lambda\n  const x = new Array(n).fill(0)\n  const aug = new Array(n).fill(0).map((_, i) => [...m.slice(i * n, i * n + n), b[i]])\n  for (let col = 0; col < n; col++) {\n    let piv = col\n    let best = Math.abs(aug[col][col])\n    for (let r = col + 1; r < n; r++) {\n      const v = Math.abs(aug[r][col])\n      if (v > best) {\n        best = v\n        piv = r\n      }\n    }\n    if (best < 1e-15) return null\n    if (piv !== col) {\n      const tmp = aug[piv]\n      aug[piv] = aug[col]\n      aug[col] = tmp\n    }\n    const d = aug[col][col]\n    for (let j = col; j <= n; j++) aug[col][j] /= d\n    for (let r = 0; r < n; r++) {\n      if (r === col) continue\n      const f = aug[r][col]\n      if (f === 0) continue\n      for (let j = col; j <= n; j++) aug[r][j] -= f * aug[col][j]\n    }\n  }\n  for (let i = 0; i < n; i++) x[i] = aug[i][n]\n  return x\n}\n"]}

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

@@ -1,14 +1,11 @@
 /**
  * api/assembly/solvers/types — 纯 TS global 求解器的类型与契约（P1）
  *
- * 设计依据：`docs/plans/2026-09-08-assembly-dual-solver.md`（B1–B10、裁定 1–6）
- * 与 `docs/plans/2026-09-17-assembly-global-solver-plan.md`。
- *
- * 本模块是 pure-type / 轻量数据层，不依赖任何 vendored 或运行时单例，
+ * 本模块是 pure-type / 轻量数据层，不依赖任何 brepjs 或运行时单例，
  * 供 solve.ts、global-solver.ts、compound.ts 共享。
  */
 import type { AssemblyTransform } from '../../../runtime-state.js';
-/** 求解风格：'chain'（vendored brepjs 解析链式，默认）/ 'global'（CadQuery 兼容全局最小二乘）。 */
+/** 求解风格：'chain'（链式拓扑解析，默认）/ 'global'（CadQuery 兼容全局最小二乘）。 */
 export type SolverStyle = 'chain' | 'global';
 /**
  * 求解选项（P1）：透传自 `cad.assembly({ solver })` / `AssemblyBehavior.solver`。

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

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

@@ -1,10 +1,7 @@
 /**
  * api/assembly/solvers/types — 纯 TS global 求解器的类型与契约（P1）
  *
- * 设计依据：`docs/plans/2026-09-08-assembly-dual-solver.md`（B1–B10、裁定 1–6）
- * 与 `docs/plans/2026-09-17-assembly-global-solver-plan.md`。
- *
- * 本模块是 pure-type / 轻量数据层，不依赖任何 vendored 或运行时单例，
+ * 本模块是 pure-type / 轻量数据层，不依赖任何 brepjs 或运行时单例，
  * 供 solve.ts、global-solver.ts、compound.ts 共享。
  */
 export {};

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\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"]}
+{"version":3,"file":"types.js","sourceRoot":"","sources":["../../../../src/api/assembly/solvers/types.ts"],"names":[],"mappings":"AAAA;;;;;GAKG","sourcesContent":["/**\n * api/assembly/solvers/types — 纯 TS global 求解器的类型与契约（P1）\n *\n * 本模块是 pure-type / 轻量数据层，不依赖任何 brepjs 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'（链式拓扑解析，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 brepjs kernel/solverAdapter.ts，已内化为第一方代码） ──\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 @@
-{"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;AA6Q1C;;;;;;;;;;;IAWI;AACJ,eAAO,MAAM,KAAK;;CAgBhB,CAAA;AAEF;;;;;;;;;;;;;;;IAeI;AACJ,eAAO,MAAM,GAAG;;CAYd,CAAA;AAEF;;;;;;;;;;;IAWI;AACJ,eAAO,MAAM,QAAQ;;CAanB,CAAA;AAEF;;;;;;;;;;;IAWI;AACJ,eAAO,MAAM,SAAS;;CAiBpB,CAAA"}
+{"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;AA8Q1C;;;;;;;;;;;IAWI;AACJ,eAAO,MAAM,KAAK;;CAgBhB,CAAA;AAEF;;;;;;;;;;;;;;;IAeI;AACJ,eAAO,MAAM,GAAG;;CAYd,CAAA;AAEF;;;;;;;;;;;IAWI;AACJ,eAAO,MAAM,QAAQ;;CAanB,CAAA;AAEF;;;;;;;;;;;IAWI;AACJ,eAAO,MAAM,SAAS;;CAiBpB,CAAA"}

package/dist/api/boolean.js

@@ -7,7 +7,8 @@
  * 阶段 1：拆为三个薄函数 union/subtract/intersect + 兼容 boolean 导出（过渡）。
  * 阶段 3 将删除 boolean 兼容导出。
  */
-import { cad } from '../mesh/index.js';
+// B3 correction (2026-10-06): no library-face cad aggregate — import the impl from its own module.
+import * as meshBoolean from '../mesh/boolean.js';
 import { solidToShape } from '../brep/brep-ops.js';
 import { booleanWithRoleTable, } from '../brep/face-evolution.js';
 import { getCurrentStmt, getBackends, keepHidden, nameOf } from '../runtime-state.js';
@@ -219,16 +220,16 @@ async function booleanMesh(inputs, operation) {
         throw new Error('[api/boolean] boolean needs at least 1 input');
     }
     if (operation === 'union')
-        return cad.union(inputs[0], inputs[1], ...inputs.slice(2));
+        return meshBoolean.union(inputs[0], inputs[1], ...inputs.slice(2));
     if (operation === 'subtract') {
-        let result = await cad.subtract(inputs[0], inputs[1]);
+        let result = await meshBoolean.subtract(inputs[0], inputs[1]);
         for (let i = 2; i < inputs.length; i++)
-            result = await cad.subtract(result, inputs[i]);
+            result = await meshBoolean.subtract(result, inputs[i]);
         return result;
     }
-    let result = await cad.intersect(inputs[0], inputs[1]);
+    let result = await meshBoolean.intersect(inputs[0], inputs[1]);
     for (let i = 2; i < inputs.length; i++)
-        result = await cad.intersect(result, inputs[i]);
+        result = await meshBoolean.intersect(result, inputs[i]);
     return result;
 }
 // ── 三个薄导出（多输入 variadic，defineOp 声明双路径 + 逐核函数 face-evolution 能力） ──