@faicad/faijs 0.29.5 → 0.30.9

package/dist/api/assembly/joints.js

@@ -1,7 +1,7 @@
 /**
  * api/assembly/joints — 运动副声明与运动学解算（P3）
  *
- * JointSpec 是 .fai.js 可序列化子集（派生字段 dofs 由 vendored 工厂构造，
+ * JointSpec 是 .fai.js 可序列化子集（派生字段 dofs 由 brepjs 工厂构造，
  * 与 brepjs Joint.dofs 的组合顺序对齐：cylindrical → [rotation, translation]、
  * planar → [u, v, rotation]、spherical → [x, y, z]）。
  *
@@ -9,8 +9,8 @@
  * spherical 在 buildJoint 里显式抛错（绝不静默降级成单 DOF），待 per-DOF ranges
  * 启用（JointSpec.dofs 已按此预留）。
  *
- * 链路：JointSpec[] → buildJoint（vendored 工厂）→ buildKinematicTree（建树三步
- * + 校验）→ solveKinematics（vendored forwardKinematics）→ per-member 位姿。
+ * 链路：JointSpec[] → buildJoint（brepjs 工厂）→ buildKinematicTree（建树三步
+ * + 校验）→ solveKinematics（brepjs forwardKinematics）→ per-member 位姿。
  *
  * cad.* 查询函数（jointTrajectory / inverseKinematics / mechanismDOF）是无副作用
  * 纯函数：输入纯数据、输出纯数据，不挂在 assembly receiver 上。
@@ -25,13 +25,13 @@ import { fromBrepjsQuat, toBrepjsQuat, jointPoseToAssemblyTransform, isIdentityP
 /**
  * 由 JointSpec 构造 brepjs Joint。
  *
- * revolute/prismatic 走 vendored 工厂（主 DOF 的 value 在工厂内 clamp 到
+ * revolute/prismatic 走 brepjs 工厂（主 DOF 的 value 在工厂内 clamp 到
  * [min,max]）；cylindrical/planar/spherical 显式抛错（多 DOF 未启用，绝不
  * 静默降级）。offset 的四元数经 toBrepjsQuat 换序（faijs [x,y,z,w] → brepjs
  * [w,x,y,z]）。
  *
  * @param spec - the serializable joint declaration.
- * @returns the vendored brepjs Joint (with offset attached when declared).
+ * @returns the Joint (with offset attached when declared).
  * @throws Error on multi-DOF joint types and unknown joint types.
  */
 export function buildJoint(spec) {
@@ -70,7 +70,7 @@ export function buildJoint(spec) {
 }
 // ── buildKinematicTree：建树三步 + 校验 ──
 /**
- * 由成员名 + JointSpec[] 构建 kinematic AssemblyNode 树（vendored
+ * 由成员名 + JointSpec[] 构建 kinematic AssemblyNode 树（brepjs
  * forwardKinematics 只接受单个根；多成员必须有唯一合成根）。
  *
  * 校验（求解前，绝不静默）：
@@ -133,7 +133,7 @@ function specMemberNames(joints) {
     return names;
 }
 /**
- * 运动学正解：buildKinematicTree → vendored forwardKinematics → per-member 位姿。
+ * 运动学正解：buildKinematicTree → brepjs forwardKinematics → per-member 位姿。
  *
  * 校验（求解前）：成员名空串 / parent-child ∈ members / child 唯一驱动（都收在
  * buildKinematicTree 内）；drive 键必须 ∈ joints 的 child 集（多余键是笔误，
@@ -184,8 +184,14 @@ export function solveKinematics(memberNames, joints, drive) {
  * 产出 steps+1 个采样（含两端点）；joints 缺省值在两端取存储值。
  * 无 endEffector 参数（关节空间插值，不追踪端点）。
  *
- * @param p - trajectory query parameters.
- * @returns the sampled trajectory (poses with faijs-order quaternions).
+ * @group 查询
+ * @inputs 0
+ * @async false
+ * @qual ok
+ * @name jointTrajectory
+ * @note 纯函数：输入输出都是纯数据，不产 Shape、不依赖引擎；装配面契约见 `docs/api-contract.md` §12。
+ * @returns FaijsTrajectorySample[] 采样序列（steps+1 个，含两端点）。
+ * @param p - 轨迹查询参数。type:JointTrajectoryParams required:true
  */
 export function jointTrajectory(p) {
     const memberNames = specMemberNames(p.joints);
@@ -207,8 +213,14 @@ export function jointTrajectory(p) {
  * damped-least-squares IK：求使末端到达 target 的关节值。关节范围在每个迭代
  * clamp；不可达目标返回 converged:false 与最优配置。纯函数，无副作用。
  *
- * @param p - IK query parameters.
- * @returns the solved joint values plus convergence diagnostics.
+ * @group 查询
+ * @inputs 0
+ * @async false
+ * @qual ok
+ * @name inverseKinematics
+ * @note 纯函数：输入输出都是纯数据，不产 Shape、不依赖引擎；装配面契约见 `docs/api-contract.md` §12。
+ * @returns IKResult 关节值 + 收敛诊断（converged / iterations / error）。
+ * @param p - IK 查询参数。type:InverseKinematicsParams required:true
  */
 export function inverseKinematics(p) {
     const memberNames = specMemberNames(p.joints);
@@ -229,8 +241,14 @@ export function inverseKinematics(p) {
  * `cad.mechanismDOF({ joints })` — 开链机构自由度 = 各 joint DOF 数之和
  * （revolute/prismatic 各 1；串联两 revolute = 2）。纯函数，无副作用。
  *
- * @param p - DOF query parameters.
- * @returns the mechanism's total degree of freedom.
+ * @group 查询
+ * @inputs 0
+ * @async false
+ * @qual ok
+ * @name mechanismDOF
+ * @note 纯函数：输入输出都是纯数据，不产 Shape、不依赖引擎；装配面契约见 `docs/api-contract.md` §12。
+ * @returns number 机构总自由度。
+ * @param p - 自由度查询参数。type:MechanismDOFParams required:true
  */
 export function mechanismDOF(p) {
     const memberNames = specMemberNames(p.joints);

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

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* api/assembly/joints — 运动副声明与运动学解算（P3）\n *\n * JointSpec 是 .fai.js 可序列化子集（派生字段 dofs 由 vendored 工厂构造，\n * 与 brepjs Joint.dofs 的组合顺序对齐：cylindrical → [rotation, translation]、\n * planar → [u, v, rotation]、spherical → [x, y, z]）。\n *\n * P3 首期只实现 revolute / prismatic 两种单 DOF 运动副；cylindrical / planar /\n * spherical 在 buildJoint 里显式抛错（绝不静默降级成单 DOF），待 per-DOF ranges\n * 启用（JointSpec.dofs 已按此预留）。\n *\n * 链路：JointSpec[] → buildJoint（vendored 工厂）→ buildKinematicTree（建树三步\n * + 校验）→ solveKinematics（vendored forwardKinematics）→ per-member 位姿。\n *\n * cad.* 查询函数（jointTrajectory / inverseKinematics / mechanismDOF）是无副作用\n * 纯函数：输入纯数据、输出纯数据，不挂在 assembly receiver 上。\n *\n * 四元数顺序：faijs 对外 [x,y,z,w]，brepjs [w,x,y,z]——只经 ./pose 的转换函数\n * 换序，禁止在本模块手写分量重排。\n */\n\nimport {\n  revoluteJoint,\n  prismaticJoint,\n  forwardKinematics as brepjsForwardKinematics,\n  mechanismDOF as brepjsMechanismDOF,\n  jointTrajectory as brepjsJointTrajectory,\n  inverseKinematics as brepjsInverseKinematics,\n  addJoint,\n  type Joint,\n  type JointPose,\n  type IKResult as BrepjsIKResult,\n  type IKOptions as BrepjsIKOptions,\n  type IKTarget as BrepjsIKTarget,\n} from './solvers/joints-kinematics'\nimport { createAssemblyNode, addChild, type AssemblyNode } from './solvers/assembly-tree'\nimport {\n  fromBrepjsQuat,\n  toBrepjsQuat,\n  jointPoseToAssemblyTransform,\n  isIdentityPose,\n  type FaijsQuat,\n} from './pose'\nimport type { AssemblyTransform } from '../../runtime-state'\nimport type { AssemblyVec3 } from './types'\n\n// ── JointSpec（.fai.js 可序列化子集）──\n\n/** 运动副类型：P3 首期只实现 revolute / prismatic。 */\nexport type JointType = 'revolute' | 'prismatic' | 'cylindrical' | 'planar' | 'spherical'\n\n/** 单 DOF 范围（主 DOF 镜像字段 min/max/value）。 */\nexport interface JointDofSpec {\n  min: number\n  max: number\n  value: number\n}\n\n/**\n * 可序列化运动副声明（.fai.js 对象字面量）。派生字段（dofs）由 buildJoint 内\n * vendored 工厂构造——脚本里只写纯数据。\n */\nexport interface JointSpec {\n  type: JointType\n  /**\n   * 参考体（不动）；child 相对它运动。必须是 members 里的**变量名**（字符串——\n   * `.fai.js` 可序列化子集；members 也是字符串名数组）。buildKinematicTree\n   * 校验二者 ∈ members。\n   */\n  parent: string\n  /** 从动体（同样是 members 里的变量名）。 */\n  child: string\n  /** 主轴：origin 是所有旋转 DOF 的枢轴锚点。 */\n  axis: { origin: AssemblyVec3; direction: AssemblyVec3 }\n  /** 主 DOF 范围与当前值（revolute 单位 deg / prismatic 单位 mm；由 type 决定）。 */\n  min: number\n  max: number\n  value: number\n  /**\n   * 多 DOF 运动副（cylindrical 2 / planar 3 / spherical 3）的逐 DOF 范围，\n   * **长度必须与 type 的 DOF 数一致，顺序 = brepjs `Joint.dofs` 的组合顺序**：\n   *   cylindrical → [rotation, translation]\n   *   planar      → [u, v, rotation]\n   *   spherical   → [x, y, z]\n   * P3 首期只实现 revolute/prismatic，此字段随多 DOF 类型一起启用。\n   */\n  dofs?: JointDofSpec[]\n  /** planar 专用：面内 u 参考方向（brepjs 会投影到平面并归一化）。 */\n  uDirection?: AssemblyVec3\n  /** 静态连杆偏置（childWorld = parentWorld ∘ jointTransform ∘ offset），可选。 */\n  offset?: { position?: AssemblyVec3; rotation?: FaijsQuat }\n}\n\n// ── buildJoint：JointSpec → brepjs Joint ──\n\n/**\n * 由 JointSpec 构造 brepjs Joint。\n *\n * revolute/prismatic 走 vendored 工厂（主 DOF 的 value 在工厂内 clamp 到\n * [min,max]）；cylindrical/planar/spherical 显式抛错（多 DOF 未启用，绝不\n * 静默降级）。offset 的四元数经 toBrepjsQuat 换序（faijs [x,y,z,w] → brepjs\n * [w,x,y,z]）。\n *\n * @param spec - the serializable joint declaration.\n * @returns the vendored brepjs Joint (with offset attached when declared).\n * @throws Error on multi-DOF joint types and unknown joint types.\n */\nexport function buildJoint(spec: JointSpec): Joint {\n  const axis = { origin: spec.axis.origin, direction: spec.axis.direction }\n  const options = { min: spec.min, max: spec.max, value: spec.value }\n  let joint: Joint\n  switch (spec.type) {\n    case 'revolute':\n      joint = revoluteJoint(String(spec.parent), String(spec.child), axis, options)\n      break\n    case 'prismatic':\n      joint = prismaticJoint(String(spec.parent), String(spec.child), axis, options)\n      break\n    case 'cylindrical':\n    case 'planar':\n    case 'spherical':\n      throw new Error(`[assembly] joint type '${spec.type}' is not supported yet; per-DOF ranges pending`)\n    default: {\n      const exhaustive: never = spec.type\n      throw new Error(`[assembly] unknown joint type '${String(exhaustive)}'`)\n    }\n  }\n  if (spec.offset) {\n    const rotation = spec.offset.rotation\n      ? ([...toBrepjsQuat(spec.offset.rotation)] as [number, number, number, number])\n      : ([1, 0, 0, 0] as [number, number, number, number])\n    joint = {\n      ...joint,\n      offset: {\n        position: spec.offset.position ?? ([0, 0, 0] as [number, number, number]),\n        rotation,\n      },\n    }\n  }\n  return joint\n}\n\n// ── buildKinematicTree：建树三步 + 校验 ──\n\n/**\n * 由成员名 + JointSpec[] 构建 kinematic AssemblyNode 树（vendored\n * forwardKinematics 只接受单个根；多成员必须有唯一合成根）。\n *\n * 校验（求解前，绝不静默）：\n * - 成员名空串 → 抛错（与约束求解 R7 同源）；\n * - parent/child 必须在 members 里 → 抛错并附成员名全集；\n * - 同一 child 不得被两个 joint 驱动（brepjs forwardKinematics 对重复 child\n *   静默跳过——faijs 侧必须在求解前显式失败）。\n *\n * 建树三步：\n * ① 合成根 '__asm_root'（不带 shape）；② 全部成员挂成子节点（未被 joint 驱动\n * 的成员靠这一步拿到 identity 位姿；addChild 返回新节点必须重新赋值）；③ 每个\n * joint 经 addJoint 挂到树上（FK 用 walkAssembly 收集 node.joints，位姿按\n * joint.parent/child 的名字图传播，与树边无关）。\n *\n * @param memberNames - member variable names (the tree covers every member).\n * @param joints - raw joint declarations.\n * @returns the assembled kinematic tree root.\n * @throws Error on empty member names, unknown joint parts, or duplicate child drive.\n */\nexport function buildKinematicTree(memberNames: string[], joints: JointSpec[]): AssemblyNode {\n  memberNames.forEach((name, i) => {\n    if (!name) {\n      throw new Error(\n        `[assembly] member at index ${i} has an empty name — members are referenced by name in joints`,\n      )\n    }\n  })\n  const memberSet = new Set(memberNames)\n  const driven = new Set<string>()\n  for (const j of joints) {\n    if (!memberSet.has(String(j.parent))) {\n      throw new Error(\n        `[assembly] joint parent '${String(j.parent)}' is not a member — members: ${memberNames.join(', ')}`,\n      )\n    }\n    if (!memberSet.has(String(j.child))) {\n      throw new Error(\n        `[assembly] joint child '${String(j.child)}' is not a member — members: ${memberNames.join(', ')}`,\n      )\n    }\n    if (driven.has(String(j.child))) {\n      throw new Error(\n        `[assembly] joint child '${String(j.child)}' is driven by more than one joint — each child must be driven by exactly one joint`,\n      )\n    }\n    driven.add(String(j.child))\n  }\n  // 建树三步（见函数头注释）\n  let root = createAssemblyNode('__asm_root')\n  for (const m of memberNames) root = addChild(root, createAssemblyNode(m))\n  for (const j of joints) root = addJoint(root, buildJoint(j))\n  return root\n}\n\n// ── solveKinematics：正解 ──\n\n/** per-member 运动学位姿（rotation 为 faijs [x,y,z,w]）。 */\nexport interface KinematicsPose {\n  position: AssemblyVec3\n  rotation: FaijsQuat\n}\n\n/** 运动学解算结果：装配变换（被驱动成员）+ 全成员位姿表。 */\nexport interface KinematicsSolveResult {\n  /** 被 joints 定位（非恒等）的成员装配变换；index = 成员下标。 */\n  transforms: AssemblyTransform[]\n  /** 全部成员的终态位姿（含恒等，链根也在此）；键 = 成员名。 */\n  kinematics: Record<string, KinematicsPose>\n}\n\n/** 从 joints 推导查询场景的成员名全集（parent ∪ child，保序去重）。 */\nfunction specMemberNames(joints: JointSpec[]): string[] {\n  const names: string[] = []\n  const seen = new Set<string>()\n  for (const j of joints) {\n    for (const n of [String(j.parent), String(j.child)]) {\n      if (!seen.has(n)) {\n        seen.add(n)\n        names.push(n)\n      }\n    }\n  }\n  return names\n}\n\n/**\n * 运动学正解：buildKinematicTree → vendored forwardKinematics → per-member 位姿。\n *\n * 校验（求解前）：成员名空串 / parent-child ∈ members / child 唯一驱动（都收在\n * buildKinematicTree 内）；drive 键必须 ∈ joints 的 child 集（多余键是笔误，\n * 显式失败而非静默忽略）。\n *\n * forwards 返回的 Map 含合成根 '__asm_root'——本函数按 memberNames 过滤掉，\n * 只输出成员位姿。transforms 只含非恒等（被驱动）成员，恒等成员不输出（引擎\n * 不做无谓重算，与约束求解语义一致）；kinematics 则覆盖全部成员（含恒等），\n * 供宿主动画/导出读取完整骨架。\n *\n * @param memberNames - member variable names.\n * @param joints - raw joint declarations.\n * @param drive - per-child DOF value overrides (number for the primary DOF, or\n *   a per-DOF array); keyed by child member name.\n * @returns the per-member kinematics result.\n * @throws Error on empty member names, unknown joint parts, duplicate child drive,\n *   or a drive key that is not a joint child.\n */\nexport function solveKinematics(\n  memberNames: string[],\n  joints: JointSpec[],\n  drive?: Record<string, number | number[]>,\n): KinematicsSolveResult {\n  if (drive) {\n    const jointChildren = new Set(joints.map((j) => String(j.child)))\n    for (const key of Object.keys(drive)) {\n      if (!jointChildren.has(key)) {\n        throw new Error(\n          `[assembly] drive key '${key}' does not name a joint child — joint children: ${[...jointChildren].join(', ')}`,\n        )\n      }\n    }\n  }\n  const tree = buildKinematicTree(memberNames, joints)\n  const poses = brepjsForwardKinematics(tree, drive)\n  const transforms: AssemblyTransform[] = []\n  const kinematics: Record<string, KinematicsPose> = {}\n  memberNames.forEach((name, index) => {\n    const pose = poses.get(name)\n    if (!pose) return\n    const rotation = fromBrepjsQuat(pose.rotation)\n    kinematics[name] = {\n      position: [pose.position[0], pose.position[1], pose.position[2]],\n      rotation,\n    }\n    if (!isIdentityPose(pose)) transforms.push(jointPoseToAssemblyTransform(pose, index))\n  })\n  return { transforms, kinematics }\n}\n\n// ── cad.* 查询函数（纯函数，无副作用；输入输出都是纯数据）──\n\n/** `cad.jointTrajectory({ joints, from, to, steps })` 参数。 */\nexport interface JointTrajectoryParams {\n  joints: JointSpec[]\n  from: Record<string, number | number[]>\n  to: Record<string, number | number[]>\n  steps: number\n}\n\n/** 轨迹采样（poses 的 rotation 已换序为 faijs [x,y,z,w]）。 */\nexport interface FaijsTrajectorySample {\n  /** 归一化路径参数 ∈ [0,1]。 */\n  t: number\n  /** 该步的逐 DOF 值（键 = child 成员名）。 */\n  values: Record<string, number[]>\n  /** 该步全成员世界位姿。 */\n  poses: Map<string, KinematicsPose>\n}\n\n/**\n * `cad.jointTrajectory({ joints, from, to, steps })` — 关节空间直线路径采样。\n * 产出 steps+1 个采样（含两端点）；joints 缺省值在两端取存储值。\n * 无 endEffector 参数（关节空间插值，不追踪端点）。\n *\n * @param p - trajectory query parameters.\n * @returns the sampled trajectory (poses with faijs-order quaternions).\n */\nexport function jointTrajectory(p: JointTrajectoryParams): FaijsTrajectorySample[] {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  return brepjsJointTrajectory(tree, p.from, p.to, p.steps).map((s) => ({\n    t: s.t,\n    values: s.values,\n    poses: new Map(\n      [...s.poses.entries()].map(([name, pose]) => [\n        name,\n        {\n          position: [pose.position[0], pose.position[1], pose.position[2]],\n          rotation: fromBrepjsQuat(pose.rotation),\n        },\n      ]),\n    ),\n  }))\n}\n\n/** `cad.inverseKinematics({ joints, endEffector, target, options? })` 参数。 */\nexport interface InverseKinematicsParams {\n  joints: JointSpec[]\n  /** 末端执行器 = child 成员名。 */\n  endEffector: string\n  /** 目标位姿（rotation 对外 faijs [x,y,z,w]，内部 toBrepjsQuat 换序）。 */\n  target: { position: AssemblyVec3; rotation?: FaijsQuat }\n  options?: BrepjsIKOptions\n}\n\n/** IK 结果（与 vendored IKResult 同构；values 键 = child 成员名）。 */\nexport interface IKResult {\n  values: Record<string, number[]>\n  converged: boolean\n  iterations: number\n  error: number\n}\n\n/**\n * `cad.inverseKinematics({ joints, endEffector, target, options? })` —\n * damped-least-squares IK：求使末端到达 target 的关节值。关节范围在每个迭代\n * clamp；不可达目标返回 converged:false 与最优配置。纯函数，无副作用。\n *\n * @param p - IK query parameters.\n * @returns the solved joint values plus convergence diagnostics.\n */\nexport function inverseKinematics(p: InverseKinematicsParams): IKResult {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  const target: BrepjsIKTarget = {\n    position: p.target.position,\n    ...(p.target.rotation ? { rotation: toBrepjsQuat(p.target.rotation) } : {}),\n  }\n  const result: BrepjsIKResult = brepjsInverseKinematics(tree, p.endEffector, target, p.options)\n  return {\n    values: result.values,\n    converged: result.converged,\n    iterations: result.iterations,\n    error: result.error,\n  }\n}\n\n/** `cad.mechanismDOF({ joints })` 参数。 */\nexport interface MechanismDOFParams {\n  joints: JointSpec[]\n}\n\n/**\n * `cad.mechanismDOF({ joints })` — 开链机构自由度 = 各 joint DOF 数之和\n * （revolute/prismatic 各 1；串联两 revolute = 2）。纯函数，无副作用。\n *\n * @param p - DOF query parameters.\n * @returns the mechanism's total degree of freedom.\n */\nexport function mechanismDOF(p: MechanismDOFParams): number {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  return brepjsMechanismDOF(tree)\n}\n\n// re-export：查询函数对外的类型面（IKOptions 透传给宿主）。\nexport type { JointPose, BrepjsIKOptions as IKOptions }"]}
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* api/assembly/joints — 运动副声明与运动学解算（P3）\n *\n * JointSpec 是 .fai.js 可序列化子集（派生字段 dofs 由 brepjs 工厂构造，\n * 与 brepjs Joint.dofs 的组合顺序对齐：cylindrical → [rotation, translation]、\n * planar → [u, v, rotation]、spherical → [x, y, z]）。\n *\n * P3 首期只实现 revolute / prismatic 两种单 DOF 运动副；cylindrical / planar /\n * spherical 在 buildJoint 里显式抛错（绝不静默降级成单 DOF），待 per-DOF ranges\n * 启用（JointSpec.dofs 已按此预留）。\n *\n * 链路：JointSpec[] → buildJoint（brepjs 工厂）→ buildKinematicTree（建树三步\n * + 校验）→ solveKinematics（brepjs forwardKinematics）→ per-member 位姿。\n *\n * cad.* 查询函数（jointTrajectory / inverseKinematics / mechanismDOF）是无副作用\n * 纯函数：输入纯数据、输出纯数据，不挂在 assembly receiver 上。\n *\n * 四元数顺序：faijs 对外 [x,y,z,w]，brepjs [w,x,y,z]——只经 ./pose 的转换函数\n * 换序，禁止在本模块手写分量重排。\n */\n\nimport {\n  revoluteJoint,\n  prismaticJoint,\n  forwardKinematics as brepjsForwardKinematics,\n  mechanismDOF as brepjsMechanismDOF,\n  jointTrajectory as brepjsJointTrajectory,\n  inverseKinematics as brepjsInverseKinematics,\n  addJoint,\n  type Joint,\n  type JointPose,\n  type IKResult as BrepjsIKResult,\n  type IKOptions as BrepjsIKOptions,\n  type IKTarget as BrepjsIKTarget,\n} from './solvers/joints-kinematics'\nimport { createAssemblyNode, addChild, type AssemblyNode } from './solvers/assembly-tree'\nimport {\n  fromBrepjsQuat,\n  toBrepjsQuat,\n  jointPoseToAssemblyTransform,\n  isIdentityPose,\n  type FaijsQuat,\n} from './pose'\nimport type { AssemblyTransform } from '../../runtime-state'\nimport type { AssemblyVec3 } from './types'\n\n// ── JointSpec（.fai.js 可序列化子集）──\n\n/** 运动副类型：P3 首期只实现 revolute / prismatic。 */\nexport type JointType = 'revolute' | 'prismatic' | 'cylindrical' | 'planar' | 'spherical'\n\n/** 单 DOF 范围（主 DOF 镜像字段 min/max/value）。 */\nexport interface JointDofSpec {\n  min: number\n  max: number\n  value: number\n}\n\n/**\n * 可序列化运动副声明（.fai.js 对象字面量）。派生字段（dofs）由 buildJoint 内\n * brepjs 工厂构造——脚本里只写纯数据。\n */\nexport interface JointSpec {\n  type: JointType\n  /**\n   * 参考体（不动）；child 相对它运动。必须是 members 里的**变量名**（字符串——\n   * `.fai.js` 可序列化子集；members 也是字符串名数组）。buildKinematicTree\n   * 校验二者 ∈ members。\n   */\n  parent: string\n  /** 从动体（同样是 members 里的变量名）。 */\n  child: string\n  /** 主轴：origin 是所有旋转 DOF 的枢轴锚点。 */\n  axis: { origin: AssemblyVec3; direction: AssemblyVec3 }\n  /** 主 DOF 范围与当前值（revolute 单位 deg / prismatic 单位 mm；由 type 决定）。 */\n  min: number\n  max: number\n  value: number\n  /**\n   * 多 DOF 运动副（cylindrical 2 / planar 3 / spherical 3）的逐 DOF 范围，\n   * **长度必须与 type 的 DOF 数一致，顺序 = brepjs `Joint.dofs` 的组合顺序**：\n   *   cylindrical → [rotation, translation]\n   *   planar      → [u, v, rotation]\n   *   spherical   → [x, y, z]\n   * P3 首期只实现 revolute/prismatic，此字段随多 DOF 类型一起启用。\n   */\n  dofs?: JointDofSpec[]\n  /** planar 专用：面内 u 参考方向（brepjs 会投影到平面并归一化）。 */\n  uDirection?: AssemblyVec3\n  /** 静态连杆偏置（childWorld = parentWorld ∘ jointTransform ∘ offset），可选。 */\n  offset?: { position?: AssemblyVec3; rotation?: FaijsQuat }\n}\n\n// ── buildJoint：JointSpec → brepjs Joint ──\n\n/**\n * 由 JointSpec 构造 brepjs Joint。\n *\n * revolute/prismatic 走 brepjs 工厂（主 DOF 的 value 在工厂内 clamp 到\n * [min,max]）；cylindrical/planar/spherical 显式抛错（多 DOF 未启用，绝不\n * 静默降级）。offset 的四元数经 toBrepjsQuat 换序（faijs [x,y,z,w] → brepjs\n * [w,x,y,z]）。\n *\n * @param spec - the serializable joint declaration.\n * @returns the Joint (with offset attached when declared).\n * @throws Error on multi-DOF joint types and unknown joint types.\n */\nexport function buildJoint(spec: JointSpec): Joint {\n  const axis = { origin: spec.axis.origin, direction: spec.axis.direction }\n  const options = { min: spec.min, max: spec.max, value: spec.value }\n  let joint: Joint\n  switch (spec.type) {\n    case 'revolute':\n      joint = revoluteJoint(String(spec.parent), String(spec.child), axis, options)\n      break\n    case 'prismatic':\n      joint = prismaticJoint(String(spec.parent), String(spec.child), axis, options)\n      break\n    case 'cylindrical':\n    case 'planar':\n    case 'spherical':\n      throw new Error(`[assembly] joint type '${spec.type}' is not supported yet; per-DOF ranges pending`)\n    default: {\n      const exhaustive: never = spec.type\n      throw new Error(`[assembly] unknown joint type '${String(exhaustive)}'`)\n    }\n  }\n  if (spec.offset) {\n    const rotation = spec.offset.rotation\n      ? ([...toBrepjsQuat(spec.offset.rotation)] as [number, number, number, number])\n      : ([1, 0, 0, 0] as [number, number, number, number])\n    joint = {\n      ...joint,\n      offset: {\n        position: spec.offset.position ?? ([0, 0, 0] as [number, number, number]),\n        rotation,\n      },\n    }\n  }\n  return joint\n}\n\n// ── buildKinematicTree：建树三步 + 校验 ──\n\n/**\n * 由成员名 + JointSpec[] 构建 kinematic AssemblyNode 树（brepjs\n * forwardKinematics 只接受单个根；多成员必须有唯一合成根）。\n *\n * 校验（求解前，绝不静默）：\n * - 成员名空串 → 抛错（与约束求解 R7 同源）；\n * - parent/child 必须在 members 里 → 抛错并附成员名全集；\n * - 同一 child 不得被两个 joint 驱动（brepjs forwardKinematics 对重复 child\n *   静默跳过——faijs 侧必须在求解前显式失败）。\n *\n * 建树三步：\n * ① 合成根 '__asm_root'（不带 shape）；② 全部成员挂成子节点（未被 joint 驱动\n * 的成员靠这一步拿到 identity 位姿；addChild 返回新节点必须重新赋值）；③ 每个\n * joint 经 addJoint 挂到树上（FK 用 walkAssembly 收集 node.joints，位姿按\n * joint.parent/child 的名字图传播，与树边无关）。\n *\n * @param memberNames - member variable names (the tree covers every member).\n * @param joints - raw joint declarations.\n * @returns the assembled kinematic tree root.\n * @throws Error on empty member names, unknown joint parts, or duplicate child drive.\n */\nexport function buildKinematicTree(memberNames: string[], joints: JointSpec[]): AssemblyNode {\n  memberNames.forEach((name, i) => {\n    if (!name) {\n      throw new Error(\n        `[assembly] member at index ${i} has an empty name — members are referenced by name in joints`,\n      )\n    }\n  })\n  const memberSet = new Set(memberNames)\n  const driven = new Set<string>()\n  for (const j of joints) {\n    if (!memberSet.has(String(j.parent))) {\n      throw new Error(\n        `[assembly] joint parent '${String(j.parent)}' is not a member — members: ${memberNames.join(', ')}`,\n      )\n    }\n    if (!memberSet.has(String(j.child))) {\n      throw new Error(\n        `[assembly] joint child '${String(j.child)}' is not a member — members: ${memberNames.join(', ')}`,\n      )\n    }\n    if (driven.has(String(j.child))) {\n      throw new Error(\n        `[assembly] joint child '${String(j.child)}' is driven by more than one joint — each child must be driven by exactly one joint`,\n      )\n    }\n    driven.add(String(j.child))\n  }\n  // 建树三步（见函数头注释）\n  let root = createAssemblyNode('__asm_root')\n  for (const m of memberNames) root = addChild(root, createAssemblyNode(m))\n  for (const j of joints) root = addJoint(root, buildJoint(j))\n  return root\n}\n\n// ── solveKinematics：正解 ──\n\n/** per-member 运动学位姿（rotation 为 faijs [x,y,z,w]）。 */\nexport interface KinematicsPose {\n  position: AssemblyVec3\n  rotation: FaijsQuat\n}\n\n/** 运动学解算结果：装配变换（被驱动成员）+ 全成员位姿表。 */\nexport interface KinematicsSolveResult {\n  /** 被 joints 定位（非恒等）的成员装配变换；index = 成员下标。 */\n  transforms: AssemblyTransform[]\n  /** 全部成员的终态位姿（含恒等，链根也在此）；键 = 成员名。 */\n  kinematics: Record<string, KinematicsPose>\n}\n\n/** 从 joints 推导查询场景的成员名全集（parent ∪ child，保序去重）。 */\nfunction specMemberNames(joints: JointSpec[]): string[] {\n  const names: string[] = []\n  const seen = new Set<string>()\n  for (const j of joints) {\n    for (const n of [String(j.parent), String(j.child)]) {\n      if (!seen.has(n)) {\n        seen.add(n)\n        names.push(n)\n      }\n    }\n  }\n  return names\n}\n\n/**\n * 运动学正解：buildKinematicTree → brepjs forwardKinematics → per-member 位姿。\n *\n * 校验（求解前）：成员名空串 / parent-child ∈ members / child 唯一驱动（都收在\n * buildKinematicTree 内）；drive 键必须 ∈ joints 的 child 集（多余键是笔误，\n * 显式失败而非静默忽略）。\n *\n * forwards 返回的 Map 含合成根 '__asm_root'——本函数按 memberNames 过滤掉，\n * 只输出成员位姿。transforms 只含非恒等（被驱动）成员，恒等成员不输出（引擎\n * 不做无谓重算，与约束求解语义一致）；kinematics 则覆盖全部成员（含恒等），\n * 供宿主动画/导出读取完整骨架。\n *\n * @param memberNames - member variable names.\n * @param joints - raw joint declarations.\n * @param drive - per-child DOF value overrides (number for the primary DOF, or\n *   a per-DOF array); keyed by child member name.\n * @returns the per-member kinematics result.\n * @throws Error on empty member names, unknown joint parts, duplicate child drive,\n *   or a drive key that is not a joint child.\n */\nexport function solveKinematics(\n  memberNames: string[],\n  joints: JointSpec[],\n  drive?: Record<string, number | number[]>,\n): KinematicsSolveResult {\n  if (drive) {\n    const jointChildren = new Set(joints.map((j) => String(j.child)))\n    for (const key of Object.keys(drive)) {\n      if (!jointChildren.has(key)) {\n        throw new Error(\n          `[assembly] drive key '${key}' does not name a joint child — joint children: ${[...jointChildren].join(', ')}`,\n        )\n      }\n    }\n  }\n  const tree = buildKinematicTree(memberNames, joints)\n  const poses = brepjsForwardKinematics(tree, drive)\n  const transforms: AssemblyTransform[] = []\n  const kinematics: Record<string, KinematicsPose> = {}\n  memberNames.forEach((name, index) => {\n    const pose = poses.get(name)\n    if (!pose) return\n    const rotation = fromBrepjsQuat(pose.rotation)\n    kinematics[name] = {\n      position: [pose.position[0], pose.position[1], pose.position[2]],\n      rotation,\n    }\n    if (!isIdentityPose(pose)) transforms.push(jointPoseToAssemblyTransform(pose, index))\n  })\n  return { transforms, kinematics }\n}\n\n// ── cad.* 查询函数（纯函数，无副作用；输入输出都是纯数据）──\n\n/** `cad.jointTrajectory({ joints, from, to, steps })` 参数。 */\nexport interface JointTrajectoryParams {\n  joints: JointSpec[]\n  from: Record<string, number | number[]>\n  to: Record<string, number | number[]>\n  steps: number\n}\n\n/** 轨迹采样（poses 的 rotation 已换序为 faijs [x,y,z,w]）。 */\nexport interface FaijsTrajectorySample {\n  /** 归一化路径参数 ∈ [0,1]。 */\n  t: number\n  /** 该步的逐 DOF 值（键 = child 成员名）。 */\n  values: Record<string, number[]>\n  /** 该步全成员世界位姿。 */\n  poses: Map<string, KinematicsPose>\n}\n\n/**\n * `cad.jointTrajectory({ joints, from, to, steps })` — 关节空间直线路径采样。\n * 产出 steps+1 个采样（含两端点）；joints 缺省值在两端取存储值。\n * 无 endEffector 参数（关节空间插值，不追踪端点）。\n *\n * @group 查询\n * @inputs 0\n * @async false\n * @qual ok\n * @name jointTrajectory\n * @note 纯函数：输入输出都是纯数据，不产 Shape、不依赖引擎；装配面契约见 `docs/api-contract.md` §12。\n * @returns FaijsTrajectorySample[] 采样序列（steps+1 个，含两端点）。\n * @param p - 轨迹查询参数。type:JointTrajectoryParams required:true\n */\nexport function jointTrajectory(p: JointTrajectoryParams): FaijsTrajectorySample[] {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  return brepjsJointTrajectory(tree, p.from, p.to, p.steps).map((s) => ({\n    t: s.t,\n    values: s.values,\n    poses: new Map(\n      [...s.poses.entries()].map(([name, pose]) => [\n        name,\n        {\n          position: [pose.position[0], pose.position[1], pose.position[2]],\n          rotation: fromBrepjsQuat(pose.rotation),\n        },\n      ]),\n    ),\n  }))\n}\n\n/** `cad.inverseKinematics({ joints, endEffector, target, options? })` 参数。 */\nexport interface InverseKinematicsParams {\n  joints: JointSpec[]\n  /** 末端执行器 = child 成员名。 */\n  endEffector: string\n  /** 目标位姿（rotation 对外 faijs [x,y,z,w]，内部 toBrepjsQuat 换序）。 */\n  target: { position: AssemblyVec3; rotation?: FaijsQuat }\n  options?: BrepjsIKOptions\n}\n\n/** IK 结果（与 brepjs IKResult 同构；values 键 = child 成员名）。 */\nexport interface IKResult {\n  values: Record<string, number[]>\n  converged: boolean\n  iterations: number\n  error: number\n}\n\n/**\n * `cad.inverseKinematics({ joints, endEffector, target, options? })` —\n * damped-least-squares IK：求使末端到达 target 的关节值。关节范围在每个迭代\n * clamp；不可达目标返回 converged:false 与最优配置。纯函数，无副作用。\n *\n * @group 查询\n * @inputs 0\n * @async false\n * @qual ok\n * @name inverseKinematics\n * @note 纯函数：输入输出都是纯数据，不产 Shape、不依赖引擎；装配面契约见 `docs/api-contract.md` §12。\n * @returns IKResult 关节值 + 收敛诊断（converged / iterations / error）。\n * @param p - IK 查询参数。type:InverseKinematicsParams required:true\n */\nexport function inverseKinematics(p: InverseKinematicsParams): IKResult {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  const target: BrepjsIKTarget = {\n    position: p.target.position,\n    ...(p.target.rotation ? { rotation: toBrepjsQuat(p.target.rotation) } : {}),\n  }\n  const result: BrepjsIKResult = brepjsInverseKinematics(tree, p.endEffector, target, p.options)\n  return {\n    values: result.values,\n    converged: result.converged,\n    iterations: result.iterations,\n    error: result.error,\n  }\n}\n\n/** `cad.mechanismDOF({ joints })` 参数。 */\nexport interface MechanismDOFParams {\n  joints: JointSpec[]\n}\n\n/**\n * `cad.mechanismDOF({ joints })` — 开链机构自由度 = 各 joint DOF 数之和\n * （revolute/prismatic 各 1；串联两 revolute = 2）。纯函数，无副作用。\n *\n * @group 查询\n * @inputs 0\n * @async false\n * @qual ok\n * @name mechanismDOF\n * @note 纯函数：输入输出都是纯数据，不产 Shape、不依赖引擎；装配面契约见 `docs/api-contract.md` §12。\n * @returns number 机构总自由度。\n * @param p - 自由度查询参数。type:MechanismDOFParams required:true\n */\nexport function mechanismDOF(p: MechanismDOFParams): number {\n  const memberNames = specMemberNames(p.joints)\n  const tree = buildKinematicTree(memberNames, p.joints)\n  return brepjsMechanismDOF(tree)\n}\n\n// re-export：查询函数对外的类型面（IKOptions 透传给宿主）。\nexport type { JointPose, BrepjsIKOptions as IKOptions }"]}

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

@@ -4,7 +4,7 @@
  * 动机：3d_editor 预览需要**与执行同源**的轻量入口（P2-f5 已删除旧预览专用数学）；
  *
  * 同源性保证：内部复用 lowerEntities（与 lowerStructuralConstraint 同编码规则）
- * 与 vendored brepjs solveConstraints——不另写数学。
+ * 与 chain-solver solveConstraints——不另写数学。
  *
  * **输入约定**：一律是"未编码"的实体（SolverEntity，纯数据）——
  * 面 → {type:'plane', origin:center, normal}，圆柱/圆锥面与边 →

package/dist/api/assembly/preview.js

@@ -4,7 +4,7 @@
  * 动机：3d_editor 预览需要**与执行同源**的轻量入口（P2-f5 已删除旧预览专用数学）；
  *
  * 同源性保证：内部复用 lowerEntities（与 lowerStructuralConstraint 同编码规则）
- * 与 vendored brepjs solveConstraints——不另写数学。
+ * 与 chain-solver solveConstraints——不另写数学。
  *
  * **输入约定**：一律是"未编码"的实体（SolverEntity，纯数据）——
  * 面 → {type:'plane', origin:center, normal}，圆柱/圆锥面与边 →

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

@@ -1 +1 @@
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package/dist/api/assembly/solve.d.ts

@@ -2,7 +2,7 @@
  * api/assembly/solve — 装配求解入口（P1，方案 §4.2）
  *
  * 流程：规范化（normalize）→ 降级（lower）→ brepjs solveConstraints
- *（拓扑轮次调度 / DOF / converged 全部由 brepjs 提供，零 vendored 修改）→
+ *（拓扑轮次调度 / DOF / converged 全部由 brepjs 提供，零 brepjs 修改）→
  * per-member 终态 AssemblyTransform（修 L6：不再 per-constraint 增量叠加）。
  *
  * 不收敛 → 抛错（D3，错误信息带 unsupported 明细；对齐「绝不静默」约定）。

package/dist/api/assembly/solve.js

@@ -2,7 +2,7 @@
  * api/assembly/solve — 装配求解入口（P1，方案 §4.2）
  *
  * 流程：规范化（normalize）→ 降级（lower）→ brepjs solveConstraints
- *（拓扑轮次调度 / DOF / converged 全部由 brepjs 提供，零 vendored 修改）→
+ *（拓扑轮次调度 / DOF / converged 全部由 brepjs 提供，零 brepjs 修改）→
  * per-member 终态 AssemblyTransform（修 L6：不再 per-constraint 增量叠加）。
  *
  * 不收敛 → 抛错（D3，错误信息带 unsupported 明细；对齐「绝不静默」约定）。

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

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

@@ -1,5 +1,5 @@
 /**
- * Assembly tree — core 自有实现（§5.6 移植：vendored assemblyFns 逐字对齐，纯数据结构）。
+ * Assembly tree — core 自有实现（§5.6 移植：brepjs assemblyFns 逐字对齐，纯数据结构）。
  *
  * An assembly is a tree of nodes. Each node has an optional shape,
  * a local transform (translation + rotation), optional metadata,

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

@@ -1,5 +1,5 @@
 /**
- * Assembly tree — core 自有实现（§5.6 移植：vendored assemblyFns 逐字对齐，纯数据结构）。
+ * Assembly tree — core 自有实现（§5.6 移植：brepjs assemblyFns 逐字对齐，纯数据结构）。
  *
  * An assembly is a tree of nodes. Each node has an optional shape,
  * a local transform (translation + rotation), optional metadata,

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

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

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

@@ -1,8 +1,8 @@
 /**
- * Constraint solver (chain) — core 自有实现（§5.6 移植：vendored solverAdapter 逐字对齐）。
+ * Constraint solver (chain) — core 自有实现（§5.6 移植：brepjs solverAdapter 逐字对齐）。
  *
  * 移植来源：packages/brepjs/src/kernel/solverAdapter.ts（Phase 5 随 brepjs 包删除前
- * 已做 parity 对拍——本文件与 vendored 行为逐项一致，无重新设计）。
+ * 已做 parity 对拍——本文件与 brepjs 行为逐项一致，无重新设计）。
  * 类型 SolverEntity/SolverConstraint/SolverResult 迁入 ./types（§5.6.1，消费方共用）。
  */
 import type { SolverConstraint, SolverResult } from './types.js';

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

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

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

@@ -3,8 +3,7 @@
  *
  * 复刻 CadQuery `cadquery/occ_impl/solver.py` 的**语义**（全局 NLP、模长参数化旋转、
  * 9 类代价、Axis 缺省反平行、Plane=Axis(π)+Point(0)、包围盒对角长缩放），
- * 以 Levenberg-Marquardt 替代 IPOPT，**零原生/WASM 依赖**（裁定 1–6，详见
- * `docs/plans/2026-09-08-assembly-dual-solver.md`）。
+ * 以 Levenberg-Marquardt 替代 IPOPT，**零原生/WASM 依赖**（裁定 1–6）。
  *
  * 关键裁定（写进代码，不在别处手算）：
  * - 裁定 1/2：faijs Shape 不携带 placement → 初值 T0=R0=0，world 系==本地系；

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

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