@faicad/faijs 0.32.3 → 0.33.2

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

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

@@ -27,6 +27,7 @@ export function createAssemblyNode(name, options = {}) {
         ...(options.translate !== undefined ? { translate: options.translate } : {}),
         ...(options.rotate !== undefined ? { rotate: options.rotate } : {}),
         ...(options.metadata !== undefined ? { metadata: options.metadata } : {}),
+        ...(options.constraints !== undefined ? { constraints: options.constraints } : {}),
     };
 }
 // ---------------------------------------------------------------------------

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. 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"]}
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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'\nimport type { AssemblyConstraint } from '../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  /** P4: constraints local to this node (part names use qualified names relative to root). */\n  readonly constraints?: readonly AssemblyConstraint[];\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  constraints?: AssemblyConstraint[];\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    ...(options.constraints !== undefined ? { constraints: options.constraints } : {}),\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/global-solver.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"global-solver.d.ts","sourceRoot":"","sources":["../../../../src/api/assembly/solvers/global-solver.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;GAkBG;AAEH,OAAO,KAAK,EAAE,KAAK,EAAE,MAAM,qBAAqB,CAAA;AAIhD,OAAO,KAAK,EAAE,kBAAkB,EAAa,MAAM,UAAU,CAAA;AAQ7D,OAAO,EAAE,KAAK,YAAY,EAAqB,KAAK,iBAAiB,EAAE,MAAM,SAAS,CAAA;AA8PtF;;;;;;;;GAQG;AACH,wBAAgB,WAAW,CACzB,OAAO,EAAE,KAAK,EAAE,EAChB,WAAW,EAAE,MAAM,EAAE,EACrB,WAAW,EAAE,kBAAkB,EAAE,EACjC,IAAI,CAAC,EAAE,YAAY,GAClB,iBAAiB,CA6UnB"}

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

@@ -118,6 +118,140 @@ function termResidual(t, sa, sb, scale) {
         }
     }
 }
+/** 单条代价项的残差维数（与 termResidual 的分支表一一对应；诊断参考）。 */
+function residualDim(t) {
+    switch (t.fn) {
+        case 'point':
+            return Math.abs(t.val) < 1e-12 ? 3 : 1;
+        case 'axis':
+            return Math.abs(t.val) < 1e-12 || Math.abs(t.val - Math.PI) < 1e-12 ? 3 : 1;
+        case 'point_in_plane':
+            return 1;
+        case 'point_on_line':
+            return Math.abs(t.val) < 1e-12 ? 3 : 1;
+    }
+}
+void residualDim; // P7/D1-1：诊断参考表（秩判定走列归一特征值，见下）
+/**
+ * 对称 n×n 矩阵的特征值（循环 Jacobi 旋转）。
+ *
+ * @returns 特征值数组（无序）；扫掠不收敛返回 null（调用方走保守 fallback）。
+ */
+function symEigenvalues(A, n) {
+    const a = A.slice();
+    for (let sweep = 0; sweep < 60; sweep++) {
+        let off = 0;
+        for (let p = 0; p < n; p++) {
+            for (let q = p + 1; q < n; q++)
+                off += a[p * n + q] * a[p * n + q];
+        }
+        if (off <= 1e-30 * Math.max(1, Math.abs(a[0])))
+            break;
+        for (let p = 0; p < n - 1; p++) {
+            for (let q = p + 1; q < n; q++) {
+                const apq = a[p * n + q];
+                if (Math.abs(apq) < 1e-300)
+                    continue;
+                // Numerical Recipes 经典公式（θ=0 时 t=1，即 45° 旋转；sign(0)=0 的变体是错的）
+                const theta = (a[q * n + q] - a[p * n + p]) / (2 * apq);
+                const t = theta >= 0 ? 1 / (theta + Math.sqrt(1 + theta * theta)) : 1 / (theta - Math.sqrt(1 + theta * theta));
+                const c = 1 / Math.sqrt(t * t + 1);
+                const s = t * c;
+                for (let k = 0; k < n; k++) {
+                    const akp = a[k * n + p];
+                    const akq = a[k * n + q];
+                    a[k * n + p] = c * akp - s * akq;
+                    a[k * n + q] = s * akp + c * akq;
+                }
+                for (let k = 0; k < n; k++) {
+                    const apk = a[p * n + k];
+                    const aqk = a[q * n + k];
+                    a[p * n + k] = c * apk - s * aqk;
+                    a[q * n + k] = s * apk + c * aqk;
+                }
+            }
+        }
+        if (sweep === 59)
+            return null;
+    }
+    const out = [];
+    for (let i = 0; i < n; i++)
+        out.push(a[i * n + i]);
+    return out;
+}
+/**
+ * P7/D1-2：收敛后的欠定自由度诊断。
+ *
+ * 关键细节一：LM 的残差行含 PENALTY 正则行（1e-8·x）——正则化不是约束，却让 JᵀJ
+ * 技术上满秩；秩判定必须剔除 penalty 行。
+ *
+ * 关键细节二（为何要列归一）：`computeScale` 只收集 fixedPoint 的 marker 点，
+ * unary 场景（fixedAxis-only + 单点 fixedPoint）scale 可能退化到 1e-6，T 块
+ * （1/scale² ~1e12）与 R 块（~1）的特征值量级悬殊，全局阈值会把 R 块整列误杀。
+ * 做法是对 J 做列范数归一（J·D⁻¹，D = diag(列范数)；可逆对角重参数化保秩不变），
+ * 再对归一后的 JᵀJ 做特征分解，rank = #{λ > λmax·1e-8}，dof = n − rank。
+ * 欠定方向在归一后是精确零列（零特征值），与 λmax 差无穷量级，阈值余量充足。
+ * 零范数列（约束完全摸不到的方向）直接计入自由。
+ *
+ * @returns 剩余自由度（0 = 适定）；特征分解不收敛时保守报 0（不阻塞消费方）。
+ */
+function computeUnderdeterminedDof(terms, scale, n, x, stateOf) {
+    if (n === 0)
+        return 0;
+    // 仅约束残差（剔除 penalty 正则行）
+    const residualC = (xx) => {
+        const r = [];
+        for (const t of terms) {
+            const e = termResidual(t, stateOf(xx, t.ia), stateOf(xx, t.ib), scale);
+            for (const v of e)
+                r.push(v);
+        }
+        return r;
+    };
+    const m = residualC(x).length;
+    if (m === 0)
+        return n; // 无任何约束：全部自由
+    const J = new Array(m * n).fill(0);
+    for (let col = 0; col < n; col++) {
+        const h = col % 6 < 3 ? 1e-7 * scale : 1e-7;
+        const xp = x.slice();
+        xp[col] += h;
+        const xm = x.slice();
+        xm[col] -= h;
+        const rp = residualC(xp);
+        const rm = residualC(xm);
+        for (let row = 0; row < m; row++)
+            J[row * n + col] = (rp[row] - rm[row]) / (2 * h);
+    }
+    // 列范数归一（欠定方向 → 精确零列；可逆对角缩放保秩）
+    const norms = new Array(n).fill(0);
+    let freeCols = 0;
+    for (let col = 0; col < n; col++) {
+        let s = 0;
+        for (let row = 0; row < m; row++)
+            s += J[row * n + col] * J[row * n + col];
+        norms[col] = Math.sqrt(s);
+        if (!(norms[col] > 1e-12))
+            freeCols++; // 约束完全摸不到的列 → 直接自由
+    }
+    if (freeCols === n)
+        return n;
+    const Jn = J.slice();
+    for (let col = 0; col < n; col++) {
+        const d = norms[col] > 1e-12 ? norms[col] : 1; // 零列归一因子取 1（已被计为自由）
+        for (let row = 0; row < m; row++)
+            Jn[row * n + col] /= d;
+    }
+    const JtJ = ata(Jn, m, n);
+    const eig = symEigenvalues(JtJ, n);
+    if (!eig)
+        return 0; // 保守 fallback（适定假设，不阻塞）
+    const lambdaMax = Math.max(...eig.map(Math.abs));
+    if (!(lambdaMax > 1e-300))
+        return freeCols + n; // 理论不可达；防御
+    const rank = eig.filter((v) => Math.abs(v) > lambdaMax * 1e-8).length;
+    return Math.max(0, n - rank);
+}
 /**
  * 纯 TS global 求解器入口。
  *
@@ -169,6 +303,67 @@ export function solveGlobal(members, memberNames, constraints, opts) {
                 lockedSet.add(idx);
             return;
         }
+        // 世界锚定 unary（fixedPoint/fixedAxis/fixedRotation）：入 unarySet 但**不**入
+        // lockedSet——只靠代价项约束，不冻结整件（CQ unary 语义，见 solver.py fixed_*_cost）。
+        if (c.type === 'fixedPoint') {
+            register(c.a.part);
+            unarySet.add(c.a.part);
+            const ia = memberNames.indexOf(c.a.part);
+            if (ia < 0) {
+                unsupported.push(`constraint references unknown part: ${c.a.part}`);
+                return;
+            }
+            const mA = resolveMarker(c.a, env);
+            scalePts.push(markerPoint(mA, [0, 0, 0], [0, 0, 0]));
+            terms.push({
+                cid, fn: 'point', ia, ma: mA, ib: -1,
+                mb: { type: 'point', p: [c.world[0], c.world[1], c.world[2]] },
+                val: 0, scaleFlag: true,
+            });
+            return;
+        }
+        if (c.type === 'fixedAxis') {
+            register(c.a.part);
+            unarySet.add(c.a.part);
+            const ia = memberNames.indexOf(c.a.part);
+            if (ia < 0) {
+                unsupported.push(`constraint references unknown part: ${c.a.part}`);
+                return;
+            }
+            const len = Math.hypot(c.worldDir[0], c.worldDir[1], c.worldDir[2]);
+            if (!(len > 1e-12)) {
+                unsupported.push('fixedAxis requires a non-zero worldDir');
+                return;
+            }
+            const mA = resolveMarker(c.a, env);
+            terms.push({
+                cid, fn: 'axis', ia, ma: mA, ib: -1,
+                mb: { type: 'axis', origin: [0, 0, 0], dir: vnormalize([c.worldDir[0], c.worldDir[1], c.worldDir[2]]) },
+                val: 0, scaleFlag: false,
+            });
+            return;
+        }
+        if (c.type === 'fixedRotation') {
+            register(c.part);
+            unarySet.add(c.part);
+            const ia = memberNames.indexOf(c.part);
+            if (ia < 0) {
+                unsupported.push(`constraint references unknown part: ${c.part}`);
+                return;
+            }
+            // 成员本地 X/Y/Z 轴分别钉到世界 X/Y/Z（恒等朝向）；平移保持自由
+            const axes = [[1, 0, 0], [0, 1, 0], [0, 0, 1]];
+            for (const ax of axes) {
+                terms.push({
+                    cid, fn: 'axis', ia,
+                    ma: { type: 'axis', origin: [0, 0, 0], dir: ax },
+                    ib: -1,
+                    mb: { type: 'axis', origin: [0, 0, 0], dir: [ax[0], ax[1], ax[2]] },
+                    val: 0, scaleFlag: false,
+                });
+            }
+            return;
+        }
         const ia = memberNames.indexOf(c.a.part);
         const ib = memberNames.indexOf(c.b.part);
         if (ia < 0 || ib < 0) {
@@ -244,9 +439,14 @@ export function solveGlobal(members, memberNames, constraints, opts) {
         }
     }
     if (lockedSet.size === 0 && order.length > 0) {
-        const idx = memberNames.indexOf(order[0]);
-        if (idx >= 0)
-            lockedSet.add(idx);
+        // 兜底锚定不得选「世界锚定 unary」成员——锁死它会让其 anchor 代价无法满足
+        // （全 unary 场景：无 binary 参考可锚，宁可全部自由交 LM 求解，也不误锁）。
+        const candidate = order.find((p) => !unarySet.has(p));
+        if (candidate !== undefined) {
+            const idx = memberNames.indexOf(candidate);
+            if (idx >= 0)
+                lockedSet.add(idx);
+        }
     }
     // ── scale = 所有 marker 点的包围盒对角长（CQ B5；marker 近似几何 bbox） ──
     const scale = computeScale(scalePts);
@@ -267,6 +467,9 @@ export function solveGlobal(members, memberNames, constraints, opts) {
         x[6 * k + 5] = R_INIT;
     }
     const stateOf = (xx, i) => {
+        // 世界哨兵 i = -1：identity（世界系 marker 已存字面坐标，不再施加成员变换）
+        if (i < 0)
+            return { T: [0, 0, 0], R: [0, 0, 0] };
         if (lockedSet.has(i))
             return { T: [0, 0, 0], R: [0, 0, 0] };
         const k = blockMap.get(i);
@@ -377,9 +580,13 @@ export function solveGlobal(members, memberNames, constraints, opts) {
         if (r > RESIDUAL_WARN * scale)
             warnings.push(`constraint #${cid} residual=${r.toExponential(3)} (> ${RESIDUAL_WARN * scale})`);
     });
+    // P7/D1-2：欠定自由度诊断（剔除 penalty 正则行后按 JᵀJc 特征值秩判定）
+    const underdeterminedDof = computeUnderdeterminedDof(terms, scale, n, x, stateOf);
     return {
         transforms,
         dof: 0,
+        // P7/D1-3：旧 `dof` 字段语义不变（unsupported 合计的占位），欠定信息走新字段。
+        underdetermined: underdeterminedDof > 0 ? { dof: underdeterminedDof } : undefined,
         converged: true,
         unsupported,
         residuals,

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

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* api/assembly/solvers/global-solver — 纯 TS global 装配求解器（P1）\n *\n * 复刻 CadQuery `cadquery/occ_impl/solver.py` 的**语义**（全局 NLP、模长参数化旋转、\n * 9 类代价、Axis 缺省反平行、Plane=Axis(π)+Point(0)、包围盒对角长缩放），\n * 以 Levenberg-Marquardt 替代 IPOPT，**零原生/WASM 依赖**（裁定 1–6）。\n *\n * 关键裁定（写进代码，不在别处手算）：\n * - 裁定 1/2：faijs Shape 不携带 placement → 初值 T0=R0=0，world 系==本地系；\n *   两侧 marker 经 `resolveFaceGeometryOfRef`/`resolveSolverEntity` 直接取本地系，无不对称。\n * - 裁定 3：残差取 CQ 代价的「平方前内层量」（非对代价开方）。\n * - 裁定 4：线性求解自实现（linalg.ts）。\n * - 裁定 5：旋转 pivot 恒 [0,0,0]（CQ 的 Rotate(v,R)+T 绕世界原点）。\n * - 裁定 6：锚定用 CQ B4（assembly.py:455-490）：Fixed / name==self.name 锁定；\n *   否则第一个不在 unary 里的 binary object；否则实体 0。锁定成员冻结为 identity。\n *\n * 失败模式（§4.6）：唯一抛错路径 = 约束类型无法映射为代价；其余以 warnings 透明化，\n * 不抛错（LM 终止即 converged=true）。\n */\n\nimport type { Shape } from '../../../mesh/types'\nimport type { BrepEngineApi } from '../../../brep/engine/primitives'\nimport { getBrepApi } from '../../../brep/handle-bridge'\nimport type { AssemblyTransform } from '../../../runtime-state'\nimport type { AssemblyConstraint, EntityRef } from '../types'\nimport { normalizeConstraint } from '../normalize'\nimport { poseToAssemblyTransform, type SolverPose } from '../pose'\nimport {\n  resolveFaceGeometryOfRef,\n  resolveSolverEntity,\n  type EntityResolutionEnv,\n} from '../entities'\nimport { type SolveOptions, type GlobalMarker, type GlobalSolveResult } from './types'\nimport {\n  type Vec3,\n  vadd,\n  vsub,\n  vdot,\n  vscale,\n  vnormalize,\n  vsumsqr,\n  ata,\n  atb,\n  solveDampedNormal,\n} from './linalg'\nimport { rotateByR, quatFromR } from './pose-from-delta'\n\nconst DEG2RAD = Math.PI / 180\nconst R_INIT = 1e-2 // B3\nconst LM_LAMBDA0 = 1e-3\nconst LM_MAXITER = 2000\nconst LM_TOL_OBJ = 1e-12\nconst LM_TOL_STEP = 1e-10\nconst PENALTY = 1e-16 // B1，等价 sqrt = 1e-8\nconst RESIDUAL_WARN = 1e-6 // §4.6 阈值系数\n\ntype CostFn = 'point' | 'axis' | 'point_in_plane' | 'point_on_line'\n\ninterface CostTerm {\n  cid: number\n  fn: CostFn\n  /** 点侧成员下标（point_in_plane/point_on_line 的点；axis 的 dir 侧）。 */\n  ia: number\n  ma: GlobalMarker\n  /** 平面/线侧成员下标（point_in_plane/point_on_line 的平面/线；axis 的 dir 侧）。 */\n  ib: number\n  mb: GlobalMarker\n  /** point=距离(mm)；axis=夹角(rad)；point_in_plane/point_on_line=val。 */\n  val: number\n  /** 是否除以 scale（CQ scaling 字典：point 类 true，axis 类 false）。 */\n  scaleFlag: boolean\n}\n\n/** 把一条 EntityRef 解析为本地系 GlobalMarker（无坐标系不对称）。 */\nfunction resolveMarker(ref: EntityRef, env: EntityResolutionEnv): GlobalMarker {\n  if ('point' in ref) {\n    return { type: 'point', p: [ref.point[0], ref.point[1], ref.point[2]] }\n  }\n  if ('face' in ref) {\n    const geom = resolveFaceGeometryOfRef(ref, env)\n    const normal = vnormalize([geom.normal[0], geom.normal[1], geom.normal[2]])\n    return {\n      type: 'plane',\n      center: [geom.center[0], geom.center[1], geom.center[2]],\n      normal,\n    }\n  }\n  // edge / faceIndex → 走 resolveSolverEntity（统一抽取）\n  const se = resolveSolverEntity(ref, env)\n  if (se.type === 'axis') {\n    return {\n      type: 'axis',\n      origin: [se.origin[0], se.origin[1], se.origin[2]],\n      // `direction` is optional in the brepjs SolverEntity type but always present for the\n      // axis branch produced by resolveSolverEntity (cylinder/cone face, or edge axis snapshot).\n      dir: vnormalize([se.direction![0], se.direction![1], se.direction![2]]),\n    }\n  }\n  if (se.type === 'plane') {\n    return {\n      type: 'plane',\n      center: [se.origin[0], se.origin[1], se.origin[2]],\n      // `normal` is optional in the brepjs SolverEntity type but always present for the plane branch.\n      normal: vnormalize([se.normal![0], se.normal![1], se.normal![2]]),\n    }\n  }\n  return { type: 'point', p: [se.origin[0], se.origin[1], se.origin[2]] }\n}\n\nfunction markerPoint(m: GlobalMarker, R: Vec3, T: Vec3): Vec3 {\n  const base = m.type === 'point' ? m.p : m.type === 'axis' ? m.origin : m.center\n  return vadd(rotateByR(base, R), T)\n}\nfunction markerDir(m: GlobalMarker, R: Vec3): Vec3 {\n  // point markers never reach here (axis cost / plane normal / line direction only);\n  // narrow to axis/plane and fall back to the point for type-completeness.\n  const base = m.type === 'axis' ? m.dir : m.type === 'plane' ? m.normal : m.p\n  return rotateByR(base, R)\n}\n\n/** 计算单条代价项的残差向量（平方前内层量，裁定 3）。 */\nfunction termResidual(t: CostTerm, sa: { T: Vec3; R: Vec3 }, sb: { T: Vec3; R: Vec3 }, scale: number): number[] {\n  const inv = t.scaleFlag ? 1 / scale : 1\n  switch (t.fn) {\n    case 'point': {\n      const pa = markerPoint(t.ma, sa.R, sa.T)\n      const pb = markerPoint(t.mb, sb.R, sb.T)\n      const d = vscale(vsub(pa, pb), inv)\n      if (Math.abs(t.val) < 1e-12) return d // 3-vec，val=0\n      return [vsumsqr(d) - (t.val / scale) ** 2] // 1-vec，val≠0\n    }\n    case 'axis': {\n      const d1 = markerDir(t.ma, sa.R)\n      const d2 = markerDir(t.mb, sb.R)\n      if (Math.abs(t.val) < 1e-12) return vsub(d1, d2) // 3-vec，val=0\n      if (Math.abs(t.val - Math.PI) < 1e-12) return vadd(d1, d2) // 3-vec，val=π\n      return [vdot(d1, d2) - Math.cos(t.val)] // 1-vec，其他\n    }\n    case 'point_in_plane': {\n      const p1 = markerPoint(t.ma, sa.R, sa.T) // 点\n      const n = markerDir(t.mb, sb.R) // 平面法向\n      let c = markerPoint(t.mb, sb.R, sb.T) // 平面上一点\n      if (Math.abs(t.val) > 1e-12) c = vadd(c, vscale(n, t.val)) // 沿法向平移 val（CQ m2_pnt 偏移）\n      const d = vdot(n, vsub(c, p1)) * inv\n      return [d] // 1-vec\n    }\n    case 'point_on_line': {\n      const p1 = markerPoint(t.ma, sa.R, sa.T) // 点\n      const o = markerPoint(t.mb, sb.R, sb.T) // 线上一点\n      const dln = markerDir(t.mb, sb.R) // 线方向\n      const delta = vsub(p1, o)\n      const perp = vscale(vsub(delta, vscale(dln, vdot(delta, dln))), inv)\n      if (Math.abs(t.val) < 1e-12) return perp // 3-vec，val=0\n      return [vsumsqr(perp) - t.val] // 1-vec，val≠0（注意 val 不缩放）\n    }\n  }\n}\n\n/**\n * 纯 TS global 求解器入口。\n *\n * @param members - member shapes（与 memberNames 对齐）。\n * @param memberNames - 成员变量名（约束以名引用，空名会抛错）。\n * @param constraints - 规范化前的原始约束。\n * @param opts - 求解选项（solver 已在外层判定为 'global'，此处 name 用于 B4 锚定）。\n * @returns 与 `AssemblySolveResult` 对齐的结果。\n */\nexport function solveGlobal(\n  members: Shape[],\n  memberNames: string[],\n  constraints: AssemblyConstraint[],\n  opts?: SolveOptions,\n): GlobalSolveResult {\n  memberNames.forEach((name, i) => {\n    if (!name) {\n      throw new Error(`[assembly:global] member at index ${i} has an empty name`)\n    }\n  })\n\n  const memberMap = new Map<string, Shape>()\n  members.forEach((m, i) => {\n    const name = memberNames[i]\n    if (name && !memberMap.has(name)) memberMap.set(name, m)\n  })\n\n  let kernel: BrepEngineApi | null = null\n  try {\n    kernel = getBrepApi()\n  } catch {\n    /* mesh/primitive 行快照路径：快照引用仍可解 */\n  }\n  const env: EntityResolutionEnv = { kernel, memberOf: (p: string) => memberMap.get(p) }\n\n  // ── 建立代价项、锁定集、尺度点 ──\n  const terms: CostTerm[] = []\n  const unsupported: string[] = []\n  const lockedSet = new Set<number>()\n  const order: string[] = []\n  const binaryOrder: string[] = []\n  const unarySet = new Set<string>()\n  const scalePts: Vec3[] = []\n\n  constraints.forEach((raw, cid) => {\n    const c = normalizeConstraint(raw)\n    const register = (p: string) => {\n      if (!order.includes(p)) order.push(p)\n    }\n    if (c.type === 'fixed') {\n      register(c.part)\n      unarySet.add(c.part)\n      const idx = memberNames.indexOf(c.part)\n      if (idx >= 0) lockedSet.add(idx)\n      return\n    }\n    const ia = memberNames.indexOf(c.a.part)\n    const ib = memberNames.indexOf(c.b.part)\n    if (ia < 0 || ib < 0) {\n      unsupported.push(`constraint references unknown part: ${ia < 0 ? c.a.part : c.b.part}`)\n      return\n    }\n    if (!binaryOrder.includes(c.a.part)) binaryOrder.push(c.a.part)\n    register(c.a.part)\n    register(c.b.part)\n    if (c.a.part === opts?.name) lockedSet.add(ia)\n    if (c.b.part === opts?.name) lockedSet.add(ib)\n\n    const mA = resolveMarker(c.a, env)\n    const mB = resolveMarker(c.b, env)\n    scalePts.push(markerPoint(mA, [0, 0, 0], [0, 0, 0]))\n    scalePts.push(markerPoint(mB, [0, 0, 0], [0, 0, 0]))\n\n    switch (c.type) {\n      case 'mate':\n      case 'align': {\n        if (mA.type !== 'plane' || mB.type !== 'plane') {\n          unsupported.push(`${c.type} requires plane entities on both sides`)\n          return\n        }\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: c.type === 'mate' ? Math.PI : 0, scaleFlag: false })\n        terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n        break\n      }\n      case 'coincident': {\n        pushCoincident(terms, cid, ia, mA, ib, mB)\n        break\n      }\n      case 'concentric': {\n        if (mA.type !== 'axis' || mB.type !== 'axis') {\n          unsupported.push('concentric requires axis entities on both sides')\n          return\n        }\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n        terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val: 0, scaleFlag: true })\n        break\n      }\n      case 'distance': {\n        pushDistance(terms, cid, ia, mA, ib, mB, c.value, unsupported)\n        break\n      }\n      case 'angle': {\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: c.value * DEG2RAD, scaleFlag: false })\n        break\n      }\n      case 'parallel': {\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n        break\n      }\n      case 'perpendicular': {\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: Math.PI / 2, scaleFlag: false })\n        break\n      }\n      default:\n        unsupported.push(`unsupported constraint type: ${(c as { type?: string }).type}`)\n    }\n  })\n\n  // ── B4 锚定 ──\n  if (lockedSet.size === 0) {\n    for (const b of binaryOrder) {\n      if (!unarySet.has(b)) {\n        const idx = memberNames.indexOf(b)\n        if (idx >= 0) {\n          lockedSet.add(idx)\n          break\n        }\n      }\n    }\n  }\n  if (lockedSet.size === 0 && order.length > 0) {\n    const idx = memberNames.indexOf(order[0])\n    if (idx >= 0) lockedSet.add(idx)\n  }\n\n  // ── scale = 所有 marker 点的包围盒对角长（CQ B5；marker 近似几何 bbox） ──\n  const scale = computeScale(scalePts)\n\n  // ── 自由成员与变量 ──\n  const freeIdx: number[] = []\n  const blockMap = new Map<number, number>()\n  memberNames.forEach((_, i) => {\n    if (!lockedSet.has(i)) {\n      blockMap.set(i, freeIdx.length)\n      freeIdx.push(i)\n    }\n  })\n  const n = freeIdx.length * 6\n  const x = new Array(n).fill(0)\n  for (let k = 0; k < freeIdx.length; k++) {\n    x[6 * k + 3] = R_INIT\n    x[6 * k + 4] = R_INIT\n    x[6 * k + 5] = R_INIT\n  }\n\n  const stateOf = (xx: number[], i: number): { T: Vec3; R: Vec3 } => {\n    if (lockedSet.has(i)) return { T: [0, 0, 0], R: [0, 0, 0] }\n    const k = blockMap.get(i)!\n    return {\n      T: [xx[6 * k], xx[6 * k + 1], xx[6 * k + 2]],\n      R: [xx[6 * k + 3], xx[6 * k + 4], xx[6 * k + 5]],\n    }\n  }\n\n  const residual = (xx: number[]): number[] => {\n    const r: number[] = []\n    for (const t of terms) {\n      const e = termResidual(t, stateOf(xx, t.ia), stateOf(xx, t.ib), scale)\n      for (const v of e) r.push(v)\n    }\n    // penalty 1e-16（B1）：sqrt 后 1e-8，T/scale 缩小、R 直接\n    for (let k = 0; k < freeIdx.length; k++) {\n      r.push(PENALTY ** 0.5 * (xx[6 * k] / scale))\n      r.push(PENALTY ** 0.5 * (xx[6 * k + 1] / scale))\n      r.push(PENALTY ** 0.5 * (xx[6 * k + 2] / scale))\n      r.push(PENALTY ** 0.5 * xx[6 * k + 3])\n      r.push(PENALTY ** 0.5 * xx[6 * k + 4])\n      r.push(PENALTY ** 0.5 * xx[6 * k + 5])\n    }\n    return r\n  }\n\n  // ── LM 迭代 ──\n  let lambda = LM_LAMBDA0\n  let current = residual(x)\n  let obj = 0.5 * dot(current, current)\n\n  for (let iter = 0; iter < LM_MAXITER; iter++) {\n    const m = current.length\n    const J = new Array(m * n).fill(0)\n    for (let col = 0; col < n; col++) {\n      const h = col % 6 < 3 ? 1e-7 * scale : 1e-7\n      const xp = x.slice()\n      const xm = x.slice()\n      xp[col] += h\n      xm[col] -= h\n      const rp = residual(xp)\n      const rm = residual(xm)\n      for (let row = 0; row < m; row++) J[row * n + col] = (rp[row] - rm[row]) / (2 * h)\n    }\n    const JtJ = ata(J, m, n)\n    const Jtr = atb(J, current, m, n)\n\n    // 梯度范数收敛（与步长早停互补，避免 λ 放大时误判收敛）\n    if (maxAbs(Jtr) < 1e-8) {\n      break\n    }\n\n    const negJtr = Jtr.map((v) => -v)\n    const objBefore = obj\n    let improved = false\n    let acceptedStep: number[] | null = null\n    for (let attempt = 0; attempt < 12 && !improved; attempt++) {\n      const step = solveDampedNormal(JtJ, negJtr, n, lambda)\n      if (!step) break\n      const xTry = x.slice()\n      for (let j = 0; j < n; j++) xTry[j] += step[j]\n      const rTry = residual(xTry)\n      const objTry = 0.5 * dot(rTry, rTry)\n      if (objTry <= obj) {\n        for (let j = 0; j < n; j++) x[j] = xTry[j]\n        current = rTry\n        obj = objTry\n        improved = true\n        acceptedStep = step\n        lambda = Math.max(lambda / 3, 1e-15)\n      } else {\n        lambda *= 2\n      }\n    }\n    if (!improved) break\n\n    // 步长收敛仅在信任域健康（λ 小）时认定——λ 大时的微小步长只是阻尼，非真收敛\n    if (acceptedStep && maxAbs(acceptedStep) < LM_TOL_STEP && lambda < 1e-2) {\n      break\n    }\n    if (Math.abs(objBefore - obj) < LM_TOL_OBJ * Math.max(1, Math.abs(objBefore))) {\n      break\n    }\n  }\n\n  // ── 组装结果 ──\n  const transforms: AssemblyTransform[] = []\n  for (let k = 0; k < freeIdx.length; k++) {\n    const i = freeIdx[k]\n    const T: Vec3 = [x[6 * k], x[6 * k + 1], x[6 * k + 2]]\n    const R: Vec3 = [x[6 * k + 3], x[6 * k + 4], x[6 * k + 5]]\n    const pose: SolverPose = { position: T, rotation: quatFromR(R[0], R[1], R[2]) }\n    transforms.push(poseToAssemblyTransform(pose, [0, 0, 0], i))\n  }\n\n  // 逐约束残差（诊断）\n  const residuals: number[] = []\n  const warnings: string[] = []\n  const byCid = new Map<number, number>()\n  for (const t of terms) {\n    const e = termResidual(t, stateOf(x, t.ia), stateOf(x, t.ib), scale)\n    const s = e.reduce((acc, v) => acc + v * v, 0)\n    byCid.set(t.cid, (byCid.get(t.cid) ?? 0) + s)\n  }\n  constraints.forEach((_, cid) => {\n    const r = byCid.get(cid) ?? 0\n    residuals.push(r)\n    if (r > RESIDUAL_WARN * scale) warnings.push(`constraint #${cid} residual=${r.toExponential(3)} (> ${RESIDUAL_WARN * scale})`)\n  })\n\n  return {\n    transforms,\n    dof: 0,\n    converged: true,\n    unsupported,\n    residuals,\n    warnings: warnings.length > 0 ? warnings : undefined,\n  }\n}\n\nfunction pushCoincident(terms: CostTerm[], cid: number, ia: number, mA: GlobalMarker, ib: number, mB: GlobalMarker): void {\n  if (mA.type === 'point' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  } else if (mA.type === 'plane' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point_in_plane', ia: ib, ma: mB, ib: ia, mb: mA, val: 0, scaleFlag: true })\n  } else if (mA.type === 'point' && mB.type === 'plane') {\n    terms.push({ cid, fn: 'point_in_plane', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  } else if (mA.type === 'axis' && mB.type === 'axis') {\n    terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n    terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val: 0, scaleFlag: true })\n  } else if (mA.type === 'axis' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point_on_line', ia: ib, ma: mB, ib, mb: mA, val: 0, scaleFlag: true })\n  } else if (mA.type === 'point' && mB.type === 'axis') {\n    terms.push({ cid, fn: 'point_on_line', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  } else {\n    // 两面 coincident：按 align 语义（平行 + 中心重合）\n    terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n    terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  }\n}\n\nfunction pushDistance(\n  terms: CostTerm[],\n  cid: number,\n  ia: number,\n  mA: GlobalMarker,\n  ib: number,\n  mB: GlobalMarker,\n  val: number,\n  unsupported: string[],\n): void {\n  if (mA.type === 'point' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val, scaleFlag: true })\n  } else if (mA.type === 'plane' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point_in_plane', ia: ib, ma: mB, ib: ia, mb: mA, val, scaleFlag: true })\n  } else if (mA.type === 'point' && mB.type === 'plane') {\n    terms.push({ cid, fn: 'point_in_plane', ia, ma: mA, ib, mb: mB, val, scaleFlag: true })\n  } else if (mA.type === 'axis' && mB.type === 'axis') {\n    terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val, scaleFlag: true })\n  } else {\n    unsupported.push(`distance requires point-point / plane-point / axis-axis entities, got ${mA.type}-${mB.type}`)\n  }\n}\n\nfunction computeScale(pts: Vec3[]): number {\n  if (pts.length === 0) return 1\n  const min: Vec3 = [Infinity, Infinity, Infinity]\n  const max: Vec3 = [-Infinity, -Infinity, -Infinity]\n  for (const p of pts) {\n    for (let i = 0; i < 3; i++) {\n      if (p[i] < min[i]) min[i] = p[i]\n      if (p[i] > max[i]) max[i] = p[i]\n    }\n  }\n  const diag = Math.hypot(max[0] - min[0], max[1] - min[1], max[2] - min[2])\n  return Math.max(diag, 1e-6)\n}\n\nfunction dot(a: number[], b: number[]): number {\n  let s = 0\n  for (let i = 0; i < a.length; i++) s += a[i] * b[i]\n  return s\n}\nfunction maxAbs(a: number[]): number {\n  let m = 0\n  for (const v of a) m = Math.max(m, Math.abs(v))\n  return m\n}\n"]}
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* api/assembly/solvers/global-solver — 纯 TS global 装配求解器（P1）\n *\n * 复刻 CadQuery `cadquery/occ_impl/solver.py` 的**语义**（全局 NLP、模长参数化旋转、\n * 9 类代价、Axis 缺省反平行、Plane=Axis(π)+Point(0)、包围盒对角长缩放），\n * 以 Levenberg-Marquardt 替代 IPOPT，**零原生/WASM 依赖**（裁定 1–6）。\n *\n * 关键裁定（写进代码，不在别处手算）：\n * - 裁定 1/2：faijs Shape 不携带 placement → 初值 T0=R0=0，world 系==本地系；\n *   两侧 marker 经 `resolveFaceGeometryOfRef`/`resolveSolverEntity` 直接取本地系，无不对称。\n * - 裁定 3：残差取 CQ 代价的「平方前内层量」（非对代价开方）。\n * - 裁定 4：线性求解自实现（linalg.ts）。\n * - 裁定 5：旋转 pivot 恒 [0,0,0]（CQ 的 Rotate(v,R)+T 绕世界原点）。\n * - 裁定 6：锚定用 CQ B4（assembly.py:455-490）：Fixed / name==self.name 锁定；\n *   否则第一个不在 unary 里的 binary object；否则实体 0。锁定成员冻结为 identity。\n *\n * 失败模式（§4.6）：唯一抛错路径 = 约束类型无法映射为代价；其余以 warnings 透明化，\n * 不抛错（LM 终止即 converged=true）。\n */\n\nimport type { Shape } from '../../../mesh/types'\nimport type { BrepEngineApi } from '../../../brep/engine/primitives'\nimport { getBrepApi } from '../../../brep/handle-bridge'\nimport type { AssemblyTransform } from '../../../runtime-state'\nimport type { AssemblyConstraint, EntityRef } from '../types'\nimport { normalizeConstraint } from '../normalize'\nimport { poseToAssemblyTransform, type SolverPose } from '../pose'\nimport {\n  resolveFaceGeometryOfRef,\n  resolveSolverEntity,\n  type EntityResolutionEnv,\n} from '../entities'\nimport { type SolveOptions, type GlobalMarker, type GlobalSolveResult } from './types'\nimport {\n  type Vec3,\n  vadd,\n  vsub,\n  vdot,\n  vscale,\n  vnormalize,\n  vsumsqr,\n  ata,\n  atb,\n  solveDampedNormal,\n} from './linalg'\nimport { rotateByR, quatFromR } from './pose-from-delta'\n\nconst DEG2RAD = Math.PI / 180\nconst R_INIT = 1e-2 // B3\nconst LM_LAMBDA0 = 1e-3\nconst LM_MAXITER = 2000\nconst LM_TOL_OBJ = 1e-12\nconst LM_TOL_STEP = 1e-10\nconst PENALTY = 1e-16 // B1，等价 sqrt = 1e-8\nconst RESIDUAL_WARN = 1e-6 // §4.6 阈值系数\n\ntype CostFn = 'point' | 'axis' | 'point_in_plane' | 'point_on_line'\n\ninterface CostTerm {\n  cid: number\n  fn: CostFn\n  /** 点侧成员下标（point_in_plane/point_on_line 的点；axis 的 dir 侧）。 */\n  ia: number\n  ma: GlobalMarker\n  /** 平面/线侧成员下标（point_in_plane/point_on_line 的平面/线；axis 的 dir 侧）。 */\n  ib: number\n  mb: GlobalMarker\n  /** point=距离(mm)；axis=夹角(rad)；point_in_plane/point_on_line=val。 */\n  val: number\n  /** 是否除以 scale（CQ scaling 字典：point 类 true，axis 类 false）。 */\n  scaleFlag: boolean\n}\n\n/** 把一条 EntityRef 解析为本地系 GlobalMarker（无坐标系不对称）。 */\nfunction resolveMarker(ref: EntityRef, env: EntityResolutionEnv): GlobalMarker {\n  if ('point' in ref) {\n    return { type: 'point', p: [ref.point[0], ref.point[1], ref.point[2]] }\n  }\n  if ('face' in ref) {\n    const geom = resolveFaceGeometryOfRef(ref, env)\n    const normal = vnormalize([geom.normal[0], geom.normal[1], geom.normal[2]])\n    return {\n      type: 'plane',\n      center: [geom.center[0], geom.center[1], geom.center[2]],\n      normal,\n    }\n  }\n  // edge / faceIndex → 走 resolveSolverEntity（统一抽取）\n  const se = resolveSolverEntity(ref, env)\n  if (se.type === 'axis') {\n    return {\n      type: 'axis',\n      origin: [se.origin[0], se.origin[1], se.origin[2]],\n      // `direction` is optional in the brepjs SolverEntity type but always present for the\n      // axis branch produced by resolveSolverEntity (cylinder/cone face, or edge axis snapshot).\n      dir: vnormalize([se.direction![0], se.direction![1], se.direction![2]]),\n    }\n  }\n  if (se.type === 'plane') {\n    return {\n      type: 'plane',\n      center: [se.origin[0], se.origin[1], se.origin[2]],\n      // `normal` is optional in the brepjs SolverEntity type but always present for the plane branch.\n      normal: vnormalize([se.normal![0], se.normal![1], se.normal![2]]),\n    }\n  }\n  return { type: 'point', p: [se.origin[0], se.origin[1], se.origin[2]] }\n}\n\nfunction markerPoint(m: GlobalMarker, R: Vec3, T: Vec3): Vec3 {\n  const base = m.type === 'point' ? m.p : m.type === 'axis' ? m.origin : m.center\n  return vadd(rotateByR(base, R), T)\n}\nfunction markerDir(m: GlobalMarker, R: Vec3): Vec3 {\n  // point markers never reach here (axis cost / plane normal / line direction only);\n  // narrow to axis/plane and fall back to the point for type-completeness.\n  const base = m.type === 'axis' ? m.dir : m.type === 'plane' ? m.normal : m.p\n  return rotateByR(base, R)\n}\n\n/** 计算单条代价项的残差向量（平方前内层量，裁定 3）。 */\nfunction termResidual(t: CostTerm, sa: { T: Vec3; R: Vec3 }, sb: { T: Vec3; R: Vec3 }, scale: number): number[] {\n  const inv = t.scaleFlag ? 1 / scale : 1\n  switch (t.fn) {\n    case 'point': {\n      const pa = markerPoint(t.ma, sa.R, sa.T)\n      const pb = markerPoint(t.mb, sb.R, sb.T)\n      const d = vscale(vsub(pa, pb), inv)\n      if (Math.abs(t.val) < 1e-12) return d // 3-vec，val=0\n      return [vsumsqr(d) - (t.val / scale) ** 2] // 1-vec，val≠0\n    }\n    case 'axis': {\n      const d1 = markerDir(t.ma, sa.R)\n      const d2 = markerDir(t.mb, sb.R)\n      if (Math.abs(t.val) < 1e-12) return vsub(d1, d2) // 3-vec，val=0\n      if (Math.abs(t.val - Math.PI) < 1e-12) return vadd(d1, d2) // 3-vec，val=π\n      return [vdot(d1, d2) - Math.cos(t.val)] // 1-vec，其他\n    }\n    case 'point_in_plane': {\n      const p1 = markerPoint(t.ma, sa.R, sa.T) // 点\n      const n = markerDir(t.mb, sb.R) // 平面法向\n      let c = markerPoint(t.mb, sb.R, sb.T) // 平面上一点\n      if (Math.abs(t.val) > 1e-12) c = vadd(c, vscale(n, t.val)) // 沿法向平移 val（CQ m2_pnt 偏移）\n      const d = vdot(n, vsub(c, p1)) * inv\n      return [d] // 1-vec\n    }\n    case 'point_on_line': {\n      const p1 = markerPoint(t.ma, sa.R, sa.T) // 点\n      const o = markerPoint(t.mb, sb.R, sb.T) // 线上一点\n      const dln = markerDir(t.mb, sb.R) // 线方向\n      const delta = vsub(p1, o)\n      const perp = vscale(vsub(delta, vscale(dln, vdot(delta, dln))), inv)\n      if (Math.abs(t.val) < 1e-12) return perp // 3-vec，val=0\n      return [vsumsqr(perp) - t.val] // 1-vec，val≠0（注意 val 不缩放）\n    }\n  }\n}\n\n/** 单条代价项的残差维数（与 termResidual 的分支表一一对应；诊断参考）。 */\nfunction residualDim(t: CostTerm): number {\n  switch (t.fn) {\n    case 'point':\n      return Math.abs(t.val) < 1e-12 ? 3 : 1\n    case 'axis':\n      return Math.abs(t.val) < 1e-12 || Math.abs(t.val - Math.PI) < 1e-12 ? 3 : 1\n    case 'point_in_plane':\n      return 1\n    case 'point_on_line':\n      return Math.abs(t.val) < 1e-12 ? 3 : 1\n  }\n}\nvoid residualDim // P7/D1-1：诊断参考表（秩判定走列归一特征值，见下）\n\n/**\n * 对称 n×n 矩阵的特征值（循环 Jacobi 旋转）。\n *\n * @returns 特征值数组（无序）；扫掠不收敛返回 null（调用方走保守 fallback）。\n */\nfunction symEigenvalues(A: number[], n: number): number[] | null {\n  const a = A.slice()\n  for (let sweep = 0; sweep < 60; sweep++) {\n    let off = 0\n    for (let p = 0; p < n; p++) {\n      for (let q = p + 1; q < n; q++) off += a[p * n + q] * a[p * n + q]\n    }\n    if (off <= 1e-30 * Math.max(1, Math.abs(a[0]))) break\n    for (let p = 0; p < n - 1; p++) {\n      for (let q = p + 1; q < n; q++) {\n        const apq = a[p * n + q]\n        if (Math.abs(apq) < 1e-300) continue\n        // Numerical Recipes 经典公式（θ=0 时 t=1，即 45° 旋转；sign(0)=0 的变体是错的）\n        const theta = (a[q * n + q] - a[p * n + p]) / (2 * apq)\n        const t = theta >= 0 ? 1 / (theta + Math.sqrt(1 + theta * theta)) : 1 / (theta - Math.sqrt(1 + theta * theta))\n        const c = 1 / Math.sqrt(t * t + 1)\n        const s = t * c\n        for (let k = 0; k < n; k++) {\n          const akp = a[k * n + p]\n          const akq = a[k * n + q]\n          a[k * n + p] = c * akp - s * akq\n          a[k * n + q] = s * akp + c * akq\n        }\n        for (let k = 0; k < n; k++) {\n          const apk = a[p * n + k]\n          const aqk = a[q * n + k]\n          a[p * n + k] = c * apk - s * aqk\n          a[q * n + k] = s * apk + c * aqk\n        }\n      }\n    }\n    if (sweep === 59) return null\n  }\n  const out: number[] = []\n  for (let i = 0; i < n; i++) out.push(a[i * n + i])\n  return out\n}\n\n/**\n * P7/D1-2：收敛后的欠定自由度诊断。\n *\n * 关键细节一：LM 的残差行含 PENALTY 正则行（1e-8·x）——正则化不是约束，却让 JᵀJ\n * 技术上满秩；秩判定必须剔除 penalty 行。\n *\n * 关键细节二（为何要列归一）：`computeScale` 只收集 fixedPoint 的 marker 点，\n * unary 场景（fixedAxis-only + 单点 fixedPoint）scale 可能退化到 1e-6，T 块\n * （1/scale² ~1e12）与 R 块（~1）的特征值量级悬殊，全局阈值会把 R 块整列误杀。\n * 做法是对 J 做列范数归一（J·D⁻¹，D = diag(列范数)；可逆对角重参数化保秩不变），\n * 再对归一后的 JᵀJ 做特征分解，rank = #{λ > λmax·1e-8}，dof = n − rank。\n * 欠定方向在归一后是精确零列（零特征值），与 λmax 差无穷量级，阈值余量充足。\n * 零范数列（约束完全摸不到的方向）直接计入自由。\n *\n * @returns 剩余自由度（0 = 适定）；特征分解不收敛时保守报 0（不阻塞消费方）。\n */\nfunction computeUnderdeterminedDof(\n  terms: CostTerm[],\n  scale: number,\n  n: number,\n  x: number[],\n  stateOf: (xx: number[], i: number) => { T: Vec3; R: Vec3 },\n): number {\n  if (n === 0) return 0\n  // 仅约束残差（剔除 penalty 正则行）\n  const residualC = (xx: number[]): number[] => {\n    const r: number[] = []\n    for (const t of terms) {\n      const e = termResidual(t, stateOf(xx, t.ia), stateOf(xx, t.ib), scale)\n      for (const v of e) r.push(v)\n    }\n    return r\n  }\n  const m = residualC(x).length\n  if (m === 0) return n // 无任何约束：全部自由\n  const J: number[] = new Array(m * n).fill(0)\n  for (let col = 0; col < n; col++) {\n    const h = col % 6 < 3 ? 1e-7 * scale : 1e-7\n    const xp = x.slice()\n    xp[col] += h\n    const xm = x.slice()\n    xm[col] -= h\n    const rp = residualC(xp)\n    const rm = residualC(xm)\n    for (let row = 0; row < m; row++) J[row * n + col] = (rp[row] - rm[row]) / (2 * h)\n  }\n  // 列范数归一（欠定方向 → 精确零列；可逆对角缩放保秩）\n  const norms = new Array<number>(n).fill(0)\n  let freeCols = 0\n  for (let col = 0; col < n; col++) {\n    let s = 0\n    for (let row = 0; row < m; row++) s += J[row * n + col] * J[row * n + col]\n    norms[col] = Math.sqrt(s)\n    if (!(norms[col] > 1e-12)) freeCols++ // 约束完全摸不到的列 → 直接自由\n  }\n  if (freeCols === n) return n\n  const Jn: number[] = J.slice()\n  for (let col = 0; col < n; col++) {\n    const d = norms[col] > 1e-12 ? norms[col] : 1 // 零列归一因子取 1（已被计为自由）\n    for (let row = 0; row < m; row++) Jn[row * n + col] /= d\n  }\n  const JtJ = ata(Jn, m, n)\n  const eig = symEigenvalues(JtJ, n)\n  if (!eig) return 0 // 保守 fallback（适定假设，不阻塞）\n  const lambdaMax = Math.max(...eig.map(Math.abs))\n  if (!(lambdaMax > 1e-300)) return freeCols + n // 理论不可达；防御\n  const rank = eig.filter((v) => Math.abs(v) > lambdaMax * 1e-8).length\n  return Math.max(0, n - rank)\n}\n\n/**\n * 纯 TS global 求解器入口。\n *\n * @param members - member shapes（与 memberNames 对齐）。\n * @param memberNames - 成员变量名（约束以名引用，空名会抛错）。\n * @param constraints - 规范化前的原始约束。\n * @param opts - 求解选项（solver 已在外层判定为 'global'，此处 name 用于 B4 锚定）。\n * @returns 与 `AssemblySolveResult` 对齐的结果。\n */\nexport function solveGlobal(\n  members: Shape[],\n  memberNames: string[],\n  constraints: AssemblyConstraint[],\n  opts?: SolveOptions,\n): GlobalSolveResult {\n  memberNames.forEach((name, i) => {\n    if (!name) {\n      throw new Error(`[assembly:global] member at index ${i} has an empty name`)\n    }\n  })\n\n  const memberMap = new Map<string, Shape>()\n  members.forEach((m, i) => {\n    const name = memberNames[i]\n    if (name && !memberMap.has(name)) memberMap.set(name, m)\n  })\n\n  let kernel: BrepEngineApi | null = null\n  try {\n    kernel = getBrepApi()\n  } catch {\n    /* mesh/primitive 行快照路径：快照引用仍可解 */\n  }\n  const env: EntityResolutionEnv = { kernel, memberOf: (p: string) => memberMap.get(p) }\n\n  // ── 建立代价项、锁定集、尺度点 ──\n  const terms: CostTerm[] = []\n  const unsupported: string[] = []\n  const lockedSet = new Set<number>()\n  const order: string[] = []\n  const binaryOrder: string[] = []\n  const unarySet = new Set<string>()\n  const scalePts: Vec3[] = []\n\n  constraints.forEach((raw, cid) => {\n    const c = normalizeConstraint(raw)\n    const register = (p: string) => {\n      if (!order.includes(p)) order.push(p)\n    }\n    if (c.type === 'fixed') {\n      register(c.part)\n      unarySet.add(c.part)\n      const idx = memberNames.indexOf(c.part)\n      if (idx >= 0) lockedSet.add(idx)\n      return\n    }\n    // 世界锚定 unary（fixedPoint/fixedAxis/fixedRotation）：入 unarySet 但**不**入\n    // lockedSet——只靠代价项约束，不冻结整件（CQ unary 语义，见 solver.py fixed_*_cost）。\n    if (c.type === 'fixedPoint') {\n      register(c.a.part)\n      unarySet.add(c.a.part)\n      const ia = memberNames.indexOf(c.a.part)\n      if (ia < 0) {\n        unsupported.push(`constraint references unknown part: ${c.a.part}`)\n        return\n      }\n      const mA = resolveMarker(c.a, env)\n      scalePts.push(markerPoint(mA, [0, 0, 0], [0, 0, 0]))\n      terms.push({\n        cid, fn: 'point', ia, ma: mA, ib: -1,\n        mb: { type: 'point', p: [c.world[0], c.world[1], c.world[2]] },\n        val: 0, scaleFlag: true,\n      })\n      return\n    }\n    if (c.type === 'fixedAxis') {\n      register(c.a.part)\n      unarySet.add(c.a.part)\n      const ia = memberNames.indexOf(c.a.part)\n      if (ia < 0) {\n        unsupported.push(`constraint references unknown part: ${c.a.part}`)\n        return\n      }\n      const len = Math.hypot(c.worldDir[0], c.worldDir[1], c.worldDir[2])\n      if (!(len > 1e-12)) {\n        unsupported.push('fixedAxis requires a non-zero worldDir')\n        return\n      }\n      const mA = resolveMarker(c.a, env)\n      terms.push({\n        cid, fn: 'axis', ia, ma: mA, ib: -1,\n        mb: { type: 'axis', origin: [0, 0, 0], dir: vnormalize([c.worldDir[0], c.worldDir[1], c.worldDir[2]]) },\n        val: 0, scaleFlag: false,\n      })\n      return\n    }\n    if (c.type === 'fixedRotation') {\n      register(c.part)\n      unarySet.add(c.part)\n      const ia = memberNames.indexOf(c.part)\n      if (ia < 0) {\n        unsupported.push(`constraint references unknown part: ${c.part}`)\n        return\n      }\n      // 成员本地 X/Y/Z 轴分别钉到世界 X/Y/Z（恒等朝向）；平移保持自由\n      const axes: Vec3[] = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]\n      for (const ax of axes) {\n        terms.push({\n          cid, fn: 'axis', ia,\n          ma: { type: 'axis', origin: [0, 0, 0], dir: ax },\n          ib: -1,\n          mb: { type: 'axis', origin: [0, 0, 0], dir: [ax[0], ax[1], ax[2]] },\n          val: 0, scaleFlag: false,\n        })\n      }\n      return\n    }\n    const ia = memberNames.indexOf(c.a.part)\n    const ib = memberNames.indexOf(c.b.part)\n    if (ia < 0 || ib < 0) {\n      unsupported.push(`constraint references unknown part: ${ia < 0 ? c.a.part : c.b.part}`)\n      return\n    }\n    if (!binaryOrder.includes(c.a.part)) binaryOrder.push(c.a.part)\n    register(c.a.part)\n    register(c.b.part)\n    if (c.a.part === opts?.name) lockedSet.add(ia)\n    if (c.b.part === opts?.name) lockedSet.add(ib)\n\n    const mA = resolveMarker(c.a, env)\n    const mB = resolveMarker(c.b, env)\n    scalePts.push(markerPoint(mA, [0, 0, 0], [0, 0, 0]))\n    scalePts.push(markerPoint(mB, [0, 0, 0], [0, 0, 0]))\n\n    switch (c.type) {\n      case 'mate':\n      case 'align': {\n        if (mA.type !== 'plane' || mB.type !== 'plane') {\n          unsupported.push(`${c.type} requires plane entities on both sides`)\n          return\n        }\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: c.type === 'mate' ? Math.PI : 0, scaleFlag: false })\n        terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n        break\n      }\n      case 'coincident': {\n        pushCoincident(terms, cid, ia, mA, ib, mB)\n        break\n      }\n      case 'concentric': {\n        if (mA.type !== 'axis' || mB.type !== 'axis') {\n          unsupported.push('concentric requires axis entities on both sides')\n          return\n        }\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n        terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val: 0, scaleFlag: true })\n        break\n      }\n      case 'distance': {\n        pushDistance(terms, cid, ia, mA, ib, mB, c.value, unsupported)\n        break\n      }\n      case 'angle': {\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: c.value * DEG2RAD, scaleFlag: false })\n        break\n      }\n      case 'parallel': {\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n        break\n      }\n      case 'perpendicular': {\n        terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: Math.PI / 2, scaleFlag: false })\n        break\n      }\n      default:\n        unsupported.push(`unsupported constraint type: ${(c as { type?: string }).type}`)\n    }\n  })\n\n  // ── B4 锚定 ──\n  if (lockedSet.size === 0) {\n    for (const b of binaryOrder) {\n      if (!unarySet.has(b)) {\n        const idx = memberNames.indexOf(b)\n        if (idx >= 0) {\n          lockedSet.add(idx)\n          break\n        }\n      }\n    }\n  }\n  if (lockedSet.size === 0 && order.length > 0) {\n    // 兜底锚定不得选「世界锚定 unary」成员——锁死它会让其 anchor 代价无法满足\n    // （全 unary 场景：无 binary 参考可锚，宁可全部自由交 LM 求解，也不误锁）。\n    const candidate = order.find((p) => !unarySet.has(p))\n    if (candidate !== undefined) {\n      const idx = memberNames.indexOf(candidate)\n      if (idx >= 0) lockedSet.add(idx)\n    }\n  }\n\n  // ── scale = 所有 marker 点的包围盒对角长（CQ B5；marker 近似几何 bbox） ──\n  const scale = computeScale(scalePts)\n\n  // ── 自由成员与变量 ──\n  const freeIdx: number[] = []\n  const blockMap = new Map<number, number>()\n  memberNames.forEach((_, i) => {\n    if (!lockedSet.has(i)) {\n      blockMap.set(i, freeIdx.length)\n      freeIdx.push(i)\n    }\n  })\n  const n = freeIdx.length * 6\n  const x = new Array(n).fill(0)\n  for (let k = 0; k < freeIdx.length; k++) {\n    x[6 * k + 3] = R_INIT\n    x[6 * k + 4] = R_INIT\n    x[6 * k + 5] = R_INIT\n  }\n\n  const stateOf = (xx: number[], i: number): { T: Vec3; R: Vec3 } => {\n    // 世界哨兵 i = -1：identity（世界系 marker 已存字面坐标，不再施加成员变换）\n    if (i < 0) return { T: [0, 0, 0], R: [0, 0, 0] }\n    if (lockedSet.has(i)) return { T: [0, 0, 0], R: [0, 0, 0] }\n    const k = blockMap.get(i)!\n    return {\n      T: [xx[6 * k], xx[6 * k + 1], xx[6 * k + 2]],\n      R: [xx[6 * k + 3], xx[6 * k + 4], xx[6 * k + 5]],\n    }\n  }\n\n  const residual = (xx: number[]): number[] => {\n    const r: number[] = []\n    for (const t of terms) {\n      const e = termResidual(t, stateOf(xx, t.ia), stateOf(xx, t.ib), scale)\n      for (const v of e) r.push(v)\n    }\n    // penalty 1e-16（B1）：sqrt 后 1e-8，T/scale 缩小、R 直接\n    for (let k = 0; k < freeIdx.length; k++) {\n      r.push(PENALTY ** 0.5 * (xx[6 * k] / scale))\n      r.push(PENALTY ** 0.5 * (xx[6 * k + 1] / scale))\n      r.push(PENALTY ** 0.5 * (xx[6 * k + 2] / scale))\n      r.push(PENALTY ** 0.5 * xx[6 * k + 3])\n      r.push(PENALTY ** 0.5 * xx[6 * k + 4])\n      r.push(PENALTY ** 0.5 * xx[6 * k + 5])\n    }\n    return r\n  }\n\n  // ── LM 迭代 ──\n  let lambda = LM_LAMBDA0\n  let current = residual(x)\n  let obj = 0.5 * dot(current, current)\n\n  for (let iter = 0; iter < LM_MAXITER; iter++) {\n    const m = current.length\n    const J = new Array(m * n).fill(0)\n    for (let col = 0; col < n; col++) {\n      const h = col % 6 < 3 ? 1e-7 * scale : 1e-7\n      const xp = x.slice()\n      const xm = x.slice()\n      xp[col] += h\n      xm[col] -= h\n      const rp = residual(xp)\n      const rm = residual(xm)\n      for (let row = 0; row < m; row++) J[row * n + col] = (rp[row] - rm[row]) / (2 * h)\n    }\n    const JtJ = ata(J, m, n)\n    const Jtr = atb(J, current, m, n)\n\n    // 梯度范数收敛（与步长早停互补，避免 λ 放大时误判收敛）\n    if (maxAbs(Jtr) < 1e-8) {\n      break\n    }\n\n    const negJtr = Jtr.map((v) => -v)\n    const objBefore = obj\n    let improved = false\n    let acceptedStep: number[] | null = null\n    for (let attempt = 0; attempt < 12 && !improved; attempt++) {\n      const step = solveDampedNormal(JtJ, negJtr, n, lambda)\n      if (!step) break\n      const xTry = x.slice()\n      for (let j = 0; j < n; j++) xTry[j] += step[j]\n      const rTry = residual(xTry)\n      const objTry = 0.5 * dot(rTry, rTry)\n      if (objTry <= obj) {\n        for (let j = 0; j < n; j++) x[j] = xTry[j]\n        current = rTry\n        obj = objTry\n        improved = true\n        acceptedStep = step\n        lambda = Math.max(lambda / 3, 1e-15)\n      } else {\n        lambda *= 2\n      }\n    }\n    if (!improved) break\n\n    // 步长收敛仅在信任域健康（λ 小）时认定——λ 大时的微小步长只是阻尼，非真收敛\n    if (acceptedStep && maxAbs(acceptedStep) < LM_TOL_STEP && lambda < 1e-2) {\n      break\n    }\n    if (Math.abs(objBefore - obj) < LM_TOL_OBJ * Math.max(1, Math.abs(objBefore))) {\n      break\n    }\n  }\n\n  // ── 组装结果 ──\n  const transforms: AssemblyTransform[] = []\n  for (let k = 0; k < freeIdx.length; k++) {\n    const i = freeIdx[k]\n    const T: Vec3 = [x[6 * k], x[6 * k + 1], x[6 * k + 2]]\n    const R: Vec3 = [x[6 * k + 3], x[6 * k + 4], x[6 * k + 5]]\n    const pose: SolverPose = { position: T, rotation: quatFromR(R[0], R[1], R[2]) }\n    transforms.push(poseToAssemblyTransform(pose, [0, 0, 0], i))\n  }\n\n  // 逐约束残差（诊断）\n  const residuals: number[] = []\n  const warnings: string[] = []\n  const byCid = new Map<number, number>()\n  for (const t of terms) {\n    const e = termResidual(t, stateOf(x, t.ia), stateOf(x, t.ib), scale)\n    const s = e.reduce((acc, v) => acc + v * v, 0)\n    byCid.set(t.cid, (byCid.get(t.cid) ?? 0) + s)\n  }\n  constraints.forEach((_, cid) => {\n    const r = byCid.get(cid) ?? 0\n    residuals.push(r)\n    if (r > RESIDUAL_WARN * scale) warnings.push(`constraint #${cid} residual=${r.toExponential(3)} (> ${RESIDUAL_WARN * scale})`)\n  })\n\n  // P7/D1-2：欠定自由度诊断（剔除 penalty 正则行后按 JᵀJc 特征值秩判定）\n  const underdeterminedDof = computeUnderdeterminedDof(terms, scale, n, x, stateOf)\n\n  return {\n    transforms,\n    dof: 0,\n    // P7/D1-3：旧 `dof` 字段语义不变（unsupported 合计的占位），欠定信息走新字段。\n    underdetermined: underdeterminedDof > 0 ? { dof: underdeterminedDof } : undefined,\n    converged: true,\n    unsupported,\n    residuals,\n    warnings: warnings.length > 0 ? warnings : undefined,\n  }\n}\n\nfunction pushCoincident(terms: CostTerm[], cid: number, ia: number, mA: GlobalMarker, ib: number, mB: GlobalMarker): void {\n  if (mA.type === 'point' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  } else if (mA.type === 'plane' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point_in_plane', ia: ib, ma: mB, ib: ia, mb: mA, val: 0, scaleFlag: true })\n  } else if (mA.type === 'point' && mB.type === 'plane') {\n    terms.push({ cid, fn: 'point_in_plane', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  } else if (mA.type === 'axis' && mB.type === 'axis') {\n    terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n    terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val: 0, scaleFlag: true })\n  } else if (mA.type === 'axis' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point_on_line', ia: ib, ma: mB, ib, mb: mA, val: 0, scaleFlag: true })\n  } else if (mA.type === 'point' && mB.type === 'axis') {\n    terms.push({ cid, fn: 'point_on_line', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  } else {\n    // 两面 coincident：按 align 语义（平行 + 中心重合）\n    terms.push({ cid, fn: 'axis', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: false })\n    terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val: 0, scaleFlag: true })\n  }\n}\n\nfunction pushDistance(\n  terms: CostTerm[],\n  cid: number,\n  ia: number,\n  mA: GlobalMarker,\n  ib: number,\n  mB: GlobalMarker,\n  val: number,\n  unsupported: string[],\n): void {\n  if (mA.type === 'point' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point', ia, ma: mA, ib, mb: mB, val, scaleFlag: true })\n  } else if (mA.type === 'plane' && mB.type === 'point') {\n    terms.push({ cid, fn: 'point_in_plane', ia: ib, ma: mB, ib: ia, mb: mA, val, scaleFlag: true })\n  } else if (mA.type === 'point' && mB.type === 'plane') {\n    terms.push({ cid, fn: 'point_in_plane', ia, ma: mA, ib, mb: mB, val, scaleFlag: true })\n  } else if (mA.type === 'axis' && mB.type === 'axis') {\n    terms.push({ cid, fn: 'point_on_line', ia, ma: { type: 'point', p: mA.origin }, ib, mb: mB, val, scaleFlag: true })\n  } else {\n    unsupported.push(`distance requires point-point / plane-point / axis-axis entities, got ${mA.type}-${mB.type}`)\n  }\n}\n\nfunction computeScale(pts: Vec3[]): number {\n  if (pts.length === 0) return 1\n  const min: Vec3 = [Infinity, Infinity, Infinity]\n  const max: Vec3 = [-Infinity, -Infinity, -Infinity]\n  for (const p of pts) {\n    for (let i = 0; i < 3; i++) {\n      if (p[i] < min[i]) min[i] = p[i]\n      if (p[i] > max[i]) max[i] = p[i]\n    }\n  }\n  const diag = Math.hypot(max[0] - min[0], max[1] - min[1], max[2] - min[2])\n  return Math.max(diag, 1e-6)\n}\n\nfunction dot(a: number[], b: number[]): number {\n  let s = 0\n  for (let i = 0; i < a.length; i++) s += a[i] * b[i]\n  return s\n}\nfunction maxAbs(a: number[]): number {\n  let m = 0\n  for (const v of a) m = Math.max(m, Math.abs(v))\n  return m\n}\n"]}

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

@@ -45,6 +45,14 @@ export interface GlobalSolveResult {
     transforms: AssemblyTransform[];
     /** 恒 0（数值求解不做 DOF 分析，保留字段避免 undefined）。 */
     dof: number;
+    /**
+     * P7/D1-3：欠定自由度诊断（仅 global 路径）。dof > 0 = 约束集欠定，终态位姿
+     * 依赖优化器轨迹、无唯一「正确解」——判等方应走规范判等通道而非逐位比对。
+     * dof === 0 时字段缺省（undefined）。
+     */
+    underdetermined?: {
+        dof: number;
+    };
     /** LM 终止即 true（无论残差大小；裁定 4.6）。 */
     converged: boolean;
     /** 仅约束类型无法映射为代价时填充。 */

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