@faicad/faijs 0.33.2 → 0.35.8

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (429) hide show
  1. package/dist/api/api-namespace.d.ts +14 -14
  2. package/dist/api/api-namespace.d.ts.map +1 -1
  3. package/dist/api/api-namespace.js +40 -14
  4. package/dist/api/api-namespace.js.map +1 -1
  5. package/dist/api/appearance.d.ts +47 -6
  6. package/dist/api/appearance.d.ts.map +1 -1
  7. package/dist/api/appearance.js.map +1 -1
  8. package/dist/api/assembly/entities.js +14 -4
  9. package/dist/api/assembly/entities.js.map +1 -1
  10. package/dist/api/assembly/solve-tree.d.ts +1 -0
  11. package/dist/api/assembly/solve-tree.d.ts.map +1 -1
  12. package/dist/api/assembly/solve-tree.js +42 -17
  13. package/dist/api/assembly/solve-tree.js.map +1 -1
  14. package/dist/api/assembly/solve.d.ts +1 -0
  15. package/dist/api/assembly/solve.d.ts.map +1 -1
  16. package/dist/api/assembly/solve.js.map +1 -1
  17. package/dist/api/assembly/solvers/global-solver.d.ts.map +1 -1
  18. package/dist/api/assembly/solvers/global-solver.js +130 -23
  19. package/dist/api/assembly/solvers/global-solver.js.map +1 -1
  20. package/dist/api/assembly/solvers/pose-from-delta.d.ts +9 -0
  21. package/dist/api/assembly/solvers/pose-from-delta.d.ts.map +1 -1
  22. package/dist/api/assembly/solvers/pose-from-delta.js +23 -0
  23. package/dist/api/assembly/solvers/pose-from-delta.js.map +1 -1
  24. package/dist/api/assembly/solvers/types.d.ts +20 -2
  25. package/dist/api/assembly/solvers/types.d.ts.map +1 -1
  26. package/dist/api/assembly/solvers/types.js.map +1 -1
  27. package/dist/api/chamfer.d.ts +7 -4
  28. package/dist/api/chamfer.d.ts.map +1 -1
  29. package/dist/api/chamfer.js +57 -13
  30. package/dist/api/chamfer.js.map +1 -1
  31. package/dist/api/draft.d.ts +7 -4
  32. package/dist/api/draft.d.ts.map +1 -1
  33. package/dist/api/draft.js +11 -6
  34. package/dist/api/draft.js.map +1 -1
  35. package/dist/api/edge-ref.d.ts +4 -4
  36. package/dist/api/edge-ref.js +4 -4
  37. package/dist/api/edge-ref.js.map +1 -1
  38. package/dist/api/extrude.d.ts +10 -6
  39. package/dist/api/extrude.d.ts.map +1 -1
  40. package/dist/api/extrude.js +54 -26
  41. package/dist/api/extrude.js.map +1 -1
  42. package/dist/api/face-ref.d.ts +4 -4
  43. package/dist/api/face-ref.js +4 -4
  44. package/dist/api/face-ref.js.map +1 -1
  45. package/dist/api/feature-repair.d.ts +6 -3
  46. package/dist/api/feature-repair.d.ts.map +1 -1
  47. package/dist/api/feature-repair.js +12 -7
  48. package/dist/api/feature-repair.js.map +1 -1
  49. package/dist/api/fillet-variable.d.ts +6 -2
  50. package/dist/api/fillet-variable.d.ts.map +1 -1
  51. package/dist/api/fillet-variable.js +24 -6
  52. package/dist/api/fillet-variable.js.map +1 -1
  53. package/dist/api/fillet.d.ts +7 -4
  54. package/dist/api/fillet.d.ts.map +1 -1
  55. package/dist/api/fillet.js +92 -12
  56. package/dist/api/fillet.js.map +1 -1
  57. package/dist/api/generated/script-face-manifest.js +1 -1
  58. package/dist/api/generated/script-face-manifest.js.map +1 -1
  59. package/dist/api/generated/topology.js +1 -1
  60. package/dist/api/generated/topology.js.map +1 -1
  61. package/dist/api/helix.d.ts +13 -13
  62. package/dist/api/helix.d.ts.map +1 -1
  63. package/dist/api/helix.js +19 -24
  64. package/dist/api/helix.js.map +1 -1
  65. package/dist/api/import-brep.d.ts +10 -18
  66. package/dist/api/import-brep.d.ts.map +1 -1
  67. package/dist/api/import-brep.js +17 -25
  68. package/dist/api/import-brep.js.map +1 -1
  69. package/dist/api/import-step.d.ts +10 -15
  70. package/dist/api/import-step.d.ts.map +1 -1
  71. package/dist/api/import-step.js +24 -29
  72. package/dist/api/import-step.js.map +1 -1
  73. package/dist/api/index.js +2 -2
  74. package/dist/api/index.js.map +1 -1
  75. package/dist/api/internal/export-members.js.map +1 -1
  76. package/dist/api/loft-advanced.d.ts +4 -0
  77. package/dist/api/loft-advanced.d.ts.map +1 -1
  78. package/dist/api/loft-advanced.js +4 -0
  79. package/dist/api/loft-advanced.js.map +1 -1
  80. package/dist/api/loft.d.ts +5 -3
  81. package/dist/api/loft.d.ts.map +1 -1
  82. package/dist/api/loft.js +5 -3
  83. package/dist/api/loft.js.map +1 -1
  84. package/dist/api/meta.d.ts +42 -6
  85. package/dist/api/meta.d.ts.map +1 -1
  86. package/dist/api/meta.js.map +1 -1
  87. package/dist/api/primitives.d.ts +3 -2
  88. package/dist/api/primitives.d.ts.map +1 -1
  89. package/dist/api/primitives.js +3 -2
  90. package/dist/api/primitives.js.map +1 -1
  91. package/dist/api/punch-hole.d.ts +5 -2
  92. package/dist/api/punch-hole.d.ts.map +1 -1
  93. package/dist/api/punch-hole.js +4 -1
  94. package/dist/api/punch-hole.js.map +1 -1
  95. package/dist/api/replicate.d.ts +4 -5
  96. package/dist/api/replicate.d.ts.map +1 -1
  97. package/dist/api/replicate.js +4 -5
  98. package/dist/api/replicate.js.map +1 -1
  99. package/dist/api/selectors-to-refs.d.ts +83 -0
  100. package/dist/api/selectors-to-refs.d.ts.map +1 -0
  101. package/dist/api/selectors-to-refs.js +211 -0
  102. package/dist/api/selectors-to-refs.js.map +1 -0
  103. package/dist/api/shell.d.ts +17 -8
  104. package/dist/api/shell.d.ts.map +1 -1
  105. package/dist/api/shell.js +45 -15
  106. package/dist/api/shell.js.map +1 -1
  107. package/dist/api/sketch-on-face.d.ts +12 -6
  108. package/dist/api/sketch-on-face.d.ts.map +1 -1
  109. package/dist/api/sketch-on-face.js +31 -4
  110. package/dist/api/sketch-on-face.js.map +1 -1
  111. package/dist/api/sketch-on-plane.d.ts +3 -0
  112. package/dist/api/sketch-on-plane.d.ts.map +1 -1
  113. package/dist/api/sketch-on-plane.js +3 -0
  114. package/dist/api/sketch-on-plane.js.map +1 -1
  115. package/dist/api/sketch-on-surface.d.ts +4 -1
  116. package/dist/api/sketch-on-surface.d.ts.map +1 -1
  117. package/dist/api/sketch-on-surface.js +4 -1
  118. package/dist/api/sketch-on-surface.js.map +1 -1
  119. package/dist/api/surface/arg-spec.d.ts.map +1 -1
  120. package/dist/api/surface/arg-spec.js +5 -6
  121. package/dist/api/surface/arg-spec.js.map +1 -1
  122. package/dist/api/topo-resolve.d.ts.map +1 -1
  123. package/dist/api/topo-resolve.js +24 -5
  124. package/dist/api/topo-resolve.js.map +1 -1
  125. package/dist/api/view/view-projection.d.ts.map +1 -1
  126. package/dist/api/view/view-projection.js +9 -2
  127. package/dist/api/view/view-projection.js.map +1 -1
  128. package/dist/brep/brep-chain.js +2 -2
  129. package/dist/brep/brep-chain.js.map +1 -1
  130. package/dist/brep/brep-ops.d.ts +1 -1
  131. package/dist/brep/brep-ops.js +1 -1
  132. package/dist/brep/brep-ops.js.map +1 -1
  133. package/dist/brep/engine/adapters/brep-mock.d.ts.map +1 -1
  134. package/dist/brep/engine/adapters/brep-mock.js +45 -0
  135. package/dist/brep/engine/adapters/brep-mock.js.map +1 -1
  136. package/dist/brep/engine/primitives.d.ts +87 -3
  137. package/dist/brep/engine/primitives.d.ts.map +1 -1
  138. package/dist/brep/engine/primitives.js +1 -1
  139. package/dist/brep/engine/primitives.js.map +1 -1
  140. package/dist/brep/engine/registry.d.ts +33 -7
  141. package/dist/brep/engine/registry.d.ts.map +1 -1
  142. package/dist/brep/engine/registry.js +47 -16
  143. package/dist/brep/engine/registry.js.map +1 -1
  144. package/dist/brep/handle-bridge.d.ts +14 -15
  145. package/dist/brep/handle-bridge.d.ts.map +1 -1
  146. package/dist/brep/handle-bridge.js +35 -15
  147. package/dist/brep/handle-bridge.js.map +1 -1
  148. package/dist/brep/primitives-brep.js +2 -2
  149. package/dist/brep/primitives-brep.js.map +1 -1
  150. package/dist/brep/text/text-to-solid.d.ts +40 -3
  151. package/dist/brep/text/text-to-solid.d.ts.map +1 -1
  152. package/dist/brep/text/text-to-solid.js +104 -24
  153. package/dist/brep/text/text-to-solid.js.map +1 -1
  154. package/dist/brepkit-kernel/brepkitKernel.d.ts +2 -2
  155. package/dist/brepkit-kernel/brepkitKernel.d.ts.map +1 -1
  156. package/dist/brepkit-kernel/brepkitKernel.js +328 -38
  157. package/dist/brepkit-kernel/brepkitKernel.js.map +1 -1
  158. package/dist/brepkit-kernel/brepkitWasm.d.ts +3 -1
  159. package/dist/brepkit-kernel/brepkitWasm.d.ts.map +1 -1
  160. package/dist/brepkit-kernel/brepkitWasm.js +13 -9
  161. package/dist/brepkit-kernel/brepkitWasm.js.map +1 -1
  162. package/dist/brepkit-kernel/multi-version-test.d.ts +2 -2
  163. package/dist/brepkit-kernel/multi-version-test.d.ts.map +1 -1
  164. package/dist/brepkit-kernel/multi-version-test.js +6 -6
  165. package/dist/brepkit-kernel/multi-version-test.js.map +1 -1
  166. package/dist/browser.d.ts +2 -3
  167. package/dist/browser.d.ts.map +1 -1
  168. package/dist/browser.js +1 -2
  169. package/dist/browser.js.map +1 -1
  170. package/dist/cad-runtime/admit-compat-lib.d.ts +9 -1
  171. package/dist/cad-runtime/admit-compat-lib.d.ts.map +1 -1
  172. package/dist/cad-runtime/admit-compat-lib.js +11 -1
  173. package/dist/cad-runtime/admit-compat-lib.js.map +1 -1
  174. package/dist/cad-runtime/browser-lib-loader.d.ts +16 -11
  175. package/dist/cad-runtime/browser-lib-loader.d.ts.map +1 -1
  176. package/dist/cad-runtime/browser-lib-loader.js +16 -8
  177. package/dist/cad-runtime/browser-lib-loader.js.map +1 -1
  178. package/dist/cad-runtime/direct-executor.d.ts +62 -5
  179. package/dist/cad-runtime/direct-executor.d.ts.map +1 -1
  180. package/dist/cad-runtime/direct-executor.js +617 -42
  181. package/dist/cad-runtime/direct-executor.js.map +1 -1
  182. package/dist/cad-runtime/interp/closure.d.ts +3 -2
  183. package/dist/cad-runtime/interp/closure.d.ts.map +1 -1
  184. package/dist/cad-runtime/interp/closure.js.map +1 -1
  185. package/dist/cad-runtime/interp/env.d.ts +9 -6
  186. package/dist/cad-runtime/interp/env.d.ts.map +1 -1
  187. package/dist/cad-runtime/interp/env.js +4 -2
  188. package/dist/cad-runtime/interp/env.js.map +1 -1
  189. package/dist/cad-runtime/lib-decl.d.ts +121 -0
  190. package/dist/cad-runtime/lib-decl.d.ts.map +1 -0
  191. package/dist/cad-runtime/lib-decl.js +100 -0
  192. package/dist/cad-runtime/lib-decl.js.map +1 -0
  193. package/dist/cad-runtime/ports.d.ts +12 -0
  194. package/dist/cad-runtime/ports.d.ts.map +1 -1
  195. package/dist/cad-runtime/ports.js.map +1 -1
  196. package/dist/cad-runtime/runtime.d.ts +59 -5
  197. package/dist/cad-runtime/runtime.d.ts.map +1 -1
  198. package/dist/cad-runtime/runtime.js +252 -20
  199. package/dist/cad-runtime/runtime.js.map +1 -1
  200. package/dist/extra/browser.d.ts +9 -0
  201. package/dist/extra/browser.d.ts.map +1 -0
  202. package/dist/extra/browser.js +9 -0
  203. package/dist/extra/browser.js.map +1 -0
  204. package/dist/extra/editor-ops.d.ts +22 -0
  205. package/dist/extra/editor-ops.d.ts.map +1 -0
  206. package/dist/extra/editor-ops.js +21 -0
  207. package/dist/extra/editor-ops.js.map +1 -0
  208. package/dist/extra/extras/svg-extrude.d.ts +45 -0
  209. package/dist/extra/extras/svg-extrude.d.ts.map +1 -0
  210. package/dist/extra/extras/svg-extrude.js +110 -0
  211. package/dist/extra/extras/svg-extrude.js.map +1 -0
  212. package/dist/extra/extras/text-cjk.d.ts +36 -0
  213. package/dist/extra/extras/text-cjk.d.ts.map +1 -0
  214. package/dist/extra/extras/text-cjk.js +86 -0
  215. package/dist/extra/extras/text-cjk.js.map +1 -0
  216. package/dist/extra/extras/text-geometry.d.ts +69 -0
  217. package/dist/extra/extras/text-geometry.d.ts.map +1 -0
  218. package/dist/extra/extras/text-geometry.js +188 -0
  219. package/dist/extra/extras/text-geometry.js.map +1 -0
  220. package/dist/extra/index.d.ts +40 -0
  221. package/dist/extra/index.d.ts.map +1 -0
  222. package/dist/extra/index.js +40 -0
  223. package/dist/extra/index.js.map +1 -0
  224. package/dist/extra/mesh/drill-hole/DrillHoleCore.d.ts +94 -0
  225. package/dist/extra/mesh/drill-hole/DrillHoleCore.d.ts.map +1 -0
  226. package/dist/extra/mesh/drill-hole/DrillHoleCore.js +282 -0
  227. package/dist/extra/mesh/drill-hole/DrillHoleCore.js.map +1 -0
  228. package/dist/extra/mesh/drill-hole/drill-types.d.ts +34 -0
  229. package/dist/extra/mesh/drill-hole/drill-types.d.ts.map +1 -0
  230. package/dist/extra/mesh/drill-hole/drill-types.js +7 -0
  231. package/dist/extra/mesh/drill-hole/drill-types.js.map +1 -0
  232. package/dist/extra/mesh/engrave-decoration.d.ts +42 -0
  233. package/dist/extra/mesh/engrave-decoration.d.ts.map +1 -0
  234. package/dist/extra/mesh/engrave-decoration.js +39 -0
  235. package/dist/extra/mesh/engrave-decoration.js.map +1 -0
  236. package/dist/extra/mesh/fai_drill.d.ts +21 -0
  237. package/dist/extra/mesh/fai_drill.d.ts.map +1 -0
  238. package/dist/extra/mesh/fai_drill.js +89 -0
  239. package/dist/extra/mesh/fai_drill.js.map +1 -0
  240. package/dist/extra/mesh/fai_extrude.d.ts +24 -0
  241. package/dist/extra/mesh/fai_extrude.d.ts.map +1 -0
  242. package/dist/extra/mesh/fai_extrude.js +42 -0
  243. package/dist/extra/mesh/fai_extrude.js.map +1 -0
  244. package/dist/extra/mesh/fai_split.d.ts +164 -0
  245. package/dist/extra/mesh/fai_split.d.ts.map +1 -0
  246. package/dist/extra/mesh/fai_split.js +269 -0
  247. package/dist/extra/mesh/fai_split.js.map +1 -0
  248. package/dist/extra/mesh/primitives.d.ts +29 -0
  249. package/dist/extra/mesh/primitives.d.ts.map +1 -0
  250. package/dist/extra/mesh/primitives.js +41 -0
  251. package/dist/extra/mesh/primitives.js.map +1 -0
  252. package/dist/extra/op-names.d.ts +37 -0
  253. package/dist/extra/op-names.d.ts.map +1 -0
  254. package/dist/extra/op-names.js +46 -0
  255. package/dist/extra/op-names.js.map +1 -0
  256. package/dist/extra/ops/compound.d.ts +140 -0
  257. package/dist/extra/ops/compound.d.ts.map +1 -0
  258. package/dist/extra/ops/compound.js +167 -0
  259. package/dist/extra/ops/compound.js.map +1 -0
  260. package/dist/extra/ops/copy.d.ts +40 -0
  261. package/dist/extra/ops/copy.d.ts.map +1 -0
  262. package/dist/extra/ops/copy.js +83 -0
  263. package/dist/extra/ops/copy.js.map +1 -0
  264. package/dist/extra/ops/fai_drill.d.ts +51 -0
  265. package/dist/extra/ops/fai_drill.d.ts.map +1 -0
  266. package/dist/extra/ops/fai_drill.js +233 -0
  267. package/dist/extra/ops/fai_drill.js.map +1 -0
  268. package/dist/extra/ops/fai_extrude.d.ts +36 -0
  269. package/dist/extra/ops/fai_extrude.d.ts.map +1 -0
  270. package/dist/extra/ops/fai_extrude.js +84 -0
  271. package/dist/extra/ops/fai_extrude.js.map +1 -0
  272. package/dist/extra/ops/fai_split.d.ts +46 -0
  273. package/dist/extra/ops/fai_split.d.ts.map +1 -0
  274. package/dist/extra/ops/fai_split.js +235 -0
  275. package/dist/extra/ops/fai_split.js.map +1 -0
  276. package/dist/extra/ops/load.d.ts +49 -0
  277. package/dist/extra/ops/load.d.ts.map +1 -0
  278. package/dist/extra/ops/load.js +423 -0
  279. package/dist/extra/ops/load.js.map +1 -0
  280. package/dist/extra/ops/svg-extrude.d.ts +32 -0
  281. package/dist/extra/ops/svg-extrude.d.ts.map +1 -0
  282. package/dist/extra/ops/svg-extrude.js +74 -0
  283. package/dist/extra/ops/svg-extrude.js.map +1 -0
  284. package/dist/extra/ops/text.d.ts +34 -0
  285. package/dist/extra/ops/text.d.ts.map +1 -0
  286. package/dist/extra/ops/text.js +100 -0
  287. package/dist/extra/ops/text.js.map +1 -0
  288. package/dist/geometry2d/bridge/lift-on-plane.d.ts +8 -5
  289. package/dist/geometry2d/bridge/lift-on-plane.d.ts.map +1 -1
  290. package/dist/geometry2d/bridge/lift-on-plane.js +8 -5
  291. package/dist/geometry2d/bridge/lift-on-plane.js.map +1 -1
  292. package/dist/index.d.ts +6 -2
  293. package/dist/index.d.ts.map +1 -1
  294. package/dist/index.js +8 -2
  295. package/dist/index.js.map +1 -1
  296. package/dist/lang/symbol-table.d.ts +3 -3
  297. package/dist/lang/symbol-table.generated.d.ts +10 -0
  298. package/dist/lang/symbol-table.generated.d.ts.map +1 -1
  299. package/dist/lang/symbol-table.generated.js +10 -0
  300. package/dist/lang/symbol-table.generated.js.map +1 -1
  301. package/dist/lang/symbol-table.js +3 -3
  302. package/dist/lang/symbol-table.js.map +1 -1
  303. package/dist/math3d/index.d.ts +1 -1
  304. package/dist/math3d/index.js +1 -1
  305. package/dist/math3d/index.js.map +1 -1
  306. package/dist/mesh/engrave.d.ts +2 -3
  307. package/dist/mesh/engrave.d.ts.map +1 -1
  308. package/dist/mesh/engrave.js +4 -11
  309. package/dist/mesh/engrave.js.map +1 -1
  310. package/dist/mesh/index.d.ts +0 -2
  311. package/dist/mesh/index.d.ts.map +1 -1
  312. package/dist/mesh/index.js +0 -2
  313. package/dist/mesh/index.js.map +1 -1
  314. package/dist/mesh/primitives.d.ts +7 -5
  315. package/dist/mesh/primitives.d.ts.map +1 -1
  316. package/dist/mesh/primitives.js +16 -9
  317. package/dist/mesh/primitives.js.map +1 -1
  318. package/dist/mesh/types.d.ts +4 -3
  319. package/dist/mesh/types.d.ts.map +1 -1
  320. package/dist/mesh/types.js.map +1 -1
  321. package/dist/node-host/cli.d.ts +11 -4
  322. package/dist/node-host/cli.d.ts.map +1 -1
  323. package/dist/node-host/cli.js +53 -28
  324. package/dist/node-host/cli.js.map +1 -1
  325. package/dist/node-host/execute-script.d.ts.map +1 -1
  326. package/dist/node-host/execute-script.js +3 -4
  327. package/dist/node-host/execute-script.js.map +1 -1
  328. package/dist/node-host/lib-package-json.d.ts +36 -0
  329. package/dist/node-host/lib-package-json.d.ts.map +1 -0
  330. package/dist/node-host/lib-package-json.js +73 -0
  331. package/dist/node-host/lib-package-json.js.map +1 -0
  332. package/dist/occt-kernel/occt-primitives.d.ts.map +1 -1
  333. package/dist/occt-kernel/occt-primitives.js +41 -0
  334. package/dist/occt-kernel/occt-primitives.js.map +1 -1
  335. package/dist/occt-kernel/occtKernel.d.ts +1 -1
  336. package/dist/occt-kernel/occtKernel.js +1 -1
  337. package/dist/occt-kernel/occtKernel.js.map +1 -1
  338. package/dist/primitives/brep-primitives.d.ts.map +1 -1
  339. package/dist/primitives/brep-primitives.js +39 -12
  340. package/dist/primitives/brep-primitives.js.map +1 -1
  341. package/dist/runtime-state.d.ts +28 -1
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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"]}
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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, quatToRvec } from './pose-from-delta'\nimport { quatMultiply, quatRotate } from './quat'\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 * inv) ** 2] // 1-vec，val≠0（目标值与残差同除 scale）\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 // 1-vec，val≠0：perp 已除 scale → vsumsqr(perp) = (dist/scale)²；\n // 目标值必须同尺度（t.val·inv）²，否则实际满足 dist = scale·√val。\n // （历史缺陷：此处曾写 `vsumsqr(perp) - t.val`，val 不缩放——金丝雀见\n // planetary-static.test.ts distance 用例，修复后该断言已翻转为 ORBIT_R。）\n return [vsumsqr(perp) - (t.val * inv) ** 2]\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 矩阵的特征分解（循环 Jacobi 旋转）。\n *\n * @param A 行主 n×n 对称矩阵（会被复制，不修改原矩阵）。\n * @param n 阶数。\n * @param outVec 可选输出：n×n 行主特征向量矩阵 V（列 v[:,i] 是 outVec[i] 对应的\n * 特征向量）。传 `V`（单位矩阵）时原地累积旋转。\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, outVec?: number[]): number[] | null {\n const a = A.slice()\n if (outVec) for (let i = 0; i < n * n; i++) outVec[i] = 0\n if (outVec) for (let i = 0; i < n; i++) outVec[i * n + i] = 1\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 if (outVec) {\n for (let k = 0; k < n; k++) {\n const vkp = outVec[k * n + p]\n const vkq = outVec[k * n + q]\n outVec[k * n + p] = c * vkp - s * vkq\n outVec[k * n + q] = s * vkp + c * vkq\n }\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 outFreeDirs?: number[][],\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 V: number[] = new Array(n * n).fill(0)\n const eig = symEigenvalues(JtJ, n, V)\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 const dof = Math.max(0, n - rank)\n // P7/D1-4：零空间特征向量（λ < λmax·1e-8 的列）= 欠定自由方向（变量系：\n // 每成员 6 维 [tx,ty,tz,rx,ry,rz]，列范数已归一）。旋转分量为主的方向对\n // 位姿判等有意义；调用方按需解释。\n if (outFreeDirs && dof > 0) {\n for (let i = 0; i < n; i++) {\n if (Math.abs(eig[i]) > lambdaMax * 1e-8) continue\n const v: number[] = new Array(n)\n for (let r = 0; r < n; r++) v[r] = V[r * n + i]\n outFreeDirs.push(v)\n }\n // 零范数列（约束摸不到的坐标轴方向）也是自由方向，补在后面\n for (let col = 0; col < n; col++) {\n if (norms[col] > 1e-12) continue\n const v = new Array(n).fill(0)\n v[col] = 1\n outFreeDirs.push(v)\n }\n }\n return dof\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 // P8 刚体分组：同组成员共享一个 6 维状态块（子装配在 CQ 语义里是刚体）。\n // freeIdx 每项是一个块的\"代表成员\"下标；blockOf 把每个自由成员映射到其块位置 k\n // （代表自身与跟随者都映射到同一 k——stateOf 按成员直接查块，无需二次 rep 解析）。\n const freeIdx: number[] = []\n const blockOf = new Map<number, number>()\n const groupOf = new Map<number, number>() // member idx -> 代表成员 idx\n if (opts?.rigidGroups) {\n for (const g of opts.rigidGroups) {\n for (const m of g) groupOf.set(m, g[0])\n }\n }\n memberNames.forEach((_, i) => {\n if (lockedSet.has(i)) return\n const rep = groupOf.get(i) ?? i\n // 组代表被锁：整组随锁（跟随者也不进自由集）。\n if (lockedSet.has(rep)) return\n let k = freeIdx.indexOf(rep)\n if (k < 0) {\n k = freeIdx.length\n freeIdx.push(rep)\n }\n blockOf.set(i, k)\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 // P8 方案 A（CQ sublocs 语义）：成员建模坐标是装配前本地系，约束 marker 取自\n // 该本地系；求解器状态是 delta，绝对位姿 = initialPose ∘ delta（penalty 拉\n // delta→0 = 倾向保持初 loc）。未传 initialPoses 时初位姿为恒等——与旧 delta\n // 语义完全一致（回归零影响）。\n // 关键：init 按【成员下标】存，delta 按块共享——刚体组成员初位各不同\n // （nested_assy：b2 初 (0,4,0)、b3 初 (0,8,0)），同一 delta 下绝对位姿各异；\n // 若 init 按块存，跟随者会错拿代表的初位（实测 b2 错落 (2,0,0.75)，ref (2,−4,0.75)）。\n const initT = new Map<number, Vec3>()\n const initQ = new Map<number, [number, number, number, number]>()\n if (opts?.initialPoses) {\n opts.initialPoses.forEach((ip, i) => {\n if (!ip) return\n initT.set(i, [ip.translation[0], ip.translation[1], ip.translation[2]])\n initQ.set(i, [ip.rotation[0], ip.rotation[1], ip.rotation[2], ip.rotation[3]])\n })\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 = blockOf.get(i)\n if (k === undefined) return { T: [0, 0, 0], R: [0, 0, 0] }\n const dT: Vec3 = [xx[6 * k], xx[6 * k + 1], xx[6 * k + 2]]\n const dR: Vec3 = [xx[6 * k + 3], xx[6 * k + 4], xx[6 * k + 5]]\n const it = initT.get(i)\n const iq = initQ.get(i)\n if (!it || !iq) return { T: dT, R: dR }\n // absolute = initial ∘ delta：先转 delta 再平移初 loc。\n const qd = quatFromR(dR[0], dR[1], dR[2])\n const at = vadd(it, quatRotate(iq, dT))\n const aq = quatMultiply(iq, qd)\n // 绝对四元数 → 旋转向量（pose-from-delta 的 R 约定），供 markerPoint 复用。\n const Rm = quatToRvec(aq)\n return { T: at, R: Rm }\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 // P8 方案 A：发射绝对位姿 = initial ∘ delta（stateOf 终态），不再裸发 delta。\n for (let k = 0; k < freeIdx.length; k++) {\n const i = freeIdx[k]\n const st = stateOf(x, i)\n const pose: SolverPose = { position: st.T, rotation: quatFromR(st.R[0], st.R[1], st.R[2]) }\n transforms.push(poseToAssemblyTransform(pose, [0, 0, 0], i))\n }\n // P8 刚体分组：跟随成员与组代表共享同一刚体位姿——为每个跟随者补一条\n // 同 pose 的 transform（index=跟随者），否则 solve-tree 的 recompose 拿不到\n // 组员的变换（nested_assy 的 b3 叶会缺条目）。\n for (const [member, rep] of groupOf) {\n if (member === rep) continue\n if (lockedSet.has(member)) continue\n const st = stateOf(x, rep)\n const pose: SolverPose = { position: st.T, rotation: quatFromR(st.R[0], st.R[1], st.R[2]) }\n transforms.push(poseToAssemblyTransform(pose, [0, 0, 0], member))\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/D1-4：欠定自由度诊断 + 零空间自由方向（变量系 6 维块 [tx,ty,tz,rx,ry,rz]）\n const freeDirs: number[][] = []\n const underdeterminedDof = computeUnderdeterminedDof(terms, scale, n, x, stateOf, freeDirs)\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:\n underdeterminedDof > 0\n ? { dof: underdeterminedDof, freeDirs: freeDirs.map((v) => v.map((c) => Math.abs(c) < 1e-12 ? 0 : +c.toFixed(12))) }\n : 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/pose-from-delta.d.ts CHANGED
@@ -40,4 +40,13 @@ export declare function rotateByR(v: Vec3, r: Vec3): Vec3;
40
40
  * @returns the quaternion as `[w, x, y, z]` (brepjs order).
41
41
  */
42
42
  export declare function quatFromR(a: number, b: number, c: number): [number, number, number, number];
43
+ /**
44
+ * `quatFromR` 的逆映射：单位四元数 [w,x,y,z] → 模长参数化 ΔR=(a,b,c)。
45
+ * 由 s=(1-m)/(1+m)、u=2R/(1+m) 反解：R = u/(1+s)。
46
+ * 用于 P8 方案 A：绝对位姿（初 loc ∘ delta）合成后的四元数折回 R 约定，
47
+ * 供 termResidual/markerPoint 的 rotateByR 复用。
48
+ * @param q - unit quaternion [w, x, y, z].
49
+ * @returns the magnitude-parameterized rotation (a, b, c).
50
+ */
51
+ export declare function quatToRvec(q: readonly [number, number, number, number]): Vec3;
43
52
  //# sourceMappingURL=pose-from-delta.d.ts.map
package/dist/api/assembly/solvers/pose-from-delta.d.ts.map CHANGED
@@ -1 +1 @@
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1
+ {"version":3,"file":"pose-from-delta.d.ts","sourceRoot":"","sources":["../../../../src/api/assembly/solvers/pose-from-delta.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;GAaG;AAEH,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,UAAU,CAAA;AAGpC;;;;;;GAMG;AACH,wBAAgB,cAAc,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG;IAAE,CAAC,EAAE,MAAM,CAAC;IAAC,CAAC,EAAE,IAAI,CAAA;CAAE,CAOtF;AAED;;;;;GAKG;AACH,wBAAgB,SAAS,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,IAAI,CAUhD;AAED;;;;;;;GAOG;AACH,wBAAgB,SAAS,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAI3F;AAED;;;;;;;GAOG;AACH,wBAAgB,UAAU,CAAC,CAAC,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,GAAG,IAAI,CAc7E"}
package/dist/api/assembly/solvers/pose-from-delta.js CHANGED
@@ -58,4 +58,27 @@ export function quatFromR(a, b, c) {
58
58
  const denom = 1 + m;
59
59
  return [(1 - m) / denom, 2 * a / denom, 2 * b / denom, 2 * c / denom];
60
60
  }
61
+ /**
62
+ * `quatFromR` 的逆映射：单位四元数 [w,x,y,z] → 模长参数化 ΔR=(a,b,c)。
63
+ * 由 s=(1-m)/(1+m)、u=2R/(1+m) 反解：R = u/(1+s)。
64
+ * 用于 P8 方案 A：绝对位姿（初 loc ∘ delta）合成后的四元数折回 R 约定，
65
+ * 供 termResidual/markerPoint 的 rotateByR 复用。
66
+ * @param q - unit quaternion [w, x, y, z].
67
+ * @returns the magnitude-parameterized rotation (a, b, c).
68
+ */
69
+ export function quatToRvec(q) {
70
+ const w = q[0];
71
+ const x = q[1];
72
+ const y = q[2];
73
+ const z = q[3];
74
+ // 180° 附近 s→−1 分母趋 0；delta 参数化本就不表达 180°（CQ 同限制），
75
+ // 返回近似轴角大模长即可（数值上 clamp，避免除零）。
76
+ const denom = 1 + w;
77
+ if (Math.abs(denom) < 1e-12) {
78
+ const n = Math.hypot(x, y, z) || 1;
79
+ const big = 1e6;
80
+ return [(x / n) * big, (y / n) * big, (z / n) * big];
81
+ }
82
+ return [x / denom, y / denom, z / denom];
83
+ }
61
84
  //# sourceMappingURL=pose-from-delta.js.map
package/dist/api/assembly/solvers/pose-from-delta.js.map CHANGED
@@ -1 +1 @@
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u: Vec3 } {\n const m = a * a + b * b + c * c\n const denom = 1 + m\n return {\n s: (1 - m) / denom,\n u: [2 * a / denom, 2 * b / denom, 2 * c / denom],\n }\n}\n\n/**\n * 用 ΔR 旋转向量 v（CQ `Rotate`，逐字实现）。\n * @param v - 待旋转向量（本地系）。\n * @param r - ΔR=(a,b,c)。\n * @returns 旋转后的向量。\n */\nexport function rotateByR(v: Vec3, r: Vec3): Vec3 {\n const { s, u } = quatPartsFromR(r[0], r[1], r[2])\n const uv = vdot(u, v)\n const uu = vdot(u, u)\n const cross = vcross(u, v)\n return [\n 2 * uv * u[0] + (s * s - uu) * v[0] + 2 * s * cross[0],\n 2 * uv * u[1] + (s * s - uu) * v[1] + 2 * s * cross[1],\n 2 * uv * u[2] + (s * s - uu) * v[2] + 2 * s * cross[2],\n ]\n}\n\n/**\n * 由 ΔR 生成 brepjs 序四元数 [w,x,y,z]（即 CQ 的 (s,u)）。\n * 供 `poseToAssemblyTransform` 的 SolverPose.rotation 使用。\n * @param a - first magnitude-parameterized rotation component.\n * @param b - second magnitude-parameterized rotation component.\n * @param c - third magnitude-parameterized rotation component.\n * @returns the quaternion as `[w, x, y, z]` (brepjs order).\n */\nexport function quatFromR(a: number, b: number, c: number): [number, number, number, number] {\n const m = a * a + b * b + c * c\n const denom = 1 + m\n return [(1 - m) / denom, 2 * a / denom, 2 * b / denom, 2 * c / denom]\n}\n\n/**\n * `quatFromR` 的逆映射：单位四元数 [w,x,y,z] → 模长参数化 ΔR=(a,b,c)。\n * 由 s=(1-m)/(1+m)、u=2R/(1+m) 反解：R = u/(1+s)。\n * 用于 P8 方案 A：绝对位姿（初 loc ∘ delta）合成后的四元数折回 R 约定，\n * 供 termResidual/markerPoint 的 rotateByR 复用。\n * @param q - unit quaternion [w, x, y, z].\n * @returns the magnitude-parameterized rotation (a, b, c).\n */\nexport function quatToRvec(q: readonly [number, number, number, number]): Vec3 {\n const w = q[0]\n const x = q[1]\n const y = q[2]\n const z = q[3]\n // 180° 附近 s→−1 分母趋 0；delta 参数化本就不表达 180°（CQ 同限制），\n // 返回近似轴角大模长即可（数值上 clamp，避免除零）。\n const denom = 1 + w\n if (Math.abs(denom) < 1e-12) {\n const n = Math.hypot(x, y, z) || 1\n const big = 1e6\n return [(x / n) * big, (y / n) * big, (z / n) * big]\n }\n return [x / denom, y / denom, z / denom]\n}\n"]}
package/dist/api/assembly/solvers/types.d.ts CHANGED
@@ -16,6 +16,22 @@ export interface SolveOptions {
16
16
  solver?: SolverStyle;
17
17
  /** 装配名（B4 锚定用；cq-compat 的 buildAssembly 注入）。 */
18
18
  name?: string;
19
+ /**
20
+ * P8：刚体分组（成员下标分组，如 [[0],[1,2],[3]]）。同组成员在求解变量系中
21
+ * 共享一个 6 维状态块——子装配在 CQ 语义里是刚体（其成员相对位姿恒定），
22
+ * 拆成独立自由成员会让未约束成员漂移（nested_assy 实测：b2 恒等漂离 ref）。
23
+ */
24
+ rigidGroups?: number[][];
25
+ /**
26
+ * P8 方案 A：成员初始位姿（下标 → 平移 + 四元数 [x,y,z,w]）。语义 = CQ sublocs：
27
+ * 成员建模坐标是「装配前的本地系」，约束 marker 取自该本地系；求解器状态是
28
+ * delta（初 loc 之上的增量），绝对位姿 = initialPose ∘ delta，penalty 拉 delta→0
29
+ * 即倾向保持初 loc。solve-tree flatten 时把每叶的累积 parentPose 传入。
30
+ */
31
+ initialPoses?: {
32
+ translation: [number, number, number];
33
+ rotation: [number, number, number, number];
34
+ }[];
19
35
  }
20
36
  /**
21
37
  * global 求解器内部的本地系标记（local-frame marker）。
@@ -46,12 +62,14 @@ export interface GlobalSolveResult {
46
62
  /** 恒 0（数值求解不做 DOF 分析，保留字段避免 undefined）。 */
47
63
  dof: number;
48
64
  /**
49
- * 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
65
+ * P7/D1-3/D1-4：欠定自由度诊断（仅 global 路径）。dof > 0 = 约束集欠定，终态位姿
50
66
  * 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。
51
- * dof === 0 时字段缺省（undefined）。
67
+ * freeDirs = 零空间自由方向（变量系：每成员 6 维块 [tx,ty,tz,rx,ry,rz]，
68
+ * 欧氏范数 1；D1-4），供判等方直接构造 canonical 扫描的轴/枢轴。
52
69
  */
53
70
  underdetermined?: {
54
71
  dof: number;
72
+ freeDirs?: number[][];
55
73
  };
56
74
  /** LM 终止即 true（无论残差大小；裁定 4.6）。 */
57
75
  converged: boolean;
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package/dist/api/assembly/solvers/types.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"types.js","sourceRoot":"","sources":["../../../../src/api/assembly/solvers/types.ts"],"names":[],"mappings":"AAAA;;;;;GAKG","sourcesContent":["/**\n * api/assembly/solvers/types — 纯 TS global 求解器的类型与契约（P1）\n *\n * 本模块是 pure-type / 轻量数据层，不依赖任何 brepjs 或运行时单例，\n * 供 solve.ts、global-solver.ts、compound.ts 共享。\n */\n\nimport type { AssemblyTransform } from '../../../runtime-state'\n\n/** 求解风格：'chain'（链式拓扑解析，默认）/ 'global'（CadQuery 兼容全局最小二乘）。 */\nexport type SolverStyle = 'chain' | 'global'\n\n/**\n * 求解选项（P1）：透传自 `cad.assembly({ solver })` / `AssemblyBehavior.solver`。\n * `name` 用于 B4 锚定（assembly.py:465 `name == self.name` 锁定）→ 从 behavior.name 注入。\n */\nexport interface SolveOptions {\n /** 默认 'chain'，向后零兼容。 */\n solver?: SolverStyle\n /** 装配名（B4 锚定用；cq-compat 的 buildAssembly 注入）。 */\n name?: string\n}\n\n/**\n * global 求解器内部的本地系标记（local-frame marker）。\n *\n * 与 CQ solver.py 的 marker 同义：\n * - point：装配实体的局部坐标点；\n * - axis：轴上一点 + 单位方向（边/圆柱面法线）；\n * - plane：面中心 + 单位法向（face_mate / align / angle 用）。\n *\n * 所有坐标取自成员 Shape 的本地系（faijs Shape 不携带 placement → 本地系 == 建模系）。\n */\nexport type GlobalMarker =\n | { type: 'point'; p: [number, number, number] }\n | { type: 'axis'; origin: [number, number, number]; dir: [number, number, number] }\n | { type: 'plane'; center: [number, number, number]; normal: [number, number, number] }\n\n/** global 求解结果（与 `AssemblySolveResult` 对齐的字段集，但新增 residuals）。 */\nexport interface GlobalSolveResult {\n /** 每个被定位成员一条终态变换（pivot 恒 [0,0,0]；恒等位姿不输出）。 */\n transforms: AssemblyTransform[]\n /** 恒 0（数值求解不做 DOF 分析，保留字段避免 undefined）。 */\n dof: number\n /**\n * 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\n * 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。\n * dof === 0 时字段缺省（undefined）。\n */\n underdetermined?: { dof: number }\n /** LM 终止即 true（无论残差大小；裁定 4.6）。 */\n converged: boolean\n /** 仅约束类型无法映射为代价时填充。 */\n unsupported: string[]\n /** 逐约束最终残差（诊断，满足「绝不静默」）。 */\n residuals: number[]\n /** 残差超阈值（>1e-6·scale）的约束逐条写入（折中可见）。 */\n warnings?: string[]\n}\n\n\n// ── §5.6.1：chain 求解器类型迁入（原 brepjs kernel/solverAdapter.ts，已内化为第一方代码） ──\n\n/** 3D vector（chain 求解器本地别名，与 quat.ts 同构）。 */\nexport type SolverVec3 = readonly [number, number, number]\n\n/** A geometric entity (plane, axis, or point) referenced by a chain-solver constraint. */\nexport interface SolverEntity {\n type: 'plane' | 'axis' | 'point'\n origin: SolverVec3\n normal?: SolverVec3\n direction?: SolverVec3\n}\n\n/** A chain-solver constraint between two entities, with an optional scalar value. */\nexport interface SolverConstraint {\n type: 'coincident' | 'concentric' | 'distance' | 'angle' | 'fixed'\n entityA?: { node: string; entity: SolverEntity }\n entityB?: { node: string; entity: SolverEntity }\n value?: number\n}\n\n/** Result of the chain solver: per-node transforms, DOF count, and convergence. */\nexport interface SolverResult {\n transforms: Map<string, { position: SolverVec3; rotation: [number, number, number, number] }>\n dof: number\n converged: boolean\n /** Constraint types that were passed in but not solved (not yet implemented). */\n unsupported: string[]\n}\n"]}
1
+ {"version":3,"file":"types.js","sourceRoot":"","sources":["../../../../src/api/assembly/solvers/types.ts"],"names":[],"mappings":"AAAA;;;;;GAKG","sourcesContent":["/**\n * api/assembly/solvers/types — 纯 TS global 求解器的类型与契约（P1）\n *\n * 本模块是 pure-type / 轻量数据层，不依赖任何 brepjs 或运行时单例，\n * 供 solve.ts、global-solver.ts、compound.ts 共享。\n */\n\nimport type { AssemblyTransform } from '../../../runtime-state'\n\n/** 求解风格：'chain'（链式拓扑解析，默认）/ 'global'（CadQuery 兼容全局最小二乘）。 */\nexport type SolverStyle = 'chain' | 'global'\n\n/**\n * 求解选项（P1）：透传自 `cad.assembly({ solver })` / `AssemblyBehavior.solver`。\n * `name` 用于 B4 锚定（assembly.py:465 `name == self.name` 锁定）→ 从 behavior.name 注入。\n */\nexport interface SolveOptions {\n /** 默认 'chain'，向后零兼容。 */\n solver?: SolverStyle\n /** 装配名（B4 锚定用；cq-compat 的 buildAssembly 注入）。 */\n name?: string\n /**\n * P8：刚体分组（成员下标分组，如 [[0],[1,2],[3]]）。同组成员在求解变量系中\n * 共享一个 6 维状态块——子装配在 CQ 语义里是刚体（其成员相对位姿恒定），\n * 拆成独立自由成员会让未约束成员漂移（nested_assy 实测：b2 恒等漂离 ref）。\n */\n rigidGroups?: number[][]\n /**\n * P8 方案 A：成员初始位姿（下标 → 平移 + 四元数 [x,y,z,w]）。语义 = CQ sublocs：\n * 成员建模坐标是「装配前的本地系」，约束 marker 取自该本地系；求解器状态是\n * delta（初 loc 之上的增量），绝对位姿 = initialPose ∘ delta，penalty 拉 delta→0\n * 即倾向保持初 loc。solve-tree flatten 时把每叶的累积 parentPose 传入。\n */\n initialPoses?: { translation: [number, number, number]; rotation: [number, number, number, number] }[]\n}\n\n/**\n * global 求解器内部的本地系标记（local-frame marker）。\n *\n * 与 CQ solver.py 的 marker 同义：\n * - point：装配实体的局部坐标点；\n * - axis：轴上一点 + 单位方向（边/圆柱面法线）；\n * - plane：面中心 + 单位法向（face_mate / align / angle 用）。\n *\n * 所有坐标取自成员 Shape 的本地系（faijs Shape 不携带 placement → 本地系 == 建模系）。\n */\nexport type GlobalMarker =\n | { type: 'point'; p: [number, number, number] }\n | { type: 'axis'; origin: [number, number, number]; dir: [number, number, number] }\n | { type: 'plane'; center: [number, number, number]; normal: [number, number, number] }\n\n/** global 求解结果（与 `AssemblySolveResult` 对齐的字段集，但新增 residuals）。 */\nexport interface GlobalSolveResult {\n /** 每个被定位成员一条终态变换（pivot 恒 [0,0,0]；恒等位姿不输出）。 */\n transforms: AssemblyTransform[]\n /** 恒 0（数值求解不做 DOF 分析，保留字段避免 undefined）。 */\n dof: number\n /**\n * P7/D1-3/D1-4：欠定自由度诊断（仅 global 路径）。dof > 0 = 约束集欠定，终态位姿\n * 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。\n * freeDirs = 零空间自由方向（变量系：每成员 6 维块 [tx,ty,tz,rx,ry,rz]，\n * 欧氏范数 1；D1-4），供判等方直接构造 canonical 扫描的轴/枢轴。\n */\n underdetermined?: { dof: number; freeDirs?: number[][] }\n /** LM 终止即 true（无论残差大小；裁定 4.6）。 */\n converged: boolean\n /** 仅约束类型无法映射为代价时填充。 */\n unsupported: string[]\n /** 逐约束最终残差（诊断，满足「绝不静默」）。 */\n residuals: number[]\n /** 残差超阈值（>1e-6·scale）的约束逐条写入（折中可见）。 */\n warnings?: string[]\n}\n\n\n// ── §5.6.1：chain 求解器类型迁入（原 brepjs kernel/solverAdapter.ts，已内化为第一方代码） ──\n\n/** 3D vector（chain 求解器本地别名，与 quat.ts 同构）。 */\nexport type SolverVec3 = readonly [number, number, number]\n\n/** A geometric entity (plane, axis, or point) referenced by a chain-solver constraint. */\nexport interface SolverEntity {\n type: 'plane' | 'axis' | 'point'\n origin: SolverVec3\n normal?: SolverVec3\n direction?: SolverVec3\n}\n\n/** A chain-solver constraint between two entities, with an optional scalar value. */\nexport interface SolverConstraint {\n type: 'coincident' | 'concentric' | 'distance' | 'angle' | 'fixed'\n entityA?: { node: string; entity: SolverEntity }\n entityB?: { node: string; entity: SolverEntity }\n value?: number\n}\n\n/** Result of the chain solver: per-node transforms, DOF count, and convergence. */\nexport interface SolverResult {\n transforms: Map<string, { position: SolverVec3; rotation: [number, number, number, number] }>\n dof: number\n converged: boolean\n /** Constraint types that were passed in but not solved (not yet implemented). */\n unsupported: string[]\n}\n"]}
package/dist/api/chamfer.d.ts CHANGED
@@ -27,9 +27,10 @@ import type { BrepEngineApi } from '../brep/engine/primitives.js';
27
27
  import type { ResolutionContext } from '../topology/naming/index.js';
28
28
  /**
29
29
  * Validate chamfer parameters: `edges` must be a non-empty array of EdgeTopoRef,
30
- * each with kind key "edge" and a two-entry faces pair — or of 1-based ordinals
31
- * when `opts.allowOrdinals` (the mesh chain, which has no role layer to match
32
- * edges against).
30
+ * each with kind key "edge" and a two-entry faces pair — or of selector strings
31
+ * (`"|Z"` etc., precision chain) — or of 1-based ordinals when
32
+ * `opts.allowOrdinals` (the mesh chain, which has no role layer to match
33
+ * edges against). A top-level selector string is also accepted.
33
34
  * @param params the raw chamfer operation parameters.
34
35
  * @param opts the selector-form options (mesh chain allows ordinals).
35
36
  */
@@ -65,7 +66,7 @@ export declare function twoDistParams(kernel: BrepEngineApi, ctx: ResolutionCont
65
66
  * `width1` 沿 faces[0] 侧、`width2` 沿 faces[1] 侧（BREP 路径）。
66
67
  * @returns Shape 倒角后的几何。
67
68
  * @param input - 目标几何。type:Shape required:true
68
- * @param params.edges - 参与倒角的边（EdgeTopoRef[]，条目为相邻两面的 role 线路）。type:EdgeTopoRef[] required:true
69
+ * @param params.edges - 参与倒角的边：CadQuery 边选择器字符串（如 "|Z"，AI 生成）或相邻两面的 role 线路（EdgeTopoRef[]，UI 拾取产物）。type:EdgeTopoRef[]|string required:true
69
70
  * @param params.type - 倒角类型（equal | twoDistances | distanceAngle）。type:string required:true
70
71
  * @param params.width - type=equal: 倒角宽度（mm）。type:number 默认 1
71
72
  * @param params.width1 - type=twoDistances: 沿 faces[0] 侧距离（mm）。type:number
@@ -73,6 +74,8 @@ export declare function twoDistParams(kernel: BrepEngineApi, ctx: ResolutionCont
73
74
  * @param params.angle - type=distanceAngle: 与参考面夹角（度，(0,90)）。type:number
74
75
  * @example
75
76
  * const p = await cad.chamfer(part0, { edges: [{ kind:'edge', faces:[{ origin:'box', role:'box:top' }, { origin:'box', role:'box:front' }], hint:{ kind:'edge' } }], type:'equal', width:1 })
77
+ * // AI 生成可写 CadQuery 边选择器字符串
78
+ * const p2 = await cad.chamfer(part0, { edges: "|Z", type:'equal', width:1 })
76
79
  * const q = await cad.chamfer(meshPart, { edges: [3], type:'equal', width:1 })
77
80
  */
78
81
  export declare const chamfer: ((input: Shape, params: Record<string, unknown>) => Promise<Shape>) & {
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