@hatiolab/figure-model 0.7.3 → 0.9.0

package/dist/authoring-fastening.js.map

@@ -1 +1 @@
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package/dist/authoring-geometry.d.ts

@@ -1,7 +1,6 @@
 import { type FigureShapeFace } from './graph.ts';
 import { type Axis } from './words.ts';
-import type { FigurePlacement } from './asset-types.ts';
-import { type FigureFace, type FigureJoint, type FigureFaceAlignment } from './authoring-types.ts';
+import { type FigureJoint } from './authoring-types.ts';
 type Dynamic = any;
 /** The three size references of a box-shaped part, or a refusal naming what it is instead. */
 /** One extent of a part: a value in the graph, times a factor (a cylinder's width is its radius times two). */
@@ -52,67 +51,35 @@ export declare function facesOfPart(m: Dynamic, id: string, path: string): {
     faces: Readonly<Record<string, FigureShapeFace>>;
 };
 /**
- * The face a joint's child is measured by: its own, or for `centre` the face that would meet the parent's -- the part is
- * measured and turned as that face, and only where its middle sits differs (\`attach\`).
+ * The axis of the face a joint's child meets: its parent's face by the parent's shape, or the mounting plane's normal
+ * (+Z on a wall, +Y otherwise; ADR-0140 3.11). None for a joint placed at an origin.
  */
-export declare function childFaceOf(m: Dynamic, j: FigureJoint): FigureFace;
+export declare function receivingAxisOf(m: Dynamic, asset: Dynamic, j: FigureJoint): Axis | undefined;
 export declare const planeOf: (shape: Dynamic, face: FigureShapeFace) => Terms;
 /** The part's outer faces on each axis in its own frame; an axis without a pair of flat faces has none. */
 export declare function ownSpansOf(m: Dynamic, id: string, path: string): Partial<Record<Axis, Span>>;
-/**
- * The part's spans as it stands in its seat, after its own quarter turn (the turn is fixed as `standingRefsOf` fixes
- * it). A turn that flips an axis swaps its two faces: the part's own right face becomes the standing left.
- */
-export declare function standingSpansOf(m: Dynamic, asset: Dynamic, id: string, path: string): Partial<Record<Axis, Span>>;
 /**
  * Standing a part on the plane the figure is mounted on. The plane has no width and no depth, so there is
  * nothing to line the part's edges up with: across the plane, only the centre or a measured offset.
  */
-/** The faces a part is fastened to the mounting plane by, for a figure placed so (ADR-0093). */
-export declare function planeFacesOf(placement: FigurePlacement): FigureFace[];
 export declare const IDENTITY: number[][];
 export declare const isIdentity: (r: number[][]) => boolean;
 export declare const transpose3: (r: number[][]) => number[][];
 export declare const mv3: (r: number[][], v: number[]) => number[];
-export declare const FACE_VECTOR: Record<FigureFace, number[]>;
-export declare const faceAlong: (v: number[]) => "left" | "right" | "bottom" | "top" | "back" | "front";
-/**
- * How a part stands, as a signed axis permutation: its own quarter turn, which its joint record keeps (the pose may
- * carry the turn back given under a turned parent). A part with no joint stands as its pose turns it. Any turn but
- * quarter turns is refused and says the angle: nothing can be fastened level with its faces.
- */
-export declare function standingTurnOf(asset: Dynamic, part: string, path: string): number[][];
-/** How a part stands before its twist: its quarter turn only. */
-export declare function standingQuarterOf(asset: Dynamic, part: string, path: string): number[][];
-/** A quarter-turn matrix back as degrees about X, Y and Z in the order `rigid@1` turns. */
-export declare function eulerOf(r: number[][]): number[];
 /** The two axes across a face along `axis`, in the order a right-handed turn about it takes one into the other. */
 export declare const ACROSS: Record<Axis, [Axis, Axis]>;
-/** A turn of `deg` degrees about one axis. */
-export declare function axisTurn(axis: Axis, deg: number): number[][];
-/** A direction that must lie along an axis to name a face or an edge there; otherwise refused with the parent's twist. */
-export declare function axisOf(v: number[], what: string, parent: string, back: number[][], path: string): {
-    axis: Axis;
-    vector: number[];
-};
+/** Rz(z)·Ry(y)·Rx(x), degrees about the fixed axes (URDF's rpy), for column vectors. */
+export declare function rpyMatrix(rotate: Partial<Record<Axis, number>>): number[][];
 /**
- * A turn as a twist about one axis after a quarter turn: r = twist(axis, deg) · quarter, with the twist nearest
- * `asked`. A turn that is no such thing (a face not level with the axis) is refused.
+ * A turn back as URDF's rpy -- degrees about the fixed axes, Rz(z)·Ry(y)·Rx(x) -- to six places: the inverse of
+ * `rpyMatrix`. Where Y is a quarter turn, X and Z turn about one axis and Z is taken as 0.
  */
-export declare function splitTwist(r: number[][], axis: Axis, asked: number, path: string): {
-    quarter: number[][];
-    deg: number;
-};
+export declare function rpyOf(r: number[][]): Partial<Record<Axis, number>>;
+export declare const isQuarterMatrix: (r: number[][]) => boolean;
+/** A turn of `deg` degrees about one axis. */
+export declare function axisTurn(axis: Axis, deg: number): number[][];
 /** Any turn back as degrees about X, Y and Z in the order `rigid@1` turns (X, then Y, then Z). */
-export declare function eulerOfAny(r: number[][]): number[];
-/** Where a part sits across a face, said on the standing axes, turned onto the parent's own: an edge flips where an axis does. */
-export declare function alignInto(back: number[][], align: Partial<Record<Axis, FigureFaceAlignment>>, path: string): Partial<Record<Axis, FigureFaceAlignment>>;
-/**
- * How wide a frustum is across its own axis, where the row runs: the larger of its two diameters, as the bounds of two
- * candidates (\`affine-bounds@1\`) -- the room's own way to take the larger of sums, so the gate still reads it as a sum
- * (chief architect, 2026-09-26). Undefined for any other shape, or a row along the frustum's own axis.
- */
-export declare function frustumWidthAlong(m: Dynamic, asset: Dynamic, part: string, axis: Axis, path: string): string | undefined;
+export declare function eulerOfAny(r: number[][], exact?: boolean): number[];
 /** XYZ angles in degrees of a rotation written as rigid@1 writes it, Rx·Ry·Rz. */
 export declare function eulerXYZ(r: number[][]): [number, number, number];
 export {};

package/dist/authoring-geometry.d.ts.map

@@ -1 +1 @@
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package/dist/authoring-geometry.js

@@ -7,6 +7,7 @@
 import { figureShapeFaces } from "./graph.js";
 import { figureLoftLayoutOf, figureExtrudeLayoutOf, figureShapeDescriptionOf } from "./shape-ops.js";
 import { AXES } from "./words.js";
+import { figurePlacementOf } from "./asset.js";
 import { FIGURE_FACES, SIGN } from "./authoring-types.js";
 import { fail, nodeById, partOf, constantOf, ownInput, dropIfUnused, round6 } from "./authoring-nodes.js";
 export const isReach = (e) => !Array.isArray(e);
@@ -150,23 +151,16 @@ export function facesOfPart(m, id, path) {
     return { shape, faces: faces };
 }
 /**
- * The face a joint's child is measured by: its own, or for `centre` the face that would meet the parent's -- the part is
- * measured and turned as that face, and only where its middle sits differs (\`attach\`).
+ * The axis of the face a joint's child meets: its parent's face by the parent's shape, or the mounting plane's normal
+ * (+Z on a wall, +Y otherwise; ADR-0140 3.11). None for a joint placed at an origin.
  */
-export function childFaceOf(m, j) {
-    if (j.body1.face !== 'centre')
-        return j.body1.face;
-    const path = `joints.${j.id}.body1.face`;
-    if (!('part' in j.body0))
-        fail('JOINT_SCHEMA', path, 'a part stands on the mounting plane by a face of its own, not by its centre');
-    /* One of the six, in the record's words: the face across from it. An opening's face, read from the parent's shape. */
-    const named = j.body0.face;
-    if (Object.hasOwn(FIGURE_FACES, named))
-        return Object.keys(FIGURE_FACES).find(f => FIGURE_FACES[f] === FIGURE_FACES[named] && SIGN[f] === -SIGN[named]);
-    const theirs = facesOfPart(m, j.body0.part, path).faces[j.body0.face];
-    if (!theirs)
-        fail('JOINT_SCHEMA', path, `${j.body0.part} has no face ${j.body0.face}`);
-    return Object.keys(FIGURE_FACES).find(f => FIGURE_FACES[f] === theirs.axis && SIGN[f] === -theirs.normal);
+export function receivingAxisOf(m, asset, j) {
+    if ('plane' in j.body0)
+        return figurePlacementOf(asset) === 'wall' ? 'z' : 'y';
+    if (!('face' in j.body0))
+        return undefined;
+    const shape = m.nodes.find((n) => n.id === `${j.body0.part}.shape`);
+    return figureShapeFaces(shape, m)?.[j.body0.face]?.axis ?? undefined;
 }
 export const planeOf = (shape, face) => face.plane.map(p => ({ ref: shape.args[p.arg], k: p.k }));
 /** The part's outer faces on each axis in its own frame; an axis without a pair of flat faces has none. */
@@ -190,31 +184,10 @@ export function ownSpansOf(m, id, path) {
     }
     return spans;
 }
-/**
- * The part's spans as it stands in its seat, after its own quarter turn (the turn is fixed as `standingRefsOf` fixes
- * it). A turn that flips an axis swaps its two faces: the part's own right face becomes the standing left.
- */
-export function standingSpansOf(m, asset, id, path) {
-    const own = ownSpansOf(m, id, path);
-    const r = quarterTurnOf(m, asset, id, path, true);
-    const standing = {};
-    AXES.forEach((axis, i) => {
-        const j = r[i].findIndex(v => v !== 0);
-        const span = own[AXES[j]];
-        if (!span)
-            return;
-        standing[axis] = r[i][j] > 0 ? span : { lo: neg(span.hi), hi: neg(span.lo), centred: span.centred };
-    });
-    return standing;
-}
 /**
  * Standing a part on the plane the figure is mounted on. The plane has no width and no depth, so there is
  * nothing to line the part's edges up with: across the plane, only the centre or a measured offset.
  */
-/** The faces a part is fastened to the mounting plane by, for a figure placed so (ADR-0093). */
-export function planeFacesOf(placement) {
-    return placement === 'wall' ? ['back'] : ['bottom', 'top'];
-}
 export const IDENTITY = [
     [1, 0, 0],
     [0, 1, 0],
@@ -223,59 +196,28 @@ export const IDENTITY = [
 export const isIdentity = (r) => r.every((row, i) => row.every((v, k) => Math.abs(v - (i === k ? 1 : 0)) < 1e-12));
 export const transpose3 = (r) => r[0].map((_, i) => r.map(row => row[i]));
 export const mv3 = (r, v) => r.map(row => row.reduce((sum, x, k) => sum + x * v[k], 0));
-export const FACE_VECTOR = {
-    left: [-1, 0, 0],
-    right: [1, 0, 0],
-    bottom: [0, -1, 0],
-    top: [0, 1, 0],
-    back: [0, 0, -1],
-    front: [0, 0, 1]
-};
-export const faceAlong = (v) => Object.keys(FACE_VECTOR).find(f => FACE_VECTOR[f].every((x, i) => x === v[i]));
+/** The two axes across a face along `axis`, in the order a right-handed turn about it takes one into the other. */
+export const ACROSS = { x: ['y', 'z'], y: ['z', 'x'], z: ['x', 'y'] };
+/** Rz(z)·Ry(y)·Rx(x), degrees about the fixed axes (URDF's rpy), for column vectors. */
+export function rpyMatrix(rotate) {
+    return mul3(mul3(axisTurn('z', rotate.z ?? 0), axisTurn('y', rotate.y ?? 0)), axisTurn('x', rotate.x ?? 0));
+}
 /**
- * How a part stands, as a signed axis permutation: its own quarter turn, which its joint record keeps (the pose may
- * carry the turn back given under a turned parent). A part with no joint stands as its pose turns it. Any turn but
- * quarter turns is refused and says the angle: nothing can be fastened level with its faces.
+ * A turn back as URDF's rpy -- degrees about the fixed axes, Rz(z)·Ry(y)·Rx(x) -- to six places: the inverse of
+ * `rpyMatrix`. Where Y is a quarter turn, X and Z turn about one axis and Z is taken as 0.
  */
-export function standingTurnOf(asset, part, path) {
-    const record = (asset.joints ?? []).find(o => o.body1.part === part);
-    const turn = record ? AXES.map(a => record.origin?.turn?.[a] ?? 0) : turnOf(asset.document.model, asset, part, path);
-    if (turn.some(t => t === null || !Number.isFinite(t) || Math.abs(t / 90 - Math.round(t / 90)) > 1e-9))
-        fail('EDIT_TARGET', path, `${part} is turned (${saidTurn(turn)}); fastening to a turned part by its faces is covered only for quarter turns`);
-    const quarter = turn.every(t => t === 0) ? IDENTITY : turnMatrix(turn);
-    /* A twisted part stands twisted about the normal of the face it is fastened by. */
-    return record?.origin?.twist
-        ? mul3(axisTurn(FIGURE_FACES[childFaceOf(asset.document.model, record)], record.origin.twist), quarter)
-        : quarter;
-}
-/** How a part stands before its twist: its quarter turn only. */
-export function standingQuarterOf(asset, part, path) {
-    const record = (asset.joints ?? []).find(o => o.body1.part === part);
-    if (!record?.origin?.twist)
-        return standingTurnOf(asset, part, path);
-    const turn = AXES.map(a => record.origin?.turn?.[a] ?? 0);
-    return turn.every(t => t === 0) ? IDENTITY : turnMatrix(turn);
-}
-/** A quarter-turn matrix back as degrees about X, Y and Z in the order `rigid@1` turns. */
-export function eulerOf(r) {
+export function rpyOf(r) {
     const deg = (a) => {
-        const d = Math.round((a * 180) / Math.PI / 90) * 90;
+        const d = round6((a * 180) / Math.PI);
         return d === 0 ? 0 : d;
     };
-    /*
-      About Y by a quarter turn, X and Z turn about the same axis and only their sum counts; Z is taken as 0. At +90 the X
-      turn reads off as atan2(r10, r11), at -90 as atan2(-r10, r11) -- the -90 case had used the +90 reading, so two of the 24
-      quarter turns (Y at -90 with X at +-90) did not come back and a host turned that way refused every fastening.
-    */
-    const out = Math.abs(r[0][2]) < 1
-        ? [deg(Math.atan2(-r[1][2], r[2][2])), deg(Math.asin(r[0][2])), deg(Math.atan2(-r[0][1], r[0][0]))]
-        : [deg(Math.atan2(Math.sign(r[0][2]) * r[1][0], r[1][1])), deg(Math.asin(r[0][2])), 0];
-    if (!turnMatrix(out).every((row, i) => row.every((v, k) => v === r[i][k])))
-        fail('EDIT_TARGET', 'turn', `${JSON.stringify(r)} is not a quarter turn; a fastening is covered only for quarter turns`);
-    return out;
+    const sy = Math.max(-1, Math.min(1, -r[2][0]));
+    const out = Math.abs(sy) < 1 - 1e-12
+        ? { x: deg(Math.atan2(r[2][1], r[2][2])), y: deg(Math.asin(sy)), z: deg(Math.atan2(r[1][0], r[0][0])) }
+        : { x: deg(Math.atan2(-r[1][2], r[1][1])), y: deg(Math.asin(sy)), z: 0 };
+    return Object.fromEntries(Object.entries(out).filter(([, v]) => v !== 0));
 }
-/** The two axes across a face along `axis`, in the order a right-handed turn about it takes one into the other. */
-export const ACROSS = { x: ['y', 'z'], y: ['z', 'x'], z: ['x', 'y'] };
+export const isQuarterMatrix = (r) => r.every(row => row.every(v => Math.abs(v) < 1e-9 || Math.abs(Math.abs(v) - 1) < 1e-9));
 /** A turn of `deg` degrees about one axis. */
 export function axisTurn(axis, deg) {
     const c = Math.cos((deg * Math.PI) / 180), s = Math.sin((deg * Math.PI) / 180);
@@ -291,39 +233,6 @@ export function axisTurn(axis, deg) {
     r[q][q] = c;
     return r;
 }
-/** A direction that must lie along an axis to name a face or an edge there; otherwise refused with the parent's twist. */
-export function axisOf(v, what, parent, back, path) {
-    const k = v.findIndex(x => Math.abs(Math.abs(x) - 1) < 1e-9);
-    if (k < 0)
-        fail('ATTACH_FACE', path, `${parent} stands twisted (${saidTurn(eulerOfAny(transpose3(back)))}); ${what} is not level with an axis in it`);
-    return { axis: AXES[k], vector: v.map(x => (Math.abs(x) < 1e-9 ? 0 : Math.sign(x))) };
-}
-/**
- * A turn as a twist about one axis after a quarter turn: r = twist(axis, deg) · quarter, with the twist nearest
- * `asked`. A turn that is no such thing (a face not level with the axis) is refused.
- */
-export function splitTwist(r, axis, asked, path) {
-    const k = AXES.indexOf(axis);
-    const [p, q] = ACROSS[axis].map(a => AXES.indexOf(a));
-    let best;
-    for (const quarter of QUARTER_TURNS) {
-        const t = mul3(r, transpose3(quarter));
-        if (Math.abs(t[k][k] - 1) > 1e-9)
-            continue;
-        const d = (Math.atan2(t[q][p], t[p][p]) * 180) / Math.PI;
-        const off = Math.abs(((((d - asked) % 360) + 540) % 360) - 180);
-        if (!best || off < best.off - 1e-9)
-            best = { quarter, deg: Math.abs(d) < 1e-9 ? 0 : d, off };
-    }
-    if (!best)
-        fail('ATTACH_FACE', path, `the part would stand turned about more than the face's normal (${saidTurn(eulerOfAny(r))})`);
-    /*
-      The angle as asked when that is what the turn is: taken back out of a matrix it carries float noise that depends
-      on the path it was computed by, and the numbers made from it are named by their value -- the first write and the
-      parse's rewrite then named them apart (JOINT_DRIFT, the architect's fan, 2026-09-25).
-    */
-    return { quarter: best.quarter, deg: best.off < 1e-6 ? asked : round6(best.deg) };
-}
 const QUARTER_TURNS = (() => {
     const out = [];
     for (const x of [0, 90, 180, 270])
@@ -336,9 +245,9 @@ const QUARTER_TURNS = (() => {
     return out;
 })();
 /** Any turn back as degrees about X, Y and Z in the order `rigid@1` turns (X, then Y, then Z). */
-export function eulerOfAny(r) {
+export function eulerOfAny(r, exact = false) {
     const deg = (a) => {
-        const d = round6((a * 180) / Math.PI);
+        const d = exact ? Math.round(((a * 180) / Math.PI) * 1e12) / 1e12 : round6((a * 180) / Math.PI);
         return d === 0 ? 0 : d;
     };
     const sy = Math.max(-1, Math.min(1, r[0][2]));
@@ -346,67 +255,6 @@ export function eulerOfAny(r) {
         return [deg(Math.atan2(-r[1][2], r[2][2])), deg(Math.asin(sy)), deg(Math.atan2(-r[0][1], r[0][0]))];
     return [deg(Math.atan2(r[1][0], r[1][1])), deg(Math.asin(sy)), 0];
 }
-/** Where a part sits across a face, said on the standing axes, turned onto the parent's own: an edge flips where an axis does. */
-export function alignInto(back, align, path) {
-    const out = {};
-    for (const [a, how] of Object.entries(align)) {
-        const v = mv3(back, AXES.map(x => (x === a ? 1 : 0)));
-        const k = v.findIndex(x => Math.abs(Math.abs(x) - 1) < 1e-9);
-        if (k < 0)
-            fail('ATTACH_FACE', path, `the parent stands twisted; placing along ${a} is not level with an axis in it -- place it by the centre`);
-        const s = Math.sign(v[k]);
-        const to = AXES[k];
-        if (how === 'centre' || s > 0)
-            out[to] = how;
-        else if (how === 'min' || how === 'max')
-            out[to] = how === 'min' ? 'max' : 'min';
-        else if (typeof how.mm === 'number')
-            out[to] = { mm: -how.mm };
-        else
-            fail('SCHEMA', path, `an offset that follows another value cannot be turned over onto ${to}; give it as a number`);
-    }
-    return out;
-}
-/**
- * How wide a frustum is across its own axis, where the row runs: the larger of its two diameters, as the bounds of two
- * candidates (\`affine-bounds@1\`) -- the room's own way to take the larger of sums, so the gate still reads it as a sum
- * (chief architect, 2026-09-26). Undefined for any other shape, or a row along the frustum's own axis.
- */
-export function frustumWidthAlong(m, asset, part, axis, path) {
-    const { shape } = partOf(m, part, path);
-    /* A taper's two radii, end then start -- read from the node, not assumed. */
-    const taper = shape.op === 'revolve@1' && shape.params?.profile === 'taper'
-        ? { along: shape.params.axis, radii: [shape.args[3], shape.args[2]] }
-        : undefined;
-    if (!taper)
-        return undefined;
-    const r = quarterTurnOf(m, asset, part, path, true);
-    const own = AXES[r[AXES.indexOf(axis)].findIndex(v => v !== 0)];
-    if (own === taper.along)
-        return undefined;
-    const id = `${part}.width.${own}`;
-    if (!nodeById(m, id)) {
-        const zero = constantOf(m, 'mm', 0, 'd');
-        const two = constantOf(m, 'ratio', 2, 'k');
-        const [top, bottom] = taper.radii;
-        /* xmin, xmax, ymin, ymax, zmin, zmax: only the one maximum is read; the others hold a zero each. */
-        m.nodes.push({
-            id,
-            op: 'affine-bounds@1',
-            args: [zero, zero, top, two, zero, bottom, two, zero, zero, zero, zero],
-            outputs: {
-                xmin: `${id}.unused.xmin`,
-                xmax: `${id}.value`,
-                ymin: `${id}.unused.ymin`,
-                ymax: `${id}.unused.ymax`,
-                zmin: `${id}.unused.zmin`,
-                zmax: `${id}.unused.zmax`
-            },
-            params: { layout: 'L0.1_1.0.0.0.0' }
-        });
-    }
-    return `${id}.value`;
-}
 /** XYZ angles in degrees of a rotation written as rigid@1 writes it, Rx·Ry·Rz. */
 export function eulerXYZ(r) {
     const deg = (v) => round6((v * 180) / Math.PI) + 0;