@holoscript/core 8.0.8 → 8.0.9

package/dist/{chunk-C7ZBSV2Q.js → chunk-DUG3OQAS.js}

@@ -1,7 +1,7 @@
-import { init_traitDocs, getTraitDoc, formatTraitDocCompact } from './chunk-THCK6ECW.js';
-import { init_AgentRiskRegistry, getAgentRiskRegistry, TIER_COMPOSITION_RISK_CAP, isDangerousOperation } from './chunk-2Y3V22SG.js';
-import { init_safeJsonParse, safeJsonParse, readJson } from './chunk-VVKVQZI6.js';
-import { __esm } from './chunk-OL46QLBJ.js';
+import { init_traitDocs, getTraitDoc, formatTraitDocCompact } from './chunk-B3CWTCK2.js';
+import { init_AgentRiskRegistry, getAgentRiskRegistry, TIER_COMPOSITION_RISK_CAP, isDangerousOperation } from './chunk-5CURIYGT.js';
+import { init_safeJsonParse, safeJsonParse, readJson } from './chunk-RAN3ECAS.js';
+import { __esm } from './chunk-W4GABFCR.js';
 import * as crypto3 from 'crypto';
 import { createHash } from 'crypto';
 import { promisify } from 'util';
@@ -3878,7 +3878,9 @@ var init_ANSNamespace = __esm({
       AI: "ai",
       NEUROMORPHIC: "neuromorphic",
       META: "meta",
-      MIXIN: "mixin"
+      MIXIN: "mixin",
+      EDGE: "edge",
+      WEB2D: "web2d"
     };
     ANSRiskTier = {
       STANDARD: "STANDARD",
@@ -3900,7 +3902,9 @@ var init_ANSNamespace = __esm({
       [ANSDomain.AI]: ANSRiskTier.HIGH,
       [ANSDomain.NEUROMORPHIC]: ANSRiskTier.HIGH,
       [ANSDomain.META]: ANSRiskTier.STANDARD,
-      [ANSDomain.MIXIN]: ANSRiskTier.STANDARD
+      [ANSDomain.MIXIN]: ANSRiskTier.STANDARD,
+      [ANSDomain.EDGE]: ANSRiskTier.HIGH,
+      [ANSDomain.WEB2D]: ANSRiskTier.STANDARD
     });
     ANSCapabilityPath = {
       // ── gamedev ──────────────────────────────────────────────────────────
@@ -3914,23 +3918,21 @@ var init_ANSNamespace = __esm({
       OPENXR: "/compile/xr/openxr",
       OPENXR_SPATIAL_ENTITIES: "/compile/xr/openxr-spatial-entities",
       VISIONOS: "/compile/xr/visionos",
-      AR: "/compile/xr/ar",
+      // AR: retired as apex-poison 2026-06-17
       ANDROID_XR: "/compile/xr/android-xr",
+      QUEST: "/compile/xr/quest",
       AI_GLASSES: "/compile/xr/ai-glasses",
       QUILT: "/compile/xr/quilt",
       MV_HEVC: "/compile/xr/mv-hevc",
       // ── mobile ───────────────────────────────────────────────────────────
       ANDROID: "/compile/mobile/android",
       IOS: "/compile/mobile/ios",
-      // ── web3d ────────────────────────────────────────────────────────────
-      BABYLON: "/compile/web3d/babylon",
+      // ── web3d (babylon, r3f, playcanvas, threejs retired as apex-poison 2026-06-17) ──
       WEBGPU: "/compile/web3d/webgpu",
-      R3F: "/compile/web3d/r3f",
-      PLAYCANVAS: "/compile/web3d/playcanvas",
-      THREEJS: "/compile/web3d/threejs",
       // ── runtime ──────────────────────────────────────────────────────────
       WASM: "/compile/runtime/wasm",
       NODE_SERVICE: "/compile/runtime/node-service",
+      SDK: "/compile/runtime/sdk",
       NEXTJS_API: "/compile/runtime/nextjs-api",
       // ── shader ───────────────────────────────────────────────────────────
       TSL: "/compile/shader/tsl",
@@ -3945,11 +3947,14 @@ var init_ANSNamespace = __esm({
       DTDL: "/compile/iot/dtdl",
       // ── web3 ─────────────────────────────────────────────────────────────
       NFT_MARKETPLACE: "/compile/web3/nft-marketplace",
-      // ── ai ───────────────────────────────────────────────────────────────
+      // ── ai (vrr retired as apex-poison 2026-06-17) ───────────────────────
       SCM: "/compile/ai/scm",
-      VRR: "/compile/ai/vrr",
       A2A_AGENT_CARD: "/compile/ai/a2a-agent-card",
       AGENT_INFERENCE: "/compile/ai/agent-inference",
+      OMNIGENT_AGENT_YAML: "/compile/ai/omnigent-agent-yaml",
+      DAIMON_SEED: "/compile/ai/daimon-seed",
+      MCP_CONFIG: "/compile/ai/mcp-config",
+      MCP_SERVER: "/compile/ai/mcp-server",
       // ── neuromorphic ─────────────────────────────────────────────────────
       NIR: "/compile/neuromorphic/nir",
       // ── meta ─────────────────────────────────────────────────────────────
@@ -3959,8 +3964,12 @@ var init_ANSNamespace = __esm({
       TRAIT_COMPOSITION: "/compile/meta/trait-composition",
       // ── mixin ────────────────────────────────────────────────────────────
       DOMAIN_BLOCK: "/compile/mixin/domain-block",
-      // ── studio ───────────────────────────────────────────────────────────
-      CODE_EDITOR: "/compile/studio/code-editor"
+      // ── studio (meta domain) ─────────────────────────────────────────────
+      CODE_EDITOR: "/compile/meta/code-editor",
+      // ── web2d ────────────────────────────────────────────────────────────
+      SVG: "/compile/web2d/svg",
+      // ── edge ─────────────────────────────────────────────────────────────
+      EDGE: "/compile/edge/edge"
     };
     COMPILER_DOMAIN_MAP = {
       // gamedev
@@ -3970,27 +3979,24 @@ var init_ANSNamespace = __esm({
       "canvas2d-game": ANSDomain.GAMEDEV,
       // social-vr
       vrchat: ANSDomain.SOCIAL_VR,
-      // xr
+      // xr (ar retired as apex-poison 2026-06-17)
       openxr: ANSDomain.XR,
       "openxr-spatial-entities": ANSDomain.XR,
       visionos: ANSDomain.XR,
-      ar: ANSDomain.XR,
       "android-xr": ANSDomain.XR,
+      quest: ANSDomain.XR,
       "ai-glasses": ANSDomain.XR,
       quilt: ANSDomain.XR,
       "mv-hevc": ANSDomain.XR,
       // mobile
       android: ANSDomain.MOBILE,
       ios: ANSDomain.MOBILE,
-      // web3d
-      babylon: ANSDomain.WEB3D,
+      // web3d (babylon, r3f, playcanvas, threejs retired as apex-poison 2026-06-17)
       webgpu: ANSDomain.WEB3D,
-      r3f: ANSDomain.WEB3D,
-      playcanvas: ANSDomain.WEB3D,
-      threejs: ANSDomain.WEB3D,
       // runtime
       wasm: ANSDomain.RUNTIME,
       "node-service": ANSDomain.RUNTIME,
+      sdk: ANSDomain.RUNTIME,
       "nextjs-api": ANSDomain.RUNTIME,
       // shader
       tsl: ANSDomain.SHADER,
@@ -4005,11 +4011,14 @@ var init_ANSNamespace = __esm({
       dtdl: ANSDomain.IOT,
       // web3
       "nft-marketplace": ANSDomain.WEB3,
-      // ai
+      // ai (vrr retired as apex-poison 2026-06-17)
       scm: ANSDomain.AI,
-      vrr: ANSDomain.AI,
       "a2a-agent-card": ANSDomain.AI,
       "agent-inference": ANSDomain.AI,
+      "omnigent-agent-yaml": ANSDomain.AI,
+      "daimon-seed": ANSDomain.AI,
+      "mcp-config": ANSDomain.AI,
+      "mcp-server": ANSDomain.AI,
       // neuromorphic
       nir: ANSDomain.NEUROMORPHIC,
       // meta
@@ -4020,7 +4029,11 @@ var init_ANSNamespace = __esm({
       // mixin
       "domain-block": ANSDomain.MIXIN,
       // studio
-      "code-editor": ANSDomain.META
+      "code-editor": ANSDomain.META,
+      // web2d — sovereign 2D vector output; no third-party engine required
+      svg: ANSDomain.WEB2D,
+      // edge — Ollama-capable edge device deployment bundle
+      edge: ANSDomain.EDGE
     };
     COMPILER_ANS_MAP = {
       unity: ANSCapabilityPath.UNITY,
@@ -4031,20 +4044,19 @@ var init_ANSNamespace = __esm({
       openxr: ANSCapabilityPath.OPENXR,
       "openxr-spatial-entities": ANSCapabilityPath.OPENXR_SPATIAL_ENTITIES,
       visionos: ANSCapabilityPath.VISIONOS,
-      ar: ANSCapabilityPath.AR,
+      // ar: retired as apex-poison 2026-06-17
       "android-xr": ANSCapabilityPath.ANDROID_XR,
+      quest: ANSCapabilityPath.QUEST,
       "ai-glasses": ANSCapabilityPath.AI_GLASSES,
       quilt: ANSCapabilityPath.QUILT,
       "mv-hevc": ANSCapabilityPath.MV_HEVC,
       android: ANSCapabilityPath.ANDROID,
       ios: ANSCapabilityPath.IOS,
-      babylon: ANSCapabilityPath.BABYLON,
+      // babylon, r3f, playcanvas, threejs: retired as apex-poison 2026-06-17
       webgpu: ANSCapabilityPath.WEBGPU,
-      r3f: ANSCapabilityPath.R3F,
-      playcanvas: ANSCapabilityPath.PLAYCANVAS,
-      threejs: ANSCapabilityPath.THREEJS,
       wasm: ANSCapabilityPath.WASM,
       "node-service": ANSCapabilityPath.NODE_SERVICE,
+      sdk: ANSCapabilityPath.SDK,
       "nextjs-api": ANSCapabilityPath.NEXTJS_API,
       tsl: ANSCapabilityPath.TSL,
       urdf: ANSCapabilityPath.URDF,
@@ -4055,16 +4067,22 @@ var init_ANSNamespace = __esm({
       dtdl: ANSCapabilityPath.DTDL,
       "nft-marketplace": ANSCapabilityPath.NFT_MARKETPLACE,
       scm: ANSCapabilityPath.SCM,
-      vrr: ANSCapabilityPath.VRR,
+      // vrr: retired as apex-poison 2026-06-17
       "a2a-agent-card": ANSCapabilityPath.A2A_AGENT_CARD,
       "agent-inference": ANSCapabilityPath.AGENT_INFERENCE,
+      "omnigent-agent-yaml": ANSCapabilityPath.OMNIGENT_AGENT_YAML,
+      "daimon-seed": ANSCapabilityPath.DAIMON_SEED,
+      "mcp-config": ANSCapabilityPath.MCP_CONFIG,
+      "mcp-server": ANSCapabilityPath.MCP_SERVER,
       nir: ANSCapabilityPath.NIR,
       "multi-layer": ANSCapabilityPath.MULTI_LAYER,
       incremental: ANSCapabilityPath.INCREMENTAL,
       state: ANSCapabilityPath.STATE,
       "trait-composition": ANSCapabilityPath.TRAIT_COMPOSITION,
       "domain-block": ANSCapabilityPath.DOMAIN_BLOCK,
-      "code-editor": ANSCapabilityPath.CODE_EDITOR
+      "code-editor": ANSCapabilityPath.CODE_EDITOR,
+      svg: ANSCapabilityPath.SVG,
+      edge: ANSCapabilityPath.EDGE
     };
     ALL_COMPILER_NAMES = Object.keys(
       COMPILER_DOMAIN_MAP
@@ -5476,16 +5494,13 @@ var init_CompilerBase = __esm({
       OpenXRCompiler: "openxr",
       OpenXRSpatialEntitiesCompiler: "openxr-spatial-entities",
       VisionOSCompiler: "visionos",
-      ARCompiler: "ar",
       AndroidXRCompiler: "android-xr",
+      QuestCompiler: "quest",
       AIGlassesCompiler: "ai-glasses",
       AndroidCompiler: "android",
       IOSCompiler: "ios",
-      BabylonCompiler: "babylon",
+      // ARCompiler, BabylonCompiler, PlayCanvasCompiler, ThreeJSCompiler, R3FCompiler — retired (apex-poison, 2026-06-17)
       WebGPUCompiler: "webgpu",
-      R3FCompiler: "r3f",
-      PlayCanvasCompiler: "playcanvas",
-      ThreeJSCompiler: "threejs",
       WASMCompiler: "wasm",
       TSLCompiler: "tsl",
       URDFCompiler: "urdf",
@@ -5496,7 +5511,7 @@ var init_CompilerBase = __esm({
       DTDLCompiler: "dtdl",
       NFTMarketplaceCompiler: "nft-marketplace",
       SCMCompiler: "scm",
-      VRRCompiler: "vrr",
+      // VRRCompiler — retired (apex-poison, 2026-06-17)
       A2AAgentCardCompiler: "a2a-agent-card",
       MultiLayerCompiler: "multi-layer",
       IncrementalCompiler: "incremental",
@@ -5508,10 +5523,15 @@ var init_CompilerBase = __esm({
       QuiltCompiler: "quilt",
       MVHEVCCompiler: "mv-hevc",
       NodeServiceCompiler: "node-service",
+      SDKCompiler: "sdk",
       NextJSAPICompiler: "nextjs-api",
-      MCPConfigCompiler: "domain-block",
+      MCPConfigCompiler: "mcp-config",
+      HoloMCPCompiler: "mcp-server",
       AgentInferenceCompiler: "agent-inference",
-      CodeEditorCompiler: "code-editor"
+      OmnigentAgentYamlCompiler: "omnigent-agent-yaml",
+      DaimonSeedCompiler: "daimon-seed",
+      CodeEditorCompiler: "code-editor",
+      SVGCompiler: "svg"
     };
     UnauthorizedCompilerAccessError = class extends Error {
       constructor(decision, operation, compilerName) {
@@ -5555,6 +5575,49 @@ Required Permission: ${decision.requiredPermission || "unknown"}`
       escapeStringValue(value, target) {
         return escapeStringValue(value, target);
       }
+      /**
+       * Compile to a path-keyed file map: relative output path → file contents.
+       *
+       * This is the standardized "emits buildable source" contract every target
+       * shares — the byte-diff golden gates and the build-verify runner both consume
+       * a `Record<string, string>`, so any target that implements this can be
+       * gate-enforced and build-verified without bespoke per-target plumbing.
+       *
+       * The default handles two shapes: a single `string` (wrapped under
+       * `defaultOutputFileName()`) and a string-valued object map (passed through).
+       * A `compile()` result with no string output (binary/typed objects, e.g.
+       * GLTFExportResult) THROWS rather than emit `"[object Object]"` garbage — those
+       * targets must override. Multi-file targets (Android, AndroidXR) already override
+       * to emit a full project layout. Auth is delegated to `compile()`, which each
+       * subclass already gates; this method does not re-validate.
+       *
+       * @param composition - HoloScript AST
+       * @param agentToken - JWT token proving agent identity (default '' bypasses RBAC)
+       * @returns Map of relative output path → file contents
+       */
+      compileToFiles(composition, agentToken = "") {
+        const result = this.compile(composition, agentToken);
+        if (typeof result === "string") {
+          return { [this.defaultOutputFileName()]: result };
+        }
+        if (result && typeof result === "object") {
+          const out = {};
+          for (const [k, v] of Object.entries(result)) {
+            if (typeof v === "string") out[k] = v;
+          }
+          if (Object.keys(out).length > 0) return out;
+        }
+        throw new Error(
+          `${this.constructor.name}.compileToFiles(): compile() produced no string output (binary/object result); this target must override compileToFiles() to emit a path-keyed source map.`
+        );
+      }
+      /**
+       * Default single-file output name for the wrapping `compileToFiles()` default.
+       * Override to name a single-file target's emit (e.g. `index.ts`, `Main.kt`).
+       */
+      defaultOutputFileName() {
+        return "output.txt";
+      }
       // =========================================================================
       // P3 Migration Bridge: Dual-mode token support
       // =========================================================================
@@ -5965,5 +6028,5 @@ Required Permission: ${decision.requiredPermission || "unknown"}`
 });
 
 export { ANSCapabilityPath, BUILTIN_NORMS, BUILTIN_NORM_PROVENANCE, CompilerBase, CompilerDocumentationGenerator, UNKNOWN_NORM_PROVENANCE, UnauthorizedCompilerAccessError, createTestCompilerToken, criticalMassForChange, deserializeNormProvenance, escapeStringValue, getBuiltinNorm, getRBAC, init_ANSNamespace, init_AgentRBAC, init_CompilerBase, init_CompilerDocumentationGenerator, init_CultureTraits, isCapabilityTokenCredential, normalizeNormProvenance, normsByCategory, serializeNormProvenance };
-//# sourceMappingURL=chunk-C7ZBSV2Q.js.map
-//# sourceMappingURL=chunk-C7ZBSV2Q.js.map
+//# sourceMappingURL=chunk-DUG3OQAS.js.map
+//# sourceMappingURL=chunk-DUG3OQAS.js.map

package/dist/chunk-ECUYJOJ2.cjs

@@ -0,0 +1,199 @@
+'use strict';
+
+// src/plugin-solver-contract/PluginSolverContract.ts
+var PluginSolverContractRegistry = class {
+  constructor() {
+    this.contracts = /* @__PURE__ */ new Map();
+    this.evaluators = /* @__PURE__ */ new Map();
+  }
+  /**
+   * Register a solver contract declaration.
+   *
+   * @throws If a contract with the same `id` is already registered by a
+   *         different plugin.
+   */
+  registerContract(contract) {
+    const existing = this.contracts.get(contract.id);
+    if (existing) {
+      if (existing.pluginId === contract.pluginId) return;
+      throw new Error(
+        `[PluginSolverContractRegistry] Contract "${contract.id}" already registered by plugin "${existing.pluginId}". Cannot re-register from "${contract.pluginId}".`
+      );
+    }
+    this.contracts.set(contract.id, contract);
+  }
+  /**
+   * Register a clause evaluator function for a specific clause within a contract.
+   *
+   * @param contractId  The contract's `id`.
+   * @param clauseId    The clause's `id` within that contract.
+   * @param evaluator   Returns true when the clause holds.
+   */
+  registerEvaluator(contractId, clauseId, evaluator) {
+    if (!this.evaluators.has(contractId)) {
+      this.evaluators.set(contractId, /* @__PURE__ */ new Map());
+    }
+    this.evaluators.get(contractId).set(clauseId, evaluator);
+  }
+  /** Look up a registered contract by id. Returns undefined if not found. */
+  getContract(id) {
+    return this.contracts.get(id);
+  }
+  /** Look up a clause evaluator. Returns undefined if not registered. */
+  getEvaluator(contractId, clauseId) {
+    return this.evaluators.get(contractId)?.get(clauseId);
+  }
+  /** All registered contracts (for introspection). */
+  allContracts() {
+    return [...this.contracts.values()];
+  }
+  /** Count of registered contracts. */
+  get size() {
+    return this.contracts.size;
+  }
+};
+var SolverReceiptSchemaRegistry = class {
+  constructor() {
+    this.schemas = /* @__PURE__ */ new Map();
+  }
+  /**
+   * Register a receipt schema.
+   *
+   * @throws If a schema with the same `id` is registered by a different plugin.
+   */
+  registerSchema(entry) {
+    const existing = this.schemas.get(entry.id);
+    if (existing) {
+      if (existing.pluginId === entry.pluginId) return;
+      throw new Error(
+        `[SolverReceiptSchemaRegistry] Schema "${entry.id}" already registered by "${existing.pluginId}". Cannot re-register from "${entry.pluginId}".`
+      );
+    }
+    this.schemas.set(entry.id, entry);
+  }
+  /** Look up a schema by id. Returns undefined → caller labels receipt freeform. */
+  getSchema(id) {
+    return this.schemas.get(id);
+  }
+  /**
+   * Validate `result` against the schema registered under `schemaId`.
+   * Returns `null` if no schema is registered (freeform).
+   */
+  validate(schemaId, result) {
+    const schema = this.schemas.get(schemaId);
+    if (!schema) return null;
+    return schema.validate(result);
+  }
+  /** All registered schemas (for introspection). */
+  allSchemas() {
+    return [...this.schemas.values()];
+  }
+  /** Count of registered schemas. */
+  get size() {
+    return this.schemas.size;
+  }
+};
+var globalContractRegistry = new PluginSolverContractRegistry();
+var globalSchemaRegistry = new SolverReceiptSchemaRegistry();
+function registerPluginContract(contract) {
+  globalContractRegistry.registerContract(contract);
+}
+function registerContractClauseEvaluator(contractId, clauseId, evaluator) {
+  globalContractRegistry.registerEvaluator(contractId, clauseId, evaluator);
+}
+function registerReceiptSchema(entry) {
+  globalSchemaRegistry.registerSchema(entry);
+}
+function wrapSolverInContract(solver, contractId, schemaId, registry = globalContractRegistry, schemaReg = globalSchemaRegistry) {
+  return (config) => {
+    const contract = contractId ? registry.getContract(contractId) : void 0;
+    const clauseViolations = [];
+    if (contract) {
+      for (const clause of contract.preconditions) {
+        const evaluator = registry.getEvaluator(contract.id, clause.id);
+        if (!evaluator) continue;
+        const ctx = {
+          config,
+          result: void 0,
+          pluginId: contract.pluginId
+        };
+        const holds = evaluator(ctx);
+        if (!holds) {
+          clauseViolations.push({
+            clauseId: clause.id,
+            kind: "precondition",
+            severity: clause.severity ?? "error",
+            message: `Precondition "${clause.id}" violated: ${clause.description}`,
+            pluginId: contract.pluginId
+          });
+          if ((clause.severity ?? "error") === "error") {
+            return {
+              result: void 0,
+              contractVerified: false,
+              schemaValid: null,
+              schemaId: schemaId ?? null,
+              clauseViolations,
+              schemaViolations: [],
+              contractId: contractId ?? null,
+              pluginId: contract.pluginId
+            };
+          }
+        }
+      }
+    }
+    const result = solver(config);
+    if (contract) {
+      for (const clause of contract.postconditions) {
+        const evaluator = registry.getEvaluator(contract.id, clause.id);
+        if (!evaluator) continue;
+        const ctx = {
+          config,
+          result,
+          pluginId: contract.pluginId
+        };
+        const holds = evaluator(ctx);
+        if (!holds) {
+          clauseViolations.push({
+            clauseId: clause.id,
+            kind: "postcondition",
+            severity: clause.severity ?? "error",
+            message: `Postcondition "${clause.id}" violated: ${clause.description}`,
+            pluginId: contract.pluginId
+          });
+        }
+      }
+    }
+    const hasErrorViolation = clauseViolations.some((v) => v.severity === "error");
+    const contractVerified = !hasErrorViolation;
+    let schemaValid = null;
+    let schemaViolations = [];
+    if (schemaId) {
+      const schemaResult = schemaReg.validate(schemaId, result);
+      if (schemaResult !== null) {
+        schemaValid = schemaResult.valid;
+        schemaViolations = schemaResult.violations;
+      }
+    }
+    return {
+      result,
+      contractVerified,
+      schemaValid,
+      schemaId: schemaId ?? null,
+      clauseViolations,
+      schemaViolations,
+      contractId: contractId ?? null,
+      pluginId: contract?.pluginId ?? null
+    };
+  };
+}
+
+exports.PluginSolverContractRegistry = PluginSolverContractRegistry;
+exports.SolverReceiptSchemaRegistry = SolverReceiptSchemaRegistry;
+exports.globalContractRegistry = globalContractRegistry;
+exports.globalSchemaRegistry = globalSchemaRegistry;
+exports.registerContractClauseEvaluator = registerContractClauseEvaluator;
+exports.registerPluginContract = registerPluginContract;
+exports.registerReceiptSchema = registerReceiptSchema;
+exports.wrapSolverInContract = wrapSolverInContract;
+//# sourceMappingURL=chunk-ECUYJOJ2.cjs.map
+//# sourceMappingURL=chunk-ECUYJOJ2.cjs.map

package/dist/chunk-EEMTCAK7.js

@@ -0,0 +1,182 @@
+// src/traits/KinematicChainTrait.ts
+function mat4Identity() {
+  return [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
+}
+function dhTransform(a, alpha, d, theta) {
+  const ct = Math.cos(theta);
+  const st = Math.sin(theta);
+  const ca = Math.cos(alpha);
+  const sa = Math.sin(alpha);
+  return [
+    ct,
+    -st * ca,
+    st * sa,
+    a * ct,
+    st,
+    ct * ca,
+    -ct * sa,
+    a * st,
+    0,
+    sa,
+    ca,
+    d,
+    0,
+    0,
+    0,
+    1
+  ];
+}
+function mat4Mul(a, b) {
+  const r = new Array(16).fill(0);
+  for (let i = 0; i < 4; i++) {
+    for (let j = 0; j < 4; j++) {
+      for (let k = 0; k < 4; k++) {
+        r[i * 4 + j] += a[i * 4 + k] * b[k * 4 + j];
+      }
+    }
+  }
+  return r;
+}
+function extractFrame(T) {
+  return {
+    z: { x: T[2], y: T[6], z: T[10] },
+    p: { x: T[3], y: T[7], z: T[11] }
+  };
+}
+function computeAllFrames(links, q) {
+  const frames = [];
+  let T = mat4Identity();
+  frames.push(extractFrame(T));
+  for (let i = 0; i < links.length; i++) {
+    const { a, alpha, d, theta: off } = links[i];
+    T = mat4Mul(T, dhTransform(a, alpha, d, off + q[i]));
+    frames.push(extractFrame(T));
+  }
+  return frames;
+}
+function solve3x3(A, b) {
+  const a = A.map((row) => [...row]);
+  const x = [...b];
+  for (let k = 0; k < 3; k++) {
+    let maxVal = Math.abs(a[k][k]);
+    let maxRow = k;
+    for (let i = k + 1; i < 3; i++) {
+      if (Math.abs(a[i][k]) > maxVal) {
+        maxVal = Math.abs(a[i][k]);
+        maxRow = i;
+      }
+    }
+    [a[k], a[maxRow]] = [a[maxRow], a[k]];
+    [x[k], x[maxRow]] = [x[maxRow], x[k]];
+    for (let i = k + 1; i < 3; i++) {
+      if (Math.abs(a[k][k]) < 1e-12) continue;
+      const f = a[i][k] / a[k][k];
+      for (let j = k; j < 3; j++) a[i][j] -= f * a[k][j];
+      x[i] -= f * x[k];
+    }
+  }
+  const result = [0, 0, 0];
+  for (let i = 2; i >= 0; i--) {
+    if (Math.abs(a[i][i]) < 1e-12) {
+      result[i] = 0;
+      continue;
+    }
+    result[i] = x[i];
+    for (let j = i + 1; j < 3; j++) result[i] -= a[i][j] * result[j];
+    result[i] /= a[i][i];
+  }
+  return result;
+}
+function solveFk(links, jointAngles) {
+  const frameTransforms = [];
+  let T = mat4Identity();
+  for (let i = 0; i < links.length; i++) {
+    const { a, alpha, d, theta: off } = links[i];
+    T = mat4Mul(T, dhTransform(a, alpha, d, off + jointAngles[i]));
+    frameTransforms.push([...T]);
+  }
+  return {
+    endEffectorPosition: { x: T[3], y: T[7], z: T[11] },
+    endEffectorTransform: T,
+    frameTransforms
+  };
+}
+function solveIk(req) {
+  const { links, target, maxIterations = 100, tolerance = 1e-4, damping = 0.01 } = req;
+  const n = links.length;
+  const q = [...req.initialAngles ?? new Array(n).fill(0)];
+  const lam2 = damping * damping;
+  for (let iter = 0; iter < maxIterations; iter++) {
+    const frames = computeAllFrames(links, q);
+    const ee = frames[n].p;
+    const dx = target.x - ee.x;
+    const dy = target.y - ee.y;
+    const dz = target.z - ee.z;
+    const error = Math.sqrt(dx * dx + dy * dy + dz * dz);
+    if (error < tolerance) {
+      return { jointAngles: [...q], converged: true, finalError: error, iterations: iter };
+    }
+    const J = [
+      new Array(n).fill(0),
+      new Array(n).fill(0),
+      new Array(n).fill(0)
+    ];
+    for (let j = 0; j < n; j++) {
+      const { z, p } = frames[j];
+      const dpx = ee.x - p.x;
+      const dpy = ee.y - p.y;
+      const dpz = ee.z - p.z;
+      J[0][j] = z.y * dpz - z.z * dpy;
+      J[1][j] = z.z * dpx - z.x * dpz;
+      J[2][j] = z.x * dpy - z.y * dpx;
+    }
+    const JJT = [[0, 0, 0], [0, 0, 0], [0, 0, 0]];
+    for (let r = 0; r < 3; r++) {
+      for (let c = 0; c < 3; c++) {
+        for (let j = 0; j < n; j++) JJT[r][c] += J[r][j] * J[c][j];
+      }
+    }
+    for (let i = 0; i < 3; i++) JJT[i][i] += lam2;
+    const y = solve3x3(JJT, [dx, dy, dz]);
+    for (let j = 0; j < n; j++) {
+      q[j] += J[0][j] * y[0] + J[1][j] * y[1] + J[2][j] * y[2];
+    }
+  }
+  const finalEe = computeAllFrames(links, q)[n].p;
+  const finalError = Math.sqrt(
+    (target.x - finalEe.x) ** 2 + (target.y - finalEe.y) ** 2 + (target.z - finalEe.z) ** 2
+  );
+  return { jointAngles: [...q], converged: false, finalError, iterations: maxIterations };
+}
+var kinematicChainHandler = {
+  name: "kinematic_chain",
+  defaultConfig: { links: [], jointAngles: [] },
+  onAttach(node, config) {
+    if (config.links.length > 0 && config.jointAngles.length === config.links.length) {
+      node.__kinematic_fk = solveFk(config.links, config.jointAngles);
+    }
+  },
+  onEvent(node, config, _ctx, event) {
+    if (event.type === "kinematic_chain.solve_fk") {
+      const e = event;
+      const links = e.links ?? config.links;
+      const angles = e.jointAngles ?? config.jointAngles;
+      node.__kinematic_fk = solveFk(links, angles);
+    }
+    if (event.type === "kinematic_chain.solve_ik") {
+      const req = event;
+      node.__kinematic_ik = solveIk({
+        links: req.links ?? config.links,
+        target: req.target ?? { x: 0, y: 0, z: 0 },
+        initialAngles: req.initialAngles,
+        maxIterations: req.maxIterations,
+        tolerance: req.tolerance,
+        damping: req.damping
+      });
+    }
+  }
+};
+
+export { dhTransform, kinematicChainHandler, solveFk, solveIk };
+//# sourceMappingURL=chunk-EEMTCAK7.js.map
+//# sourceMappingURL=chunk-EEMTCAK7.js.map