@horizon36596/zenith-core 0.1.1

package/dist/fix.js

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+import { childLists, withChildLists, } from "@horizon36596/zenith-schema";
+import { childPrefix, effectiveId } from "./edit/ids.js";
+const isPath = (step) => step.kind === "path";
+/**
+ * Rewrites one step wherever it sits, including inside a parallel group or a branch.
+ *
+ * Steps are addressed by their effective id (`edit/ids.ts`), the same positional name a finding
+ * carries: matching on the raw `id` field made every fix on a step without an explicit id a silent
+ * no-op, because the finding said `step1` and the field said nothing.
+ */
+function mapStep(steps, stepId, rewrite, prefix = "step") {
+    return steps.map((step, index) => {
+        const id = effectiveId(step, index, prefix);
+        if (id === stepId)
+            return rewrite(step);
+        const lists = childLists(step);
+        if (lists.length === 0)
+            return step;
+        return withChildLists(step, lists.map((list, listIndex) => mapStep(list, stepId, rewrite, childPrefix(id, lists.length, listIndex))));
+    });
+}
+/** The path step immediately before this one in the list that holds it, if there is one. */
+function previousPathId(steps, stepId, prefix = "step") {
+    for (const [index, step] of steps.entries()) {
+        const id = effectiveId(step, index, prefix);
+        if (id === stepId) {
+            for (let before = index - 1; before >= 0; before -= 1) {
+                const candidate = steps[before];
+                if (candidate !== undefined && isPath(candidate)) {
+                    return effectiveId(candidate, before, prefix);
+                }
+            }
+            return null;
+        }
+        const branches = childLists(step);
+        for (const [branchIndex, branch] of branches.entries()) {
+            const nested = previousPathId(branch, stepId, childPrefix(id, branches.length, branchIndex));
+            if (nested !== null)
+                return nested;
+        }
+    }
+    return null;
+}
+/** The heading a step holds as it begins, when the mode says so without needing the geometry. */
+function startHeadingOf(heading) {
+    if (heading === undefined)
+        return null;
+    if (heading.mode === "constant")
+        return heading.headingRad;
+    if (heading.mode === "linear")
+        return heading.fromRad;
+    if (heading.mode === "piecewise") {
+        const first = heading.ranges[0];
+        return first === undefined ? null : startHeadingOf(first.heading);
+    }
+    return null;
+}
+/** de Casteljau subdivision: the control polygons of the two halves of a Bezier split at `u`. */
+export function splitControlPolygon(points, u) {
+    const left = [];
+    const right = [];
+    let level = points.map((point) => ({ xIn: point.xIn, yIn: point.yIn }));
+    while (level.length > 0) {
+        left.push(level[0]);
+        right.unshift(level[level.length - 1]);
+        const next = [];
+        for (let i = 0; i + 1 < level.length; i += 1) {
+            const a = level[i];
+            const b = level[i + 1];
+            next.push({ xIn: a.xIn + (b.xIn - a.xIn) * u, yIn: a.yIn + (b.yIn - a.yIn) * u });
+        }
+        level = next;
+    }
+    return { left, right };
+}
+/** The control polygon a segment draws, which needs the poses its ends resolved to. */
+function segmentPoints(segment, fromIn, toIn) {
+    const controls = segment.kind === "bezier" ? segment.control : [];
+    return [fromIn, ...controls.map((point) => ({ xIn: point.xIn, yIn: point.yIn })), toIn];
+}
+/** The inline pose a `from`/`to` already names, or null when it is a reference or `"current"`. */
+function inlinePoint(source) {
+    if (source === "current" || "ref" in source)
+        return null;
+    return { xIn: source.xIn, yIn: source.yIn };
+}
+function splitSegment(step, segmentIndex, u) {
+    const segment = step.segments[segmentIndex];
+    if (segment === undefined || u <= 0 || u >= 1)
+        return step;
+    const fromIn = inlinePoint(segment.from);
+    const toIn = inlinePoint(segment.to);
+    if (fromIn === null || toIn === null) {
+        // Splitting needs both ends as numbers. A `"current"` or a waypoint reference has to be
+        // resolved first, which is the caller's job, not a guess made here.
+        return step;
+    }
+    const { left, right } = splitControlPolygon(segmentPoints(segment, fromIn, toIn), u);
+    const middle = left[left.length - 1];
+    const middlePose = { xIn: middle.xIn, yIn: middle.yIn };
+    const half = (polygon, from, to) => {
+        const controls = polygon.slice(1, -1);
+        if (controls.length === 0)
+            return { kind: "line", from, to };
+        return { kind: "bezier", from, control: controls.map((point) => ({ ...point })), to };
+    };
+    const segments = [
+        ...step.segments.slice(0, segmentIndex),
+        half(left, segment.from, middlePose),
+        half(right, middlePose, segment.to),
+        ...step.segments.slice(segmentIndex + 1),
+    ];
+    return { ...step, segments };
+}
+/** Applies one structured fix to a document and hands back a new one. Pure. */
+export function applyFix(auto, fix) {
+    switch (fix.kind) {
+        case "makeTangent": {
+            const mode = {
+                mode: fix.params.reversed === true ? "tangentReversed" : "tangent",
+            };
+            return {
+                ...auto,
+                steps: mapStep(auto.steps, fix.stepId, (step) => isPath(step) ? { ...step, heading: mode } : step),
+            };
+        }
+        case "turnAtPreviousStop": {
+            // The turn is cheapest where the robot is already standing still, so it moves into the leg
+            // before this one and this leg goes back to driving nose-first (`03` section 5).
+            const turnIn = fix.params.turnInStepId ?? previousPathId(auto.steps, fix.stepId);
+            let steps = mapStep(auto.steps, fix.stepId, (step) => isPath(step) ? { ...step, heading: { mode: "tangent" } } : step);
+            if (turnIn !== null) {
+                steps = mapStep(steps, turnIn, (step) => {
+                    if (!isPath(step))
+                        return step;
+                    const fromRad = fix.params.fromRad ?? startHeadingOf(step.heading) ?? fix.params.headingRad;
+                    return { ...step, heading: { mode: "linear", fromRad, toRad: fix.params.headingRad } };
+                });
+            }
+            return { ...auto, steps };
+        }
+        case "slowSweep":
+            return {
+                ...auto,
+                steps: mapStep(auto.steps, fix.stepId, (step) => isPath(step) ? { ...step, speedFraction: fix.params.speedFraction } : step),
+            };
+        case "moveToLegalApproach":
+            return {
+                ...auto,
+                steps: mapStep(auto.steps, fix.stepId, (step) => {
+                    if (!isPath(step))
+                        return step;
+                    const last = step.segments[step.segments.length - 1];
+                    if (last === undefined)
+                        return step;
+                    const existing = inlinePoint(last.to);
+                    const headingRad = fix.params.headingRad ??
+                        (last.to === "current" || "ref" in last.to ? undefined : last.to.headingRad);
+                    void existing;
+                    const to = {
+                        xIn: fix.params.xIn,
+                        yIn: fix.params.yIn,
+                        ...(headingRad === undefined ? {} : { headingRad }),
+                    };
+                    return {
+                        ...step,
+                        segments: [...step.segments.slice(0, -1), { ...last, to }],
+                    };
+                }),
+            };
+        case "splitSegment":
+            return {
+                ...auto,
+                steps: mapStep(auto.steps, fix.stepId, (step) => isPath(step) ? splitSegment(step, fix.params.segmentIndex, fix.params.u ?? 0.5) : step),
+            };
+    }
+}
+/** Applies several fixes in order. Each one sees the document the one before it produced. */
+export const applyFixes = (auto, fixes) => fixes.reduce((current, fix) => applyFix(current, fix), auto);
+//# sourceMappingURL=fix.js.map

package/dist/fix.js.map

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package/dist/footprint.d.ts

@@ -0,0 +1,33 @@
+import type { Field, Mouth, Robot } from "@horizon36596/zenith-schema";
+import { type Box2, type Rect } from "./geometry/sat.js";
+import { type Pose, type Vec2 } from "./geometry/vec.js";
+/** The robot's footprint at one pose: the expanded box plus a box per mouth. */
+export interface FootprintAtPose {
+    /** The expanded rectangle, four corners counter-clockwise. */
+    bodyIn: Vec2[];
+    /** One polygon per mouth in `robot.json`, in the same order. */
+    mouthsIn: Vec2[][];
+}
+/**
+ * The footprint box, in the field frame, for a pose.
+ *
+ * `centreOfRotationIn` is where the centre of rotation sits inside the footprint, in the robot
+ * frame, so the box centre is the path point minus that offset rotated into the field frame. A
+ * robot whose centre of rotation is the middle of its box (the default, 0, 0) is unaffected.
+ */
+export declare function bodyRect(pose: Pose, robot: Robot, which: "startIn" | "expandedIn"): Rect;
+/** A mouth's box: `widthIn` across the robot, `depthIn` out along the side it is on. */
+export declare function mouthRect(pose: Pose, mouth: Mouth): Rect;
+export declare function footprintAt(pose: Pose, robot: Robot, which?: "startIn" | "expandedIn"): FootprintAtPose;
+/** Every polygon of a footprint, body first, for the checks that sweep all of them. */
+export declare const footprintPolygons: (footprint: FootprintAtPose) => Vec2[][];
+/**
+ * The axis-aligned bounds of the whole footprint at a pose: the body and every mouth, which is the
+ * exact set of polygons the PERIMETER and STRUCTURE checks test. The canvas wall snap reads this,
+ * so a pose snapped flush to a wall is flush by the same measure the check uses and never reports
+ * PERIMETER (the snap once read the body alone and left a mouth hanging over the wall).
+ */
+export declare function footprintBoundsIn(pose: Pose, robot: Robot, which?: "startIn" | "expandedIn"): Box2;
+/** The field perimeter as a box, from `sizeIn` and where the frame puts the origin. */
+export declare function fieldBounds(field: Field): Box2;
+//# sourceMappingURL=footprint.d.ts.map

package/dist/footprint.d.ts.map

@@ -0,0 +1 @@
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package/dist/footprint.js

@@ -0,0 +1,71 @@
+import { rectCorners } from "./geometry/sat.js";
+import { add, rotate } from "./geometry/vec.js";
+/**
+ * The footprint box, in the field frame, for a pose.
+ *
+ * `centreOfRotationIn` is where the centre of rotation sits inside the footprint, in the robot
+ * frame, so the box centre is the path point minus that offset rotated into the field frame. A
+ * robot whose centre of rotation is the middle of its box (the default, 0, 0) is unaffected.
+ */
+export function bodyRect(pose, robot, which) {
+    const box = robot.footprint[which];
+    const offset = robot.footprint.centreOfRotationIn;
+    const centreIn = add(pose, rotate({ xIn: -offset.xIn, yIn: -offset.yIn }, pose.headingRad));
+    return {
+        centreIn,
+        lengthIn: box.lengthIn,
+        widthIn: box.widthIn,
+        headingRad: pose.headingRad,
+    };
+}
+/** A mouth's box: `widthIn` across the robot, `depthIn` out along the side it is on. */
+export function mouthRect(pose, mouth) {
+    const alongX = mouth.side === "FRONT" || mouth.side === "BACK";
+    return {
+        centreIn: add(pose, rotate(mouth.offsetIn, pose.headingRad)),
+        lengthIn: alongX ? mouth.depthIn : mouth.widthIn,
+        widthIn: alongX ? mouth.widthIn : mouth.depthIn,
+        headingRad: pose.headingRad,
+    };
+}
+export function footprintAt(pose, robot, which = "expandedIn") {
+    return {
+        bodyIn: rectCorners(bodyRect(pose, robot, which)),
+        mouthsIn: (robot.mouths ?? []).map((mouth) => rectCorners(mouthRect(pose, mouth))),
+    };
+}
+/** Every polygon of a footprint, body first, for the checks that sweep all of them. */
+export const footprintPolygons = (footprint) => [
+    footprint.bodyIn,
+    ...footprint.mouthsIn,
+];
+/**
+ * The axis-aligned bounds of the whole footprint at a pose: the body and every mouth, which is the
+ * exact set of polygons the PERIMETER and STRUCTURE checks test. The canvas wall snap reads this,
+ * so a pose snapped flush to a wall is flush by the same measure the check uses and never reports
+ * PERIMETER (the snap once read the body alone and left a mouth hanging over the wall).
+ */
+export function footprintBoundsIn(pose, robot, which = "expandedIn") {
+    let minXIn = Infinity;
+    let maxXIn = -Infinity;
+    let minYIn = Infinity;
+    let maxYIn = -Infinity;
+    for (const polygon of footprintPolygons(footprintAt(pose, robot, which))) {
+        for (const corner of polygon) {
+            minXIn = Math.min(minXIn, corner.xIn);
+            maxXIn = Math.max(maxXIn, corner.xIn);
+            minYIn = Math.min(minYIn, corner.yIn);
+            maxYIn = Math.max(maxYIn, corner.yIn);
+        }
+    }
+    return { minXIn, maxXIn, minYIn, maxYIn };
+}
+/** The field perimeter as a box, from `sizeIn` and where the frame puts the origin. */
+export function fieldBounds(field) {
+    const { xIn, yIn } = field.sizeIn;
+    if (field.frame.origin === "centre") {
+        return { minXIn: -xIn / 2, maxXIn: xIn / 2, minYIn: -yIn / 2, maxYIn: yIn / 2 };
+    }
+    return { minXIn: 0, maxXIn: xIn, minYIn: 0, maxYIn: yIn };
+}
+//# sourceMappingURL=footprint.js.map

package/dist/footprint.js.map

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package/dist/geometry/angle.d.ts

@@ -0,0 +1,13 @@
+/**
+ * Wraps a heading to (-pi, pi]. That interval is the one site/docs/paths-explained.md names, so -pi
+ * comes back as +pi and the result is never -0.
+ */
+export declare function wrapAngle(rad: number): number;
+/** The signed short-way difference from one heading to another, in (-pi, pi]. */
+export declare const angleDelta: (fromRad: number, toRad: number) => number;
+/** Interpolates the short way round, so a turn from 170 deg to -170 deg is 20 deg, not 340. */
+export declare const lerpAngle: (fromRad: number, toRad: number, t: number) => number;
+/** Degrees are a user-interface unit only; files and core are radians (CLAUDE.md rule 3). */
+export declare const degToRad: (deg: number) => number;
+export declare const radToDeg: (rad: number) => number;
+//# sourceMappingURL=angle.d.ts.map

package/dist/geometry/angle.d.ts.map

@@ -0,0 +1 @@
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package/dist/geometry/angle.js

@@ -0,0 +1,21 @@
+const TWO_PI = Math.PI * 2;
+/**
+ * Wraps a heading to (-pi, pi]. That interval is the one site/docs/paths-explained.md names, so -pi
+ * comes back as +pi and the result is never -0.
+ */
+export function wrapAngle(rad) {
+    let wrapped = rad % TWO_PI;
+    if (wrapped <= -Math.PI)
+        wrapped += TWO_PI;
+    else if (wrapped > Math.PI)
+        wrapped -= TWO_PI;
+    return wrapped === 0 ? 0 : wrapped;
+}
+/** The signed short-way difference from one heading to another, in (-pi, pi]. */
+export const angleDelta = (fromRad, toRad) => wrapAngle(toRad - fromRad);
+/** Interpolates the short way round, so a turn from 170 deg to -170 deg is 20 deg, not 340. */
+export const lerpAngle = (fromRad, toRad, t) => wrapAngle(fromRad + angleDelta(fromRad, toRad) * t);
+/** Degrees are a user-interface unit only; files and core are radians (CLAUDE.md rule 3). */
+export const degToRad = (deg) => (deg * Math.PI) / 180;
+export const radToDeg = (rad) => (rad * 180) / Math.PI;
+//# sourceMappingURL=angle.js.map

package/dist/geometry/angle.js.map

@@ -0,0 +1 @@
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package/dist/geometry/curve.d.ts

@@ -0,0 +1,24 @@
+import { type Vec2 } from "./vec.js";
+/**
+ * One segment: a Bezier of degree `points.length - 1`, so a line is degree 1 and a curve with one
+ * control point is degree 2 (site/docs/paths-explained.md). Parameterised
+ * by u in [0, 1].
+ */
+export interface Curve {
+    readonly points: readonly Vec2[];
+    readonly degree: number;
+    readonly lengthIn: number;
+    pointAt(u: number): Vec2;
+    derivativeAt(u: number): Vec2;
+    /** Arc length from 0 to u. */
+    lengthAt(u: number): number;
+    /** The u at a given arc length from the start, clamped to [0, 1]. */
+    uAtLength(sIn: number): number;
+}
+/** The order of the Gauss-Legendre rule: 64 samples per segment, per the spec. */
+export declare const QUADRATURE_ORDER = 64;
+/** Builds a curve from its control polygon: the endpoints first and last, controls between. */
+export declare function makeCurve(points: readonly Vec2[]): Curve;
+/** Arc length of a curve between two parameters, by the 64-point rule directly. */
+export declare function arcLength(curve: Curve, u0?: number, u1?: number): number;
+//# sourceMappingURL=curve.d.ts.map

package/dist/geometry/curve.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"curve.d.ts","sourceRoot":"","sources":["../../src/geometry/curve.ts"],"names":[],"mappings":"AACA,OAAO,EAAU,KAAK,IAAI,EAAE,MAAM,UAAU,CAAC;AAE7C;;;;GAIG;AACH,MAAM,WAAW,KAAK;IACpB,QAAQ,CAAC,MAAM,EAAE,SAAS,IAAI,EAAE,CAAC;IACjC,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,OAAO,CAAC,CAAC,EAAE,MAAM,GAAG,IAAI,CAAC;IACzB,YAAY,CAAC,CAAC,EAAE,MAAM,GAAG,IAAI,CAAC;IAC9B,8BAA8B;IAC9B,QAAQ,CAAC,CAAC,EAAE,MAAM,GAAG,MAAM,CAAC;IAC5B,qEAAqE;IACrE,SAAS,CAAC,GAAG,EAAE,MAAM,GAAG,MAAM,CAAC;CAChC;AAED,kFAAkF;AAClF,eAAO,MAAM,gBAAgB,KAAK,CAAC;AAqBnC,+FAA+F;AAC/F,wBAAgB,SAAS,CAAC,MAAM,EAAE,SAAS,IAAI,EAAE,GAAG,KAAK,CAoDxD;AAED,mFAAmF;AACnF,wBAAgB,SAAS,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,SAAI,EAAE,EAAE,SAAI,GAAG,MAAM,CAE9D"}

package/dist/geometry/curve.js

@@ -0,0 +1,78 @@
+import { integrate } from "./quadrature.js";
+import { length } from "./vec.js";
+/** The order of the Gauss-Legendre rule: 64 samples per segment, per the spec. */
+export const QUADRATURE_ORDER = 64;
+/** How finely the arc-length table divides a segment for the s -> u inverse. */
+const TABLE_STEPS = 64;
+const clamp01 = (u) => (u < 0 ? 0 : u > 1 ? 1 : u);
+function deCasteljau(points, u) {
+    let current = points.slice();
+    while (current.length > 1) {
+        const next = [];
+        for (let i = 0; i + 1 < current.length; i += 1) {
+            const a = current[i];
+            const b = current[i + 1];
+            next.push({ xIn: a.xIn + (b.xIn - a.xIn) * u, yIn: a.yIn + (b.yIn - a.yIn) * u });
+        }
+        current = next;
+    }
+    return current[0];
+}
+/** Builds a curve from its control polygon: the endpoints first and last, controls between. */
+export function makeCurve(points) {
+    if (points.length < 2)
+        throw new Error("A curve needs at least two points.");
+    const degree = points.length - 1;
+    // The derivative of a degree-n Bezier is a degree-(n-1) Bezier over the scaled differences.
+    const derivativePoints = [];
+    for (let i = 0; i < degree; i += 1) {
+        const a = points[i];
+        const b = points[i + 1];
+        derivativePoints.push({ xIn: (b.xIn - a.xIn) * degree, yIn: (b.yIn - a.yIn) * degree });
+    }
+    const pointAt = (u) => deCasteljau(points, clamp01(u));
+    const derivativeAt = (u) => deCasteljau(derivativePoints, clamp01(u));
+    const speed = (u) => length(derivativeAt(u));
+    // Cumulative arc length at TABLE_STEPS + 1 values of u, each interval integrated with the
+    // 64-point rule. The table's last entry is the segment length.
+    const table = [0];
+    for (let i = 0; i < TABLE_STEPS; i += 1) {
+        const a = i / TABLE_STEPS;
+        const b = (i + 1) / TABLE_STEPS;
+        table.push(table[i] + integrate(speed, a, b, QUADRATURE_ORDER));
+    }
+    const lengthIn = table[TABLE_STEPS];
+    const lengthAt = (u) => {
+        const clamped = clamp01(u);
+        const scaled = clamped * TABLE_STEPS;
+        const index = Math.min(Math.floor(scaled), TABLE_STEPS - 1);
+        const a = table[index];
+        const b = table[index + 1];
+        return a + (b - a) * (scaled - index);
+    };
+    const uAtLength = (sIn) => {
+        if (sIn <= 0 || lengthIn === 0)
+            return 0;
+        if (sIn >= lengthIn)
+            return 1;
+        let low = 0;
+        let high = TABLE_STEPS;
+        while (high - low > 1) {
+            const middle = (low + high) >> 1;
+            if (table[middle] <= sIn)
+                low = middle;
+            else
+                high = middle;
+        }
+        const a = table[low];
+        const b = table[low + 1];
+        const within = b === a ? 0 : (sIn - a) / (b - a);
+        return (low + within) / TABLE_STEPS;
+    };
+    return { points, degree, lengthIn, pointAt, derivativeAt, lengthAt, uAtLength };
+}
+/** Arc length of a curve between two parameters, by the 64-point rule directly. */
+export function arcLength(curve, u0 = 0, u1 = 1) {
+    return integrate((u) => length(curve.derivativeAt(u)), u0, u1, QUADRATURE_ORDER);
+}
+//# sourceMappingURL=curve.js.map

package/dist/geometry/curve.js.map

@@ -0,0 +1 @@
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package/dist/geometry/path.d.ts

@@ -0,0 +1,29 @@
+import { type Curve } from "./curve.js";
+import type { Vec2 } from "./vec.js";
+/**
+ * A path step's geometry: a sequence of continuous segments re-parameterised by arc length to a
+ * single t in [0, 1], so markers and headings mean the same thing the runtime sees
+ * (site/docs/paths-explained.md).
+ */
+export interface PathGeometry {
+    readonly curves: readonly Curve[];
+    readonly lengthIn: number;
+    /** Arc length at the start of each curve, plus the total as the last entry. */
+    readonly breaks: readonly number[];
+    pointAtDistance(sIn: number): Vec2;
+    tangentAtDistance(sIn: number): Vec2;
+    pointAt(t: number): Vec2;
+    tangentAt(t: number): Vec2;
+    /** Arc length at t. */
+    distanceAt(t: number): number;
+    /** t at an arc length from the start. */
+    tAtDistance(sIn: number): number;
+}
+export declare const SAMPLE_SPACING_IN = 2;
+export declare function makePath(segments: readonly (readonly Vec2[])[]): PathGeometry;
+/**
+ * Sample distances along the path: every `spacingIn` inches, plus both endpoints and every segment
+ * boundary, sorted and de-duplicated. The check sampler and the footprint sweep share this.
+ */
+export declare function sampleDistances(path: PathGeometry, spacingIn?: number): number[];
+//# sourceMappingURL=path.d.ts.map

package/dist/geometry/path.d.ts.map

@@ -0,0 +1 @@
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package/dist/geometry/path.js

@@ -0,0 +1,61 @@
+import { makeCurve } from "./curve.js";
+export const SAMPLE_SPACING_IN = 2;
+export function makePath(segments) {
+    if (segments.length === 0)
+        throw new Error("A path needs at least one segment.");
+    const curves = segments.map((points) => makeCurve(points));
+    const breaks = [0];
+    for (const curve of curves)
+        breaks.push(breaks[breaks.length - 1] + curve.lengthIn);
+    const lengthIn = breaks[breaks.length - 1];
+    const locate = (sIn) => {
+        const clamped = sIn <= 0 ? 0 : sIn >= lengthIn ? lengthIn : sIn;
+        let index = 0;
+        while (index + 1 < curves.length && breaks[index + 1] < clamped)
+            index += 1;
+        const curve = curves[index];
+        return { curve, u: curve.uAtLength(clamped - breaks[index]) };
+    };
+    const pointAtDistance = (sIn) => {
+        const { curve, u } = locate(sIn);
+        return curve.pointAt(u);
+    };
+    const tangentAtDistance = (sIn) => {
+        const { curve, u } = locate(sIn);
+        return curve.derivativeAt(u);
+    };
+    const distanceAt = (t) => (t <= 0 ? 0 : t >= 1 ? lengthIn : t * lengthIn);
+    const tAtDistance = (sIn) => lengthIn === 0 ? 0 : sIn <= 0 ? 0 : sIn >= lengthIn ? 1 : sIn / lengthIn;
+    return {
+        curves,
+        lengthIn,
+        breaks,
+        pointAtDistance,
+        tangentAtDistance,
+        pointAt: (t) => pointAtDistance(distanceAt(t)),
+        tangentAt: (t) => tangentAtDistance(distanceAt(t)),
+        distanceAt,
+        tAtDistance,
+    };
+}
+/**
+ * Sample distances along the path: every `spacingIn` inches, plus both endpoints and every segment
+ * boundary, sorted and de-duplicated. The check sampler and the footprint sweep share this.
+ */
+export function sampleDistances(path, spacingIn = SAMPLE_SPACING_IN) {
+    const distances = [0];
+    for (let s = spacingIn; s < path.lengthIn; s += spacingIn)
+        distances.push(s);
+    for (const at of path.breaks)
+        distances.push(at);
+    distances.push(path.lengthIn);
+    distances.sort((a, b) => a - b);
+    const unique = [];
+    for (const value of distances) {
+        const previous = unique[unique.length - 1];
+        if (previous === undefined || value - previous > 1e-9)
+            unique.push(value);
+    }
+    return unique;
+}
+//# sourceMappingURL=path.js.map

package/dist/geometry/path.js.map

@@ -0,0 +1 @@
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package/dist/geometry/quadrature.d.ts

@@ -0,0 +1,13 @@
+/**
+ * Gauss-Legendre nodes and weights, computed once per order by Newton's method on the Legendre
+ * polynomial. Deterministic and pure: the same order always yields the same numbers, so two runs
+ * of `plan` on the same files agree to the last bit.
+ */
+export interface Quadrature {
+    nodes: number[];
+    weights: number[];
+}
+export declare function gaussLegendre(order: number): Quadrature;
+/** Integrates f over [a, b] with an `order`-point Gauss-Legendre rule. */
+export declare function integrate(f: (x: number) => number, a: number, b: number, order: number): number;
+//# sourceMappingURL=quadrature.d.ts.map

package/dist/geometry/quadrature.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"quadrature.d.ts","sourceRoot":"","sources":["../../src/geometry/quadrature.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AACH,MAAM,WAAW,UAAU;IACzB,KAAK,EAAE,MAAM,EAAE,CAAC;IAChB,OAAO,EAAE,MAAM,EAAE,CAAC;CACnB;AAkBD,wBAAgB,aAAa,CAAC,KAAK,EAAE,MAAM,GAAG,UAAU,CA2BvD;AAED,0EAA0E;AAC1E,wBAAgB,SAAS,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,KAAK,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,MAAM,CAS/F"}