brepjs-cad 0.72.0 → 0.74.0

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Files changed (6) hide show
  1. package/CHANGELOG.md +72 -0
  2. package/package.json +1 -1
  3. package/viewer/dist/assets/{brepjs-279pWbTF.js → brepjs-BASg6QFK.js} +1 -1
  4. package/viewer/dist/assets/{index-Drxnizk9.js → index-D1JLFMvF.js} +1 -1
  5. package/viewer/dist/assets/{kernelWorker-Cm0z17MP.js → kernelWorker-BN_e9_-u.js} +1 -1
  6. package/viewer/dist/index.html +1 -1
package/CHANGELOG.md CHANGED
@@ -1,5 +1,77 @@
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  # Changelog
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+ ## [0.74.0](https://github.com/andymai/brepjs/compare/brepjs-cad-v0.73.1...brepjs-cad-v0.74.0) (2026-07-16)
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+
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+
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+ ### Features
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+
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+ * **brepjs-cad:** add airfoils.md feature recipe (swept fans/props/impellers) ([#1566](https://github.com/andymai/brepjs/issues/1566)) ([8c786db](https://github.com/andymai/brepjs/commit/8c786db69ead59edcdc9d0f8525e43324552e4db))
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+ * **brepjs-cad:** aimed section cut for the design judge (Phase 3) ([#1543](https://github.com/andymai/brepjs/issues/1543)) ([40e5acd](https://github.com/andymai/brepjs/commit/40e5acd54318d768dc5a620403d17d43e358e698))
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+ * **brepjs-cad:** decomposed, cross-checked design-judge rubric (Phase 1.5) ([#1539](https://github.com/andymai/brepjs/issues/1539)) ([8059b6d](https://github.com/andymai/brepjs/commit/8059b6d701ae5980e6bb11f51695aa102fe2bb43))
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+ * **brepjs-cad:** deterministic body/interference metrics for the design judge (Phase 1) ([#1531](https://github.com/andymai/brepjs/issues/1531)) ([d296b54](https://github.com/andymai/brepjs/commit/d296b545f2d7084b861683d61b626ace4747a371))
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+ * **brepjs-cad:** grade judge quality against a reference exemplar ([#1731](https://github.com/andymai/brepjs/issues/1731)) ([9d4aaeb](https://github.com/andymai/brepjs/commit/9d4aaeb8e4830c6be78668854730367194b6a9e5))
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+ * **brepjs-cad:** kernel-anchored Set-of-Marks for the design judge ([#1545](https://github.com/andymai/brepjs/issues/1545)) ([2b6f5b4](https://github.com/andymai/brepjs/commit/2b6f5b436f2a73c96747cc71f83afc8715765cd0))
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+ * **brepjs-cad:** reliable internal-bore detection for the design judge (keystone) ([#1542](https://github.com/andymai/brepjs/issues/1542)) ([0d780c3](https://github.com/andymai/brepjs/commit/0d780c3b73c2551dab2f04a6ff31bf9ec8cae2ab))
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+ * **brepjs-cad:** surface fragmentation in verify --check (the [#1](https://github.com/andymai/brepjs/issues/1) design defect) ([#1560](https://github.com/andymai/brepjs/issues/1560)) ([45a4f6e](https://github.com/andymai/brepjs/commit/45a4f6e268331b7816cd9957fbdab4c0893b2000))
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+ * **brepjs-cad:** xray internal-reveal shot for the design judge (Phase 2a) ([#1540](https://github.com/andymai/brepjs/issues/1540)) ([eca5bc9](https://github.com/andymai/brepjs/commit/eca5bc9ad20fc7947132d647952245cfe466a7f4))
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+
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+
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+ ### Bug Fixes
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+
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+ * **brepjs-cad:** add a triangular-gusset recipe to the implement skill (bracket/enclosure eval) ([#1571](https://github.com/andymai/brepjs/issues/1571)) ([346d042](https://github.com/andymai/brepjs/commit/346d0423fefa3bd163f4075f69bf96d478543bf5))
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+ * **brepjs-cad:** add the "realize the designed object" bar to the implement skill ([#1563](https://github.com/andymai/brepjs/issues/1563)) ([e150357](https://github.com/andymai/brepjs/commit/e1503570aaf271ebef1e39d48be9c70a5ffe8f03))
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+ * **brepjs-cad:** bore detector misses full-cylinder through-holes ([#1551](https://github.com/andymai/brepjs/issues/1551)) ([#1586](https://github.com/andymai/brepjs/issues/1586)) ([b6d61eb](https://github.com/andymai/brepjs/commit/b6d61eb6d88e2e4a3aa1c55b78dc2e76315ebc02))
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+ * **brepjs-cad:** close gear-teeth edge cases found by /eval-skill (ring, worm tip relief, GT2) ([#1548](https://github.com/andymai/brepjs/issues/1548)) ([4bd0494](https://github.com/andymai/brepjs/commit/4bd049401f3affcc3f38e3a31bb9520653a3e89c))
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+ * **brepjs-cad:** code + hint the degenerate-edge (duplicate-vertex) verify failure ([#1550](https://github.com/andymai/brepjs/issues/1550)) ([502dffc](https://github.com/andymai/brepjs/commit/502dffc4a2ae495ae5c98b0c7966721abe0d5f48))
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+ * **brepjs-cad:** correct spur-gear example flanks + add root fillet ([#1528](https://github.com/andymai/brepjs/issues/1528)) ([6971c6b](https://github.com/andymai/brepjs/commit/6971c6befa1fea36a8c2f3ee89c4aa20946020c7))
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+ * **brepjs-cad:** exploded-joint legibility + disjoint-compound caveat (basics eval) ([#1565](https://github.com/andymai/brepjs/issues/1565)) ([9d06121](https://github.com/andymai/brepjs/commit/9d0612111a595e57fcfca6fd191ed9169fc2c062))
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+ * **brepjs-cad:** handle brepjs/playground refs + summarize body relations in the digest ([#1547](https://github.com/andymai/brepjs/issues/1547)) ([b0acef0](https://github.com/andymai/brepjs/commit/b0acef0ad80cdd61f0d2683f1e6d0ece0cae028e))
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+ * **brepjs-cad:** heal 6 implement-skill findings from the full-flywheel re-run ([#1568](https://github.com/andymai/brepjs/issues/1568)) ([f63bf3d](https://github.com/andymai/brepjs/commit/f63bf3d5a0aa638d06e11dd7e2c27e84dbf74746))
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+ * **brepjs-cad:** heal implement + polish skills from clean-room eval ([#1526](https://github.com/andymai/brepjs/issues/1526)) ([0645e16](https://github.com/andymai/brepjs/commit/0645e163e1d8759c95406d0f9526d0aa3b5dd480))
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+ * **brepjs-cad:** heal implement skill — deep-stack bounds extremes aren't datums ([#1529](https://github.com/andymai/brepjs/issues/1529)) ([5ed366f](https://github.com/andymai/brepjs/commit/5ed366f266b3e6e50ae4b54d5779aa05453e894a))
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+ * **brepjs-cad:** heal implement skill from the eval flywheel (3 findings) ([#1552](https://github.com/andymai/brepjs/issues/1552)) ([51def82](https://github.com/andymai/brepjs/commit/51def82db4e0600e85f45e4dd828cc9caee58d15))
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+ * **brepjs-cad:** heal implement skill from the full-corpus eval flywheel (4 findings) ([#1554](https://github.com/andymai/brepjs/issues/1554)) ([3cfc28e](https://github.com/andymai/brepjs/commit/3cfc28ed8b82c46330f1d75f1e98c13fd4d65a06))
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+ * **brepjs-cad:** make blind-judge reference adaptation render multi-body parts at scale ([#1530](https://github.com/andymai/brepjs/issues/1530)) ([18d4523](https://github.com/andymai/brepjs/commit/18d4523c85e1b22496bb5c0b8fb382a1146429c6))
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+ * **brepjs-cad:** polish skill — bosses on shells must fuse, or they float (eval finding) ([#1553](https://github.com/andymai/brepjs/issues/1553)) ([07cbf93](https://github.com/andymai/brepjs/commit/07cbf93e47fbf880df53bc2a1cee05bf0d17e2d5))
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+ * **brepjs-cad:** teach worm-wheel and rack tooth recipes; fix gear-build contradiction ([#1544](https://github.com/andymai/brepjs/issues/1544)) ([b0da85f](https://github.com/andymai/brepjs/commit/b0da85f218d463e0f1ef0ca8760cec54b4814b02))
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+ * **release:** unbreak Vercel — repin brepjs-cad to brepjs >=18.0.0 ([#1711](https://github.com/andymai/brepjs/issues/1711)) ([78c780a](https://github.com/andymai/brepjs/commit/78c780a3ab2fcc78f26b32029df72795582e145c))
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+
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+ ## [0.73.0](https://github.com/andymai/brepjs/compare/brepjs-cad-v0.72.0...brepjs-cad-v0.73.0) (2026-07-16)
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+
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+
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+ ### Features
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+
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+ * **brepjs-cad:** add airfoils.md feature recipe (swept fans/props/impellers) ([#1566](https://github.com/andymai/brepjs/issues/1566)) ([8c786db](https://github.com/andymai/brepjs/commit/8c786db69ead59edcdc9d0f8525e43324552e4db))
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+ * **brepjs-cad:** aimed section cut for the design judge (Phase 3) ([#1543](https://github.com/andymai/brepjs/issues/1543)) ([40e5acd](https://github.com/andymai/brepjs/commit/40e5acd54318d768dc5a620403d17d43e358e698))
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+ * **brepjs-cad:** decomposed, cross-checked design-judge rubric (Phase 1.5) ([#1539](https://github.com/andymai/brepjs/issues/1539)) ([8059b6d](https://github.com/andymai/brepjs/commit/8059b6d701ae5980e6bb11f51695aa102fe2bb43))
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+ * **brepjs-cad:** deterministic body/interference metrics for the design judge (Phase 1) ([#1531](https://github.com/andymai/brepjs/issues/1531)) ([d296b54](https://github.com/andymai/brepjs/commit/d296b545f2d7084b861683d61b626ace4747a371))
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+ * **brepjs-cad:** grade judge quality against a reference exemplar ([#1731](https://github.com/andymai/brepjs/issues/1731)) ([9d4aaeb](https://github.com/andymai/brepjs/commit/9d4aaeb8e4830c6be78668854730367194b6a9e5))
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+ * **brepjs-cad:** kernel-anchored Set-of-Marks for the design judge ([#1545](https://github.com/andymai/brepjs/issues/1545)) ([2b6f5b4](https://github.com/andymai/brepjs/commit/2b6f5b436f2a73c96747cc71f83afc8715765cd0))
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+ * **brepjs-cad:** reliable internal-bore detection for the design judge (keystone) ([#1542](https://github.com/andymai/brepjs/issues/1542)) ([0d780c3](https://github.com/andymai/brepjs/commit/0d780c3b73c2551dab2f04a6ff31bf9ec8cae2ab))
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+ * **brepjs-cad:** surface fragmentation in verify --check (the [#1](https://github.com/andymai/brepjs/issues/1) design defect) ([#1560](https://github.com/andymai/brepjs/issues/1560)) ([45a4f6e](https://github.com/andymai/brepjs/commit/45a4f6e268331b7816cd9957fbdab4c0893b2000))
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+ * **brepjs-cad:** xray internal-reveal shot for the design judge (Phase 2a) ([#1540](https://github.com/andymai/brepjs/issues/1540)) ([eca5bc9](https://github.com/andymai/brepjs/commit/eca5bc9ad20fc7947132d647952245cfe466a7f4))
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+
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+
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+ ### Bug Fixes
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+
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+ * **brepjs-cad:** add a triangular-gusset recipe to the implement skill (bracket/enclosure eval) ([#1571](https://github.com/andymai/brepjs/issues/1571)) ([346d042](https://github.com/andymai/brepjs/commit/346d0423fefa3bd163f4075f69bf96d478543bf5))
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+ * **brepjs-cad:** add the "realize the designed object" bar to the implement skill ([#1563](https://github.com/andymai/brepjs/issues/1563)) ([e150357](https://github.com/andymai/brepjs/commit/e1503570aaf271ebef1e39d48be9c70a5ffe8f03))
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+ * **brepjs-cad:** bore detector misses full-cylinder through-holes ([#1551](https://github.com/andymai/brepjs/issues/1551)) ([#1586](https://github.com/andymai/brepjs/issues/1586)) ([b6d61eb](https://github.com/andymai/brepjs/commit/b6d61eb6d88e2e4a3aa1c55b78dc2e76315ebc02))
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+ * **brepjs-cad:** close gear-teeth edge cases found by /eval-skill (ring, worm tip relief, GT2) ([#1548](https://github.com/andymai/brepjs/issues/1548)) ([4bd0494](https://github.com/andymai/brepjs/commit/4bd049401f3affcc3f38e3a31bb9520653a3e89c))
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+ * **brepjs-cad:** code + hint the degenerate-edge (duplicate-vertex) verify failure ([#1550](https://github.com/andymai/brepjs/issues/1550)) ([502dffc](https://github.com/andymai/brepjs/commit/502dffc4a2ae495ae5c98b0c7966721abe0d5f48))
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+ * **brepjs-cad:** correct spur-gear example flanks + add root fillet ([#1528](https://github.com/andymai/brepjs/issues/1528)) ([6971c6b](https://github.com/andymai/brepjs/commit/6971c6befa1fea36a8c2f3ee89c4aa20946020c7))
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+ * **brepjs-cad:** exploded-joint legibility + disjoint-compound caveat (basics eval) ([#1565](https://github.com/andymai/brepjs/issues/1565)) ([9d06121](https://github.com/andymai/brepjs/commit/9d0612111a595e57fcfca6fd191ed9169fc2c062))
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+ * **brepjs-cad:** handle brepjs/playground refs + summarize body relations in the digest ([#1547](https://github.com/andymai/brepjs/issues/1547)) ([b0acef0](https://github.com/andymai/brepjs/commit/b0acef0ad80cdd61f0d2683f1e6d0ece0cae028e))
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+ * **brepjs-cad:** heal 6 implement-skill findings from the full-flywheel re-run ([#1568](https://github.com/andymai/brepjs/issues/1568)) ([f63bf3d](https://github.com/andymai/brepjs/commit/f63bf3d5a0aa638d06e11dd7e2c27e84dbf74746))
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+ * **brepjs-cad:** heal implement + polish skills from clean-room eval ([#1526](https://github.com/andymai/brepjs/issues/1526)) ([0645e16](https://github.com/andymai/brepjs/commit/0645e163e1d8759c95406d0f9526d0aa3b5dd480))
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+ * **brepjs-cad:** heal implement skill — deep-stack bounds extremes aren't datums ([#1529](https://github.com/andymai/brepjs/issues/1529)) ([5ed366f](https://github.com/andymai/brepjs/commit/5ed366f266b3e6e50ae4b54d5779aa05453e894a))
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+ * **brepjs-cad:** heal implement skill from the eval flywheel (3 findings) ([#1552](https://github.com/andymai/brepjs/issues/1552)) ([51def82](https://github.com/andymai/brepjs/commit/51def82db4e0600e85f45e4dd828cc9caee58d15))
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+ * **brepjs-cad:** heal implement skill from the full-corpus eval flywheel (4 findings) ([#1554](https://github.com/andymai/brepjs/issues/1554)) ([3cfc28e](https://github.com/andymai/brepjs/commit/3cfc28ed8b82c46330f1d75f1e98c13fd4d65a06))
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+ * **brepjs-cad:** make blind-judge reference adaptation render multi-body parts at scale ([#1530](https://github.com/andymai/brepjs/issues/1530)) ([18d4523](https://github.com/andymai/brepjs/commit/18d4523c85e1b22496bb5c0b8fb382a1146429c6))
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+ * **brepjs-cad:** polish skill — bosses on shells must fuse, or they float (eval finding) ([#1553](https://github.com/andymai/brepjs/issues/1553)) ([07cbf93](https://github.com/andymai/brepjs/commit/07cbf93e47fbf880df53bc2a1cee05bf0d17e2d5))
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+ * **brepjs-cad:** teach worm-wheel and rack tooth recipes; fix gear-build contradiction ([#1544](https://github.com/andymai/brepjs/issues/1544)) ([b0da85f](https://github.com/andymai/brepjs/commit/b0da85f218d463e0f1ef0ca8760cec54b4814b02))
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+ * **release:** unbreak Vercel — repin brepjs-cad to brepjs >=18.0.0 ([#1711](https://github.com/andymai/brepjs/issues/1711)) ([78c780a](https://github.com/andymai/brepjs/commit/78c780a3ab2fcc78f26b32029df72795582e145c))
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  ## [0.72.0](https://github.com/andymai/brepjs/compare/brepjs-cad-v0.71.1...brepjs-cad-v0.72.0) (2026-07-16)
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package/package.json CHANGED
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  {
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  "name": "brepjs-cad",
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- "version": "0.72.0",
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+ "version": "0.74.0",
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  "description": "Brainstorm → design → author → verify → polish pipeline for parametric brepjs CAD, with the brep CLI",
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  "license": "Apache-2.0",
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  "type": "module",
package/viewer/dist/assets/{brepjs-279pWbTF.js → brepjs-BASg6QFK.js} RENAMED
@@ -12,7 +12,7 @@ var e=(e,t)=>()=>(t||(e((t={exports:{}}).exports,t),e=null),t.exports);function
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binary glTF (bad magic)`);let r=n.getUint32(8,!0),i,a,o=12;for(;o<r;){let e=n.getUint32(o,!0),r=n.getUint32(o+4,!0),s=new Uint8Array(t,o+8,e);r===mw?i=JSON.parse(new TextDecoder().decode(s)):r===hw&&(a=s),o+=8+e}if(!i||typeof i!=`object`||!a)throw Error(`manifold: importGLB — missing JSON or BIN chunk`);let s=i,c=s.meshes?.[0]?.primitives[0],l=s.accessors??[],u=s.bufferViews??[];if(!c||c.attributes.POSITION===void 0)throw Error(`manifold: importGLB — no POSITION attribute`);let d=l[c.attributes.POSITION];if(!d)throw Error(`manifold: importGLB — invalid POSITION accessor`);let f=u[d.bufferView];if(!f)throw Error(`manifold: importGLB — invalid POSITION bufferView`);let p=new Float32Array(a.buffer.slice(a.byteOffset+(f.byteOffset??0),a.byteOffset+(f.byteOffset??0)+d.count*3*4)),m;if(c.indices!==void 0){let e=l[c.indices];if(!e)throw Error(`manifold: importGLB — invalid indices accessor`);let t=u[e.bufferView];if(!t)throw Error(`manifold: importGLB — invalid indices bufferView`);let n=e.componentType===_w?4:e.componentType===vw?2:+(e.componentType===yw);if(n===0)throw Error(`manifold: importGLB — unsupported index component type ${e.componentType}`);let r=a.byteOffset+(t.byteOffset??0),i=new DataView(a.buffer,r,e.count*n);m=new Uint32Array(e.count);for(let t=0;t<e.count;t++){let e=t*n;m[t]=n===4?i.getUint32(e,!0):n===2?i.getUint16(e,!0):i.getUint8(e)}}else m=Uint32Array.from({length:d.count},(e,t)=>t);return tw(e,{vertProperties:p,triVerts:m},`importGLB`)}function Ew(e){return{exportSTL:(e,t)=>QC(e,t),exportOBJ:e=>$C(e),exportPLY:e=>ew(e),importSTL:t=>rw(e,typeof t==`string`?new TextEncoder().encode(t).buffer:t),importOBJ:t=>nw(e,t),exportSTEP:e=>Ly(`exportSTEP`).exportSTEP(e.map(e=>uw(e).brep)),exportIGES:e=>Ly(`exportIGES`).exportIGES(e.map(e=>uw(e).brep)),toBREP:e=>{let{occt:t,brep:n}=uw(e);return t.toBREP(n)},exportSTEPAssembly:(e,t)=>{let n=Ly(`exportSTEPAssembly`),r=e.map(e=>{let t={shape:uw(e.shape).brep,name:e.name};return e.color===void 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Error(`manifold: 3MF IO is unsupported on the mesh kernel; export GLB/STL/OBJ or use a B-rep kernel`)}}}function Dw(e){return V(e).getMesh()}function Ow(e,t){let n=t*(e.numProp&&e.numProp>=3?e.numProp:3);return[e.vertProperties[n]??0,e.vertProperties[n+1]??0,e.vertProperties[n+2]??0]}function kw(e,t){let n=e;if(n&&n.__manifoldSub&&n.occt){let e=Iy();if(!e)throw Error(`manifold: sub-shape geometry query requires a registered occt kernel`);return t(n.occt,e)}let r=Py(e);if(!r)throw Error(`manifold: exact geometry query requires a manifold shape handle`);let i=Iy();if(!i)throw Error(`manifold: exact geometry query unsupported on manifold kernel; no B-rep kernel registered`);if(!r.node.replayable)throw Error(`manifold: exact geometry query unsupported; shape originates from a non-replayable op (raw mesh import or mesh boolean)`);let a=Ry.get(r.node);return a===void 0&&(a=$S(r.node,i),Ry.set(r.node,a)),t(a,i)}function Aw(e){let t=Py(e);if(!t)return;let n=t.node;return 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t?jb(t):kw(e,(e,t)=>t.curvePeriod(e))},interpolatePoints:(e,t)=>Ly(`interpolatePoints`).interpolatePoints(e,t),approximatePoints:(e,t)=>Ly(`approximatePoints`).approximatePoints(e,t),curveDegreeElevate:(e,t)=>kw(e,(e,n)=>n.curveDegreeElevate(e,t)),curveKnotInsert:(e,t,n)=>kw(e,(e,r)=>r.curveKnotInsert(e,t,n)),curveKnotRemove:(e,t,n)=>kw(e,(e,r)=>r.curveKnotRemove(e,t,n)),curveSplit:(e,t)=>kw(e,(e,n)=>n.curveSplit(e,t)),createCurveAdaptor:e=>kw(e,(e,t)=>t.createCurveAdaptor(e)),getBezierPenultimatePole:e=>kw(e,(e,t)=>t.getBezierPenultimatePole(e)),getNurbsCurveData:e=>kw(e,(e,t)=>t.getNurbsCurveData?.(e)??null),vertexPosition:e=>NC(e)?e.point:Py(e)?Ow(Dw(e),0):kw(e,(e,t)=>t.vertexPosition(e)),surfaceType:e=>{if(wC(e))return`plane`;let t=Py(e);return t&&t.node.op===`profileFace`?`plane`:kw(e,(e,t)=>t.surfaceType(e))},uvBounds:e=>wC(e)?{uMin:0,uMax:1,vMin:0,vMax:1}:kw(e,(e,t)=>t.uvBounds(e)),outerWire:e=>kw(e,(e,t)=>t.outerWire(e)),surfaceNormal:(e,t,n)=>wC(e)?e.normal:kw(e,(e,r)=>r.surfaceNormal(e,t,n)),pointOnSurface:(e,t,n)=>kw(e,(e,r)=>r.pointOnSurface(e,t,n)),uvFromPoint:(e,t)=>kw(e,(e,n)=>n.uvFromPoint(e,t)),projectPointOnFace:(e,t)=>kw(e,(e,n)=>n.projectPointOnFace(e,t)),classifyPointOnFace:(e,t,n,r)=>kw(e,(e,i)=>i.classifyPointOnFace(e,t,n,r)),classifyPointRobust:(e,t,n)=>kw(e,(e,r)=>r.classifyPointRobust(e,t,n)),classifyPointWinding:(e,t,n)=>kw(e,(e,r)=>r.classifyPointWinding(e,t,n)),approximateSurfaceLspia:(e,t,n,r,i,a,o,s,c)=>Ly(`approximateSurfaceLspia`).approximateSurfaceLspia(e,t,n,r,i,a,o,s,c),untrimFace:(e,t,n)=>kw(e,(e,r)=>r.untrimFace(e,t,n)),getSurfaceCylinderData:e=>kw(e,(e,t)=>t.getSurfaceCylinderData(e)),getSurfaceAxis:e=>kw(e,(e,t)=>t.getSurfaceAxis(e)),reverseSurfaceU:e=>Ly(`reverseSurfaceU`).reverseSurfaceU(e),detectSmallFeatures:(e,t,n)=>kw(e,(e,r)=>r.detectSmallFeatures(e,t,n)),recognizeFeatures:(e,t)=>kw(e,(e,n)=>n.recognizeFeatures(e,t)),projectEdges:(e,t,n,r)=>kw(e,(e,i)=>i.projectEdges(e,t,n,r)),getNurbsSurfaceData:e=>kw(e,(e,t)=>t.getNurbsSurfaceData?.(e)??null)}}var Mw={hasErrors:!1,hasWarnings:!1,messages:[]};function Nw(){return{modified:new Map,generated:new Map,deleted:new Set}}function Pw(e){return{shape:e,evolution:Nw()}}function Fw(e){return{shape:e,evolution:Nw(),diagnostics:Mw}}function Iw(e){let t=_b(e),n=Yy(e),r=CS(e);return{translateWithHistory:(e,n,r,i)=>Pw(t.translate(e,n,r,i)),rotateWithHistory:(e,n,r,i,a,o)=>Pw(t.rotate(e,n,a,o)),mirrorWithHistory:(e,n,r)=>Pw(t.mirror(e,n,r)),scaleWithHistory:(e,n,r)=>Pw(t.scale(e,n,r)),generalTransformWithHistory:(e,n,r,i)=>Pw(t.generalTransform(e,n,r,i)),fuseWithHistory:(e,t,r,i,a)=>Fw(n.fuse(e,t,a)),cutWithHistory:(e,t,r,i,a)=>Fw(n.cut(e,t,a)),intersectWithHistory:(e,t,r,i,a)=>Fw(n.intersect(e,t,a)),filletWithHistory:(e,t,n)=>Pw(r.fillet(e,t,n)),chamferWithHistory:(e,t,n)=>Pw(r.chamfer(e,t,n)),shellWithHistory:(e,t,n,i,a,o)=>Pw(r.shell(e,t,n,o)),thickenWithHistory:(e,t)=>Pw(r.thicken(e,t)),offsetWithHistory:(e,t,n,i,a)=>Pw(r.offset(e,t,a)),draftWithHistory:(e,t,n,i,a)=>Pw(r.draft(e,t,n,i,a)),applyComposedTransformWithHistory:(e,n)=>Pw(t.transform(e,n))}}function Lw(e){let t=e?.manifold;if(!t||typeof t.isEmpty==`function`&&t.isEmpty())return!1;if(typeof t.status==`function`){let e=t.status(),n=typeof 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n=e.map(e=>[e[0],e[1]]);for(let e=1;e<n.length;e++)for(let r=0;r<n.length-e;r++){let e=n[r]??[0,0],i=n[r+1]??[0,0];n[r]=[e[0]*(1-t)+i[0]*t,e[1]*(1-t)+i[1]*t]}return n[0]??[0,0]}function Jw(e,t){let n=Math.cos(t),r=Math.sin(t);return[e.c[0]+e.u[0]*n+e.v[0]*r,e.c[1]+e.u[1]*n+e.v[1]*r]}function Yw(e,t){let n=e.length-1;if(n<1)return[0,0];let r=[];for(let t=0;t<n;t++){let i=e[t]??[0,0],a=e[t+1]??[0,0];r.push([n*(a[0]-i[0]),n*(a[1]-i[1])])}return qw(r,t)}function Xw(e){let t=Math.abs(e.a1-e.a0),n=Math.hypot(e.u[0],e.u[1]),r=Math.hypot(e.v[0],e.v[1]),i=Math.max(n,r);if(i<=zw)return Math.max(2,Math.ceil(t/(2*Math.PI)*8));let a=2*Math.acos(Math.max(-1,1-zw/i));return Math.max(2,Math.ceil(t/a))}function Zw(e){if(e.k===`line`)return[e.p1,e.p2];if(e.k===`bezier`){let t=[];for(let n=0;n<=24;n++)t.push(qw(e.pts,n/24));return t}let t=e.a1-e.a0,n=Xw(e),r=[];for(let i=0;i<=n;i++){let a=e.a0+t*i/n,o=Math.cos(a),s=Math.sin(a);r.push([e.c[0]+e.u[0]*o+e.v[0]*s,e.c[1]+e.u[1]*o+e.v[1]*s])}return r}function 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13
13
  npm install occt-wasm (recommended, default)
14
14
  npm install brepjs-opencascade
15
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a;try{let{filteredFaces:a,kernelAngle:o}=zj(t,i);if(a.length===0)return k(F(N.DRAFT_NO_FACES,`No faces with valid draft angle`,void 0,void 0,`Check that the angle callback returns non-zero values between -90 and 90 degrees`));let s=XO([e]),{shape:c,evolution:l}=U().draftWithHistory(e.wrapped,a.map(e=>e.wrapped),[n[0],n[1],n[2]],[r[0],r[1],r[2]],o,s,G);return Rj(l,c,[e],N.DRAFT_NOT_3D,`Draft result is not a 3D shape`)}catch(e){let n=e instanceof Error?e.message:String(e);return k(P(N.DRAFT_FAILED,`Draft operation failed: ${n}`,e,{operation:`draft`,faceCount:t.length,angle:i}))}}function Jj(e,t,n){if(n.length===0)return k(F(N.VARIABLE_FILLET_FAILED,`radii must contain at least one radius spec`));for(let e of n)if(e.radius<=0)return k(F(N.VARIABLE_FILLET_FAILED,`All radius values must be positive`));let r=U();try{let i=JSON.stringify({edge:r.hashCode(t.wrapped,G),radii:n.map(e=>({param:e.param,radius:e.radius}))}),a=W(r.filletVariable(e.wrapped,i));return kE(a)?DE(a)?O(a):(FE(a),k(P(N.VARIABLE_FILLET_FAILED,`Variable-radius fillet did not produce a solid`))):(FE(a),k(P(N.VARIABLE_FILLET_FAILED,`Variable-radius fillet did not produce a 3D shape`)))}catch(e){return k(P(N.VARIABLE_FILLET_FAILED,`Variable-radius fillet failed`,e))}}function Yj(e){return pD(e)}function Xj(e){if(!DE(e))return k(F(`NOT_A_SOLID`,`Input shape is not a solid`));let t=Yj(e);try{let n=U().healSolid(e.wrapped);if(!n)return t?O(e):k(P(N.HEAL_NO_EFFECT,`Solid healing had no effect — shape is still invalid`));let r=W(n);return DE(r)?(YE(r),Yj(r)?O(r):(FE(r),k(P(`HEAL_SOLID_INCOMPLETE`,`Healed result is still invalid after ShapeFix_Solid`)))):(FE(r),k(P(`HEAL_RESULT_NOT_SOLID`,`Healed result is not a solid`)))}catch(e){return k(P(`HEAL_SOLID_FAILED`,`Solid healing failed`,e))}}function Zj(e){if(!TE(e))return k(F(`NOT_A_FACE`,`Input shape is not a face`));try{let t=W(U().healFace(e.wrapped));return TE(t)?O(t):(FE(t),k(P(`HEAL_RESULT_NOT_FACE`,`Healed result is not a 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eF(`prismatic`,e,t,n,[$P(`translation`,n.direction,r,0,100)])}function rF(e,t,n,r={}){return eF(`cylindrical`,e,t,n,[$P(`rotation`,n.direction,r.rotation??{},-180,180),$P(`translation`,n.direction,r.translation??{},0,100)])}function iF(e,t,n,r={}){let i=XP(n.direction),a;if(r.uDirection){let e=r.uDirection,t=e[0]*i[0]+e[1]*i[1]+e[2]*i[2],n=[e[0]-t*i[0],e[1]-t*i[1],e[2]-t*i[2]];a=Math.hypot(n[0],n[1],n[2])<1e-9?QP(i):XP(n)}else a=QP(i);let o=XP(ZP(i,a));return eF(`planar`,e,t,{origin:n.origin,direction:i},[$P(`translation`,a,r.u??{},-100,100),$P(`translation`,o,r.v??{},-100,100),$P(`rotation`,i,r.rotation??{},-180,180)])}function aF(e,t,n,r={}){return eF(`spherical`,e,t,{origin:n,direction:[0,0,1]},[$P(`rotation`,[1,0,0],r.x??{},-180,180),$P(`rotation`,[0,1,0],r.y??{},-180,180),$P(`rotation`,[0,0,1],r.z??{},-180,180)])}function oF(e,t){let n=e.dofs.map((e,n)=>{let r=t[n];return r===void 0?e:{...e,value:YP(r,e.min,e.max)}}),r=n[0];return 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n)r.set(e.child,e);let i=[],a=new Set,o=t;for(;o&&r.has(o)&&!a.has(o);){a.add(o);let e=r.get(o);if(!e)break;i.push(e),o=e.parent}return i.reverse()}function xF(e,t){return e[t]??0}function SF(e,t,n){let r=n+1,i=new Float64Array(n*r);for(let a=0;a<n;a++){for(let t=0;t<n;t++)i[a*r+t]=xF(e,a*n+t);i[a*r+n]=xF(t,a)}for(let e=0;e<n;e++){let t=e;for(let a=e+1;a<n;a++)Math.abs(xF(i,a*r+e))>Math.abs(xF(i,t*r+e))&&(t=a);if(Math.abs(xF(i,t*r+e))<1e-12)return null;if(t!==e)for(let n=e;n<r;n++){let a=xF(i,e*r+n);i[e*r+n]=xF(i,t*r+n),i[t*r+n]=a}let a=xF(i,e*r+e);for(let t=e;t<r;t++)i[e*r+t]=xF(i,e*r+t)/a;for(let t=0;t<n;t++){if(t===e)continue;let n=xF(i,t*r+e);if(n!==0)for(let a=e;a<r;a++)i[t*r+a]=xF(i,t*r+a)-n*xF(i,e*r+a)}}let a=new Float64Array(n);for(let e=0;e<n;e++)a[e]=xF(i,e*r+n);return a}function CF(e,t){let n=[],r=[],i=[],a=[];for(let o of e){let e=t?.[o.child];n.push({child:o.child,count:o.dofs.length}),o.dofs.forEach((t,n)=>{let o=(Array.isArray(e)?e[n]:n===0?e:void 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r=0;r<n;r++)s+=xF(e,t*n+r)*xF(e,i*n+r);a[t*r+i]=s+(t===i?o:0)}let s=SF(a,t,r);if(!s)return null;let c=new Float64Array(n);for(let t=0;t<n;t++){let i=0;for(let a=0;a<r;a++)i+=xF(e,a*n+t)*xF(s,a);c[t]=i}return c}function OF(e,t,n,r={}){let i=r.maxIterations??200,a=r.tolerance??1e-5,o=r.damping??.05,s=r.tip??[0,0,0],c=n.rotation===void 0?3:6,{segments:l,q:u,lo:d,hi:f}=CF(bF(e,t),r.seed),p=u.length,m=n=>mF(e,wF(l,n)).get(t)??gF,h=new Float64Array(c),g=new Float64Array(c*p),_=m(u),v=TF(h,_,n,s,c),y=0;for(;y<i&&p>0&&v>a;y++){EF(g,u,p,c,d,f,_,s,1e-6,m);let e=DF(g,h,p,c,o);if(!e)break;for(let t=0;t<p;t++){let n=xF(u,t)+xF(e,t);u[t]=Math.min(xF(f,t),Math.max(xF(d,t),n))}_=m(u),v=TF(h,_,n,s,c)}return{values:wF(l,u),converged:v<=a,iterations:y,error:v}}function kF(e,t){return e.dofs.map((e,n)=>{let r=(Array.isArray(t)?t[n]:n===0?t:void 0)??e.value;return Math.min(e.max,Math.max(e.min,r))})}function AF(e,t,n,r){let i=[];LP(e,e=>{e.joints&&i.push(...e.joints)});let a=i.map(e=>({child:e.child,a:kF(e,t[e.child]),b:kF(e,n[e.child])})),o=Math.max(1,Math.floor(r)),s=[];for(let t=0;t<=o;t++){let n=t/o,r={};for(let e of a)r[e.child]=e.a.map((t,r)=>t+((e.b[r]??t)-t)*n);s.push({t:n,values:r,poses:mF(e,r)})}return s}var jF=Math.PI/180;function MF(e,t,n,r){let i=e*jF,a=r*jF,o=qP(GP([0,0,1],i),GP([1,0,0],a));return{position:[n*Math.cos(i),n*Math.sin(i),t],rotation:o}}function NF(e,t={}){let n=t.base??`base`,r=e.map((e,t)=>e.name??`link${t+1}`);return e.map((e,t)=>{let i=t===0?n:r[t-1]??`link${t}`,a=r[t]??`link${t+1}`,o=MF(e.theta,e.d,e.a,e.alpha),s={origin:[0,0,0],direction:[0,0,1]},c={...e.min===void 0?{}:{min:e.min},...e.max===void 0?{}:{max:e.max},...e.value===void 0?{}:{value:e.value}};return{...e.type===`prismatic`?nF(i,a,s,c):tF(i,a,s,c),offset:o}})}var PF=Math.PI/180,FF=180/Math.PI;function IF(e){return e.replace(/&/g,`&amp;`).replace(/</g,`&lt;`).replace(/>/g,`&gt;`).replace(/"/g,`&quot;`)}function LF(e){return String(e===0?0:e)}function RF(e){return`${LF(e[0])} ${LF(e[1])} ${LF(e[2])}`}function zF(e,t={}){let n=t.name??`robot`,r=t.effort??0,i=t.velocity??0,a=t.meshes??{},o=[],s=[];LP(e,e=>{o.push(e.name),e.joints&&s.push(...e.joints)});for(let e of s){if(e.type!==`revolute`&&e.type!==`prismatic`)return k(F(N.VALIDATION_FAILED,`exportURDF: joint '${e.parent}->${e.child}' is '${e.type}'; URDF supports only revolute and prismatic joints`));if(e.offset)return k(F(N.VALIDATION_FAILED,`exportURDF: joint '${e.parent}->${e.child}' carries a fixed offset (e.g. a DH link) that URDF cannot represent as a single joint`))}let c=[`<?xml version="1.0"?>`,`<robot name="${IF(n)}">`];for(let e of o){let t=a[e];t?c.push(` <link name="${IF(e)}">`,` <visual><geometry><mesh filename="${IF(t)}"/></geometry></visual>`,` </link>`):c.push(` <link name="${IF(e)}"/>`)}for(let e of s){let t=e.type===`revolute`,n=t?e.min*PF:e.min,a=t?e.max*PF:e.max,o=e.type===`prismatic`?[0,0,0]:e.axis.origin;c.push(` <joint name="${IF(`${e.parent}_to_${e.child}`)}" type="${e.type}">`,` <parent link="${IF(e.parent)}"/>`,` <child link="${IF(e.child)}"/>`,` <origin xyz="${RF(o)}" rpy="0 0 0"/>`,` <axis xyz="${RF(e.axis.direction)}"/>`,` <limit lower="${LF(n)}" upper="${LF(a)}" effort="${LF(r)}" velocity="${LF(i)}"/>`,` </joint>`)}return c.push(`</robot>`,``),O(c.join(`
15
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a=XO([e]),{shape:o,evolution:s}=U().filletWithHistory(e.wrapped,t.map(e=>e.wrapped),r,a,G),c=W(o);return kE(c)?(ZO(s,[e],c),O({shape:c,evolution:s})):(FE(c),k(P(N.FILLET_NOT_3D,`Fillet result is not a 3D shape`)))}catch(e){return k(P(`FILLET_FAILED`,`Fillet operation failed: ${e instanceof Error?e.message:String(e)}`,e,{operation:`fillet`,edgeCount:i.length,radius:n}))}}function Mj(e,t,n){let r=Tj(e,`chamferWithEvolution: shape`);if(A(r))return r;if(typeof n==`number`&&n<=0)return k(F(`INVALID_CHAMFER_DISTANCE`,`Chamfer distance must be positive`,void 0,void 0,`Provide a positive distance value greater than 0`));if(Array.isArray(n)&&(n[0]<=0||n[1]<=0))return k(F(`INVALID_CHAMFER_DISTANCE`,`Chamfer distances must both be positive`,void 0,void 0,`Both distance values must be greater than 0`));let i=t??XE(e);if(i.length===0)return k(F(N.CHAMFER_NO_EDGES,`No edges found for chamfer`));try{let t,r;if(typeof n==`function`){let e=Dj(i,n);if(!e)return k(F(N.CHAMFER_NO_EDGES,`No edges with 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Rj(s,i,[e],N.FILLET_NOT_3D,`Fillet result is not a 3D shape`)}catch(e){return k(P(`FILLET_FAILED`,`Fillet operation failed: ${e instanceof Error?e.message:String(e)}`,e,{operation:`fillet`,edgeCount:s,radius:n}))}}function Uj(e,t,n){let r=Fj(e,`chamfer: shape`);if(A(r))return r;let i=Ij(n,{code:`INVALID_CHAMFER_DISTANCE`,scalar:`Chamfer distance must be positive`,pair:`Chamfer distances must both be positive`,scalarHint:`Provide a positive distance value greater than 0`,pairHint:`Both distance values must be greater than 0`});if(i)return i;let a=t??XE(e);if(a.length===0)return k(F(N.CHAMFER_NO_EDGES,`No edges found for chamfer`));try{let t,r;if(typeof n==`function`){let e=Lj(a,n);if(!e)return k(F(N.CHAMFER_NO_EDGES,`No edges with positive distance for chamfer`));t=e.edges,r=e.kernelParam}else t=[...a],r=n;let i=XO([e]),{shape:o,evolution:s}=U().chamferWithHistory(e.wrapped,t.map(e=>e.wrapped),r,i,G);return Rj(s,o,[e],N.CHAMFER_NOT_3D,`Chamfer result is not a 3D shape`)}catch(e){return k(P(`CHAMFER_FAILED`,`Chamfer operation failed: ${e instanceof Error?e.message:String(e)}`,e,{operation:`chamfer`,edgeCount:a.length,distance:n}))}}function Wj(e,t,n,r=.001,{trackEvolution:i=!0}={}){let a=Fj(e,`shell: shape`);if(A(a))return a;if(n<=0)return k(F(`INVALID_THICKNESS`,`Shell thickness must be positive`));if(t.length===0)return k(F(`NO_FACES`,`At least one face must be specified for shell`));try{if(!i){let i=W(U().shell(e.wrapped,t.map(e=>e.wrapped),n,r));return kE(i)?O(i):k(P(`SHELL_RESULT_NOT_3D`,`Shell result is not a 3D shape`))}let a=XO([e]),{shape:o,evolution:s}=U().shellWithHistory(e.wrapped,t.map(e=>e.wrapped),n,a,G,r),c=W(o);return kE(c)?(ZO(s,[e],c),O(c)):k(P(`SHELL_RESULT_NOT_3D`,`Shell result is not a 3D shape`))}catch(e){return k(P(`SHELL_FAILED`,`Shell operation failed: ${e instanceof Error?e.message:String(e)}`,e,{operation:`shell`,faceCount:t.length,thickness:n}))}}function Gj(e,t,n=1e-6){let r=Fj(e,`offset: shape`);if(A(r))return r;if(Math.abs(t)<1e-10)return k(F(`ZERO_OFFSET`,`Offset distance cannot be zero`));try{let r=XO([e]),{shape:i,evolution:a}=U().offsetWithHistory(e.wrapped,t,r,G,n),o=W(i);return kE(o)?(ZO(a,[e],o),O(o)):k(P(`OFFSET_RESULT_NOT_3D`,`Offset result is not a 3D shape`))}catch(e){return k(P(`OFFSET_FAILED`,`Offset operation failed: ${e instanceof Error?e.message:String(e)}`,e))}}function Kj(e,t,n){let r=Fj(e,`draft: shape`);if(A(r))return r;if(typeof n==`number`){if(Math.abs(n)<1e-10)return k(F(N.DRAFT_INVALID_ANGLE,`Draft angle cannot be zero`,void 0,void 0,`Provide a non-zero angle in degrees`));if(Math.abs(n)>=90)return k(F(N.DRAFT_INVALID_ANGLE,`Draft angle must be between -90 and 90 degrees (exclusive)`,void 0,void 0,`Typical draft angles are 1-5 degrees for injection molding`))}if(t.length===0)return k(F(N.DRAFT_NO_FACES,`No faces specified for draft`,void 0,void 0,`Select at least one face to apply the draft angle to`))}function qj(e,t,n,r,i){let a=Kj(e,t,i);if(a)return a;try{let{filteredFaces:a,kernelAngle:o}=zj(t,i);if(a.length===0)return k(F(N.DRAFT_NO_FACES,`No faces with valid draft angle`,void 0,void 0,`Check that the angle callback returns non-zero values between -90 and 90 degrees`));let s=XO([e]),{shape:c,evolution:l}=U().draftWithHistory(e.wrapped,a.map(e=>e.wrapped),[n[0],n[1],n[2]],[r[0],r[1],r[2]],o,s,G);return Rj(l,c,[e],N.DRAFT_NOT_3D,`Draft result is not a 3D shape`)}catch(e){let n=e instanceof Error?e.message:String(e);return k(P(N.DRAFT_FAILED,`Draft operation failed: ${n}`,e,{operation:`draft`,faceCount:t.length,angle:i}))}}function Jj(e,t,n){if(n.length===0)return k(F(N.VARIABLE_FILLET_FAILED,`radii must contain at least one radius spec`));for(let e of n)if(e.radius<=0)return k(F(N.VARIABLE_FILLET_FAILED,`All radius values must be positive`));let r=U();try{let i=JSON.stringify({edge:r.hashCode(t.wrapped,G),radii:n.map(e=>({param:e.param,radius:e.radius}))}),a=W(r.filletVariable(e.wrapped,i));return kE(a)?DE(a)?O(a):(FE(a),k(P(N.VARIABLE_FILLET_FAILED,`Variable-radius fillet did not produce a solid`))):(FE(a),k(P(N.VARIABLE_FILLET_FAILED,`Variable-radius fillet did not produce a 3D shape`)))}catch(e){return k(P(N.VARIABLE_FILLET_FAILED,`Variable-radius fillet failed`,e))}}function Yj(e){return pD(e)}function Xj(e){if(!DE(e))return k(F(`NOT_A_SOLID`,`Input shape is not a solid`));let t=Yj(e);try{let n=U().healSolid(e.wrapped);if(!n)return t?O(e):k(P(N.HEAL_NO_EFFECT,`Solid healing had no effect — shape is still invalid`));let r=W(n);return DE(r)?(YE(r),Yj(r)?O(r):(FE(r),k(P(`HEAL_SOLID_INCOMPLETE`,`Healed result is still invalid after ShapeFix_Solid`)))):(FE(r),k(P(`HEAL_RESULT_NOT_SOLID`,`Healed result is not a solid`)))}catch(e){return k(P(`HEAL_SOLID_FAILED`,`Solid healing failed`,e))}}function Zj(e){if(!TE(e))return k(F(`NOT_A_FACE`,`Input shape is not a face`));try{let t=W(U().healFace(e.wrapped));return TE(t)?O(t):(FE(t),k(P(`HEAL_RESULT_NOT_FACE`,`Healed result is not a 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m=QE(d).length,h=ZE(d).length,g=Math.abs(m-l),_=Math.abs(h-u);g>0&&s.push(`Wire count changed by ${g}`),_>0&&s.push(`Face count changed by ${_}`);let v=Yj(d);return s.push(v?`Final validation: valid`:`Final validation: still invalid`),c.push({name:`finalValidation`,attempted:!0,succeeded:v}),O({shape:d,report:{isValid:v,alreadyValid:!1,wiresHealed:g,facesHealed:_,solidHealed:f,steps:s,diagnostics:c}})}function tM(e){try{return O(W(U().fixShape(e.wrapped)))}catch(e){return k(P(N.FIX_SHAPE_FAILED,`ShapeFix_Shape failed`,e))}}function nM(e){try{let t=W(U().solidFromShell(e.wrapped));return DE(t)?Yj(t)?O(t):(FE(t),k(P(N.SOLID_FROM_SHELL_FAILED,`solidFromShell produced an invalid solid`))):(FE(t),k(P(N.SOLID_FROM_SHELL_FAILED,`solidFromShell did not produce a solid`)))}catch(e){return k(P(N.SOLID_FROM_SHELL_FAILED,`Failed to create solid from shell`,e))}}function rM(e){try{let t=W(U().fixSelfIntersection(e.wrapped));return wE(t)?O(t):(FE(t),k(P(N.FIX_SELF_INTERSECTION_FAILED,`Result is not 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n=W(U().simplePipe(e.wrapped,t.wrapped));return kE(n)?O(n):(FE(n),k(ho(`SWEEP_NOT_3D`,`Simple pipe did not produce a 3D shape`)))}let{frenet:i=!1,auxiliarySpine:a,law:o=null,transitionMode:s=`right`,withContact:c,support:l,forceProfileSpineOthogonality:u,tolerance:d,boundTolerance:f,angularTolerance:p,maxDegree:m,maxSegments:h}=n,g=U(),_=s===`round`?!0:!!u,v=g.sweepPipeShell(e.wrapped,t.wrapped,{transitionMode:s,contact:!!c,correction:_,frenet:i,shellMode:r,...a?.wrapped?{auxiliary:a.wrapped}:{},...o===null?{}:{law:o},...l===null?{}:{support:l},tolerance:d,boundTolerance:f,angularTolerance:p,maxDegree:m,maxSegments:h});if(r&&typeof v==`object`&&`firstShape`in v)return sM(v);let y=W(v);return kE(y)?O(y):(FE(y),k(ho(`SWEEP_NOT_3D`,`Sweep did not produce a 3D shape`)))}function lM(e,t,n,r){return cM(e,aM(t,SD(t,n)),{support:r})}function uM(e,t,n,r,i=!1){try{var a=OT();let o=OD(n);if(o<1e-10)return k(F(`ZERO_LENGTH_EXTRUSION`,`Extrusion vector cannot have zero length`));let s=SD(t,n),c=a.u(aM(t,s)),l=null;if(r){let e=iM(o,r);if(A(e))return e;l=e.value}return cM(e,c,{law:l},i)}catch(e){a.e=e}finally{a.d()}}function dM(e,t,n,r,i,a=!1){try{var o=OT();if(Math.abs(t)<1e-10)return k(F(`ZERO_TWIST_ANGLE`,`Twist angle cannot be zero`));let s=OD(r);if(s<1e-10)return k(F(`ZERO_LENGTH_EXTRUSION`,`Extrusion vector cannot have zero length`));let c=SD(n,r),l=o.u(aM(n,c)),u=t<0,d=360/Math.abs(t)*s,f=o.u(oM(d,s,1,n,r,u)),p=null;if(i){let e=iM(s,i);if(A(e))return e;p=e.value}return cM(e,l,{auxiliarySpine:f,law:p},a)}catch(e){o.e=e}finally{o.d()}}function fM(e){let t=e.map(e=>e.location);for(let e=0;e<t.length;e++){let n=t[e];if(n!==void 0&&(n<0||n>1))return F(N.MULTI_SWEEP_FAILED,`Section ${e} location ${n} is out of range [0, 1]`)}let n=t.filter(e=>e!==void 0);for(let e=1;e<n.length;e++)if((n[e]??0)<=(n[e-1]??0))return F(N.MULTI_SWEEP_FAILED,`Section locations must be strictly increasing`)}function 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r=0;r<n;r++)s+=xF(e,t*n+r)*xF(e,i*n+r);a[t*r+i]=s+(t===i?o:0)}let s=SF(a,t,r);if(!s)return null;let c=new Float64Array(n);for(let t=0;t<n;t++){let i=0;for(let a=0;a<r;a++)i+=xF(e,a*n+t)*xF(s,a);c[t]=i}return c}function OF(e,t,n,r={}){let i=r.maxIterations??200,a=r.tolerance??1e-5,o=r.damping??.05,s=r.tip??[0,0,0],c=n.rotation===void 0?3:6,{segments:l,q:u,lo:d,hi:f}=CF(bF(e,t),r.seed),p=u.length,m=n=>mF(e,wF(l,n)).get(t)??gF,h=new Float64Array(c),g=new Float64Array(c*p),_=m(u),v=TF(h,_,n,s,c),y=0;for(;y<i&&p>0&&v>a;y++){EF(g,u,p,c,d,f,_,s,1e-6,m);let e=DF(g,h,p,c,o);if(!e)break;for(let t=0;t<p;t++){let n=xF(u,t)+xF(e,t);u[t]=Math.min(xF(f,t),Math.max(xF(d,t),n))}_=m(u),v=TF(h,_,n,s,c)}return{values:wF(l,u),converged:v<=a,iterations:y,error:v}}function kF(e,t){return e.dofs.map((e,n)=>{let r=(Array.isArray(t)?t[n]:n===0?t:void 0)??e.value;return Math.min(e.max,Math.max(e.min,r))})}function AF(e,t,n,r){let i=[];LP(e,e=>{e.joints&&i.push(...e.joints)});let a=i.map(e=>({child:e.child,a:kF(e,t[e.child]),b:kF(e,n[e.child])})),o=Math.max(1,Math.floor(r)),s=[];for(let t=0;t<=o;t++){let n=t/o,r={};for(let e of a)r[e.child]=e.a.map((t,r)=>t+((e.b[r]??t)-t)*n);s.push({t:n,values:r,poses:mF(e,r)})}return s}var jF=Math.PI/180;function MF(e,t,n,r){let i=e*jF,a=r*jF,o=qP(GP([0,0,1],i),GP([1,0,0],a));return{position:[n*Math.cos(i),n*Math.sin(i),t],rotation:o}}function NF(e,t={}){let n=t.base??`base`,r=e.map((e,t)=>e.name??`link${t+1}`);return e.map((e,t)=>{let i=t===0?n:r[t-1]??`link${t}`,a=r[t]??`link${t+1}`,o=MF(e.theta,e.d,e.a,e.alpha),s={origin:[0,0,0],direction:[0,0,1]},c={...e.min===void 0?{}:{min:e.min},...e.max===void 0?{}:{max:e.max},...e.value===void 0?{}:{value:e.value}};return{...e.type===`prismatic`?nF(i,a,s,c):tF(i,a,s,c),offset:o}})}var PF=Math.PI/180,FF=180/Math.PI;function IF(e){return e.replace(/&/g,`&amp;`).replace(/</g,`&lt;`).replace(/>/g,`&gt;`).replace(/"/g,`&quot;`)}function LF(e){return String(e===0?0:e)}function RF(e){return`${LF(e[0])} ${LF(e[1])} ${LF(e[2])}`}function zF(e,t={}){let n=t.name??`robot`,r=t.effort??0,i=t.velocity??0,a=t.meshes??{},o=[],s=[];LP(e,e=>{o.push(e.name),e.joints&&s.push(...e.joints)});for(let e of s){if(e.type!==`revolute`&&e.type!==`prismatic`)return k(F(N.VALIDATION_FAILED,`exportURDF: joint '${e.parent}->${e.child}' is '${e.type}'; URDF supports only revolute and prismatic joints`));if(e.offset)return k(F(N.VALIDATION_FAILED,`exportURDF: joint '${e.parent}->${e.child}' carries a fixed offset (e.g. a DH link) that URDF cannot represent as a single joint`))}let c=[`<?xml version="1.0"?>`,`<robot name="${IF(n)}">`];for(let e of o){let t=a[e];t?c.push(` <link name="${IF(e)}">`,` <visual><geometry><mesh filename="${IF(t)}"/></geometry></visual>`,` </link>`):c.push(` <link name="${IF(e)}"/>`)}for(let e of s){let t=e.type===`revolute`,n=t?e.min*PF:e.min,a=t?e.max*PF:e.max,o=e.type===`prismatic`?[0,0,0]:e.axis.origin;c.push(` <joint name="${IF(`${e.parent}_to_${e.child}`)}" type="${e.type}">`,` <parent link="${IF(e.parent)}"/>`,` <child link="${IF(e.child)}"/>`,` <origin xyz="${RF(o)}" rpy="0 0 0"/>`,` <axis xyz="${RF(e.axis.direction)}"/>`,` <limit lower="${LF(n)}" upper="${LF(a)}" effort="${LF(r)}" velocity="${LF(i)}"/>`,` </joint>`)}return c.push(`</robot>`,``),O(c.join(`
16
16
  `))}function BF(e,t){return RegExp(`\\b${t}\\s*=\\s*"([^"]*)"`).exec(e)?.[1]}function VF(e,t){if(!e)return t;let n=e.trim().split(/\s+/).map(Number);return[n[0]??0,n[1]??0,n[2]??0]}function HF(e,t){return WP(qP(qP(GP([0,0,1],t[2]),GP([0,1,0],t[1])),GP([1,0,0],t[0])),e)}function UF(e){let t=/<robot\b([^>]*)>/.exec(e);if(!t)return k(F(N.VALIDATION_FAILED,`importURDF: no <robot> element found`));let n=BF(t[1]??``,`name`)??`robot`,r=[],i=/<link\b([^>]*?)(?:\/>|>)/g;for(let t=i.exec(e);t;t=i.exec(e)){let e=BF(t[1]??``,`name`);e&&r.push(e)}let a=[],o=/<joint\b([^>]*)>([\s\S]*?)<\/joint>/g;for(let t=o.exec(e);t;t=o.exec(e)){let e=t[1]??``,n=t[2]??``,r=BF(e,`type`)??`fixed`;if(r===`fixed`||r===`floating`||r===`planar`)continue;let i=/<parent\b([^>]*?)\/?>/.exec(n),o=/<child\b([^>]*?)\/?>/.exec(n),s=BF(i?.[1]??``,`link`),c=BF(o?.[1]??``,`link`);if(!s||!c)return k(F(N.VALIDATION_FAILED,`importURDF: joint missing parent/child link (${BF(e,`name`)??`unnamed`})`));let l=/<origin\b([^>]*?)\/?>/.exec(n),u=/<axis\b([^>]*?)\/?>/.exec(n),d=/<limit\b([^>]*?)\/?>/.exec(n),f=VF(BF(l?.[1]??``,`xyz`),[0,0,0]),p=VF(BF(l?.[1]??``,`rpy`),[0,0,0]),m=HF(VF(BF(u?.[1]??``,`xyz`),[1,0,0]),p),h=Number(BF(d?.[1]??``,`lower`)??NaN),g=Number(BF(d?.[1]??``,`upper`)??NaN);if(r===`prismatic`){let e=Number.isFinite(h)&&Number.isFinite(g)?{min:h,max:g}:{};a.push(nF(s,c,{origin:f,direction:m},e))}else if(r===`revolute`||r===`continuous`){let e=r===`continuous`||!Number.isFinite(h)||!Number.isFinite(g)?{min:-180,max:180}:{min:h*FF,max:g*FF};a.push(tF(s,c,{origin:f,direction:m},e))}else return k(F(N.VALIDATION_FAILED,`importURDF: joint '${BF(e,`name`)??`unnamed`}' has unrecognized type '${r}'`))}return O({name:n,links:r,joints:a})}function WF(){return{steps:[],shapes:new Map}}function GF(e,t,n){let r={...t,timestamp:Date.now()},i=new Map(e.shapes);return i.set(t.outputId,n),{steps:[...e.steps,r],shapes:i}}function KF(e){if(e.steps.length===0)return e;let t=e.steps.slice(0,-1),n=new Set;for(let e of t){n.add(e.outputId);for(let t of e.inputIds)n.add(t)}let r=new Map;for(let[t,i]of e.shapes)n.has(t)&&r.set(t,i);return{steps:t,shapes:r}}function qF(e,t){return e.steps.find(e=>e.id===t)}function JF(e,t){return e.shapes.get(t)}function YF(e){return e.steps.length}function XF(e,t){let n=e.steps.findIndex(e=>e.id===t);return n===-1?[]:e.steps.slice(n)}function ZF(e,t,n){let r=new Map(e.shapes);return r.set(t,n),{...e,shapes:r}}function QF(){return{operations:new Map}}function $F(e,t,n){let r=new Map(e.operations);return r.set(t,n),{operations:r}}function eI(e,t){let[n,r]=t;return n!==void 0&&r===void 0&&kE(n)?QN(e,n):{...e}}function tI(e,t){let n=new Set(e.steps.map(e=>e.outputId)),r={steps:[],shapes:new Map};for(let[t,i]of e.shapes)n.has(t)||(r=ZF(r,t,i));for(let n of e.steps){let e=t.operations.get(n.type);if(!e)return k(I(`REPLAY_UNKNOWN_OP`,`Unknown operation type: ${n.type}`));let i=[];for(let e of n.inputIds){let 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17
17
  ${e}
18
18
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package/viewer/dist/assets/{index-Drxnizk9.js → index-D1JLFMvF.js} RENAMED
@@ -4205,4 +4205,4 @@ No matching component was found for:
4205
4205
 
4206
4206
  gl_FragColor = vec4(lineColor, alpha);
4207
4207
  }
4208
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1
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@@ -14,7 +14,7 @@
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16
16
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- <script type="module" crossorigin src="./assets/index-Drxnizk9.js"></script>
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+ <script type="module" crossorigin src="./assets/index-D1JLFMvF.js"></script>
18
18
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19
19
  <body>
20
20
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