brepjs-cad 0.85.0 → 0.87.0

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Files changed (6) hide show
  1. package/CHANGELOG.md +74 -0
  2. package/package.json +1 -1
  3. package/viewer/dist/assets/{brepjs-nhz44i-z.js → brepjs-u_PqaluH.js} +1 -1
  4. package/viewer/dist/assets/{index-Da3FWE25.js → index-f5md-zbM.js} +1 -1
  5. package/viewer/dist/assets/{kernelWorker-hsU6yKs9.js → kernelWorker-B0NAVVTL.js} +1 -1
  6. package/viewer/dist/index.html +1 -1
package/CHANGELOG.md CHANGED
@@ -1,5 +1,79 @@
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  # Changelog
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+ ## [0.87.0](https://github.com/andymai/brepjs/compare/brepjs-cad-v0.86.0...brepjs-cad-v0.87.0) (2026-07-17)
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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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+ * **core:** bump occt-wasm to 3.7.0 with borrowed adjacency handles ([#1821](https://github.com/andymai/brepjs/issues/1821)) ([4b76974](https://github.com/andymai/brepjs/commit/4b76974833f2d9900740fffcec2dd589de952ff9))
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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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+ ## [0.86.0](https://github.com/andymai/brepjs/compare/brepjs-cad-v0.85.1...brepjs-cad-v0.86.0) (2026-07-17)
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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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+ * **core:** bump occt-wasm to 3.7.0 with borrowed adjacency handles ([#1821](https://github.com/andymai/brepjs/issues/1821)) ([4b76974](https://github.com/andymai/brepjs/commit/4b76974833f2d9900740fffcec2dd589de952ff9))
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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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  ## [0.85.0](https://github.com/andymai/brepjs/compare/brepjs-cad-v0.84.0...brepjs-cad-v0.85.0) (2026-07-17)
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package/package.json CHANGED
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  {
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  "name": "brepjs-cad",
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- "version": "0.85.0",
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+ "version": "0.87.0",
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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-nhz44i-z.js → brepjs-u_PqaluH.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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  `)){let t=e.trim();if(t.startsWith(`v `)){let e=t.slice(2).trim().split(/\s+/);r.push(Number(e[0]),Number(e[1]),Number(e[2]))}else if(t.startsWith(`f `)){let e=t.slice(2).trim().split(/\s+/).map(e=>{let t=e.split(`/`)[0]??``,n=Number(t);return n>0?n-1:r.length/3+n});for(let t=1;t+1<e.length;t++)i.push(e[0]??0,e[t]??0,e[t+1]??0)}}return ow(e,{vertProperties:Float32Array.from(r),triVerts:Uint32Array.from(i)})}function cw(e,t){let n=new Uint8Array(t),r=new TextDecoder().decode(n.subarray(0,Math.min(n.length,80))).trimStart().toLowerCase().startsWith(`solid`)&&dw(n),i=[];if(r){let e=new TextDecoder().decode(n).match(/vertex\s+(\S+)\s+(\S+)\s+(\S+)/g)??[];for(let t of e){let e=t.trim().split(/\s+/);i.push(Number(e[1]),Number(e[2]),Number(e[3]))}}else{let e=new DataView(t),n=e.getUint32(80,!0),r=84;for(let t=0;t<n;t++){r+=12;for(let t=0;t<3;t++)i.push(e.getFloat32(r,!0),e.getFloat32(r+4,!0),e.getFloat32(r+8,!0)),r+=12;r+=2}}let a=uw(i);return ow(e,{vertProperties:Float32Array.from(a.vertices),triVerts:Uint32Array.from(a.indices)})}var lw=1e6;function uw(e){let t=[],n=[],r=new Map;for(let i=0;i+2<e.length;i+=3){let a=e[i]??0,o=e[i+1]??0,s=e[i+2]??0,c=`${Math.round(a*lw)},${Math.round(o*lw)},${Math.round(s*lw)}`,l=r.get(c);l===void 0&&(l=t.length/3,r.set(c,l),t.push(a,o,s)),n.push(l)}return{vertices:t,indices:n}}function dw(e){return e.length<84?!0:84+new DataView(e.buffer,e.byteOffset,e.byteLength).getUint32(80,!0)*50!==e.length}var fw=1e-6;function pw(e,t){let n=H(t);if(n.replayable)return iC(n,e)}function mw(e,t){let n=ZC(t),r=Math.floor(n.triVerts.length/3),i=[];for(let t=0;t<r;t++){let[r,a,o]=tw(n,t),s=e.buildTriFace(ew(n,r),ew(n,a),ew(n,o));s&&i.push(s)}if(i.length===0)throw Error(`manifold: cannot export — shape has no triangles to facet`);return e.sewAndSolidify(i,fw)}function hw(e){let t=Hy(`B-rep export`),n=pw(t,e);return n===void 0?(console.warn(`manifold: exact B-rep unavailable (non-replayable op-graph); 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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===yw?i=JSON.parse(new TextDecoder().decode(s)):r===bw&&(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===Sw?4:e.componentType===Cw?2:+(e.componentType===ww);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 ow(e,{vertProperties:p,triVerts:m},`importGLB`)}function jw(e){return{exportSTL:(e,t)=>rw(e,t),exportOBJ:e=>iw(e),exportPLY:e=>aw(e),importSTL:t=>cw(e,typeof t==`string`?new TextEncoder().encode(t).buffer:t),importOBJ:t=>sw(e,t),exportSTEP:e=>Hy(`exportSTEP`).exportSTEP(e.map(e=>hw(e).brep)),exportIGES:e=>Hy(`exportIGES`).exportIGES(e.map(e=>hw(e).brep)),toBREP:e=>{let{occt:t,brep:n}=hw(e);return t.toBREP(n)},exportSTEPAssembly:(e,t)=>{let n=Hy(`exportSTEPAssembly`),r=e.map(e=>{let t={shape:hw(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 Mw(e){return V(e).getMesh()}function Nw(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 Pw(e,t){let n=e;if(n&&n.__manifoldSub&&n.occt){let e=Vy();if(!e)throw new c(`manifold: sub-shape geometry query requires a registered occt kernel`);return t(n.occt,e)}let r=zy(e);if(!r)throw Error(`manifold: exact geometry query requires a manifold shape handle`);let i=Vy();if(!i)throw new c(`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=Uy.get(r.node);return a===void 0&&(a=iC(r.node,i),Uy.set(r.node,a)),t(a,i)}function Fw(e){let t=zy(e);if(!t)return;let n=t.node;return n.op===`profileEdge`?n.params?.curve:void 0}function Iw(e){return{curveType:e=>{let t=Fw(e);return t?kb(t):zC(e)?e.curveType:Pw(e,(e,t)=>t.curveType(e))},curveParameters:e=>{let t=Fw(e);if(t){let e=Ab(t);return[e.first,e.last]}return zC(e)?[0,e.length]:Pw(e,(e,t)=>t.curveParameters(e))},curvePointAtParam:(e,t)=>{let n=Fw(e);return n?jb(n,t):zC(e)?BC(e,t):Pw(e,(e,n)=>n.curvePointAtParam(e,t))},curveTangent:(e,t)=>{let n=Fw(e);return n?{point:jb(n,t),tangent:Mb(n,t)}:zC(e)?{point:BC(e,t),tangent:VC(e,t)}:Pw(e,(e,n)=>n.curveTangent(e,t))},curveIsClosed:e=>{let t=Fw(e);return t?Pb(t):Pw(e,(e,t)=>t.curveIsClosed(e))},curveIsPeriodic:e=>{let t=Fw(e);return t?Fb(t):Pw(e,(e,t)=>t.curveIsPeriodic(e))},curvePeriod:e=>{let t=Fw(e);return t?Ib(t):Pw(e,(e,t)=>t.curvePeriod(e))},interpolatePoints:(e,t)=>Hy(`interpolatePoints`).interpolatePoints(e,t),approximatePoints:(e,t)=>Hy(`approximatePoints`).approximatePoints(e,t),curveDegreeElevate:(e,t)=>Pw(e,(e,n)=>n.curveDegreeElevate(e,t)),curveKnotInsert:(e,t,n)=>Pw(e,(e,r)=>r.curveKnotInsert(e,t,n)),curveKnotRemove:(e,t,n)=>Pw(e,(e,r)=>r.curveKnotRemove(e,t,n)),curveSplit:(e,t)=>Pw(e,(e,n)=>n.curveSplit(e,t)),createCurveAdaptor:e=>Pw(e,(e,t)=>t.createCurveAdaptor(e)),getBezierPenultimatePole:e=>Pw(e,(e,t)=>t.getBezierPenultimatePole(e)),getNurbsCurveData:e=>Pw(e,(e,t)=>t.getNurbsCurveData?.(e)??null),vertexPosition:e=>RC(e)?e.point:zy(e)?Nw(Mw(e),0):Pw(e,(e,t)=>t.vertexPosition(e)),surfaceType:e=>{if(kC(e))return`plane`;let t=zy(e);return t&&t.node.op===`profileFace`?`plane`:Pw(e,(e,t)=>t.surfaceType(e))},uvBounds:e=>kC(e)?{uMin:0,uMax:1,vMin:0,vMax:1}:Pw(e,(e,t)=>t.uvBounds(e)),outerWire:e=>Pw(e,(e,t)=>t.outerWire(e)),surfaceNormal:(e,t,n)=>kC(e)?e.normal:Pw(e,(e,r)=>r.surfaceNormal(e,t,n)),pointOnSurface:(e,t,n)=>Pw(e,(e,r)=>r.pointOnSurface(e,t,n)),uvFromPoint:(e,t)=>Pw(e,(e,n)=>n.uvFromPoint(e,t)),projectPointOnFace:(e,t)=>Pw(e,(e,n)=>n.projectPointOnFace(e,t)),classifyPointOnFace:(e,t,n,r)=>Pw(e,(e,i)=>i.classifyPointOnFace(e,t,n,r)),classifyPointRobust:(e,t,n)=>Pw(e,(e,r)=>r.classifyPointRobust(e,t,n)),classifyPointWinding:(e,t,n)=>Pw(e,(e,r)=>r.classifyPointWinding(e,t,n)),approximateSurfaceLspia:(e,t,n,r,i,a,o,s,c)=>Hy(`approximateSurfaceLspia`).approximateSurfaceLspia(e,t,n,r,i,a,o,s,c),untrimFace:(e,t,n)=>Pw(e,(e,r)=>r.untrimFace(e,t,n)),getSurfaceCylinderData:e=>Pw(e,(e,t)=>t.getSurfaceCylinderData(e)),getSurfaceAxis:e=>Pw(e,(e,t)=>t.getSurfaceAxis(e)),reverseSurfaceU:e=>Hy(`reverseSurfaceU`).reverseSurfaceU(e),detectSmallFeatures:(e,t,n)=>Pw(e,(e,r)=>r.detectSmallFeatures(e,t,n)),recognizeFeatures:(e,t)=>Pw(e,(e,n)=>n.recognizeFeatures(e,t)),projectEdges:(e,t,n,r)=>Pw(e,(e,i)=>i.projectEdges(e,t,n,r)),getNurbsSurfaceData:e=>Pw(e,(e,t)=>t.getNurbsSurfaceData?.(e)??null)}}var Lw={hasErrors:!1,hasWarnings:!1,messages:[]};function Rw(){return{modified:new Map,generated:new Map,deleted:new Set}}function zw(e){return{shape:e,evolution:Rw()}}function Bw(e){return{shape:e,evolution:Rw(),diagnostics:Lw}}function Vw(e){let t=Sb(e),n=eb(e),r=OS(e);return{translateWithHistory:(e,n,r,i)=>zw(t.translate(e,n,r,i)),rotateWithHistory:(e,n,r,i,a,o)=>zw(t.rotate(e,n,a,o)),mirrorWithHistory:(e,n,r)=>zw(t.mirror(e,n,r)),scaleWithHistory:(e,n,r)=>zw(t.scale(e,n,r)),generalTransformWithHistory:(e,n,r,i)=>zw(t.generalTransform(e,n,r,i)),fuseWithHistory:(e,t,r,i,a)=>Bw(n.fuse(e,t,a)),cutWithHistory:(e,t,r,i,a)=>Bw(n.cut(e,t,a)),intersectWithHistory:(e,t,r,i,a)=>Bw(n.intersect(e,t,a)),filletWithHistory:(e,t,n)=>zw(r.fillet(e,t,n)),chamferWithHistory:(e,t,n)=>zw(r.chamfer(e,t,n)),shellWithHistory:(e,t,n,i,a,o)=>zw(r.shell(e,t,n,o)),thickenWithHistory:(e,t)=>zw(r.thicken(e,t)),offsetWithHistory:(e,t,n,i,a)=>zw(r.offset(e,t,a)),draftWithHistory:(e,t,n,i,a)=>zw(r.draft(e,t,n,i,a)),applyComposedTransformWithHistory:(e,n)=>zw(t.transform(e,n))}}function Hw(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 $w(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 eT(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 tT(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<=Ww)return Math.max(2,Math.ceil(t/(2*Math.PI)*8));let a=2*Math.acos(Math.max(-1,1-Ww/i));return Math.max(2,Math.ceil(t/a))}function nT(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=tT(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}=Yj(t,i);if(a.length===0)return k(P(M.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=ok([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 Jj(l,c,[e],M.DRAFT_NOT_3D,`Draft result is not a 3D shape`)}catch(e){let n=e instanceof Error?e.message:String(e);return k(N(M.DRAFT_FAILED,`Draft operation failed: ${n}`,e,{operation:`draft`,faceCount:t.length,angle:i}))}}function iM(e,t,n){if(n.length===0)return k(P(M.VARIABLE_FILLET_FAILED,`radii must contain at least one radius spec`));for(let e of n)if(e.radius<=0)return k(P(M.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 IE(a)?PE(a)?O(a):(HE(a),k(N(M.VARIABLE_FILLET_FAILED,`Variable-radius fillet did not produce a solid`))):(HE(a),k(N(M.VARIABLE_FILLET_FAILED,`Variable-radius fillet did not produce a 3D shape`)))}catch(e){return k(N(M.VARIABLE_FILLET_FAILED,`Variable-radius fillet failed`,e))}}function aM(e){return TD(e)}function oM(e){if(!PE(e))return k(P(`NOT_A_SOLID`,`Input shape is not a solid`));let t=aM(e);try{let n=U().healSolid(e.wrapped);if(!n)return t?O(e):k(N(M.HEAL_NO_EFFECT,`Solid healing had no effect — shape is still invalid`));let r=W(n);return PE(r)?(sD(r),aM(r)?O(r):(HE(r),k(N(`HEAL_SOLID_INCOMPLETE`,`Healed result is still invalid after ShapeFix_Solid`)))):(HE(r),k(N(`HEAL_RESULT_NOT_SOLID`,`Healed result is not a solid`)))}catch(e){return k(N(`HEAL_SOLID_FAILED`,`Solid healing failed`,e))}}function sM(e){if(!ME(e))return k(P(`NOT_A_FACE`,`Input shape is not a face`));try{let t=W(U().healFace(e.wrapped));return ME(t)?O(t):(HE(t),k(N(`HEAL_RESULT_NOT_FACE`,`Healed result is not a 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n=0;n<i.count;n++)e.push(FF(t,r++));n[i.child]=e}return n}function zF(e,t,n,r,i){let a=jF(t,r);if(e[0]=n.position[0]-a[0],e[1]=n.position[1]-a[1],e[2]=n.position[2]-a[2],i===6&&n.rotation){let r=NF(t.rotation,n.rotation);e[3]=r[0],e[4]=r[1],e[5]=r[2]}let o=0;for(let t=0;t<i;t++)o+=FF(e,t)**2;return Math.sqrt(o)}function BF(e,t,n,r,i,a,o,s,c,l){let u=jF(o,s);for(let d=0;d<n;d++){let f=FF(t,d),p=f+c>FF(a,d)&&f-c>=FF(i,d)?-c:c;t[d]=f+p;let m=l(t);t[d]=f;let h=jF(m,s);if(e[d]=(h[0]-u[0])/p,e[n+d]=(h[1]-u[1])/p,e[2*n+d]=(h[2]-u[2])/p,r===6){let t=NF(o.rotation,m.rotation);e[3*n+d]=t[0]/p,e[4*n+d]=t[1]/p,e[5*n+d]=t[2]/p}}}function VF(e,t,n,r,i){let a=new Float64Array(r*r),o=i*i;for(let t=0;t<r;t++)for(let i=0;i<r;i++){let s=0;for(let r=0;r<n;r++)s+=FF(e,t*n+r)*FF(e,i*n+r);a[t*r+i]=s+(t===i?o:0)}let s=IF(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+=FF(e,a*n+t)*FF(s,a);c[t]=i}return c}function HF(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}=LF(PF(e,t),r.seed),p=u.length,m=n=>OF(e,RF(l,n)).get(t)??AF,h=new Float64Array(c),g=new Float64Array(c*p),_=m(u),v=zF(h,_,n,s,c),y=0;for(;y<i&&p>0&&v>a;y++){BF(g,u,p,c,d,f,_,s,1e-6,m);let e=VF(g,h,p,c,o);if(!e)break;for(let t=0;t<p;t++){let n=FF(u,t)+FF(e,t);u[t]=Math.min(FF(f,t),Math.max(FF(d,t),n))}_=m(u),v=zF(h,_,n,s,c)}return{values:RF(l,u),converged:v<=a,iterations:y,error:v}}function UF(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 WF(e,t,n,r){let i=[];ZP(e,e=>{e.joints&&i.push(...e.joints)});let a=i.map(e=>({child:e.child,a:UF(e,t[e.child]),b:UF(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:OF(e,r)})}return s}var GF=Math.PI/180;function KF(e,t,n,r){let i=e*GF,a=r*GF,o=sF(aF([0,0,1],i),aF([1,0,0],a));return{position:[n*Math.cos(i),n*Math.sin(i),t],rotation:o}}function qF(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=KF(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`?gF(i,a,s,c):hF(i,a,s,c),offset:o}})}var JF=Math.PI/180,YF=180/Math.PI;function XF(e){return e.replace(/&/g,`&amp;`).replace(/</g,`&lt;`).replace(/>/g,`&gt;`).replace(/"/g,`&quot;`)}function ZF(e){return String(e===0?0:e)}function QF(e){return`${ZF(e[0])} ${ZF(e[1])} ${ZF(e[2])}`}function $F(e,t={}){let n=t.name??`robot`,r=t.effort??0,i=t.velocity??0,a=t.meshes??{},o=[],s=[];ZP(e,e=>{o.push(e.name),e.joints&&s.push(...e.joints)});for(let e of s){if(e.type!==`revolute`&&e.type!==`prismatic`)return k(P(M.VALIDATION_FAILED,`exportURDF: joint '${e.parent}->${e.child}' is '${e.type}'; URDF supports only revolute and prismatic joints`));if(e.offset)return k(P(M.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="${XF(n)}">`];for(let e of o){let t=a[e];t?c.push(` <link name="${XF(e)}">`,` <visual><geometry><mesh filename="${XF(t)}"/></geometry></visual>`,` </link>`):c.push(` <link name="${XF(e)}"/>`)}for(let e of s){let t=e.type===`revolute`,n=t?e.min*JF:e.min,a=t?e.max*JF:e.max,o=e.type===`prismatic`?[0,0,0]:e.axis.origin;c.push(` <joint name="${XF(`${e.parent}_to_${e.child}`)}" type="${e.type}">`,` <parent link="${XF(e.parent)}"/>`,` <child link="${XF(e.child)}"/>`,` <origin xyz="${QF(o)}" rpy="0 0 0"/>`,` <axis xyz="${QF(e.axis.direction)}"/>`,` <limit lower="${ZF(n)}" upper="${ZF(a)}" effort="${ZF(r)}" velocity="${ZF(i)}"/>`,` </joint>`)}return c.push(`</robot>`,``),O(c.join(`
15
+ npm install brepkit-wasm`)}function NT(){var e=typeof SuppressedError==`function`?SuppressedError:function(e,t){var n=Error();return n.name=`SuppressedError`,n.error=e,n.suppressed=t,n},t={},n=[];function r(e,t){if(t!=null){if(Object(t)!==t)throw TypeError(`using declarations can only be used with objects, functions, null, or undefined.`);if(e)var r=t[Symbol.asyncDispose||Symbol.for(`Symbol.asyncDispose`)];if(r===void 0&&(r=t[Symbol.dispose||Symbol.for(`Symbol.dispose`)],e))var i=r;if(typeof r!=`function`)throw TypeError(`Object is not disposable.`);i&&(r=function(){try{i.call(t)}catch(e){return Promise.reject(e)}}),n.push({v:t,d:r,a:e})}else e&&n.push({d:t,a:e});return t}return{e:t,u:r.bind(null,!1),a:r.bind(null,!0),d:function(){var r,i=this.e,a=0;function o(){for(;r=n.pop();)try{if(!r.a&&a===1)return a=0,n.push(r),Promise.resolve().then(o);if(r.d){var e=r.d.call(r.v);if(r.a)return a|=2,Promise.resolve(e).then(o,s)}else a|=1}catch(e){return s(e)}if(a===1)return 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a=ok([e]),{shape:o,evolution:s}=U().filletWithHistory(e.wrapped,t.map(e=>e.wrapped),r,a,G),c=W(o);return IE(c)?(sk(s,[e],c),O({shape:c,evolution:s})):(HE(c),k(N(M.FILLET_NOT_3D,`Fillet result is not a 3D shape`)))}catch(e){return k(N(`FILLET_FAILED`,`Fillet operation failed: ${e instanceof Error?e.message:String(e)}`,e,{operation:`fillet`,edgeCount:i.length,radius:n}))}}function Hj(e,t,n){let r=Fj(e,`chamferWithEvolution: shape`);if(A(r))return r;if(typeof n==`number`&&n<=0)return k(P(`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(P(`INVALID_CHAMFER_DISTANCE`,`Chamfer distances must both be positive`,void 0,void 0,`Both distance values must be greater than 0`));let i=t??cD(e);if(i.length===0)return k(P(M.CHAMFER_NO_EDGES,`No edges found for chamfer`));try{let t,r;if(typeof n==`function`){let e=Lj(i,n);if(!e)return k(P(M.CHAMFER_NO_EDGES,`No edges with 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a;try{let{filteredFaces:a,kernelAngle:o}=Yj(t,i);if(a.length===0)return k(P(M.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=ok([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 Jj(l,c,[e],M.DRAFT_NOT_3D,`Draft result is not a 3D shape`)}catch(e){let n=e instanceof Error?e.message:String(e);return k(N(M.DRAFT_FAILED,`Draft operation failed: ${n}`,e,{operation:`draft`,faceCount:t.length,angle:i}))}}function iM(e,t,n){if(n.length===0)return k(P(M.VARIABLE_FILLET_FAILED,`radii must contain at least one radius spec`));for(let e of n)if(e.radius<=0)return k(P(M.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 IE(a)?PE(a)?O(a):(HE(a),k(N(M.VARIABLE_FILLET_FAILED,`Variable-radius fillet did not produce a solid`))):(HE(a),k(N(M.VARIABLE_FILLET_FAILED,`Variable-radius fillet did not produce a 3D shape`)))}catch(e){return k(N(M.VARIABLE_FILLET_FAILED,`Variable-radius fillet failed`,e))}}function aM(e){return TD(e)}function oM(e){if(!PE(e))return k(P(`NOT_A_SOLID`,`Input shape is not a solid`));let t=aM(e);try{let n=U().healSolid(e.wrapped);if(!n)return t?O(e):k(N(M.HEAL_NO_EFFECT,`Solid healing had no effect — shape is still invalid`));let r=W(n);return PE(r)?(sD(r),aM(r)?O(r):(HE(r),k(N(`HEAL_SOLID_INCOMPLETE`,`Healed result is still invalid after ShapeFix_Solid`)))):(HE(r),k(N(`HEAL_RESULT_NOT_SOLID`,`Healed result is not a solid`)))}catch(e){return k(N(`HEAL_SOLID_FAILED`,`Solid healing failed`,e))}}function sM(e){if(!ME(e))return k(P(`NOT_A_FACE`,`Input shape is not a face`));try{let t=W(U().healFace(e.wrapped));return ME(t)?O(t):(HE(t),k(N(`HEAL_RESULT_NOT_FACE`,`Healed result is not a 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m=uD(d).length,h=lD(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=aM(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 dM(e){try{return O(W(U().fixShape(e.wrapped)))}catch(e){return k(N(M.FIX_SHAPE_FAILED,`ShapeFix_Shape failed`,e))}}function fM(e){try{let t=W(U().solidFromShell(e.wrapped));return PE(t)?aM(t)?O(t):(HE(t),k(N(M.SOLID_FROM_SHELL_FAILED,`solidFromShell produced an invalid solid`))):(HE(t),k(N(M.SOLID_FROM_SHELL_FAILED,`solidFromShell did not produce a solid`)))}catch(e){return k(N(M.SOLID_FROM_SHELL_FAILED,`Failed to create solid from shell`,e))}}function pM(e){try{let t=W(U().fixSelfIntersection(e.wrapped));return jE(t)?O(t):(HE(t),k(N(M.FIX_SELF_INTERSECTION_FAILED,`Result is not 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n=W(U().simplePipe(e.wrapped,t.wrapped));return IE(n)?O(n):(HE(n),k(xo(`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 _M(v);let y=W(v);return IE(y)?O(y):(HE(y),k(xo(`SWEEP_NOT_3D`,`Sweep did not produce a 3D shape`)))}function yM(e,t,n,r){return vM(e,hM(t,MD(t,n)),{support:r})}function bM(e,t,n,r,i=!1){try{var a=NT();let o=RD(n);if(o<1e-10)return k(P(`ZERO_LENGTH_EXTRUSION`,`Extrusion vector cannot have zero length`));let 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n=0;n<i.count;n++)e.push(FF(t,r++));n[i.child]=e}return n}function zF(e,t,n,r,i){let a=jF(t,r);if(e[0]=n.position[0]-a[0],e[1]=n.position[1]-a[1],e[2]=n.position[2]-a[2],i===6&&n.rotation){let r=NF(t.rotation,n.rotation);e[3]=r[0],e[4]=r[1],e[5]=r[2]}let o=0;for(let t=0;t<i;t++)o+=FF(e,t)**2;return Math.sqrt(o)}function BF(e,t,n,r,i,a,o,s,c,l){let u=jF(o,s);for(let d=0;d<n;d++){let f=FF(t,d),p=f+c>FF(a,d)&&f-c>=FF(i,d)?-c:c;t[d]=f+p;let m=l(t);t[d]=f;let h=jF(m,s);if(e[d]=(h[0]-u[0])/p,e[n+d]=(h[1]-u[1])/p,e[2*n+d]=(h[2]-u[2])/p,r===6){let t=NF(o.rotation,m.rotation);e[3*n+d]=t[0]/p,e[4*n+d]=t[1]/p,e[5*n+d]=t[2]/p}}}function VF(e,t,n,r,i){let a=new Float64Array(r*r),o=i*i;for(let t=0;t<r;t++)for(let i=0;i<r;i++){let s=0;for(let r=0;r<n;r++)s+=FF(e,t*n+r)*FF(e,i*n+r);a[t*r+i]=s+(t===i?o:0)}let s=IF(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+=FF(e,a*n+t)*FF(s,a);c[t]=i}return c}function HF(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}=LF(PF(e,t),r.seed),p=u.length,m=n=>OF(e,RF(l,n)).get(t)??AF,h=new Float64Array(c),g=new Float64Array(c*p),_=m(u),v=zF(h,_,n,s,c),y=0;for(;y<i&&p>0&&v>a;y++){BF(g,u,p,c,d,f,_,s,1e-6,m);let e=VF(g,h,p,c,o);if(!e)break;for(let t=0;t<p;t++){let n=FF(u,t)+FF(e,t);u[t]=Math.min(FF(f,t),Math.max(FF(d,t),n))}_=m(u),v=zF(h,_,n,s,c)}return{values:RF(l,u),converged:v<=a,iterations:y,error:v}}function UF(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 WF(e,t,n,r){let i=[];ZP(e,e=>{e.joints&&i.push(...e.joints)});let a=i.map(e=>({child:e.child,a:UF(e,t[e.child]),b:UF(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:OF(e,r)})}return s}var GF=Math.PI/180;function KF(e,t,n,r){let i=e*GF,a=r*GF,o=sF(aF([0,0,1],i),aF([1,0,0],a));return{position:[n*Math.cos(i),n*Math.sin(i),t],rotation:o}}function qF(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=KF(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`?gF(i,a,s,c):hF(i,a,s,c),offset:o}})}var JF=Math.PI/180,YF=180/Math.PI;function XF(e){return e.replace(/&/g,`&amp;`).replace(/</g,`&lt;`).replace(/>/g,`&gt;`).replace(/"/g,`&quot;`)}function ZF(e){return String(e===0?0:e)}function QF(e){return`${ZF(e[0])} ${ZF(e[1])} ${ZF(e[2])}`}function $F(e,t={}){let n=t.name??`robot`,r=t.effort??0,i=t.velocity??0,a=t.meshes??{},o=[],s=[];ZP(e,e=>{o.push(e.name),e.joints&&s.push(...e.joints)});for(let e of s){if(e.type!==`revolute`&&e.type!==`prismatic`)return k(P(M.VALIDATION_FAILED,`exportURDF: joint '${e.parent}->${e.child}' is '${e.type}'; URDF supports only revolute and prismatic joints`));if(e.offset)return k(P(M.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="${XF(n)}">`];for(let e of o){let t=a[e];t?c.push(` <link name="${XF(e)}">`,` <visual><geometry><mesh filename="${XF(t)}"/></geometry></visual>`,` </link>`):c.push(` <link name="${XF(e)}"/>`)}for(let e of s){let t=e.type===`revolute`,n=t?e.min*JF:e.min,a=t?e.max*JF:e.max,o=e.type===`prismatic`?[0,0,0]:e.axis.origin;c.push(` <joint name="${XF(`${e.parent}_to_${e.child}`)}" type="${e.type}">`,` <parent link="${XF(e.parent)}"/>`,` <child link="${XF(e.child)}"/>`,` <origin xyz="${QF(o)}" rpy="0 0 0"/>`,` <axis xyz="${QF(e.axis.direction)}"/>`,` <limit lower="${ZF(n)}" upper="${ZF(a)}" effort="${ZF(r)}" velocity="${ZF(i)}"/>`,` </joint>`)}return c.push(`</robot>`,``),O(c.join(`
16
16
  `))}function eI(e,t){return RegExp(`\\b${t}\\s*=\\s*"([^"]*)"`).exec(e)?.[1]}function tI(e,t){if(!e)return t;let n=e.trim().split(/\s+/).map(Number);return[n[0]??0,n[1]??0,n[2]??0]}function nI(e,t){return iF(sF(sF(aF([0,0,1],t[2]),aF([0,1,0],t[1])),aF([1,0,0],t[0])),e)}function rI(e){let t=/<robot\b([^>]*)>/.exec(e);if(!t)return k(P(M.VALIDATION_FAILED,`importURDF: no <robot> element found`));let n=eI(t[1]??``,`name`)??`robot`,r=[],i=/<link\b([^>]*?)(?:\/>|>)/g;for(let t=i.exec(e);t;t=i.exec(e)){let e=eI(t[1]??``,`name`);e&&r.push(e)}let a=[],o=/<joint\b([^>]*)>([\s\S]*?)<\/joint>/g;for(let t=o.exec(e);t;t=o.exec(e)){let e=t[1]??``,n=t[2]??``,r=eI(e,`type`)??`fixed`;if(r===`fixed`||r===`floating`||r===`planar`)continue;let i=/<parent\b([^>]*?)\/?>/.exec(n),o=/<child\b([^>]*?)\/?>/.exec(n),s=eI(i?.[1]??``,`link`),c=eI(o?.[1]??``,`link`);if(!s||!c)return k(P(M.VALIDATION_FAILED,`importURDF: joint missing parent/child link (${eI(e,`name`)??`unnamed`})`));let l=/<origin\b([^>]*?)\/?>/.exec(n),u=/<axis\b([^>]*?)\/?>/.exec(n),d=/<limit\b([^>]*?)\/?>/.exec(n),f=tI(eI(l?.[1]??``,`xyz`),[0,0,0]),p=tI(eI(l?.[1]??``,`rpy`),[0,0,0]),m=nI(tI(eI(u?.[1]??``,`xyz`),[1,0,0]),p),h=Number(eI(d?.[1]??``,`lower`)??NaN),g=Number(eI(d?.[1]??``,`upper`)??NaN);if(r===`prismatic`){let e=Number.isFinite(h)&&Number.isFinite(g)?{min:h,max:g}:{};a.push(gF(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*YF,max:g*YF};a.push(hF(s,c,{origin:f,direction:m},e))}else return k(P(M.VALIDATION_FAILED,`importURDF: joint '${eI(e,`name`)??`unnamed`}' has unrecognized type '${r}'`))}return O({name:n,links:r,joints:a})}function iI(){return{steps:[],shapes:new Map}}function aI(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 oI(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 sI(e,t){return e.steps.find(e=>e.id===t)}function cI(e,t){return e.shapes.get(t)}function lI(e){return e.steps.length}function uI(e,t){let n=e.steps.findIndex(e=>e.id===t);return n===-1?[]:e.steps.slice(n)}function dI(e,t,n){let r=new Map(e.shapes);return r.set(t,n),{...e,shapes:r}}function fI(){return{operations:new Map}}function pI(e,t,n){let r=new Map(e.operations);return r.set(t,n),{operations:r}}function mI(e,t){let[n,r]=t;return n!==void 0&&r===void 0&&IE(n)?fP(e,n):{...e}}function hI(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=dI(r,t,i));for(let n of e.steps){let e=t.operations.get(n.type);if(!e)return k(F(`REPLAY_UNKNOWN_OP`,`Unknown operation type: ${n.type}`));let i=[];for(let e of n.inputIds){let t=r.shapes.get(e);if(!t)return k(F(`REPLAY_MISSING_INPUT`,`Missing input shape: ${e} for step ${n.id}`));i.push(t)}try{let t=e(i,mI(n.parameters,i));r=aI(r,{id:n.id,type:n.type,parameters:n.parameters,inputIds:n.inputIds,outputId:n.outputId},t)}catch(e){return k(F(`REPLAY_STEP_FAILED`,`Step ${n.id} (${n.type}) failed: ${e instanceof Error?e.message:String(e)}`))}}return O(r)}function gI(e,t,n){let r=e.steps.findIndex(e=>e.id===t);if(r===-1)return k(F(`REPLAY_STEP_NOT_FOUND`,`Step not found: ${t}`));let i=new Map(e.shapes);for(let t=r;t<e.steps.length;t++){let n=e.steps[t];n&&i.delete(n.outputId)}let a={steps:e.steps.slice(0,r),shapes:i};for(let t=r;t<e.steps.length;t++){let r=e.steps[t];if(!r)continue;let i=n.operations.get(r.type);if(!i)return k(F(`REPLAY_UNKNOWN_OP`,`Unknown operation type: ${r.type}`));let o=[];for(let e of r.inputIds){let t=a.shapes.get(e);if(!t)return k(F(`REPLAY_MISSING_INPUT`,`Missing input shape: ${e} for step ${r.id}`));o.push(t)}try{let e=i(o,mI(r.parameters,o));a=aI(a,{id:r.id,type:r.type,parameters:r.parameters,inputIds:r.inputIds,outputId:r.outputId},e)}catch(e){return k(F(`REPLAY_STEP_FAILED`,`Step ${r.id} (${r.type}) failed: ${e instanceof Error?e.message:String(e)}`))}}return O(a)}function _I(e,t,n,r){return e.steps.findIndex(e=>e.id===t)===-1?k(F(`MODIFY_STEP_NOT_FOUND`,`Step not found: ${t}`)):gI({steps:e.steps.map(e=>e.id===t?{...e,parameters:n}:e),shapes:e.shapes},t,r)}function vI(e){let t={};for(let[n,r]of e.shapes){let e=Ck(r);if(!e.ok)return k(F(`SERIALIZE_SHAPE_FAILED`,`Failed to serialize shape "${n}": ${e.error.message}`));t[n]=e.value}return O({steps:e.steps,shapes:t})}function yI(e){let t=new Map;for(let[n,r]of Object.entries(e.shapes))try{let e=fO(r);if(!e.ok)return k(F(`DESERIALIZE_SHAPE_FAILED`,`Failed to deserialize shape "${n}": ${e.error.message}`));t.set(n,e.value)}catch(e){return k(F(`DESERIALIZE_SHAPE_FAILED`,`Failed to deserialize shape "${n}": ${e instanceof 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17
17
  ${e}
18
18
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package/viewer/dist/assets/{index-Da3FWE25.js → index-f5md-zbM.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
+ function e(e,t,n={}){let r={position:e.vertices,normal:e.normals,index:e.triangles,edges:t,faceGroups:e.faceGroups.map(e=>({start:e.start,count:e.count,faceId:e.faceId}))};return n.color&&(r.color=n.color),r}function t(e,t){let r={valid:n(()=>e.isValid(t))??!1},i=n(()=>e.measureVolume(t));i&&e.isOk(i)&&typeof i.value==`number`&&i.value>0&&(r.volume=i.value);let a=n(()=>e.measureArea(t));return a&&e.isOk(a)&&typeof a.value==`number`&&a.value>0&&(r.area=a.value),r}function n(e){try{return e()}catch{return}}function r(e,t){switch(t.replace(/^\./,``).toLowerCase()){case`step`:case`stp`:return e.importSTEP;case`stl`:return e.importSTL;case`iges`:case`igs`:return e.importIGES;case`3mf`:return e.importThreeMF;case`glb`:case`gltf`:return e.importGLB;case`obj`:return e.importOBJ;default:throw Error(`unsupported file extension: ${t}`)}}function i(e,t){let n;try{n=e.getFaces(t)}catch(e){return console.warn(`[brepjs-cad] getFaces threw; faces unselectable`,e),[]}let r=[];for(let t of n)try{let n=e.getSurfaceType(t),i=e.isOk(n)&&n.value?n.value:`OTHER_SURFACE`,a=e.measureArea(t),o=e.isOk(a)&&typeof a.value==`number`?a.value:NaN;r.push({faceId:e.getHashCode(t),surfaceType:i,area:o,normal:e.normalAt(t)})}catch(e){console.warn(`[brepjs-cad] face metadata threw; skipping face`,e)}return r}async function a(n,a,o,s=!1){let c=await r(n,o)(a);if(!n.isOk(c)){let e=c.error;throw Error(`import failed: ${typeof e==`string`?e:JSON.stringify(e)}`)}let l=c.value,u=e(n.mesh(l),n.meshEdges(l).lines);return s&&(u.faceInfos=i(n,l)),{meshData:u,measurements:t(n,l)}}function o(e,t){t?self.postMessage(e,t):self.postMessage(e)}let s=null;function c(){return s||=l().catch(e=>{throw s=null,e}),s}async function l(){let e=new URL(`./`,self.location.origin).href,t=await fetch(`${e}wasm/occt-wasm.js`);if(!t.ok)throw Error(`failed to load occt-wasm.js: ${t.status}`);let n=URL.createObjectURL(new Blob([await t.text()],{type:`application/javascript`})),r=await import(n);URL.revokeObjectURL(n);let i=await r.default({locateFile:t=>t.endsWith(`.wasm`)?`${e}wasm/occt-wasm.wasm`:t}),a=await import(`./brepjs-u_PqaluH.js`),o=new i.OcctKernel;return a.registerKernel(`occt-wasm`,new a.OcctWasmAdapter(i,o)),a}function u(e){return[e.position.buffer,e.normal.buffer,e.index.buffer,e.edges.buffer]}async function d(e){try{let{meshData:t,measurements:n}=await a(await c(),new Blob([e.bytes]),e.ext,e.inspect??!1);o({type:`loaded`,meshData:t,measurements:n},u(t))}catch(e){o({type:`error`,error:e instanceof Error?e.message:String(e)})}}self.addEventListener(`message`,e=>{e.data.type===`load`&&d(e.data)});
package/viewer/dist/index.html CHANGED
@@ -14,7 +14,7 @@
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14
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15
15
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16
16
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- <script type="module" crossorigin src="./assets/index-Da3FWE25.js"></script>
17
+ <script type="module" crossorigin src="./assets/index-f5md-zbM.js"></script>
18
18
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19
19
  <body>
20
20
  <div id="root"></div>