brepjs 18.116.0 → 18.116.1

package/dist/brepjs.cjs

@@ -17,7 +17,7 @@ const require_arrayAccess = require("./arrayAccess-e4H9cBfh.cjs");
 const require_surfaceBuilders = require("./surfaceBuilders-UyyfZy8w.cjs");
 const require_solidBuilders = require("./solidBuilders-DiUv_mD0.cjs");
 const require_healingFns = require("./healingFns-xLJ6Cp_O.cjs");
-const require_threadFns = require("./threadFns-KrG_i9_w.cjs");
+const require_threadFns = require("./threadFns-BqWHWpea.cjs");
 const require_blueprintSketcher = require("./blueprintSketcher-RK-cH6ps.cjs");
 const require_helpers = require("./helpers-BSLPCflF.cjs");
 const require_drawFns = require("./drawFns-DNxs7PAT.cjs");
@@ -5837,48 +5837,144 @@ function cacheKey(node, env, kernelId, tolerance) {
 	const tolHash = tolerance === void 0 ? "d" : fnvMixNumber(fnvInit(), tolerance).toString(16);
 	return `${toHex(node.structuralHash)}:${kernelId}:${toHex(projHash)}:${tolHash}`;
 }
+var IDENTITY_QUAT = [
+	1,
+	0,
+	0,
+	0
+];
+/** Resolve a Rotate node's angle/axis/center in `env`, applying the same
+*  defaults as the evaluator (Z axis, origin pivot). Null if any free param
+*  can't be evaluated, so the caller stops peeling there. */
+function evalRotateParams(node, env) {
+	const a = evalScalar(node.angle, env, "evaluateMesh.peelRigid");
+	if (!a.ok) return null;
+	const axis = node.axis ? evalVec3(node.axis, env, "evaluateMesh.peelRigid") : require_errors.ok([
+		0,
+		0,
+		1
+	]);
+	if (!axis.ok) return null;
+	const center = node.at ? evalVec3(node.at, env, "evaluateMesh.peelRigid") : require_errors.ok([
+		0,
+		0,
+		0
+	]);
+	if (!center.ok) return null;
+	return {
+		angle: a.value,
+		axis: axis.value,
+		center: center.value
+	};
+}
 /**
-* Peel outer Translate nodes off `node`, accumulating their env-evaluated
-* offsets. Pure translations compose by addition, so the inner geometry is
-* placement-independent: it meshes once and the cached mesh is shifted per
-* placement instead of re-tessellating. Stops at the first non-Translate node
-* (or one whose offset can't be evaluated in `env`).
+* Peel outer rigid-motion nodes (Translate / Rotate) off `node`, composing them
+* into a single rotation + translation. A rigid motion shares its inner
+* geometry's tessellation — the shape path re-tags it via `locate` (#1633) — so
+* the inner meshes once and the cached mesh is moved per placement instead of
+* re-tessellating. Stops at the first non-rigid node (Scale/Mirror/boolean/…) or
+* one whose parameters can't be evaluated in `env`.
+*
+* Composition is outer∘inner: peeling outward, each node's local transform acts
+* on points the inner nodes already placed, so it post-multiplies the
+* accumulator. A pure-translation chain keeps the identity rotation, so the mesh
+* move below degenerates to the exact vertex-shift fast path (normals untouched).
 */
-function peelTranslate(node, env) {
+function peelRigid(node, env) {
 	let inner = node;
-	let ox = 0;
-	let oy = 0;
-	let oz = 0;
-	while (inner.kind === "Translate") {
-		const v = evalVec3(inner.vector, env, "evaluateMesh.peelTranslate");
+	let rot = IDENTITY_QUAT;
+	let trans = [
+		0,
+		0,
+		0
+	];
+	for (;;) if (inner.kind === "Translate") {
+		const v = evalVec3(inner.vector, env, "evaluateMesh.peelRigid");
 		if (!v.ok) break;
-		ox += v.value[0];
-		oy += v.value[1];
-		oz += v.value[2];
+		const rv = require_threadFns.quatRotate(rot, v.value);
+		trans = [
+			trans[0] + rv[0],
+			trans[1] + rv[1],
+			trans[2] + rv[2]
+		];
 		inner = inner.target;
-	}
+	} else if (inner.kind === "Rotate") {
+		const p = evalRotateParams(inner, env);
+		if (!p) break;
+		const r = require_threadFns.quatFromAxisAngle(p.axis, p.angle * Math.PI / 180);
+		const newRot = require_threadFns.quatMultiply(rot, r);
+		const rotC = require_threadFns.quatRotate(rot, p.center);
+		const newRotC = require_threadFns.quatRotate(newRot, p.center);
+		trans = [
+			trans[0] + rotC[0] - newRotC[0],
+			trans[1] + rotC[1] - newRotC[1],
+			trans[2] + rotC[2] - newRotC[2]
+		];
+		rot = newRot;
+		inner = inner.target;
+	} else break;
 	return {
 		inner,
-		offset: [
-			ox,
-			oy,
-			oz
-		]
+		rot,
+		trans
 	};
 }
-/** Shift every vertex of a mesh by `offset`; normals, UVs and triangles are unchanged. */
-function translateMesh(m, offset) {
-	const [dx, dy, dz] = offset;
-	if (dx === 0 && dy === 0 && dz === 0) return m;
-	const vertices = new Float32Array(m.vertices.length);
-	for (let i = 0; i < m.vertices.length; i += 3) {
-		vertices[i] = (m.vertices[i] ?? 0) + dx;
-		vertices[i + 1] = (m.vertices[i + 1] ?? 0) + dy;
-		vertices[i + 2] = (m.vertices[i + 2] ?? 0) + dz;
+function isIdentityQuat(q) {
+	return q[0] === 1 && q[1] === 0 && q[2] === 0 && q[3] === 0;
+}
+/**
+* Write `src` (flat xyz) rigidly transformed by quaternion (qw,qx,qy,qz) then
+* translation (tx,ty,tz) into `dst`. The quaternion-rotate math is inlined with
+* scalar locals — no per-vertex array allocation — because this runs once per
+* mesh vertex/normal and helper-allocated vector math regressed the gridfinity
+* benchmark 17% (see `utils/vec3.ts`). Pass zero translation for normals.
+*/
+function rotateXyzBuffer(dst, src, qw, qx, qy, qz, tx, ty, tz) {
+	for (let i = 0; i < src.length; i += 3) {
+		const vx = src[i] ?? 0;
+		const vy = src[i + 1] ?? 0;
+		const vz = src[i + 2] ?? 0;
+		const cx = 2 * (qy * vz - qz * vy);
+		const cy = 2 * (qz * vx - qx * vz);
+		const cz = 2 * (qx * vy - qy * vx);
+		dst[i] = vx + qw * cx + (qy * cz - qz * cy) + tx;
+		dst[i + 1] = vy + qw * cy + (qz * cx - qx * cz) + ty;
+		dst[i + 2] = vz + qw * cz + (qx * cy - qy * cx) + tz;
 	}
+}
+/**
+* Apply a rigid motion to a mesh: vertices get the rotation then translation,
+* normals get the rotation only (a unit rotation preserves length, so no
+* renormalization). UVs and triangles are motion-invariant. A pure translation
+* (identity rotation) keeps the source normals array by reference and only
+* shifts vertices — the exact previous translation-only fast path.
+*/
+function transformMeshRigid(m, rot, trans) {
+	const [tx, ty, tz] = trans;
+	const pureTranslation = isIdentityQuat(rot);
+	if (pureTranslation && tx === 0 && ty === 0 && tz === 0) return m;
+	const src = m.vertices;
+	const vertices = new Float32Array(src.length);
+	if (pureTranslation) {
+		for (let i = 0; i < src.length; i += 3) {
+			vertices[i] = (src[i] ?? 0) + tx;
+			vertices[i + 1] = (src[i + 1] ?? 0) + ty;
+			vertices[i + 2] = (src[i + 2] ?? 0) + tz;
+		}
+		return {
+			...m,
+			vertices
+		};
+	}
+	const [qw, qx, qy, qz] = rot;
+	rotateXyzBuffer(vertices, src, qw, qx, qy, qz, tx, ty, tz);
+	const sn = m.normals;
+	const normals = new Float32Array(sn.length);
+	rotateXyzBuffer(normals, sn, qw, qx, qy, qz, 0, 0, 0);
 	return {
 		...m,
-		vertices
+		vertices,
+		normals
 	};
 }
 /**
@@ -5886,8 +5982,8 @@ function translateMesh(m, offset) {
 * moved faces location-dependent hashes, so the inner mesh's `faceId`s describe
 * the *unplaced* shape; remap them to the placed faces (1:1 by iteration order,
 * since `locate` shares the source TShape) so face picking and metadata lookup
-* resolve against the placed mesh. Origins are translation-invariant, so only
-* `faceId` changes.
+* resolve against the placed mesh. Origins are boolean-lineage tags, invariant
+* under any rigid motion, so only `faceId` changes.
 *
 * Takes pre-captured hash arrays (not shapes): a bounded shape cache can evict
 * and dispose one shape while the other is being evaluated, so the caller reads
@@ -5983,7 +6079,7 @@ var Evaluator = class {
 				}
 				return require_errors.ok(cached);
 			}
-			const { inner, offset } = peelTranslate(node, env);
+			const { inner, rot, trans } = peelRigid(node, env);
 			if (inner !== node) {
 				const innerMesh = this.evaluateMesh(inner, env, meshOpts);
 				if (!innerMesh.ok) return innerMesh;
@@ -5993,7 +6089,7 @@ var Evaluator = class {
 				const placedShape = this.evaluate(node, env);
 				if (!placedShape.ok) return placedShape;
 				const placedHashes = require_topologyQueryFns.getFaces(placedShape.value).map(require_shapeFns.getHashCode);
-				const moved = translateMesh(innerMesh.value, offset);
+				const moved = transformMeshRigid(innerMesh.value, rot, trans);
 				const faceGroups = relocateFaceGroups(moved.faceGroups, innerHashes, placedHashes);
 				const placedSet = new Set(placedHashes);
 				if (faceGroups.every((g) => placedSet.has(g.faceId))) {

package/dist/brepjs.js

@@ -15,7 +15,7 @@ import { n as getAtOrThrow, r as lastOrThrow, t as firstOrThrow } from "./arrayA
 import { _ as makeThreePointArc, d as makeCircle, h as makeLine, l as makeBSplineInterpolation, n as fill, r as makeFace, s as assembleWire } from "./surfaceBuilders-rkE-jE90.js";
 import { _ as section$1, b as split$1, d as booleanPipeline, f as cut$2, g as intersect$2, h as fuseAll$2, m as fuse$2, p as cutAll$2, r as makeCylinder, t as makeCompound, v as sectionToFace$1, y as slice$1 } from "./solidBuilders-C32wXQWG.js";
 import { A as toBufferGeometryData, C as shellWithEvolution, D as getNurbsCurveData, E as fuseAllBisect, M as toLODGeometryData, N as toLODGeometryLevels, O as getNurbsSurfaceData, P as toLineGeometryData, S as intersectWithEvolution, T as cutAllBisect, _ as positionOnCurve, a as healFace, b as filletWithEvolution, c as isValid$1, d as draft$1, f as fillet$1, g as variableFillet, h as thicken$1, i as heal$1, j as toGroupedBufferGeometryData, k as chamferDistAngle, l as solidFromShell, m as shell$1, n as fixSelfIntersection, o as healSolid, p as offset$1, r as fixShape, s as healWire, t as autoHeal, u as chamfer$1, v as chamferWithEvolution, w as checkBoolean, x as fuseWithEvolution, y as cutWithEvolution } from "./healingFns-2TJHHDg5.js";
-import { A as setJointValue, B as findNode, C as cylindricalJoint, D as planarJoint, E as mechanismDOF, F as quatRotate, G as gridPattern, H as updateNode, I as addChild, J as createAssembly, K as linearPattern, L as collectShapes, M as sphericalJoint, N as quatFromAxisAngle, O as prismaticJoint, P as quatFromTo, R as countNodes, S as addJoint, T as jointTransform, U as walkAssembly, V as removeChild, W as circularPattern, _ as exportURDF, a as deserializeHistory, b as inverseKinematics, c as modifyStep, d as replayFrom, f as replayHistory, g as undoLast, h as stepsFrom, i as createRegistry, j as setJointValues, k as revoluteJoint, l as registerOperation, m as stepCount, n as addStep, o as findStep, p as serializeHistory, q as exportAssemblySTEP, r as createHistory, s as getShape, t as thread, u as registerShape, v as importURDF, w as forwardKinematics, x as jointTrajectory, y as jointsFromDH, z as createAssemblyNode } from "./threadFns-Dgr2qyJv.js";
+import { A as setJointValue, B as createAssemblyNode, C as cylindricalJoint, D as planarJoint, E as mechanismDOF, F as quatMultiply, G as circularPattern, H as removeChild, I as quatRotate, J as exportAssemblySTEP, K as gridPattern, L as addChild, M as sphericalJoint, N as quatFromAxisAngle, O as prismaticJoint, P as quatFromTo, R as collectShapes, S as addJoint, T as jointTransform, U as updateNode, V as findNode, W as walkAssembly, Y as createAssembly, _ as exportURDF, a as deserializeHistory, b as inverseKinematics, c as modifyStep, d as replayFrom, f as replayHistory, g as undoLast, h as stepsFrom, i as createRegistry, j as setJointValues, k as revoluteJoint, l as registerOperation, m as stepCount, n as addStep, o as findStep, p as serializeHistory, q as linearPattern, r as createHistory, s as getShape, t as thread, u as registerShape, v as importURDF, w as forwardKinematics, x as jointTrajectory, y as jointsFromDH, z as countNodes } from "./threadFns-KbYZu7Q9.js";
 import { n as BaseSketcher2d, r as organiseBlueprints, t as BlueprintSketcher } from "./blueprintSketcher-7rtwqUHZ.js";
 import { a as createTypedFinder, i as wireFinder, n as edgeFinder, r as faceFinder, t as getSingleFace } from "./helpers-DhJwFrkC.js";
 import { A as sketchEllipse, D as makeBaseBox, E as deserializeDrawing, F as sketchRectangle, I as sketchRoundedRectangle, L as FaceSketcher, M as sketchHelix, N as sketchParametricFunction, O as polysideInnerRadius, P as sketchPolysides, R as Sketcher, S as drawText, _ as drawPolysides, a as drawingIntersect, b as drawSingleCircle, c as rotateDrawing, d as drawFaceOutline, f as drawProjection, g as drawPointsInterpolation, h as drawParametricFunction, i as drawingFuse, j as sketchFaceOffset, k as sketchCircle, l as scaleDrawing, m as drawEllipse, n as drawingCut, o as drawingToSketchOnPlane, p as drawCircle, r as drawingFillet, s as mirrorDrawing, t as drawingChamfer, u as translateDrawing, v as drawRectangle, w as draw, x as drawSingleEllipse, y as drawRoundedRectangle } from "./drawFns-SQIBls6p.js";
@@ -5840,48 +5840,144 @@ function cacheKey(node, env, kernelId, tolerance) {
 	const tolHash = tolerance === void 0 ? "d" : fnvMixNumber(fnvInit(), tolerance).toString(16);
 	return `${toHex(node.structuralHash)}:${kernelId}:${toHex(projHash)}:${tolHash}`;
 }
+var IDENTITY_QUAT = [
+	1,
+	0,
+	0,
+	0
+];
+/** Resolve a Rotate node's angle/axis/center in `env`, applying the same
+*  defaults as the evaluator (Z axis, origin pivot). Null if any free param
+*  can't be evaluated, so the caller stops peeling there. */
+function evalRotateParams(node, env) {
+	const a = evalScalar(node.angle, env, "evaluateMesh.peelRigid");
+	if (!a.ok) return null;
+	const axis = node.axis ? evalVec3(node.axis, env, "evaluateMesh.peelRigid") : ok([
+		0,
+		0,
+		1
+	]);
+	if (!axis.ok) return null;
+	const center = node.at ? evalVec3(node.at, env, "evaluateMesh.peelRigid") : ok([
+		0,
+		0,
+		0
+	]);
+	if (!center.ok) return null;
+	return {
+		angle: a.value,
+		axis: axis.value,
+		center: center.value
+	};
+}
 /**
-* Peel outer Translate nodes off `node`, accumulating their env-evaluated
-* offsets. Pure translations compose by addition, so the inner geometry is
-* placement-independent: it meshes once and the cached mesh is shifted per
-* placement instead of re-tessellating. Stops at the first non-Translate node
-* (or one whose offset can't be evaluated in `env`).
+* Peel outer rigid-motion nodes (Translate / Rotate) off `node`, composing them
+* into a single rotation + translation. A rigid motion shares its inner
+* geometry's tessellation — the shape path re-tags it via `locate` (#1633) — so
+* the inner meshes once and the cached mesh is moved per placement instead of
+* re-tessellating. Stops at the first non-rigid node (Scale/Mirror/boolean/…) or
+* one whose parameters can't be evaluated in `env`.
+*
+* Composition is outer∘inner: peeling outward, each node's local transform acts
+* on points the inner nodes already placed, so it post-multiplies the
+* accumulator. A pure-translation chain keeps the identity rotation, so the mesh
+* move below degenerates to the exact vertex-shift fast path (normals untouched).
 */
-function peelTranslate(node, env) {
+function peelRigid(node, env) {
 	let inner = node;
-	let ox = 0;
-	let oy = 0;
-	let oz = 0;
-	while (inner.kind === "Translate") {
-		const v = evalVec3(inner.vector, env, "evaluateMesh.peelTranslate");
+	let rot = IDENTITY_QUAT;
+	let trans = [
+		0,
+		0,
+		0
+	];
+	for (;;) if (inner.kind === "Translate") {
+		const v = evalVec3(inner.vector, env, "evaluateMesh.peelRigid");
 		if (!v.ok) break;
-		ox += v.value[0];
-		oy += v.value[1];
-		oz += v.value[2];
+		const rv = quatRotate(rot, v.value);
+		trans = [
+			trans[0] + rv[0],
+			trans[1] + rv[1],
+			trans[2] + rv[2]
+		];
 		inner = inner.target;
-	}
+	} else if (inner.kind === "Rotate") {
+		const p = evalRotateParams(inner, env);
+		if (!p) break;
+		const r = quatFromAxisAngle(p.axis, p.angle * Math.PI / 180);
+		const newRot = quatMultiply(rot, r);
+		const rotC = quatRotate(rot, p.center);
+		const newRotC = quatRotate(newRot, p.center);
+		trans = [
+			trans[0] + rotC[0] - newRotC[0],
+			trans[1] + rotC[1] - newRotC[1],
+			trans[2] + rotC[2] - newRotC[2]
+		];
+		rot = newRot;
+		inner = inner.target;
+	} else break;
 	return {
 		inner,
-		offset: [
-			ox,
-			oy,
-			oz
-		]
+		rot,
+		trans
 	};
 }
-/** Shift every vertex of a mesh by `offset`; normals, UVs and triangles are unchanged. */
-function translateMesh(m, offset) {
-	const [dx, dy, dz] = offset;
-	if (dx === 0 && dy === 0 && dz === 0) return m;
-	const vertices = new Float32Array(m.vertices.length);
-	for (let i = 0; i < m.vertices.length; i += 3) {
-		vertices[i] = (m.vertices[i] ?? 0) + dx;
-		vertices[i + 1] = (m.vertices[i + 1] ?? 0) + dy;
-		vertices[i + 2] = (m.vertices[i + 2] ?? 0) + dz;
+function isIdentityQuat(q) {
+	return q[0] === 1 && q[1] === 0 && q[2] === 0 && q[3] === 0;
+}
+/**
+* Write `src` (flat xyz) rigidly transformed by quaternion (qw,qx,qy,qz) then
+* translation (tx,ty,tz) into `dst`. The quaternion-rotate math is inlined with
+* scalar locals — no per-vertex array allocation — because this runs once per
+* mesh vertex/normal and helper-allocated vector math regressed the gridfinity
+* benchmark 17% (see `utils/vec3.ts`). Pass zero translation for normals.
+*/
+function rotateXyzBuffer(dst, src, qw, qx, qy, qz, tx, ty, tz) {
+	for (let i = 0; i < src.length; i += 3) {
+		const vx = src[i] ?? 0;
+		const vy = src[i + 1] ?? 0;
+		const vz = src[i + 2] ?? 0;
+		const cx = 2 * (qy * vz - qz * vy);
+		const cy = 2 * (qz * vx - qx * vz);
+		const cz = 2 * (qx * vy - qy * vx);
+		dst[i] = vx + qw * cx + (qy * cz - qz * cy) + tx;
+		dst[i + 1] = vy + qw * cy + (qz * cx - qx * cz) + ty;
+		dst[i + 2] = vz + qw * cz + (qx * cy - qy * cx) + tz;
 	}
+}
+/**
+* Apply a rigid motion to a mesh: vertices get the rotation then translation,
+* normals get the rotation only (a unit rotation preserves length, so no
+* renormalization). UVs and triangles are motion-invariant. A pure translation
+* (identity rotation) keeps the source normals array by reference and only
+* shifts vertices — the exact previous translation-only fast path.
+*/
+function transformMeshRigid(m, rot, trans) {
+	const [tx, ty, tz] = trans;
+	const pureTranslation = isIdentityQuat(rot);
+	if (pureTranslation && tx === 0 && ty === 0 && tz === 0) return m;
+	const src = m.vertices;
+	const vertices = new Float32Array(src.length);
+	if (pureTranslation) {
+		for (let i = 0; i < src.length; i += 3) {
+			vertices[i] = (src[i] ?? 0) + tx;
+			vertices[i + 1] = (src[i + 1] ?? 0) + ty;
+			vertices[i + 2] = (src[i + 2] ?? 0) + tz;
+		}
+		return {
+			...m,
+			vertices
+		};
+	}
+	const [qw, qx, qy, qz] = rot;
+	rotateXyzBuffer(vertices, src, qw, qx, qy, qz, tx, ty, tz);
+	const sn = m.normals;
+	const normals = new Float32Array(sn.length);
+	rotateXyzBuffer(normals, sn, qw, qx, qy, qz, 0, 0, 0);
 	return {
 		...m,
-		vertices
+		vertices,
+		normals
 	};
 }
 /**
@@ -5889,8 +5985,8 @@ function translateMesh(m, offset) {
 * moved faces location-dependent hashes, so the inner mesh's `faceId`s describe
 * the *unplaced* shape; remap them to the placed faces (1:1 by iteration order,
 * since `locate` shares the source TShape) so face picking and metadata lookup
-* resolve against the placed mesh. Origins are translation-invariant, so only
-* `faceId` changes.
+* resolve against the placed mesh. Origins are boolean-lineage tags, invariant
+* under any rigid motion, so only `faceId` changes.
 *
 * Takes pre-captured hash arrays (not shapes): a bounded shape cache can evict
 * and dispose one shape while the other is being evaluated, so the caller reads
@@ -5986,7 +6082,7 @@ var Evaluator = class {
 				}
 				return ok(cached);
 			}
-			const { inner, offset } = peelTranslate(node, env);
+			const { inner, rot, trans } = peelRigid(node, env);
 			if (inner !== node) {
 				const innerMesh = this.evaluateMesh(inner, env, meshOpts);
 				if (!innerMesh.ok) return innerMesh;
@@ -5996,7 +6092,7 @@ var Evaluator = class {
 				const placedShape = this.evaluate(node, env);
 				if (!placedShape.ok) return placedShape;
 				const placedHashes = getFaces(placedShape.value).map(getHashCode);
-				const moved = translateMesh(innerMesh.value, offset);
+				const moved = transformMeshRigid(innerMesh.value, rot, trans);
 				const faceGroups = relocateFaceGroups(moved.faceGroups, innerHashes, placedHashes);
 				const placedSet = new Set(placedHashes);
 				if (faceGroups.every((g) => placedSet.has(g.faceId))) {

package/dist/operations.cjs

@@ -1,5 +1,5 @@
 Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
-const require_threadFns = require("./threadFns-KrG_i9_w.cjs");
+const require_threadFns = require("./threadFns-BqWHWpea.cjs");
 const require_loftFns = require("./loftFns-fpTmrIdd.cjs");
 exports.addChild = require_threadFns.addChild;
 exports.addJoint = require_threadFns.addJoint;

package/dist/operations.js

@@ -1,3 +1,3 @@
-import { A as setJointValue, B as findNode, C as cylindricalJoint, D as planarJoint, E as mechanismDOF, G as gridPattern, H as updateNode, I as addChild, J as createAssembly, K as linearPattern, L as collectShapes, M as sphericalJoint, O as prismaticJoint, R as countNodes, S as addJoint, T as jointTransform, U as walkAssembly, V as removeChild, W as circularPattern, _ as exportURDF, b as inverseKinematics, c as modifyStep, d as replayFrom, f as replayHistory, g as undoLast, h as stepsFrom, i as createRegistry, j as setJointValues, k as revoluteJoint, l as registerOperation, m as stepCount, n as addStep, o as findStep, q as exportAssemblySTEP, r as createHistory, s as getShape, t as thread, u as registerShape, v as importURDF, w as forwardKinematics, x as jointTrajectory, y as jointsFromDH, z as createAssemblyNode } from "./threadFns-Dgr2qyJv.js";
+import { A as setJointValue, B as createAssemblyNode, C as cylindricalJoint, D as planarJoint, E as mechanismDOF, G as circularPattern, H as removeChild, J as exportAssemblySTEP, K as gridPattern, L as addChild, M as sphericalJoint, O as prismaticJoint, R as collectShapes, S as addJoint, T as jointTransform, U as updateNode, V as findNode, W as walkAssembly, Y as createAssembly, _ as exportURDF, b as inverseKinematics, c as modifyStep, d as replayFrom, f as replayHistory, g as undoLast, h as stepsFrom, i as createRegistry, j as setJointValues, k as revoluteJoint, l as registerOperation, m as stepCount, n as addStep, o as findStep, q as linearPattern, r as createHistory, s as getShape, t as thread, u as registerShape, v as importURDF, w as forwardKinematics, x as jointTrajectory, y as jointsFromDH, z as countNodes } from "./threadFns-KbYZu7Q9.js";
 import { d as twistExtrude, l as supportExtrude, o as complexExtrude, u as sweep } from "./loftFns-CmShFQlv.js";
 export { addChild, addJoint, addStep, circularPattern, collectShapes, complexExtrude, countNodes, createAssembly, createAssemblyNode, createHistory, createRegistry, cylindricalJoint, exportAssemblySTEP, exportURDF, findNode, findStep, forwardKinematics, getShape as getHistoryShape, gridPattern, importURDF, inverseKinematics, jointTrajectory, jointTransform, jointsFromDH, linearPattern, mechanismDOF, modifyStep, planarJoint, prismaticJoint, registerOperation, registerShape, removeChild, replayFrom, replayHistory, revoluteJoint, setJointValue, setJointValues, sphericalJoint, stepCount, stepsFrom, supportExtrude, sweep, thread, twistExtrude, undoLast, updateNode, walkAssembly };

package/dist/{threadFns-KrG_i9_w.cjs → threadFns-BqWHWpea.cjs}

@@ -1699,6 +1699,12 @@ Object.defineProperty(exports, "quatFromTo", {
 		return quatFromTo;
 	}
 });
+Object.defineProperty(exports, "quatMultiply", {
+	enumerable: true,
+	get: function() {
+		return quatMultiply;
+	}
+});
 Object.defineProperty(exports, "quatRotate", {
 	enumerable: true,
 	get: function() {

package/dist/{threadFns-Dgr2qyJv.js → threadFns-KbYZu7Q9.js}

@@ -1513,4 +1513,4 @@ function thread(options) {
 	}
 }
 //#endregion
-export { setJointValue as A, findNode as B, cylindricalJoint as C, planarJoint as D, mechanismDOF as E, quatRotate as F, gridPattern as G, updateNode as H, addChild as I, createAssembly as J, linearPattern as K, collectShapes as L, sphericalJoint as M, quatFromAxisAngle as N, prismaticJoint as O, quatFromTo as P, countNodes as R, addJoint as S, jointTransform as T, walkAssembly as U, removeChild as V, circularPattern as W, exportURDF as _, deserializeHistory as a, inverseKinematics as b, modifyStep as c, replayFrom as d, replayHistory as f, undoLast as g, stepsFrom as h, createRegistry as i, setJointValues as j, revoluteJoint as k, registerOperation as l, stepCount as m, addStep as n, findStep as o, serializeHistory as p, exportAssemblySTEP as q, createHistory as r, getShape as s, thread as t, registerShape as u, importURDF as v, forwardKinematics as w, jointTrajectory as x, jointsFromDH as y, createAssemblyNode as z };
+export { setJointValue as A, createAssemblyNode as B, cylindricalJoint as C, planarJoint as D, mechanismDOF as E, quatMultiply as F, circularPattern as G, removeChild as H, quatRotate as I, exportAssemblySTEP as J, gridPattern as K, addChild as L, sphericalJoint as M, quatFromAxisAngle as N, prismaticJoint as O, quatFromTo as P, collectShapes as R, addJoint as S, jointTransform as T, updateNode as U, findNode as V, walkAssembly as W, createAssembly as Y, exportURDF as _, deserializeHistory as a, inverseKinematics as b, modifyStep as c, replayFrom as d, replayHistory as f, undoLast as g, stepsFrom as h, createRegistry as i, setJointValues as j, revoluteJoint as k, registerOperation as l, stepCount as m, addStep as n, findStep as o, serializeHistory as p, linearPattern as q, createHistory as r, getShape as s, thread as t, registerShape as u, importURDF as v, forwardKinematics as w, jointTrajectory as x, jointsFromDH as y, countNodes as z };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "brepjs",
-  "version": "18.116.0",
+  "version": "18.116.1",
   "description": "Web CAD library with pluggable geometry kernel",
   "keywords": [
     "cad",