brepjs 18.70.0 → 18.71.0

package/dist/brepjs.cjs

@@ -2132,8 +2132,88 @@ function roof(w, options) {
 	}
 }
 //#endregion
+//#region src/utils/quaternion.ts
+function dot$1(a, b) {
+	return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+function cross$1(a, b) {
+	return [
+		a[1] * b[2] - a[2] * b[1],
+		a[2] * b[0] - a[0] * b[2],
+		a[0] * b[1] - a[1] * b[0]
+	];
+}
+function normalize$1(a) {
+	const l = Math.hypot(a[0], a[1], a[2]) || 1;
+	return [
+		a[0] / l,
+		a[1] / l,
+		a[2] / l
+	];
+}
+/** A unit vector perpendicular to `v` (for the 180°/parallel degenerate cases). */
+function anyPerpendicular$1(v) {
+	return normalize$1(cross$1(v, Math.abs(v[0]) < .9 ? [
+		1,
+		0,
+		0
+	] : [
+		0,
+		1,
+		0
+	]));
+}
+/** Rotate vector `v` by quaternion `q`. */
+function quatRotate(q, v) {
+	const [w, x, y, z] = q;
+	const tx = 2 * (y * v[2] - z * v[1]);
+	const ty = 2 * (z * v[0] - x * v[2]);
+	const tz = 2 * (x * v[1] - y * v[0]);
+	return [
+		v[0] + w * tx + (y * tz - z * ty),
+		v[1] + w * ty + (z * tx - x * tz),
+		v[2] + w * tz + (x * ty - y * tx)
+	];
+}
+/** Quaternion for a rotation of `angle` radians about (unit-normalized) `axis`. */
+function quatFromAxisAngle(axis, angle) {
+	const h = angle / 2;
+	const s = Math.sin(h);
+	const u = normalize$1(axis);
+	return [
+		Math.cos(h),
+		u[0] * s,
+		u[1] * s,
+		u[2] * s
+	];
+}
+/** Shortest-arc quaternion rotating unit vector `from` onto unit vector `to`. */
+function quatFromTo(from, to) {
+	const a = normalize$1(from);
+	const b = normalize$1(to);
+	const d = dot$1(a, b);
+	if (d >= .999999999) return [
+		1,
+		0,
+		0,
+		0
+	];
+	if (d <= -.999999999) return quatFromAxisAngle(anyPerpendicular$1(a), Math.PI);
+	const c = cross$1(a, b);
+	const len = Math.hypot(1 + d, c[0], c[1], c[2]) || 1;
+	return [
+		(1 + d) / len,
+		c[0] / len,
+		c[1] / len,
+		c[2] / len
+	];
+}
+//#endregion
 //#region src/kernel/solverAdapter.ts
 /**
+* Constraint solver adapter — analytical solver for simple assembly mates.
+*/
+/**
 * Degrees of freedom each constraint leaves unresolved when it can't be applied
 * (entity-type mismatch or an unreachable reference). All four types now solve
 * for well-typed inputs; these counts only feed the diagnostic `dof` for the
@@ -2192,7 +2272,7 @@ function normalize(a) {
 		a[2] / l
 	];
 }
-/** A unit vector perpendicular to `v` (for the 180° / parallel degenerate cases). */
+/** A unit vector perpendicular to `v` (for the parallel-normals degenerate case). */
 function anyPerpendicular(v) {
 	return normalize(cross(v, Math.abs(v[0]) < .9 ? [
 		1,
@@ -2204,59 +2284,14 @@ function anyPerpendicular(v) {
 		0
 	]));
 }
-/** Rotate vector `v` by quaternion `q` = [w, x, y, z]. */
-function qRotate(q, v) {
-	const [w, x, y, z] = q;
-	const tx = 2 * (y * v[2] - z * v[1]);
-	const ty = 2 * (z * v[0] - x * v[2]);
-	const tz = 2 * (x * v[1] - y * v[0]);
-	return [
-		v[0] + w * tx + (y * tz - z * ty),
-		v[1] + w * ty + (z * tx - x * tz),
-		v[2] + w * tz + (x * ty - y * tx)
-	];
-}
-function qFromAxisAngle(axis, angle) {
-	const h = angle / 2;
-	const s = Math.sin(h);
-	const u = normalize(axis);
-	return [
-		Math.cos(h),
-		u[0] * s,
-		u[1] * s,
-		u[2] * s
-	];
-}
-/** Shortest-arc quaternion rotating unit vector `from` onto unit vector `to`. */
-function qFromTo(from, to) {
-	const a = normalize(from);
-	const b = normalize(to);
-	const d = dot(a, b);
-	if (d >= .999999999) return IDENTITY_ROTATION;
-	if (d <= -.999999999) return qFromAxisAngle(anyPerpendicular(a), Math.PI);
-	const c = cross(a, b);
-	const q = [
-		1 + d,
-		c[0],
-		c[1],
-		c[2]
-	];
-	const l = Math.hypot(q[0], q[1], q[2], q[3]) || 1;
-	return [
-		q[0] / l,
-		q[1] / l,
-		q[2] / l,
-		q[3] / l
-	];
-}
 /** Apply a pose (rotate then translate) to an entity's origin and any directions. */
 function transformEntity(e, pose) {
-	const origin = add$1(qRotate(pose.rotation, e.origin), pose.position);
+	const origin = add$1(quatRotate(pose.rotation, e.origin), pose.position);
 	return {
 		type: e.type,
 		origin,
-		...e.normal ? { normal: qRotate(pose.rotation, e.normal) } : {},
-		...e.direction ? { direction: qRotate(pose.rotation, e.direction) } : {}
+		...e.normal ? { normal: quatRotate(pose.rotation, e.normal) } : {},
+		...e.direction ? { direction: quatRotate(pose.rotation, e.direction) } : {}
 	};
 }
 /**
@@ -2290,12 +2325,12 @@ function solveConcentric(ref, dep) {
 		0,
 		1
 	];
-	const rotation = qFromTo(dep.direction ?? [
+	const rotation = quatFromTo(dep.direction ?? [
 		0,
 		0,
 		1
 	], dRef);
-	const rotatedOrigin = qRotate(rotation, dep.origin);
+	const rotatedOrigin = quatRotate(rotation, dep.origin);
 	return {
 		position: sub(ref.origin, rotatedOrigin),
 		rotation
@@ -2325,7 +2360,7 @@ function solveAngle(ref, dep, angleRad) {
 			0,
 			0
 		],
-		rotation: qFromAxisAngle(Math.hypot(c[0], c[1], c[2]) < 1e-9 ? anyPerpendicular(nDep) : c, phi - angleRad)
+		rotation: quatFromAxisAngle(Math.hypot(c[0], c[1], c[2]) < 1e-9 ? anyPerpendicular(nDep) : c, phi - angleRad)
 	};
 }
 /** Entity types each positioning constraint requires of (entityA, entityB). */
@@ -2567,6 +2602,102 @@ function solveAssembly(assembly) {
 	}
 }
 //#endregion
+//#region src/operations/jointFns.ts
+var DEG2RAD$1 = Math.PI / 180;
+function clamp(value, min, max) {
+	return Math.min(max, Math.max(min, value));
+}
+function unit(v) {
+	const l = Math.hypot(v[0], v[1], v[2]) || 1;
+	return [
+		v[0] / l,
+		v[1] / l,
+		v[2] / l
+	];
+}
+function makeJoint(type, parent, child, axis, opts, defMin, defMax) {
+	const a = opts.min ?? defMin;
+	const b = opts.max ?? defMax;
+	const min = Math.min(a, b);
+	const max = Math.max(a, b);
+	return {
+		type,
+		parent,
+		child,
+		axis: {
+			origin: axis.origin,
+			direction: unit(axis.direction)
+		},
+		min,
+		max,
+		value: clamp(opts.value ?? 0, min, max)
+	};
+}
+/** A revolute (hinge) joint — the child rotates about `axis` by `value` degrees. */
+function revoluteJoint(parent, child, axis, opts = {}) {
+	return makeJoint("revolute", parent, child, axis, opts, -180, 180);
+}
+/**
+* A prismatic (slider) joint — the child translates along `axis` by `value`
+* units. Only `axis.direction` is used; `axis.origin` is ignored (a pure
+* translation has no anchor point), unlike a revolute joint which rotates about
+* the axis line through `origin`.
+*/
+function prismaticJoint(parent, child, axis, opts = {}) {
+	return makeJoint("prismatic", parent, child, axis, opts, 0, 100);
+}
+/** Return a copy of `joint` with its drivable parameter set (clamped to range). */
+function setJointValue(joint, value) {
+	return {
+		...joint,
+		value: clamp(value, joint.min, joint.max)
+	};
+}
+/**
+* The child's local rigid transform (relative to the parent) for a joint value.
+* Defaults to the joint's stored value; an explicit value is clamped to range.
+*
+* - **revolute**: rotation of `value` degrees about the axis line. Rotating
+*   about a line through `origin` is `p ↦ R·p + (origin − R·origin)`.
+* - **prismatic**: translation of `value` units along the axis direction.
+*/
+function jointTransform(joint, value = joint.value) {
+	const v = clamp(value, joint.min, joint.max);
+	const dir = unit(joint.axis.direction);
+	if (joint.type === "prismatic") return {
+		position: [
+			dir[0] * v,
+			dir[1] * v,
+			dir[2] * v
+		],
+		rotation: [
+			1,
+			0,
+			0,
+			0
+		]
+	};
+	const rotation = quatFromAxisAngle(dir, v * DEG2RAD$1);
+	const o = joint.axis.origin;
+	const ro = quatRotate(rotation, o);
+	return {
+		position: [
+			o[0] - ro[0],
+			o[1] - ro[1],
+			o[2] - ro[2]
+		],
+		rotation
+	};
+}
+/** Attach a joint to an assembly node. Returns a new node (immutable). */
+function addJoint(assembly, joint) {
+	const existing = assembly.joints ?? [];
+	return {
+		...assembly,
+		joints: [...existing, joint]
+	};
+}
+//#endregion
 //#region src/measurement/interferenceFns.ts
 /**
 * Interference detection between shapes.
@@ -6365,6 +6496,7 @@ exports.Sketcher = require_drawFns.Sketcher;
 exports.Sketches = require_textBlueprints.Sketches;
 exports.addChild = require_historyFns.addChild;
 exports.addHoles = require_primitiveFns.addHoles;
+exports.addJoint = addJoint;
 exports.addMate = addMate;
 exports.addStep = require_historyFns.addStep;
 exports.adjacentFaces = require_primitiveFns.adjacentFaces;
@@ -6682,6 +6814,7 @@ exports.iterSolids = require_topologyQueryFns.iterSolids;
 exports.iterTopo = require_faceFns.iterTopo;
 exports.iterVertices = require_topologyQueryFns.iterVertices;
 exports.iterWires = require_topologyQueryFns.iterWires;
+exports.jointTransform = jointTransform;
 exports.kernelCall = require_topologyQueryFns.kernelCall;
 exports.kernelCallRaw = require_topologyQueryFns.kernelCallRaw;
 exports.kernelCallScoped = require_topologyQueryFns.kernelCallScoped;
@@ -6776,6 +6909,7 @@ Object.defineProperty(exports, "primitives", {
 		return primitives_exports;
 	}
 });
+exports.prismaticJoint = prismaticJoint;
 exports.projectEdges = require_cameraFns.projectEdges;
 exports.projectPointOnFace = require_faceFns.projectPointOnFace;
 Object.defineProperty(exports, "query", {
@@ -6807,6 +6941,7 @@ exports.resolveDirection = require_types.resolveDirection;
 exports.resolvePlane = require_planeOps.resolvePlane;
 exports.resolveRef = require_shapeRefFns.resolveRef;
 exports.reverseCurve = require_blueprintFns.reverseCurve;
+exports.revoluteJoint = revoluteJoint;
 exports.revolve = revolve;
 exports.roof = roof;
 exports.rotate = rotate;
@@ -6835,6 +6970,7 @@ exports.sdfTorus = torus;
 exports.section = section;
 exports.sectionToFace = sectionToFace;
 exports.serializeHistory = require_historyFns.serializeHistory;
+exports.setJointValue = setJointValue;
 exports.setShapeOrigin = require_shapeFns.setShapeOrigin;
 exports.setTagMetadata = require_shapeFns.setTagMetadata;
 exports.sewShells = require_primitiveFns.sewShells;

package/dist/brepjs.js

@@ -2143,8 +2143,88 @@ function roof(w, options) {
 	}
 }
 //#endregion
+//#region src/utils/quaternion.ts
+function dot$1(a, b) {
+	return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+function cross$1(a, b) {
+	return [
+		a[1] * b[2] - a[2] * b[1],
+		a[2] * b[0] - a[0] * b[2],
+		a[0] * b[1] - a[1] * b[0]
+	];
+}
+function normalize$1(a) {
+	const l = Math.hypot(a[0], a[1], a[2]) || 1;
+	return [
+		a[0] / l,
+		a[1] / l,
+		a[2] / l
+	];
+}
+/** A unit vector perpendicular to `v` (for the 180°/parallel degenerate cases). */
+function anyPerpendicular$1(v) {
+	return normalize$1(cross$1(v, Math.abs(v[0]) < .9 ? [
+		1,
+		0,
+		0
+	] : [
+		0,
+		1,
+		0
+	]));
+}
+/** Rotate vector `v` by quaternion `q`. */
+function quatRotate(q, v) {
+	const [w, x, y, z] = q;
+	const tx = 2 * (y * v[2] - z * v[1]);
+	const ty = 2 * (z * v[0] - x * v[2]);
+	const tz = 2 * (x * v[1] - y * v[0]);
+	return [
+		v[0] + w * tx + (y * tz - z * ty),
+		v[1] + w * ty + (z * tx - x * tz),
+		v[2] + w * tz + (x * ty - y * tx)
+	];
+}
+/** Quaternion for a rotation of `angle` radians about (unit-normalized) `axis`. */
+function quatFromAxisAngle(axis, angle) {
+	const h = angle / 2;
+	const s = Math.sin(h);
+	const u = normalize$1(axis);
+	return [
+		Math.cos(h),
+		u[0] * s,
+		u[1] * s,
+		u[2] * s
+	];
+}
+/** Shortest-arc quaternion rotating unit vector `from` onto unit vector `to`. */
+function quatFromTo(from, to) {
+	const a = normalize$1(from);
+	const b = normalize$1(to);
+	const d = dot$1(a, b);
+	if (d >= .999999999) return [
+		1,
+		0,
+		0,
+		0
+	];
+	if (d <= -.999999999) return quatFromAxisAngle(anyPerpendicular$1(a), Math.PI);
+	const c = cross$1(a, b);
+	const len = Math.hypot(1 + d, c[0], c[1], c[2]) || 1;
+	return [
+		(1 + d) / len,
+		c[0] / len,
+		c[1] / len,
+		c[2] / len
+	];
+}
+//#endregion
 //#region src/kernel/solverAdapter.ts
 /**
+* Constraint solver adapter — analytical solver for simple assembly mates.
+*/
+/**
 * Degrees of freedom each constraint leaves unresolved when it can't be applied
 * (entity-type mismatch or an unreachable reference). All four types now solve
 * for well-typed inputs; these counts only feed the diagnostic `dof` for the
@@ -2203,7 +2283,7 @@ function normalize(a) {
 		a[2] / l
 	];
 }
-/** A unit vector perpendicular to `v` (for the 180° / parallel degenerate cases). */
+/** A unit vector perpendicular to `v` (for the parallel-normals degenerate case). */
 function anyPerpendicular(v) {
 	return normalize(cross(v, Math.abs(v[0]) < .9 ? [
 		1,
@@ -2215,59 +2295,14 @@ function anyPerpendicular(v) {
 		0
 	]));
 }
-/** Rotate vector `v` by quaternion `q` = [w, x, y, z]. */
-function qRotate(q, v) {
-	const [w, x, y, z] = q;
-	const tx = 2 * (y * v[2] - z * v[1]);
-	const ty = 2 * (z * v[0] - x * v[2]);
-	const tz = 2 * (x * v[1] - y * v[0]);
-	return [
-		v[0] + w * tx + (y * tz - z * ty),
-		v[1] + w * ty + (z * tx - x * tz),
-		v[2] + w * tz + (x * ty - y * tx)
-	];
-}
-function qFromAxisAngle(axis, angle) {
-	const h = angle / 2;
-	const s = Math.sin(h);
-	const u = normalize(axis);
-	return [
-		Math.cos(h),
-		u[0] * s,
-		u[1] * s,
-		u[2] * s
-	];
-}
-/** Shortest-arc quaternion rotating unit vector `from` onto unit vector `to`. */
-function qFromTo(from, to) {
-	const a = normalize(from);
-	const b = normalize(to);
-	const d = dot(a, b);
-	if (d >= .999999999) return IDENTITY_ROTATION;
-	if (d <= -.999999999) return qFromAxisAngle(anyPerpendicular(a), Math.PI);
-	const c = cross(a, b);
-	const q = [
-		1 + d,
-		c[0],
-		c[1],
-		c[2]
-	];
-	const l = Math.hypot(q[0], q[1], q[2], q[3]) || 1;
-	return [
-		q[0] / l,
-		q[1] / l,
-		q[2] / l,
-		q[3] / l
-	];
-}
 /** Apply a pose (rotate then translate) to an entity's origin and any directions. */
 function transformEntity(e, pose) {
-	const origin = add$1(qRotate(pose.rotation, e.origin), pose.position);
+	const origin = add$1(quatRotate(pose.rotation, e.origin), pose.position);
 	return {
 		type: e.type,
 		origin,
-		...e.normal ? { normal: qRotate(pose.rotation, e.normal) } : {},
-		...e.direction ? { direction: qRotate(pose.rotation, e.direction) } : {}
+		...e.normal ? { normal: quatRotate(pose.rotation, e.normal) } : {},
+		...e.direction ? { direction: quatRotate(pose.rotation, e.direction) } : {}
 	};
 }
 /**
@@ -2301,12 +2336,12 @@ function solveConcentric(ref, dep) {
 		0,
 		1
 	];
-	const rotation = qFromTo(dep.direction ?? [
+	const rotation = quatFromTo(dep.direction ?? [
 		0,
 		0,
 		1
 	], dRef);
-	const rotatedOrigin = qRotate(rotation, dep.origin);
+	const rotatedOrigin = quatRotate(rotation, dep.origin);
 	return {
 		position: sub(ref.origin, rotatedOrigin),
 		rotation
@@ -2336,7 +2371,7 @@ function solveAngle(ref, dep, angleRad) {
 			0,
 			0
 		],
-		rotation: qFromAxisAngle(Math.hypot(c[0], c[1], c[2]) < 1e-9 ? anyPerpendicular(nDep) : c, phi - angleRad)
+		rotation: quatFromAxisAngle(Math.hypot(c[0], c[1], c[2]) < 1e-9 ? anyPerpendicular(nDep) : c, phi - angleRad)
 	};
 }
 /** Entity types each positioning constraint requires of (entityA, entityB). */
@@ -2578,6 +2613,102 @@ function solveAssembly(assembly) {
 	}
 }
 //#endregion
+//#region src/operations/jointFns.ts
+var DEG2RAD$1 = Math.PI / 180;
+function clamp(value, min, max) {
+	return Math.min(max, Math.max(min, value));
+}
+function unit(v) {
+	const l = Math.hypot(v[0], v[1], v[2]) || 1;
+	return [
+		v[0] / l,
+		v[1] / l,
+		v[2] / l
+	];
+}
+function makeJoint(type, parent, child, axis, opts, defMin, defMax) {
+	const a = opts.min ?? defMin;
+	const b = opts.max ?? defMax;
+	const min = Math.min(a, b);
+	const max = Math.max(a, b);
+	return {
+		type,
+		parent,
+		child,
+		axis: {
+			origin: axis.origin,
+			direction: unit(axis.direction)
+		},
+		min,
+		max,
+		value: clamp(opts.value ?? 0, min, max)
+	};
+}
+/** A revolute (hinge) joint — the child rotates about `axis` by `value` degrees. */
+function revoluteJoint(parent, child, axis, opts = {}) {
+	return makeJoint("revolute", parent, child, axis, opts, -180, 180);
+}
+/**
+* A prismatic (slider) joint — the child translates along `axis` by `value`
+* units. Only `axis.direction` is used; `axis.origin` is ignored (a pure
+* translation has no anchor point), unlike a revolute joint which rotates about
+* the axis line through `origin`.
+*/
+function prismaticJoint(parent, child, axis, opts = {}) {
+	return makeJoint("prismatic", parent, child, axis, opts, 0, 100);
+}
+/** Return a copy of `joint` with its drivable parameter set (clamped to range). */
+function setJointValue(joint, value) {
+	return {
+		...joint,
+		value: clamp(value, joint.min, joint.max)
+	};
+}
+/**
+* The child's local rigid transform (relative to the parent) for a joint value.
+* Defaults to the joint's stored value; an explicit value is clamped to range.
+*
+* - **revolute**: rotation of `value` degrees about the axis line. Rotating
+*   about a line through `origin` is `p ↦ R·p + (origin − R·origin)`.
+* - **prismatic**: translation of `value` units along the axis direction.
+*/
+function jointTransform(joint, value = joint.value) {
+	const v = clamp(value, joint.min, joint.max);
+	const dir = unit(joint.axis.direction);
+	if (joint.type === "prismatic") return {
+		position: [
+			dir[0] * v,
+			dir[1] * v,
+			dir[2] * v
+		],
+		rotation: [
+			1,
+			0,
+			0,
+			0
+		]
+	};
+	const rotation = quatFromAxisAngle(dir, v * DEG2RAD$1);
+	const o = joint.axis.origin;
+	const ro = quatRotate(rotation, o);
+	return {
+		position: [
+			o[0] - ro[0],
+			o[1] - ro[1],
+			o[2] - ro[2]
+		],
+		rotation
+	};
+}
+/** Attach a joint to an assembly node. Returns a new node (immutable). */
+function addJoint(assembly, joint) {
+	const existing = assembly.joints ?? [];
+	return {
+		...assembly,
+		joints: [...existing, joint]
+	};
+}
+//#endregion
 //#region src/measurement/interferenceFns.ts
 /**
 * Interference detection between shapes.
@@ -6347,4 +6478,4 @@ var csg_exports = /* @__PURE__ */ __exportAll({
 	withEvaluator: () => withEvaluator
 });
 //#endregion
-export { BaseSketcher2d, BlueprintSketcher, BrepBugError, BrepErrorCode, BrepWrapperError, BrepkitAdapter, CompoundSketch, DEFAULT_CAPABILITIES, DEG2RAD, DisposalScope, EXACT_BREP_CAPABILITIES, FaceSketcher, HASH_CODE_MAX, OK, OcctWasmAdapter, RAD2DEG, Sketch, Sketcher, Sketches, addChild, addHoles, addMate, addStep, adjacentFaces, all, andThen, applyGlue, applyMatrix, approximateCurve, as2D, as3D, asTopo, assignRoles, autoHeal, bezier, blueprintToDXF, booleanPipeline, booleans_exports as booleans, boss, box, bsplineApprox, bug, cameraFromPlane, cameraLookAt, captureHint, cast, castShape, castShape3D, chamfer, chamferDistAngle as chamferDistAngleShape, chamferWithEvolution, checkAllInterferences, checkBoolean, checkInterference, circle, circularPattern, classifyPointOnFace, clearMeshCache, clone, closedWire, collect, collectShapes, colorFaces, colorShape, complexExtrude, composeTransforms, compound, compoundSketchExtrude, compoundSketchFace, compoundSketchLoft, compoundSketchRevolve, computationError, computeStraightSkeleton, cone, construction_exports as construction, convexHull, cornerFinder, countNodes, createAssembly, createAssemblyNode, createBlueprint, createCamera, createCompound, createCompoundBlueprint, createDistanceQuery, createEdge, createFace, createHandle, createHistory, createKernelHandle, createMeshCache, createNamedPlane, createOperationRegistry, createPlane, createRef, createRegistry, createShell, createSolid, createTaskQueue, createVertex, createWire, createWorkerClient, createWorkerHandler, csg_exports as csg, currentQuality, curve2dBoundingBox, curve2dDistanceFrom, curve2dFirstPoint, curve2dIsOnCurve, curve2dLastPoint, curve2dParameter, curve2dSplitAt, curve2dTangentAt, curveEndPoint, curveIsClosed, curveIsPeriodic, curveLength, curvePeriod, curvePointAt, curveStartPoint, curveTangentAt, cut, cut2D, cutAll, cutAllBisect, cutBlueprints, cutWithEvolution, cylinder, defaultScorer, dequeueTask, describe, deserializeDrawing, deserializeHistory, fromBREP as deserializeShape, downcast, draft, draw, drawCircle, drawEllipse, drawFaceOutline, drawParametricFunction, drawPointsInterpolation, drawPolysides, drawProjection, drawRectangle, drawRoundedRectangle, drawSingleCircle, drawSingleEllipse, drawText, drawingChamfer, drawingCut, drawingFillet, drawingFuse, drawingIntersect, drawingToSketchOnPlane, drill, edgeFinder, edgesOfFace, ellipse, ellipseArc, ellipsoid, enqueueTask, err, exportAssemblySTEP, exportDXF, exportGlb, exportGltf, exportIGES, exportOBJ, exportSTEP, exportSTEPConfigured, exportSTL, exportThreeMF, extrude, extrudeAll, face, faceAxis, faceCenter, faceFinder, faceGeomType, faceOrientation, facesOfEdge, fieldBoolean, fieldContour, fieldOffset, fieldReinit, fieldShell, fill, filledFace, fillet, filletWithEvolution, findFacesByTag, findNode, findStep, fixSelfIntersection, fixShape, flatMap, flatten, flipFaceOrientation, flipOrientation, fontMetrics, fromBREP$1 as fromBREP, fromKernelDir, fromKernelPnt, fromKernelVec, fromNullable, fuse, fuse2D, fuseAll, fuseAllBisect, fuseBlueprints, fuseWithEvolution, gearGeometry, getActiveVoxelId, getBounds, getBounds2D, getCompSolids, getCurveType, getDisposalStats, getEdges, getFaceColor, getFaceOrigins, getFaceTags, getFaces, getFont, getHashCode, getShape as getHistoryShape, getKernel, getKernelCapabilities, getKernelTier, getNurbsCurveData, getNurbsSurfaceData, getOrientation, getOrientation2D, getPerformanceStats, getShapeColor, getShapeKind, getShells, getSingleFace, getSolids, getSurfaceType, getTagMetadata, getVertices, getVoxel, getWires, guidedSweep, heal, healFace, healSolid, healWire, helix, hull, importDXF, importGLB, importIGES, importOBJ, importSTEP, importSTL, importSVG, importSVGPathD, importThreeMF, init, initFromManifold, initFromOC, initVoxel, innerWires, interpolateCurve, intersect, intersect2D, intersectBlueprints, intersectWithEvolution, invalidateShapeCache, ioNs_exports as io, ioError, is2D, is3D, isChamferRadius, isClosedWire, isCompSolid, isCompound, isDisposeRequest, isEdge, isEmpty, isEqualShape, isErr, isErrorResponse, isFace, isFilletRadius, isInitRequest, isInside2D, isLive, isManifoldShell, isNumber, isOk, isOperationRequest, isOrientedFace, isPlanarFace, isPlanarWire, isProjectionPlane, isEmpty$1 as isQueueEmpty, isSameShape, isShape1D, isShape3D, isShell, isSolid, isSuccessResponse, isValid, isValidSolid, isVertex, isWire, iterCompSolids, iterEdges, iterFaces, iterShells, iterSolids, iterTopo, iterVertices, iterWires, kernelCall, kernelCallRaw, kernelCallScoped, kernelError, latticeInfill, latticeInfillShape, line, linearPattern, loadFont, loft, loftAll, makeBaseBox, makeExternalGear, makeInternalGear, makePlane, makePlanetaryGear, makeProjectedEdges, manifoldShell, map, mapBoth, mapErr, match, measureArea, measureCurvatureAt, measureCurvatureAtMid, measureDistance, measureDistanceProps, measureLength, measureLinearProps, measureSurfaceProps, measureVolume, measureVolumeProps, measurement_exports as measurement, mesh, meshEdges, meshMultiLOD, minkowski, mirror, mirror2D, mirrorDrawing, mirrorJoin, modifiers_exports as modifiers, modifyStep, moduleInitError, multiSectionSweep, normalAt, offset, offsetFace, offsetMesh, offsetShape, offsetWire2D, ok, or, orElse, organiseBlueprints, orientedFace, outerWire, patterns_exports as patterns, pendingCount, pipeline, pivotPlane, planarFace, planarWire, planetPlacements, pocket, pointOnSurface, pointsInside, polygon, polyhedron, polysideInnerRadius, polysidesBlueprint, positionOnCurve, prewarm, primitives_exports as primitives, projectEdges, projectPointOnFace, query_exports as query, queryError, rectangularPattern, registerHandler, registerKernel, registerKernelTier, registerOperation, registerShape, registerVoxel, rejectAll, removeChild, removeHolesFromFace, repairMesh, replayFrom, replayHistory, resetDisposalStats, resetPerformanceStats, resize, resolve, resolve3D, resolveDirection, resolvePlane, resolveRef, reverseCurve, revolve, roof, rotate, rotate2D, rotateDrawing, roundedRectangleBlueprint, scale, scale2D, scaleDrawing, box$1 as sdfBox, capsule as sdfCapsule, cone$1 as sdfCone, cylinder$1 as sdfCylinder, fieldAxialRamp as sdfFieldAxialRamp, fieldClamp as sdfFieldClamp, fieldConst as sdfFieldConst, fieldFromSdf as sdfFieldFromSdf, fieldRadialRamp as sdfFieldRadialRamp, lattice as sdfLattice, plane as sdfPlane, roundedBox as sdfRoundedBox, sphere as sdfSphere, strutLattice as sdfStrutLattice, sweep as sdfSweep, torus as sdfTorus, section, sectionToFace, serializeHistory, setShapeOrigin, setTagMetadata, sewShells, shape, shapeToMeshInput, shapeType, sharedEdges, shell, shellMesh, shellShape, shellWithEvolution, simplify, sketchCircle, sketchEllipse, sketchExtrude, sketchFace, sketchFaceOffset, sketchHelix, sketchLoft, sketchOnFace2D, sketchOnPlane2D, sketchParametricFunction, sketchPolysides, sketchRectangle, sketchRevolve, sketchRoundedRectangle, sketchSweep, sketchText, sketchWires, sketcherStateError, slice, solid, solidFromShell, solveAssembly, sphere$1 as sphere, split, stepCount, stepsFrom, stretch2D, subFace, supportExtrude, supportsConstraintSketch, supportsProjection, surfaceFromGrid, surfaceFromImage, sweep$1 as sweep, tagFaces, tangentArc, tap, tapErr, textBlueprints, textMetrics, thicken, threePointArc, toBREP, toBufferGeometryData, toGroupedBufferGeometryData, toKernelVec, toLODGeometryData, toLineGeometryData, toSVGPathD, toVec2, toVec3, torus$1 as torus, tpmsLattice, transformCopy, transforms_exports as transforms, translate, translate2D, translateDrawing, translatePlane, tryCatch, tryCatchAsync, twistExtrude, typeCastError, undoLast, unsupportedError, unwrap, unwrapErr, unwrapOr, unwrapOrElse, updateNode, updateRoles, uvBounds, uvCoordinates, validSolid, validatePlanetary, validationError, variableFillet, vecAdd, vecAngle, vecCross, vecDistance, vecDot, vecEquals, vecIsZero, vecLength, vecLengthSq, vecNegate, vecNormalize, vecProjectToPlane, vecRepr, vecRotate, vecScale, vecSub, vertex, vertexFinder, vertexPosition, verticesOfEdge, voxelBoolean, voxelBooleanField, voxelBooleanFieldShapes, voxelBooleanShapes, voxelField, voxelFieldFromShape, walkAssembly, windingNumbers, wire, wireFinder, wireLoop, wiresOfFace, withKernel, withKernelDir, withKernelPnt, withKernelVec, withQuality, withScope, withScopeResult, withScopeResultAsync, withTier, zip as zipResults };
+export { BaseSketcher2d, BlueprintSketcher, BrepBugError, BrepErrorCode, BrepWrapperError, BrepkitAdapter, CompoundSketch, DEFAULT_CAPABILITIES, DEG2RAD, DisposalScope, EXACT_BREP_CAPABILITIES, FaceSketcher, HASH_CODE_MAX, OK, OcctWasmAdapter, RAD2DEG, Sketch, Sketcher, Sketches, addChild, addHoles, addJoint, addMate, addStep, adjacentFaces, all, andThen, applyGlue, applyMatrix, approximateCurve, as2D, as3D, asTopo, assignRoles, autoHeal, bezier, blueprintToDXF, booleanPipeline, booleans_exports as booleans, boss, box, bsplineApprox, bug, cameraFromPlane, cameraLookAt, captureHint, cast, castShape, castShape3D, chamfer, chamferDistAngle as chamferDistAngleShape, chamferWithEvolution, checkAllInterferences, checkBoolean, checkInterference, circle, circularPattern, classifyPointOnFace, clearMeshCache, clone, closedWire, collect, collectShapes, colorFaces, colorShape, complexExtrude, composeTransforms, compound, compoundSketchExtrude, compoundSketchFace, compoundSketchLoft, compoundSketchRevolve, computationError, computeStraightSkeleton, cone, construction_exports as construction, convexHull, cornerFinder, countNodes, createAssembly, createAssemblyNode, createBlueprint, createCamera, createCompound, createCompoundBlueprint, createDistanceQuery, createEdge, createFace, createHandle, createHistory, createKernelHandle, createMeshCache, createNamedPlane, createOperationRegistry, createPlane, createRef, createRegistry, createShell, createSolid, createTaskQueue, createVertex, createWire, createWorkerClient, createWorkerHandler, csg_exports as csg, currentQuality, curve2dBoundingBox, curve2dDistanceFrom, curve2dFirstPoint, curve2dIsOnCurve, curve2dLastPoint, curve2dParameter, curve2dSplitAt, curve2dTangentAt, curveEndPoint, curveIsClosed, curveIsPeriodic, curveLength, curvePeriod, curvePointAt, curveStartPoint, curveTangentAt, cut, cut2D, cutAll, cutAllBisect, cutBlueprints, cutWithEvolution, cylinder, defaultScorer, dequeueTask, describe, deserializeDrawing, deserializeHistory, fromBREP as deserializeShape, downcast, draft, draw, drawCircle, drawEllipse, drawFaceOutline, drawParametricFunction, drawPointsInterpolation, drawPolysides, drawProjection, drawRectangle, drawRoundedRectangle, drawSingleCircle, drawSingleEllipse, drawText, drawingChamfer, drawingCut, drawingFillet, drawingFuse, drawingIntersect, drawingToSketchOnPlane, drill, edgeFinder, edgesOfFace, ellipse, ellipseArc, ellipsoid, enqueueTask, err, exportAssemblySTEP, exportDXF, exportGlb, exportGltf, exportIGES, exportOBJ, exportSTEP, exportSTEPConfigured, exportSTL, exportThreeMF, extrude, extrudeAll, face, faceAxis, faceCenter, faceFinder, faceGeomType, faceOrientation, facesOfEdge, fieldBoolean, fieldContour, fieldOffset, fieldReinit, fieldShell, fill, filledFace, fillet, filletWithEvolution, findFacesByTag, findNode, findStep, fixSelfIntersection, fixShape, flatMap, flatten, flipFaceOrientation, flipOrientation, fontMetrics, fromBREP$1 as fromBREP, fromKernelDir, fromKernelPnt, fromKernelVec, fromNullable, fuse, fuse2D, fuseAll, fuseAllBisect, fuseBlueprints, fuseWithEvolution, gearGeometry, getActiveVoxelId, getBounds, getBounds2D, getCompSolids, getCurveType, getDisposalStats, getEdges, getFaceColor, getFaceOrigins, getFaceTags, getFaces, getFont, getHashCode, getShape as getHistoryShape, getKernel, getKernelCapabilities, getKernelTier, getNurbsCurveData, getNurbsSurfaceData, getOrientation, getOrientation2D, getPerformanceStats, getShapeColor, getShapeKind, getShells, getSingleFace, getSolids, getSurfaceType, getTagMetadata, getVertices, getVoxel, getWires, guidedSweep, heal, healFace, healSolid, healWire, helix, hull, importDXF, importGLB, importIGES, importOBJ, importSTEP, importSTL, importSVG, importSVGPathD, importThreeMF, init, initFromManifold, initFromOC, initVoxel, innerWires, interpolateCurve, intersect, intersect2D, intersectBlueprints, intersectWithEvolution, invalidateShapeCache, ioNs_exports as io, ioError, is2D, is3D, isChamferRadius, isClosedWire, isCompSolid, isCompound, isDisposeRequest, isEdge, isEmpty, isEqualShape, isErr, isErrorResponse, isFace, isFilletRadius, isInitRequest, isInside2D, isLive, isManifoldShell, isNumber, isOk, isOperationRequest, isOrientedFace, isPlanarFace, isPlanarWire, isProjectionPlane, isEmpty$1 as isQueueEmpty, isSameShape, isShape1D, isShape3D, isShell, isSolid, isSuccessResponse, isValid, isValidSolid, isVertex, isWire, iterCompSolids, iterEdges, iterFaces, iterShells, iterSolids, iterTopo, iterVertices, iterWires, jointTransform, kernelCall, kernelCallRaw, kernelCallScoped, kernelError, latticeInfill, latticeInfillShape, line, linearPattern, loadFont, loft, loftAll, makeBaseBox, makeExternalGear, makeInternalGear, makePlane, makePlanetaryGear, makeProjectedEdges, manifoldShell, map, mapBoth, mapErr, match, measureArea, measureCurvatureAt, measureCurvatureAtMid, measureDistance, measureDistanceProps, measureLength, measureLinearProps, measureSurfaceProps, measureVolume, measureVolumeProps, measurement_exports as measurement, mesh, meshEdges, meshMultiLOD, minkowski, mirror, mirror2D, mirrorDrawing, mirrorJoin, modifiers_exports as modifiers, modifyStep, moduleInitError, multiSectionSweep, normalAt, offset, offsetFace, offsetMesh, offsetShape, offsetWire2D, ok, or, orElse, organiseBlueprints, orientedFace, outerWire, patterns_exports as patterns, pendingCount, pipeline, pivotPlane, planarFace, planarWire, planetPlacements, pocket, pointOnSurface, pointsInside, polygon, polyhedron, polysideInnerRadius, polysidesBlueprint, positionOnCurve, prewarm, primitives_exports as primitives, prismaticJoint, projectEdges, projectPointOnFace, query_exports as query, queryError, rectangularPattern, registerHandler, registerKernel, registerKernelTier, registerOperation, registerShape, registerVoxel, rejectAll, removeChild, removeHolesFromFace, repairMesh, replayFrom, replayHistory, resetDisposalStats, resetPerformanceStats, resize, resolve, resolve3D, resolveDirection, resolvePlane, resolveRef, reverseCurve, revoluteJoint, revolve, roof, rotate, rotate2D, rotateDrawing, roundedRectangleBlueprint, scale, scale2D, scaleDrawing, box$1 as sdfBox, capsule as sdfCapsule, cone$1 as sdfCone, cylinder$1 as sdfCylinder, fieldAxialRamp as sdfFieldAxialRamp, fieldClamp as sdfFieldClamp, fieldConst as sdfFieldConst, fieldFromSdf as sdfFieldFromSdf, fieldRadialRamp as sdfFieldRadialRamp, lattice as sdfLattice, plane as sdfPlane, roundedBox as sdfRoundedBox, sphere as sdfSphere, strutLattice as sdfStrutLattice, sweep as sdfSweep, torus as sdfTorus, section, sectionToFace, serializeHistory, setJointValue, setShapeOrigin, setTagMetadata, sewShells, shape, shapeToMeshInput, shapeType, sharedEdges, shell, shellMesh, shellShape, shellWithEvolution, simplify, sketchCircle, sketchEllipse, sketchExtrude, sketchFace, sketchFaceOffset, sketchHelix, sketchLoft, sketchOnFace2D, sketchOnPlane2D, sketchParametricFunction, sketchPolysides, sketchRectangle, sketchRevolve, sketchRoundedRectangle, sketchSweep, sketchText, sketchWires, sketcherStateError, slice, solid, solidFromShell, solveAssembly, sphere$1 as sphere, split, stepCount, stepsFrom, stretch2D, subFace, supportExtrude, supportsConstraintSketch, supportsProjection, surfaceFromGrid, surfaceFromImage, sweep$1 as sweep, tagFaces, tangentArc, tap, tapErr, textBlueprints, textMetrics, thicken, threePointArc, toBREP, toBufferGeometryData, toGroupedBufferGeometryData, toKernelVec, toLODGeometryData, toLineGeometryData, toSVGPathD, toVec2, toVec3, torus$1 as torus, tpmsLattice, transformCopy, transforms_exports as transforms, translate, translate2D, translateDrawing, translatePlane, tryCatch, tryCatchAsync, twistExtrude, typeCastError, undoLast, unsupportedError, unwrap, unwrapErr, unwrapOr, unwrapOrElse, updateNode, updateRoles, uvBounds, uvCoordinates, validSolid, validatePlanetary, validationError, variableFillet, vecAdd, vecAngle, vecCross, vecDistance, vecDot, vecEquals, vecIsZero, vecLength, vecLengthSq, vecNegate, vecNormalize, vecProjectToPlane, vecRepr, vecRotate, vecScale, vecSub, vertex, vertexFinder, vertexPosition, verticesOfEdge, voxelBoolean, voxelBooleanField, voxelBooleanFieldShapes, voxelBooleanShapes, voxelField, voxelFieldFromShape, walkAssembly, windingNumbers, wire, wireFinder, wireLoop, wiresOfFace, withKernel, withKernelDir, withKernelPnt, withKernelVec, withQuality, withScope, withScopeResult, withScopeResultAsync, withTier, zip as zipResults };

package/dist/index.d.ts

@@ -121,6 +121,7 @@ export { exportAssemblySTEP, type ShapeOptions, type SupportedUnit, } from './op
 export { linearPattern, circularPattern } from './operations/patternFns.js';
 export { createAssemblyNode, addChild, removeChild, updateNode, findNode, walkAssembly, countNodes, collectShapes, type AssemblyNode, type AssemblyNodeOptions, } from './operations/assemblyFns.js';
 export { addMate, solveAssembly, type MateConstraint, type MateEntity, type AssemblySolveResult, } from './operations/mateFns.js';
+export { revoluteJoint, prismaticJoint, setJointValue, jointTransform, addJoint, type Joint, type JointAxis, type JointType, type JointPose, type JointOptions, } from './operations/jointFns.js';
 export { createHistory, addStep, undoLast, findStep, getShape as getHistoryShape, stepCount, stepsFrom, registerShape, createRegistry, registerOperation, replayHistory, replayFrom, modifyStep, serializeHistory, deserializeHistory, type OperationStep, type ModelHistory, type SerializedHistory, type OperationFn, type OperationRegistry as HistoryOperationRegistry, } from './operations/historyFns.js';
 export { measureVolume, measureArea, measureLength, measureDistance, measureDistanceProps, createDistanceQuery, measureVolumeProps, measureSurfaceProps, measureLinearProps, type PhysicalProps, type VolumeProps, type SurfaceProps, type LinearProps, type DistanceProps, measureCurvatureAt, measureCurvatureAtMid, type CurvatureResult, } from './measurement/measureFns.js';
 export { checkInterference, checkAllInterferences, type InterferenceResult, type InterferencePair, } from './measurement/interferenceFns.js';

package/dist/operations/assemblyFns.d.ts

@@ -11,6 +11,8 @@ export interface AssemblyNode {
     readonly metadata?: Readonly<Record<string, unknown>>;
     readonly children: ReadonlyArray<AssemblyNode>;
     readonly mates?: readonly unknown[];
+    /** Drivable kinematic joints (see jointFns). Typed loosely to avoid a cycle. */
+    readonly joints?: readonly unknown[];
 }
 export interface AssemblyNodeOptions {
     shape?: AnyShape;

package/dist/operations/jointFns.d.ts

@@ -0,0 +1,55 @@
+import { Vec3 } from '../core/types.js';
+import { AssemblyNode } from './assemblyFns.js';
+/** A joint axis: a point on the axis line plus a direction. */
+export interface JointAxis {
+    readonly origin: Vec3;
+    readonly direction: Vec3;
+}
+export type JointType = 'revolute' | 'prismatic';
+export interface Joint {
+    readonly type: JointType;
+    /** Reference body (stays put); the child moves relative to it. */
+    readonly parent: string;
+    readonly child: string;
+    readonly axis: JointAxis;
+    /** Range bounds — degrees for revolute, length units for prismatic. */
+    readonly min: number;
+    readonly max: number;
+    /** Current drivable parameter, always clamped to `[min, max]`. */
+    readonly value: number;
+}
+/** A rigid transform: translation + quaternion rotation `[w, x, y, z]`. */
+export interface JointPose {
+    readonly position: Vec3;
+    readonly rotation: [number, number, number, number];
+}
+export interface JointOptions {
+    /** Range lower bound. Default: -180 (revolute) / 0 (prismatic). */
+    min?: number;
+    /** Range upper bound. Default: 180 (revolute) / 100 (prismatic). */
+    max?: number;
+    /** Initial value, clamped to the range. Default: 0. */
+    value?: number;
+}
+/** A revolute (hinge) joint — the child rotates about `axis` by `value` degrees. */
+export declare function revoluteJoint(parent: string, child: string, axis: JointAxis, opts?: JointOptions): Joint;
+/**
+ * A prismatic (slider) joint — the child translates along `axis` by `value`
+ * units. Only `axis.direction` is used; `axis.origin` is ignored (a pure
+ * translation has no anchor point), unlike a revolute joint which rotates about
+ * the axis line through `origin`.
+ */
+export declare function prismaticJoint(parent: string, child: string, axis: JointAxis, opts?: JointOptions): Joint;
+/** Return a copy of `joint` with its drivable parameter set (clamped to range). */
+export declare function setJointValue(joint: Joint, value: number): Joint;
+/**
+ * The child's local rigid transform (relative to the parent) for a joint value.
+ * Defaults to the joint's stored value; an explicit value is clamped to range.
+ *
+ * - **revolute**: rotation of `value` degrees about the axis line. Rotating
+ *   about a line through `origin` is `p ↦ R·p + (origin − R·origin)`.
+ * - **prismatic**: translation of `value` units along the axis direction.
+ */
+export declare function jointTransform(joint: Joint, value?: number): JointPose;
+/** Attach a joint to an assembly node. Returns a new node (immutable). */
+export declare function addJoint(assembly: AssemblyNode, joint: Joint): AssemblyNode;

package/dist/utils/quaternion.d.ts

@@ -0,0 +1,15 @@
+/**
+ * Quaternion helpers for rigid rotations, shared by the constraint solver and
+ * the joint/kinematics layer. Scalar-first convention: `[w, x, y, z]`.
+ *
+ * Layer 0 (utils): no internal imports — `Vec3` is declared locally.
+ * @module
+ */
+export type Vec3 = readonly [number, number, number];
+export type Quat = readonly [number, number, number, number];
+/** Rotate vector `v` by quaternion `q`. */
+export declare function quatRotate(q: Quat, v: Vec3): [number, number, number];
+/** Quaternion for a rotation of `angle` radians about (unit-normalized) `axis`. */
+export declare function quatFromAxisAngle(axis: Vec3, angle: number): [number, number, number, number];
+/** Shortest-arc quaternion rotating unit vector `from` onto unit vector `to`. */
+export declare function quatFromTo(from: Vec3, to: Vec3): [number, number, number, number];

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "brepjs",
-  "version": "18.70.0",
+  "version": "18.71.0",
   "description": "Web CAD library with pluggable geometry kernel",
   "keywords": [
     "cad",