brepjs 18.72.0 → 18.73.0

package/dist/brepjs.cjs

@@ -2208,6 +2208,17 @@ function quatFromTo(from, to) {
 		c[2] / len
 	];
 }
+/** Hamilton product `a ⊗ b` — the rotation that applies `b` first, then `a`. */
+function quatMultiply(a, b) {
+	const [aw, ax, ay, az] = a;
+	const [bw, bx, by, bz] = b;
+	return [
+		aw * bw - ax * bx - ay * by - az * bz,
+		aw * bx + ax * bw + ay * bz - az * by,
+		aw * by - ax * bz + ay * bw + az * bx,
+		aw * bz + ax * by - ay * bx + az * bw
+	];
+}
 //#endregion
 //#region src/kernel/solverAdapter.ts
 /**
@@ -2697,6 +2708,95 @@ function addJoint(assembly, joint) {
 		joints: [...existing, joint]
 	};
 }
+var IDENTITY_POSE = {
+	position: [
+		0,
+		0,
+		0
+	],
+	rotation: [
+		1,
+		0,
+		0,
+		0
+	]
+};
+/** Compose two poses: the result applies `b` in `a`'s frame (`a ∘ b`). */
+function composePose(a, b) {
+	const rb = quatRotate(a.rotation, b.position);
+	return {
+		position: [
+			a.position[0] + rb[0],
+			a.position[1] + rb[1],
+			a.position[2] + rb[2]
+		],
+		rotation: quatMultiply(a.rotation, b.rotation)
+	};
+}
+/** Collect every joint attached anywhere in the assembly tree. */
+function collectJoints(assembly) {
+	const joints = [];
+	require_historyFns.walkAssembly(assembly, (node) => {
+		if (node.joints) joints.push(...node.joints);
+	});
+	return joints;
+}
+/**
+* Forward kinematics: set joint values and propagate world poses down the
+* kinematic chain. Each joint's axis is interpreted in its **parent's** frame,
+* so a child's world pose is `parentWorld ∘ jointTransform(joint, value)`.
+*
+* Bodies not driven by a joint (chain roots) start at the origin. `jointValues`
+* overrides a joint's stored value, keyed by the **child** node name; omitted
+* joints use `joint.value`. Resolution is topological (reuses the Phase-0
+* ordering), so chains of any depth compose. Returns a world pose for every node.
+*/
+function forwardKinematics(assembly, jointValues = {}) {
+	const joints = [];
+	const names = /* @__PURE__ */ new Set();
+	require_historyFns.walkAssembly(assembly, (node) => {
+		names.add(node.name);
+		if (node.joints) joints.push(...node.joints);
+	});
+	const byChild = /* @__PURE__ */ new Map();
+	for (const j of joints) {
+		byChild.set(j.child, j);
+		names.add(j.parent);
+		names.add(j.child);
+	}
+	const poses = /* @__PURE__ */ new Map();
+	for (const name of names) if (!byChild.has(name)) poses.set(name, IDENTITY_POSE);
+	const pending = [...joints];
+	let progress = true;
+	while (progress && pending.length > 0) {
+		progress = false;
+		for (let i = pending.length - 1; i >= 0; i--) {
+			const j = pending[i];
+			if (!j) continue;
+			const parentPose = poses.get(j.parent);
+			if (!parentPose) continue;
+			pending.splice(i, 1);
+			progress = true;
+			if (poses.has(j.child)) continue;
+			const value = jointValues[j.child] ?? j.value;
+			poses.set(j.child, composePose(parentPose, jointTransform(j, value)));
+		}
+	}
+	for (const j of pending) if (!poses.has(j.child)) poses.set(j.child, IDENTITY_POSE);
+	return poses;
+}
+var JOINT_FREEDOM = {
+	revolute: 1,
+	prismatic: 1
+};
+/**
+* Open-chain mobility — the number of independent degrees of freedom. Each
+* revolute/prismatic joint contributes 1, so for a serial chain this equals the
+* joint count. (Closed-loop Grübler/Kutzbach analysis is future work.)
+*/
+function mechanismDOF(assembly) {
+	return collectJoints(assembly).reduce((sum, j) => sum + JOINT_FREEDOM[j.type], 0);
+}
 //#endregion
 //#region src/measurement/interferenceFns.ts
 /**
@@ -6692,6 +6792,7 @@ exports.flatten = require_errors.flatten;
 exports.flipFaceOrientation = require_faceFns.flipFaceOrientation;
 exports.flipOrientation = require_curveFns.flipOrientation;
 exports.fontMetrics = require_textMetrics.fontMetrics;
+exports.forwardKinematics = forwardKinematics;
 exports.fromBREP = fromBREP$1;
 exports.fromKernelDir = fromKernelDir;
 exports.fromKernelPnt = fromKernelPnt;
@@ -6853,6 +6954,7 @@ Object.defineProperty(exports, "measurement", {
 		return measurement_exports;
 	}
 });
+exports.mechanismDOF = mechanismDOF;
 exports.mesh = mesh;
 exports.meshEdges = meshEdges;
 exports.meshMultiLOD = require_meshFns.meshMultiLOD;

package/dist/brepjs.js

@@ -2219,6 +2219,17 @@ function quatFromTo(from, to) {
 		c[2] / len
 	];
 }
+/** Hamilton product `a ⊗ b` — the rotation that applies `b` first, then `a`. */
+function quatMultiply(a, b) {
+	const [aw, ax, ay, az] = a;
+	const [bw, bx, by, bz] = b;
+	return [
+		aw * bw - ax * bx - ay * by - az * bz,
+		aw * bx + ax * bw + ay * bz - az * by,
+		aw * by - ax * bz + ay * bw + az * bx,
+		aw * bz + ax * by - ay * bx + az * bw
+	];
+}
 //#endregion
 //#region src/kernel/solverAdapter.ts
 /**
@@ -2708,6 +2719,95 @@ function addJoint(assembly, joint) {
 		joints: [...existing, joint]
 	};
 }
+var IDENTITY_POSE = {
+	position: [
+		0,
+		0,
+		0
+	],
+	rotation: [
+		1,
+		0,
+		0,
+		0
+	]
+};
+/** Compose two poses: the result applies `b` in `a`'s frame (`a ∘ b`). */
+function composePose(a, b) {
+	const rb = quatRotate(a.rotation, b.position);
+	return {
+		position: [
+			a.position[0] + rb[0],
+			a.position[1] + rb[1],
+			a.position[2] + rb[2]
+		],
+		rotation: quatMultiply(a.rotation, b.rotation)
+	};
+}
+/** Collect every joint attached anywhere in the assembly tree. */
+function collectJoints(assembly) {
+	const joints = [];
+	walkAssembly(assembly, (node) => {
+		if (node.joints) joints.push(...node.joints);
+	});
+	return joints;
+}
+/**
+* Forward kinematics: set joint values and propagate world poses down the
+* kinematic chain. Each joint's axis is interpreted in its **parent's** frame,
+* so a child's world pose is `parentWorld ∘ jointTransform(joint, value)`.
+*
+* Bodies not driven by a joint (chain roots) start at the origin. `jointValues`
+* overrides a joint's stored value, keyed by the **child** node name; omitted
+* joints use `joint.value`. Resolution is topological (reuses the Phase-0
+* ordering), so chains of any depth compose. Returns a world pose for every node.
+*/
+function forwardKinematics(assembly, jointValues = {}) {
+	const joints = [];
+	const names = /* @__PURE__ */ new Set();
+	walkAssembly(assembly, (node) => {
+		names.add(node.name);
+		if (node.joints) joints.push(...node.joints);
+	});
+	const byChild = /* @__PURE__ */ new Map();
+	for (const j of joints) {
+		byChild.set(j.child, j);
+		names.add(j.parent);
+		names.add(j.child);
+	}
+	const poses = /* @__PURE__ */ new Map();
+	for (const name of names) if (!byChild.has(name)) poses.set(name, IDENTITY_POSE);
+	const pending = [...joints];
+	let progress = true;
+	while (progress && pending.length > 0) {
+		progress = false;
+		for (let i = pending.length - 1; i >= 0; i--) {
+			const j = pending[i];
+			if (!j) continue;
+			const parentPose = poses.get(j.parent);
+			if (!parentPose) continue;
+			pending.splice(i, 1);
+			progress = true;
+			if (poses.has(j.child)) continue;
+			const value = jointValues[j.child] ?? j.value;
+			poses.set(j.child, composePose(parentPose, jointTransform(j, value)));
+		}
+	}
+	for (const j of pending) if (!poses.has(j.child)) poses.set(j.child, IDENTITY_POSE);
+	return poses;
+}
+var JOINT_FREEDOM = {
+	revolute: 1,
+	prismatic: 1
+};
+/**
+* Open-chain mobility — the number of independent degrees of freedom. Each
+* revolute/prismatic joint contributes 1, so for a serial chain this equals the
+* joint count. (Closed-loop Grübler/Kutzbach analysis is future work.)
+*/
+function mechanismDOF(assembly) {
+	return collectJoints(assembly).reduce((sum, j) => sum + JOINT_FREEDOM[j.type], 0);
+}
 //#endregion
 //#region src/measurement/interferenceFns.ts
 /**
@@ -6478,4 +6578,4 @@ 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, 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 };
+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, forwardKinematics, 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, mechanismDOF, 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

@@ -121,7 +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 { revoluteJoint, prismaticJoint, setJointValue, jointTransform, addJoint, forwardKinematics, mechanismDOF, 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/jointFns.d.ts

@@ -53,3 +53,20 @@ export declare function setJointValue(joint: Joint, value: number): Joint;
 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;
+/**
+ * Forward kinematics: set joint values and propagate world poses down the
+ * kinematic chain. Each joint's axis is interpreted in its **parent's** frame,
+ * so a child's world pose is `parentWorld ∘ jointTransform(joint, value)`.
+ *
+ * Bodies not driven by a joint (chain roots) start at the origin. `jointValues`
+ * overrides a joint's stored value, keyed by the **child** node name; omitted
+ * joints use `joint.value`. Resolution is topological (reuses the Phase-0
+ * ordering), so chains of any depth compose. Returns a world pose for every node.
+ */
+export declare function forwardKinematics(assembly: AssemblyNode, jointValues?: Readonly<Record<string, number>>): Map<string, JointPose>;
+/**
+ * Open-chain mobility — the number of independent degrees of freedom. Each
+ * revolute/prismatic joint contributes 1, so for a serial chain this equals the
+ * joint count. (Closed-loop Grübler/Kutzbach analysis is future work.)
+ */
+export declare function mechanismDOF(assembly: AssemblyNode): number;

package/dist/utils/quaternion.d.ts

@@ -13,3 +13,5 @@ export declare function quatRotate(q: Quat, v: Vec3): [number, number, number];
 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];
+/** Hamilton product `a ⊗ b` — the rotation that applies `b` first, then `a`. */
+export declare function quatMultiply(a: Quat, b: Quat): [number, number, number, number];

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "brepjs",
-  "version": "18.72.0",
+  "version": "18.73.0",
   "description": "Web CAD library with pluggable geometry kernel",
   "keywords": [
     "cad",