brepjs 18.81.1 → 18.82.1

package/dist/text.cjs

@@ -1,6 +1,6 @@
 Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
-const require_textBlueprints = require("./textBlueprints-CI3k7Izc.cjs");
-const require_textMetrics = require("./textMetrics-C4RrG9jL.cjs");
+const require_textBlueprints = require("./textBlueprints-B8qqMC0Q.cjs");
+const require_textMetrics = require("./textMetrics-CMDiXmaV.cjs");
 exports.fontMetrics = require_textMetrics.fontMetrics;
 exports.getFont = require_textBlueprints.getFont;
 exports.loadFont = require_textBlueprints.loadFont;

package/dist/text.js

@@ -1,3 +1,3 @@
-import { n as getFont, r as loadFont, t as textBlueprints } from "./textBlueprints-BpqDGwdx.js";
-import { n as textMetrics, r as sketchText, t as fontMetrics } from "./textMetrics-kFw-DE2w.js";
+import { n as getFont, r as loadFont, t as textBlueprints } from "./textBlueprints-BXMr-Bbx.js";
+import { n as textMetrics, r as sketchText, t as fontMetrics } from "./textMetrics-Duye7Kw_.js";
 export { fontMetrics, getFont, loadFont, sketchText, textBlueprints, textMetrics };

package/dist/{textBlueprints-CI3k7Izc.cjs → textBlueprints-B8qqMC0Q.cjs}

@@ -29,18 +29,18 @@ var __toESM = (mod, isNodeMode, target) => (target = mod != null ? __create(__ge
 	enumerable: true
 }) : target, mod));
 //#endregion
-const require_shapeTypes = require("./shapeTypes-DWxL75W3.cjs");
+const require_shapeTypes = require("./shapeTypes-D7OMlW79.cjs");
 const require_errors = require("./errors-CXJtc4I7.cjs");
 const require_types = require("./types-KjA8tY4Y.cjs");
 const require_vecOps = require("./vecOps-CCnJt-yH.cjs");
 const require_planeOps = require("./planeOps-BA4HfgQu.cjs");
-const require_faceFns = require("./faceFns-0sI6cbHe.cjs");
-const require_curveFns = require("./curveFns-Ca59CNS0.cjs");
+const require_faceFns = require("./faceFns-lCFbFZoJ.cjs");
+const require_curveFns = require("./curveFns-DbD2YJ13.cjs");
 const require_arrayAccess = require("./arrayAccess-e4H9cBfh.cjs");
-const require_surfaceBuilders = require("./surfaceBuilders-B8aVZamB.cjs");
-const require_blueprintSketcher = require("./blueprintSketcher-BJPBKhF3.cjs");
-const require_solidBuilders = require("./solidBuilders-osLCTRG0.cjs");
-const require_loftFns = require("./loftFns-DiSsI2PM.cjs");
+const require_surfaceBuilders = require("./surfaceBuilders-D_CoR7GM.cjs");
+const require_blueprintSketcher = require("./blueprintSketcher-B-3xs7WQ.cjs");
+const require_solidBuilders = require("./solidBuilders-CwM49RI7.cjs");
+const require_loftFns = require("./loftFns-B1rnJSS9.cjs");
 let opentype_js = require("opentype.js");
 opentype_js = __toESM(opentype_js, 1);
 //#region src/sketching/compoundSketch.ts

package/dist/{textBlueprints-BpqDGwdx.js → textBlueprints-BXMr-Bbx.js}

@@ -1,15 +1,15 @@
-import { Z as getKernel, o as createFace, p as isFace, u as createWire } from "./shapeTypes-DfQi9Kvk.js";
+import { Z as getKernel, o as createFace, p as isFace, u as createWire } from "./shapeTypes-CIyYAXl9.js";
 import { A as ok, R as unwrap, T as isOk, b as err, h as bug, r as ioError, t as BrepErrorCode } from "./errors-DNWJsfVU.js";
 import { r as toVec3 } from "./types-D24Y27N0.js";
 import { d as vecNormalize, h as vecScale, r as vecCross } from "./vecOps-SKPRvPH-.js";
 import { n as createPlane } from "./planeOps-DSjjtrjg.js";
-import { _ as cast, v as downcast } from "./faceFns-Cuxdy-7R.js";
-import { l as curveStartPoint, u as curveTangentAt } from "./curveFns-CoD5E2Vl.js";
+import { _ as cast, v as downcast } from "./faceFns-CGE7tH4w.js";
+import { l as curveStartPoint, u as curveTangentAt } from "./curveFns-sKYw6m8M.js";
 import { n as getAtOrThrow, t as firstOrThrow } from "./arrayAccess-DrUGPADn.js";
-import { i as makeNewFaceWithinFace, r as makeFace, t as addHolesInFace } from "./surfaceBuilders-hTXdNCYm.js";
-import { r as organiseBlueprints, t as BlueprintSketcher } from "./blueprintSketcher-EYqKWQh0.js";
-import { o as makeSolid, t as makeCompound } from "./solidBuilders-DnIrQYZd.js";
-import { a as revolve, d as twistExtrude, o as complexExtrude, r as extrude, t as loft, u as sweep } from "./loftFns-CsHOwded.js";
+import { i as makeNewFaceWithinFace, r as makeFace, t as addHolesInFace } from "./surfaceBuilders-D8mMa19A.js";
+import { r as organiseBlueprints, t as BlueprintSketcher } from "./blueprintSketcher-CAW_XLlt.js";
+import { o as makeSolid, t as makeCompound } from "./solidBuilders-D10YA4nh.js";
+import { a as revolve, d as twistExtrude, o as complexExtrude, r as extrude, t as loft, u as sweep } from "./loftFns-BXoTCIjU.js";
 import opentype from "opentype.js";
 //#region src/sketching/compoundSketch.ts
 /**

package/dist/{textMetrics-C4RrG9jL.cjs → textMetrics-CMDiXmaV.cjs}

@@ -1,4 +1,4 @@
-const require_textBlueprints = require("./textBlueprints-CI3k7Izc.cjs");
+const require_textBlueprints = require("./textBlueprints-B8qqMC0Q.cjs");
 const require_errors = require("./errors-CXJtc4I7.cjs");
 //#region src/text/sketchText.ts
 /**

package/dist/{textMetrics-kFw-DE2w.js → textMetrics-Duye7Kw_.js}

@@ -1,5 +1,5 @@
 import { A as ok, b as err, d as validationError, t as BrepErrorCode } from "./errors-DNWJsfVU.js";
-import { g as wrapSketchData, i as Sketches, n as getFont, t as textBlueprints, v as CompoundSketch } from "./textBlueprints-BpqDGwdx.js";
+import { g as wrapSketchData, i as Sketches, n as getFont, t as textBlueprints, v as CompoundSketch } from "./textBlueprints-BXMr-Bbx.js";
 //#region src/text/sketchText.ts
 /**
 * Render text as 3D sketch outlines on a plane.

package/dist/{threadFns-By0Gy2f9.cjs → threadFns-BvoPZ4ei.cjs}

@@ -1,10 +1,10 @@
-const require_shapeTypes = require("./shapeTypes-DWxL75W3.cjs");
+const require_shapeTypes = require("./shapeTypes-D7OMlW79.cjs");
 const require_errors = require("./errors-CXJtc4I7.cjs");
 const require_vecOps = require("./vecOps-CCnJt-yH.cjs");
-const require_faceFns = require("./faceFns-0sI6cbHe.cjs");
-const require_shapeFns = require("./shapeFns-CecvqmYJ.cjs");
-const require_primitiveFns = require("./primitiveFns-DEBQdEkG.cjs");
-const require_loftFns = require("./loftFns-DiSsI2PM.cjs");
+const require_faceFns = require("./faceFns-lCFbFZoJ.cjs");
+const require_shapeFns = require("./shapeFns-B_jJcU_6.cjs");
+const require_primitiveFns = require("./primitiveFns-CtlwDr67.cjs");
+const require_loftFns = require("./loftFns-B1rnJSS9.cjs");
 //#region src/utils/uuid.ts
 /** Generate a v4-style UUID string using `crypto.getRandomValues`. */
 function uuidv() {
@@ -344,7 +344,7 @@ function quatMultiply(a, b) {
 }
 //#endregion
 //#region src/operations/jointFns.ts
-var DEG2RAD = Math.PI / 180;
+var DEG2RAD$2 = Math.PI / 180;
 function clamp(value, min, max) {
 	return Math.min(max, Math.max(min, value));
 }
@@ -539,7 +539,7 @@ function dofPose(origin, dof, value) {
 			0
 		]
 	};
-	const rotation = quatFromAxisAngle(dof.axis, value * DEG2RAD);
+	const rotation = quatFromAxisAngle(dof.axis, value * DEG2RAD$2);
 	const ro = quatRotate(rotation, origin);
 	return {
 		position: [
@@ -653,7 +653,8 @@ function forwardKinematics(assembly, jointValues = {}) {
 			progress = true;
 			if (poses.has(j.child)) continue;
 			const value = jointValues[j.child] ?? j.value;
-			poses.set(j.child, composePose(parentPose, jointTransform(j, value)));
+			const local = j.offset ? composePose(jointTransform(j, value), j.offset) : jointTransform(j, value);
+			poses.set(j.child, composePose(parentPose, local));
 		}
 	}
 	for (const j of pending) if (!poses.has(j.child)) poses.set(j.child, IDENTITY_POSE$1);
@@ -969,6 +970,260 @@ function jointTrajectory(assembly, from, to, steps) {
 	return samples;
 }
 //#endregion
+//#region src/operations/dhFns.ts
+/**
+* Denavit-Hartenberg interchange: build a brepjs joint chain from a standard
+* (distal) DH parameter table.
+*
+* Each DH row maps the previous link frame to the next via
+* `Rz(θ) · Tz(d) · Tx(a) · Rx(α)`, with one parameter the joint variable
+* (θ for revolute, d for prismatic) and the rest fixed link geometry. A row
+* becomes a single revolute/prismatic joint whose motion is the variable part
+* and whose fixed link geometry rides on the joint's post-motion `offset`
+* (see `Joint.offset`), so the chain composes correctly through
+* `forwardKinematics` and each row contributes exactly one DOF.
+*/
+var DEG2RAD$1 = Math.PI / 180;
+/**
+* The fixed DH link transform `Rz(θ) · Tz(d) · Tx(a) · Rx(α)` as a pose.
+* Carries the constant link geometry that rides on the joint's `offset`.
+*/
+function linkOffset(thetaDeg, d, a, alphaDeg) {
+	const theta = thetaDeg * DEG2RAD$1;
+	const alpha = alphaDeg * DEG2RAD$1;
+	const rotation = quatMultiply(quatFromAxisAngle([
+		0,
+		0,
+		1
+	], theta), quatFromAxisAngle([
+		1,
+		0,
+		0
+	], alpha));
+	return {
+		position: [
+			a * Math.cos(theta),
+			a * Math.sin(theta),
+			d
+		],
+		rotation
+	};
+}
+/**
+* Build a serial revolute/prismatic joint chain from a DH table. Joint `i`
+* connects the previous link to row `i`'s link; its motion is the variable
+* parameter (θ for revolute, d for prismatic) about/along +z, and its fixed
+* link geometry is carried on `Joint.offset`. The result drives correctly
+* through `forwardKinematics` and reports `rows.length` DOF via `mechanismDOF`.
+*/
+function jointsFromDH(rows, options = {}) {
+	const base = options.base ?? "base";
+	const names = rows.map((r, i) => r.name ?? `link${i + 1}`);
+	return rows.map((row, i) => {
+		const parent = i === 0 ? base : names[i - 1] ?? `link${i}`;
+		const child = names[i] ?? `link${i + 1}`;
+		const offset = linkOffset(row.theta, row.d, row.a, row.alpha);
+		const axis = {
+			origin: [
+				0,
+				0,
+				0
+			],
+			direction: [
+				0,
+				0,
+				1
+			]
+		};
+		const opts = {
+			...row.min !== void 0 ? { min: row.min } : {},
+			...row.max !== void 0 ? { max: row.max } : {},
+			...row.value !== void 0 ? { value: row.value } : {}
+		};
+		return {
+			...row.type === "prismatic" ? prismaticJoint(parent, child, axis, opts) : revoluteJoint(parent, child, axis, opts),
+			offset
+		};
+	});
+}
+//#endregion
+//#region src/operations/urdfFns.ts
+/**
+* URDF interchange: export a brepjs assembly + its joints to URDF, and import a
+* URDF document back into links and joints.
+*
+* URDF natively models single-DOF joints, so `revolute` and `prismatic` joints
+* round-trip (parents, axes, and limits preserved). Multi-DOF joints
+* (cylindrical/planar/spherical) and joints carrying a fixed `offset` (e.g.
+* Denavit-Hartenberg links) have no faithful single-joint URDF representation
+* and are reported as an error on export.
+*
+* Revolute limits are radians in URDF and degrees in brepjs, so they are
+* converted on the boundary. The XML is parsed with a small URDF-shaped reader
+* (no XML dependency); it handles the standard `<robot>/<link>/<joint>` subset.
+*/
+var DEG2RAD = Math.PI / 180;
+var RAD2DEG = 180 / Math.PI;
+function escapeXml(s) {
+	return s.replace(/&/g, "&amp;").replace(/</g, "&lt;").replace(/>/g, "&gt;").replace(/"/g, "&quot;");
+}
+/** Format a number for XML, normalizing -0 to 0. */
+function fmt(n) {
+	return String(n === 0 ? 0 : n);
+}
+function vec(v) {
+	return `${fmt(v[0])} ${fmt(v[1])} ${fmt(v[2])}`;
+}
+/**
+* Serialize an assembly's links and revolute/prismatic joints to a URDF string.
+* Returns an error if any joint is multi-DOF or carries a fixed `offset`, since
+* URDF cannot represent those as a single joint.
+*/
+function exportURDF(assembly, options = {}) {
+	const robot = options.name ?? "robot";
+	const effort = options.effort ?? 0;
+	const velocity = options.velocity ?? 0;
+	const meshes = options.meshes ?? {};
+	const links = [];
+	const joints = [];
+	walkAssembly(assembly, (n) => {
+		links.push(n.name);
+		if (n.joints) joints.push(...n.joints);
+	});
+	for (const j of joints) {
+		if (j.type !== "revolute" && j.type !== "prismatic") return require_errors.err(require_errors.validationError(require_errors.BrepErrorCode.VALIDATION_FAILED, `exportURDF: joint '${j.parent}->${j.child}' is '${j.type}'; URDF supports only revolute and prismatic joints`));
+		if (j.offset) return require_errors.err(require_errors.validationError(require_errors.BrepErrorCode.VALIDATION_FAILED, `exportURDF: joint '${j.parent}->${j.child}' carries a fixed offset (e.g. a DH link) that URDF cannot represent as a single joint`));
+	}
+	const lines = ["<?xml version=\"1.0\"?>", `<robot name="${escapeXml(robot)}">`];
+	for (const link of links) {
+		const mesh = meshes[link];
+		if (mesh) lines.push(`  <link name="${escapeXml(link)}">`, `    <visual><geometry><mesh filename="${escapeXml(mesh)}"/></geometry></visual>`, `  </link>`);
+		else lines.push(`  <link name="${escapeXml(link)}"/>`);
+	}
+	for (const j of joints) {
+		const toRad = j.type === "revolute";
+		const lower = toRad ? j.min * DEG2RAD : j.min;
+		const upper = toRad ? j.max * DEG2RAD : j.max;
+		const origin = j.type === "prismatic" ? [
+			0,
+			0,
+			0
+		] : j.axis.origin;
+		lines.push(`  <joint name="${escapeXml(`${j.parent}_to_${j.child}`)}" type="${j.type}">`, `    <parent link="${escapeXml(j.parent)}"/>`, `    <child link="${escapeXml(j.child)}"/>`, `    <origin xyz="${vec(origin)}" rpy="0 0 0"/>`, `    <axis xyz="${vec(j.axis.direction)}"/>`, `    <limit lower="${fmt(lower)}" upper="${fmt(upper)}" effort="${fmt(effort)}" velocity="${fmt(velocity)}"/>`, `  </joint>`);
+	}
+	lines.push("</robot>", "");
+	return require_errors.ok(lines.join("\n"));
+}
+/** Read a string attribute from a tag's attribute text. */
+function attr(text, name) {
+	return new RegExp(`\\b${name}\\s*=\\s*"([^"]*)"`).exec(text)?.[1];
+}
+/** Parse a whitespace-separated numeric triple, defaulting missing components to 0. */
+function triple(s, fallback) {
+	if (!s) return fallback;
+	const parts = s.trim().split(/\s+/).map(Number);
+	return [
+		parts[0] ?? 0,
+		parts[1] ?? 0,
+		parts[2] ?? 0
+	];
+}
+/** Rotate an axis by a URDF roll-pitch-yaw (fixed-axis XYZ) triple in radians. */
+function applyRpy(axis, rpy) {
+	return quatRotate(quatMultiply(quatMultiply(quatFromAxisAngle([
+		0,
+		0,
+		1
+	], rpy[2]), quatFromAxisAngle([
+		0,
+		1,
+		0
+	], rpy[1])), quatFromAxisAngle([
+		1,
+		0,
+		0
+	], rpy[0])), axis);
+}
+/**
+* Parse a URDF document into its robot name, link names, and revolute/prismatic
+* joints. `continuous` joints become revolute with a full -180..180 range;
+* `fixed`/`floating`/`planar` joints are skipped (their links are still listed).
+* A non-zero `<origin rpy>` is folded into the joint axis direction; its
+* residual frame rotation is not represented (URDF's pre-motion frame offset has
+* no single-joint brepjs equivalent).
+*/
+function importURDF(xml) {
+	const robotMatch = /<robot\b([^>]*)>/.exec(xml);
+	if (!robotMatch) return require_errors.err(require_errors.validationError(require_errors.BrepErrorCode.VALIDATION_FAILED, "importURDF: no <robot> element found"));
+	const name = attr(robotMatch[1] ?? "", "name") ?? "robot";
+	const links = [];
+	const linkRe = /<link\b([^>]*?)(?:\/>|>)/g;
+	for (let m = linkRe.exec(xml); m; m = linkRe.exec(xml)) {
+		const n = attr(m[1] ?? "", "name");
+		if (n) links.push(n);
+	}
+	const joints = [];
+	const jointRe = /<joint\b([^>]*)>([\s\S]*?)<\/joint>/g;
+	for (let m = jointRe.exec(xml); m; m = jointRe.exec(xml)) {
+		const head = m[1] ?? "";
+		const body = m[2] ?? "";
+		const type = attr(head, "type") ?? "fixed";
+		if (type === "fixed" || type === "floating" || type === "planar") continue;
+		const parentTag = /<parent\b([^>]*?)\/?>/.exec(body);
+		const childTag = /<child\b([^>]*?)\/?>/.exec(body);
+		const parent = attr(parentTag?.[1] ?? "", "link");
+		const child = attr(childTag?.[1] ?? "", "link");
+		if (!parent || !child) return require_errors.err(require_errors.validationError(require_errors.BrepErrorCode.VALIDATION_FAILED, `importURDF: joint missing parent/child link (${attr(head, "name") ?? "unnamed"})`));
+		const originTag = /<origin\b([^>]*?)\/?>/.exec(body);
+		const axisTag = /<axis\b([^>]*?)\/?>/.exec(body);
+		const limitTag = /<limit\b([^>]*?)\/?>/.exec(body);
+		const origin = triple(attr(originTag?.[1] ?? "", "xyz"), [
+			0,
+			0,
+			0
+		]);
+		const rpy = triple(attr(originTag?.[1] ?? "", "rpy"), [
+			0,
+			0,
+			0
+		]);
+		const direction = applyRpy(triple(attr(axisTag?.[1] ?? "", "xyz"), [
+			1,
+			0,
+			0
+		]), rpy);
+		const lowerRaw = Number(attr(limitTag?.[1] ?? "", "lower") ?? NaN);
+		const upperRaw = Number(attr(limitTag?.[1] ?? "", "upper") ?? NaN);
+		if (type === "prismatic") {
+			const opts = Number.isFinite(lowerRaw) && Number.isFinite(upperRaw) ? {
+				min: lowerRaw,
+				max: upperRaw
+			} : {};
+			joints.push(prismaticJoint(parent, child, {
+				origin,
+				direction
+			}, opts));
+		} else if (type === "revolute" || type === "continuous") {
+			const opts = type === "continuous" || !Number.isFinite(lowerRaw) || !Number.isFinite(upperRaw) ? {
+				min: -180,
+				max: 180
+			} : {
+				min: lowerRaw * RAD2DEG,
+				max: upperRaw * RAD2DEG
+			};
+			joints.push(revoluteJoint(parent, child, {
+				origin,
+				direction
+			}, opts));
+		} else return require_errors.err(require_errors.validationError(require_errors.BrepErrorCode.VALIDATION_FAILED, `importURDF: joint '${attr(head, "name") ?? "unnamed"}' has unrecognized type '${type}'`));
+	}
+	return require_errors.ok({
+		name,
+		links,
+		joints
+	});
+}
+//#endregion
 //#region src/operations/historyFns.ts
 /** Create a new empty history. */
 function createHistory() {
@@ -1314,6 +1569,12 @@ Object.defineProperty(exports, "exportAssemblySTEP", {
 		return exportAssemblySTEP;
 	}
 });
+Object.defineProperty(exports, "exportURDF", {
+	enumerable: true,
+	get: function() {
+		return exportURDF;
+	}
+});
 Object.defineProperty(exports, "findNode", {
 	enumerable: true,
 	get: function() {
@@ -1344,6 +1605,12 @@ Object.defineProperty(exports, "gridPattern", {
 		return gridPattern;
 	}
 });
+Object.defineProperty(exports, "importURDF", {
+	enumerable: true,
+	get: function() {
+		return importURDF;
+	}
+});
 Object.defineProperty(exports, "inverseKinematics", {
 	enumerable: true,
 	get: function() {
@@ -1362,6 +1629,12 @@ Object.defineProperty(exports, "jointTransform", {
 		return jointTransform;
 	}
 });
+Object.defineProperty(exports, "jointsFromDH", {
+	enumerable: true,
+	get: function() {
+		return jointsFromDH;
+	}
+});
 Object.defineProperty(exports, "linearPattern", {
 	enumerable: true,
 	get: function() {