yapCAD 0.3.1__py2.py3-none-any.whl → 0.5.1__py2.py3-none-any.whl

yapcad/boolean/native.py

@@ -0,0 +1,1012 @@
+"""Native boolean engine extracted from yapcad.geom3d."""
+
+from __future__ import annotations
+
+import math
+
+from yapcad.geom import *
+from yapcad.geom_util import *
+from yapcad.xform import *
+from yapcad.triangulator import triangulate_polygon
+from yapcad.octtree import NTree
+
+
+def _geom3d():
+    from yapcad import geom3d as _g3
+    return _g3
+
+def _ensure_surface_metadata_dict(s):
+    if not isinstance(s, list) or len(s) < 4 or s[0] != 'surface':
+        raise ValueError('bad surface passed to _ensure_surface_metadata_dict')
+    if len(s) == 4:
+        s.extend([[], [], {}])
+        return s[6]
+    if len(s) == 5:
+        s.extend([[], {}])
+        return s[6]
+    if len(s) == 6:
+        s.append({})
+        return s[6]
+    metadata = s[6]
+    if metadata is None:
+        metadata = {}
+    elif not isinstance(metadata, dict):
+        metadata = {'legacy_metadata': metadata}
+    s[6] = metadata
+    return metadata
+
+
+def _triangle_bbox(tri, tol):
+    mins = [min(pt[i] for pt in tri) - tol for i in range(3)]
+    maxs = [max(pt[i] for pt in tri) + tol for i in range(3)]
+    return [point(mins[0], mins[1], mins[2]),
+            point(maxs[0], maxs[1], maxs[2])]
+
+
+def _triangle_plane_intersection_points(tri, plane, tol):
+    n, d = plane
+    points = []
+    for idx in range(3):
+        p0 = tri[idx]
+        p1 = tri[(idx + 1) % 3]
+        dir_vec = [p1[0] - p0[0], p1[1] - p0[1], p1[2] - p0[2]]
+        denom = n[0] * dir_vec[0] + n[1] * dir_vec[1] + n[2] * dir_vec[2]
+        if abs(denom) < tol:
+            continue
+        numer = d - (n[0] * p0[0] + n[1] * p0[1] + n[2] * p0[2])
+        t = numer / denom
+        if t < -tol or t > 1.0 + tol:
+            continue
+        t_clamped = max(0.0, min(1.0, t))
+        pt = _lerp_point(p0, p1, t_clamped)
+        if abs(n[0] * pt[0] + n[1] * pt[1] + n[2] * pt[2] - d) <= tol * 10.0:
+            points.append(pt)
+    return _unique_points(points, tol) if points else []
+
+
+def _candidate_planes_for_triangle(tri, target, tri_plane, tol):
+    box = _geom3d().solidbbox(target)
+    if box:
+        center = point((box[0][0] + box[1][0]) / 2.0,
+                        (box[0][1] + box[1][1]) / 2.0,
+                        (box[0][2] + box[1][2]) / 2.0)
+        extent = max(box[1][0] - box[0][0],
+                     box[1][1] - box[0][1],
+                     box[1][2] - box[0][2])
+    else:
+        center = point(0, 0, 0)
+        extent = 0.0
+
+    epsilon_dot = max(extent * 1e-6, 1e-6)
+
+    tri_bbox = _triangle_bbox(tri, tol * 2.0)
+    seen = set()
+    planes = []
+    snap_candidates = []
+    for surf in target[1]:
+        tree = surface_octree(surf)
+        if tree is None:
+            candidates = list(_iter_triangles_from_surface(surf))
+        else:
+            elems = tree.getElements(tri_bbox)
+            candidates = []
+            for elem in elems:
+                if isinstance(elem, list):
+                    candidates.append(elem)
+                elif isinstance(elem, tuple):
+                    candidates.append(elem[0])
+                else:
+                    candidates.append(elem)
+            if not candidates:
+                candidates = list(_iter_triangles_from_surface(surf))
+        for cand in candidates:
+            plane = _triangle_plane(cand)
+            n, d = plane
+            centroid = point(
+                (cand[0][0] + cand[1][0] + cand[2][0]) / 3.0,
+                (cand[0][1] + cand[1][1] + cand[2][1]) / 3.0,
+                (cand[0][2] + cand[1][2] + cand[2][2]) / 3.0,
+            )
+            vec = point(centroid[0] - center[0],
+                        centroid[1] - center[1],
+                        centroid[2] - center[2])
+            dot_sign = n[0] * vec[0] + n[1] * vec[1] + n[2] * vec[2]
+            if dot_sign > epsilon_dot:
+                sense = -1
+            elif dot_sign < -epsilon_dot:
+                sense = 1
+            else:
+                center_eval = _plane_eval(plane, center)
+                sense = -1 if center_eval <= 0 else 1
+            plane_with_sense = (n, d, sense)
+            key = _plane_key(plane_with_sense, tol)
+            if key not in seen:
+                seen.add(key)
+                planes.append(plane_with_sense)
+            snap_candidates.extend(_triangle_plane_intersection_points(cand, tri_plane, tol))
+    unique_snap = _unique_points(snap_candidates, max(tol * 10.0, 1e-6)) if snap_candidates else []
+    return planes, unique_snap
+
+
+_DEFAULT_RAY_TOL = 1e-7
+
+
+def invalidate_surface_octree(s):
+    meta = _ensure_surface_metadata_dict(s)
+    meta.pop('_octree', None)
+    meta['_octree_dirty'] = True
+
+
+def _bbox_overlap(box_a, box_b, tol):
+    return not (
+        box_a[1][0] < box_b[0][0] - tol or
+        box_a[0][0] > box_b[1][0] + tol or
+        box_a[1][1] < box_b[0][1] - tol or
+        box_a[0][1] > box_b[1][1] + tol or
+        box_a[1][2] < box_b[0][2] - tol or
+        box_a[0][2] > box_b[1][2] + tol
+    )
+
+
+def _segment_bbox(p0, p1, pad):
+    return [
+        point(min(p0[0], p1[0]) - pad, min(p0[1], p1[1]) - pad, min(p0[2], p1[2]) - pad),
+        point(max(p0[0], p1[0]) + pad, max(p0[1], p1[1]) + pad, max(p0[2], p1[2]) + pad),
+    ]
+
+
+def _plane_eval(plane, p):
+    n, d = plane
+    return dot(n, p) - d
+
+
+def _segment_plane_intersection(p1, p2, plane, tol):
+    n, d = plane
+    direction = sub(p2, p1)
+    denom = dot(n, direction)
+    if abs(denom) < tol:
+        return point((p1[0] + p2[0]) * 0.5, (p1[1] + p2[1]) * 0.5, (p1[2] + p2[2]) * 0.5)
+    t = (d - dot(n, p1)) / denom
+    t = max(0.0, min(1.0, t))
+    return point(p1[0] + direction[0] * t,
+                 p1[1] + direction[1] * t,
+                 p1[2] + direction[2] * t)
+
+
+def _dedupe_polygon(poly, tol):
+    if not poly:
+        return []
+    deduped = [poly[0]]
+    for pt in poly[1:]:
+        if dist(pt, deduped[-1]) > tol:
+            deduped.append(pt)
+    if len(deduped) > 2 and dist(deduped[0], deduped[-1]) <= tol:
+        deduped[-1] = deduped[0]
+        deduped.pop()
+    return deduped
+
+
+def _clip_polygon_against_plane(poly, plane, tol, keep_inside=True):
+    if not poly:
+        return []
+    n, d, sense = plane
+    clipped = []
+    prev = poly[-1]
+    prev_eval = _plane_eval((n, d), prev)
+    if sense <= 0:
+        prev_inside = prev_eval <= tol if keep_inside else prev_eval >= -tol
+    else:
+        prev_inside = prev_eval >= -tol if keep_inside else prev_eval <= tol
+    for curr in poly:
+        curr_eval = _plane_eval((n, d), curr)
+        if sense <= 0:
+            curr_inside = curr_eval <= tol if keep_inside else curr_eval >= -tol
+        else:
+            curr_inside = curr_eval >= -tol if keep_inside else curr_eval <= tol
+        if curr_inside:
+            if not prev_inside:
+                clipped.append(_segment_plane_intersection(prev, curr, (n, d), tol))
+            clipped.append(point(curr))
+        elif prev_inside:
+            clipped.append(_segment_plane_intersection(prev, curr, (n, d), tol))
+        prev = curr
+        prev_eval = curr_eval
+        prev_inside = curr_inside
+    clipped = _dedupe_polygon(clipped, tol)
+    if not keep_inside and len(clipped) >= 3:
+        clipped = list(reversed(clipped))
+    return clipped
+
+
+def _split_polygon_by_plane(poly, plane, tol):
+    if not poly:
+        return [], []
+
+    n, d, sense = plane
+    evals = [_plane_eval((n, d), p) for p in poly]
+    max_eval = max(evals)
+    min_eval = min(evals)
+
+    if sense <= 0:
+        if max_eval <= tol:
+            return [point(p) for p in poly], []
+        if min_eval >= -tol:
+            return [], [[point(p) for p in poly]]
+    else:
+        if min_eval >= -tol:
+            return [point(p) for p in poly], []
+        if max_eval <= tol:
+            return [], [[point(p) for p in poly]]
+
+    inside = _clip_polygon_against_plane(poly, plane, tol, keep_inside=True)
+    outside = _clip_polygon_against_plane(poly, plane, tol, keep_inside=False)
+    outside_polys = [outside] if outside else []
+    return inside, outside_polys
+
+
+def _split_polygon_by_planes(poly, planes, tol):
+    inside_polys = [poly]
+    outside_polys = []
+    for plane in planes:
+        next_inside = []
+        for current in inside_polys:
+            inside, outside = _split_polygon_by_plane(current, plane, tol)
+            outside_polys.extend(outside)
+            if inside:
+                next_inside.append(inside)
+        inside_polys = next_inside
+        if not inside_polys:
+            break
+    return inside_polys, outside_polys
+
+
+def _triangulate_polygon(poly, reference_normal=None):
+    if len(poly) < 3:
+        return []
+    if len(poly) == 3:
+        tri = [point(poly[0]), point(poly[1]), point(poly[2])]
+        if reference_normal is not None:
+            v01 = sub(tri[1], tri[0])
+            v02 = sub(tri[2], tri[0])
+            if dot(cross(v01, v02), reference_normal) < 0:
+                tri[1], tri[2] = tri[2], tri[1]
+        return [tri]
+
+    anchor = point(poly[0])
+    triangles = []
+    for i in range(1, len(poly) - 1):
+        tri = [anchor, point(poly[i]), point(poly[i + 1])]
+        if reference_normal is not None:
+            v01 = sub(tri[1], tri[0])
+            v02 = sub(tri[2], tri[0])
+            if dot(cross(v01, v02), reference_normal) < 0:
+                tri[1], tri[2] = tri[2], tri[1]
+        triangles.append(tri)
+    return triangles
+
+
+def _triangle_plane(tri):
+    p0, n = _geom3d().tri2p0n(tri)
+    d = dot(n, p0)
+    return n, d
+
+
+def _plane_key(plane, tol):
+    n, d, sense = plane
+    scale = 1.0 / tol
+    return (round(n[0] * scale), round(n[1] * scale), round(n[2] * scale), round(d * scale), sense)
+
+
+def _sub3(a, b):
+    return [a[0] - b[0], a[1] - b[1], a[2] - b[2]]
+
+
+def _dot3(a, b):
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]
+
+
+def _cross3(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],
+    ]
+
+
+def _mag3(v):
+    return math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2])
+
+
+def _normalize3(v, tol):
+    m = _mag3(v)
+    if m < tol:
+        return [0.0, 0.0, 0.0]
+    return [v[0] / m, v[1] / m, v[2] / m]
+
+
+def _lerp_point(p0, p1, t):
+    return point(
+        p0[0] + (p1[0] - p0[0]) * t,
+        p0[1] + (p1[1] - p0[1]) * t,
+        p0[2] + (p1[2] - p0[2]) * t,
+    )
+
+
+
+def _point_in_triangle(pt, tri, tol):
+    a = [tri[0][0], tri[0][1], tri[0][2]]
+    b = [tri[1][0], tri[1][1], tri[1][2]]
+    c = [tri[2][0], tri[2][1], tri[2][2]]
+    p = [pt[0], pt[1], pt[2]]
+
+    v0 = _sub3(c, a)
+    v1 = _sub3(b, a)
+    v2 = _sub3(p, a)
+
+    dot00 = _dot3(v0, v0)
+    dot01 = _dot3(v0, v1)
+    dot02 = _dot3(v0, v2)
+    dot11 = _dot3(v1, v1)
+    dot12 = _dot3(v1, v2)
+
+    denom = dot00 * dot11 - dot01 * dot01
+    if abs(denom) < tol:
+        return False
+    inv = 1.0 / denom
+    u = (dot11 * dot02 - dot01 * dot12) * inv
+    v = (dot00 * dot12 - dot01 * dot02) * inv
+    return u >= -tol and v >= -tol and (u + v) <= 1.0 + tol
+
+
+def _segment_triangle_intersection_param(p0, p1, tri, tol):
+    n, d = _triangle_plane(tri)
+    dir_vec = _sub3([p1[0], p1[1], p1[2]], [p0[0], p0[1], p0[2]])
+    denom = _dot3(n, dir_vec)
+    if abs(denom) < tol:
+        return None
+    numer = d - (n[0] * p0[0] + n[1] * p0[1] + n[2] * p0[2])
+    t = numer / denom
+    if t < -tol or t > 1.0 + tol:
+        return None
+    t_clamped = max(0.0, min(1.0, t))
+    intersection = _lerp_point(p0, p1, t_clamped)
+    if not _point_in_triangle(intersection, tri, tol):
+        return None
+    return (t_clamped, intersection)
+
+
+def _collect_segment_intersections(p0, p1, solid, tol):
+    results = []
+    query_box = _segment_bbox(p0, p1, tol * 5)
+    for surf in solid[1]:
+        tree = surface_octree(surf)
+        if tree is None:
+            candidates = list(_iter_triangles_from_surface(surf))
+        else:
+            elems = tree.getElements(query_box)
+            candidates = []
+            for elem in elems:
+                if isinstance(elem, list):
+                    candidates.append(elem)
+                elif isinstance(elem, tuple):
+                    candidates.append(elem[0])
+                else:
+                    candidates.append(elem)
+        for tri in candidates:
+            res = _segment_triangle_intersection_param(p0, p1, tri, tol)
+            if res is not None:
+                results.append(res)
+    return results
+
+
+def _unique_points(points, tol):
+    unique = []
+    for pt in points:
+        candidate = point(pt)
+        if not any(dist(candidate, existing) <= tol for existing in unique):
+            unique.append(candidate)
+    return unique
+
+
+def _points_to_polygon(points, reference_normal, tol):
+    unique = _unique_points(points, tol)
+    if len(unique) < 3:
+        return []
+
+    centroid = point(
+        sum(p[0] for p in unique) / len(unique),
+        sum(p[1] for p in unique) / len(unique),
+        sum(p[2] for p in unique) / len(unique),
+    )
+
+    basis_u = None
+    for pt in unique:
+        vec = _sub3([pt[0], pt[1], pt[2]], [centroid[0], centroid[1], centroid[2]])
+        if _mag3(vec) > tol:
+            basis_u = _normalize3(vec, tol)
+            break
+    if basis_u is None:
+        return []
+
+    ref = _normalize3([reference_normal[0], reference_normal[1], reference_normal[2]], tol)
+    basis_v = _cross3(ref, basis_u)
+    if _mag3(basis_v) < tol:
+        basis_v = _cross3(basis_u, ref)
+    basis_v = _normalize3(basis_v, tol)
+
+    def _angle(pt):
+        vec = _sub3([pt[0], pt[1], pt[2]], [centroid[0], centroid[1], centroid[2]])
+        x = _dot3(vec, basis_u)
+        y = _dot3(vec, basis_v)
+        return math.atan2(y, x)
+
+    ordered = sorted(unique, key=_angle)
+    compact = [ordered[0]]
+    for pt in ordered[1:]:
+        if dist(compact[-1], pt) > tol:
+            compact.append(pt)
+    if dist(compact[0], compact[-1]) <= tol:
+        compact[-1] = compact[0]
+        compact = compact[:-1]
+    if len(compact) < 3:
+        return []
+
+    v0 = _sub3([compact[1][0], compact[1][1], compact[1][2]], [compact[0][0], compact[0][1], compact[0][2]])
+    v1 = _sub3([compact[2][0], compact[2][1], compact[2][2]], [compact[1][0], compact[1][1], compact[1][2]])
+    normal = _cross3(v0, v1)
+    if _mag3(normal) < tol:
+        return []
+    if _dot3(normal, [reference_normal[0], reference_normal[1], reference_normal[2]]) < 0:
+        compact.reverse()
+
+    return compact
+
+
+def _orient_triangle(tri, reference_normal, tol):
+    pts = [point(tri[0]), point(tri[1]), point(tri[2])]
+    v01 = sub(pts[1], pts[0])
+    v02 = sub(pts[2], pts[0])
+    normal = cross(v01, v02)
+    area_mag = mag(normal)
+    if area_mag < tol:
+        return None
+    ref = reference_normal
+    if ref is not None:
+        ref_vec = [ref[0], ref[1], ref[2]]
+        if dot(normal, ref_vec) < 0:
+            pts[1], pts[2] = pts[2], pts[1]
+    return pts
+
+
+def _clip_triangle_against_solid(tri, target, tol, reference_normal):
+    polygon = [point(tri[0]), point(tri[1]), point(tri[2])]
+    centroid = point(
+        (tri[0][0] + tri[1][0] + tri[2][0]) / 3.0,
+        (tri[0][1] + tri[1][1] + tri[2][1]) / 3.0,
+        (tri[0][2] + tri[1][2] + tri[2][2]) / 3.0,
+    )
+
+    tri_plane = _triangle_plane(tri)
+    planes, snap_candidates = _candidate_planes_for_triangle(tri, target, tri_plane, tol)
+
+    inside_polys = []
+    if planes:
+        inside_raw, _ = _split_polygon_by_planes(polygon, planes, tol)
+        for poly in inside_raw:
+            cleaned = _dedupe_polygon([point(p) for p in poly], tol)
+            if len(cleaned) >= 3:
+                inside_polys.append(cleaned)
+
+    if not inside_polys:
+        if solid_contains_point(target, centroid, tol=tol):
+            inside_polys = [polygon]
+        else:
+            oriented = _orient_triangle(tri, reference_normal, tol)
+            if oriented:
+                return [], [oriented], False
+            return [], [], False
+
+    _, _, to_local, to_world = _geom3d().tri2p0n(tri, basis=True)
+
+    if snap_candidates:
+        snap_tol = max(5e-2, tol * 1e6)
+
+        def _snap_point(pt):
+            best = snap_tol
+            best_candidate = None
+            for cand in snap_candidates:
+                d = dist(pt, cand)
+                if d < best:
+                    best = d
+                    best_candidate = cand
+            return point(best_candidate) if best_candidate is not None else point(pt)
+
+        snapped = []
+        for poly in inside_polys:
+            snapped_poly = [_snap_point(pt) for pt in poly]
+            snapped_poly = _dedupe_polygon(snapped_poly, tol)
+            if len(snapped_poly) >= 3:
+                snapped.append(snapped_poly)
+        if snapped:
+            inside_polys = snapped
+
+    def _to_local(pt):
+        loc = to_local.mul(pt)
+        return (loc[0], loc[1])
+
+    def _from_local(xy):
+        local_pt = point(xy[0], xy[1], 0.0)
+        world_pt = to_world.mul(local_pt)
+        return point(world_pt[0], world_pt[1], world_pt[2])
+
+    outer_loop = [_to_local(pt) for pt in polygon]
+    inside_loops = [[_to_local(pt) for pt in poly] for poly in inside_polys]
+
+    inside_triangles = []
+    for loop in inside_loops:
+        tri2d_list = triangulate_polygon(loop)
+        for tri2d in tri2d_list:
+            tri3d = [_from_local(pt) for pt in tri2d]
+            oriented = _orient_triangle(tri3d, reference_normal, tol)
+            if oriented:
+                inside_triangles.append(oriented)
+
+    holes = inside_loops if inside_loops else None
+    outside_triangles = []
+    tri2d_list = triangulate_polygon(outer_loop, holes=holes)
+    for tri2d in tri2d_list:
+        tri3d = [_from_local(pt) for pt in tri2d]
+        # Don't call _orient_triangle! The winding order is already preserved through:
+        # 1. Original triangle had correct outward normal
+        # 2. Clipping preserves vertex order (just removes parts)
+        # 3. Transform to 2D preserves order
+        # 4. triangulate_polygon produces CCW triangles in 2D
+        # 5. Transform back to 3D should maintain correct orientation
+        # Check for degeneracy with better quality metric:
+        v01 = sub(tri3d[1], tri3d[0])
+        v02 = sub(tri3d[2], tri3d[0])
+        cross_prod = cross(v01, v02)
+        area = mag(cross_prod)
+        if area >= tol:
+            # Also filter out very thin slivers by checking aspect ratio
+            # A degenerate sliver has tiny area relative to edge lengths
+            edge_lengths = [mag(v01), mag(v02), dist(tri3d[1], tri3d[2])]
+            max_edge = max(edge_lengths)
+            # For a reasonable triangle, area should be at least 1% of max_edge^2
+            # This filters out slivers where one edge is extremely small
+            quality_threshold = 0.01 * max_edge * max_edge
+            if area >= max(tol, quality_threshold):
+                outside_triangles.append([point(tri3d[0]), point(tri3d[1]), point(tri3d[2])])
+
+    split = bool(inside_triangles) and bool(outside_triangles)
+    return inside_triangles, outside_triangles, split
+
+
+
+
+def stitch_open_edges(triangles, tol):
+    """Experimental: attempt to close open edge loops by triangulating them.
+
+    Parameters
+    ----------
+    triangles : Iterable
+        A sequence of triangle coordinate lists ``[[x, y, z, w], ...]``
+        describing a mesh with potential boundary edges.
+    tol : float
+        Tolerance used when deduplicating vertices and detecting shared
+        edges. Typically reuse ``_DEFAULT_RAY_TOL``.
+
+    Returns
+    -------
+    list
+        A new list of triangles with any stitched faces appended.
+    """
+    if not triangles:
+        return triangles
+
+    oriented_edges = []
+    canonical_counts = {}
+    base_triangles = []
+    for tri in triangles:
+        try:
+            n = _triangle_normal(tri)
+        except ValueError:
+            continue
+        pts = [point(tri[0]), point(tri[1]), point(tri[2])]
+        base_triangles.append(pts)
+        edges = ((pts[0], pts[1]), (pts[1], pts[2]), (pts[2], pts[0]))
+        for start, end in edges:
+            canonical = _canonical_edge_key(start, end)
+            canonical_counts[canonical] = canonical_counts.get(canonical, 0) + 1
+            oriented_edges.append((start, end, n))
+
+    boundary = []
+    for start, end, normal in oriented_edges:
+        if canonical_counts[_canonical_edge_key(start, end)] == 1:
+            boundary.append((start, end, normal))
+
+    if not boundary:
+        return base_triangles
+
+    def edge_id(start, end):
+        return (_point_to_key(start), _point_to_key(end))
+
+    adjacency = {}
+    for start, end, normal in boundary:
+        adjacency.setdefault(_point_to_key(start), []).append((start, end, normal))
+
+    used = set()
+    loops = []
+    for start, end, normal in boundary:
+        eid = edge_id(start, end)
+        if eid in used:
+            continue
+        loop = []
+        normals = []
+        current_start = start
+        current_end = end
+        current_normal = normal
+        start_key = _point_to_key(current_start)
+        while True:
+            loop.append(point(current_start))
+            normals.append(current_normal)
+            used.add(edge_id(current_start, current_end))
+            next_key = _point_to_key(current_end)
+            if next_key == start_key:
+                break
+            candidates = adjacency.get(next_key)
+            if not candidates:
+                loop = []
+                break
+            next_edge = None
+            for candidate in candidates:
+                cid = edge_id(candidate[0], candidate[1])
+                if cid not in used:
+                    next_edge = candidate
+                    break
+            if next_edge is None:
+                loop = []
+                break
+            current_start, current_end, current_normal = next_edge
+        if loop and len(loop) >= 3:
+            loops.append((loop, normals))
+
+    if not loops:
+        return base_triangles
+
+    stitched = list(base_triangles)
+    for loop_points, normals in loops:
+        polygon = _unique_points(loop_points, tol)
+        if len(polygon) < 3:
+            continue
+        avg = [0.0, 0.0, 0.0]
+        for n in normals:
+            avg[0] += n[0]
+            avg[1] += n[1]
+            avg[2] += n[2]
+        avg = _normalize3(avg, tol)
+        if _mag3(avg) < tol:
+            avg = normals[0]
+        poly = _points_to_polygon(polygon, avg, tol)
+        if not poly:
+            continue
+        for tri in _triangulate_polygon(poly, avg):
+            try:
+                normal = _triangle_normal(tri)
+            except ValueError:
+                continue
+            if _dot3(normal, [avg[0], avg[1], avg[2]]) < 0:
+                tri = [tri[0], tri[2], tri[1]]
+                try:
+                    normal = _triangle_normal(tri)
+                except ValueError:
+                    continue
+            stitched.append(tri)
+    return stitched
+
+def stitch_solid(sld, tol=_DEFAULT_RAY_TOL):
+    """Experimental helper that runs :func:`stitch_open_edges` on a solid."""
+
+    if not _geom3d().issolid(sld, fast=False):
+        raise ValueError('invalid solid passed to stitch_solid')
+
+    triangles = list(_iter_triangles_from_solid(sld))
+    stitched = stitch_open_edges(triangles, tol)
+    if not stitched:
+        return sld
+
+    surface_result = _surface_from_triangles(stitched)
+    if surface_result:
+        return _geom3d().solid([surface_result], [], ['utility', 'stitch_open_edges'])
+    return sld
+
+
+
+def _boolean_fragments(source, target, tol):
+    outside_tris = []
+    inside_tris = []
+    inside_overlap = []
+
+    for tri in _iter_triangles_from_solid(source):
+        reference_normal = _triangle_normal(tri)
+        inside_parts, outside_parts, split = _clip_triangle_against_solid(
+            tri, target, tol, reference_normal
+        )
+        if inside_parts:
+            inside_tris.extend(inside_parts)
+        if outside_parts:
+            outside_tris.extend(outside_parts)
+        if split and inside_parts:
+            inside_overlap.extend(inside_parts)
+    return outside_tris, inside_tris, inside_overlap
+
+
+
+def _ray_triangle_intersection(origin, direction, triangle, tol=_DEFAULT_RAY_TOL):
+    v0, v1, v2 = triangle
+    e1 = sub(v1, v0)
+    e2 = sub(v2, v0)
+    h = cross(direction, e2)
+    a = dot(e1, h)
+    if abs(a) < tol:
+        return None
+    f = 1.0 / a
+    s = sub(origin, v0)
+    u = f * dot(s, h)
+    if u < -tol or u > 1.0 + tol:
+        return None
+    q = cross(s, e1)
+    v = f * dot(direction, q)
+    if v < -tol or u + v > 1.0 + tol:
+        return None
+    t = f * dot(e2, q)
+    if t < -tol:
+        return None
+    w = 1.0 - u - v
+    if w < -tol:
+        return None
+    hit = point(origin[0] + direction[0] * t,
+                origin[1] + direction[1] * t,
+                origin[2] + direction[2] * t)
+    return t, hit, (u, v, w)
+
+
+def surface_octree(s, rebuild=False):
+    meta = _ensure_surface_metadata_dict(s)
+    tree = meta.get('_octree')
+    if rebuild or meta.get('_octree_dirty') or tree is None:
+        verts = s[1]
+        faces = s[3]
+        if not faces:
+            meta['_octree'] = None
+            meta['_octree_dirty'] = False
+            return None
+        extent = 0.0
+        for axis in range(3):
+            vals = [v[axis] for v in verts]
+            extent = max(extent, max(vals) - min(vals))
+        mindim = max(extent / 32.0, epsilon)
+        tree = NTree(n=8, mindim=mindim)
+        for face in faces:
+            if len(face) != 3:
+                continue
+            tri = [verts[face[0]], verts[face[1]], verts[face[2]]]
+            tree.addElement(tri)
+        tree.updateTree()
+        meta['_octree'] = tree
+        meta['_octree_dirty'] = False
+    return meta['_octree']
+
+
+def _surface_from_triangles(triangles):
+    if not triangles:
+        return None
+    verts = []
+    normals = []
+    faces = []
+    for tri in triangles:
+        v01 = sub(tri[1], tri[0])
+        v02 = sub(tri[2], tri[0])
+        if mag(cross(v01, v02)) < epsilon:
+            continue
+        n = _triangle_normal(tri)
+        indices = []
+        for pt in tri:
+            verts.append(point(pt))
+            normals.append([n[0], n[1], n[2], 0.0])
+            indices.append(len(verts) - 1)
+        faces.append(indices)
+    surface_obj = ['surface', verts, normals, faces, [], []]
+    _ensure_surface_metadata_dict(surface_obj)
+    invalidate_surface_octree(surface_obj)
+    return surface_obj
+
+
+def _iter_triangles_from_surface(surf):
+    verts = surf[1]
+    faces = surf[3]
+    for face in faces:
+        if len(face) != 3:
+            continue
+        yield [verts[face[0]], verts[face[1]], verts[face[2]]]
+
+
+def _iter_triangles_from_solid(sld):
+    for surf in sld[1]:
+        yield from _iter_triangles_from_surface(surf)
+
+
+def _group_hits(hits, tol):
+    if not hits:
+        return []
+    hits.sort(key=lambda x: x[0])
+    groups = [[hits[0]]]
+    for hit in hits[1:]:
+        if abs(hit[0] - groups[-1][-1][0]) <= tol:
+            groups[-1].append(hit)
+        else:
+            groups.append([hit])
+    return groups
+
+
+def _triangle_normal(tri):
+    _, n = _geom3d().tri2p0n(tri)
+    return n
+def solid_contains_point(sld, p, tol=_DEFAULT_RAY_TOL):
+    if not _geom3d().issolid(sld, fast=False):
+        raise ValueError('invalid solid passed to solid_contains_point')
+    if not _geom3d().ispoint(p):
+        raise ValueError('invalid point passed to solid_contains_point')
+
+    surfaces = sld[1]
+    if not surfaces:
+        return False
+
+    box = _geom3d().solidbbox(sld)
+    if box:
+        expanded = [
+            point(box[0][0] - tol, box[0][1] - tol, box[0][2] - tol),
+            point(box[1][0] + tol, box[1][1] + tol, box[1][2] + tol),
+        ]
+        if not _geom3d().isinsidebbox(expanded, p):
+            return False
+        extent = max(box[1][0] - box[0][0],
+                     box[1][1] - box[0][1],
+                     box[1][2] - box[0][2])
+        ray_length = max(extent * 1.5, 1.0)
+    else:
+        ray_length = 1.0
+
+    directions = [
+        vect(1, 0, 0, 0),
+        vect(-1, 0, 0, 0),
+        vect(0, 1, 0, 0),
+        vect(0, -1, 0, 0),
+        vect(0, 0, 1, 0),
+        vect(0, 0, -1, 0),
+    ]
+
+    seen_inside = False
+    for direction in directions:
+        far_point = point(p[0] + direction[0] * ray_length,
+                          p[1] + direction[1] * ray_length,
+                          p[2] + direction[2] * ray_length)
+        query_box = _segment_bbox(p, far_point, tol * 5)
+        hits = []
+        for surf in surfaces:
+            tree = surface_octree(surf)
+            if tree is None:
+                candidates = list(_iter_triangles_from_surface(surf))
+            else:
+                elems = tree.getElements(query_box)
+                candidates = []
+                for elem in elems:
+                    if isinstance(elem, list):
+                        candidates.append(elem)
+                    elif isinstance(elem, tuple):
+                        candidates.append(elem[0])
+                    else:
+                        candidates.append(elem)
+                if not candidates:
+                    candidates = list(_iter_triangles_from_surface(surf))
+            for tri in candidates:
+                result = _ray_triangle_intersection(p, direction, tri, tol=tol)
+                if result is None:
+                    continue
+                t_hit, hit_point, _ = result
+                if t_hit < -tol or t_hit > ray_length + tol:
+                    continue
+                if t_hit <= tol:
+                    return True
+                normal = _triangle_normal(tri)
+                sign = -1 if dot(normal, direction) > 0 else 1
+                hits.append((t_hit, hit_point, sign))
+        groups = _group_hits(hits, tol)
+        parity = 0
+        for group in groups:
+            sign_sum = sum(hit[2] for hit in group)
+            if sign_sum == 0:
+                continue
+            parity ^= 1
+        if parity == 0:
+            return False
+        seen_inside = True
+    return seen_inside
+
+
+def solids_intersect(a, b, tol=_DEFAULT_RAY_TOL):
+    if not _geom3d().issolid(a, fast=False) or not _geom3d().issolid(b, fast=False):
+        raise ValueError('invalid solid passed to solids_intersect')
+    if not a[1] or not b[1]:
+        return False
+
+    box_a = _geom3d().solidbbox(a)
+    box_b = _geom3d().solidbbox(b)
+    if box_a and box_b and not _bbox_overlap(box_a, box_b, tol):
+        return False
+
+    center_a = point((box_a[0][0] + box_a[1][0]) / 2.0,
+                     (box_a[0][1] + box_a[1][1]) / 2.0,
+                     (box_a[0][2] + box_a[1][2]) / 2.0)
+    center_b = point((box_b[0][0] + box_b[1][0]) / 2.0,
+                     (box_b[0][1] + box_b[1][1]) / 2.0,
+                     (box_b[0][2] + box_b[1][2]) / 2.0)
+    if solid_contains_point(a, center_b, tol=tol) or solid_contains_point(b, center_a, tol=tol):
+        return True
+
+    for tri_a in _iter_triangles_from_solid(a):
+        for tri_b in _iter_triangles_from_solid(b):
+            if _geom3d().triTriIntersect(tri_a, tri_b):
+                return True
+    return False
+
+
+def solid_boolean(a, b, operation, tol=_DEFAULT_RAY_TOL, *, stitch=False):
+    if operation not in {'union', 'intersection', 'difference'}:
+        raise ValueError(f'unsupported solid boolean operation {operation!r}')
+
+    outside_a, inside_a, overlap_a = _boolean_fragments(a, b, tol)
+    outside_b, inside_b, overlap_b = _boolean_fragments(b, a, tol)
+
+    if operation == 'union':
+        result_tris = outside_a + outside_b
+        if not result_tris:
+            result_tris = inside_a if inside_a else inside_b
+
+        # Filter out triangles in the interior of the overlap region
+        # For union, if a triangle's center is inside both input solids,
+        # it's in the interior and should not be on the surface
+        filtered_tris = []
+        for tri in result_tris:
+            center = point((tri[0][0] + tri[1][0] + tri[2][0]) / 3.0,
+                          (tri[0][1] + tri[1][1] + tri[2][1]) / 3.0,
+                          (tri[0][2] + tri[1][2] + tri[2][2]) / 3.0)
+            # Use a tighter tolerance for containment check to avoid false positives
+            check_tol = tol * 100
+            in_a = solid_contains_point(a, center, tol=check_tol)
+            in_b = solid_contains_point(b, center, tol=check_tol)
+            # Keep triangle only if it's not clearly inside both solids
+            if not (in_a and in_b):
+                filtered_tris.append(tri)
+        result_tris = filtered_tris
+
+    elif operation == 'intersection':
+        result_tris = inside_a + inside_b
+        if not result_tris:
+            result_tris = overlap_a + overlap_b
+    else:  # difference
+        reversed_inside_b = [[tri[0], tri[2], tri[1]] for tri in inside_b]
+        if not reversed_inside_b and overlap_b:
+            reversed_inside_b = [[tri[0], tri[2], tri[1]] for tri in overlap_b]
+        result_tris = outside_a + reversed_inside_b
+
+    if stitch:
+        result_tris = stitch_open_edges(result_tris, tol)
+
+    surface_result = _surface_from_triangles(result_tris)
+    if surface_result:
+        return _geom3d().solid([surface_result], [], ['boolean', operation])
+    return _geom3d().solid([], [], ['boolean', operation])
+
+
+