The continuity core (kernel bridge: Hermite control rows reproducing a support surface's position, tangent, curvature and change of curvature, G0 to G3), surface.blend between two edge chains (#764), and a crown for fitted patches. Existing patches and fillets are unchanged by default (crown 0 is the plain patch bit for bit). SurfaceBlend and Patch.crown are noted under format 22.
New command inspect.compare {a, b, tolerance?}: measures of both and their differences, two-way surface deviation from a bounding-volume tree, regions beyond the tolerance clustered by side (only_in_a / only_in_b) with integrated volumes and faces, a verdict, optional face colouring as one undo step, and warnings for open meshes. Geometry in solidcraft-geom (compare.rs), command in the engine. Closes#1363.
Packs the scene's planned bodies into one GPU upload and dispatch, and evaluates intersection edges by seeded Newton refinement from a fitted B-spline through exactly solved leader points, falling back to the previous evaluation near tangency. Intersection nodes carry their faces' parameters. This changes speed, not what the app draws.
Part 4 of 4 of #303.
Co-authored-by: jyviko <2501648+jyviko@users.noreply.github.com>
A design with components and joints exports as a URDF robot description (file.export to .urdf, the MCP export tool, solidcraft-cli run --out, File > Export URDF...). It writes one binary STL per component in metres, links with mass, centre of mass and inertia from material density, and maps rigid, revolute, slider, cylindrical, pin-slot, planar and ball joints to URDF joints or short chains. Loops, broken joints and loose parts are reported as warnings. Options: mesh_prefix, effort, velocity. Docs in docs/urdf.md.
find_close_pair's budget now counts the grid's own work too (each cell a triangle is filed under or visits), not only the pair tests, so a pathological pair of meshes can't spend unbounded time building and walking the grid. Adds tests for find_close_pair and the budget.
When an extrude cuts with profiles whose outlines stay more than 1 µm apart (the letters of a text), their tools are apart too, so they are joined and cut from the body in one boolean instead of one per profile. A ten-letter text cut drops from about 13 s to 1.5 s with the same result. Sheet metal targets and touching profiles keep cutting tool by tool. Tapered extrudes are unaffected.
Sheet-metal cut-outs and base flange outlines drawn with ellipses, splines or text stay exact curves in the flat pattern and the unfolded body; the folded body follows them with tangent arcs within 0.001 mm (#659).
A SolidCraft-owned portable B-rep schema (geometry schema 2 with analytic curves and surfaces, explicit frames and ranges, fitted intersection curves) and a versioned body envelope (SCBREP03) with its own metadata records, a bounded binary codec, a validator with resource budgets, and an adapter that refuses what it can't convert exactly. Pinned by a box-and-fillet golden fixture. Not yet written by application saves. Refs #303.
When sample points say two bodies are apart or one is inside the other, the facetings are now checked for surfaces passing through each other; if they do, the boolean is computed instead of shortcut. If it still can't be intersected, the sampled answer is kept as a flagged, unverified result, and Interference lists such pairs as "could not be checked" with the reason. Fixes#442 and #443.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
* Add a one-surface fill of closed 3D loops to geom
A closed loop of curves that does not lie in a plane has no exact surface;
the usual answer is one smooth face fitted over it. fill_loop does that:
- the loop's best-fit plane (Newell normal), with a frame chosen from the
loop itself so the result does not depend on where the loop starts, its
direction, or where the part sits
- the loop seen along that normal must be simple and must not fold or run
along the normal; otherwise it is refused ("not supported yet"), never
filled with wrong geometry
- one non-rational bicubic B-spline height field over the loop's box,
fitted by least squares to the loop's samples (The NURBS Book 9.4.1,
9.4.3, eq. 9.62/9.65) with a thin-plate smoothness term
lambda*A*int(h_uu^2 + 2 h_uv^2 + h_vv^2), A one grid cell's area, so the
fit is the same at any scale; only planes are reproduced exactly
- span counts per direction (long narrow loops fit), refined until the
loop is within tolerance, else refused with the deviation reached
bspline: bisected span search, basis functions on a stack array, one
clamping helper shared by curves and surfaces, one binomial helper.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01J53sR6gEaVt56soFDpTck8
* Patch fills non-planar loops of edges with one smooth face (#250)
surface.patch with edges refused any loop that is not planar ("not
supported yet: patching a loop that is not planar"). It now fills it:
- planar loops still get one exact planar face, but planarity is certified
conservatively: lines by their ends, B-spline/NURBS edges by their control
points, intersection curves by their samples lying on a support plane
within tolerance; a loop that can't be certified is filled instead
- other loops get one face from geom's fill_loop, bounded by the body's own
chained edges, whole (no split): its history is one generated face whose
edges are the body's, and it stitches back into a closed solid
- intersection-curve edges are sampled by a seeded, guarded double
projection shared by the planarity test and the fill (plane_fit)
- the face tolerance is 10x the planarity tolerance (documented: later
operations take the face to contain its edges within it)
- edge picking runs inside the guard; the geom->truck conversion is shared
with the T-spline sheets (spline_conv); the Newell plane fit is shared with
STEP import
Tests: 3- to 8-sided, concave (dart, arrow, plus), flat-corner, two-edge and
imported rims fill as one face and stitch closed (volumes against an
independent integral); finite mesh normals, same result for any pick order
or placement; non-height-field loops and too-fine detail are refused.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01J53sR6gEaVt56soFDpTck8
* Test the Patch dialog filling a non-planar loop of picked edges
The Patch dialog's only test used a sketch profile. Picking the four
curved rim edges of a box cut by a sideways cylinder now makes one
surface.patch command whose result is a single smooth face over the rim.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01J53sR6gEaVt56soFDpTck8
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Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>
fill_triangles bounded the slab triangulator by edges x slabs, as if every
edge crossed every slab. A ring sampled finely at a close zoom has hundreds
of edges and slabs but only four edges in each slab, so the estimate ran a
hundred times over the hover highlight's budget and the fill was dropped,
leaving only the outline. Count the slabs each edge actually spans instead.
Region2::triangulate tested every edge against every slab, so its work was
the overestimate. It now sweeps upward with the edges crossing the current
slab, giving the same triangles in time proportional to them.
Fixes#164
Co-authored-by: Vitali M. <6042958+vitalibr@users.noreply.github.com>
* Add B-spline basis, knot insertion and NURBS surfaces to geom
Freeform faces need local refinement and gap-free joins between patches
with different knot vectors, which tensor B-spline grids cannot give;
T-splines can, and the first user is an N-sided Boundary Fill of
non-planar loops. This lays the univariate groundwork they rest on, in
the L0 geometry crate so it stays independent of the B-rep kernel:
- Cox-de Boor basis of one function from its local knot vector, on
half-open spans with a left-limit side for the domain end, with
derivatives (NURBS Book eq. 2.5, 2.9)
- knot insertion into a single basis function (Sederberg et al. 2004
section 3) and Bezier extraction of one function by repeated insertion
- Boehm knot insertion for curves (NURBS Book A5.1), de Casteljau
evaluation and sub-segments
- a rational tensor NURBS surface with evaluation, knot insertion and
clamping, and a rational Bezier patch type
All input is checked (finite, monotone knots, positive weights, size
caps) and returns SplineError; nothing indexes unchecked.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01J53sR6gEaVt56soFDpTck8
* Add T-spline surfaces: T-mesh, evaluation, AS check, refinement, extraction
Tensor B-spline faces refine only by whole rows and columns and cannot
join patches with different knot vectors without gaps. T-splines allow
T-junctions in the control net, which fixes both; the first user is an
N-sided Boundary Fill. This adds the maths only (no command, no change
in behaviour):
- T-mesh in index space with knot values per line, validated (outer
rectangle, rectangular faces, no empty lines, size caps); local knot
vectors read off rays from each vertex, rays leaving the mesh repeat
the boundary (Sederberg et al. 2003 section 3)
- rational T-spline evaluation and first derivatives for odd bi-degree,
with a complete (p-1)/2-line frame and the domain inside it
- T-junction extensions and the analysis-suitability check (Scott et al.
2012 section 2)
- local refinement that keeps the surface exactly: requested knot lines
are cut in, then every original blending function is carried as a
record and split (violation 1) or the mesh gains edges (violations 2
and 3) until each record is a blending function of the refined mesh
(Sederberg et al. 2004 section 3); analysis-suitable input stays
analysis-suitable by carrying conflicting T-junctions across faces
- NURBS <-> T-spline conversion for meshes without T-junctions, and
Bezier extraction over the rectangles no blending-function knot line
crosses
Measured: regular T-spline vs NURBS < 1e-12, round trip exact, partition
of unity with T-junctions < 1e-14, refinement deviation <= 1.4e-14 over
40 random refinements, Bezier patches vs surface < 1e-14.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01J53sR6gEaVt56soFDpTck8
* Convert T-splines to sewn NURBS sheet bodies in the kernel
A T-spline is only useful to the modeller once it is a B-rep face set.
tspline_sheet builds an open shell: a mesh without T-junctions becomes
one clamped NURBS face; otherwise each Bezier element is a face, and
sides are split at the T-points where neighbours' corners land, so all
faces share vertices and edges and the sheet is one oriented shell
(V - E + F = 1). Every truck call runs under guard. No command yet;
Boundary Fill will be the first caller.
Tests: one face for a regular surface, sewn Bezier faces with
T-junctions, tessellated points on the surface to ~1e-9 mm, and hostile
control nets (coincident, 1e300, needle-thin) never panic.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01J53sR6gEaVt56soFDpTck8
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Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>
Extrude, revolve (partial and full turn), tapered extrude, loft (incl. to a
point), sweep, path sweep, coil, primitives, lip, emboss and thicken attach
the exact history of the bodies they build: each face's profile segment, cap
or operand face, and each edge's operand edge, recorded by topology identity
inside the building call. Nothing is sampled; a body whose faces do not follow
the expected construction carries no history. Face sources are unchanged.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01J53sR6gEaVt56soFDpTck8
Group kernel pieces across circular rims and hidden surface seams for hovering, selection, dialogs, and measurement. Preserve physical references and cover full-item toggling and picking with regression tests.
Fixes#88
The kernel moved from monstertruck to truck: truck's booleans handle blind
holes, pockets and bosses that monstertruck's did not (see the ADR). Fillets
and chamfers on straight convex edges between planar faces are our own exact
local B-rep operation. The document holds parameters with unit-aware
expressions and a timeline that re-evaluates incrementally.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
NOWN-DEV