v2.5.1 (#847)

* fixed several bugs

* fixed average rotation

.github/workflows/build_wheels.yml

@@ -1,6 +1,9 @@
 name: build_wheels
 
-on: [release, workflow_dispatch]
+on: 
+  release:
+    types: [published]
+  workflow_dispatch:
 
 jobs:
   build_wheels:
@@ -8,17 +11,49 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-22.04, windows-latest, macos-latest]
+        os: [ubuntu-22.04, windows-2019, macos-latest]
     steps:
       - run: |
           git config --global submodule.fetchJobs 8
           git config --global core.longpaths true
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: recursive
       - name: Build wheels
-        uses: pypa/cibuildwheel@v2.15.0
-      - uses: actions/upload-artifact@v3
+        uses: pypa/cibuildwheel@v2.19
+      - uses: actions/upload-artifact@v4
         with:
+          name: python-${{ matrix.os }}
           path: ./wheelhouse/*.whl
 
+  make_sdist:
+    name: Make SDist
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+    - name: Build SDist
+      run: pipx run build --sdist
+    - uses: actions/upload-artifact@v4
+      with:
+        name: python-sdist
+        path: dist/*.tar.gz
+
+  pypi-publish:
+    name: Upload release to PyPI
+    needs: [build_wheels, make_sdist]
+    runs-on: ubuntu-latest
+    environment:
+      name: pypi
+      url: https://pypi.org/p/manifold3d
+    permissions:
+      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+    steps:
+    - uses: actions/download-artifact@v4
+      with:
+        pattern: python-*
+        merge-multiple: true
+        path: dist
+    - name: Publish package distributions to PyPI
+      uses: pypa/gh-action-pypi-publish@release/v1

.github/workflows/check_format.yml

@@ -11,11 +11,14 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v3
-    - uses: DoozyX/clang-format-lint-action@v0.14
+    - uses: actions/checkout@v4
+    - uses: DoozyX/clang-format-lint-action@v0.17
       with:
         source: '.'
         exclude: '*/third_party'
         extensions: 'h,cpp,js,ts,html'
-        clangFormatVersion: 12
-
+        clangFormatVersion: 11
+    - uses: psf/black@stable
+      with:
+        options: "--check --verbose"
+        src: "./bindings/python/examples"

.github/workflows/deploy.yml

@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
 
     - name: Doxygen Action
       uses: mattnotmitt/doxygen-action@v1
@@ -22,7 +22,7 @@ jobs:
         mv ./docs ./public
 
     - name: Download built examples
-      uses: dawidd6/action-download-artifact@v2
+      uses: dawidd6/action-download-artifact@v3
       with:
         workflow: manifold.yml
         workflow_conclusion: completed

.github/workflows/manifold.yml

@@ -16,24 +16,31 @@ jobs:
     strategy:
       matrix:
         parallel_backend: [NONE, TBB]
-    runs-on: ubuntu-22.04
+        gcc: [13, 14]
+    runs-on: ubuntu-24.04
+    env:
+      CC: gcc-${{ matrix.gcc }}
+      CXX: g++-${{ matrix.gcc }}
     if: github.event.pull_request.draft == false
     steps:
+    - uses: actions/setup-python@v5
+      with:
+        python-version: '3.x'
     - name: Install dependencies
       run: |
-        sudo apt-get -y update
-        DEBIAN_FRONTEND=noninteractive sudo apt install -y libglm-dev libgtest-dev libassimp-dev git libtbb-dev pkg-config libpython3-dev python3 python3-distutils python3-pip lcov
-        pip install trimesh
-    - uses: actions/checkout@v3
+        sudo apt-get update
+        sudo apt-get install libglm-dev libgtest-dev libassimp-dev git libtbb-dev libthrust-dev pkg-config libpython3-dev lcov
+        python -m pip install -U trimesh pytest
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
-    - uses: jwlawson/actions-setup-cmake@v1.12
+    - uses: jwlawson/actions-setup-cmake@v2
     - name: Build ${{matrix.backend}}
       if: matrix.parallel_backend != 'NONE'
       run: |
         mkdir build
         cd build
-        cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DMANIFOLD_DEBUG=ON -DMANIFOLD_EXPORT=ON -DMANIFOLD_PAR=${{matrix.parallel_backend}} .. && make
+        cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DMANIFOLD_PYBIND=ON -DMANIFOLD_DEBUG=ON -DMANIFOLD_EXPORT=ON -DMANIFOLD_PAR=${{matrix.parallel_backend}} .. && make
     - name: Test ${{matrix.parallel_backend}}
       if: matrix.parallel_backend != 'NONE'
       run: |
@@ -42,6 +49,7 @@ jobs:
         ./manifold_test
         cd ../../
         python3 bindings/python/examples/run_all.py -e
+        python3 -m pytest
     - name: Coverage Report
       # only do code coverage for default sequential backend, it seems that TBB
       # backend will cause failure
@@ -51,19 +59,26 @@ jobs:
         mkdir build
         cd build
         cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DMANIFOLD_PAR=${{matrix.parallel_backend}} -DCODE_COVERAGE=ON .. && make
-        lcov --capture --initial --directory . --output-file ./code_coverage_init.info
+        lcov --capture --gcov-tool gcov-${{ matrix.gcc }} --ignore-errors mismatch --initial --directory . --output-file ./code_coverage_init.info
         cd test
         ./manifold_test
         cd ../
-        lcov --capture --directory . --output-file ./code_coverage_test.info
+        lcov --capture --gcov-tool gcov-${{ matrix.gcc }} --ignore-errors mismatch --directory . --output-file ./code_coverage_test.info
         lcov --add-tracefile ./code_coverage_init.info --add-tracefile ./code_coverage_test.info --output-file ./code_coverage_total.info
         lcov --remove ./code_coverage_total.info '/usr/*' '*/third_party/*' '*/test/*' '*/extras/*' '*/bindings/*' --output-file ./code_coverage.info
-    - uses: codecov/codecov-action@v2
+        cd ../
+    - uses: codecov/codecov-action@v4
       if: matrix.parallel_backend == 'NONE'
       with:
         files: build/code_coverage.info
         fail_ci_if_error: false
         name: ${{matrix.parallel_backend}}
+    - name: test cmake consumer
+      run: |
+        cd build
+        sudo cmake --install .
+        cd ..
+        ./test-cmake.sh
 
   build_cbind:
     timeout-minutes: 30
@@ -74,15 +89,15 @@ jobs:
       run: |
         sudo apt-get -y update
         DEBIAN_FRONTEND=noninteractive sudo apt install -y libgtest-dev libglm-dev libassimp-dev git libtbb-dev pkg-config libpython3-dev python3 python3-distutils python3-pip
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
-    - uses: jwlawson/actions-setup-cmake@v1.12
+    - uses: jwlawson/actions-setup-cmake@v2
     - name: Build C bindings with TBB
       run: |
         mkdir build
         cd build
-        cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DMANIFOLD_DEBUG=ON -DMANIFOLD_CBIND=ON -DMANIFOLD_PAR=TBB .. && make
+        cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DMANIFOLD_PYBIND=ON -DMANIFOLD_DEBUG=ON -DMANIFOLD_CBIND=ON -DMANIFOLD_PAR=TBB .. && make
     - name: Test ${{matrix.parallel_backend}}
       run: |
         cd build/test
@@ -97,7 +112,7 @@ jobs:
       run: |
         sudo apt-get -y update
         DEBIAN_FRONTEND=noninteractive sudo apt install -y nodejs libglm-dev 
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
     - name: Setup WASM
@@ -105,9 +120,9 @@ jobs:
         # setup emscripten
         git clone https://github.com/emscripten-core/emsdk.git
         cd emsdk
-        ./emsdk install latest
-        ./emsdk activate latest
-    - uses: jwlawson/actions-setup-cmake@v1.12
+        ./emsdk install 3.1.45
+        ./emsdk activate 3.1.45
+    - uses: jwlawson/actions-setup-cmake@v2
     - name: Build WASM
       run: |
         source ./emsdk/emsdk_env.sh
@@ -124,12 +139,14 @@ jobs:
         npm ci
         npm run build
         npm test
+        cp ../manifold.* ./dist/
     - name: Upload WASM files
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
         name: wasm
         path: bindings/wasm/examples/dist/
         retention-days: 90
+        overwrite: true
 
   build_windows:
     timeout-minutes: 30
@@ -140,22 +157,29 @@ jobs:
     runs-on: windows-2019
     if: github.event.pull_request.draft == false
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
-    - uses: jwlawson/actions-setup-cmake@v1.12
+    - uses: jwlawson/actions-setup-cmake@v2
     - uses: ilammy/msvc-dev-cmd@v1
     - name: Build ${{matrix.backend}}
       shell: powershell
       run: |
-        cmake . -DCMAKE_BUILD_TYPE=Release -B build -DMANIFOLD_DEBUG=ON -DPYBIND11_FINDPYTHON=OFF -DMANIFOLD_PAR=${{matrix.parallel_backend}} -A x64
+        cmake . -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DMANIFOLD_DEBUG=ON -DMANIFOLD_PAR=${{matrix.parallel_backend}} -A x64 -B build
         cd build
         cmake --build . --target ALL_BUILD --config Release
     - name: Test ${{matrix.parallel_backend}}
       shell: bash
       run: |
-        cd build/test
-        ./Release/manifold_test.exe
+        cd build/bin/Release
+        ./manifold_test.exe
+        cd ../../
+    - name: test cmake consumer
+      run: |
+        cd build
+        cmake --install .
+        cd ..
+        ./test-cmake.sh
 
   build_mxe:
     timeout-minutes: 30
@@ -166,7 +190,7 @@ jobs:
     runs-on: ubuntu-latest
     container: openscad/mxe-x86_64-gui:latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
     - name: Build
@@ -190,23 +214,30 @@ jobs:
     - name: Install common dependencies
       run: |
         brew install pkg-config googletest assimp
-        pip install trimesh
+        pip install trimesh pytest
     - name: Install TBB
       if: matrix.parallel_backend == 'TBB'
       run: brew install tbb
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
-    - uses: jwlawson/actions-setup-cmake@v1.12
+    - uses: jwlawson/actions-setup-cmake@v2
     - name: Build
       run: |
         mkdir build
         cd build
-        cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DMANIFOLD_DEBUG=ON -DMANIFOLD_EXPORT=ON -DMANIFOLD_PAR=${{matrix.parallel_backend}} .. && make
+        cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DMANIFOLD_DEBUG=ON -DMANIFOLD_PYBIND=ON -DMANIFOLD_EXPORT=ON -DMANIFOLD_PAR=${{matrix.parallel_backend}} .. && make
     - name: Test
       run: |
         cd build/test
         ./manifold_test
+        cd ../../
+    - name: test cmake consumer
+      run: |
+        cd build
+        sudo cmake --install .
+        cd ..
+        ./test-cmake.sh
 
   build_nix:
     timeout-minutes: 30
@@ -216,7 +247,7 @@ jobs:
     runs-on: ubuntu-latest
     if: github.event.pull_request.draft == false
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
     - uses: cachix/install-nix-action@v22
@@ -227,7 +258,7 @@ jobs:
     runs-on: ubuntu-latest
     if: github.event.pull_request.draft == false
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
     - uses: cachix/install-nix-action@v22

.github/workflows/publish_npm.yml

@@ -0,0 +1,34 @@
+name: publish_npm
+
+on: 
+  release:
+    types: [published]
+  workflow_dispatch:
+
+jobs:
+  publish_npm:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Setup Node
+      uses: actions/setup-node@v4
+      with:
+        node-version: '20.x'
+        registry-url: 'https://registry.npmjs.org'
+
+    - name: Download built examples
+      uses: dawidd6/action-download-artifact@v3
+      with:
+        workflow: manifold.yml
+        workflow_conclusion: completed
+        name: wasm
+        path: ./bindings/wasm/
+
+    - name: Publish to npm
+      run: |
+        cd ./bindings/wasm/
+        npm publish
+      env:
+        NODE_AUTH_TOKEN: ${{secrets.NPM_TOKEN}}

.github/workflows/release_file.yml

@@ -0,0 +1,31 @@
+name: Release File
+
+on:
+  release:
+    types: [published]
+  workflow_dispatch:
+
+jobs:
+  upload_archive:
+    name: Upload archive
+    runs-on: ubuntu-latest
+    steps:
+      - run: |
+          ref=${{ github.ref_name }}
+          echo "release_name=manifold-${ref#v}" >> $GITHUB_ENV
+      - uses: actions/checkout@v4
+        with:
+          path: ${{ env.release_name }}
+          submodules: recursive
+      - name: Build archive
+        run: >
+          tar --exclude=".git*" -cz ${{ env.release_name }} -f ${{ env.release_name }}.tar.gz
+      - name: Log checksum
+        run: >
+          sha256sum ${{ env.release_name }}.tar.gz
+      - name: Add file to release
+        run: |
+          cd ${{ env.release_name }} || exit 1
+          gh release upload ${{ github.ref_name }} ../${{ env.release_name }}.tar.gz
+        env:
+          GH_TOKEN: ${{secrets.GITHUB_TOKEN}}

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "src/third_party/clipper2"]
-	path = src/third_party/clipper2
-	url = https://github.com/AngusJohnson/clipper2
 [submodule "src/third_party/quickhull"]
 	path = src/third_party/quickhull
 	url = https://github.com/akuukka/quickhull

.vscode/launch.json

@@ -7,11 +7,12 @@
     {
       "name": "manifold test",
       "type": "cppdbg",
+      "MIMode": "lldb",
       "request": "launch",
       "program": "${workspaceFolder}/build/test/manifold_test",
       "args": [
         "--gtest_break_on_failure",
-        "--gtest_filter=Manifold.GetMesh"
+        "--gtest_filter=Smooth.RefineQuads"
       ],
       "stopAtEntry": false,
       "cwd": "${workspaceFolder}/build/test",
@@ -20,7 +21,8 @@
           "name": "MALLOC_CHECK_",
           "value": "2"
         }
-      ]
+      ],
+      "externalConsole": false
     }
   ]
 }

.vscode/settings.json

@@ -108,16 +108,21 @@
     "latch": "cpp",
     "semaphore": "cpp",
     "span": "cpp",
-    "__sso_allocator": "cpp"
+    "__sso_allocator": "cpp",
+    "source_location": "cpp",
+    "format": "cpp",
+    "numbers": "cpp",
+    "ranges": "cpp",
+    "stop_token": "cpp"
   },
   "C_Cpp.clang_format_fallbackStyle": "google",
   "editor.formatOnSave": true,
   "cmake.configureArgs": [
     "-DBUILD_SHARED_LIBS=ON",
     "-DMANIFOLD_CBIND=ON",
+    "-DMANIFOLD_PYBIND=ON",
     "-DMANIFOLD_EXPORT=ON",
     "-DMANIFOLD_DEBUG=ON",
-    "-DMANIFOLD_USE_CUDA=OFF",
     "-DMANIFOLD_PAR=TBB",
     "-DCODE_COVERAGE=OFF",
     "-DCMAKE_CXX_FLAGS=''" //'-fsanitize=address,undefined'"

CMakeLists.txt

@@ -21,11 +21,26 @@ set(MANIFOLD_PAR "NONE" CACHE STRING "Parallel backend, either \"TBB\" or \"NONE
 set(MANIFOLD_FLAGS "" CACHE STRING "Manifold compiler flags")
 option(MANIFOLD_EXPORT "Build mesh export (via assimp) utility library" OFF)
 option(MANIFOLD_TEST "Enable testing suite" ON)
+# fuzztest is a rather large dependency
+option(MANIFOLD_FUZZ "Enable fuzzing tests" OFF)
 option(MANIFOLD_DEBUG "Enable debug tracing/timing" OFF)
-
-option(MANIFOLD_PYBIND "Build python bindings" ON)
-option(MANIFOLD_CBIND "Build C (FFI) bindings" OFF)
+option(MANIFOLD_PYBIND "Build python bindings" OFF)
+option(MANIFOLD_CBIND "Build C (FFI) bindings" ON)
 option(MANIFOLD_JSBIND "Build js binding" ${EMSCRIPTEN})
+option(BUILD_SHARED_LIBS "Build shared library" ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+if(MANIFOLD_FUZZ)
+  if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    message(FATAL_ERROR "fuzztest only supports clang" )
+  endif()
+  # we should enable debug checks
+  set(MANIFOLD_DEBUG ON)
+  # enable fuzztest fuzzing mode
+  set(FUZZTEST_FUZZING_MODE ON)
+  # address sanitizer required
+  set(CMAKE_CXX_FLAGS "$CMAKE_CXX_FLAGS -fsanitize=address")
+endif()
 
 option(TRACY_ENABLE "Use tracy profiling" OFF) 
 option(TRACY_MEMORY_USAGE "Track memory allocation with tracy (expensive)" OFF)
@@ -47,15 +62,18 @@ if(EMSCRIPTEN)
   set(MANIFOLD_FLAGS -fexceptions -D_LIBCUDACXX_HAS_THREAD_API_EXTERNAL -D_LIBCUDACXX_HAS_THREAD_API_CUDA)
   set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -sALLOW_MEMORY_GROWTH=1 -fexceptions -sDISABLE_EXCEPTION_CATCHING=0")
   set(MANIFOLD_PYBIND OFF)
+  set(BUILD_SHARED_LIBS OFF)
 endif()
 
+include(${CMAKE_CURRENT_SOURCE_DIR}/manifoldDeps.cmake)
+
 if(MANIFOLD_PYBIND)
-  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
   if(Python_VERSION VERSION_LESS 3.12)
     find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)
   else()
     find_package(Python COMPONENTS Interpreter Development.SABIModule REQUIRED)
   endif()
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 endif()
 
 if(CMAKE_EXPORT_COMPILE_COMMANDS AND NOT EMSCRIPTEN)
@@ -65,14 +83,15 @@ if(CMAKE_EXPORT_COMPILE_COMMANDS AND NOT EMSCRIPTEN)
 endif()
 
 if (MSVC)
-  set(MANIFOLD_FLAGS ${MANIFOLD_FLAGS} /DNOMINMAX)
+  set(MANIFOLD_FLAGS ${MANIFOLD_FLAGS} /DNOMINMAX /bigobj)
 else()
   if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    set(WARNING_FLAGS -Werror -Wall -Wno-sign-compare -Wno-unused -Wno-array-bounds -Wno-stringop-overflow)
+    set(WARNING_FLAGS -Werror -Wall -Wno-sign-compare -Wno-unused -Wno-array-bounds
+      -Wno-stringop-overflow -Wno-alloc-size-larger-than)
   else()
     set(WARNING_FLAGS -Werror -Wall -Wno-sign-compare -Wno-unused)
   endif()
-  set(MANIFOLD_FLAGS ${MANIFOLD_FLAGS} ${WARNING_FLAGS} -O3)
+  set(MANIFOLD_FLAGS ${MANIFOLD_FLAGS} ${WARNING_FLAGS})
 endif()
 
 if(CODE_COVERAGE AND NOT MSVC)
@@ -81,7 +100,16 @@ if(CODE_COVERAGE AND NOT MSVC)
   add_link_options("-coverage")
 endif()
 
-include(GNUInstallDirs)
+# installation rpath
+set(CMAKE_SKIP_BUILD_RPATH FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
+if("${isSystemDir}" STREQUAL "-1")
+    set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+endif("${isSystemDir}" STREQUAL "-1")
+
 
 add_subdirectory(src)
 add_subdirectory(bindings)
@@ -95,3 +123,29 @@ if(MANIFOLD_TEST)
   add_subdirectory(test)
   add_subdirectory(extras)
 endif()
+
+# installation related
+
+set(MANIFOLD_VERSION_MAJOR 2)
+set(MANIFOLD_VERSION_MINOR 5)
+set(MANIFOLD_VERSION_PATCH 1)
+set(MANIFOLD_VERSION "${MANIFOLD_VERSION_MAJOR}.${MANIFOLD_VERSION_MINOR}.${MANIFOLD_VERSION_PATCH}")
+set_property(TARGET manifold PROPERTY VERSION "${MANIFOLD_VERSION}")
+set_property(TARGET manifold PROPERTY SOVERSION 2)
+
+if(NOT EMSCRIPTEN)
+include(CMakePackageConfigHelpers)
+write_basic_package_version_file(
+  ${CMAKE_BINARY_DIR}/cmake/manifoldConfigVersion.cmake
+  VERSION ${MANIFOLD_VERSION}
+  COMPATIBILITY SameMajorVersion
+)
+install(EXPORT manifoldTargets DESTINATION ${CMAKE_INSTALL_DATADIR}/manifold)
+configure_file(manifoldConfig.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/manifoldConfig.cmake @ONLY)
+install(FILES
+  ${CMAKE_CURRENT_SOURCE_DIR}/manifoldDeps.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/cmake/manifoldConfigVersion.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/manifoldConfig.cmake
+  DESTINATION ${CMAKE_INSTALL_DATADIR}/manifold
+)
+endif()

README.md

@@ -1,35 +1,36 @@
 [![codecov](https://codecov.io/github/elalish/manifold/branch/master/graph/badge.svg?token=IIA8G5HVS7)](https://codecov.io/github/elalish/manifold)
+[![PyPI version](https://badge.fury.io/py/manifold3d.svg)](https://badge.fury.io/py/manifold3d)
+[![npm version](https://badge.fury.io/js/manifold-3d.svg)](https://badge.fury.io/js/manifold-3d)
 [![twitter](https://img.shields.io/twitter/follow/manifoldcad?style=social&logo=twitter)](https://twitter.com/intent/follow?screen_name=manifoldcad)
 
 ## Users
 
 [OpenSCAD](https://openscad.org/), [IFCjs](https://ifcjs.github.io/info/), [Grid.Space](https://grid.space/), and [OCADml](https://github.com/OCADml/OManifold) have all integrated our Manifold geometry kernel! Why? Because its reliability is guaranteed and it's 1,000 times faster than other libraries. See our [usage](https://github.com/elalish/manifold/discussions/340) and [performance](https://github.com/elalish/manifold/discussions/383) discussions for all the latest and to add your own projects & analyses.
 
-For example, here is a log-log plot of Manifold's performance vs. earlier OpenSCAD geometry backends:
+## Manifold Frontend Sandboxes
 
-<img src="https://elalish.github.io/manifold/samples/models/perfSpheres.png" width="350px"/>
+### [ManifoldCAD.org](https://manifoldcad.org)
 
-## [ManifoldCAD.org](https://manifoldcad.org)
+If you like OpenSCAD / JSCAD, you might also like ManifoldCAD - our own solid modelling web app where you script in JS/TS. This uses our npm package, [manifold-3d](https://www.npmjs.com/package/manifold-3d), built via WASM. It's not quite as fast as our raw C++, but it's hard to beat for interoperability.
 
-If you like OpenSCAD / JSCAD, you might also like ManifoldCAD - our own solid modelling web app. Our WASM is not multithreaded yet, but it's still quite fast and a good way to test out our Manifold library.
+*Note for Firefox users: If you find the editor is stuck on **Loading...**, setting
+`dom.workers.modules.enabled: true` in your `about:config`, as mentioned in
+[issue#328](https://github.com/elalish/manifold/issues/328#issuecomment-1473847102)
+may solve the problem.*
+
+### [Python Colab Example](https://colab.research.google.com/drive/1VxrFYHPSHZgUbl9TeWzCeovlpXrPQ5J5?usp=sharing)
+
+If you prefer Python to JS/TS, make your own copy of the example notebook above. It demonstrates interop between our [`manifold3d`](https://pypi.org/project/manifold3d/) PyPI library and the popular [`trimesh`](https://pypi.org/project/trimesh/) library, including showing the interactive model right in the notebook and saving 3D model output.
 
 ![A metallic Menger sponge](https://elalish.github.io/manifold/samples/models/mengerSponge3.webp "A metallic Menger sponge")
 
-### Note for Firefox users
-
-If you find the editor is stuck on **Loading...**, setting
-`dom.workers.modules.enabled: true` in your `about:config`, as mentioned in the
-discussion of the
-[issue#328](https://github.com/elalish/manifold/issues/328#issuecomment-1473847102)
-of this repository may solve the problem.
-
 # Manifold
 
-[**API Documentation**](https://elalish.github.io/manifold/docs/html/modules.html) | [**Algorithm Documentation**](https://github.com/elalish/manifold/wiki/Manifold-Library) | [**Blog Posts**](https://elalish.blogspot.com/search/label/Manifold) | [**Web Examples**](https://elalish.github.io/manifold/model-viewer.html)
+[**API Documentation**](https://elalish.github.io/manifold/docs/html/topics.html) | [**Algorithm Documentation**](https://github.com/elalish/manifold/wiki/Manifold-Library) | [**Blog Posts**](https://elalish.blogspot.com/search/label/Manifold) | [**Web Examples**](https://elalish.github.io/manifold/model-viewer.html)
 
 [Manifold](https://github.com/elalish/manifold) is a geometry library dedicated to creating and operating on manifold triangle meshes. A [manifold mesh](https://github.com/elalish/manifold/wiki/Manifold-Library#manifoldness) is a mesh that represents a solid object, and so is very important in manufacturing, CAD, structural analysis, etc. Further information can be found on the [wiki](https://github.com/elalish/manifold/wiki/Manifold-Library).
 
-This is a modern C++ library that Github's CI verifies builds and runs on a variety of platforms. Additionally, we build bindings for JavaScript ([manifold-3d](https://www.npmjs.com/package/manifold-3d) on npm), Python, and C to make this library more portable and easy to use.
+This is a modern C++ library that Github's CI verifies builds and runs on a variety of platforms. Additionally, we build bindings for JavaScript ([manifold-3d](https://www.npmjs.com/package/manifold-3d) on npm), Python ([manifold3d](https://pypi.org/project/manifold3d/)), and C to make this library more portable and easy to use.
 
 System Dependencies (note that we will automatically download the dependency if there is no such package on the system):
 - [`GLM`](https://github.com/g-truc/glm/): A compact header-only vector library.
@@ -87,6 +88,10 @@ Offline building:
 The build instructions used by our CI are in [manifold.yml](https://github.com/elalish/manifold/blob/master/.github/workflows/manifold.yml), which is a good source to check if something goes wrong and for instructions specific to other platforms, like Windows.
 
 ### WASM
+
+> Note that we have only tested emscripten version 3.1.45. It is known that
+  3.1.48 has some issues compiling manifold.
+
 To build the JS WASM library, first install NodeJS and set up emscripten:
 
 (on Mac):
@@ -120,7 +125,7 @@ use the extension, please add `$BUILD_DIR/bindings/python` to your `PYTHONPATH`,
 can be found in `bindings/python/examples`. To see exported samples, run:
 ```
 sudo apt install pkg-config libpython3-dev python3 python3-distutils python3-pip
-pip install trimesh
+pip install trimesh pytest
 python3 run_all.py -e
 ```
 
@@ -134,14 +139,51 @@ python binding documentation:
 
 For more detailed documentation, please refer to the C++ API.
 
+### Java / Clojure
+
+Unofficial java bindings are currently maintained in [a fork](https://github.com/SovereignShop/manifold).
+
+There is also a Clojure [library](https://github.com/SovereignShop/clj-manifold3d).
+
+### Windows Shenanigans
+
+Windows users should build with `-DBUILD_SHARED_LIBS=OFF`, as enabling shared
+libraries in general makes things very complicated.
+
+The DLL file for manifoldc (C FFI bindings) when built with msvc is in `${CMAKE_BINARY_DIR}/bin/${BUILD_TYPE}/manifoldc.dll`.
+For example, for the following command, the path relative to the project root directory is `build/bin/Release/manifoldc.dll`.
+```sh
+cmake . -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DMANIFOLD_DEBUG=ON -DMANIFOLD_PAR=${{matrix.parallel_backend}} -A x64 -B build
+```
+
 ## Contributing
 
 Contributions are welcome! A lower barrier contribution is to simply make a PR that adds a test, especially if it repros an issue you've found. Simply name it prepended with DISABLED_, so that it passes the CI. That will be a very strong signal to me to fix your issue. However, if you know how to fix it yourself, then including the fix in your PR would be much appreciated!
 
-## Profiling
+### Formatting
+
+There is a formatting script `format.sh` that automatically formats everything.
+It requires clang-format 11 and black formatter for python.
+
+If you have clang-format installed but without clang-11, you can specify the
+clang-format executable by setting the `CLANG_FORMAT` environment variable.
+
+### Profiling
 
 There is now basic support for the [Tracy profiler](https://github.com/wolfpld/tracy) for our tests.
 To enable tracing, compile with `-DTRACY_ENABLE=on` cmake option, and run the test with Tracy server running.
+To enable memory profiling in addition to tracing, compile with `-DTRACY_MEMORY_USAGE=ON` in addition to `-DTRACY_ENABLE=ON`.
+
+### Fuzzing Support
+
+We use https://github.com/google/fuzztest for fuzzing the triangulator.
+
+To enable fuzzing, make sure that you are using clang compiler (`-DCMAKE_CXX_COMPILER=clang -DCMAKE_C_COMPILER=clang`), running Linux, and enable fuzzing support by setting `-DMANIFOLD_FUZZ=ON`.
+
+To run the fuzzer and minimize testcase, do
+```
+../minimizer.sh ./test/polygon_fuzz --fuzz=PolygonFuzz.TriangulationNoCrash
+```
 
 ## About the author
 

RELEASE_CHECKLIST.md

@@ -0,0 +1,14 @@
+1. Go through Github issues to verify bugs have been fixed and closed.
+1. Verify [ManifoldCAD.org](https://manifoldcad.org) - check a few examples, run them, download a GLB and a 3MF.
+1. Verify our three.js [example](https://manifoldcad.org/three) is functional.
+1. Verify our model-viewer [example](https://manifoldcad.org/model-viewer) is functional - select Union and Intersection.
+1. Verify [make-manifold](https://manifoldcad.org/make-manifold) is functional. Try dropping [DragonAttenuation.glb](https://github.com/KhronosGroup/glTF-Sample-Assets/blob/main/Models/DragonAttenuation/glTF-Binary/DragonAttenuation.glb) in and verify you can select "View Manifold GLB" and that the dragon is still present while the backdrop is removed. Download the GLB.
+1. Make a new branch called the version, e.g. v2.3.0.
+1. Use VSCode to search and replace the old version with the new - so far in test-cmake.sh, flake.nix, pyproject.toml, and package.json.
+1. Also update CMakeLists.txt version by searching for "set(MANIFOLD_VERSION_".
+1. Commit, push, open a PR, verify tests pass, merge.
+1. On Github, draft a new release, make a new tag with the version number, add release notes, and publish.
+1. Check the Actions and verify that both PyPI and npm publishing actions ran successfully.
+1. Verify the npm [package](https://www.npmjs.com/package/manifold-3d?activeTab=code) looks good - unpacked size should be close to 1MB.
+1. Verify PyPI [package](https://pypi.org/project/manifold3d/#files) looks good - a bunch of built distributions ranging from ~600kB to ~1.1MB.
+1. If there's a problem with release deployment, the release workflows can be triggered separately, manually for any branch, under the Actions tab.

bindings/c/CMakeLists.txt

@@ -1,33 +1,31 @@
 project(manifoldc)
 
-add_library(${PROJECT_NAME} manifoldc.cpp conv.cpp)
+# this is a shared library for FFI bindings
+add_library(${PROJECT_NAME} SHARED manifoldc.cpp conv.cpp)
 
-if(MANIFOLD_USE_CUDA)
-    set_source_files_properties(manifoldc.cpp conv.cpp PROPERTIES LANGUAGE CUDA)
-    set_property(TARGET ${PROJECT_NAME} PROPERTY CUDA_ARCHITECTURES 61)
+if(MSVC)
+    set_target_properties(${PROJECT_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
+    set_target_properties(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY 
+        ${CMAKE_BINARY_DIR}/bin )
+    set_target_properties(${PROJECT_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY
+        ${CMAKE_BINARY_DIR}/bin )
 endif()
 
 if(MANIFOLD_EXPORT)
-  target_link_libraries(${PROJECT_NAME} PRIVATE meshIO)
-  target_compile_options(${PROJECT_NAME} PUBLIC -DMANIFOLD_EXPORT)
+    target_link_libraries(${PROJECT_NAME} PRIVATE meshIO)
+    target_compile_options(${PROJECT_NAME} PUBLIC -DMANIFOLD_EXPORT)
 endif()
 
 target_link_libraries(
-  ${PROJECT_NAME}
-  PRIVATE manifold sdf cross_section
+    ${PROJECT_NAME}
+    PRIVATE manifold sdf cross_section
 )
 
-target_include_directories(${PROJECT_NAME} PUBLIC ${PROJECT_SOURCE_DIR}/include)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    $<INSTALL_INTERFACE:include/${CMAKE_PROJECT_NAME}>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
 target_compile_options(${PROJECT_NAME} PRIVATE ${MANIFOLD_FLAGS})
 target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)
 
-install(
-  TARGETS ${PROJECT_NAME}
-  LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
-  COMPONENT bindings
-)
-install(
-  FILES include/manifoldc.h include/types.h
-  DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}/manifold
-  COMPONENT devel
-)
+install(TARGETS ${PROJECT_NAME} EXPORT manifoldTargets)
+install(FILES include/manifoldc.h include/types.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${CMAKE_PROJECT_NAME})

bindings/c/cross.cpp

@@ -182,9 +182,13 @@ ManifoldCrossSection *manifold_cross_section_transform(void *mem,
 }
 
 ManifoldCrossSection *manifold_cross_section_warp(
-    void *mem, ManifoldCrossSection *cs, ManifoldVec2 (*fun)(float, float)) {
-  std::function<void(glm::vec2 & v)> warp = [fun](glm::vec2 &v) {
-    v = from_c(fun(v.x, v.y));
+    void *mem, ManifoldCrossSection *cs,
+    ManifoldVec2 (*fun)(float, float, void *), void *ctx) {
+  // Bind function with context argument to one without
+  using namespace std::placeholders;
+  std::function<ManifoldVec2(float, float)> f2 = std::bind(fun, _1, _2, ctx);
+  std::function<void(glm::vec2 & v)> warp = [f2](glm::vec2 &v) {
+    v = from_c(f2(v.x, v.y));
   };
   auto warped = from_c(cs)->Warp(warp);
   return to_c(new (mem) CrossSection(warped));

bindings/c/include/manifoldc.h

@@ -51,6 +51,7 @@ ManifoldMeshGL *manifold_meshgl_w_tangents(void *mem, float *vert_props,
                                            float *halfedge_tangent);
 ManifoldMeshGL *manifold_get_meshgl(void *mem, ManifoldManifold *m);
 ManifoldMeshGL *manifold_meshgl_copy(void *mem, ManifoldMeshGL *m);
+ManifoldMeshGL *manifold_meshgl_merge(void *mem, ManifoldMeshGL *m);
 
 // SDF
 // By default, the execution policy (sequential or parallel) of
@@ -59,20 +60,11 @@ ManifoldMeshGL *manifold_meshgl_copy(void *mem, ManifoldMeshGL *m);
 // using these bindings from a language that has a runtime lock preventing the
 // parallel execution of closures, then you should use manifold_level_set_seq to
 // force sequential execution.
-ManifoldMeshGL *manifold_level_set(void *mem, float (*sdf)(float, float, float),
+ManifoldMeshGL *manifold_level_set(void *mem,
+                                   float (*sdf)(float, float, float, void *),
                                    ManifoldBox *bounds, float edge_length,
-                                   float level);
-ManifoldMeshGL *manifold_level_set_seq(void *mem,
-                                       float (*sdf)(float, float, float),
-                                       ManifoldBox *bounds, float edge_length,
-                                       float level);
-// The _context variants of manifold_level_set allow a pointer to be passed
-// back to each invocation of the sdf function pointer, for languages that
-// need additional data.
-ManifoldMeshGL *manifold_level_set_context(
-    void *mem, float (*sdf)(float, float, float, void *), ManifoldBox *bounds,
-    float edge_length, float level, void *ctx);
-ManifoldMeshGL *manifold_level_set_seq_context(
+                                   float level, void *ctx);
+ManifoldMeshGL *manifold_level_set_seq(
     void *mem, float (*sdf)(float, float, float, void *), ManifoldBox *bounds,
     float edge_length, float level, void *ctx);
 
@@ -111,6 +103,12 @@ ManifoldManifold *manifold_trim_by_plane(void *mem, ManifoldManifold *m,
                                          float normal_x, float normal_y,
                                          float normal_z, float offset);
 
+// 3D to 2D
+
+ManifoldCrossSection *manifold_slice(void *mem, ManifoldManifold *m,
+                                     float height);
+ManifoldCrossSection *manifold_project(void *mem, ManifoldManifold *m);
+
 // Convex Hulls
 
 ManifoldManifold *manifold_hull(void *mem, ManifoldManifold *m);
@@ -132,8 +130,16 @@ ManifoldManifold *manifold_transform(void *mem, ManifoldManifold *m, float x1,
 ManifoldManifold *manifold_mirror(void *mem, ManifoldManifold *m, float nx,
                                   float ny, float nz);
 ManifoldManifold *manifold_warp(void *mem, ManifoldManifold *m,
-                                ManifoldVec3 (*fun)(float, float, float));
+                                ManifoldVec3 (*fun)(float, float, float,
+                                                    void *),
+                                void *ctx);
+ManifoldManifold *manifold_smooth_by_normals(void *mem, ManifoldManifold *m,
+                                             int normalIdx);
+ManifoldManifold *manifold_smooth_out(void *mem, ManifoldManifold *m,
+                                      float minSharpAngle, float minSmoothness);
 ManifoldManifold *manifold_refine(void *mem, ManifoldManifold *m, int refine);
+ManifoldManifold *manifold_refine_to_length(void *mem, ManifoldManifold *m,
+                                            float length);
 
 // Manifold Shapes / Constructors
 
@@ -177,9 +183,16 @@ int manifold_original_id(ManifoldManifold *m);
 uint32_t manifold_reserve_ids(uint32_t n);
 ManifoldManifold *manifold_set_properties(
     void *mem, ManifoldManifold *m, int num_prop,
-    void (*fun)(float *new_prop, ManifoldVec3 position, const float *old_prop));
+    void (*fun)(float *new_prop, ManifoldVec3 position, const float *old_prop,
+                void *ctx),
+    void *ctx);
 ManifoldManifold *manifold_calculate_curvature(void *mem, ManifoldManifold *m,
                                                int gaussian_idx, int mean_idx);
+float manifold_min_gap(ManifoldManifold *m, ManifoldManifold *other,
+                       float searchLength);
+ManifoldManifold *manifold_calculate_normals(void *mem, ManifoldManifold *m,
+                                             int normal_idx,
+                                             int min_sharp_angle);
 
 // CrossSection Shapes/Constructors
 
@@ -262,6 +275,9 @@ ManifoldCrossSection *manifold_cross_section_transform(void *mem,
                                                        float x3, float y3);
 ManifoldCrossSection *manifold_cross_section_warp(
     void *mem, ManifoldCrossSection *cs, ManifoldVec2 (*fun)(float, float));
+ManifoldCrossSection *manifold_cross_section_warp_context(
+    void *mem, ManifoldCrossSection *cs,
+    ManifoldVec2 (*fun)(float, float, void *), void *ctx);
 ManifoldCrossSection *manifold_cross_section_simplify(void *mem,
                                                       ManifoldCrossSection *cs,
                                                       double epsilon);

bindings/c/manifoldc.cpp

@@ -35,20 +35,10 @@
 using namespace manifold;
 
 namespace {
-ManifoldMeshGL *level_set(void *mem, float (*sdf)(float, float, float),
+ManifoldMeshGL *level_set(void *mem,
+                          float (*sdf_context)(float, float, float, void *),
                           ManifoldBox *bounds, float edge_length, float level,
-                          bool seq) {
-  // typing with std::function rather than auto compiles when CUDA is on,
-  // passing it into GPU (and crashing) is avoided dynamically in `sdf.h`
-  std::function<float(glm::vec3)> fun = [sdf](glm::vec3 v) {
-    return (sdf(v.x, v.y, v.z));
-  };
-  auto mesh = LevelSet(fun, *from_c(bounds), edge_length, level, !seq);
-  return to_c(new (mem) MeshGL(mesh));
-}
-ManifoldMeshGL *level_set_context(
-    void *mem, float (*sdf_context)(float, float, float, void *),
-    ManifoldBox *bounds, float edge_length, float level, bool seq, void *ctx) {
+                          bool seq, void *ctx) {
   // Bind function with context argument to one without
   using namespace std::placeholders;
   std::function<float(float, float, float)> sdf =
@@ -202,6 +192,17 @@ ManifoldManifold *manifold_trim_by_plane(void *mem, ManifoldManifold *m,
   return to_c(new (mem) Manifold(trimmed));
 }
 
+ManifoldCrossSection *manifold_slice(void *mem, ManifoldManifold *m,
+                                     float height) {
+  auto poly = from_c(m)->Slice(height);
+  return to_c(new (mem) CrossSection(poly));
+}
+
+ManifoldCrossSection *manifold_project(void *mem, ManifoldManifold *m) {
+  auto poly = from_c(m)->Project();
+  return to_c(new (mem) CrossSection(poly));
+}
+
 ManifoldManifold *manifold_hull(void *mem, ManifoldManifold *m) {
   auto hulled = from_c(m)->Hull();
   return to_c(new (mem) Manifold(hulled));
@@ -258,37 +259,44 @@ ManifoldManifold *manifold_mirror(void *mem, ManifoldManifold *m, float nx,
 }
 
 ManifoldManifold *manifold_warp(void *mem, ManifoldManifold *m,
-                                ManifoldVec3 (*fun)(float, float, float)) {
-  std::function<void(glm::vec3 & v)> warp = [fun](glm::vec3 &v) {
-    v = from_c(fun(v.x, v.y, v.z));
+                                ManifoldVec3 (*fun)(float, float, float,
+                                                    void *),
+                                void *ctx) {
+  // Bind function with context argument to one without
+  using namespace std::placeholders;
+  std::function<ManifoldVec3(float, float, float)> f3 =
+      std::bind(fun, _1, _2, _3, ctx);
+  std::function<void(glm::vec3 & v)> warp = [f3](glm::vec3 &v) {
+    v = from_c(f3(v.x, v.y, v.z));
   };
   auto warped = from_c(m)->Warp(warp);
   return to_c(new (mem) Manifold(warped));
 }
 
-ManifoldMeshGL *manifold_level_set(void *mem, float (*sdf)(float, float, float),
+ManifoldMeshGL *manifold_level_set(void *mem,
+                                   float (*sdf)(float, float, float, void *),
                                    ManifoldBox *bounds, float edge_length,
-                                   float level) {
-  return level_set(mem, sdf, bounds, edge_length, level, false);
+                                   float level, void *ctx) {
+  return level_set(mem, sdf, bounds, edge_length, level, false, ctx);
 }
 
-ManifoldMeshGL *manifold_level_set_seq(void *mem,
-                                       float (*sdf)(float, float, float),
-                                       ManifoldBox *bounds, float edge_length,
-                                       float level) {
-  return level_set(mem, sdf, bounds, edge_length, level, true);
-}
-
-ManifoldMeshGL *manifold_level_set_context(
+ManifoldMeshGL *manifold_level_set_seq(
     void *mem, float (*sdf)(float, float, float, void *), ManifoldBox *bounds,
     float edge_length, float level, void *ctx) {
-  return level_set_context(mem, sdf, bounds, edge_length, level, false, ctx);
+  return level_set(mem, sdf, bounds, edge_length, level, true, ctx);
 }
 
-ManifoldMeshGL *manifold_level_set_seq_context(
-    void *mem, float (*sdf)(float, float, float, void *), ManifoldBox *bounds,
-    float edge_length, float level, void *ctx) {
-  return level_set_context(mem, sdf, bounds, edge_length, level, true, ctx);
+ManifoldManifold *manifold_smooth_by_normals(void *mem, ManifoldManifold *m,
+                                             int normalIdx) {
+  auto smoothed = from_c(m)->SmoothByNormals(normalIdx);
+  return to_c(new (mem) Manifold(smoothed));
+}
+
+ManifoldManifold *manifold_smooth_out(void *mem, ManifoldManifold *m,
+                                      float minSharpAngle,
+                                      float minSmoothness) {
+  auto smoothed = from_c(m)->SmoothOut(minSharpAngle, minSmoothness);
+  return to_c(new (mem) Manifold(smoothed));
 }
 
 ManifoldManifold *manifold_refine(void *mem, ManifoldManifold *m, int refine) {
@@ -296,6 +304,12 @@ ManifoldManifold *manifold_refine(void *mem, ManifoldManifold *m, int refine) {
   return to_c(new (mem) Manifold(refined));
 }
 
+ManifoldManifold *manifold_refine_to_length(void *mem, ManifoldManifold *m,
+                                            float length) {
+  auto refined = from_c(m)->RefineToLength(length);
+  return to_c(new (mem) Manifold(refined));
+}
+
 ManifoldManifold *manifold_empty(void *mem) {
   return to_c(new (mem) Manifold());
 }
@@ -403,6 +417,15 @@ ManifoldMeshGL *manifold_meshgl_copy(void *mem, ManifoldMeshGL *m) {
   return to_c(new (mem) MeshGL(*from_c(m)));
 }
 
+ManifoldMeshGL *manifold_meshgl_merge(void *mem, ManifoldMeshGL *m) {
+  auto duplicate = new (mem) MeshGL(*from_c(m));
+  if (duplicate->Merge()) {
+    return to_c(duplicate);
+  }
+  delete duplicate;
+  return m;
+}
+
 int manifold_meshgl_num_prop(ManifoldMeshGL *m) { return from_c(m)->numProp; }
 int manifold_meshgl_num_vert(ManifoldMeshGL *m) { return from_c(m)->NumVert(); }
 int manifold_meshgl_num_tri(ManifoldMeshGL *m) { return from_c(m)->NumTri(); }
@@ -509,14 +532,18 @@ float manifold_precision(ManifoldManifold *m) { return from_c(m)->Precision(); }
 
 uint32_t manifold_reserve_ids(uint32_t n) { return Manifold::ReserveIDs(n); }
 
-ManifoldManifold *manifold_set_properties(void *mem, ManifoldManifold *m,
-                                          int num_prop,
-                                          void (*fun)(float *new_prop,
-                                                      ManifoldVec3 position,
-                                                      const float *old_prop)) {
+ManifoldManifold *manifold_set_properties(
+    void *mem, ManifoldManifold *m, int num_prop,
+    void (*fun)(float *new_prop, ManifoldVec3 position, const float *old_prop,
+                void *ctx),
+    void *ctx) {
+  // Bind function with context argument to one without
+  using namespace std::placeholders;
+  std::function<void(float *, ManifoldVec3, const float *)> f3 =
+      std::bind(fun, _1, _2, _3, ctx);
   std::function<void(float *, glm::vec3, const float *)> f =
-      [fun](float *new_prop, glm::vec3 v, const float *old_prop) {
-        fun(new_prop, to_c(v), old_prop);
+      [f3](float *new_prop, glm::vec3 v, const float *old_prop) {
+        return (f3(new_prop, to_c(v), old_prop));
       };
   auto man = from_c(m)->SetProperties(num_prop, f);
   return to_c(new (mem) Manifold(man));
@@ -528,6 +555,18 @@ ManifoldManifold *manifold_calculate_curvature(void *mem, ManifoldManifold *m,
   return to_c(new (mem) Manifold(man));
 }
 
+float manifold_min_gap(ManifoldManifold *m, ManifoldManifold *other,
+                       float searchLength) {
+  return from_c(m)->MinGap(*from_c(other), searchLength);
+}
+
+ManifoldManifold *manifold_calculate_normals(void *mem, ManifoldManifold *m,
+                                             int normal_idx,
+                                             int min_sharp_angle) {
+  auto man = from_c(m)->CalculateNormals(normal_idx, min_sharp_angle);
+  return to_c(new (mem) Manifold(man));
+}
+
 // Static Quality Globals
 
 void manifold_set_min_circular_angle(float degrees) {

bindings/python/CMakeLists.txt

@@ -18,12 +18,31 @@ add_subdirectory(third_party)
 nanobind_add_module(
   manifold3d
   NB_STATIC STABLE_ABI LTO
+  autogen_docstrings.inl
   manifold3d.cpp)
-target_link_libraries(manifold3d PRIVATE manifold)
+target_link_libraries(manifold3d PRIVATE manifold sdf polygon)
 target_compile_options(manifold3d PRIVATE ${MANIFOLD_FLAGS} -DMODULE_NAME=manifold3d)
 target_compile_features(manifold3d PUBLIC cxx_std_17)
 set_target_properties(manifold3d PROPERTIES OUTPUT_NAME "manifold3d")
 
+message(Python_EXECUTABLE = ${Python_EXECUTABLE})
+# ideally we should generate a dependency file from python...
+set(DOCSTRING_DEPS
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../src/manifold/src/manifold.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../src/manifold/src/constructors.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../src/manifold/src/sort.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../src/cross_section/src/cross_section.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../src/polygon/src/polygon.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../src/utilities/include/public.h
+  )
+add_custom_command(
+  OUTPUT autogen_docstrings.inl
+  DEPENDS ${DOCSTRING_DEPS}
+  COMMAND ${Python_EXECUTABLE} ARGS ${CMAKE_CURRENT_SOURCE_DIR}/gen_docs.py
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+)
+target_include_directories(manifold3d PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+
 if(SKBUILD)
 install(
   TARGETS manifold3d
@@ -33,7 +52,7 @@ install(
 else()
 install(
   TARGETS manifold3d
-  LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
+  LIBRARY DESTINATION ${Python_SITEARCH}
   COMPONENT bindings
 )
 endif()

bindings/python/README.md

@@ -0,0 +1,40 @@
+# Python Bindings
+
+## Autogenerated Doc-Strings
+
+Doc-strings for the python API wrapper are generated by gen_docs.py
+The script is run automatically during the build to keep python
+doc strings fully up-to-date with c++ sources.
+
+It scrapes documentation comments and c++ function signatures
+from the manifold c++ sources, in order to generate a c++ header file 
+exposing the comments as string variables named by function names.
+This allows python bindings to re-use the c++ comments directly.
+
+Some snake-casing of params is applied for python use case.
+
+---
+
+When modifying the Manifold C++ sources, you may need to update
+gen_docs.py. For example, top-level free functions are white-listed,
+so if you add a new one, you will need to add it in gen_docs.py.
+
+Similarly, the list of source files to parse is also white listed,
+so if you define functions in new files that need python wrappers,
+you will also need to up gen_docs.py.
+
+To verify that python docs are correct after changes, you can
+run the following commends from the manifold repo root:
+```
+pip install .
+python -c 'import manifold3d; help(manifold3d)'
+```
+
+Alternateively you could generate stubs with roughly the same info
+```
+pip install nanobind-stubgen
+pip install .
+nanobind-stubgen manifold3d
+```
+It will emit some warnings and write a file `manifold3d.pyi`
+which will show all the function signatures and docstrings.

bindings/python/examples/all_apis.py

@@ -0,0 +1,128 @@
+from manifold3d import *
+import numpy as np
+
+
+def all_root_level():
+    set_min_circular_angle(10)
+    set_min_circular_edge_length(1)
+    set_circular_segments(22)
+    n = get_circular_segments(1)
+    assert n == 22
+    poly = [[0, 0], [1, 0], [1, 1]]
+    tris = triangulate([poly])
+    tris = triangulate([np.array(poly)])
+
+
+def all_cross_section():
+    poly = [[0, 0], [1, 0], [1, 1]]
+    c = CrossSection([np.array(poly)])
+    c = CrossSection([poly])
+    c = CrossSection() + c
+    a = c.area()
+    c = CrossSection.batch_boolean(
+        [
+            CrossSection.circle(1),
+            CrossSection.square((3, 3)),
+            CrossSection.circle(3).translate((1, 1)),
+        ],
+        OpType.Add,
+    )
+    c = CrossSection.batch_hull([c, c.translate((1, 0))])
+    b = c.bounds()
+    c = CrossSection.circle(1)
+    c = CrossSection.compose([c, c.translate((1, 0))])
+    cs = c.decompose()
+    m = c.extrude(1)
+    c = c.hull()
+    c = CrossSection.hull_points(poly)
+    c = CrossSection.hull_points(np.array(poly))
+    e = c.is_empty()
+    c = c.mirror((0, 1))
+    n = c.num_contour()
+    n = c.num_vert()
+    c = c.offset(1, JoinType.Round)
+    m = c.revolve()
+    c = c.rotate(90)
+    c = c.scale((2, 2))
+    c = c.simplify()
+    c = CrossSection.square((1, 1))
+    p = c.to_polygons()
+    c = c.transform([[1, 0, 0], [0, 1, 0]])
+    c = c.translate((1, 1))
+    c = c.warp(lambda p: (p[0] + 1, p[1] / 2))
+    c = c.warp_batch(lambda ps: ps * [1, 0.5] + [1, 0])
+
+
+def all_manifold():
+    mesh = Manifold.sphere(1).to_mesh()
+    m = Manifold(mesh)
+    m = Manifold() + m
+    m = m.as_original()
+    m = Manifold.batch_boolean(
+        [
+            Manifold.cylinder(4, 1),
+            Manifold.cube((3, 2, 1)),
+            Manifold.cylinder(5, 3).translate((1, 1, 1)),
+        ],
+        OpType.Add,
+    )
+    m = Manifold.batch_hull([m, m.translate((0, 0, 1))])
+    b = m.bounding_box()
+    m = m.calculate_curvature(4, 5)
+    m = m.calculate_normals(0)
+    m = m.smooth_by_normals(0)
+    m = Manifold.compose([m, m.translate((5, 0, 0))])
+    m = Manifold.cube((1, 1, 1))
+    m = Manifold.cylinder(1, 1)
+    ms = m.decompose()
+    m = Manifold.extrude(CrossSection.circle(1), 1)
+    m = Manifold.revolve(CrossSection.circle(1))
+    g = m.genus()
+    a = m.surface_area()
+    v = m.volume()
+    m = m.hull()
+    m = m.hull_points(mesh.vert_properties)
+    e = m.is_empty()
+    m = m.mirror((0, 0, 1))
+    n = m.num_edge()
+    n = m.num_prop()
+    n = m.num_prop_vert()
+    n = m.num_tri()
+    n = m.num_vert()
+    i = m.original_id()
+    p = m.precision()
+    c = m.project()
+    m = m.refine(2)
+    m = m.refine_to_length(0.1)
+    m = m.smooth_out()
+    i = Manifold.reserve_ids(1)
+    m = m.scale((1, 2, 3))
+    m = m.set_properties(3, lambda pos, prop: pos)
+    c = m.slice(0.5)
+    m = Manifold.smooth(mesh, [0], [0.5])
+    m = Manifold.sphere(1)
+    m, n = m.split(m.translate((1, 0, 0)))
+    m, n = m.split_by_plane((0, 0, 1), 0)
+    e = m.status()
+    m = Manifold.tetrahedron()
+    mesh = m.to_mesh()
+    ok = mesh.merge()
+    m = m.transform([[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0]])
+    m = m.translate((0, 0, 0))
+    m = m.trim_by_plane((0, 0, 1), 0)
+    m = m.warp(lambda p: (p[0] + 1, p[1] / 2, p[2] * 2))
+    m = m.warp_batch(lambda ps: ps * [1, 0.5, 2] + [1, 0, 0])
+    m = Manifold.cube()
+    m2 = Manifold.cube().translate([2, 0, 0])
+    d = m.min_gap(m2, 2)
+
+
+def run():
+    all_root_level()
+    all_cross_section()
+    all_manifold()
+    return Manifold()
+
+
+if __name__ == "__main__":
+    run()

bindings/python/examples/bricks.py

@@ -20,60 +20,82 @@ from manifold3d import Manifold
 
 INCHES = 25.4
 
-brick_depth = (3 + 5/8) * INCHES
-brick_height = (2 + 1/4) * INCHES
-brick_length = (7 + 5/8) * INCHES
+brick_depth = (3 + 5 / 8) * INCHES
+brick_height = (2 + 1 / 4) * INCHES
+brick_length = (7 + 5 / 8) * INCHES
 
-mortar_gap = (3/8) * INCHES
+mortar_gap = (3 / 8) * INCHES
 
 
 def brick():
-    return Manifold.cube(brick_length, brick_depth, brick_height)
+    return Manifold.cube([brick_length, brick_depth, brick_height])
 
 
 def halfbrick():
-    return Manifold.cube((brick_length - mortar_gap)/2, brick_depth, brick_height)
+    return Manifold.cube([(brick_length - mortar_gap) / 2, brick_depth, brick_height])
 
 
 def row(length):
-    bricks = [brick().translate((brick_length + mortar_gap)*x, 0, 0)
-              for x in range(length)]
-    return Manifold(bricks)
+    bricks = [
+        brick().translate([(brick_length + mortar_gap) * x, 0, 0])
+        for x in range(length)
+    ]
+    return sum(bricks, Manifold())
 
 
 def wall(length, height, alternate=0):
-    bricks = [row(length).translate(
-        ((z+alternate) % 2)*(brick_depth+mortar_gap), 0,
-        (brick_height+mortar_gap)*z) for z in range(height)]
-    return Manifold(bricks)
+    bricks = [
+        row(length).translate(
+            [
+                ((z + alternate) % 2) * (brick_depth + mortar_gap),
+                0,
+                (brick_height + mortar_gap) * z,
+            ]
+        )
+        for z in range(height)
+    ]
+    return sum(bricks, Manifold())
 
 
 def walls(length, width, height):
-    return Manifold([
-        wall(length, height),
-        wall(width, height, 1).rotate(0, 0, 90).translate(brick_depth, 0, 0),
-        wall(length, height, 1).translate(
-            0, (width)*(brick_length+mortar_gap), 0),
-        wall(width, height).rotate(0, 0, 90)
-        .translate((length+0.5)*(brick_length+mortar_gap) - mortar_gap, 0, 0),
-    ])
+    return sum(
+        [
+            wall(length, height),
+            wall(width, height, 1).rotate([0, 0, 90]).translate([brick_depth, 0, 0]),
+            wall(length, height, 1).translate(
+                [0, (width) * (brick_length + mortar_gap), 0]
+            ),
+            wall(width, height)
+            .rotate([0, 0, 90])
+            .translate(
+                [(length + 0.5) * (brick_length + mortar_gap) - mortar_gap, 0, 0]
+            ),
+        ],
+        Manifold(),
+    )
 
 
 def floor(length, width):
     results = [walls(length, width, 1)]
     if length > 1 and width > 1:
-        results.append(floor(length-1, width-1).translate(brick_depth +
-                       mortar_gap, brick_depth+mortar_gap, 0))
+        results.append(
+            floor(length - 1, width - 1).translate(
+                [brick_depth + mortar_gap, brick_depth + mortar_gap, 0]
+            )
+        )
     if length == 1 and width > 1:
-        results.append(row(width-1).rotate(0, 0, 90))
+        results.append(row(width - 1).rotate(0, 0, 90))
     if width == 1 and length > 1:
-        results.append(row(length-1).translate(2*(brick_depth +
-                       mortar_gap), brick_depth+mortar_gap, 0))
-    results.append(halfbrick().translate(
-        brick_depth+mortar_gap, brick_depth+mortar_gap, 0))
-    return Manifold(results)
+        results.append(
+            row(length - 1).translate(
+                [2 * (brick_depth + mortar_gap), brick_depth + mortar_gap, 0]
+            )
+        )
+    results.append(
+        halfbrick().translate([brick_depth + mortar_gap, brick_depth + mortar_gap, 0])
+    )
+    return sum(results, Manifold())
 
 
 def run(width=10, length=10, height=10):
     return walls(length, width, height) + floor(length, width)
-

bindings/python/examples/cube_with_dents.py

@@ -13,18 +13,21 @@
  See the License for the specific language governing permissions and
  limitations under the License.
  """
- 
+
 from manifold3d import Manifold
 from functools import reduce
 
 # https://gist.github.com/ochafik/2db96400e3c1f73558fcede990b8a355#file-cube-with-half-spheres-dents-scad
 
+
 def run(n=5, overlap=True):
-    a = Manifold.cube(n, n, 0.5).translate(-0.5, -0.5, -0.5)
+    a = Manifold.cube([n, n, 0.5]).translate([-0.5, -0.5, -0.5])
 
-    spheres = [Manifold.sphere(0.45 if overlap else 0.55, 50).translate(i, j, 0)
-               for i in range(n) for j in range(n)]
-    spheres = reduce(lambda a, b: a + b, spheres)
-
-    return a - spheres
+    spheres = [
+        Manifold.sphere(0.45 if overlap else 0.55, 50).translate([i, j, 0])
+        for i in range(n)
+        for j in range(n)
+    ]
+    # spheres = reduce(lambda a, b: a + b, spheres)
 
+    return a - sum(spheres, Manifold())

bindings/python/examples/extrude.py

@@ -1,4 +1,4 @@
-from manifold3d import CrossSection
+from manifold3d import CrossSection, Manifold
 
 
 def run():
@@ -10,26 +10,34 @@ def run():
     cross_section = CrossSection(polygons_points)
     polygons = cross_section.to_polygons()
     polygon = polygons[0]
-    if set(polygon) != set(polygon_points):
-        raise Exception(f"polygon={polygon} differs from polygon_points={polygon_points}")
+    if set([tuple(p) for p in polygon]) != set(polygon_points):
+        raise Exception(
+            f"polygon={polygon} differs from polygon_points={polygon_points}"
+        )
 
     # extrude a polygon to create a manifold
-    extruded_polygon = cross_section.extrude(10.0)
+    extruded_polygon = Manifold.extrude(cross_section, 10.0)
     eps = 0.001
-    observed_volume = extruded_polygon.get_volume()
+    observed_volume = extruded_polygon.volume()
     expected_volume = 10.0
     if abs(observed_volume - expected_volume) > eps:
-        raise Exception(f"observed_volume={observed_volume} differs from expected_volume={expected_volume}")
-    observed_surface_area = extruded_polygon.get_surface_area()
+        raise Exception(
+            f"observed_volume={observed_volume} differs from expected_volume={expected_volume}"
+        )
+    observed_surface_area = extruded_polygon.surface_area()
     expected_surface_area = 42.0
     if abs(observed_surface_area - expected_surface_area) > eps:
-        raise Exception(f"observed_surface_area={observed_surface_area} differs from expected_surface_area={expected_surface_area}")
+        raise Exception(
+            f"observed_surface_area={observed_surface_area} differs from expected_surface_area={expected_surface_area}"
+        )
 
     # get bounding box from manifold
-    observed_bbox = extruded_polygon.bounding_box
+    observed_bbox = extruded_polygon.bounding_box()
     expected_bbox = (0.0, 0.0, 0.0, 1.0, 1.0, 10.0)
     if observed_bbox != expected_bbox:
-        raise Exception(f"observed_bbox={observed_bbox} differs from expected_bbox={expected_bbox}")
+        raise Exception(
+            f"observed_bbox={observed_bbox} differs from expected_bbox={expected_bbox}"
+        )
 
     return extruded_polygon
 

bindings/python/examples/gyroid_module.py

@@ -0,0 +1,59 @@
+"""
+ Copyright 2023 The Manifold Authors.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+      https://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+ """
+
+import math
+import numpy as np
+from manifold3d import Mesh, Manifold
+
+
+def gyroid(x, y, z):
+    xi = x - math.pi / 4.0
+    yi = y - math.pi / 4.0
+    zi = z - math.pi / 4.0
+    return (
+        math.cos(xi) * math.sin(yi)
+        + math.cos(yi) * math.sin(zi)
+        + math.cos(zi) * math.sin(xi)
+    )
+
+
+def gyroid_levelset(level, period, size, n):
+    return Manifold(
+        Mesh.level_set(
+            gyroid,
+            [-period, -period, -period, period, period, period],
+            period / n,
+            level,
+        )
+    ).scale([size / period] * 3)
+
+
+def rhombic_dodecahedron(size):
+    box = Manifold.cube(size * math.sqrt(2.0) * np.array([1, 1, 2]), True)
+    result = box.rotate([90, 45, 0]) ^ box.rotate([90, 45, 90])
+    return result ^ box.rotate([0, 0, 45])
+
+
+def gyroid_module(size=20, n=15):
+    period = math.pi * 2.0
+    result = (
+        gyroid_levelset(-0.4, period, size, n) ^ rhombic_dodecahedron(size)
+    ) - gyroid_levelset(0.4, period, size, n)
+    return result.rotate([-45, 0, 90]).translate([0, 0, size / math.sqrt(2.0)])
+
+
+def run(size=20, n=15):
+    return gyroid_module(size, n)

bindings/python/examples/run_all.py

@@ -24,10 +24,9 @@ from time import time
 if __name__ == "__main__":
     current_file = pathlib.Path(__file__)
     current_dir = current_file.parent
-    files = [f.parts[-1][:-3]
-             for f in current_dir.glob('*.py') if f != current_file]
+    files = [f.parts[-1][:-3] for f in current_dir.glob("*.py") if f != current_file]
 
-    export_models = len(sys.argv) == 2 and sys.argv[-1] == '-e'
+    export_models = len(sys.argv) == 2 and sys.argv[-1] == "-e"
 
     for f in files:
         module = importlib.import_module(f)
@@ -41,9 +40,10 @@ if __name__ == "__main__":
             else:
                 vertices = mesh.vert_properties
                 colors = None
-            meshOut = trimesh.Trimesh(vertices=vertices, faces=mesh.tri_verts,
-                                      vertex_colors=colors)
-            trimesh.exchange.export.export_mesh(meshOut, f'{f}.glb', 'glb')
-            print(f'Exported model to {f}.glb')
+            meshOut = trimesh.Trimesh(
+                vertices=vertices, faces=mesh.tri_verts, vertex_colors=colors
+            )
+            trimesh.exchange.export.export_mesh(meshOut, f"{f}.glb", "glb")
+            print(f"Exported model to {f}.glb")
         t1 = time()
-        print(f'Took {(t1-t0)*1000:.1f}ms for {f}')
+        print(f"Took {(t1-t0)*1000:.1f}ms for {f}")

bindings/python/examples/scallop.py

@@ -0,0 +1,81 @@
+"""
+ Copyright 2023 The Manifold Authors.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+      https://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+ """
+
+from manifold3d import Manifold, Mesh
+import numpy as np
+
+
+def run():
+    # A smoothed manifold demonstrating selective edge sharpening with
+    # smooth() and refine(), see more details at:
+    # https://elalish.blogspot.com/2022/03/smoothing-triangle-meshes.html
+
+    height = 10
+    radius = 30
+    offset = 20
+    wiggles = 12
+    sharpness = 0.8
+    n = 50
+
+    triangles = []
+    positions = [[-offset, 0, height], [-offset, 0, -height]]
+    sharpenedEdges = []
+
+    delta = np.pi / wiggles
+    for i in range(2 * wiggles):
+        theta = (i - wiggles) * delta
+        amp = 0.5 * height * max(np.cos(0.8 * theta), 0)
+
+        positions.append(
+            [
+                radius * np.cos(theta),
+                radius * np.sin(theta),
+                amp * (1 if i % 2 == 0 else -1),
+            ]
+        )
+
+        j = i + 1
+        if j == 2 * wiggles:
+            j = 0
+
+        smoothness = 1 - sharpness * np.cos((theta + delta / 2) / 2)
+        halfedge = 3 * len(triangles) + 1
+        sharpenedEdges.append((halfedge, smoothness))
+        triangles.append([0, 2 + i, 2 + j])
+
+        halfedge = 3 * len(triangles) + 1
+        sharpenedEdges.append((halfedge, smoothness))
+        triangles.append([1, 2 + j, 2 + i])
+
+    scallop = Mesh(
+        tri_verts=np.array(triangles, np.int32),
+        vert_properties=np.array(positions, np.float32),
+    )
+
+    def colorCurvature(_pos, oldProp):
+        a = max(0, min(1, oldProp[0] / 3 + 0.5))
+        b = a * a * (3 - 2 * a)
+        red = [1, 0, 0]
+        blue = [0, 0, 1]
+        return [(1 - b) * blue[i] + b * red[i] for i in range(3)]
+
+    edges, smoothing = zip(*sharpenedEdges)
+    return (
+        Manifold.smooth(scallop, edges, smoothing)
+        .refine(n)
+        .calculate_curvature(-1, 0)
+        .set_properties(3, colorCurvature)
+    )

bindings/python/examples/split_cube.py

@@ -0,0 +1,23 @@
+"""
+ Copyright 2022 The Manifold Authors.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+      https://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+ """
+
+from manifold3d import Manifold
+
+
+def run():
+    a = Manifold.cube([1.0, 1.0, 1.0])
+    b = Manifold.cube([1.0, 1.0, 1.0]).rotate([45.0, 45.0, 45.0])
+    return a.split(b)[0]

bindings/python/examples/sponge.py

@@ -4,26 +4,27 @@ import numpy as np
 
 def fractal(holes, hole, w, position, depth, maxDepth):
     w /= 3
-    holes.append(hole.scale([w, w, 1.0]).translate(
-        [position[0], position[1], 0.0]))
+    holes.append(hole.scale([w, w, 1.0]).translate([position[0], position[1], 0.0]))
     if depth == maxDepth:
         return
-    offsets = np.array([
-        [-w, -w],
-        [-w, 0.0],
-        [-w, w],
-        [0.0, w],
-        [w, w],
-        [w, 0.0],
-        [w, -w],
-        [0.0, -w],
-    ])
+    offsets = np.array(
+        [
+            [-w, -w],
+            [-w, 0.0],
+            [-w, w],
+            [0.0, w],
+            [w, w],
+            [w, 0.0],
+            [w, -w],
+            [0.0, -w],
+        ]
+    )
     for offset in offsets:
         fractal(holes, hole, w, position + offset, depth + 1, maxDepth)
 
 
 def posColors(pos, _):
-    return [1 - p / 2 for p in pos] + [1.0]
+    return [-p + 0.5 for p in pos] + [1.0]
 
 
 def run(n=1):
@@ -37,4 +38,6 @@ def run(n=1):
     result -= hole.rotate([90, 0, 0])
     result -= hole.rotate([0, 90, 0])
 
-    return result.trim_by_plane([1, 1, 1], 0).set_properties(4, posColors).scale(100)
+    return (
+        result.trim_by_plane([1, 1, 1], 0).set_properties(4, posColors).scale([100] * 3)
+    )

bindings/python/examples/test_torus_knot.py

@@ -0,0 +1,98 @@
+from manifold3d import *
+import numpy as np
+import pytest
+
+# Creates a classic torus knot, defined as a string wrapping periodically
+# around the surface of an imaginary donut. If p and q have a common
+# factor then you will get multiple separate, interwoven knots. This is
+# an example of using the warp() method, thus avoiding any direct
+# handling of triangles.
+
+
+def run(warp_single=False):
+    # The number of times the thread passes through the donut hole.
+    p = 1
+    # The number of times the thread circles the donut.
+    q = 3
+    # Radius of the interior of the imaginary donut.
+    majorRadius = 25
+    # Radius of the small cross-section of the imaginary donut.
+    minorRadius = 10
+    # Radius of the small cross-section of the actual object.
+    threadRadius = 3.75
+    # Number of linear segments making up the threadRadius circle. Default is
+    # getCircularSegments(threadRadius).
+    circularSegments = -1
+    # Number of segments along the length of the knot. Default makes roughly
+    # square facets.
+    linearSegments = -1
+
+    # These default values recreate Matlab Knot by Emmett Lalish:
+    # https://www.thingiverse.com/thing:7080
+
+    kLoops = np.gcd(p, q)
+    pk = p / kLoops
+    qk = q / kLoops
+    n = (
+        circularSegments
+        if circularSegments > 2
+        else get_circular_segments(threadRadius)
+    )
+    m = linearSegments if linearSegments > 2 else n * qk * majorRadius / threadRadius
+
+    offset = 2
+    circle = CrossSection.circle(1, n).translate([offset, 0])
+
+    def ax_rotate(x, theta):
+        a, b = (x + 1) % 3, (x + 2) % 3
+        s, c = np.sin(theta), np.cos(theta)
+        m = np.zeros((len(theta), 4, 4), dtype=np.float32)
+        m[:, a, a], m[:, a, b] = c, s
+        m[:, b, a], m[:, b, b] = -s, c
+        m[:, x, x], m[:, 3, 3] = 1, 1
+        return m
+
+    def func(pts):
+        npts = pts.shape[0]
+        x, y, z = pts[:, 0], pts[:, 1], pts[:, 2]
+        psi = qk * np.arctan2(x, y)
+        theta = psi * pk / qk
+        x1 = np.sqrt(x * x + y * y)
+        phi = np.arctan2(x1 - offset, z)
+
+        v = np.zeros((npts, 4), dtype=np.float32)
+        v[:, 0] = threadRadius * np.cos(phi)
+        v[:, 2] = threadRadius * np.sin(phi)
+        v[:, 3] = 1
+        r = majorRadius + minorRadius * np.cos(theta)
+
+        m1 = ax_rotate(0, -np.arctan2(pk * minorRadius, qk * r))
+        m1[:, 3, 0] = minorRadius
+        m2 = ax_rotate(1, theta)
+        m2[:, 3, 0] = majorRadius
+        m3 = ax_rotate(2, psi)
+
+        v = v[:, None, :] @ m1 @ m2 @ m3
+        pts[:] = v[:, 0, :3]
+
+    def func_single(v):
+        pts = np.array([v])
+        func(pts)
+        return pts[0]
+
+    if warp_single:
+        return Manifold.revolve(circle, int(m)).warp(func_single)
+    else:
+        return Manifold.revolve(circle, int(m)).warp_batch(func)
+
+
+@pytest.mark.parametrize("warp_single", [True, False])
+def test_warp(warp_single):
+    m = run(warp_single=warp_single)
+    assert m.volume() == pytest.approx(20785.76)
+    assert m.surface_area() == pytest.approx(11176.8)
+    assert m.genus() == 1
+
+
+if __name__ == "__main__":
+    run()

bindings/python/examples/union_failure.py

@@ -1,7 +1,8 @@
 from manifold3d import Manifold
 
+
 def run():
     # for some reason this causes collider error
     obj = Manifold.cube()
-    obj += Manifold([Manifold.cube()]).rotate(0, 0, 45+180)
+    obj += Manifold.cube().rotate([0, 0, 45 + 180])
     return obj

bindings/python/gen_docs.py

@@ -0,0 +1,109 @@
+from os.path import dirname
+import re
+
+base = dirname(dirname(dirname(__file__)))
+
+def snake_case(name):
+    return re.sub("([a-z0-9])([A-Z])", r"\1_\2", name).lower()
+
+
+def python_param_modifier(comment):
+    # p = f":{snake_case(m[0][1:])}:"
+    comment = re.sub(r"@(param \w+)", lambda m: f':{snake_case(m[1])}:', comment)
+    # python API renames `MeshGL` to `Mesh`
+    comment = re.sub('mesh_gl', 'mesh', comment)
+    comment = re.sub('MeshGL', 'Mesh', comment)
+    return comment
+
+
+def method_key(name):
+    name = re.sub(r"\+", "_plus", name)
+    name = re.sub(r"\-", "_minus", name)
+    name = re.sub(r"\^", "_xor", name)
+    name = re.sub(r"\=", "_eq", name)
+    name = re.sub(r"\:", "_", name)
+    name = re.sub(r"\~", "destroy_", name)
+    return name
+
+
+parens_re = re.compile(r"[^(]+\(([^(]*(\(.*\))*[^(]*\))", flags=re.DOTALL)
+args_re = re.compile(
+    r"^[^,^\(^\)]*(\(.*\))*[^,^\(^\)]*[\s\&\*]([0-9\w]+)\s*[,\)]", flags=re.DOTALL
+)
+
+
+def parse_args(s):
+    par = parens_re.match(s)
+    if not par:
+        return None
+    out = []
+    arg_str = par[1]
+    while m := re.search(args_re, arg_str):
+        out += [snake_case(m[2])]
+        arg_str = arg_str[m.span()[1] :]
+    return out
+
+
+def collect(fname, matcher, param_modifier=python_param_modifier):
+    comment = ""
+    with open(fname) as f:
+        for line in f:
+            line = line.lstrip()
+            if line.startswith("/**"):
+                comment = ""
+            elif line.startswith("*/"):
+                pass
+            elif line.startswith("*") and comment is not None:
+                comment += line[1:].lstrip()
+            elif comment and (m := matcher(line)):
+                while (args := parse_args(line)) is None:
+                    line += next(f)
+                    if len(line) > 500:
+                        break
+
+                method = method_key(snake_case(m[1]))
+                # comment = re.sub(param_re, param_modifier, comment)
+                comment = param_modifier(comment)
+                method = "__".join([method, *args])
+                assert method not in comments
+                comments[method] = comment
+                comment = ""
+
+
+comments = {}
+
+method_re = re.compile(r"(\w+::[\w\-\+\^\=\:]+)\(")
+function_re = re.compile(r"([\w\-\+\^\=\:]+)\(")
+
+
+# we don't handle inline functions in classes properly
+# so instead just white-list functions we want
+def select_functions(s):
+    m = function_re.search(s)
+    if m and "Triangulate" in m[0]:
+        return m
+    if m and "Circular" in m[0]:
+        return m
+    return None
+
+
+collect(f"{base}/src/manifold/src/manifold.cpp", lambda s: method_re.search(s))
+collect(f"{base}/src/manifold/src/constructors.cpp", lambda s: method_re.search(s))
+collect(f"{base}/src/manifold/src/sort.cpp", lambda s: method_re.search(s))
+collect(
+    f"{base}/src/cross_section/src/cross_section.cpp", lambda s: method_re.search(s)
+)
+collect(f"{base}/src/polygon/src/polygon.cpp", select_functions)
+collect(f"{base}/src/utilities/include/public.h", select_functions)
+
+comments = dict(sorted(comments.items()))
+
+gen_h = "autogen_docstrings.inl"
+with open(gen_h, "w") as f:
+    f.write("#pragma once\n\n")
+    f.write("// --- AUTO GENERATED ---\n")
+    f.write("// gen_docs.py is run by cmake build\n\n")
+    f.write("namespace manifold_docstrings {\n")
+    for key, doc in comments.items():
+        f.write(f'const char* {key} = R"___({doc.strip()})___";\n')
+    f.write("} // namespace manifold_docs")

bindings/wasm/.gitignore

@@ -0,0 +1,2 @@
+manifold.js
+manifold.wasm

bindings/wasm/CMakeLists.txt

@@ -32,13 +32,21 @@ add_custom_target(js_deps ALL
         DEPENDS manifoldjs
                ${CMAKE_CURRENT_SOURCE_DIR}/manifold*.d.ts)
 
+# copy WASM build back here for publishing to npm
 add_custom_command(
         TARGET js_deps POST_BUILD
         COMMAND ${CMAKE_COMMAND} -E copy
                ${CMAKE_CURRENT_BINARY_DIR}/manifold.*
-               ${CMAKE_CURRENT_SOURCE_DIR}/manifold*.d.ts
+               ${CMAKE_CURRENT_SOURCE_DIR})
+
+# copy WASM build and TS declarations for Vite to package into ManifoldCAD.org
+add_custom_command(
+        TARGET js_deps POST_BUILD
+        COMMAND ${CMAKE_COMMAND} -E copy
+               ${CMAKE_CURRENT_SOURCE_DIR}/manifold*
                ${CMAKE_CURRENT_SOURCE_DIR}/examples/built/)
 
+# copy TS declarations to public so they can be accessed by our editor
 add_custom_command(
         TARGET js_deps POST_BUILD
         COMMAND ${CMAKE_COMMAND} -E copy

bindings/wasm/README.md

@@ -24,7 +24,7 @@ Since Manifold is a WASM module, it does not automatically garbage-collect like
 
 ## Examples
 
-Please see our usage [examples](https://github.com/elalish/manifold/tree/master/bindings/wasm/examples) to see how to interface this library with `three.js`, `<model-viewer>`, and `glTF`. Of particular note are the included libraries for lossless roundtrip of manifold meshes through glTF files, via a new extension: [EXT_manifold](https://github.com/KhronosGroup/glTF/pull/2286). 
+Please see our usage [examples](https://github.com/elalish/manifold/tree/master/bindings/wasm/examples) to see how to interface this library with `three.js`, `<model-viewer>`, and `glTF`. Of particular note are the included libraries for lossless roundtrip of manifold meshes through glTF files, via a new extension: [EXT_mesh_manifold](https://github.com/KhronosGroup/glTF/pull/2286). 
 
 ## About the author
 

bindings/wasm/bindings.cpp

@@ -138,9 +138,14 @@ EMSCRIPTEN_BINDINGS(whatever) {
       .function("_Split", &man_js::Split)
       .function("_SplitByPlane", &man_js::SplitByPlane)
       .function("_TrimByPlane", &Manifold::TrimByPlane)
+      .function("_Slice", &Manifold::Slice)
+      .function("project", &Manifold::Project)
       .function("hull", select_overload<Manifold() const>(&Manifold::Hull))
       .function("_GetMeshJS", &js::GetMeshJS)
       .function("refine", &Manifold::Refine)
+      .function("refineToLength", &Manifold::RefineToLength)
+      .function("smoothByNormals", &Manifold::SmoothByNormals)
+      .function("_SmoothOut", &Manifold::SmoothOut)
       .function("_Warp", &man_js::Warp)
       .function("_SetProperties", &man_js::SetProperties)
       .function("transform", &man_js::Transform)
@@ -161,7 +166,9 @@ EMSCRIPTEN_BINDINGS(whatever) {
       .function("precision", &Manifold::Precision)
       .function("genus", &Manifold::Genus)
       .function("getProperties", &Manifold::GetProperties)
+      .function("minGap", &Manifold::MinGap)
       .function("calculateCurvature", &Manifold::CalculateCurvature)
+      .function("_CalculateNormals", &Manifold::CalculateNormals)
       .function("originalID", &Manifold::OriginalID)
       .function("asOriginal", &Manifold::AsOriginal);
 
@@ -191,4 +198,5 @@ EMSCRIPTEN_BINDINGS(whatever) {
   function("setMinCircularEdgeLength", &Quality::SetMinCircularEdgeLength);
   function("setCircularSegments", &Quality::SetCircularSegments);
   function("getCircularSegments", &Quality::GetCircularSegments);
+  function("resetToCircularDefaults", &Quality::ResetToDefaults);
 }

bindings/wasm/bindings.js

@@ -196,6 +196,11 @@ Module.setup = function() {
 
   // Manifold methods
 
+  Module.Manifold.prototype.smoothOut = function(
+      minSharpAngle = 60, minSmoothness = 0) {
+    return this._SmoothOut(minSharpAngle, minSmoothness);
+  };
+
   Module.Manifold.prototype.warp = function(func) {
     const wasmFuncPtr = addFunction(function(vec3Ptr) {
       const x = getValue(vec3Ptr, 'float');
@@ -217,6 +222,11 @@ Module.setup = function() {
     return out;
   };
 
+  Module.Manifold.prototype.calculateNormals = function(
+      normalIdx, minSharpAngle = 60) {
+    return this._CalculateNormals(normalIdx, minSharpAngle);
+  };
+
   Module.Manifold.prototype.setProperties = function(numProp, func) {
     const oldNumProp = this.numProp();
     const wasmFuncPtr = addFunction(function(newPtr, vec3Ptr, oldPtr) {
@@ -248,8 +258,12 @@ Module.setup = function() {
     return this._Translate(vararg2vec3(vec));
   };
 
-  Module.Manifold.prototype.rotate = function(vec) {
-    return this._Rotate(...vec);
+  Module.Manifold.prototype.rotate = function(xOrVec, y, z) {
+    if (Array.isArray(xOrVec)) {
+      return this._Rotate(...xOrVec);
+    } else {
+      return this._Rotate(xOrVec, y || 0, z || 0);
+    }
   };
 
   Module.Manifold.prototype.scale = function(vec) {
@@ -268,15 +282,19 @@ Module.setup = function() {
     return this._TrimByPlane(vararg2vec3([normal]), offset);
   };
 
+  Module.Manifold.prototype.slice = function(height = 0.) {
+    return this._Slice(height);
+  };
+
   Module.Manifold.prototype.split = function(manifold) {
-    const vec = this._split(manifold);
+    const vec = this._Split(manifold);
     const result = fromVec(vec);
     vec.delete();
     return result;
   };
 
   Module.Manifold.prototype.splitByPlane = function(normal, offset = 0.) {
-    const vec = this._splitByPlane(vararg2vec3([normal]), offset);
+    const vec = this._SplitByPlane(vararg2vec3([normal]), offset);
     const result = fromVec(vec);
     vec.delete();
     return result;

bindings/wasm/examples/editor.css

@@ -65,7 +65,7 @@ button:hover {
   filter: brightness(0.9);
 }
 
-input {
+.name {
   border: none;
   height: 36px;
   background-color: transparent;
@@ -77,12 +77,12 @@ input {
   -webkit-font-smoothing: antialiased;
 }
 
-input:focus {
+.name:focus {
   outline: none;
 }
 
 p {
-  margin: 1em;
+  margin: 18px;
   text-align: left;
 }
 
@@ -130,7 +130,7 @@ model-viewer {
 
 .header .margin {
   font-size: 16px;
-  margin: 1em 0.5em;
+  margin: 18px 8px;
 }
 
 .dropdown {
@@ -168,6 +168,29 @@ model-viewer {
   position: relative;
 }
 
+.top-edit {
+  display: inline-block;
+  vertical-align: middle;
+  height: 36px;
+  top: 18px;
+  border: none;
+  border-radius: 18px;
+}
+
+.top-icon {
+  display: inline-block;
+  vertical-align: middle;
+  width: 36px;
+  background-size: 24px;
+  background-repeat: no-repeat;
+  background-position: center;
+  background-color: transparent;
+}
+
+.squish {
+  margin-right: -12px;
+}
+
 .icon {
   display: inline-block;
   background-color: transparent;
@@ -180,6 +203,22 @@ model-viewer {
   background-position: center;
 }
 
+.undo {
+  background-image: url(/icons/undo.png);
+}
+
+.redo {
+  background-image: url(/icons/redo.png);
+}
+
+.star {
+  background-image: url(/icons/star.png);
+}
+
+.share {
+  background-image: url(/icons/share.png);
+}
+
 .cancel {
   background-image: url(/icons/close.png);
   background-size: 20px;
@@ -196,10 +235,22 @@ model-viewer {
   background-image: url(/icons/trash.png);
 }
 
+.play {
+  background-image: url(/icons/play.png);
+}
+
+.pause {
+  background-image: url(/icons/pause.png);
+}
+
 .icon:hover {
   background-color: rgba(0, 0, 0, 0.2);
 }
 
+.top-icon:hover {
+  background-color: rgba(0, 0, 0, 0.2);
+}
+
 .blue {
   background-color: rgb(148, 221, 255);
 }
@@ -221,7 +272,52 @@ model-viewer {
   width: 125px;
 }
 
-@media only screen and (max-width: 600px) {
+#animation {
+  display: none;
+  align-items: center;
+  position: absolute;
+  width: 100%;
+  bottom: 0px;
+  margin: 2px;
+}
+
+#play {
+  position: relative;
+  background-color: #ccc;
+  margin: 8px;
+}
+
+.slider {
+  position: relative;
+  -webkit-appearance: none;
+  appearance: none;
+  width: 100%;
+  height: 10px;
+  border-radius: 5px;
+  margin-right: 16px;
+  background: #ffffff55;
+  outline: none;
+}
+
+.slider::-webkit-slider-thumb {
+  -webkit-appearance: none;
+  appearance: none;
+  width: 25px;
+  height: 25px;
+  border-radius: 50%;
+  background: #ccc;
+  cursor: pointer;
+}
+
+.slider::-moz-range-thumb {
+  width: 25px;
+  height: 25px;
+  border-radius: 50%;
+  background: #ccc;
+  cursor: pointer;
+}
+
+@media only screen and (max-width: 820px) {
   .container {
     flex-direction: column;
     width: 100%;
@@ -256,4 +352,4 @@ model-viewer {
     width: calc(50% - 16px);
     margin: 8px;
   }
-}
+}

bindings/wasm/examples/editor.js

@@ -12,8 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-import ManifoldWorker from './worker?worker';
+import ManifoldWorker from './worker-wrapper?worker';
 
+const CODE_START = '<code>';
 // Loaded globally by examples.js
 const exampleFunctions = self.examples.functionBodies;
 
@@ -24,6 +25,28 @@ if (navigator.serviceWorker) {
 
 let editor = undefined;
 
+// Edit UI ------------------------------------------------------------
+
+const undoButton = document.querySelector('#undo');
+const redoButton = document.querySelector('#redo');
+const formatButton = document.querySelector('#format');
+const shareButton = document.querySelector('#share');
+
+undoButton.onclick = () => editor.trigger('ignored', 'undo');
+redoButton.onclick = () => editor.trigger('ignored', 'redo');
+formatButton.onclick = () =>
+    editor.trigger('ignored', 'editor.action.formatDocument');
+shareButton.onclick = () => {
+  const url = new URL(window.location.toString());
+  url.hash =
+      '#' +
+      encodeURIComponent(
+          currentFileElement.textContent + CODE_START + editor.getValue());
+  navigator.clipboard.writeText(url.toString());
+  console.log('Shareable link copied to clipboard!');
+  console.log('Consider shortening this URL using tinyURL.com');
+};
+
 // File UI ------------------------------------------------------------
 const fileButton = document.querySelector('#file');
 const currentFileElement = document.querySelector('#current');
@@ -90,9 +113,10 @@ function switchTo(scriptName) {
     switching = true;
     currentFileElement.textContent = scriptName;
     setScript('currentName', scriptName);
-    const code =
-        exampleFunctions.get(scriptName) ?? getScript(scriptName) ?? '';
     isExample = exampleFunctions.get(scriptName) != null;
+    const code = isExample ? exampleFunctions.get(scriptName).substring(1) :
+                             getScript(scriptName) ?? '';
+    window.location.hash = '#' + scriptName;
     editor.setValue(code);
   }
 }
@@ -146,6 +170,7 @@ function addEdit(button) {
     const code = getScript(oldName);
     const form = document.createElement('form');
     const inputElement = document.createElement('input');
+    inputElement.classList.add('name');
     inputElement.value = oldName;
     label.textContent = '';
     button.appendChild(form);
@@ -203,16 +228,16 @@ function addEdit(button) {
 }
 
 const newButton = document.querySelector('#new');
-function newItem(code) {
-  const name = uniqueName('New Script');
+function newItem(code, scriptName = undefined) {
+  const name = uniqueName(scriptName ?? 'New Script');
   setScript(name, code);
   const nextButton = createDropdownItem(name);
   newButton.insertAdjacentElement('afterend', nextButton.parentElement);
   addEdit(nextButton);
-  nextButton.click();
+  return {button: nextButton, name};
 };
 newButton.onclick = function() {
-  newItem('');
+  newItem('').button.click();
 };
 
 const runButton = document.querySelector('#compile');
@@ -225,7 +250,7 @@ function initializeRun() {
   if (autoExecute) {
     runButton.click();
   } else {
-    poster.textContent = 'Auto-run disabled due to prior failure';
+    poster.textContent = 'Auto-run disabled';
   }
 }
 
@@ -251,6 +276,7 @@ declare interface ManifoldToplevel {
   setMinCircularEdgeLength: typeof T.setMinCircularEdgeLength;
   setCircularSegments: typeof T.setCircularSegments;
   getCircularSegments: typeof T.getCircularSegments;
+  resetToCircularDefaults: typeof T.resetToCircularDefaults;
   setup: () => void;
 }
 declare const module: ManifoldToplevel;
@@ -298,7 +324,24 @@ require(['vs/editor/editor.main'], async function() {
       addEdit(button);
     }
   }
-  switchTo(currentName);
+
+  if (window.location.hash.length > 0) {
+    const fragment = decodeURIComponent(window.location.hash.substring(1));
+    const codeIdx = fragment.indexOf(CODE_START);
+    if (codeIdx != -1) {
+      autoExecute = true;
+      const name = fragment.substring(0, codeIdx);
+      switchTo(
+          newItem(fragment.substring(codeIdx + CODE_START.length), name).name);
+    } else {
+      if (fragment != currentName) {
+        autoExecute = true;
+      }
+      switchTo(fragment);
+    }
+  } else {
+    switchTo(currentName);
+  }
 
   if (manifoldInitialized) {
     initializeRun();
@@ -308,11 +351,12 @@ require(['vs/editor/editor.main'], async function() {
     runButton.disabled = false;
     if (switching) {
       switching = false;
+      editor.setScrollTop(0);
       return;
     }
     if (isExample) {
       const cursor = editor.getPosition();
-      newItem(editor.getValue());
+      newItem(editor.getValue()).button.click();
       editor.setPosition(cursor);
     }
   });
@@ -322,6 +366,51 @@ require(['vs/editor/editor.main'], async function() {
   };
 });
 
+// Animation ------------------------------------------------------------
+const mv = document.querySelector('model-viewer');
+const animationContainer = document.querySelector('#animation');
+const playButton = document.querySelector('#play');
+const scrubber = document.querySelector('#scrubber');
+let paused = false;
+
+mv.addEventListener('load', () => {
+  const hasAnimation = mv.availableAnimations.length > 0;
+  animationContainer.style.display = hasAnimation ? 'flex' : 'none';
+  if (hasAnimation) {
+    play();
+  }
+});
+
+function play() {
+  mv.play();
+  playButton.classList.remove('play');
+  playButton.classList.add('pause');
+  paused = false;
+  scrubber.classList.add('hide');
+}
+
+function pause() {
+  mv.pause();
+  playButton.classList.remove('pause');
+  playButton.classList.add('play');
+  paused = true;
+  scrubber.max = mv.duration;
+  scrubber.value = mv.currentTime;
+  scrubber.classList.remove('hide');
+}
+
+playButton.onclick = function() {
+  if (paused) {
+    play();
+  } else {
+    pause();
+  }
+};
+
+scrubber.oninput = function() {
+  mv.currentTime = scrubber.value;
+};
+
 // Execution ------------------------------------------------------------
 const consoleElement = document.querySelector('#console');
 const oldLog = console.log;
@@ -357,7 +446,6 @@ function finishRun() {
       `Took ${(Math.round((t1 - t0) / 10) / 100).toLocaleString()} seconds`);
 }
 
-const mv = document.querySelector('model-viewer');
 const output = {
   glbURL: null,
   threeMFURL: null

bindings/wasm/examples/gltf-io.js

@@ -1,285 +0,0 @@
-// Copyright 2023 The Manifold Authors.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-import {Accessor} from '@gltf-transform/core';
-
-import {EXTManifold} from './manifold-gltf.js';
-
-export const attributeDefs = {
-  'POSITION': {type: Accessor.Type.VEC3, components: 3},
-  'NORMAL': {type: Accessor.Type.VEC3, components: 3},
-  'TANGENT': {type: Accessor.Type.VEC4, components: 4},
-  'TEXCOORD_0': {type: Accessor.Type.VEC2, components: 2},
-  'TEXCOORD_1': {type: Accessor.Type.VEC2, components: 2},
-  'COLOR_0': {type: Accessor.Type.VEC3, components: 3},
-  'JOINTS_0': {type: Accessor.Type.VEC4, components: 4},
-  'WEIGHTS_0': {type: Accessor.Type.VEC4, components: 4},
-  'SKIP_1': {type: null, components: 1},
-  'SKIP_2': {type: null, components: 2},
-  'SKIP_3': {type: null, components: 3},
-  'SKIP_4': {type: null, components: 4},
-};
-
-export function setupIO(io) {
-  return io.registerExtensions([EXTManifold]);
-}
-
-function readPrimitive(primitive, numProp, attributes) {
-  const position = primitive.getAttribute('POSITION');
-  const numVert = position.getCount();
-  const vertProperties = [];
-  let offset = 0;
-  for (const attribute of attributes) {
-    const size = attributeDefs[attribute].components;
-    if (attribute === 'SKIP') {
-      offset += size;
-      continue;
-    }
-    const accessor = primitive.getAttribute(attribute);
-    if (accessor) {
-      const array = accessor.getArray();
-      for (let i = 0; i < numVert; ++i) {
-        for (let j = 0; j < size; ++j) {
-          vertProperties[numProp * i + offset + j] = array[i * size + j];
-        }
-      }
-    } else {
-      for (let i = 0; i < numVert; ++i) {
-        for (let j = 0; j < size; ++j) {
-          vertProperties[numProp * i + offset + j] = 0;
-        }
-      }
-    }
-    offset += size;
-  }
-  return vertProperties;
-}
-
-export function readMesh(mesh, attributes, materials) {
-  const primitives = mesh.listPrimitives();
-  if (primitives.length === 0) {
-    return {};
-  }
-
-  if (attributes.length === 0) {
-    const attributeSet = new Set();
-    for (const primitive of primitives) {
-      const semantics = primitive.listSemantics();
-      for (const semantic of semantics) {
-        attributeSet.add(semantic);
-      }
-    }
-    for (const semantic in attributeDefs) {
-      if (attributeSet.has(semantic)) {
-        attributes.push(semantic);
-        attributeSet.delete(semantic);
-      }
-    }
-    for (const semantic of attributeSet.keys()) {
-      attributes.push(semantic);
-    }
-  }
-
-  if (attributes.length < 1 || attributes[0] !== 'POSITION')
-    throw new Error('First attribute must be "POSITION".');
-
-  const numProp = attributes.map((def) => attributeDefs[def].components)
-                      .reduce((a, b) => a + b);
-
-  const manifoldPrimitive = mesh.getExtension('EXT_manifold');
-
-  let vertPropArray = [];
-  let triVertArray = [];
-  const runIndexArray = [0];
-  const mergeFromVert = [];
-  const mergeToVert = [];
-  if (manifoldPrimitive != null) {
-    vertPropArray = readPrimitive(primitives[0], numProp, attributes);
-    for (const primitive of primitives) {
-      triVertArray = [...triVertArray, ...primitive.getIndices().getArray()];
-      runIndexArray.push(triVertArray.length);
-      materials.push(primitive.getMaterial());
-    }
-    const mergeTriVert = manifoldPrimitive.getMergeIndices()?.getArray() ?? [];
-    const mergeTo = manifoldPrimitive.getMergeValues()?.getArray() ?? [];
-    const vert2merge = new Map();
-    for (const [i, idx] of mergeTriVert.entries()) {
-      vert2merge.set(triVertArray[idx], mergeTo[i]);
-    }
-    for (const [from, to] of vert2merge.entries()) {
-      mergeFromVert.push(from);
-      mergeToVert.push(to);
-    }
-  } else {
-    for (const primitive of primitives) {
-      const numVert = vertPropArray.length / numProp;
-      vertPropArray =
-          [...vertPropArray, ...readPrimitive(primitive, numProp, attributes)];
-      triVertArray = [
-        ...triVertArray,
-        ...primitive.getIndices().getArray().map((i) => i + numVert)
-      ];
-      runIndexArray.push(triVertArray.length);
-      materials.push(primitive.getMaterial());
-    }
-  }
-  const vertProperties = new Float32Array(vertPropArray);
-  const triVerts = new Uint32Array(triVertArray);
-  const runIndex = new Uint32Array(runIndexArray);
-
-  return {
-    numProp,
-    triVerts,
-    vertProperties,
-    runIndex,
-    mergeFromVert,
-    mergeToVert
-  };
-}
-
-export function writeMesh(doc, manifoldMesh, attributes, materials) {
-  if (doc.getRoot().listBuffers().length === 0) {
-    doc.createBuffer();
-  }
-  const buffer = doc.getRoot().listBuffers()[0];
-  const manifoldExtension = doc.createExtension(EXTManifold);
-
-  const attributeUnion = [];
-  for (const matAttributes of attributes) {
-    matAttributes.forEach((attribute, i) => {
-      if (i >= attributeUnion.length) {
-        attributeUnion.push(attribute);
-      } else {
-        const size = attributeDefs[attribute].components;
-        const unionSize = attributeDefs[attributeUnion[i]].components;
-        if (size != unionSize) {
-          throw new Error(
-              'Attribute sizes do not correspond: ', attribute, ' and ',
-              attributeUnion[i]);
-        }
-        if (attributeDefs[attributeUnion[i]].type == null) {
-          attributeUnion[i] = attribute;
-        }
-      }
-    });
-  }
-  if (attributeUnion.length < 1 || attributeUnion[0] !== 'POSITION')
-    throw new Error('First attribute must be "POSITION".');
-
-  const mesh = doc.createMesh();
-  const numPrimitive = manifoldMesh.runIndex.length - 1;
-  for (let run = 0; run < numPrimitive; ++run) {
-    const indices = doc.createAccessor('indices')
-                        .setBuffer(buffer)
-                        .setType(Accessor.Type.SCALAR)
-                        .setArray(new Uint32Array());
-    const primitive = doc.createPrimitive().setIndices(indices);
-    const material = materials[run];
-    if (material) {
-      primitive.setMaterial(material);
-    }
-    mesh.addPrimitive(primitive);
-  }
-
-  const numVert = manifoldMesh.numVert;
-  const numProp = manifoldMesh.numProp;
-  let offset = 0;
-  attributeUnion.forEach((attribute, aIdx) => {
-    if (attribute === 'SKIP') {
-      ++offset;
-      return;
-    }
-    const def = attributeDefs[attribute];
-    if (def == null)
-      throw new Error(attribute + ' is not a recognized attribute.');
-
-    const n = def.components;
-    if (offset + n > numProp) throw new Error('Too many attribute channels.');
-
-    const array = new Float32Array(n * numVert);
-    for (let v = 0; v < numVert; ++v) {
-      for (let i = 0; i < n; ++i) {
-        array[n * v + i] =
-            manifoldMesh.vertProperties[numProp * v + offset + i];
-      }
-    }
-
-    const accessor =
-        doc.createAccessor().setBuffer(buffer).setType(def.type).setArray(
-            array);
-
-    mesh.listPrimitives().forEach((primitive, pIdx) => {
-      if (attributes[pIdx].length > aIdx &&
-          attributeDefs[attributes[pIdx][aIdx]].type != null) {
-        primitive.setAttribute(attribute, accessor);
-      }
-    });
-    offset += n;
-  });
-
-  const manifoldPrimitive = manifoldExtension.createManifoldPrimitive();
-  mesh.setExtension('EXT_manifold', manifoldPrimitive);
-
-  const indices = doc.createAccessor('indices')
-                      .setBuffer(buffer)
-                      .setType(Accessor.Type.SCALAR)
-                      .setArray(manifoldMesh.triVerts);
-  manifoldPrimitive.setIndices(indices);
-  manifoldPrimitive.setRunIndex(manifoldMesh.runIndex);
-
-  const vert2merge = [...Array(manifoldMesh.numVert).keys()];
-  for (const [i, from] of manifoldMesh.mergeFromVert.entries()) {
-    vert2merge[from] = manifoldMesh.mergeToVert[i];
-  }
-  const ind = [];
-  const val = [];
-  for (const [i, vert] of manifoldMesh.triVerts.entries()) {
-    const newVert = vert2merge[vert];
-    if (vert !== newVert) {
-      ind.push(i);
-      val.push(newVert);
-    }
-  }
-  const indicesAccessor = doc.createAccessor()
-                              .setBuffer(buffer)
-                              .setType(Accessor.Type.SCALAR)
-                              .setArray(new Uint32Array(ind));
-  const valuesAccessor = doc.createAccessor()
-                             .setBuffer(buffer)
-                             .setType(Accessor.Type.SCALAR)
-                             .setArray(new Uint32Array(val));
-  manifoldPrimitive.setMerge(indicesAccessor, valuesAccessor);
-
-  return mesh;
-}
-
-export function disposeMesh(mesh) {
-  if (!mesh) return;
-  const primitives = mesh.listPrimitives();
-  for (const primitive of primitives) {
-    primitive.getIndices()?.dispose();
-    for (const accessor of primitive.listAttributes()) {
-      accessor.dispose();
-    }
-  }
-
-  mesh.dispose();
-}
-
-export async function loadTexture(texture, uri) {
-  const response = await fetch(uri);
-  const blob = await response.blob();
-  texture.setMimeType(blob.type);
-  texture.setImage(new Uint8Array(await blob.arrayBuffer()));
-}

bindings/wasm/examples/gltf-io.ts

@@ -0,0 +1,424 @@
+// Copyright 2023 The Manifold Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+import {Accessor, Document, Material, Mesh, Primitive, Texture, WebIO} from '@gltf-transform/core';
+
+import {EXTManifold, ManifoldPrimitive} from './manifold-gltf';
+import {Mesh as ManifoldMesh, MeshOptions} from './public/manifold-encapsulated-types';
+
+export const attributeDefs = {
+  'POSITION': {type: Accessor.Type.VEC3, components: 3},
+  'NORMAL': {type: Accessor.Type.VEC3, components: 3},
+  'TANGENT': {type: Accessor.Type.VEC4, components: 4},
+  'TEXCOORD_0': {type: Accessor.Type.VEC2, components: 2},
+  'TEXCOORD_1': {type: Accessor.Type.VEC2, components: 2},
+  'COLOR_0': {type: Accessor.Type.VEC3, components: 3},
+  'JOINTS_0': {type: Accessor.Type.VEC4, components: 4},
+  'WEIGHTS_0': {type: Accessor.Type.VEC4, components: 4},
+  'SKIP_1': {type: null, components: 1},
+  'SKIP_2': {type: null, components: 2},
+  'SKIP_3': {type: null, components: 3},
+  'SKIP_4': {type: null, components: 4},
+};
+
+export type Attribute = keyof(typeof attributeDefs);
+
+export interface Properties {
+  material: Material;
+  attributes: Attribute[];
+}
+
+/**
+ * Call this first to register the manifold extension so that readMesh and
+ * writeMesh will work.
+ */
+export function setupIO(io: WebIO) {
+  return io.registerExtensions([EXTManifold]);
+}
+
+/**
+ * Read an input mesh into Manifold-compatible data structures, whether it
+ * contains the EXT_mesh_manifold extension or not.
+ *
+ * @param mesh The Mesh to read.
+ * @param attributes An array of attributes representing the order of desired
+ *     properties returned in the vertProperties array of the output mesh. If
+ *     omitted, this will be populated with the union of all attributes defined
+ *     in the primitives of the input mesh. If present, the first entry must be
+ *     'POSITION', and any attributes in the primitives that are not included in
+ *     this list will be ignored, while those in the list but not defined in a
+ *     primitive will be populated with zeros.
+ * @returns The returned mesh is suitable for initializing a Manifold or Mesh of
+ *     the Manifold library if desired. See Manifold documentation if you prefer
+ *     to use these GL arrays in a different library. The runProperties array
+ *     gives the Material and attributes list associated with each triangle run,
+ *     which in turn corresponds to a primitive of the input mesh. These
+ *     attributes are the intersection of the attributes present on the
+ *     primitive and those requested in the attributes input.
+ */
+export function readMesh(mesh: Mesh, attributes: Attribute[] = []):
+    {mesh: MeshOptions, runProperties: Properties[]}|null {
+  const primitives = mesh.listPrimitives();
+  if (primitives.length === 0) {
+    return null;
+  }
+
+  if (attributes.length === 0) {
+    const attributeSet = new Set<Attribute>();
+    for (const primitive of primitives) {
+      const semantics = primitive.listSemantics() as Attribute[];
+      for (const semantic of semantics) {
+        attributeSet.add(semantic);
+      }
+    }
+    let semantic: Attribute;
+    for (semantic in attributeDefs) {
+      if (attributeSet.has(semantic)) {
+        attributes.push(semantic);
+        attributeSet.delete(semantic);
+      }
+    }
+    for (const semantic of attributeSet.keys()) {
+      attributes.push(semantic);
+    }
+  }
+
+  if (attributes.length < 1 || attributes[0] !== 'POSITION')
+    throw new Error('First attribute must be "POSITION".');
+
+  let numProp = 0;
+  const attributeOffsets = attributes.map((numProp = 0, def => {
+    const last = numProp;
+    numProp += attributeDefs[def].components;
+    return last;
+  }));
+
+  const manifoldPrimitive =
+      mesh.getExtension('EXT_mesh_manifold') as ManifoldPrimitive;
+
+  let vertPropArray = Array<number>();
+  let triVertArray = Array<number>();
+  const runIndexArray = [0];
+  const mergeFromVertArray = Array<number>();
+  const mergeToVertArray = Array<number>();
+  const runProperties = Array<Properties>();
+  if (manifoldPrimitive != null) {
+    const numVert = primitives[0].getAttribute('POSITION')!.getCount();
+    const foundAttribute = attributes.map((a) => attributeDefs[a].type == null);
+    vertPropArray = new Array<number>(numProp * numVert);
+
+    for (const primitive of primitives) {
+      const indices = primitive.getIndices();
+      if (!indices) {
+        console.log('Skipping non-indexed primitive ', primitive.getName());
+        continue;
+      }
+
+      const attributesIn = primitive.listSemantics() as Attribute[];
+
+      attributes.forEach((attributeOut, idx) => {
+        if (foundAttribute[idx]) {
+          return;
+        }
+        for (const attributeIn of attributesIn) {
+          if (attributeIn === attributeOut) {
+            foundAttribute[idx] = true;
+            const accessor = primitive.getAttribute(attributeIn)!;
+            writeProperties(
+                vertPropArray, accessor, numProp, attributeOffsets[idx]);
+          }
+        }
+      });
+
+      triVertArray = [...triVertArray, ...indices.getArray()!];
+      runIndexArray.push(triVertArray.length);
+      runProperties.push({
+        material: primitive.getMaterial()!,
+        attributes: attributesIn.filter(b => attributes.some(a => a == b))
+      });
+    }
+    const mergeTriVert = manifoldPrimitive.getMergeIndices()?.getArray() ?? [];
+    const mergeTo = manifoldPrimitive.getMergeValues()?.getArray() ?? [];
+    const vert2merge = new Map<number, number>();
+    for (const [i, idx] of mergeTriVert.entries()) {
+      vert2merge.set(triVertArray[idx], mergeTo[i]);
+    }
+    for (const [from, to] of vert2merge.entries()) {
+      mergeFromVertArray.push(from);
+      mergeToVertArray.push(to);
+    }
+  } else {
+    for (const primitive of primitives) {
+      const indices = primitive.getIndices();
+      if (!indices) {
+        console.log('Skipping non-indexed primitive ', primitive.getName());
+        continue;
+      }
+      const numVert = vertPropArray.length / numProp;
+      vertPropArray =
+          [...vertPropArray, ...readPrimitive(primitive, numProp, attributes)];
+      triVertArray =
+          [...triVertArray, ...indices.getArray()!.map((i) => i + numVert)];
+      runIndexArray.push(triVertArray.length);
+
+      const attributesIn = primitive.listSemantics() as Attribute[];
+      runProperties.push({
+        material: primitive.getMaterial()!,
+        attributes: attributesIn.filter(b => attributes.some(a => a == b))
+      });
+    }
+  }
+  const vertProperties = new Float32Array(vertPropArray);
+  const triVerts = new Uint32Array(triVertArray);
+  const runIndex = new Uint32Array(runIndexArray);
+  const mergeFromVert = new Uint32Array(mergeFromVertArray);
+  const mergeToVert = new Uint32Array(mergeToVertArray);
+
+  const meshOut =
+      {numProp, triVerts, vertProperties, runIndex, mergeFromVert, mergeToVert};
+
+  return {mesh: meshOut, runProperties};
+}
+
+/**
+ * Write a Manifold Mesh into a glTF Mesh object, using the EXT_mesh_manifold
+ * extension to allow for lossless roundtrip of the manifold mesh through the
+ * glTF file.
+ *
+ * @param doc The glTF Document to which this Mesh will be added.
+ * @param manifoldMesh The Manifold Mesh to convert to glTF.
+ * @param id2properties A map from originalID to Properties that include the
+ *     glTF Material and the set of attributes to output. All triangle runs with
+ *     the same originalID will be combined into a single output primitive. Any
+ *     originalIDs not found in the map will have the glTF default material and
+ *     no attributes beyond 'POSITION'. Each attributes array must correspond to
+ *     the manifoldMesh vertProperties, thus the first attribute must always be
+ *     'POSITION'. Any properties that should not be output for a given
+ *     primitive must use the 'SKIP_*' attributes.
+ * @returns The glTF Mesh to add to the Document.
+ */
+export function writeMesh(
+    doc: Document, manifoldMesh: ManifoldMesh,
+    id2properties: Map<number, Properties>): Mesh {
+  if (doc.getRoot().listBuffers().length === 0) {
+    doc.createBuffer();
+  }
+  const buffer = doc.getRoot().listBuffers()[0];
+  const manifoldExtension = doc.createExtension(EXTManifold);
+
+  const mesh = doc.createMesh();
+  const runIndex = Array<number>();
+  const attributeUnion = Array<Attribute>();
+  const primitive2attributes = new Map<Primitive, Attribute[]>();
+  const numRun = manifoldMesh.runIndex.length - 1;
+  let lastID = -1;
+  for (let run = 0; run < numRun; ++run) {
+    const id = manifoldMesh.runOriginalID[run];
+    if (id == lastID) {
+      continue;
+    }
+    lastID = id;
+    runIndex.push(manifoldMesh.runIndex[run]);
+
+    const indices = doc.createAccessor('primitive indices of ID ' + id)
+                        .setBuffer(buffer)
+                        .setType(Accessor.Type.SCALAR)
+                        .setArray(new Uint32Array(1));
+    const primitive = doc.createPrimitive().setIndices(indices);
+
+    const properties = id2properties.get(id);
+    if (properties) {
+      const {material, attributes} = properties;
+      if (attributes.length < 1 || attributes[0] !== 'POSITION')
+        throw new Error('First attribute must be "POSITION".');
+
+      primitive.setMaterial(material);
+      primitive2attributes.set(primitive, attributes);
+
+      properties.attributes.forEach((attribute, i) => {
+        if (i >= attributeUnion.length) {
+          attributeUnion.push(attribute);
+        } else {
+          const size = attributeDefs[attribute].components;
+          const unionSize = attributeDefs[attributeUnion[i]].components;
+          if (size != unionSize) {
+            throw new Error(
+                'Attribute sizes do not correspond: ' + attribute + ' and ' +
+                attributeUnion[i]);
+          }
+          if (attributeDefs[attributeUnion[i]].type == null) {
+            attributeUnion[i] = attribute;
+          }
+        }
+      });
+    } else {
+      primitive2attributes.set(primitive, ['POSITION']);
+    }
+
+    mesh.addPrimitive(primitive);
+  }
+  runIndex.push(manifoldMesh.runIndex[numRun]);
+
+  const numVert = manifoldMesh.numVert;
+  const numProp = manifoldMesh.numProp;
+  let offset = 0;
+  attributeUnion.forEach((attribute, aIdx) => {
+    const def = attributeDefs[attribute];
+    if (def == null)
+      throw new Error(attribute + ' is not a recognized attribute.');
+
+    if (def.type == null) {
+      ++offset;
+      return;
+    }
+
+    const n = def.components;
+    if (offset + n > numProp) throw new Error('Too many attribute channels.');
+
+    const array = new Float32Array(n * numVert);
+    for (let v = 0; v < numVert; ++v) {
+      for (let i = 0; i < n; ++i) {
+        let x = manifoldMesh.vertProperties[numProp * v + offset + i];
+        if (attribute == 'COLOR_0') {
+          x = Math.max(0, Math.min(1, x));
+        }
+        array[n * v + i] = x;
+      }
+    }
+
+    const accessor = doc.createAccessor(attribute)
+                         .setBuffer(buffer)
+                         .setType(def.type)
+                         .setArray(array);
+
+    for (const primitive of mesh.listPrimitives()) {
+      const attributes = primitive2attributes.get(primitive)!;
+      if (attributes.length > aIdx &&
+          attributeDefs[attributes[aIdx]].type != null) {
+        primitive.setAttribute(attribute, accessor);
+      }
+    }
+    offset += n;
+  });
+
+  const manifoldPrimitive = manifoldExtension.createManifoldPrimitive();
+  mesh.setExtension('EXT_mesh_manifold', manifoldPrimitive);
+
+  const indices = doc.createAccessor('manifold indices')
+                      .setBuffer(buffer)
+                      .setType(Accessor.Type.SCALAR)
+                      .setArray(manifoldMesh.triVerts);
+  manifoldPrimitive.setIndices(indices);
+  manifoldPrimitive.setRunIndex(runIndex);
+
+  const vert2merge = [...Array(manifoldMesh.numVert).keys()];
+  const ind = Array<number>();
+  const val = Array<number>();
+  if (manifoldMesh.mergeFromVert && manifoldMesh.mergeToVert) {
+    for (const [i, from] of manifoldMesh.mergeFromVert.entries()) {
+      vert2merge[from] = manifoldMesh.mergeToVert[i];
+    }
+
+    for (const [i, vert] of manifoldMesh.triVerts.entries()) {
+      const newVert = vert2merge[vert];
+      if (vert !== newVert) {
+        ind.push(i);
+        val.push(newVert);
+      }
+    }
+  }
+  if (ind.length > 0) {
+    const indicesAccessor = doc.createAccessor('merge from')
+                                .setBuffer(buffer)
+                                .setType(Accessor.Type.SCALAR)
+                                .setArray(new Uint32Array(ind));
+    const valuesAccessor = doc.createAccessor('merge to')
+                               .setBuffer(buffer)
+                               .setType(Accessor.Type.SCALAR)
+                               .setArray(new Uint32Array(val));
+    manifoldPrimitive.setMerge(indicesAccessor, valuesAccessor);
+  }
+
+  return mesh;
+}
+
+/**
+ * Helper function to dispose of a Mesh, useful when replacing an existing Mesh
+ * with one from writeMesh.
+ */
+export function disposeMesh(mesh: Mesh) {
+  if (!mesh) return;
+  const primitives = mesh.listPrimitives();
+  for (const primitive of primitives) {
+    primitive.getIndices()?.dispose();
+    for (const accessor of primitive.listAttributes()) {
+      accessor.dispose();
+    }
+  }
+
+  const manifoldPrimitive =
+      mesh.getExtension('EXT_mesh_manifold') as ManifoldPrimitive;
+  if (manifoldPrimitive) {
+    manifoldPrimitive.getIndices()?.dispose();
+    manifoldPrimitive.getMergeIndices()?.dispose();
+    manifoldPrimitive.getMergeValues()?.dispose();
+  }
+
+  mesh.dispose();
+}
+
+/**
+ * Helper function to download an image and apply it to the given texture.
+ *
+ * @param texture The texture to update
+ * @param uri The location of the image to download
+ */
+export async function loadTexture(texture: Texture, uri: string) {
+  const response = await fetch(uri);
+  const blob = await response.blob();
+  texture.setMimeType(blob.type);
+  texture.setImage(new Uint8Array(await blob.arrayBuffer()));
+}
+
+function writeProperties(
+    vertProperties: number[], accessor: Accessor, numProp: number,
+    offset: number) {
+  const array = accessor.getArray()!;
+  const size = accessor.getElementSize();
+  const numVert = accessor.getCount();
+  for (let i = 0; i < numVert; ++i) {
+    for (let j = 0; j < size; ++j) {
+      vertProperties[numProp * i + offset + j] = array[i * size + j];
+    }
+  }
+}
+
+function readPrimitive(
+    primitive: Primitive, numProp: number, attributes: Attribute[]) {
+  const vertProperties: number[] = [];
+  let offset = 0;
+  for (const attribute of attributes) {
+    const size = attributeDefs[attribute].components;
+    if (attributeDefs[attribute].type == null) {
+      offset += size;
+      continue;
+    }
+    const accessor = primitive.getAttribute(attribute);
+    if (accessor) {
+      writeProperties(vertProperties, accessor, numProp, offset);
+    }
+    offset += size;
+  }
+  return vertProperties;
+}

bindings/wasm/examples/index.html

@@ -39,8 +39,15 @@
 <body>
   <div class="page">
     <div class="container header" style="background-color: #A288B3;">
-      <p style="flex: 2;"><a target="_blank" href="https://github.com/elalish/manifold">Manifold</a>CAD </p>
-      <div class="margin" id="file-margin" >
+      <p style="flex: 2;"><a target="_blank" href="https://github.com/elalish/manifold">Manifold</a>CAD
+        &nbsp;&nbsp;<span class="top-edit blue">
+          <button type="button" id="undo" class="top-icon undo squish"></button>
+          <button type="button" id="redo" class="top-icon redo squish"></button>
+          <button type="button" id="format" class="top-icon star squish"></button>
+          <button type="button" id="share" class="top-icon share"></button>
+        </span>
+      </p>
+      <div class="margin" id="file-margin">
         <button type="button" id="file" class="blue item"><b class="uparrow"></b>&nbsp;&nbsp;<span
             id="current">Intro</span></button>
         <div class="dropdown" id="fileDropdown">
@@ -66,10 +73,14 @@
       <div id="editor" class="col"></div>
       <div class="col container" style="flex-direction: column;">
         <model-viewer camera-controls min-camera-orbit="auto 0deg auto" max-camera-orbit="auto 180deg auto"
-          shadow-intensity="1" interaction-prompt="none" alt="Editor 3D output">
+          shadow-intensity="1" tone-mapping="neutral" interaction-prompt="none" alt="Editor 3D output">
           <div class="center" slot="poster">
             <p id="poster" style="text-align: center; line-height: 36px;"> Loading... </p>
           </div>
+          <div id="animation">
+            <button type="button" id="play" class="icon pause"></button>
+            <input type="range" min="0" max="1" step="0.01" value="0" class="slider" id="scrubber">
+          </div>
         </model-viewer>
         <div id="console"></div>
       </div>
@@ -84,6 +95,6 @@
   integrity="sha512-iQEIc0rsSDujsfjtD+lfyJ1W23Bh/lbgriubKDAym6VlEIDRj9rrbSIyJRyshOrl8s0yRcQ0+gyrZfSLyjJGWQ=="
   crossorigin="anonymous" referrerpolicy="no-referrer">
 <script type="module" src="editor.js"></script>
-<script type="module" src="https://ajax.googleapis.com/ajax/libs/model-viewer/3.1.1/model-viewer.min.js"></script>
+<script type="module" src="https://ajax.googleapis.com/ajax/libs/model-viewer/3.5.0/model-viewer.min.js"></script>
 
-</html>
+</html>

bindings/wasm/examples/make-manifold.html

@@ -46,7 +46,7 @@
 <body>
   <p>Load a glTF/GLB model and our <a href="https://github.com/elalish/manifold">Manifold</a> library will attempt to
     merge it into a set of manifold objects. If the model is water-tight, you can download the new GLB which will have
-    our <a href="https://github.com/KhronosGroup/glTF/pull/2286">EXT_manifold</a> extension, thus preserving the
+    our <a href="https://github.com/KhronosGroup/glTF/pull/2286">EXT_mesh_manifold</a> extension, thus preserving the
     manifold data without losing any mesh properties.</p>
   <p> If the View Manifold GLB checkbox is enabled, then some meshes in the model have open edges and don't represent a
     solid object. Check this box to see only the manifold parts, which will also enable them to be downloaded. If the
@@ -55,135 +55,11 @@
   <button id="download" disabled>Download manifold GLB</button>
   <input type="checkbox" id="viewFinal" disabled>
   <label for="viewFinal">View Manifold GLB</label>
-  <model-viewer camera-controls shadow-intensity="1" alt="Loaded GLB model">
+  <model-viewer camera-controls shadow-intensity="1" tone-mapping="neutral" alt="Loaded GLB model">
     <span id="poster" slot="poster">Drop a GLB here</span>
   </model-viewer>
 </body>
-<script type="module" src="https://ajax.googleapis.com/ajax/libs/model-viewer/2.0.1/model-viewer.min.js"></script>
-<script type="module">
-  import { WebIO } from '@gltf-transform/core';
-  import { prune } from '@gltf-transform/functions';
-  import { KHRONOS_EXTENSIONS } from '@gltf-transform/extensions';
-  import { SimpleDropzone } from 'simple-dropzone';
-  import { readMesh, writeMesh, setupIO } from './gltf-io.js';
-  import Module from './built/manifold.js';
-
-  const io = setupIO(new WebIO());
-  io.registerExtensions(KHRONOS_EXTENSIONS);
-
-  const wasm = await Module();
-  wasm.setup();
-
-  const { Manifold, Mesh } = wasm;
-
-  const mv = document.querySelector('model-viewer');
-  const inputEl = document.querySelector('#input');
-  const downloadButton = document.querySelector('#download');
-  const checkbox = document.querySelector('#viewFinal');
-  const dropCtrl = new SimpleDropzone(mv, inputEl);
-
-  let inputGLBurl = null;
-  let outputGLBurl = null;
-  let allManifold = true;
-  let anyManifold = false;
-
-  dropCtrl.on('drop', async ({ files }) => {
-    for (const [path, file] of files) {
-      const filename = file.name.toLowerCase();
-      if (filename.match(/\.(gltf|glb)$/)) {
-        URL.revokeObjectURL(inputGLBurl);
-        inputGLBurl = URL.createObjectURL(file);
-        await writeGLB(await readGLB(inputGLBurl));
-        updateUI();
-        break;
-      }
-    }
-  });
-
-  function updateUI() {
-    if (allManifold) {
-      checkbox.checked = true;
-      checkbox.disabled = true;
-    } else if (anyManifold) {
-      checkbox.checked = false;
-      checkbox.disabled = false;
-    } else {
-      checkbox.checked = false;
-      checkbox.disabled = true;
-    }
-    onClick();
-  }
-
-  checkbox.onclick = onClick;
-
-  function onClick() {
-    mv.src = checkbox.checked ? outputGLBurl : inputGLBurl;
-    downloadButton.disabled = !checkbox.checked;
-  };
-
-  downloadButton.onclick = function () {
-    const link = document.createElement('a');
-    link.download = 'manifold.glb';
-    link.href = outputGLBurl;
-    link.click();
-  };
-
-  async function writeGLB(doc) {
-    URL.revokeObjectURL(outputGLBurl);
-    if (!anyManifold) {
-      return;
-    }
-    const glb = await io.writeBinary(doc);
-
-    const blob = new Blob([glb], { type: 'application/octet-stream' });
-    outputGLBurl = URL.createObjectURL(blob);
-  }
-
-  async function readGLB(url) {
-    allManifold = false;
-    anyManifold = false;
-    updateUI();
-    allManifold = true;
-    const docIn = await io.read(url);
-    const nodes = docIn.getRoot().listNodes();
-    for (const node of nodes) {
-      const attributes = [];
-      const mesh = node.getMesh();
-      if (!mesh) {
-        continue;
-      }
-
-      const materials = [];
-      const tmpMesh = readMesh(mesh, attributes, materials);
-      tmpMesh.runOriginalID = [];
-      const firstID = Manifold.reserveIDs(materials.length);
-      for (let i = 0; i < materials.length; ++i) {
-        tmpMesh.runOriginalID.push(firstID + i);
-      }
-      const manifoldMesh = new Mesh(tmpMesh);
-      mesh.dispose();
-
-      const matAttributes = [];
-      materials.forEach(() => matAttributes.push(attributes));
-
-      manifoldMesh.merge();
-
-      try {
-        // Test manifoldness - will throw if not.
-        const manifold = Manifold(manifoldMesh);
-        node.setMesh(writeMesh(docIn, manifold.getMesh(), matAttributes, materials));
-        manifold.delete();
-        anyManifold = true;
-      } catch (e) {
-        console.log(mesh.getName(), e);
-        allManifold = false;
-      }
-    }
-
-    await docIn.transform(prune());
-
-    return docIn;
-  }
-</script>
+<script type="module" src="https://ajax.googleapis.com/ajax/libs/model-viewer/3.5.0/model-viewer.min.js"></script>
+<script type="module" src="make-manifold.ts"></script>
 
 </html>

bindings/wasm/examples/make-manifold.ts

@@ -0,0 +1,149 @@
+// Copyright 2024 The Manifold Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+import {Document, WebIO} from '@gltf-transform/core';
+import {KHRONOS_EXTENSIONS} from '@gltf-transform/extensions';
+import {prune} from '@gltf-transform/functions';
+import {SimpleDropzone} from 'simple-dropzone';
+
+import Module from './built/manifold.js';
+import {disposeMesh, Properties, readMesh, setupIO, writeMesh} from './gltf-io';
+
+// Set up gltf-transform
+const io = setupIO(new WebIO());
+io.registerExtensions(KHRONOS_EXTENSIONS);
+
+// Set up Manifold WASM library
+const wasm = await Module();
+wasm.setup();
+const {Manifold, Mesh} = wasm;
+
+// UX elements
+const mv = document.querySelector('model-viewer');
+const inputEl = document.querySelector('#input') as HTMLInputElement;
+const downloadButton = document.querySelector('#download') as HTMLButtonElement;
+const checkbox = document.querySelector('#viewFinal') as HTMLInputElement;
+const dropCtrl = new SimpleDropzone(mv, inputEl) as any;
+
+// glTF objects in memory
+let inputGLBurl = '';
+let outputGLBurl = '';
+// Status of manifoldness of all meshes
+let allManifold = true;
+let anyManifold = false;
+
+// The processing is run when a glTF is drag-and-dropped onto this element.
+dropCtrl.on('drop', async ({files}: {files: Map<string, File>}) => {
+  for (const [_path, file] of files) {
+    const filename = file.name.toLowerCase();
+    if (filename.match(/\.(gltf|glb)$/)) {
+      URL.revokeObjectURL(inputGLBurl);
+      inputGLBurl = URL.createObjectURL(file);
+      await writeGLB(await readGLB(inputGLBurl));
+      updateUI();
+      break;
+    }
+  }
+});
+
+// UI functions
+
+function updateUI() {
+  if (allManifold) {
+    checkbox.checked = true;
+    checkbox.disabled = true;
+  } else if (anyManifold) {
+    checkbox.checked = false;
+    checkbox.disabled = false;
+  } else {
+    checkbox.checked = false;
+    checkbox.disabled = true;
+  }
+  onClick();
+}
+
+checkbox.onclick = onClick;
+
+function onClick() {
+  (mv as any).src = checkbox.checked ? outputGLBurl : inputGLBurl;
+  downloadButton.disabled = !checkbox.checked;
+};
+
+downloadButton.onclick = () => {
+  const link = document.createElement('a');
+  link.download = 'manifold.glb';
+  link.href = outputGLBurl;
+  link.click();
+};
+
+// Write output glTF using gltf-transform, which contains only the meshes that
+// are manifold, and using the EXT_mesh_manifold extension.
+async function writeGLB(doc: Document): Promise<void> {
+  URL.revokeObjectURL(outputGLBurl);
+  if (!anyManifold) {
+    return;
+  }
+  const glb = await io.writeBinary(doc);
+
+  const blob = new Blob([glb], {type: 'application/octet-stream'});
+  outputGLBurl = URL.createObjectURL(blob);
+}
+
+// Read the glTF ObjectURL and return a gltf-transform document with all the
+// non-manifold meshes stripped out.
+async function readGLB(url: string): Promise<Document> {
+  allManifold = false;
+  anyManifold = false;
+  updateUI();
+  allManifold = true;
+  const docIn = await io.read(url);
+  const nodes = docIn.getRoot().listNodes();
+  for (const node of nodes) {
+    const mesh = node.getMesh();
+    if (!mesh) continue;
+
+    const tmp = readMesh(mesh);
+    if (!tmp) continue;
+
+    const id2properties = new Map<number, Properties>();
+    const numID = tmp.runProperties.length;
+    const firstID = Manifold.reserveIDs(numID);
+    tmp.mesh.runOriginalID = new Uint32Array(numID);
+    for (let i = 0; i < numID; ++i) {
+      tmp.mesh.runOriginalID[i] = firstID + i;
+      id2properties.set(firstID + i, tmp.runProperties[i]);
+    }
+    const manifoldMesh = new Mesh(tmp.mesh);
+    disposeMesh(mesh);
+    // Make the mesh manifold if it's close.
+    manifoldMesh.merge();
+
+    try {
+      // Test manifoldness - will throw if not.
+      const manifold = new Manifold(manifoldMesh);
+      // Replace the mesh with a manifold version
+      node.setMesh(writeMesh(docIn, manifold.getMesh(), id2properties));
+      manifold.delete();
+      anyManifold = true;
+    } catch (e) {
+      console.log(mesh.getName(), e);
+      allManifold = false;
+    }
+  }
+
+  // Prune the leftovers after non-manifold mesh removal.
+  await docIn.transform(prune());
+
+  return docIn;
+}

bindings/wasm/examples/manifold-gltf.ts

@@ -12,15 +12,32 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-import {Extension, ExtensionProperty, PropertyType} from '@gltf-transform/core';
+import {Accessor, Extension, ExtensionProperty, GLTF, IProperty, PropertyType, ReaderContext, WriterContext} from '@gltf-transform/core';
 
-const NAME = 'EXT_manifold';
+const NAME = 'EXT_mesh_manifold';
+const MERGE = 'MERGE';
 
-export class ManifoldPrimitive extends ExtensionProperty {
+interface IManifoldPrimitive extends IProperty {
+  mergeIndices: Accessor;
+  mergeValues: Accessor;
+  indices: Accessor;
+  runIndex: number[]|Uint32Array;
+}
+
+interface ManifoldDef {
+  manifoldPrimitive: GLTF.IMeshPrimitive;
+  mergeIndices: number;
+  mergeValues: number;
+}
+
+export class ManifoldPrimitive extends ExtensionProperty<IManifoldPrimitive> {
   static EXTENSION_NAME = NAME;
+  public declare extensionName: typeof NAME;
+  public declare propertyType: 'ManifoldPrimitive';
+  public declare parentTypes: [PropertyType.MESH];
 
   init() {
-    this.EXTENSION_NAME = NAME;
+    ManifoldPrimitive.EXTENSION_NAME = NAME;
     this.propertyType = 'ManifoldPrimitive';
     this.parentTypes = [PropertyType.MESH];
   }
@@ -39,7 +56,7 @@ export class ManifoldPrimitive extends ExtensionProperty {
     return this.getRef('mergeValues');
   }
 
-  setMerge(indicesAccessor, valuesAccessor) {
+  setMerge(indicesAccessor: Accessor, valuesAccessor: Accessor) {
     if (indicesAccessor.getCount() !== valuesAccessor.getCount())
       throw new Error('merge vectors must be the same length.');
     this.setRef('mergeIndices', indicesAccessor);
@@ -50,28 +67,29 @@ export class ManifoldPrimitive extends ExtensionProperty {
     return this.get('runIndex');
   }
 
-  setRunIndex(runIndex) {
+  setRunIndex(runIndex: number[]|Uint32Array) {
     return this.set('runIndex', runIndex);
   }
 
-  setIndices(indices) {
+  setIndices(indices: Accessor) {
     return this.setRef('indices', indices);
   }
 
   getIndices() {
-    return this.getRef('indices');
+    return this.getRef('indices')!;
   }
 }
 
 export class EXTManifold extends Extension {
   extensionName = NAME;
+  prewriteTypes = [PropertyType.ACCESSOR];
   static EXTENSION_NAME = NAME;
 
   createManifoldPrimitive() {
     return new ManifoldPrimitive(this.document.getGraph());
   }
 
-  read(context) {
+  read(context: ReaderContext) {
     const {json} = context.jsonDoc;
     const meshDefs = json.meshes || [];
 
@@ -82,20 +100,27 @@ export class EXTManifold extends Extension {
       const manifoldPrimitive = this.createManifoldPrimitive();
       mesh.setExtension(NAME, manifoldPrimitive);
 
-      const manifoldDef = meshDef.extensions[NAME];
+      const manifoldDef = meshDef.extensions[NAME] as ManifoldDef;
 
       if (manifoldDef.manifoldPrimitive) {
         let count = 0;
-        const runIndex = [];
+        const runIndex = Array<number>();
         runIndex.push(count);
         for (const primitive of mesh.listPrimitives()) {
-          count += primitive.getIndices().getCount();
+          const indices = primitive.getIndices();
+          if (!indices) {
+            console.log('Skipping non-indexed primitive ', primitive.getName());
+            continue;
+          }
+          count += indices.getCount();
           runIndex.push(count);
         }
         manifoldPrimitive.setRunIndex(runIndex);
+        manifoldPrimitive.setIndices(
+            context.accessors[manifoldDef.manifoldPrimitive.indices!]);
       }
 
-      if (manifoldDef.mergeIndices && manifoldDef.mergeValues) {
+      if (manifoldDef.mergeIndices != null && manifoldDef.mergeValues != null) {
         manifoldPrimitive.setMerge(
             context.accessors[manifoldDef.mergeIndices],
             context.accessors[manifoldDef.mergeValues]);
@@ -105,15 +130,34 @@ export class EXTManifold extends Extension {
     return this;
   }
 
-  write(context) {
+  prewrite(context: WriterContext) {
+    this.document.getRoot().listMeshes().forEach((mesh) => {
+      const manifoldPrimitive = mesh.getExtension(NAME) as ManifoldPrimitive;
+      if (!manifoldPrimitive) return;
+
+      const indices = manifoldPrimitive.getIndices();
+      context.addAccessorToUsageGroup(
+          indices, WriterContext.BufferViewUsage.ELEMENT_ARRAY_BUFFER);
+
+      const mergeFrom = manifoldPrimitive.getMergeIndices();
+      const mergeTo = manifoldPrimitive.getMergeValues();
+      if (!mergeFrom || !mergeTo) return;
+
+      context.addAccessorToUsageGroup(mergeFrom, MERGE);
+      context.addAccessorToUsageGroup(mergeTo, MERGE);
+    });
+    return this;
+  }
+
+  write(context: WriterContext) {
     const {json} = context.jsonDoc;
 
     this.document.getRoot().listMeshes().forEach((mesh) => {
-      const manifoldPrimitive = mesh.getExtension(NAME);
+      const manifoldPrimitive = mesh.getExtension(NAME) as ManifoldPrimitive;
       if (!manifoldPrimitive) return;
 
-      const meshIndex = context.meshIndexMap.get(mesh);
-      const meshDef = json.meshes[meshIndex];
+      const meshIndex = context.meshIndexMap.get(mesh)!;
+      const meshDef = json.meshes![meshIndex];
 
       const runIndex = manifoldPrimitive.getRunIndex();
       const numPrimitive = runIndex.length - 1;
@@ -124,20 +168,20 @@ export class EXTManifold extends Extension {
       }
 
       const mergeIndicesIndex =
-          context.accessorIndexMap.get(manifoldPrimitive.getMergeIndices());
+          context.accessorIndexMap.get(manifoldPrimitive.getMergeIndices()!)!;
       const mergeValuesIndex =
-          context.accessorIndexMap.get(manifoldPrimitive.getMergeValues());
-      const mergeIndices = json.accessors[mergeIndicesIndex];
-      const mergeValues = json.accessors[mergeValuesIndex];
+          context.accessorIndexMap.get(manifoldPrimitive.getMergeValues()!)!;
+      const mergeIndices = json.accessors![mergeIndicesIndex];
+      const mergeValues = json.accessors![mergeValuesIndex];
 
       const existingPrimitive = meshDef.primitives[0];
       const primitive = {
-        indices: context.accessorIndexMap.get(manifoldPrimitive.getIndices()),
+        indices: context.accessorIndexMap.get(manifoldPrimitive.getIndices())!,
         mode: existingPrimitive.mode,
         attributes: {'POSITION': existingPrimitive.attributes['POSITION']}
       };
 
-      const indices = json.accessors[primitive.indices];
+      const indices = json.accessors![primitive.indices];
       if (!indices) {
         return;
       }
@@ -146,21 +190,21 @@ export class EXTManifold extends Extension {
         indices.sparse = {
           count: mergeIndices.count,
           indices: {
-            bufferView: mergeIndices.bufferView,
+            bufferView: mergeIndices.bufferView!,
             byteOffset: mergeIndices.byteOffset,
             componentType: mergeIndices.componentType
           },
           values: {
-            bufferView: mergeValues.bufferView,
+            bufferView: mergeValues.bufferView!,
             byteOffset: mergeValues.byteOffset,
           }
         };
       }
 
       for (let i = 0; i < numPrimitive; ++i) {
-        const accessor = json.accessors[meshDef.primitives[i].indices];
+        const accessor = json.accessors![meshDef.primitives[i].indices!];
         accessor.bufferView = indices.bufferView;
-        accessor.byteOffset = indices.byteOffset + 4 * runIndex[i];
+        accessor.byteOffset = indices.byteOffset! + 4 * runIndex[i];
         accessor.count = runIndex[i + 1] - runIndex[i];
       }
 

bindings/wasm/examples/model-viewer-script.ts

@@ -0,0 +1,124 @@
+// Copyright 2024 The Manifold Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+import {Document, WebIO} from '@gltf-transform/core';
+import {clearNodeTransform, flatten, prune} from '@gltf-transform/functions';
+
+import Module, {Manifold, Mesh} from './built/manifold';
+import {disposeMesh, Properties, readMesh, setupIO, writeMesh} from './gltf-io';
+
+// Set up gltf-transform
+const io = setupIO(new WebIO());
+const doc = new Document();
+
+
+// Set up Manifold WASM library
+const wasm = await Module();
+wasm.setup();
+const {Manifold, Mesh} = wasm;
+
+// Map of OriginalID to glTF material and attributes
+const id2properties = new Map<number, Properties>();
+
+// Wrapper for gltf-io readMesh() that processes a whole glTF and stores the
+// properties in the above map. This function is simplified and intended only
+// for reading single-object glTFs, as it simply unions any extra meshes
+// together rather than returning a scene hierarchy.
+async function readGLB(url: string) {
+  const manifolds = Array<Manifold>();
+  const docIn = await io.read(url);
+  await docIn.transform(flatten());
+  const nodes = docIn.getRoot().listNodes();
+  const ids = Array<number>();
+  for (const node of nodes) {
+    clearNodeTransform(node);
+    const gltfMesh = node.getMesh();
+    if (gltfMesh == null) continue;
+    const tmp = readMesh(gltfMesh);
+    if (tmp == null) continue;
+
+    const numID = tmp.runProperties.length;
+    const firstID = Manifold.reserveIDs(numID);
+    tmp.mesh.runOriginalID = new Uint32Array(numID);
+    for (let i = 0; i < numID; ++i) {
+      tmp.mesh.runOriginalID[i] = firstID + i;
+      ids.push(firstID + i);
+      id2properties.set(firstID + i, tmp.runProperties[i]);
+    }
+    manifolds.push(new Manifold(new Mesh(tmp.mesh)));
+  }
+  // pull in materials, TODO: replace with transfer() when available
+  const startIdx = doc.getRoot().listMaterials().length;
+  doc.merge(docIn);
+  doc.getRoot().listScenes().forEach((s) => s.dispose());
+  doc.getRoot().listBuffers().forEach((s) => s.dispose());
+  doc.getRoot().listAccessors().forEach((s) => s.dispose());
+  for (const [i, id] of ids.entries()) {
+    const material = doc.getRoot().listMaterials()[startIdx + i];
+    id2properties.get(id)!.material = material;
+  }
+
+  return Manifold.union(manifolds);
+}
+
+// Read static input glTFs
+const space = await readGLB('/models/space.glb');
+const moon = await readGLB('/models/moon.glb');
+
+const node = doc.createNode();
+doc.createScene().addChild(node);
+
+// Set up UI for operations
+type BooleanOp = 'union'|'difference'|'intersection';
+
+function csg(operation: BooleanOp) {
+  push2MV(Manifold[operation](space, moon));
+}
+
+csg('difference');
+const selectElement = document.querySelector('select')!;
+selectElement.onchange = function() {
+  csg(selectElement.value as BooleanOp);
+};
+
+// The resulting glTF
+let objectURL = '';
+
+// Set up download UI
+const downloadButton = document.querySelector('#download') as HTMLButtonElement;
+downloadButton.onclick = function() {
+  const link = document.createElement('a');
+  link.download = 'manifold.glb';
+  link.href = objectURL;
+  link.click();
+};
+
+// <model-viewer> element for rendering resulting glTF.
+const mv = document.querySelector('model-viewer');
+
+// Use gltf-io and gltf-transform to convert the resulting Manifold to a glTF
+// and display it with <model-viewer>.
+async function push2MV(manifold: Manifold) {
+  disposeMesh(node.getMesh()!);
+  const mesh = writeMesh(doc, manifold.getMesh(), id2properties);
+  node.setMesh(mesh);
+  await doc.transform(prune());
+
+  const glb = await io.writeBinary(doc);
+
+  const blob = new Blob([glb], {type: 'application/octet-stream'});
+  URL.revokeObjectURL(objectURL);
+  objectURL = URL.createObjectURL(blob);
+  (mv as any).src = objectURL;
+}

bindings/wasm/examples/model-viewer.html

@@ -35,117 +35,24 @@
 </head>
 
 <body>
-  <p>This example demonstrates feeding Manifold's output into <a
-      href="https://modelviewer.dev/">&lt;model-viewer&gt;</a> via <a
-      href="https://gltf-transform.donmccurdy.com/index.html">gltf-transform</a>. It also shows how to pass mesh
-    properties like UV coordinates through Manifold and how to re-associate textures after operations. A more basic
-    three.js example is <a href="three.html">here</a>. </p>
+  <p>This example demonstrates reading and writing glTF models using <a
+      href="https://gltf-transform.donmccurdy.com/index.html">gltf-transform</a> and using this to feed Manifold's
+    output into <a href="https://modelviewer.dev/">&lt;model-viewer&gt;</a>. It also shows how to pass mesh properties
+    like UV coordinates through Manifold and how to re-associate textures and materials after operations, made simple
+    using our `gltf-io.ts` library. The resulting glTF includes the EXT_mesh_manifold extension, using our
+    `manifold-gltf.ts` extension to gltf-transform, which ensures lossless data transfer.</p>
+  <p>Please open dev tools to inspect our source code - everything is source mapped back to our TS files and commented
+    thoroughly. A more basic three.js example is <a href="three.html">here</a>. </p>
   <select>
     <option value="difference" selected>Difference</option>
     <option value="intersection">Intersection</option>
     <option value="union">Union</option>
   </select>
   <button id="download">Download manifold GLB</button>
-  <model-viewer camera-controls shadow-intensity="1" alt="Output of mesh Boolean operation"></model-viewer>
+  <model-viewer camera-controls shadow-intensity="1" tone-mapping="neutral"
+    alt="Output of mesh Boolean operation"></model-viewer>
 </body>
-<script type="module" src="https://ajax.googleapis.com/ajax/libs/model-viewer/2.0.1/model-viewer.min.js"></script>
-<script type="module">
-  import { Document, WebIO } from '@gltf-transform/core';
-  import { clearNodeTransform, flatten, prune } from '@gltf-transform/functions';
-  import { loadTexture, readMesh, writeMesh, disposeMesh, setupIO } from './gltf-io.js';
-  import Module from './built/manifold.js';
-
-  const io = setupIO(new WebIO());
-  const doc = new Document();
-
-  const wasm = await Module();
-  wasm.setup();
-
-  const { Manifold, Mesh } = wasm;
-
-  const attributes = ['POSITION', 'TEXCOORD_0'];
-  const materialMap = new Map();
-
-  async function readGLB(url, attributes, materialMap) {
-    const manifolds = [];
-    const docIn = await io.read(url);
-    await docIn.transform(flatten());
-    const nodes = docIn.getRoot().listNodes();
-    const ids = [];
-    for (const node of nodes) {
-      clearNodeTransform(node);
-      const materials = [];
-      const manifoldMesh = readMesh(node.getMesh(), attributes, materials);
-      manifoldMesh.runOriginalID = [];
-      const firstID = Manifold.reserveIDs(materials.length);
-      for (let i = 0; i < materials.length; ++i) {
-        manifoldMesh.runOriginalID.push(firstID + i);
-        ids.push(firstID + i);
-      }
-      manifolds.push(Manifold(new Mesh(manifoldMesh)));
-    }
-    // pull in materials, TODO: replace with transfer() when available
-    const startIdx = doc.getRoot().listMaterials().length;
-    doc.merge(docIn);
-    doc.getRoot().listScenes().forEach((s) => s.dispose());
-    doc.getRoot().listBuffers().forEach((s) => s.dispose());
-    for (const [i, id] of ids.entries()) {
-      const material = doc.getRoot().listMaterials()[startIdx + i];
-      materialMap.set(id, material);
-    }
-
-    return Manifold.union(manifolds);
-  }
-
-  const space = await readGLB('/models/space.glb', attributes, materialMap);
-  const moon = await readGLB('/models/moon.glb', attributes, materialMap);
-
-  const node = doc.createNode();
-  doc.createScene().addChild(node);
-
-  function csg(operation) {
-    push2MV(Manifold[operation](space, moon));
-  };
-
-  document.querySelector('select').onchange = function (event) {
-    csg(event.target.value);
-  };
-
-  csg('difference');
-
-  const mv = document.querySelector('model-viewer');
-  let objectURL = null;
-
-  const downloadButton = document.querySelector('#download');
-  downloadButton.onclick = function () {
-    const link = document.createElement('a');
-    link.download = 'manifold.glb';
-    link.href = objectURL;
-    link.click();
-  };
-
-  async function push2MV(manifold) {
-    // From Z-up to Y-up (glTF)
-    const manifoldMesh = manifold.rotate([-90, 0, 0]).getMesh();
-
-    disposeMesh(node.getMesh());
-    const materials = [];
-    const matAttributes = [];
-    for (const id of manifoldMesh.runOriginalID) {
-      materials.push(materialMap.get(id));
-      matAttributes.push(attributes);
-    }
-    const mesh = writeMesh(doc, manifoldMesh, matAttributes, materials);
-    node.setMesh(mesh);
-    await doc.transform(prune());
-
-    const glb = await io.writeBinary(doc);
-
-    const blob = new Blob([glb], { type: 'application/octet-stream' });
-    URL.revokeObjectURL(objectURL);
-    objectURL = URL.createObjectURL(blob);
-    mv.src = objectURL;
-  }
-</script>
+<script type="module" src="https://ajax.googleapis.com/ajax/libs/model-viewer/3.5.0/model-viewer.min.js"></script>
+<script type="module" src="model-viewer-script.ts"></script>
 
 </html>

bindings/wasm/examples/package.json

@@ -8,25 +8,25 @@
     "build": "tsc --noEmit && vite build",
     "build:watch": "vite build --watch",
     "preview": "vite preview",
-    "test": "vitest",
+    "test": "vitest run",
     "test:ui": "vitest --ui",
-    "test:run": "vitest run"
+    "test:dev": "vitest"
   },
   "dependencies": {
-    "@gltf-transform/core": "^3.2.1",
-    "@gltf-transform/extensions": "^3.2.1",
-    "@gltf-transform/functions": "^3.2.1",
-    "@jscadui/3mf-export": "^0.4.2",
+    "@gltf-transform/core": "^3.8.0",
+    "@gltf-transform/extensions": "^3.8.0",
+    "@gltf-transform/functions": "^3.8.0",
+    "@jscadui/3mf-export": "^0.5.0",
+    "@types/three": "^0.164.0",
     "fflate": "^0.8.0",
     "gl-matrix": "^3.4.3",
     "simple-dropzone": "0.8.3",
-    "three": "0.151.2"
+    "three": "0.164.1"
   },
   "devDependencies": {
-    "@vitest/ui": "^0.31.1",
-    "@vitest/web-worker": "^0.31.1",
-    "typescript": "5.0.4",
-    "vite": "^4.3.2",
-    "vitest": "^0.31.1"
+    "@vitest/ui": "^1.6.0",
+    "typescript": "5.2.2",
+    "vite": "^4.5.0",
+    "vitest": "^1.6.0"
   }
 }

bindings/wasm/examples/public/editor.d.ts

@@ -25,8 +25,11 @@ declare class GLTFNode {
   clone(parent?: GLTFNode): GLTFNode;
 }
 
+type Attribute = 'POSITION'|'NORMAL'|'TANGENT'|'TEXCOORD_0'|'TEXCOORD_1'|
+    'COLOR_0'|'JOINTS_0'|'WEIGHTS_0'|'SKIP_1'|'SKIP_2'|'SKIP_3'|'SKIP_4';
+
 declare class GLTFMaterial {
-  attributes?: string[];
+  attributes?: Attribute[];
   roughness?: number;
   metallic?: number;
   baseColorFactor?: [number, number, number];
@@ -35,15 +38,48 @@ declare class GLTFMaterial {
   name?: string;
 }
 
+declare const globalDefaults: {
+  roughness: number,
+  metallic: number,
+  baseColorFactor: [number, number, number],
+  alpha: number,
+  unlit: boolean,
+  animationLength: number,
+  animationMode: 'loop'|'ping-pong';
+}
+
 /**
- * Set material properties on the input manifold. They will be carried along
- * through operations.
+ * Returns a shallow copy of the input manifold with the given material
+ * properties applied. They will be carried along through operations.
  *
- * @param manifold The object to add properties to - returned for chaining.
+ * @param manifold The input object.
  * @param material A set of material properties to apply to this manifold.
  */
-declare function setMaterial(
-    manifold: Manifold, material: GLTFMaterial): Manifold;
+declare function setMaterial(manifold: Manifold, material: GLTFMaterial):
+    Manifold;
+
+/**
+ * Apply a morphing animation to the input manifold. Specify the start
+ * function which will be applied to the vertex positions of the first frame and
+ * linearly interpolated across the length of the overall animation. This
+ * animation will only be shown if this manifold is used directly on a GLTFNode.
+ *
+ * @param manifold The object to add morphing animation to.
+ * @param func A warping function to apply to the first animation frame.
+ */
+declare function setMorphStart(
+    manifold: Manifold, func: (v: Vec3) => void): void;
+
+/**
+ * Apply a morphing animation to the input manifold. Specify the end
+ * function which will be applied to the vertex positions of the last frame and
+ * linearly interpolated across the length of the overall animation. This
+ * animation will only be shown if this manifold is used directly on a GLTFNode.
+ *
+ * @param manifold The object to add morphing animation to.
+ * @param func A warping function to apply to the last animation frame.
+ */
+declare function setMorphEnd(manifold: Manifold, func: (v: Vec3) => void): void;
 
 /**
  * Wrap any shape object with this method to display it and any copies in

bindings/wasm/examples/public/examples.js

@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+/** @type {import("../../manifold-encapsulated-types")["Manifold"]} */
+const Manifold = globalThis.Manifold;
+
 export const examples = {
   functions: {
     Intro: function() {
@@ -50,9 +53,9 @@ export const examples = {
 
     TetrahedronPuzzle: function() {
       // A tetrahedron cut into two identical halves that can screw together as
-      // a puzzle. This only outputs one of the halves. This demonstrates how
-      // redundant points along a polygon can be used to make twisted extrusions
-      // smoother. Based on the screw puzzle by George Hart:
+      // a puzzle. This demonstrates how redundant points along a polygon can be
+      // used to make twisted extrusions smoother. It also showcases animated
+      // assemblies. Based on the screw puzzle by George Hart:
       // https://www.thingiverse.com/thing:186372
 
       const edgeLength = 50;  // Length of each edge of the overall tetrahedron.
@@ -61,19 +64,21 @@ export const examples = {
 
       const scale = edgeLength / (2 * Math.sqrt(2));
 
-      const tet = Manifold.tetrahedron().scale(scale);
+      const tet = Manifold.tetrahedron().intersect(
+          Manifold.tetrahedron().rotate([0, 0, 90]).scale(2.5));
 
       const box = [];
-      box.push([1, -1], [1, 1]);
+      box.push([2, -2], [2, 2]);
       for (let i = 0; i <= nDivisions; ++i) {
-        box.push([gap / (4 * scale), 1 - i * 2 / nDivisions]);
+        box.push([gap / (2 * scale), 2 - i * 4 / nDivisions]);
       }
 
       const cyan = [0, 1, 1];
       const magenta = [1, 0, 1];
       const fade = (color, pos) => {
         for (let i = 0; i < 3; ++i) {
-          color[i] = cyan[i] * pos[2] + magenta[i] * (1 - pos[2]);
+          const x = pos[2] / 2;
+          color[i] = cyan[i] * x + magenta[i] * (1 - x);
         }
       };
 
@@ -82,25 +87,43 @@ export const examples = {
       // channels as colors, and sets the factor to white, since our default is
       // yellow.
       const screw = setMaterial(
-          Manifold.extrude(box, 1, nDivisions, 270).setProperties(3, fade),
+          Manifold.extrude(box, 2, nDivisions, 270).setProperties(3, fade),
           {baseColorFactor: [1, 1, 1], attributes: ['COLOR_0']});
 
-      const result = tet.intersect(
-          screw.rotate([0, 0, -45]).translate([0, 0, -0.5]).scale(2 * scale));
+      const result =
+          tet.intersect(screw.rotate([0, 0, -45]).translate([0, 0, -1]))
+              .scale(scale);
 
       // Assigned materials are only applied to a GLTFNode. Note that material
       // definitions cascade, applying recursively to all child surfaces, but
-      // overridden by any materials defined lower down. Our default material:
-      // {
-      //   roughness = 0.2,
-      //   metallic = 1,
-      //   baseColorFactor = [1, 1, 0],
-      //   alpha = 1,
-      //   unlit = false,
-      //   name = ''
-      // }
-      const node = new GLTFNode();
-      node.manifold = result;
+      // overridden by any materials defined lower down. The default material
+      // properties, as well as animation parameters can be set via
+      // globalDefaults.
+
+      const layFlat = new GLTFNode();
+      layFlat.rotation =
+          [45, -Math.atan(1 / Math.sqrt(2)) * 180 / Math.PI, 120];
+      layFlat.translation = [0, 0, scale * Math.sqrt(3) / 3];
+
+      const fixed = new GLTFNode(layFlat);
+      fixed.manifold = result;
+      fixed.rotation = [0, 0, 180];
+
+      // For 3MF export, only top-level objects are independently arrangeable.
+      const layFlat2 = layFlat.clone();
+
+      const moving = new GLTFNode(layFlat2);
+      moving.manifold = result;
+      // Use functions to create animation, which runs from t=0 to t=1.
+      moving.translation = (t) => {
+        const a = 1 - t;
+        const x = a > 0.5 ? scale * 2 * (0.5 - a) : 0;
+        return [x, x, -2 * x + scale * 4 * (0.5 - Math.abs(0.5 - a))];
+      };
+      moving.rotation = (t) => [0, 0, 270 * 2 * (1 - t)];
+
+      globalDefaults.animationLength = 10;  // seconds
+      globalDefaults.animationMode = 'ping-pong';
       return result;
     },
 
@@ -108,7 +131,7 @@ export const examples = {
       // Demonstrates how at 90-degree intersections, the sphere and cylinder
       // facets match up perfectly, for any choice of global resolution
       // parameters.
-      const {sphere, cylinder, union} = Manifold;
+      const {sphere, cylinder, union, cube} = Manifold;
 
       function roundedFrame(edgeLength, radius, circularSegments = 0) {
         const edge = cylinder(edgeLength, radius, -1, circularSegments);
@@ -132,6 +155,17 @@ export const examples = {
       setMinCircularAngle(3);
       setMinCircularEdgeLength(0.5);
       const result = roundedFrame(100, 10);
+      // Demonstrate how you can use the .split method to perform
+      // a subtraction and an intersection at once
+      const [inside, outside] = result.split(cube(100, true));
+
+      const outsideNode = new GLTFNode();
+      outsideNode.manifold = outside;
+
+      const insideNode = new GLTFNode();
+      insideNode.manifold = inside;
+      insideNode.material = {baseColorFactor: [0, 1, 1]};
+
       return result;
     },
 
@@ -139,6 +173,7 @@ export const examples = {
       // Smooth, complex manifolds can be created using the warp() function.
       // This example recreates the Exploitable Heart by Emmett Lalish:
       // https://www.thingiverse.com/thing:6190
+      // It also demonstrates the use of setMorph to animate a warping function.
 
       const func = (v) => {
         const x2 = v[0] * v[0];
@@ -174,9 +209,20 @@ export const examples = {
       };
 
       const ball = Manifold.sphere(1, 200);
+
       const heart = ball.warp(func);
       const box = heart.boundingBox();
-      const result = heart.scale(100 / (box.max[0] - box.min[0]));
+      const scale = 100 / (box.max[0] - box.min[0]);
+
+      setMorphStart(ball, func);
+      const node = new GLTFNode();
+      node.manifold = ball;
+      node.scale = [scale, scale, scale];
+
+      globalDefaults.animationLength = 5;  // seconds
+      globalDefaults.animationMode = 'ping-pong';
+
+      const result = heart.scale(scale);
       return result;
     },
 
@@ -253,71 +299,68 @@ export const examples = {
       // an example of using the warp() method, thus avoiding any direct
       // handling of triangles.
 
-      // @param p The number of times the thread passes through the donut hole.
-      // @param q The number of times the thread circles the donut.
-      // @param majorRadius Radius of the interior of the imaginary donut.
-      // @param minorRadius Radius of the small cross-section of the imaginary
-      //   donut.
-      // @param threadRadius Radius of the small cross-section of the actual
-      //   object.
-      // @param circularSegments Number of linear segments making up the
-      //   threadRadius circle. Default is getCircularSegments(threadRadius).
-      // @param linearSegments Number of segments along the length of the knot.
-      //   Default makes roughly square facets.
+      // The number of times the thread passes through the donut hole.
+      const p = 1;
+      // The number of times the thread circles the donut.
+      const q = 3;
+      // Radius of the interior of the imaginary donut.
+      const majorRadius = 25;
+      // Radius of the small cross-section of the imaginary donut.
+      const minorRadius = 10;
+      // Radius of the small cross-section of the actual object.
+      const threadRadius = 3.75;
+      // Number of linear segments making up the threadRadius circle. Default is
+      // getCircularSegments(threadRadius).
+      const circularSegments = -1;
+      // Number of segments along the length of the knot. Default makes roughly
+      // square facets.
+      const linearSegments = -1;
 
-      function torusKnot(
-          p, q, majorRadius, minorRadius, threadRadius, circularSegments = 0,
-          linearSegments = 0) {
-        const {vec3} = glMatrix;
-
-        function gcd(a, b) {
-          return b == 0 ? a : gcd(b, a % b);
-        }
-
-        const kLoops = gcd(p, q);
-        p /= kLoops;
-        q /= kLoops;
-        const n = circularSegments > 2 ? circularSegments :
-                                         getCircularSegments(threadRadius);
-        const m = linearSegments > 2 ? linearSegments :
-                                       n * q * majorRadius / threadRadius;
-
-        const offset = 2
-        const circle = CrossSection.circle(1, n).translate([offset, 0]);
-
-        const func = (v) => {
-          const psi = q * Math.atan2(v[0], v[1]);
-          const theta = psi * p / q;
-          const x1 = Math.sqrt(v[0] * v[0] + v[1] * v[1]);
-          const phi = Math.atan2(x1 - offset, v[2]);
-          vec3.set(
-              v, threadRadius * Math.cos(phi), 0, threadRadius * Math.sin(phi));
-          const center = vec3.fromValues(0, 0, 0);
-          const r = majorRadius + minorRadius * Math.cos(theta);
-          vec3.rotateX(v, v, center, -Math.atan2(p * minorRadius, q * r));
-          v[0] += minorRadius;
-          vec3.rotateY(v, v, center, theta);
-          v[0] += majorRadius;
-          vec3.rotateZ(v, v, center, psi);
-        };
-
-        let knot = Manifold.revolve(circle, m).warp(func);
-
-        if (kLoops > 1) {
-          const knots = [];
-          for (let k = 0; k < kLoops; ++k) {
-            knots.push(knot.rotate([0, 0, 360 * (k / kLoops) * (q / p)]));
-          }
-          knot = Manifold.compose(knots);
-        }
-
-        return knot;
-      }
-
-      // This recreates Matlab Knot by Emmett Lalish:
+      // These default values recreate Matlab Knot by Emmett Lalish:
       // https://www.thingiverse.com/thing:7080
 
-      const result = torusKnot(1, 3, 25, 10, 3.75);
+      const {vec3} = glMatrix;
+
+      function gcd(a, b) {
+        return b == 0 ? a : gcd(b, a % b);
+      }
+
+      const kLoops = gcd(p, q);
+      const pk = p / kLoops;
+      const qk = q / kLoops;
+      const n = circularSegments > 2 ? circularSegments :
+                                       getCircularSegments(threadRadius);
+      const m = linearSegments > 2 ? linearSegments :
+                                     n * qk * majorRadius / threadRadius;
+
+      const offset = 2
+      const circle = CrossSection.circle(1, n).translate([offset, 0]);
+
+      const func = (v) => {
+        const psi = qk * Math.atan2(v[0], v[1]);
+        const theta = psi * pk / qk;
+        const x1 = Math.sqrt(v[0] * v[0] + v[1] * v[1]);
+        const phi = Math.atan2(x1 - offset, v[2]);
+        vec3.set(
+            v, threadRadius * Math.cos(phi), 0, threadRadius * Math.sin(phi));
+        const center = vec3.fromValues(0, 0, 0);
+        const r = majorRadius + minorRadius * Math.cos(theta);
+        vec3.rotateX(v, v, center, -Math.atan2(pk * minorRadius, qk * r));
+        v[0] += minorRadius;
+        vec3.rotateY(v, v, center, theta);
+        v[0] += majorRadius;
+        vec3.rotateZ(v, v, center, psi);
+      };
+
+      const result = Manifold.revolve(circle, m).warp(func);
+
+      for (let k = 0; k < kLoops; ++k) {
+        const node = new GLTFNode();
+        node.manifold = result;
+        node.rotation = [0, 0, 360 * (k / kLoops) * (qk / pk)];
+        node.translation = [0, 0, result.boundingBox().min[2]];
+      }
+
       return result;
     },
 
@@ -350,12 +393,12 @@ export const examples = {
 
         const hole = Manifold.compose(holes);
 
-        result = Manifold.difference(
-            result,
-            hole,
-            hole.rotate([90, 0, 0]),
-            hole.rotate([0, 90, 0]),
-        );
+        result = Manifold.difference([
+          result,
+          hole,
+          hole.rotate([90, 0, 0]),
+          hole.rotate([0, 90, 0]),
+        ]);
         return result;
       }
 

bindings/wasm/examples/simple-dropzone.d.ts

@@ -0,0 +1 @@
+declare module 'simple-dropzone';

bindings/wasm/examples/three.html

@@ -35,83 +35,21 @@
 </head>
 
 <body>
-  <p>This demonstrates the minimum code to connect Manifold to a three.js rendering. A slightly more complex example
-    involving GLTF export and &lt;model-viewer&gt; can be found <a href="model-viewer.html">here</a>. </p>
+  <p>This example demonstrates interop between Manifold and Three.js with minimal code - please open dev tools to
+    inspect the source. Here we generate two multi-material Three.js meshes and convert them to Manifolds while building
+    a mapping from material to Manifold ID. Then Boolean operations are performed on the Manifolds and the result is
+    converted back to a Three.js mesh using the material mapping. The input cube has half red faces and half
+    normal-shaded, while the icosahedron has half blue faces and half normal-shaded. The resulting mesh has three
+    materials, since one (normal-shaded) was common between the input models.</p>
+  <p>A slightly more complex example involving our library for GLTF import/export and &lt;model-viewer&gt; can be found
+    <a href="model-viewer.html">here</a>. </p>
   <select>
-    <option value="difference" selected>Difference</option>
+    <option value="union" selected>Union</option>
+    <option value="difference">Difference</option>
     <option value="intersection">Intersection</option>
-    <option value="union">Union</option>
   </select><br />
   <canvas id="output"></canvas>
 </body>
-<script type="module">
-  import * as THREE from 'three';
-  import { mergeVertices } from 'three/examples/jsm/utils/BufferGeometryUtils.js';
-  import Module from './built/manifold.js';
-
-  const wasm = await Module();
-  wasm.setup();
-
-  const { Manifold, Mesh } = wasm;
-
-  // we have manifold module, let's do some three.js
-  const camera = new THREE.PerspectiveCamera(30, 1, 0.01, 10);
-  camera.position.z = 1;
-
-  const scene = new THREE.Scene();
-  const mesh = new THREE.Mesh(undefined, new THREE.MeshNormalMaterial({
-    flatShading: true
-  }));
-  scene.add(mesh);
-
-  const icosahedron = simplify(new THREE.IcosahedronGeometry(0.16));
-
-  const manifold_1 = Manifold.cube([0.2, 0.2, 0.2], true);
-  const manifold_2 = new Manifold(geometry2mesh(icosahedron));
-
-  const csg = function (operation) {
-    mesh.geometry?.dispose();
-    mesh.geometry = mesh2geometry(Manifold[operation](manifold_1, manifold_2).getMesh());
-  };
-
-  document.querySelector('select').onchange = function (event) {
-    csg(event.target.value);
-  };
-
-  csg('difference');
-
-  const output = document.querySelector("#output");
-  const renderer = new THREE.WebGLRenderer({ canvas: output, antialias: true });
-  const dim = output.getBoundingClientRect();
-  renderer.setSize(dim.width, dim.height);
-  renderer.setAnimationLoop(function (time) {
-    mesh.rotation.x = time / 2000;
-    mesh.rotation.y = time / 1000;
-    renderer.render(scene, camera);
-  });
-
-  // functions to convert between three.js and wasm
-  function geometry2mesh(geometry) {
-    const vertProperties = geometry.attributes.position.array;
-    const triVerts = geometry.index.array;
-    return new Mesh({ numProp: 3, vertProperties, triVerts });
-  }
-
-  function mesh2geometry(mesh) {
-    const geometry = new THREE.BufferGeometry();
-    geometry.setAttribute('position', new THREE.BufferAttribute(mesh.vertProperties, 3));
-    geometry.setIndex(new THREE.BufferAttribute(mesh.triVerts, 1));
-    return geometry;
-  }
-
-  // most of three.js geometries aren't manifolds, so...
-  function simplify(geometry) {
-    delete geometry.attributes.normal;
-    delete geometry.attributes.uv;
-    const simplified = mergeVertices(geometry);
-    simplified.computeVertexNormals();
-    return simplified;
-  }
-</script>
+<script type="module" src="three.ts"></script>
 
 </html>

bindings/wasm/examples/three.ts

@@ -0,0 +1,148 @@
+// Copyright 2024 The Manifold Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+import {BoxGeometry, BufferAttribute, BufferGeometry, IcosahedronGeometry, Mesh as ThreeMesh, MeshLambertMaterial, MeshNormalMaterial, PerspectiveCamera, PointLight, Scene, WebGLRenderer} from 'three';
+
+import Module, {Mesh} from './built/manifold';
+
+// Load Manifold WASM library
+const wasm = await Module();
+wasm.setup();
+const {Manifold, Mesh} = wasm;
+
+// Define our set of materials
+const materials = [
+  new MeshNormalMaterial({flatShading: true}),
+  new MeshLambertMaterial({color: 'red', flatShading: true}),
+  new MeshLambertMaterial({color: 'blue', flatShading: true})
+];
+const result = new ThreeMesh(undefined, materials);
+
+// Set up Manifold IDs corresponding to materials
+const firstID = Manifold.reserveIDs(materials.length);
+// ids vector is parallel to materials vector - same indexing
+const ids = [...Array<number>(materials.length)].map((_, idx) => firstID + idx);
+// Build a mapping to get back from ID to material index
+const id2matIndex = new Map();
+ids.forEach((id, idx) => id2matIndex.set(id, idx));
+
+// Set up Three.js scene
+const scene = new Scene();
+const camera = new PerspectiveCamera(30, 1, 0.01, 10);
+camera.position.z = 1;
+camera.add(new PointLight(0xffffff, 1));
+scene.add(camera);
+scene.add(result);
+
+// Set up Three.js renderer
+const output = document.querySelector('#output')!;
+const renderer = new WebGLRenderer({canvas: output, antialias: true});
+const dim = output.getBoundingClientRect();
+renderer.setSize(dim.width, dim.height);
+renderer.setAnimationLoop(function(time: number) {
+  result.rotation.x = time / 2000;
+  result.rotation.y = time / 1000;
+  renderer.render(scene, camera);
+});
+
+// Create input meshes in Three.js
+const cube = new BoxGeometry(0.2, 0.2, 0.2);
+cube.clearGroups();
+cube.addGroup(0, 18, 0);         // First 6 faces colored by normal
+cube.addGroup(18, Infinity, 1);  // Rest of faces are red
+
+const icosahedron = new IcosahedronGeometry(0.16);
+icosahedron.clearGroups();
+icosahedron.addGroup(30, Infinity, 2);  // Last faces are blue
+icosahedron.addGroup(0, 30, 0);         // First 10 faces colored by normal
+// The above groups are in reversed order to demonstrate the need for sorting.
+
+// Convert Three.js input meshes to Manifolds
+const manifoldCube = new Manifold(geometry2mesh(cube));
+const manifoldIcosahedron = new Manifold(geometry2mesh(icosahedron));
+
+// Set up UI for operations
+type BooleanOp = 'union'|'difference'|'intersection';
+
+function csg(operation: BooleanOp) {
+  result.geometry?.dispose();
+  result.geometry = mesh2geometry(
+      Manifold[operation](manifoldCube, manifoldIcosahedron).getMesh());
+}
+
+csg('union');
+const selectElement = document.querySelector('select')!;
+selectElement.onchange = function() {
+  csg(selectElement.value as BooleanOp);
+};
+
+// Convert Three.js BufferGeometry to Manifold Mesh
+function geometry2mesh(geometry: BufferGeometry) {
+  // Only using position in this sample for simplicity. Can interleave any other
+  // desired attributes here such as UV, normal, etc.
+  const vertProperties = geometry.attributes.position.array as Float32Array;
+  // Manifold only uses indexed geometry, so generate an index if necessary.
+  const triVerts = geometry.index != null ?
+      geometry.index.array as Uint32Array :
+      new Uint32Array(vertProperties.length / 3).map((_, idx) => idx);
+  // Create a triangle run for each group (material) - akin to a draw call.
+  const starts = [...Array(geometry.groups.length)].map(
+      (_, idx) => geometry.groups[idx].start);
+  // Map the materials to ID.
+  const originalIDs = [...Array(geometry.groups.length)].map(
+      (_, idx) => ids[geometry.groups[idx].materialIndex!]);
+  // List the runs in sequence.
+  const indices = Array.from(starts.keys())
+  indices.sort((a, b) => starts[a] - starts[b])
+  const runIndex = new Uint32Array(indices.map(i => starts[i]));
+  const runOriginalID = new Uint32Array(indices.map(i => originalIDs[i]));
+  // Create the MeshGL for I/O with Manifold library.
+  const mesh =
+      new Mesh({numProp: 3, vertProperties, triVerts, runIndex, runOriginalID});
+  // Automatically merge vertices with nearly identical positions to create a
+  // Manifold. This only fills in the mergeFromVert and mergeToVert vectors -
+  // these are automatically filled in for any mesh returned by Manifold. These
+  // are necessary because GL drivers require duplicate verts when any
+  // properties change, e.g. a UV boundary or sharp corner.
+  mesh.merge();
+  return mesh;
+}
+
+// Convert Manifold Mesh to Three.js BufferGeometry
+function mesh2geometry(mesh: Mesh) {
+  const geometry = new BufferGeometry();
+  // Assign buffers
+  geometry.setAttribute(
+      'position', new BufferAttribute(mesh.vertProperties, 3));
+  geometry.setIndex(new BufferAttribute(mesh.triVerts, 1));
+  // Create a group (material) for each ID. Note that there may be multiple
+  // triangle runs returned with the same ID, though these will always be
+  // sequential since they are sorted by ID. In this example there are two runs
+  // for the MeshNormalMaterial, one corresponding to each input mesh that had
+  // this ID. This allows runTransform to return the total transformation matrix
+  // applied to each triangle run from its input mesh - even after many
+  // consecutive operations.
+  let id = mesh.runOriginalID[0];
+  let start = mesh.runIndex[0];
+  for (let run = 0; run < mesh.numRun; ++run) {
+    const nextID = mesh.runOriginalID[run + 1];
+    if (nextID !== id) {
+      const end = mesh.runIndex[run + 1];
+      geometry.addGroup(start, end - start, id2matIndex.get(id));
+      id = nextID;
+      start = end;
+    }
+  }
+  return geometry;
+}

bindings/wasm/examples/tsconfig.json

@@ -2,7 +2,7 @@
   "compilerOptions": {
     "target": "es2022",
     "module": "es2022",
-    "moduleResolution": "node",
+    "moduleResolution": "Bundler",
     "lib": [
       "es2022",
       "dom"

bindings/wasm/examples/vite.config.js

@@ -9,6 +9,7 @@ export default defineConfig({
   },
   build: {
     target: 'esnext',
+    sourcemap: true,
     rollupOptions: {
       input: {
         manifoldCAD: resolve(__dirname, 'index.html'),

bindings/wasm/examples/worker-wrapper.ts

@@ -0,0 +1,48 @@
+// Copyright 2024 The Manifold Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+import {cleanup, evaluateCADToModel} from './worker';
+
+// Setup complete
+self.postMessage(null);
+
+if (self.console) {
+  const oldLog = self.console.log;
+  self.console.log = function(...args) {
+    let message = '';
+    for (const arg of args) {
+      if (arg == null) {
+        message += 'undefined';
+      } else if (typeof arg == 'object') {
+        message += JSON.stringify(arg, null, 4);
+      } else {
+        message += arg.toString();
+      }
+    }
+    self.postMessage({log: message});
+    oldLog(...args);
+  };
+}
+
+self.onmessage = async (e) => {
+  try {
+    const result = await evaluateCADToModel(e.data);
+    self.postMessage(result);
+  } catch (error: any) {
+    console.log(error.toString());
+    self.postMessage({objectURL: null});
+  } finally {
+    cleanup();
+  }
+};

bindings/wasm/examples/worker.test.ts

@@ -12,79 +12,44 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-import '@vitest/web-worker';
-
 import {WebIO} from '@gltf-transform/core';
-import {expect, suite, test} from 'vitest';
+import assert from 'node:assert';
+import {afterEach, expect, suite, test} from 'vitest';
 
-import Module from './built/manifold.js';
-import {readMesh, setupIO} from './gltf-io.js';
+import {readMesh, setupIO} from './gltf-io';
+// @ts-ignore
 import {examples} from './public/examples.js';
-import ManifoldWorker from './worker?worker';
+import {Mesh} from './public/manifold';
+import {cleanup, evaluateCADToModel, module} from './worker';
 
 const io = setupIO(new WebIO());
 
-const wasm = await Module();
-wasm.setup();
-
-function initialized(worker) {
-  return new Promise((resolve) => {
-    worker.onmessage = function(e) {
-      if (e.data == null) {
-        resolve();
-      } else {
-        reject();
-      }
-    };
-  });
+async function runExample(name: string) {
+  const code = examples.functionBodies.get(name);
+  const result = await evaluateCADToModel(code);
+  cleanup();
+  assert.ok(result?.glbURL);
+  const docIn = await io.read(result.glbURL);
+  URL.revokeObjectURL(result.glbURL);
+  const nodes = docIn.getRoot().listNodes();
+  for (const node of nodes) {
+    const docMesh = node.getMesh();
+    if (!docMesh) {
+      continue;
+    }
+    const {mesh} = readMesh(docMesh)!;
+    const manifold = new module.Manifold(mesh as Mesh);
+    const prop = manifold.getProperties();
+    const genus = manifold.genus();
+    manifold.delete();
+    return {...prop, genus};
+  }
+  assert.ok(false);
 }
 
-let glbURL = null;
-
-async function runExample(name) {
-  const worker = new ManifoldWorker();
-  await initialized(worker);
-  return new Promise((resolve, reject) => {
-    worker.onmessageerror = function({data}) {
-      reject(data);
-    };
-
-    worker.onerror = function(e) {
-      reject(e);
-    };
-
-    worker.onmessage = async function(e) {
-      try {
-        URL.revokeObjectURL(glbURL);
-        glbURL = e.data.glbURL;
-        if (glbURL == null) {
-          reject('no glbURL)');
-        }
-        const docIn = await io.read(glbURL);
-        const nodes = docIn.getRoot().listNodes();
-        for (const node of nodes) {
-          const mesh = node.getMesh();
-          if (!mesh) {
-            continue;
-          }
-          const attributes = [];
-          const materials = [];
-          const manifoldMesh = readMesh(mesh, attributes, materials);
-          const manifold = wasm.Manifold(manifoldMesh);
-          const prop = manifold.getProperties();
-          const genus = manifold.genus();
-          console.log(genus);
-          manifold.delete();
-          resolve({...prop, genus});
-        }
-      } catch (e) {
-        reject(e);
-      }
-    };
-
-    worker.postMessage(examples.functionBodies.get(name));
-  });
-}
+// allow vitest to report progress after each test
+// before going into heavy computation which blocks main thread
+afterEach(async () => {await new Promise(resolve => setTimeout(resolve, 500))})
 
 suite('Examples', () => {
   test('Intro', async () => {
@@ -97,29 +62,29 @@ suite('Examples', () => {
   test('Tetrahedron Puzzle', async () => {
     const result = await runExample('Tetrahedron Puzzle');
     expect(result.genus).to.equal(0, 'Genus');
-    expect(result.volume).to.be.closeTo(7297, 1, 'Volume');
-    expect(result.surfaceArea).to.be.closeTo(3303, 1, 'Surface Area');
+    expect(result.volume).to.be.closeTo(7240, 1, 'Volume');
+    expect(result.surfaceArea).to.be.closeTo(3235, 1, 'Surface Area');
   });
 
   test('Rounded Frame', async () => {
     const result = await runExample('Rounded Frame');
     expect(result.genus).to.equal(5, 'Genus');
-    expect(result.volume).to.be.closeTo(353706, 10, 'Volume');
-    expect(result.surfaceArea).to.be.closeTo(68454, 1, 'Surface Area');
+    expect(result.volume).to.be.closeTo(270807, 10, 'Volume');
+    expect(result.surfaceArea).to.be.closeTo(74599, 1, 'Surface Area');
   });
 
   test('Heart', async () => {
     const result = await runExample('Heart');
     expect(result.genus).to.equal(0, 'Genus');
-    expect(result.volume).to.be.closeTo(282743, 10, 'Volume');
-    expect(result.surfaceArea).to.be.closeTo(22187, 1, 'Surface Area');
+    expect(result.volume).to.be.closeTo(3.342, 0.001, 'Volume');
+    expect(result.surfaceArea).to.be.closeTo(11.51, 0.01, 'Surface Area');
   });
 
   test('Scallop', async () => {
     const result = await runExample('Scallop');
     expect(result.genus).to.equal(0, 'Genus');
-    expect(result.volume).to.be.closeTo(41284, 1, 'Volume');
-    expect(result.surfaceArea).to.be.closeTo(7810, 1, 'Surface Area');
+    expect(result.volume).to.be.closeTo(39900, 100, 'Volume');
+    expect(result.surfaceArea).to.be.closeTo(7930, 10, 'Surface Area');
   });
 
   test('Torus Knot', async () => {

bindings/wasm/examples/worker.ts

@@ -12,27 +12,37 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-import {Document, mat4, Material, Node, WebIO} from '@gltf-transform/core';
+import {Accessor, Animation, AnimationSampler, Document, mat4, Material, Mesh as GLTFMesh, Node, WebIO} from '@gltf-transform/core';
 import {KHRMaterialsUnlit, KHRONOS_EXTENSIONS} from '@gltf-transform/extensions';
-import {fileForContentTypes, to3dmodel} from '@jscadui/3mf-export';
+import {fileForContentTypes, FileForRelThumbnail, to3dmodel} from '@jscadui/3mf-export';
 import {strToU8, Zippable, zipSync} from 'fflate'
 import * as glMatrix from 'gl-matrix';
 
-import Module from './built/manifold';
-//@ts-ignore
-import {setupIO, writeMesh} from './gltf-io';
-import type {GLTFMaterial, Quat} from './public/editor';
-import type {CrossSection, Manifold, ManifoldToplevel, Mesh, Vec3} from './public/manifold';
+import Module, {CrossSection, Manifold, ManifoldToplevel, Mesh, Vec3} from './built/manifold';
+import {Properties, setupIO, writeMesh} from './gltf-io';
+import {GLTFMaterial, Quat} from './public/editor';
+
+interface GlobalDefaults {
+  roughness: number;
+  metallic: number;
+  baseColorFactor: [number, number, number];
+  alpha: number;
+  unlit: boolean;
+  animationLength: number;
+  animationMode: 'loop'|'ping-pong';
+}
 
 interface WorkerStatic extends ManifoldToplevel {
   GLTFNode: typeof GLTFNode;
   show(manifold: Manifold): Manifold;
   only(manifold: Manifold): Manifold;
-  setMaterial(manifold: Manifold, material: GLTFMaterial): void;
+  setMaterial(manifold: Manifold, material: GLTFMaterial): Manifold;
+  setMorphStart(manifold: Manifold, func: (v: Vec3) => void): void;
+  setMorphEnd(manifold: Manifold, func: (v: Vec3) => void): void;
   cleanup(): void;
 }
 
-const module = await Module() as unknown as WorkerStatic;
+export const module = await Module() as WorkerStatic;
 module.setup();
 
 // Faster on modern browsers than Float32Array
@@ -48,9 +58,30 @@ const manifoldStaticFunctions = [
 ];
 // manifold member functions (that return a new manifold)
 const manifoldMemberFunctions = [
-  'add', 'subtract', 'intersect', 'decompose', 'warp', 'transform', 'translate',
-  'rotate', 'scale', 'mirror', 'refine', 'setProperties', 'asOriginal',
-  'trimByPlane', 'split', 'splitByPlane', 'hull'
+  'add',
+  'subtract',
+  'intersect',
+  'decompose',
+  'warp',
+  'transform',
+  'translate',
+  'rotate',
+  'scale',
+  'mirror',
+  'calculateCurvature',
+  'calculateNormals',
+  'smoothByNormals',
+  'smoothOut',
+  'refine',
+  'refineToLength',
+  'setProperties',
+  'asOriginal',
+  'trimByPlane',
+  'split',
+  'splitByPlane',
+  'slice',
+  'project',
+  'hull'
 ];
 // CrossSection static methods (that return a new cross-section)
 const crossSectionStaticFunctions = [
@@ -66,7 +97,8 @@ const crossSectionMemberFunctions = [
 const toplevelConstructors = ['show', 'only', 'setMaterial'];
 const toplevel = [
   'setMinCircularAngle', 'setMinCircularEdgeLength', 'setCircularSegments',
-  'getCircularSegments', 'Mesh', 'GLTFNode', 'Manifold', 'CrossSection'
+  'getCircularSegments', 'resetToCircularDefaults', 'Mesh', 'GLTFNode',
+  'Manifold', 'CrossSection', 'setMorphStart', 'setMorphEnd'
 ];
 const exposedFunctions = toplevelConstructors.concat(toplevel);
 
@@ -83,15 +115,13 @@ function addMembers(
   const cls = module[className];
   const obj = areStatic ? cls : cls.prototype;
   for (const name of methodNames) {
-    if (name != 'cylinder') {
-      const originalFn = obj[name];
-      obj[name] = function(...args: any) {
-        //@ts-ignore
-        const result = originalFn(...args);
-        memoryRegistry.push(result);
-        return result;
-      };
-    }
+    const originalFn = obj[name];
+    obj[name] = function(...args: any) {
+      //@ts-ignore
+      const result = originalFn(...args);
+      memoryRegistry.push(result);
+      return result;
+    };
   }
 }
 
@@ -111,22 +141,23 @@ for (const name of toplevelConstructors) {
   };
 }
 
-module.cleanup = function() {
-  for (const obj of memoryRegistry) {
-    // decompose result is an array of manifolds
-    if (obj instanceof Array)
-      for (const elem of obj) elem.delete();
-    else
-      obj.delete();
-  }
-  memoryRegistry.length = 0;
-};
-
 // Debug setup to show source meshes
 let ghost = false;
 const shown = new Map<number, Mesh>();
 const singles = new Map<number, Mesh>();
 
+const FPS = 30;
+
+const GLOBAL_DEFAULTS = {
+  roughness: 0.2,
+  metallic: 1,
+  baseColorFactor: [1, 1, 0] as [number, number, number],
+  alpha: 1,
+  unlit: false,
+  animationLength: 1,
+  animationMode: 'loop'
+};
+
 const SHOW = {
   baseColorFactor: [1, 0, 0],
   alpha: 0.25,
@@ -144,10 +175,26 @@ const GHOST = {
 const nodes = new Array<GLTFNode>();
 const id2material = new Map<number, GLTFMaterial>();
 const materialCache = new Map<GLTFMaterial, Material>();
-let nextGlobalID = 0;
 const object2globalID = new Map<GLTFNode|Manifold, number>();
+const manifold2morph = new Map<Manifold, Morph>();
+// lib3mf doesn't like objectid=0
+let nextGlobalID = 1;
+let animation: Animation;
+let timesAccessor: Accessor;
+let weightsAccessor: Accessor;
+let weightsSampler: AnimationSampler;
+let hasAnimation: boolean;
+
+export function cleanup() {
+  for (const obj of memoryRegistry) {
+    // decompose result is an array of manifolds
+    if (obj instanceof Array)
+      for (const elem of obj) elem.delete();
+    else
+      obj.delete();
+  }
+  memoryRegistry.length = 0;
 
-function cleanup() {
   ghost = false;
   shown.clear();
   singles.clear();
@@ -155,7 +202,13 @@ function cleanup() {
   id2material.clear();
   materialCache.clear();
   object2globalID.clear();
-  nextGlobalID = 0;
+  manifold2morph.clear();
+  nextGlobalID = 1;
+}
+
+interface Morph {
+  start?: (v: Vec3) => void;
+  end?: (v: Vec3) => void;
 }
 
 interface Mesh3MF {
@@ -198,9 +251,9 @@ interface To3MF {
 class GLTFNode {
   private _parent?: GLTFNode;
   manifold?: Manifold;
-  translation?: Vec3;
-  rotation?: Vec3;
-  scale?: Vec3;
+  translation?: Vec3|((t: number) => Vec3);
+  rotation?: Vec3|((t: number) => Vec3);
+  scale?: Vec3|((t: number) => Vec3);
   material?: GLTFMaterial;
   name?: string;
 
@@ -221,12 +274,32 @@ class GLTFNode {
 
 module.GLTFNode = GLTFNode;
 
+const globalDefaults = {...GLOBAL_DEFAULTS};
+
 module.setMaterial = (manifold: Manifold, material: GLTFMaterial): Manifold => {
   const out = manifold.asOriginal();
   id2material.set(out.originalID(), material);
   return out;
 };
 
+module.setMorphStart = (manifold: Manifold, func: (v: Vec3) => void): void => {
+  const morph = manifold2morph.get(manifold);
+  if (morph != null) {
+    morph.start = func;
+  } else {
+    manifold2morph.set(manifold, {start: func});
+  }
+};
+
+module.setMorphEnd = (manifold: Manifold, func: (v: Vec3) => void): void => {
+  const morph = manifold2morph.get(manifold);
+  if (morph != null) {
+    morph.end = func;
+  } else {
+    manifold2morph.set(manifold, {end: func});
+  }
+};
+
 function debug(manifold: Manifold, map: Map<number, Mesh>) {
   let result = manifold.asOriginal();
   map.set(result.originalID(), result.getMesh());
@@ -242,69 +315,153 @@ module.only = (manifold) => {
   return debug(manifold, singles);
 };
 
-// Setup complete
-self.postMessage(null);
-
-if (self.console) {
-  const oldLog = self.console.log;
-  self.console.log = function(...args) {
-    let message = '';
-    for (const arg of args) {
-      if (arg == null) {
-        message += 'undefined';
-      } else if (typeof arg == 'object') {
-        message += JSON.stringify(arg, null, 4);
-      } else {
-        message += arg.toString();
-      }
-    }
-    self.postMessage({log: message});
-    oldLog(...args);
-  };
-}
-
 // Swallow informational logs in testing framework
 function log(...args: any[]) {
-  if (self.console) {
+  if (typeof self !== 'undefined' && self.console) {
     self.console.log(...args);
   }
 }
 
-self.onmessage = async (e) => {
-  const content = e.data +
-      '\nreturn exportModels(typeof result === "undefined" ? undefined : result);\n';
-  try {
-    const f = new Function(
-        'exportModels', 'glMatrix', 'module', ...exposedFunctions, content);
-    await f(
-        exportModels, glMatrix, module,  //@ts-ignore
-        ...exposedFunctions.map(name => module[name]));
-  } catch (error: any) {
-    console.log(error.toString());
-    self.postMessage({objectURL: null});
-  } finally {
-    module.cleanup();
-    cleanup();
-  }
-};
+function euler2quat(rotation: Vec3): Quat {
+  const {quat} = glMatrix;
+  const deg2rad = Math.PI / 180;
+  const q = quat.create() as Quat;
+  quat.rotateZ(q, q, deg2rad * rotation[2]);
+  quat.rotateY(q, q, deg2rad * rotation[1]);
+  quat.rotateX(q, q, deg2rad * rotation[0]);
+  return q;
+}
 
-function createGLTFnode(doc: Document, node: GLTFNode) {
+function addMotion(
+    doc: Document, type: 'translation'|'rotation'|'scale', node: GLTFNode,
+    out: Node): Vec3|null {
+  const motion = node[type];
+  if (motion == null) {
+    return null;
+  }
+  if (typeof motion !== 'function') {
+    return motion;
+  }
+
+  const nFrames = timesAccessor.getCount();
+  const nEl = type == 'rotation' ? 4 : 3;
+  const frames = new Float32Array(nEl * nFrames);
+  for (let i = 0; i < nFrames; ++i) {
+    const x = i / (nFrames - 1);
+    const m = motion(
+        globalDefaults.animationMode !== 'ping-pong' ?
+            x :
+            (1 - Math.cos(x * 2 * Math.PI)) / 2);
+    frames.set(nEl === 4 ? euler2quat(m) : m, nEl * i);
+  }
+
+  const framesAccessor =
+      doc.createAccessor(node.name + ' ' + type + ' frames')
+          .setBuffer(doc.getRoot().listBuffers()[0])
+          .setArray(frames)
+          .setType(nEl === 4 ? Accessor.Type.VEC4 : Accessor.Type.VEC3);
+  const sampler = doc.createAnimationSampler()
+                      .setInput(timesAccessor)
+                      .setOutput(framesAccessor)
+                      .setInterpolation('LINEAR');
+  const channel = doc.createAnimationChannel()
+                      .setTargetPath(type)
+                      .setTargetNode(out)
+                      .setSampler(sampler);
+  animation.addSampler(sampler);
+  animation.addChannel(channel);
+  hasAnimation = true;
+  return motion(0);
+}
+
+function setMorph(doc: Document, node: Node, manifold: Manifold) {
+  if (manifold2morph.has(manifold)) {
+    const channel = doc.createAnimationChannel()
+                        .setTargetPath('weights')
+                        .setTargetNode(node)
+                        .setSampler(weightsSampler);
+    animation.addChannel(channel);
+    hasAnimation = true;
+  }
+}
+
+function morphStart(manifoldMesh: Mesh, morph?: Morph): number[] {
+  const inputPositions: number[] = [];
+  if (morph == null) {
+    return inputPositions;
+  }
+
+  for (let i = 0; i < manifoldMesh.numVert; ++i) {
+    for (let j = 0; j < 3; ++j)
+      inputPositions[i * 3 + j] =
+          manifoldMesh.vertProperties[i * manifoldMesh.numProp + j];
+  }
+  if (morph.start) {
+    for (let i = 0; i < manifoldMesh.numVert; ++i) {
+      const vertProp = manifoldMesh.vertProperties;
+      const offset = i * manifoldMesh.numProp;
+      const pos = inputPositions.slice(offset, offset + 3) as Vec3;
+      morph.start(pos);
+      for (let j = 0; j < 3; ++j) vertProp[offset + j] = pos[j];
+    }
+  }
+  return inputPositions;
+}
+
+function morphEnd(
+    doc: Document, manifoldMesh: Mesh, mesh: GLTFMesh, inputPositions: number[],
+    morph?: Morph) {
+  if (morph == null) {
+    return;
+  }
+
+  mesh.setWeights([0]);
+
+  mesh.listPrimitives().forEach((primitive, i) => {
+    if (morph.end) {
+      for (let i = 0; i < manifoldMesh.numVert; ++i) {
+        const pos = inputPositions.slice(3 * i, 3 * (i + 1)) as Vec3;
+        morph.end(pos);
+        inputPositions.splice(3 * i, 3, ...pos);
+      }
+    }
+
+    const startPosition = primitive.getAttribute('POSITION')!.getArray()!;
+    const array = new Float32Array(startPosition.length);
+
+    const offset = manifoldMesh.runIndex[i];
+    for (let j = 0; j < array.length; ++j) {
+      array[j] = inputPositions[offset + j] - startPosition[j];
+    }
+
+    const morphAccessor = doc.createAccessor(mesh.getName() + ' morph target')
+                              .setBuffer(doc.getRoot().listBuffers()[0])
+                              .setArray(array)
+                              .setType(Accessor.Type.VEC3);
+    const morphTarget =
+        doc.createPrimitiveTarget().setAttribute('POSITION', morphAccessor);
+    primitive.addTarget(morphTarget);
+  });
+}
+
+function createGLTFnode(doc: Document, node: GLTFNode): Node {
   const out = doc.createNode(node.name);
-  if (node.translation) {
-    out.setTranslation(node.translation);
+
+  const pos = addMotion(doc, 'translation', node, out);
+  if (pos != null) {
+    out.setTranslation(pos);
   }
-  if (node.rotation) {
-    const {quat} = glMatrix;
-    const deg2rad = Math.PI / 180;
-    const q = quat.create() as Quat;
-    quat.rotateX(q, q, deg2rad * node.rotation[0]);
-    quat.rotateY(q, q, deg2rad * node.rotation[1]);
-    quat.rotateZ(q, q, deg2rad * node.rotation[2]);
-    out.setRotation(q);
+
+  const rot = addMotion(doc, 'rotation', node, out);
+  if (rot != null) {
+    out.setRotation(euler2quat(rot));
   }
-  if (node.scale) {
-    out.setScale(node.scale);
+
+  const scale = addMotion(doc, 'scale', node, out);
+  if (scale != null) {
+    out.setScale(scale);
   }
+
   return out;
 }
 
@@ -318,15 +475,13 @@ function getBackupMaterial(node?: GLTFNode): GLTFMaterial {
   return node.material;
 }
 
-function makeDefaultedMaterial(doc: Document, {
-  roughness = 0.2,
-  metallic = 1,
-  baseColorFactor = [1, 1, 0],
-  alpha = 1,
-  unlit = false,
-  name = ''
-}: GLTFMaterial = {}): Material {
-  const material = doc.createMaterial(name);
+function makeDefaultedMaterial(
+    doc: Document, matIn: GLTFMaterial = {}): Material {
+  const defaults = {...globalDefaults};
+  Object.assign(defaults, matIn);
+  const {roughness, metallic, baseColorFactor, alpha, unlit} = defaults;
+
+  const material = doc.createMaterial(matIn.name ?? '');
 
   if (unlit) {
     const unlit = doc.createExtension(KHRMaterialsUnlit).createUnlit();
@@ -373,19 +528,23 @@ function addMesh(
   // From Z-up to Y-up (glTF)
   const manifoldMesh = manifold.getMesh();
 
-  const materials = new Array<GLTFMaterial>();
-  const attributes = new Array<Array<string>>();
+  const id2properties = new Map<number, Properties>();
   for (const id of manifoldMesh.runOriginalID!) {
     const material = id2material.get(id) || backupMaterial;
-    materials.push(material);
-    attributes.push(['POSITION', ...material.attributes ?? []]);
+    id2properties.set(id, {
+      material: getCachedMaterial(doc, ghost ? GHOST : material),
+      attributes: ['POSITION', ...material.attributes ?? []]
+    });
   }
 
-  const gltfMaterials = materials.map((matDef) => {
-    return getCachedMaterial(doc, ghost ? GHOST : matDef);
-  });
+  const morph = manifold2morph.get(manifold);
+  const inputPositions = morphStart(manifoldMesh, morph);
 
-  node.setMesh(writeMesh(doc, manifoldMesh, attributes, gltfMaterials));
+  const mesh = writeMesh(doc, manifoldMesh, id2properties);
+  mesh.setName(node.getName());
+  node.setMesh(mesh);
+
+  morphEnd(doc, manifoldMesh, mesh, inputPositions, morph);
 
   const vertices = manifoldMesh.numProp === 3 ?
       manifoldMesh.vertProperties :
@@ -402,21 +561,18 @@ function addMesh(
       {vertices, indices: manifoldMesh.triVerts, id: `${nextGlobalID++}`});
 
   for (const [run, id] of manifoldMesh.runOriginalID!.entries()) {
-    let inMesh = shown.get(id);
-    let single = false;
-    if (inMesh == null) {
-      single = true;
-      inMesh = singles.get(id);
-    }
+    const show = shown.has(id);
+    const inMesh = show ? shown.get(id) : singles.get(id);
     if (inMesh == null) {
       continue;
     }
-    const mat = single ? materials[run] : SHOW;
-    const debugNode =
-        doc.createNode('debug')
-            .setMesh(writeMesh(
-                doc, inMesh, attributes, [getCachedMaterial(doc, mat)]))
-            .setMatrix(manifoldMesh.transform(run));
+
+    id2properties.get(id)!.material = getCachedMaterial(
+        doc, show ? SHOW : (id2material.get(id) || backupMaterial));
+
+    const debugNode = doc.createNode('debug')
+                          .setMesh(writeMesh(doc, inMesh, id2properties))
+                          .setMatrix(manifoldMesh.transform(run));
     node.addChild(debugNode);
   }
 }
@@ -450,6 +606,7 @@ function createNodeFromCache(
   const node = createGLTFnode(doc, nodeDef);
   const {manifold} = nodeDef;
   if (manifold != null) {
+    setMorph(doc, node, manifold);
     const backupMaterial = getBackupMaterial(nodeDef);
     const cachedNodes = manifold2node.get(manifold);
     if (cachedNodes == null) {
@@ -481,7 +638,10 @@ function createNodeFromCache(
   return node;
 }
 
-async function exportModels(manifold?: Manifold) {
+async function exportModels(defaults: GlobalDefaults, manifold?: Manifold) {
+  Object.assign(globalDefaults, GLOBAL_DEFAULTS);
+  Object.assign(globalDefaults, defaults);
+
   const doc = new Document();
   const halfRoot2 = Math.sqrt(2) / 2;
   const mm2m = 1 / 1000;
@@ -490,6 +650,32 @@ async function exportModels(manifold?: Manifold) {
                       .setScale([mm2m, mm2m, mm2m]);
   doc.createScene().addChild(wrapper);
 
+  animation = doc.createAnimation('');
+  hasAnimation = false;
+  const nFrames = Math.round(globalDefaults.animationLength * FPS) + 1;
+  const times = new Float32Array(nFrames);
+  const weights = new Float32Array(nFrames);
+  for (let i = 0; i < nFrames; ++i) {
+    const x = i / (nFrames - 1);
+    times[i] = x * globalDefaults.animationLength;
+    weights[i] = globalDefaults.animationMode !== 'ping-pong' ?
+        x :
+        (1 - Math.cos(x * 2 * Math.PI)) / 2;
+  }
+  timesAccessor = doc.createAccessor('animation times')
+                      .setBuffer(doc.createBuffer())
+                      .setArray(times)
+                      .setType(Accessor.Type.SCALAR);
+  weightsAccessor = doc.createAccessor('animation weights')
+                        .setBuffer(doc.getRoot().listBuffers()[0])
+                        .setArray(weights)
+                        .setType(Accessor.Type.SCALAR);
+  weightsSampler = doc.createAnimationSampler()
+                       .setInput(timesAccessor)
+                       .setOutput(weightsAccessor)
+                       .setInterpolation('LINEAR');
+  animation.addSampler(weightsSampler);
+
   const to3mf = {
     meshes: [],
     components: [],
@@ -547,20 +733,56 @@ async function exportModels(manifold?: Manifold) {
     to3mf.items.push({objectID: `${object2globalID.get(manifold)}`});
   }
 
+  if (!hasAnimation) {
+    timesAccessor.dispose();
+    weightsAccessor.dispose();
+    weightsSampler.dispose();
+    animation.dispose();
+  }
+
   const glb = await io.writeBinary(doc);
   const blobGLB = new Blob([glb], {type: 'application/octet-stream'});
 
-  const model = to3dmodel(to3mf);
+  const fileForRelThumbnail = new FileForRelThumbnail();
+  fileForRelThumbnail.add3dModel('3D/3dmodel.model')
+
+  const model = to3dmodel(to3mf as any);
   const files: Zippable = {};
   files['3D/3dmodel.model'] = strToU8(model);
   files[fileForContentTypes.name] = strToU8(fileForContentTypes.content);
+  files[fileForRelThumbnail.name] = strToU8(fileForRelThumbnail.content);
   const zipFile = zipSync(files);
   const blob3MF = new Blob(
       [zipFile],
       {type: 'application/vnd.ms-package.3dmanufacturing-3dmodel+xml'});
 
-  self.postMessage({
+  return ({
     glbURL: URL.createObjectURL(blobGLB),
     threeMFURL: URL.createObjectURL(blob3MF)
   });
 }
+
+function evaluateCADToManifold(code: string) {
+  const globalDefaults = {} as GlobalDefaults;
+  const context = {
+    globalDefaults,
+    exportModels,
+    glMatrix,
+    module,
+    ...Object.fromEntries(
+        exposedFunctions.map((name) => [name, (module as any)[name]]),
+        ),
+  };
+  const evalFn = new Function(
+      ...Object.keys(context),
+      'resetToCircularDefaults();\n' + code +
+          '\n return typeof result === "undefined" ? undefined : result;',
+  );
+  const manifold = evalFn(...Object.values(context));
+  return {globalDefaults, manifold};
+}
+
+export async function evaluateCADToModel(code: string) {
+  const {globalDefaults, manifold} = evaluateCADToManifold(code);
+  return await exportModels(globalDefaults, manifold);
+}

bindings/wasm/manifold-encapsulated-types.d.ts

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-import {Box, FillRule, JoinType, Mat4, Polygons, Properties, Rect, SealedFloat32Array, SealedUint32Array, SimplePolygon, Smoothness, Vec2, Vec3} from './manifold-global-types';
+import {Box, FillRule, JoinType, Mat3, Mat4, Polygons, Properties, Rect, SealedFloat32Array, SealedUint32Array, SimplePolygon, Smoothness, Vec2, Vec3} from './manifold-global-types';
 
 /**
  * Triangulates a set of /epsilon-valid polygons.
@@ -38,6 +38,7 @@ export function setMinCircularAngle(angle: number): void;
 export function setMinCircularEdgeLength(length: number): void;
 export function setCircularSegments(segments: number): void;
 export function getCircularSegments(radius: number): number;
+export function resetToCircularDefaults(): void;
 ///@}
 
 export class CrossSection {
@@ -559,6 +560,37 @@ export class Manifold {
    */
   warp(warpFunc: (vert: Vec3) => void): Manifold;
 
+  /**
+   * Smooths out the Manifold by filling in the halfedgeTangent vectors. The
+   * geometry will remain unchanged until Refine or RefineToLength is called to
+   * interpolate the surface. This version uses the supplied vertex normal
+   * properties to define the tangent vectors.
+   *
+   * @param normalIdx The first property channel of the normals. NumProp must be
+   * at least normalIdx + 3. Any vertex where multiple normals exist and don't
+   * agree will result in a sharp edge.
+   */
+  smoothByNormals(normalIdx: number): Manifold;
+
+  /**
+   * Smooths out the Manifold by filling in the halfedgeTangent vectors. The
+   * geometry will remain unchanged until Refine or RefineToLength is called to
+   * interpolate the surface. This version uses the geometry of the triangles
+   * and pseudo-normals to define the tangent vectors.
+   *
+   * @param minSharpAngle degrees, default 60. Any edges with angles greater
+   * than this value will remain sharp. The rest will be smoothed to G1
+   * continuity, with the caveat that flat faces of three or more triangles will
+   * always remain flat. With a value of zero, the model is faceted, but in this
+   * case there is no point in smoothing.
+   *
+   * @param minSmoothness range: 0 - 1, default 0. The smoothness applied to
+   * sharp angles. The default gives a hard edge, while values > 0 will give a
+   * small fillet on these sharp edges. A value of 1 is equivalent to a
+   * minSharpAngle of 180 - all edges will be smooth.
+   */
+  smoothOut(minSharpAngle?: number, minSmoothness?: number): Manifold;
+
   /**
    * Increase the density of the mesh by splitting every edge into n pieces. For
    * instance, with n = 2, each triangle will be split into 4 triangles. These
@@ -571,6 +603,18 @@ export class Manifold {
    */
   refine(n: number): Manifold;
 
+  /**
+   * Increase the density of the mesh by splitting each edge into pieces of
+   * roughly the input length. Interior verts are added to keep the rest of the
+   * triangulation edges also of roughly the same length. If halfedgeTangents
+   * are present (e.g. from the Smooth() constructor), the new vertices will be
+   * moved to the interpolated surface according to their barycentric
+   * coordinates.
+   *
+   * @param length The length that edges will be broken down to.
+   */
+  refineToLength(length: number): Manifold;
+
   /**
    * Create a new copy of this manifold with updated vertex properties by
    * supplying a function that takes the existing position and properties as
@@ -606,6 +650,24 @@ export class Manifold {
    */
   calculateCurvature(gaussianIdx: number, meanIdx: number): Manifold;
 
+  /**
+   * Fills in vertex properties for normal vectors, calculated from the mesh
+   * geometry. Flat faces composed of three or more triangles will remain flat.
+   *
+   * @param normalIdx The property channel in which to store the X
+   * values of the normals. The X, Y, and Z channels will be sequential. The
+   * property set will be automatically expanded to include up through normalIdx
+   * + 2.
+   *
+   * @param minSharpAngle Any edges with angles greater than this value will
+   * remain sharp, getting different normal vector properties on each side of
+   * the edge. By default, no edges are sharp and all normals are shared. With a
+   * value of zero, the model is faceted and all normals match their triangle
+   * normals, but in this case it would be better not to calculate normals at
+   * all.
+   */
+  calculateNormals(normalIdx: number, minSharpAngle: number): Manifold;
+
   // Boolean Operations
 
   /**
@@ -685,6 +747,22 @@ export class Manifold {
    */
   trimByPlane(normal: Vec3, originOffset: number): Manifold;
 
+  /**
+   * Returns the cross section of this object parallel to the X-Y plane at the
+   * specified height. Using a height equal to the bottom
+   * of the bounding box will return the bottom faces, while using a height
+   * equal to the top of the bounding box will return empty.
+   *
+   * @param height Z-level of slice.
+   */
+  slice(height: number): CrossSection;
+
+  /**
+   * Returns a cross section representing the projected outline of this object
+   * onto the X-Y plane.
+   */
+  project(): CrossSection;
+
   // Convex Hulls
 
   /**
@@ -781,6 +859,13 @@ export class Manifold {
    */
   getProperties(): Properties;
 
+
+  /*
+   * Returns the minimum gap between two manifolds. Returns a float between
+   * 0 and searchLength.
+   */
+  minGap(other: Manifold, searchLength: number): number;
+
   // Export
 
   /**
@@ -838,19 +923,7 @@ export class Manifold {
   delete(): void;
 }
 
-export class Mesh {
-  constructor(options: {
-    numProp: number,
-    vertProperties: Float32Array,
-    triVerts: Uint32Array,
-    mergeFromVert?: Uint32Array,
-    mergeToVert?: Uint32Array,
-    runIndex?: Uint32Array,
-    runOriginalID?: Uint32Array,
-    runTransform?: Float32Array,
-    faceID?: Uint32Array,
-    halfedgeTangent?: Float32Array
-  });
+export interface MeshOptions {
   numProp: number;
   vertProperties: Float32Array;
   triVerts: Uint32Array;
@@ -861,6 +934,20 @@ export class Mesh {
   runTransform?: Float32Array;
   faceID?: Uint32Array;
   halfedgeTangent?: Float32Array;
+}
+
+export class Mesh {
+  constructor(options: MeshOptions);
+  numProp: number;
+  vertProperties: Float32Array;
+  triVerts: Uint32Array;
+  mergeFromVert: Uint32Array;
+  mergeToVert: Uint32Array;
+  runIndex: Uint32Array;
+  runOriginalID: Uint32Array;
+  runTransform: Float32Array;
+  faceID: Uint32Array;
+  halfedgeTangent: Float32Array;
   get numTri(): number;
   get numVert(): number;
   get numRun(): number;

bindings/wasm/manifold-global-types.d.ts

@@ -22,6 +22,18 @@ export interface SealedFloat32Array<N extends number> extends Float32Array {
 
 export type Vec2 = [number, number];
 export type Vec3 = [number, number, number];
+// 3x3 matrix stored in column-major order
+export type Mat3 = [
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+  number,
+];
 // 4x4 matrix stored in column-major order
 export type Mat4 = [
   number,

bindings/wasm/manifold.d.ts

@@ -28,6 +28,7 @@ export interface ManifoldToplevel {
   setMinCircularEdgeLength: typeof T.setMinCircularEdgeLength;
   setCircularSegments: typeof T.setCircularSegments;
   getCircularSegments: typeof T.getCircularSegments;
+  resetToCircularDefaults: typeof T.resetToCircularDefaults;
   setup: () => void;
 }
 

bindings/wasm/package.json

@@ -1,6 +1,6 @@
 {
   "name": "manifold-3d",
-  "version": "2.1.0",
+  "version": "2.5.1",
   "description": "Geometry library for topological robustness",
   "main": "manifold.js",
   "files": [

extras/CMakeLists.txt

@@ -41,8 +41,9 @@ endif()
 if(BUILD_TEST_CGAL)
     add_executable(perfTestCGAL perf_test_cgal.cpp)
     find_package(CGAL REQUIRED COMPONENTS Core)
+    find_package(Boost REQUIRED COMPONENTS thread)
     target_compile_definitions(perfTestCGAL PRIVATE CGAL_USE_GMPXX)
-    target_link_libraries(perfTestCGAL manifold CGAL::CGAL CGAL::CGAL_Core)
+    target_link_libraries(perfTestCGAL manifold CGAL::CGAL CGAL::CGAL_Core Boost::thread)
     target_compile_options(perfTestCGAL PRIVATE ${MANIFOLD_FLAGS})
     target_compile_features(perfTestCGAL PUBLIC cxx_std_17)
 endif()

flake.lock

@@ -1,15 +1,31 @@
 {
   "nodes": {
+    "clipper2-src": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1715688111,
+        "narHash": "sha256-iy2QV8IVEEIPijWIpzIQtqIQeTU4bfiH41pC0X6m72U=",
+        "owner": "AngusJohnson",
+        "repo": "Clipper2",
+        "rev": "ff378668baae3570e9d8070aa9eb339bdd5a6aba",
+        "type": "github"
+      },
+      "original": {
+        "owner": "AngusJohnson",
+        "repo": "Clipper2",
+        "type": "github"
+      }
+    },
     "flake-utils": {
       "inputs": {
         "systems": "systems"
       },
       "locked": {
-        "lastModified": 1692799911,
-        "narHash": "sha256-3eihraek4qL744EvQXsK1Ha6C3CR7nnT8X2qWap4RNk=",
+        "lastModified": 1701680307,
+        "narHash": "sha256-kAuep2h5ajznlPMD9rnQyffWG8EM/C73lejGofXvdM8=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "f9e7cf818399d17d347f847525c5a5a8032e4e44",
+        "rev": "4022d587cbbfd70fe950c1e2083a02621806a725",
         "type": "github"
       },
       "original": {
@@ -37,11 +53,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1692734709,
-        "narHash": "sha256-SCFnyHCyYjwEmgUsHDDuU0TsbVMKeU1vwkR+r7uS2Rg=",
+        "lastModified": 1704722960,
+        "narHash": "sha256-mKGJ3sPsT6//s+Knglai5YflJUF2DGj7Ai6Ynopz0kI=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "b85ed9dcbf187b909ef7964774f8847d554fab3b",
+        "rev": "317484b1ead87b9c1b8ac5261a8d2dd748a0492d",
         "type": "github"
       },
       "original": {
@@ -52,9 +68,11 @@
     },
     "root": {
       "inputs": {
+        "clipper2-src": "clipper2-src",
         "flake-utils": "flake-utils",
         "gtest-src": "gtest-src",
-        "nixpkgs": "nixpkgs"
+        "nixpkgs": "nixpkgs",
+        "thrust-src": "thrust-src"
       }
     },
     "systems": {
@@ -71,6 +89,24 @@
         "repo": "default",
         "type": "github"
       }
+    },
+    "thrust-src": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1696873248,
+        "narHash": "sha256-mUhMXGPbO2t83EvI8YNDRLngvLiwfzs4EgRrcxKfhHs=",
+        "ref": "refs/heads/main",
+        "rev": "756c5afc0750f1413da05bd2b6505180e84c53d4",
+        "revCount": 4758,
+        "submodules": true,
+        "type": "git",
+        "url": "https://github.com/NVIDIA/thrust.git"
+      },
+      "original": {
+        "submodules": true,
+        "type": "git",
+        "url": "https://github.com/NVIDIA/thrust.git"
+      }
     }
   },
   "root": "root",

flake.nix

@@ -5,7 +5,15 @@
     url = "github:google/googletest/v1.14.0";
     flake = false;
   };
-  outputs = { self, nixpkgs, flake-utils, gtest-src }:
+  inputs.thrust-src = {
+    url = "git+https://github.com/NVIDIA/thrust.git?submodules=1";
+    flake = false;
+  };
+  inputs.clipper2-src = {
+    url = "github:AngusJohnson/Clipper2";
+    flake = false;
+  };
+  outputs = { self, nixpkgs, flake-utils, gtest-src, thrust-src, clipper2-src }:
     flake-utils.lib.eachDefaultSystem
       (system:
         let
@@ -13,36 +21,9 @@
             inherit system;
             config.allowUnfree = true;
           };
-          thrust-210 = pkgs.nvidia-thrust.overrideAttrs (_: _: {
-            version = "24486a1";
-            src = builtins.fetchGit {
-              url = "https://github.com/NVIDIA/thrust.git";
-              ref = "main";
-              rev = "24486a169a62a58ef8f824d3dc9613c006b6f5a7";
-              submodules = true;
-            };
-            cmakeFlags = [ "-DTHRUST_ENABLE_HEADER_TESTING=OFF" "-DTHRUST_ENABLE_TESTING=OFF" "-DTHRUST_ENABLE_EXAMPLES=OFF" "-DTHRUST_DEVICE_SYSTEM=CPP" ];
-            fixupPhase = ''
-              cat <<EOT > $out/lib/cmake/thrust/thrust-header-search.cmake
-              # Parse version information from version.h in source tree
-              set(_THRUST_VERSION_INCLUDE_DIR "$out/include")
-              if(EXISTS "\''${_THRUST_VERSION_INCLUDE_DIR}/thrust/version.h")
-                set(_THRUST_VERSION_INCLUDE_DIR "\''${_THRUST_VERSION_INCLUDE_DIR}" CACHE FILEPATH "" FORCE) # Clear old result
-                set_property(CACHE _THRUST_VERSION_INCLUDE_DIR PROPERTY TYPE INTERNAL)
-              endif()
-              EOT
-              cat <<EOT > $out/lib/cmake/libcudacxx/libcudacxx-header-search.cmake
-              # Parse version information from version header:
-              unset(_libcudacxx_VERSION_INCLUDE_DIR CACHE) # Clear old result to force search
-              find_path(_libcudacxx_VERSION_INCLUDE_DIR cuda/std/detail/__config
-                NO_DEFAULT_PATH # Only search explicit paths below:
-                PATHS
-                  "\''${CMAKE_CURRENT_LIST_DIR}/../../../include" # Source tree
-              )
-              set_property(CACHE _libcudacxx_VERSION_INCLUDE_DIR PROPERTY TYPE INTERNAL)
-              EOT
-            '';
-            enableParallelBuilding = false;
+          clipper2 = pkgs.clipper2.overrideAttrs (_: _: {
+            version = "14052024";
+            src = clipper2-src;
           });
           manifold =
             { parallel-backend ? "none"
@@ -52,28 +33,38 @@
             }: pkgs.stdenv.mkDerivation {
               inherit doCheck;
               pname = "manifold-${parallel-backend}";
-              version = "2.2.0";
+              version = "2.5.1";
               src = self;
               nativeBuildInputs = (with pkgs; [
                 cmake
-                thrust-210
-                glm
                 ninja
-                (python39.withPackages
-                  (ps: with ps; [ trimesh ]))
+                (python3.withPackages
+                  (ps: with ps; [ trimesh pytest ]))
                 gtest
+                pkg-config
               ]) ++ build-tools;
+              buildInputs = with pkgs; [
+                glm
+                clipper2
+                assimp
+              ];
               cmakeFlags = [
                 "-DMANIFOLD_PYBIND=ON"
                 "-DMANIFOLD_CBIND=ON"
                 "-DBUILD_SHARED_LIBS=ON"
+                "-DFETCHCONTENT_SOURCE_DIR_THRUST=${thrust-src}"
                 "-DMANIFOLD_PAR=${pkgs.lib.strings.toUpper parallel-backend}"
               ];
+              prePatch = ''
+                substituteInPlace bindings/python/CMakeLists.txt \
+                  --replace 'DESTINATION ''${Python_SITEARCH}' 'DESTINATION "${placeholder "out"}/${pkgs.python3.sitePackages}"'
+              '';
               checkPhase = ''
                 cd test
                 ./manifold_test
                 cd ../../
                 PYTHONPATH=$PYTHONPATH:$(pwd)/build/bindings/python python3 bindings/python/examples/run_all.py
+                PYTHONPATH=$PYTHONPATH:$(pwd)/build/bindings/python python3 -m pytest
                 cd build
               '';
             };
@@ -84,14 +75,6 @@
               build-tools = with pkgs; [ tbb_2021_8 pkg-config ];
             }
           ];
-          devShell = { additional ? [ ] }: pkgs.mkShell {
-            buildInputs = with pkgs; [
-              cmake
-              tbb_2021_8
-              thrust-210
-              gtest
-            ] ++ additional;
-          };
         in
         {
           packages = (builtins.listToAttrs
@@ -103,11 +86,13 @@
               parallelBackends)) // {
             manifold-js = pkgs.buildEmscriptenPackage {
               name = "manifold-js";
-              version = "beta";
+              version = "2.5.1";
               src = self;
               nativeBuildInputs = (with pkgs; [ cmake python39 ]);
               buildInputs = [ pkgs.nodejs ];
               configurePhase = ''
+                cp -r ${clipper2-src} clipper2
+                chmod -R +w clipper2
                 mkdir -p .emscriptencache
                 export EM_CACHE=$(pwd)/.emscriptencache
                 mkdir build
@@ -115,7 +100,8 @@
                 emcmake cmake -DCMAKE_BUILD_TYPE=Release \
                 -DFETCHCONTENT_SOURCE_DIR_GLM=${pkgs.glm.src} \
                 -DFETCHCONTENT_SOURCE_DIR_GOOGLETEST=${gtest-src} \
-                -DFETCHCONTENT_SOURCE_DIR_THRUST=${thrust-210.src} ..
+                -DFETCHCONTENT_SOURCE_DIR_THRUST=${thrust-src} \
+                -DFETCHCONTENT_SOURCE_DIR_CLIPPER2=../clipper2 ..
               '';
               buildPhase = ''
                 emmake make -j''${NIX_BUILD_CORES}
@@ -134,15 +120,15 @@
             # but how should we make it work with other python versions?
             manifold3d = with pkgs.python3Packages; buildPythonPackage {
               pname = "manifold3d";
-              version = "2.2.0";
+              version = "2.5.1";
               src = self;
               propagatedBuildInputs = [
                 numpy
               ];
               buildInputs = with pkgs; [
                 tbb_2021_8
-                thrust-210
                 glm
+                clipper2
               ];
               nativeBuildInputs = with pkgs; [
                 cmake
@@ -153,18 +139,27 @@
                 pathspec
                 pkg-config
               ];
+              SKBUILD_CMAKE_DEFINE = "FETCHCONTENT_SOURCE_DIR_THRUST=${thrust-src}";
               checkInputs = [
                 trimesh
+                pytest
               ];
               format = "pyproject";
               dontUseCmakeConfigure = true;
               doCheck = true;
               checkPhase = ''
                 python3 bindings/python/examples/run_all.py
+                python3 -m pytest
               '';
             };
           };
-          devShell = devShell { };
+          devShell = pkgs.mkShell {
+            buildInputs = with pkgs; [
+              cmake
+              tbb_2021_8
+              gtest
+            ];
+          };
         }
       );
 }

format.sh

@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+
+shopt -s extglob
+if [ -z "$CLANG_FORMAT" ]; then
+CLANG_FORMAT=$(dirname $(which clang-11))/clang-format
+fi
+
+$CLANG_FORMAT -i extras/*.cpp
+$CLANG_FORMAT -i meshIO/**/*.{h,cpp}
+$CLANG_FORMAT -i samples/**/*.{h,cpp}
+$CLANG_FORMAT -i test/*.{h,cpp}
+$CLANG_FORMAT -i bindings/*/*.cpp
+$CLANG_FORMAT -i bindings/c/include/*.h
+$CLANG_FORMAT -i bindings/wasm/**/*.{js,ts,html}
+$CLANG_FORMAT -i src/!(third_party)/*/*.{h,cpp}
+black bindings/python/examples/*.py

manifoldConfig.cmake.in

@@ -0,0 +1,4 @@
+set(MANIFOLD_PAR "@MANIFOLD_PAR@")
+set(MANIFOLD_EXPORT "@MANIFOLD_EXPORT@")
+include("${CMAKE_CURRENT_LIST_DIR}/manifoldDeps.cmake")
+include("${CMAKE_CURRENT_LIST_DIR}/manifoldTargets.cmake")

manifoldDeps.cmake

@@ -0,0 +1,79 @@
+include(FetchContent)
+include(GNUInstallDirs)
+find_package(PkgConfig QUIET)
+find_package(Clipper2)
+if(MANIFOLD_PAR STREQUAL "TBB")
+    find_package(TBB QUIET)
+endif()
+if (PKG_CONFIG_FOUND)
+    if (NOT Clipper2_FOUND)
+        pkg_check_modules(Clipper2 Clipper2)
+    endif()
+    if(MANIFOLD_PAR STREQUAL "TBB" AND NOT TBB_FOUND)
+        pkg_check_modules(TBB tbb)
+    endif()
+endif()
+if(Clipper2_FOUND)
+    add_library(Clipper2 SHARED IMPORTED)
+    set_property(TARGET Clipper2 PROPERTY
+        IMPORTED_LOCATION ${Clipper2_LINK_LIBRARIES})
+    if(WIN32)
+        set_property(TARGET Clipper2 PROPERTY
+            IMPORTED_IMPLIB ${Clipper2_LINK_LIBRARIES})
+    endif()
+    target_include_directories(Clipper2 INTERFACE ${Clipper2_INCLUDE_DIRS})
+else()
+    message(STATUS "clipper2 not found, downloading from source")
+    set(CLIPPER2_UTILS OFF)
+    set(CLIPPER2_EXAMPLES OFF)
+    set(CLIPPER2_TESTS OFF)
+    set(CLIPPER2_USINGZ "OFF" CACHE STRING "Preempt cache default of USINGZ (we only use 2d)")
+    FetchContent_Declare(Clipper2
+        GIT_REPOSITORY https://github.com/AngusJohnson/Clipper2.git
+        GIT_TAG ff378668baae3570e9d8070aa9eb339bdd5a6aba
+        GIT_PROGRESS TRUE
+        SOURCE_SUBDIR CPP
+    )
+    FetchContent_MakeAvailable(Clipper2)
+    if(NOT EMSCRIPTEN)
+        install(TARGETS Clipper2)
+    endif()
+endif()
+
+find_package(glm QUIET)
+if(NOT glm_FOUND)
+    message(STATUS "glm not found, downloading from source")
+    set(GLM_BUILD_INSTALL "ON" CACHE STRING "")
+    FetchContent_Declare(glm
+        GIT_REPOSITORY https://github.com/g-truc/glm.git
+        GIT_TAG 1.0.1
+        GIT_PROGRESS TRUE
+    )
+    FetchContent_MakeAvailable(glm)
+    if(NOT EMSCRIPTEN)
+         install(TARGETS glm)
+    endif()
+endif()
+
+if(MANIFOLD_PAR STREQUAL "TBB" AND NOT TBB_FOUND)
+    message(STATUS "tbb not found, downloading from source")
+    include(FetchContent)
+    set(TBB_TEST OFF CACHE INTERNAL "" FORCE)
+    set(TBB_STRICT OFF CACHE INTERNAL "" FORCE)
+    FetchContent_Declare(TBB
+        GIT_REPOSITORY https://github.com/oneapi-src/oneTBB.git
+        GIT_TAG        v2021.11.0
+        GIT_PROGRESS   TRUE
+    )
+    FetchContent_MakeAvailable(TBB)
+    set_property(DIRECTORY ${tbb_SOURCE_DIR} PROPERTY EXCLUDE_FROM_ALL YES)
+    # note: we do want to install tbb to the user machine when built from
+    # source
+    if(NOT EMSCRIPTEN)
+        install(TARGETS tbb)
+    endif()
+endif()
+
+if(MANIFOLD_EXPORT)
+    find_package(assimp REQUIRED)
+endif()

meshIO/CMakeLists.txt

@@ -14,13 +14,11 @@
 
 project(meshIO)
 
-find_package(assimp REQUIRED)
-
 add_library(${PROJECT_NAME} src/meshIO.cpp)
 
-target_include_directories(${PROJECT_NAME}
-    PUBLIC ${PROJECT_SOURCE_DIR}/include
-)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    $<INSTALL_INTERFACE:include/${CMAKE_PROJECT_NAME}>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
 
 target_link_libraries(${PROJECT_NAME}
     PUBLIC manifold
@@ -30,13 +28,5 @@ target_link_libraries(${PROJECT_NAME}
 target_compile_options(${PROJECT_NAME} PRIVATE ${MANIFOLD_FLAGS})
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
 
-install(
-  TARGETS ${PROJECT_NAME}
-  LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
-  COMPONENT devel
-)
-install(
-  DIRECTORY include/
-  DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}/manifold
-  COMPONENT devel
-)
+install(TARGETS ${PROJECT_NAME} EXPORT manifoldTargets)
+install(FILES include/meshIO.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${CMAKE_PROJECT_NAME})

meshIO/src/meshIO.cpp

@@ -234,6 +234,7 @@ void ExportMesh(const std::string& filename, const MeshGL& mesh,
                    ? 1
                    : mesh.vertProperties[i * mesh.numProp +
                                          options.mat.colorChannels[j]];
+      c = glm::saturate(c);
       mesh_out->mColors[0][i] = aiColor4D(c.r, c.g, c.b, c.a);
     }
   }

minimizer.sh

@@ -0,0 +1,59 @@
+#!/usr/bin/env bash
+
+# Modified from https://github.com/google/fuzztest/blob/main/tools/minimizer.sh
+# If you want to use a specific reproducer, pass it in FUZZTEST_MINIMIZE_REPRODUCER
+# environment variable.
+# Otherwise, just run it as
+# $ ./minimizer.sh ./build/test/polygon_fuzz --fuzz=PolygonFuzz.TriangulationNoCrash
+# If you want to kill it, try SIGKILL, SIGTERM is not very useful
+# If you want to end the loop early, rename $(pwd)/reproducers into something
+# else...
+
+if [ -z "${FUZZTEST_MINIMIZE_REPRODUCER}"]; then
+  mkdir -p $(pwd)/reproducers
+  FUZZTEST_REPRODUCERS_OUT_DIR=$(pwd)/reproducers "$@"
+  wildcard="$(pwd)/reproducers/*"
+  reproducers=($wildcard)
+  FUZZTEST_MINIMIZE_REPRODUCER="${reproducers[0]}"
+fi
+readonly ORIGINAL_REPRODUCER="${FUZZTEST_MINIMIZE_REPRODUCER}"
+
+for i in {0001..9999}; do
+  echo
+  echo "╔════════════════════════════════════════════════╗"
+  echo "║ Minimization round: ${i}                       ║"
+  echo "╚════════════════════════════════════════════════╝"
+  echo "Note that to terminate early, simply move $ORIGINAL_REPRODUCER to somewhere else..."
+  echo
+
+  if [ ! -f $ORIGINAL_REPRODUCER ]; then
+    echo "Terminated by the user"
+    break
+  fi
+
+  TEMP_DIR=$(mktemp -d)
+  FUZZTEST_REPRODUCERS_OUT_DIR="${TEMP_DIR}" \
+  FUZZTEST_MINIMIZE_REPRODUCER="${FUZZTEST_MINIMIZE_REPRODUCER}" \
+  "$@"
+
+  if [ $? -eq 130 ]; then
+    echo
+    echo "╔═══════════════════════════════════════════════╗"
+    echo "║ Minimization terminated.                      ║"
+    echo "╚═══════════════════════════════════════════════╝"
+    echo
+    echo "Find the smallest reproducer at:"
+    echo
+    echo "${FUZZTEST_MINIMIZE_REPRODUCER}"
+
+    rm -rf "${TEMP_DIR}"
+    break
+  fi
+
+  SMALLER_REPRODUCER=$(find "${TEMP_DIR}" -type f)
+  NEW_NAME="${ORIGINAL_REPRODUCER}-min-${i}"
+  mv "${SMALLER_REPRODUCER}" "${NEW_NAME}"
+  FUZZTEST_MINIMIZE_REPRODUCER="${NEW_NAME}"
+
+  rm -rf "${TEMP_DIR}"
+done

pyproject.toml

@@ -1,13 +1,13 @@
 [project]
 name = "manifold3d"
-version = "2.2.0"
+version = "2.5.1"
 authors = [
   { name="Emmett Lalish", email="elalish@gmail.com" },
 ]
 description = "Library for geometric robustness"
 readme = "README.md"
 classifiers = [
-    "Development Status :: 4 - Beta",
+    "Development Status :: 5 - Production/Stable",
     "License :: OSI Approved :: Apache Software License",
     "Operating System :: OS Independent",
     "Programming Language :: C++",
@@ -42,20 +42,14 @@ sdist.exclude = [
     "oneTBB", # we may have this when we build with cibuildwheel
     "bindings/python/third_party/nanobind/tests/",
     "bindings/python/third_party/nanobind/docs/",
-    "src/third_party/clipper2/CPP/Examples/",
-    "src/third_party/clipper2/CPP/Tests/",
-    "src/third_party/clipper2/CSharp/",
-    "src/third_party/clipper2/Delphi/",
-    "src/third_party/clipper2/DLL/",
-    "src/third_party/clipper2/Tests/",
 ]
 wheel.packages = ["manifold3d"]
-cmake.args = ["-DMANIFOLD_PAR=TBB", "-DMANIFOLD_TEST=OFF"]
+cmake.args = ["-DMANIFOLD_PYBIND=ON", "-DMANIFOLD_PAR=TBB", "-DMANIFOLD_TEST=OFF", "-DBUILD_SHARED_LIBS=OFF"]
 install.components = ["bindings"]
 
 [tool.cibuildwheel]
 build-frontend = "build"
-test-requires = ["trimesh"]
+test-requires = ["trimesh", "pytest"]
 test-command = "python {project}/bindings/python/examples/run_all.py"
 # Setuptools bug causes collision between pypy and cpython artifacts
 manylinux-x86_64-image = "manylinux_2_28"

pytest.ini

@@ -0,0 +1,3 @@
+[pytest]
+testpaths =
+    bindings/python/examples

src/collider/CMakeLists.txt

@@ -15,18 +15,15 @@
 project (collider)
 
 file(GLOB_RECURSE SOURCE_FILES CONFIGURE_DEPENDS *.cpp)
-add_library(${PROJECT_NAME} ${SOURCE_FILES})
-
-target_include_directories(${PROJECT_NAME} PUBLIC ${PROJECT_SOURCE_DIR}/include)
+add_library(${PROJECT_NAME} OBJECT ${SOURCE_FILES})
+target_include_directories(${PROJECT_NAME} PUBLIC
+    $<INSTALL_INTERFACE:include/${CMAKE_PROJECT_NAME}>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
 target_link_libraries(${PROJECT_NAME} PUBLIC utilities)
 target_compile_options(${PROJECT_NAME} PRIVATE ${MANIFOLD_FLAGS})
 
 target_compile_features(${PROJECT_NAME}
     PUBLIC cxx_std_17
 )
-
-install(
-  TARGETS ${PROJECT_NAME}
-  LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
-  COMPONENT runtime
-)
+install(TARGETS ${PROJECT_NAME} EXPORT manifoldTargets)
+install(FILES include/collider.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${CMAKE_PROJECT_NAME})

src/collider/include/collider.h

@@ -30,6 +30,7 @@ class Collider {
   template <const bool selfCollision = false, const bool inverted = false,
             typename T>
   SparseIndices Collisions(const VecView<const T>& queriesIn) const;
+  static uint32_t MortonCode(glm::vec3 position, Box bBox);
 
  private:
   Vec<Box> nodeBBox_;
@@ -38,7 +39,9 @@ class Collider {
   Vec<thrust::pair<int, int>> internalChildren_;
 
   int NumInternal() const { return internalChildren_.size(); };
-  int NumLeaves() const { return NumInternal() + 1; };
+  int NumLeaves() const {
+    return internalChildren_.empty() ? 0 : (NumInternal() + 1);
+  };
 };
 
 }  // namespace manifold

src/collider/src/collider.cpp

@@ -265,6 +265,14 @@ struct TransformBox {
   const glm::mat4x3 transform;
   void operator()(Box& box) { box = box.Transform(transform); }
 };
+
+uint32_t SpreadBits3(uint32_t v) {
+  v = 0xFF0000FFu & (v * 0x00010001u);
+  v = 0x0F00F00Fu & (v * 0x00000101u);
+  v = 0xC30C30C3u & (v * 0x00000011u);
+  v = 0x49249249u & (v * 0x00000005u);
+  return v;
+}
 }  // namespace
 
 namespace manifold {
@@ -276,6 +284,7 @@ namespace manifold {
  */
 Collider::Collider(const VecView<const Box>& leafBB,
                    const VecView<const uint32_t>& leafMorton) {
+  ZoneScoped;
   ASSERT(leafBB.size() == leafMorton.size(), userErr,
          "vectors must be the same length");
   int num_nodes = 2 * leafBB.size() - 1;
@@ -299,6 +308,7 @@ Collider::Collider(const VecView<const Box>& leafBB,
  */
 template <const bool selfCollision, const bool inverted, typename T>
 SparseIndices Collider::Collisions(const VecView<const T>& queriesIn) const {
+  ZoneScoped;
   // note that the length is 1 larger than the number of queries so the last
   // element can store the sum when using exclusive scan
   if (queriesIn.size() < kSequentialThreshold) {
@@ -336,6 +346,7 @@ SparseIndices Collider::Collisions(const VecView<const T>& queriesIn) const {
  * hierarchy.
  */
 void Collider::UpdateBoxes(const VecView<const Box>& leafBB) {
+  ZoneScoped;
   ASSERT(leafBB.size() == NumLeaves(), userErr,
          "must have the same number of updated boxes as original");
   // copy in leaf node Boxes
@@ -355,6 +366,7 @@ void Collider::UpdateBoxes(const VecView<const Box>& leafBB) {
  * axis-aligned, abort and return false to indicate recalculation is necessary.
  */
 bool Collider::Transform(glm::mat4x3 transform) {
+  ZoneScoped;
   bool axisAligned = true;
   for (int row : {0, 1, 2}) {
     int count = 0;
@@ -370,6 +382,18 @@ bool Collider::Transform(glm::mat4x3 transform) {
   return axisAligned;
 }
 
+/**
+ * Calculate the 32-bit Morton code of a position within a bounding box.
+ */
+uint32_t Collider::MortonCode(glm::vec3 position, Box bBox) {
+  glm::vec3 xyz = (position - bBox.min) / (bBox.max - bBox.min);
+  xyz = glm::min(glm::vec3(1023.0f), glm::max(glm::vec3(0.0f), 1024.0f * xyz));
+  uint32_t x = SpreadBits3(static_cast<uint32_t>(xyz.x));
+  uint32_t y = SpreadBits3(static_cast<uint32_t>(xyz.y));
+  uint32_t z = SpreadBits3(static_cast<uint32_t>(xyz.z));
+  return x * 4 + y * 2 + z;
+}
+
 template SparseIndices Collider::Collisions<true, false, Box>(
     const VecView<const Box>&) const;
 
@@ -387,5 +411,4 @@ template SparseIndices Collider::Collisions<false, true, Box>(
 
 template SparseIndices Collider::Collisions<false, true, glm::vec3>(
     const VecView<const glm::vec3>&) const;
-
 }  // namespace manifold

src/cross_section/CMakeLists.txt

@@ -13,28 +13,24 @@
 # limitations under the License.
 
 project (cross_section)
-
 file(GLOB_RECURSE SOURCE_FILES CONFIGURE_DEPENDS *.cpp)
-add_library(${PROJECT_NAME} ${SOURCE_FILES})
+add_library(${PROJECT_NAME} OBJECT ${SOURCE_FILES})
+target_include_directories(${PROJECT_NAME} PUBLIC
+    $<INSTALL_INTERFACE:include/${CMAKE_PROJECT_NAME}>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
 
-target_include_directories(${PROJECT_NAME}
-    PUBLIC ${PROJECT_SOURCE_DIR}/include
-)
-target_link_libraries( ${PROJECT_NAME}
-    PUBLIC utilities Clipper2
-)
+if(TARGET Clipper2::Clipper2)
+    target_link_libraries(${PROJECT_NAME}
+        PUBLIC utilities
+        PRIVATE Clipper2::Clipper2)
+else()
+    target_link_libraries(${PROJECT_NAME}
+        PUBLIC utilities
+        PRIVATE Clipper2)
+endif()
 
 target_compile_options(${PROJECT_NAME} PRIVATE ${MANIFOLD_FLAGS})
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
 
-install(
-  TARGETS ${PROJECT_NAME}
-  LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
-  COMPONENT runtime
-)
-install(
-  DIRECTORY include/
-  DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}/manifold
-  COMPONENT devel
-)
-
+install(TARGETS ${PROJECT_NAME} EXPORT manifoldTargets)
+install(FILES include/cross_section.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${CMAKE_PROJECT_NAME})

src/cross_section/include/cross_section.h

@@ -21,6 +21,7 @@
 #include "glm/ext/matrix_float3x2.hpp"
 #include "glm/ext/vector_float2.hpp"
 #include "public.h"
+#include "vec_view.h"
 
 namespace manifold {
 
@@ -97,6 +98,8 @@ class CrossSection {
   CrossSection Mirror(const glm::vec2 ax) const;
   CrossSection Transform(const glm::mat3x2& m) const;
   CrossSection Warp(std::function<void(glm::vec2&)> warpFunc) const;
+  CrossSection WarpBatch(
+      std::function<void(VecView<glm::vec2>)> warpFunc) const;
   CrossSection Simplify(double epsilon = 1e-6) const;
 
   // Adapted from Clipper2 docs:

src/cross_section/src/cross_section.cpp

@@ -146,55 +146,63 @@ void decompose_hole(const C2::PolyTreeD* outline,
   }
 }
 
+void flatten(const C2::PolyTreeD* tree, C2::PathsD& polys, int i) {
+  auto n_outlines = tree->Count();
+  if (i < n_outlines) {
+    auto outline = tree->Child(i);
+    flatten(outline, polys, 0);
+    polys.push_back(outline->Polygon());
+    if (i < n_outlines - 1) {
+      flatten(tree, polys, i + 1);
+    }
+  }
+}
+
 bool V2Lesser(glm::vec2 a, glm::vec2 b) {
   if (a.x == b.x) return a.y < b.y;
   return a.x < b.x;
 }
 
-double Cross(glm::vec2 a, glm::vec2 b) { return a.x * b.y - a.y * b.x; }
-
-double SquaredDistance(glm::vec2 a, glm::vec2 b) {
-  auto d = a - b;
-  return glm::dot(d, d);
-}
-
-bool IsCw(glm::vec2 a, glm::vec2 b, glm::vec2 c) {
-  double lhs = Cross(a - c, b - c);
-  double rhs = 1e-18 * SquaredDistance(a, c) * SquaredDistance(b, c);
-  return lhs * std::abs(lhs) <= rhs;
-}
-
-void HullBacktrack(const SimplePolygon& pts, const int idx,
-                   std::vector<int>& keep, const int hold) {
-  const int stop = keep.size() - hold;
-  int i = 0;
-  while (i < stop && !IsCw(pts[idx], pts[keep[keep.size() - 1]],
-                           pts[keep[keep.size() - 2]])) {
-    keep.pop_back();
-    i++;
+void HullBacktrack(const glm::vec2& pt, std::vector<glm::vec2>& stack) {
+  auto sz = stack.size();
+  while (sz >= 2 && CCW(stack[sz - 2], stack[sz - 1], pt, 0.0f) <= 0.0f) {
+    stack.pop_back();
+    sz = stack.size();
   }
 }
 
 // Based on method described here:
 // https://www.hackerearth.com/practice/math/geometry/line-sweep-technique/tutorial/
+// Changed to follow:
+// https://en.wikibooks.org/wiki/Algorithm_Implementation/Geometry/Convex_hull/Monotone_chain
+// This is the same algorithm (Andrew, also called Montone Chain).
 C2::PathD HullImpl(SimplePolygon& pts) {
   int len = pts.size();
   if (len < 3) return C2::PathD();  // not enough points to create a polygon
   std::sort(pts.begin(), pts.end(), V2Lesser);
-  auto keep = std::vector<int>{0, 1};
-  for (int i = 2; i < len; i++) {
-    HullBacktrack(pts, i, keep, 1);
-    keep.push_back(i);
+
+  auto lower = std::vector<glm::vec2>{};
+  for (int i = 0; i < len; i++) {
+    HullBacktrack(pts[i], lower);
+    lower.push_back(pts[i]);
   }
-  int nLower = keep.size();
-  for (int i = 0; i < len - 1; i++) {
-    int idx = len - 2 - i;
-    HullBacktrack(pts, idx, keep, nLower);
-    if (idx > 0) keep.push_back(idx);
+  auto upper = std::vector<glm::vec2>{};
+  for (int i = len - 1; i >= 0; i--) {
+    HullBacktrack(pts[i], upper);
+    upper.push_back(pts[i]);
   }
-  auto path = C2::PathD(keep.size());
-  for (int i = 0; i < keep.size(); i++) {
-    path[i] = v2_to_pd(pts[keep[i]]);
+
+  upper.pop_back();
+  lower.pop_back();
+
+  auto path = C2::PathD(lower.size() + upper.size());
+  for (int i = 0; i < lower.size(); i++) {
+    path[i] = v2_to_pd(lower[i]);
+  }
+  auto llen = lower.size();
+  int sz = upper.size();  // "fix" -Waggressive-loop-optimizations warning.
+  for (int i = 0; i < sz; i++) {
+    path[i + llen] = v2_to_pd(upper[i]);
   }
   return path;
 }
@@ -555,21 +563,42 @@ CrossSection CrossSection::Transform(const glm::mat3x2& m) const {
  */
 CrossSection CrossSection::Warp(
     std::function<void(glm::vec2&)> warpFunc) const {
-  auto paths = GetPaths();
-  auto warped = C2::PathsD();
-  warped.reserve(paths->paths_.size());
-  for (auto path : paths->paths_) {
-    auto sz = path.size();
-    auto s = C2::PathD(sz);
-    for (int i = 0; i < sz; ++i) {
-      auto v = v2_of_pd(path[i]);
-      warpFunc(v);
-      s[i] = v2_to_pd(v);
+  return WarpBatch([&warpFunc](VecView<glm::vec2> vecs) {
+    for (glm::vec2& p : vecs) {
+      warpFunc(p);
+    }
+  });
+}
+
+/**
+ * Same as CrossSection::Warp but calls warpFunc with
+ * a VecView which is roughly equivalent to std::span
+ * pointing to all vec2 elements to be modified in-place
+ *
+ * @param warpFunc A function that modifies multiple vertex positions.
+ */
+CrossSection CrossSection::WarpBatch(
+    std::function<void(VecView<glm::vec2>)> warpFunc) const {
+  std::vector<glm::vec2> tmp_verts;
+  C2::PathsD paths = GetPaths()->paths_;  // deep copy
+  for (C2::PathD const& path : paths) {
+    for (C2::PointD const& p : path) {
+      tmp_verts.push_back(v2_of_pd(p));
     }
-    warped.push_back(s);
   }
+
+  warpFunc(VecView<glm::vec2>(tmp_verts.data(), tmp_verts.size()));
+
+  auto cursor = tmp_verts.begin();
+  for (C2::PathD& path : paths) {
+    for (C2::PointD& p : path) {
+      p = v2_to_pd(*cursor);
+      ++cursor;
+    }
+  }
+
   return CrossSection(
-      shared_paths(C2::Union(warped, C2::FillRule::Positive, precision_)));
+      shared_paths(C2::Union(paths, C2::FillRule::Positive, precision_)));
 }
 
 /**
@@ -585,7 +614,28 @@ CrossSection CrossSection::Warp(
  * offseting operations are to be performed, which would compound the issue.
  */
 CrossSection CrossSection::Simplify(double epsilon) const {
-  auto ps = SimplifyPaths(GetPaths()->paths_, epsilon, false);
+  C2::PolyTreeD tree;
+  C2::BooleanOp(C2::ClipType::Union, C2::FillRule::Positive, GetPaths()->paths_,
+                C2::PathsD(), tree, precision_);
+
+  C2::PathsD polys;
+  flatten(&tree, polys, 0);
+
+  // Filter out contours less than epsilon wide.
+  C2::PathsD filtered;
+  for (C2::PathD poly : polys) {
+    auto area = C2::Area(poly);
+    Rect box;
+    for (auto vert : poly) {
+      box.Union(glm::vec2(vert.x, vert.y));
+    }
+    glm::vec2 size = box.Size();
+    if (glm::abs(area) > glm::max(size.x, size.y) * epsilon) {
+      filtered.push_back(poly);
+    }
+  }
+
+  auto ps = SimplifyPaths(filtered, epsilon, true);
   return CrossSection(shared_paths(ps));
 }
 

src/manifold/CMakeLists.txt

@@ -17,10 +17,12 @@ project (manifold)
 file(GLOB_RECURSE SOURCE_FILES CONFIGURE_DEPENDS *.cpp)
 add_library(${PROJECT_NAME} ${SOURCE_FILES})
 
-target_include_directories(${PROJECT_NAME} PUBLIC ${PROJECT_SOURCE_DIR}/include)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    $<INSTALL_INTERFACE:include/${CMAKE_PROJECT_NAME}>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
 target_link_libraries(${PROJECT_NAME}
-    PUBLIC utilities cross_section
-    PRIVATE collider polygon ${MANIFOLD_INCLUDE} Clipper2 quickhull
+    PUBLIC utilities cross_section sdf
+    PRIVATE collider polygon ${MANIFOLD_INCLUDE} quickhull
 )
 
 target_compile_options(${PROJECT_NAME} PRIVATE ${MANIFOLD_FLAGS})
@@ -29,14 +31,5 @@ target_compile_features(${PROJECT_NAME}
     PUBLIC cxx_std_17
 )
 
-install(
-  TARGETS ${PROJECT_NAME}
-  LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
-  COMPONENT runtime
-)
-install(
-  DIRECTORY include/
-  DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}/manifold
-  COMPONENT devel
-)
-
+install(TARGETS ${PROJECT_NAME} EXPORT manifoldTargets)
+install(FILES include/manifold.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${CMAKE_PROJECT_NAME})

src/manifold/include/manifold.h

@@ -18,6 +18,7 @@
 
 #include "cross_section.h"
 #include "public.h"
+#include "vec_view.h"
 
 namespace manifold {
 
@@ -45,9 +46,17 @@ class CsgLeafNode;
  */
 struct MeshGL {
   /// Number of property vertices
-  uint32_t NumVert() const { return vertProperties.size() / numProp; };
+  uint32_t NumVert() const {
+    if (vertProperties.size() / numProp >= std::numeric_limits<int>::max())
+      throw std::out_of_range("mesh too large");
+    return vertProperties.size() / numProp;
+  };
   /// Number of triangles
-  uint32_t NumTri() const { return triVerts.size() / 3; };
+  uint32_t NumTri() const {
+    if (vertProperties.size() / numProp >= std::numeric_limits<int>::max())
+      throw std::out_of_range("mesh too large");
+    return triVerts.size() / 3;
+  };
 
   /// Number of properties per vertex, always >= 3.
   uint32_t numProp = 3;
@@ -68,7 +77,10 @@ struct MeshGL {
   /// Optional: Indicates runs of triangles that correspond to a particular
   /// input mesh instance. The runs encompass all of triVerts and are sorted
   /// by runOriginalID. Run i begins at triVerts[runIndex[i]] and ends at
-  /// triVerts[runIndex[i+1]]. All runIndex values are divisible by 3.
+  /// triVerts[runIndex[i+1]]. All runIndex values are divisible by 3. Returned
+  /// runIndex will always be 1 longer than runOriginalID, but same length is
+  /// also allowed as input: triVerts.size() will be automatically appended in
+  /// this case.
   std::vector<uint32_t> runIndex;
   /// Optional: The OriginalID of the mesh this triangle run came from. This ID
   /// is ideal for reapplying materials to the output mesh. Multiple runs may
@@ -111,6 +123,31 @@ struct MeshGL {
  *  @brief The central classes of the library
  *  @{
  */
+
+/**
+ * This library's internal representation of an oriented, 2-manifold, triangle
+ * mesh - a simple boundary-representation of a solid object. Use this class to
+ * store and operate on solids, and use MeshGL for input and output, or
+ * potentially Mesh if only basic geometry is required.
+ *
+ * In addition to storing geometric data, a Manifold can also store an arbitrary
+ * number of vertex properties. These could be anything, e.g. normals, UV
+ * coordinates, colors, etc, but this library is completely agnostic. All
+ * properties are merely float values indexed by channel number. It is up to the
+ * user to associate channel numbers with meaning.
+ *
+ * Manifold allows vertex properties to be shared for efficient storage, or to
+ * have multiple property verts associated with a single geometric vertex,
+ * allowing sudden property changes, e.g. at Boolean intersections, without
+ * sacrificing manifoldness.
+ *
+ * Manifolds also keep track of their relationships to their inputs, via
+ * OriginalIDs and the faceIDs and transforms accessible through MeshGL. This
+ * allows object-level properties to be re-associated with the output after many
+ * operations, particularly useful for materials. Since separate object's
+ * properties are not mixed, there is no requirement that channels have
+ * consistent meaning between different inputs.
+ */
 class Manifold {
  public:
   /** @name Creation
@@ -184,6 +221,7 @@ class Manifold {
   float Precision() const;
   int Genus() const;
   Properties GetProperties() const;
+  float MinGap(const Manifold& other, float searchLength) const;
   ///@}
 
   /** @name Mesh ID
@@ -206,11 +244,15 @@ class Manifold {
   Manifold Transform(const glm::mat4x3&) const;
   Manifold Mirror(glm::vec3) const;
   Manifold Warp(std::function<void(glm::vec3&)>) const;
+  Manifold WarpBatch(std::function<void(VecView<glm::vec3>)>) const;
   Manifold SetProperties(
       int, std::function<void(float*, glm::vec3, const float*)>) const;
   Manifold CalculateCurvature(int gaussianIdx, int meanIdx) const;
+  Manifold CalculateNormals(int normalIdx, float minSharpAngle = 60) const;
+  Manifold SmoothByNormals(int normalIdx) const;
+  Manifold SmoothOut(float minSharpAngle = 60, float minSmoothness = 0) const;
   Manifold Refine(int) const;
-  // Manifold RefineToLength(float);
+  Manifold RefineToLength(float) const;
   // Manifold RefineToPrecision(float);
   ///@}
 
@@ -234,9 +276,20 @@ class Manifold {
   Manifold TrimByPlane(glm::vec3 normal, float originOffset) const;
   ///@}
 
+  /** @name 2D from 3D
+   */
+  ///@{
+  CrossSection Slice(float height = 0) const;
+  CrossSection Project() const;
+  ///@}
+
+  /** @name Convex hull
+   */
+  ///@{
   Manifold Hull() const;
   static Manifold Hull(const std::vector<Manifold>& manifolds);
   static Manifold Hull(const std::vector<glm::vec3>& pts);
+  ///@}
 
   /** @name Testing hooks
    *  These are just for internal testing.

src/manifold/src/boolean3.cpp

@@ -28,36 +28,34 @@ namespace {
 // cases to ensure consistency.
 
 glm::vec2 Interpolate(glm::vec3 pL, glm::vec3 pR, float x) {
-  float dxL = x - pL.x;
-  float dxR = x - pR.x;
-#ifdef MANIFOLD_DEBUG
-  if (dxL * dxR > 0) printf("Not in domain!\n");
-#endif
-  bool useL = fabs(dxL) < fabs(dxR);
-  float lambda = (useL ? dxL : dxR) / (pR.x - pL.x);
-  if (!isfinite(lambda)) return glm::vec2(pL.y, pL.z);
+  const float dxL = x - pL.x;
+  const float dxR = x - pR.x;
+  ASSERT(dxL * dxR <= 0, logicErr, "Boolean manifold error: not in domain");
+  const bool useL = fabs(dxL) < fabs(dxR);
+  const glm::vec3 dLR = pR - pL;
+  const float lambda = (useL ? dxL : dxR) / dLR.x;
+  if (!isfinite(lambda) || !isfinite(dLR.y) || !isfinite(dLR.z))
+    return glm::vec2(pL.y, pL.z);
   glm::vec2 yz;
-  yz[0] = (useL ? pL.y : pR.y) + lambda * (pR.y - pL.y);
-  yz[1] = (useL ? pL.z : pR.z) + lambda * (pR.z - pL.z);
+  yz[0] = (useL ? pL.y : pR.y) + lambda * dLR.y;
+  yz[1] = (useL ? pL.z : pR.z) + lambda * dLR.z;
   return yz;
 }
 
 glm::vec4 Intersect(const glm::vec3 &pL, const glm::vec3 &pR,
                     const glm::vec3 &qL, const glm::vec3 &qR) {
-  float dyL = qL.y - pL.y;
-  float dyR = qR.y - pR.y;
-#ifdef MANIFOLD_DEBUG
-  if (dyL * dyR > 0) printf("No intersection!\n");
-#endif
-  bool useL = fabs(dyL) < fabs(dyR);
-  float dx = pR.x - pL.x;
+  const float dyL = qL.y - pL.y;
+  const float dyR = qR.y - pR.y;
+  ASSERT(dyL * dyR <= 0, logicErr, "Boolean manifold error: no intersection");
+  const bool useL = fabs(dyL) < fabs(dyR);
+  const float dx = pR.x - pL.x;
   float lambda = (useL ? dyL : dyR) / (dyL - dyR);
   if (!isfinite(lambda)) lambda = 0.0f;
   glm::vec4 xyzz;
   xyzz.x = (useL ? pL.x : pR.x) + lambda * dx;
-  float pDy = pR.y - pL.y;
-  float qDy = qR.y - qL.y;
-  bool useP = fabs(pDy) < fabs(qDy);
+  const float pDy = pR.y - pL.y;
+  const float qDy = qR.y - qL.y;
+  const bool useP = fabs(pDy) < fabs(qDy);
   xyzz.y = (useL ? (useP ? pL.y : qL.y) : (useP ? pR.y : qR.y)) +
            lambda * (useP ? pDy : qDy);
   xyzz.z = (useL ? pL.z : pR.z) + lambda * (pR.z - pL.z);
@@ -73,9 +71,9 @@ struct CopyFaceEdges {
   SparseIndices &pXq1;
   VecView<const Halfedge> halfedgesQ;
 
-  void operator()(thrust::tuple<int, int> in) {
+  void operator()(thrust::tuple<size_t, size_t> in) {
     int idx = 3 * thrust::get<0>(in);
-    int i = thrust::get<1>(in);
+    size_t i = thrust::get<1>(in);
     int pX = p1q1.Get(i, inverted);
     int q2 = p1q1.Get(i, !inverted);
 
@@ -85,17 +83,18 @@ struct CopyFaceEdges {
       int a = pX;
       int b = edge.IsForward() ? q1 : edge.pairedHalfedge;
       if (inverted) std::swap(a, b);
-      pXq1.Set(idx + j, a, b);
+      pXq1.Set(idx + static_cast<size_t>(j), a, b);
     }
   }
 };
 
 SparseIndices Filter11(const Manifold::Impl &inP, const Manifold::Impl &inQ,
                        const SparseIndices &p1q2, const SparseIndices &p2q1) {
+  ZoneScoped;
   SparseIndices p1q1(3 * p1q2.size() + 3 * p2q1.size());
-  for_each_n(autoPolicy(p1q2.size()), zip(countAt(0), countAt(0)), p1q2.size(),
-             CopyFaceEdges<false>({p1q2, p1q1, inQ.halfedge_}));
-  for_each_n(autoPolicy(p2q1.size()), zip(countAt(p1q2.size()), countAt(0)),
+  for_each_n(autoPolicy(p1q2.size()), zip(countAt(0_z), countAt(0_z)),
+             p1q2.size(), CopyFaceEdges<false>({p1q2, p1q1, inQ.halfedge_}));
+  for_each_n(autoPolicy(p2q1.size()), zip(countAt(p1q2.size()), countAt(0_z)),
              p2q1.size(), CopyFaceEdges<true>({p2q1, p1q1, inP.halfedge_}));
   p1q1.Unique();
   return p1q1;
@@ -105,17 +104,6 @@ inline bool Shadows(float p, float q, float dir) {
   return p == q ? dir < 0 : p < q;
 }
 
-/**
- * Since this function is called from two different places, it is necessary that
- * it returns identical results for identical input to keep consistency.
- * Normally this is trivial as computers make floating-point errors, but are
- * at least deterministic. However, in the case of CUDA, these functions can be
- * compiled by two different compilers (for the CPU and GPU). We have found that
- * the different compilers can cause slightly different rounding errors, so it
- * is critical that the two places this function is called both use the same
- * compiled function (they must agree on CPU or GPU). This is now taken care of
- * by the shared policy_ member.
- */
 inline thrust::pair<int, glm::vec2> Shadow01(
     const int p0, const int q1, VecView<const glm::vec3> vertPosP,
     VecView<const glm::vec3> vertPosQ, VecView<const Halfedge> halfedgeQ,
@@ -149,14 +137,14 @@ inline thrust::pair<int, glm::vec2> Shadow01(
 
 // https://github.com/scandum/binary_search/blob/master/README.md
 // much faster than standard binary search on large arrays
-int monobound_quaternary_search(VecView<const int64_t> array, int64_t key) {
+size_t monobound_quaternary_search(VecView<const int64_t> array, int64_t key) {
   if (array.size() == 0) {
     return -1;
   }
-  unsigned int bot = 0;
-  unsigned int top = array.size();
+  size_t bot = 0;
+  size_t top = array.size();
   while (top >= 65536) {
-    unsigned int mid = top / 4;
+    size_t mid = top / 4;
     top -= mid * 3;
     if (key < array[bot + mid * 2]) {
       if (key >= array[bot + mid]) {
@@ -171,7 +159,7 @@ int monobound_quaternary_search(VecView<const int64_t> array, int64_t key) {
   }
 
   while (top > 3) {
-    unsigned int mid = top / 2;
+    size_t mid = top / 2;
     if (key >= array[bot + mid]) {
       bot += mid;
     }
@@ -195,7 +183,7 @@ struct Kernel11 {
   VecView<const glm::vec3> normalP;
   const SparseIndices &p1q1;
 
-  void operator()(thrust::tuple<int, glm::vec4 &, int &> inout) {
+  void operator()(thrust::tuple<size_t, glm::vec4 &, int &> inout) {
     const int p1 = p1q1.Get(thrust::get<0>(inout), false);
     const int q1 = p1q1.Get(thrust::get<0>(inout), true);
     glm::vec4 &xyzz11 = thrust::get<1>(inout);
@@ -248,12 +236,7 @@ struct Kernel11 {
     if (s11 == 0) {  // No intersection
       xyzz11 = glm::vec4(NAN);
     } else {
-#ifdef MANIFOLD_DEBUG
-      // Assert left and right were both found
-      if (k != 2) {
-        printf("k = %d\n", k);
-      }
-#endif
+      ASSERT(k == 2, logicErr, "Boolean manifold error: s11");
       xyzz11 = Intersect(pRL[0], pRL[1], qRL[0], qRL[1]);
 
       const int p1s = halfedgeP[p1].startVert;
@@ -273,11 +256,12 @@ std::tuple<Vec<int>, Vec<glm::vec4>> Shadow11(SparseIndices &p1q1,
                                               const Manifold::Impl &inP,
                                               const Manifold::Impl &inQ,
                                               float expandP) {
+  ZoneScoped;
   Vec<int> s11(p1q1.size());
   Vec<glm::vec4> xyzz11(p1q1.size());
 
   for_each_n(autoPolicy(p1q1.size()),
-             zip(countAt(0), xyzz11.begin(), s11.begin()), p1q1.size(),
+             zip(countAt(0_z), xyzz11.begin(), s11.begin()), p1q1.size(),
              Kernel11({inP.vertPos_, inQ.vertPos_, inP.halfedge_, inQ.halfedge_,
                        expandP, inP.vertNormal_, p1q1}));
 
@@ -295,7 +279,7 @@ struct Kernel02 {
   const SparseIndices &p0q2;
   const bool forward;
 
-  void operator()(thrust::tuple<int, int &, float &> inout) {
+  void operator()(thrust::tuple<size_t, int &, float &> inout) {
     const int p0 = p0q2.Get(thrust::get<0>(inout), !forward);
     const int q2 = p0q2.Get(thrust::get<0>(inout), forward);
     int &s02 = thrust::get<1>(inout);
@@ -344,12 +328,7 @@ struct Kernel02 {
     if (s02 == 0) {  // No intersection
       z02 = NAN;
     } else {
-#ifdef MANIFOLD_DEBUG
-      // Assert left and right were both found
-      if (k != 2) {
-        printf("k = %d\n", k);
-      }
-#endif
+      ASSERT(k == 2, logicErr, "Boolean manifold error: s02");
       glm::vec3 vertPos = vertPosP[p0];
       z02 = Interpolate(yzzRL[0], yzzRL[1], vertPos.y)[1];
       if (forward) {
@@ -367,12 +346,13 @@ std::tuple<Vec<int>, Vec<float>> Shadow02(const Manifold::Impl &inP,
                                           const Manifold::Impl &inQ,
                                           SparseIndices &p0q2, bool forward,
                                           float expandP) {
+  ZoneScoped;
   Vec<int> s02(p0q2.size());
   Vec<float> z02(p0q2.size());
 
   auto vertNormalP = forward ? inP.vertNormal_ : inQ.vertNormal_;
-  for_each_n(autoPolicy(p0q2.size()), zip(countAt(0), s02.begin(), z02.begin()),
-             p0q2.size(),
+  for_each_n(autoPolicy(p0q2.size()),
+             zip(countAt(0_z), s02.begin(), z02.begin()), p0q2.size(),
              Kernel02({inP.vertPos_, inQ.halfedge_, inQ.vertPos_, expandP,
                        vertNormalP, p0q2, forward}));
 
@@ -394,7 +374,7 @@ struct Kernel12 {
   const bool forward;
   const SparseIndices &p1q2;
 
-  void operator()(thrust::tuple<int, int &, glm::vec3 &> inout) {
+  void operator()(thrust::tuple<size_t, int &, glm::vec3 &> inout) {
     int p1 = p1q2.Get(thrust::get<0>(inout), !forward);
     int q2 = p1q2.Get(thrust::get<0>(inout), forward);
     int &x12 = thrust::get<1>(inout);
@@ -414,7 +394,7 @@ struct Kernel12 {
     for (int vert : {edge.startVert, edge.endVert}) {
       const int64_t key = forward ? SparseIndices::EncodePQ(vert, q2)
                                   : SparseIndices::EncodePQ(q2, vert);
-      const int idx = monobound_quaternary_search(p0q2, key);
+      const size_t idx = monobound_quaternary_search(p0q2, key);
       if (idx != -1) {
         const int s = s02[idx];
         x12 += s * ((vert == edge.startVert) == forward ? 1 : -1);
@@ -435,7 +415,7 @@ struct Kernel12 {
       const int q1F = edge.IsForward() ? q1 : edge.pairedHalfedge;
       const int64_t key = forward ? SparseIndices::EncodePQ(p1, q1F)
                                   : SparseIndices::EncodePQ(q1F, p1);
-      const int idx = monobound_quaternary_search(p1q1, key);
+      const size_t idx = monobound_quaternary_search(p1q1, key);
       if (idx != -1) {  // s is implicitly zero for anything not found
         const int s = s11[idx];
         x12 -= s * (edge.IsForward() ? 1 : -1);
@@ -456,12 +436,7 @@ struct Kernel12 {
     if (x12 == 0) {  // No intersection
       v12 = glm::vec3(NAN);
     } else {
-#ifdef MANIFOLD_DEBUG
-      // Assert left and right were both found
-      if (k != 2) {
-        printf("k = %d\n", k);
-      }
-#endif
+      ASSERT(k == 2, logicErr, "Boolean manifold error: v12");
       const glm::vec4 xzyy =
           Intersect(xzyLR0[0], xzyLR0[1], xzyLR1[0], xzyLR1[1]);
       v12.x = xzyy[0];
@@ -476,11 +451,12 @@ std::tuple<Vec<int>, Vec<glm::vec3>> Intersect12(
     const SparseIndices &p0q2, const Vec<int> &s11, const SparseIndices &p1q1,
     const Vec<float> &z02, const Vec<glm::vec4> &xyzz11, SparseIndices &p1q2,
     bool forward) {
+  ZoneScoped;
   Vec<int> x12(p1q2.size());
   Vec<glm::vec3> v12(p1q2.size());
 
   for_each_n(
-      autoPolicy(p1q2.size()), zip(countAt(0), x12.begin(), v12.begin()),
+      autoPolicy(p1q2.size()), zip(countAt(0_z), x12.begin(), v12.begin()),
       p1q2.size(),
       Kernel12({p0q2.AsVec64(), s02, z02, p1q1.AsVec64(), s11, xyzz11,
                 inP.halfedge_, inQ.halfedge_, inP.vertPos_, forward, p1q2}));
@@ -492,6 +468,7 @@ std::tuple<Vec<int>, Vec<glm::vec3>> Intersect12(
 
 Vec<int> Winding03(const Manifold::Impl &inP, Vec<int> &vertices, Vec<int> &s02,
                    bool reverse) {
+  ZoneScoped;
   // verts that are not shadowed (not in p0q2) have winding number zero.
   Vec<int> w03(inP.NumVert(), 0);
   // checking is slow, so just sort and reduce
@@ -601,6 +578,9 @@ Boolean3::Boolean3(const Manifold::Impl &inP, const Manifold::Impl &inQ,
       Intersect12(inQ, inP, s20, p2q0, s11, p1q1, z20, xyzz11, p2q1_, false);
   PRINT("x21 size = " << x21_.size());
 
+  if (x12_.size() + x21_.size() >= std::numeric_limits<int>::max())
+    throw std::out_of_range("mesh too large");
+
   Vec<int> p0 = p0q2.Copy(false);
   p0q2.Resize(0);
   Vec<int> q0 = p2q0.Copy(true);
@@ -616,7 +596,6 @@ Boolean3::Boolean3(const Manifold::Impl &inP, const Manifold::Impl &inQ,
   if (ManifoldParams().verbose) {
     broad.Print("Broad phase");
     intersections.Print("Intersections");
-    MemUsage();
   }
 #endif
 }

src/manifold/src/boolean_result.cpp

@@ -101,7 +101,12 @@ std::tuple<Vec<int>, Vec<int>> SizeOutput(
     const Vec<int> &i03, const Vec<int> &i30, const Vec<int> &i12,
     const Vec<int> &i21, const SparseIndices &p1q2, const SparseIndices &p2q1,
     bool invertQ) {
+  ZoneScoped;
   Vec<int> sidesPerFacePQ(inP.NumTri() + inQ.NumTri(), 0);
+  // note: numFaceR <= facePQ2R.size() = sidesPerFacePQ.size() + 1
+  if (sidesPerFacePQ.size() + 1 >= std::numeric_limits<int>::max())
+    throw std::out_of_range("boolean result too large");
+
   auto sidesPerFaceP = sidesPerFacePQ.view(0, inP.NumTri());
   auto sidesPerFaceQ = sidesPerFacePQ.view(inP.NumTri(), inQ.NumTri());
 
@@ -167,13 +172,14 @@ void AddNewEdgeVerts(
     concurrent_map<std::pair<int, int>, std::vector<EdgePos>> &edgesNew,
     const SparseIndices &p1q2, const Vec<int> &i12, const Vec<int> &v12R,
     const Vec<Halfedge> &halfedgeP, bool forward) {
+  ZoneScoped;
   // For each edge of P that intersects a face of Q (p1q2), add this vertex to
   // P's corresponding edge vector and to the two new edges, which are
   // intersections between the face of Q and the two faces of P attached to the
   // edge. The direction and duplicity are given by i12, while v12R remaps to
   // the output vert index. When forward is false, all is reversed.
   auto process = [&](std::function<void(size_t)> lock,
-                     std::function<void(size_t)> unlock, int i) {
+                     std::function<void(size_t)> unlock, size_t i) {
     const int edgeP = p1q2.Get(i, !forward);
     const int faceQ = p1q2.Get(i, forward);
     const int vert = v12R[i];
@@ -216,9 +222,9 @@ void AddNewEdgeVerts(
         [&](size_t hash) { mutexes[hash % mutexes.size()].unlock(); },
         std::placeholders::_1);
     tbb::parallel_for(
-        tbb::blocked_range<int>(0, p1q2.size(), 32),
-        [&](const tbb::blocked_range<int> &range) {
-          for (int i = range.begin(); i != range.end(); i++) processFun(i);
+        tbb::blocked_range<size_t>(0_z, p1q2.size(), 32),
+        [&](const tbb::blocked_range<size_t> &range) {
+          for (size_t i = range.begin(); i != range.end(); i++) processFun(i);
         },
         ap);
     return;
@@ -226,7 +232,7 @@ void AddNewEdgeVerts(
 #endif
   auto processFun = std::bind(
       process, [](size_t _) {}, [](size_t _) {}, std::placeholders::_1);
-  for (int i = 0; i < p1q2.size(); ++i) processFun(i);
+  for (size_t i = 0; i < p1q2.size(); ++i) processFun(i);
 }
 
 std::vector<Halfedge> PairUp(std::vector<EdgePos> &edgePos) {
@@ -237,7 +243,7 @@ std::vector<Halfedge> PairUp(std::vector<EdgePos> &edgePos) {
   // a heuristic.
   ASSERT(edgePos.size() % 2 == 0, topologyErr,
          "Non-manifold edge! Not an even number of points.");
-  int nEdges = edgePos.size() / 2;
+  size_t nEdges = edgePos.size() / 2;
   auto middle = std::partition(edgePos.begin(), edgePos.end(),
                                [](EdgePos x) { return x.isStart; });
   ASSERT(middle - edgePos.begin() == nEdges, topologyErr, "Non-manifold edge!");
@@ -245,7 +251,7 @@ std::vector<Halfedge> PairUp(std::vector<EdgePos> &edgePos) {
   std::stable_sort(edgePos.begin(), middle, cmp);
   std::stable_sort(middle, edgePos.end(), cmp);
   std::vector<Halfedge> edges;
-  for (int i = 0; i < nEdges; ++i)
+  for (size_t i = 0; i < nEdges; ++i)
     edges.push_back({edgePos[i].vert, edgePos[i + nEdges].vert, -1, -1});
   return edges;
 }
@@ -256,6 +262,7 @@ void AppendPartialEdges(Manifold::Impl &outR, Vec<char> &wholeHalfedgeP,
                         Vec<TriRef> &halfedgeRef, const Manifold::Impl &inP,
                         const Vec<int> &i03, const Vec<int> &vP2R,
                         const Vec<int>::IterC faceP2R, bool forward) {
+  ZoneScoped;
   // Each edge in the map is partially retained; for each of these, look up
   // their original verts and include them based on their winding number (i03),
   // while remapping them to the output using vP2R. Use the verts position
@@ -282,7 +289,6 @@ void AppendPartialEdges(Manifold::Impl &outR, Vec<char> &wholeHalfedgeP,
     }
 
     int inclusion = i03[vStart];
-    bool reversed = inclusion < 0;
     EdgePos edgePos = {vP2R[vStart],
                        glm::dot(outR.vertPos_[vP2R[vStart]], edgeVec),
                        inclusion > 0};
@@ -292,7 +298,6 @@ void AppendPartialEdges(Manifold::Impl &outR, Vec<char> &wholeHalfedgeP,
     }
 
     inclusion = i03[vEnd];
-    reversed |= inclusion < 0;
     edgePos = {vP2R[vEnd], glm::dot(outR.vertPos_[vP2R[vEnd]], edgeVec),
                inclusion < 0};
     for (int j = 0; j < glm::abs(inclusion); ++j) {
@@ -337,6 +342,7 @@ void AppendNewEdges(
     Manifold::Impl &outR, Vec<int> &facePtrR,
     concurrent_map<std::pair<int, int>, std::vector<EdgePos>> &edgesNew,
     Vec<TriRef> &halfedgeRef, const Vec<int> &facePQ2R, const int numFaceP) {
+  ZoneScoped;
   // Pair up each edge's verts and distribute to faces based on indices in key.
   Vec<Halfedge> &halfedgeR = outR.halfedge_;
   Vec<glm::vec3> &vertPosR = outR.vertPos_;
@@ -399,7 +405,6 @@ struct DuplicateHalfedges {
     if (!thrust::get<0>(in)) return;
     Halfedge halfedge = thrust::get<1>(in);
     if (!halfedge.IsForward()) return;
-    const int edgeP = thrust::get<2>(in);
 
     const int inclusion = i03[halfedge.startVert];
     if (inclusion == 0) return;
@@ -442,6 +447,7 @@ void AppendWholeEdges(Manifold::Impl &outR, Vec<int> &facePtrR,
                       const Vec<char> wholeHalfedgeP, const Vec<int> &i03,
                       const Vec<int> &vP2R, VecView<const int> faceP2R,
                       bool forward) {
+  ZoneScoped;
   for_each_n(ManifoldParams().deterministic ? ExecutionPolicy::Seq
                                             : autoPolicy(inP.halfedge_.size()),
              zip(wholeHalfedgeP.begin(), inP.halfedge_.begin(), countAt(0)),
@@ -463,9 +469,8 @@ struct MapTriRef {
   }
 };
 
-Vec<TriRef> UpdateReference(Manifold::Impl &outR, const Manifold::Impl &inP,
-                            const Manifold::Impl &inQ, bool invertQ) {
-  Vec<TriRef> refPQ = outR.meshRelation_.triRef;
+void UpdateReference(Manifold::Impl &outR, const Manifold::Impl &inP,
+                     const Manifold::Impl &inQ, bool invertQ) {
   const int offsetQ = Manifold::Impl::meshIDCounter_;
   for_each_n(
       autoPolicy(outR.NumTri()), outR.meshRelation_.triRef.begin(),
@@ -480,7 +485,6 @@ Vec<TriRef> UpdateReference(Manifold::Impl &outR, const Manifold::Impl &inP,
     outR.meshRelation_.meshIDtransform[pair.first + offsetQ].backSide ^=
         invertQ;
   }
-  return refPQ;
 }
 
 struct Barycentric {
@@ -514,8 +518,9 @@ struct Barycentric {
   }
 };
 
-void CreateProperties(Manifold::Impl &outR, const Vec<TriRef> &refPQ,
-                      const Manifold::Impl &inP, const Manifold::Impl &inQ) {
+void CreateProperties(Manifold::Impl &outR, const Manifold::Impl &inP,
+                      const Manifold::Impl &inQ) {
+  ZoneScoped;
   const int numPropP = inP.NumProp();
   const int numPropQ = inQ.NumProp();
   const int numProp = glm::max(numPropP, numPropQ);
@@ -526,7 +531,8 @@ void CreateProperties(Manifold::Impl &outR, const Vec<TriRef> &refPQ,
   outR.meshRelation_.triProperties.resize(numTri);
 
   Vec<glm::vec3> bary(outR.halfedge_.size());
-  for_each_n(autoPolicy(numTri), zip(countAt(0), refPQ.cbegin()), numTri,
+  for_each_n(autoPolicy(numTri),
+             zip(countAt(0), outR.meshRelation_.triRef.cbegin()), numTri,
              Barycentric({bary, inP.vertPos_, inQ.vertPos_, outR.vertPos_,
                           inP.halfedge_, inQ.halfedge_, outR.halfedge_,
                           outR.precision_}));
@@ -534,6 +540,14 @@ void CreateProperties(Manifold::Impl &outR, const Vec<TriRef> &refPQ,
   using Entry = std::pair<glm::ivec3, int>;
   int idMissProp = outR.NumVert();
   std::vector<std::vector<Entry>> propIdx(outR.NumVert() + 1);
+  std::vector<int> propMissIdx[2];
+  propMissIdx[0].resize(inQ.NumPropVert(), -1);
+  propMissIdx[1].resize(inP.NumPropVert(), -1);
+
+  if (static_cast<size_t>(outR.NumVert()) * static_cast<size_t>(numProp) >=
+      std::numeric_limits<int>::max())
+    throw std::out_of_range("too many vertices");
+
   outR.meshRelation_.properties.reserve(outR.NumVert() * numProp);
   int idx = 0;
 
@@ -541,14 +555,14 @@ void CreateProperties(Manifold::Impl &outR, const Vec<TriRef> &refPQ,
     // Skip collapsed triangles
     if (outR.halfedge_[3 * tri].startVert < 0) continue;
 
-    const int triPQ = refPQ[tri].tri;
-    const bool PQ = refPQ[tri].meshID == 0;
+    const TriRef ref = outR.meshRelation_.triRef[tri];
+    const bool PQ = ref.meshID == 0;
     const int oldNumProp = PQ ? numPropP : numPropQ;
     const auto &properties =
         PQ ? inP.meshRelation_.properties : inQ.meshRelation_.properties;
     const glm::ivec3 &triProp = oldNumProp == 0 ? glm::ivec3(-1)
-                                : PQ ? inP.meshRelation_.triProperties[triPQ]
-                                     : inQ.meshRelation_.triProperties[triPQ];
+                                : PQ ? inP.meshRelation_.triProperties[ref.tri]
+                                     : inQ.meshRelation_.triProperties[ref.tri];
 
     for (const int i : {0, 1, 2}) {
       const int vert = outR.halfedge_[3 * tri + i].startVert;
@@ -556,8 +570,7 @@ void CreateProperties(Manifold::Impl &outR, const Vec<TriRef> &refPQ,
 
       glm::ivec4 key(PQ, idMissProp, -1, -1);
       if (oldNumProp > 0) {
-        key[1] = vert;
-        int edge = -1;
+        int edge = -2;
         for (const int j : {0, 1, 2}) {
           if (uvw[j] == 1) {
             // On a retained vert, the propVert must also match
@@ -571,24 +584,37 @@ void CreateProperties(Manifold::Impl &outR, const Vec<TriRef> &refPQ,
           // On an edge, both propVerts must match
           const int p0 = triProp[Next3(edge)];
           const int p1 = triProp[Prev3(edge)];
+          key[1] = vert;
           key[2] = glm::min(p0, p1);
           key[3] = glm::max(p0, p1);
+        } else if (edge == -2) {
+          key[1] = vert;
         }
       }
 
-      auto &bin = propIdx[key.y];
-      bool bFound = false;
-      for (int k = 0; k < bin.size(); ++k) {
-        if (bin[k].first == glm::ivec3(key.x, key.z, key.w)) {
-          bFound = true;
-          outR.meshRelation_.triProperties[tri][i] = bin[k].second;
-          break;
+      if (key.y == idMissProp && key.z >= 0) {
+        // only key.x/key.z matters
+        auto &entry = propMissIdx[key.x][key.z];
+        if (entry >= 0) {
+          outR.meshRelation_.triProperties[tri][i] = entry;
+          continue;
         }
+        entry = idx;
+      } else {
+        auto &bin = propIdx[key.y];
+        bool bFound = false;
+        for (int k = 0; k < bin.size(); ++k) {
+          if (bin[k].first == glm::ivec3(key.x, key.z, key.w)) {
+            bFound = true;
+            outR.meshRelation_.triProperties[tri][i] = bin[k].second;
+            break;
+          }
+        }
+        if (bFound) continue;
+        bin.push_back(std::make_pair(glm::ivec3(key.x, key.z, key.w), idx));
       }
-      if (bFound) continue;
-      bin.push_back(std::make_pair(glm::ivec3(key.x, key.z, key.w), idx));
+
       outR.meshRelation_.triProperties[tri][i] = idx++;
-
       for (int p = 0; p < numProp; ++p) {
         if (p < oldNumProp) {
           glm::vec3 oldProps;
@@ -724,7 +750,6 @@ Manifold::Impl Boolean3::Result(OpType op) const {
   std::tie(faceEdge, facePQ2R) =
       SizeOutput(outR, inP_, inQ_, i03, i30, i12, i21, p1q2_, p2q1_, invertQ);
 
-  const int numFaceR = faceEdge.size() - 1;
   // This gets incremented for each halfedge that's added to a face so that the
   // next one knows where to slot in.
   Vec<int> facePtrR = faceEdge;
@@ -770,12 +795,12 @@ Manifold::Impl Boolean3::Result(OpType op) const {
   if (ManifoldParams().intermediateChecks)
     ASSERT(outR.IsManifold(), logicErr, "triangulated mesh is not manifold!");
 
-  Vec<TriRef> refPQ = UpdateReference(outR, inP_, inQ_, invertQ);
+  CreateProperties(outR, inP_, inQ_);
+
+  UpdateReference(outR, inP_, inQ_, invertQ);
 
   outR.SimplifyTopology();
 
-  CreateProperties(outR, refPQ, inP_, inQ_);
-
   if (ManifoldParams().intermediateChecks)
     ASSERT(outR.Is2Manifold(), logicErr, "simplified mesh is not 2-manifold!");
 

src/manifold/src/constructors.cpp

@@ -88,7 +88,7 @@ Manifold Manifold::Smooth(const MeshGL& meshGL,
   std::vector<float> propertyTolerance(meshGL.numProp - 3, -1);
   std::shared_ptr<Impl> impl =
       std::make_shared<Impl>(meshGL, propertyTolerance);
-  impl->CreateTangents(sharpenedEdges);
+  impl->CreateTangents(impl->UpdateSharpenedEdges(sharpenedEdges));
   return Manifold(impl);
 }
 
@@ -128,7 +128,7 @@ Manifold Manifold::Smooth(const Mesh& mesh,
 
   Impl::MeshRelationD relation = {(int)ReserveIDs(1)};
   std::shared_ptr<Impl> impl = std::make_shared<Impl>(mesh, relation);
-  impl->CreateTangents(sharpenedEdges);
+  impl->CreateTangents(impl->UpdateSharpenedEdges(sharpenedEdges));
   return Manifold(impl);
 }
 
@@ -153,10 +153,9 @@ Manifold Manifold::Cube(glm::vec3 size, bool center) {
       glm::length(size) == 0.) {
     return Invalid();
   }
-  auto cube = Manifold(std::make_shared<Impl>(Impl::Shape::Cube));
-  cube = cube.Scale(size);
-  if (center) cube = cube.Translate(-size / 2.0f);
-  return cube.AsOriginal();
+  glm::mat4x3 m =
+      glm::translate(center ? (-size / 2.0f) : glm::vec3(0)) * glm::scale(size);
+  return Manifold(std::make_shared<Impl>(Manifold::Impl::Shape::Cube, m));
 }
 
 /**
@@ -208,7 +207,7 @@ Manifold Manifold::Sphere(float radius, int circularSegments) {
   int n = circularSegments > 0 ? (circularSegments + 3) / 4
                                : Quality::GetCircularSegments(radius) / 4;
   auto pImpl_ = std::make_shared<Impl>(Impl::Shape::Octahedron);
-  pImpl_->Subdivide(n);
+  pImpl_->Subdivide([n](glm::vec3 edge) { return n - 1; });
   for_each_n(autoPolicy(pImpl_->NumVert()), pImpl_->vertPos_.begin(),
              pImpl_->NumVert(), ToSphere({radius}));
   pImpl_->Finish();
@@ -220,6 +219,9 @@ Manifold Manifold::Sphere(float radius, int circularSegments) {
 /**
  * Constructs a manifold from a set of polygons by extruding them along the
  * Z-axis.
+ * Note that high twistDegrees with small nDivisions may cause
+ * self-intersection. This is not checked here and it is up to the user to
+ * choose the correct parameters.
  *
  * @param crossSection A set of non-overlapping polygons to extrude.
  * @param height Z-extent of extrusion.
@@ -230,11 +232,13 @@ Manifold Manifold::Sphere(float radius, int circularSegments) {
  * bottom, interpolated linearly for the divisions in between.
  * @param scaleTop Amount to scale the top (independently in X and Y). If the
  * scale is {0, 0}, a pure cone is formed with only a single vertex at the top.
+ * Note that scale is applied after twist.
  * Default {1, 1}.
  */
 Manifold Manifold::Extrude(const CrossSection& crossSection, float height,
                            int nDivisions, float twistDegrees,
                            glm::vec2 scaleTop) {
+  ZoneScoped;
   auto polygons = crossSection.ToPolygons();
   if (polygons.size() == 0 || height <= 0.0f) {
     return Invalid();
@@ -264,9 +268,9 @@ Manifold Manifold::Extrude(const CrossSection& crossSection, float height,
   for (int i = 1; i < nDivisions + 1; ++i) {
     float alpha = i / float(nDivisions);
     float phi = alpha * twistDegrees;
-    glm::mat2 transform(cosd(phi), sind(phi), -sind(phi), cosd(phi));
     glm::vec2 scale = glm::mix(glm::vec2(1.0f), scaleTop, alpha);
-    transform = transform * glm::mat2(scale.x, 0.0f, 0.0f, scale.y);
+    glm::mat2 rotation(cosd(phi), sind(phi), -sind(phi), cosd(phi));
+    glm::mat2 transform = glm::mat2(scale.x, 0.0f, 0.0f, scale.y) * rotation;
     int j = 0;
     int idx = 0;
     for (const auto& poly : polygons) {
@@ -320,6 +324,7 @@ Manifold Manifold::Extrude(const CrossSection& crossSection, float height,
  */
 Manifold Manifold::Revolve(const CrossSection& crossSection,
                            int circularSegments, float revolveDegrees) {
+  ZoneScoped;
   Polygons polygons = crossSection.ToPolygons();
 
   if (polygons.size() == 0) {
@@ -327,8 +332,9 @@ Manifold Manifold::Revolve(const CrossSection& crossSection,
   }
 
   const Rect bounds = crossSection.Bounds();
+  const float radius = bounds.max.x;
 
-  if (bounds.max.x <= 0) {
+  if (radius <= 0) {
     return Invalid();
   } else if (bounds.min.x < 0) {
     // Take the x>=0 slice.
@@ -340,21 +346,15 @@ Manifold Manifold::Revolve(const CrossSection& crossSection,
     polygons = (crossSection ^ posBoundingBox).ToPolygons();
   }
 
-  float radius = 0.0f;
-  for (const auto& poly : polygons) {
-    for (const auto& vert : poly) {
-      radius = fmax(radius, vert.x);
-    }
-  }
-
   if (revolveDegrees > 360.0f) {
     revolveDegrees = 360.0f;
   }
   const bool isFullRevolution = revolveDegrees == 360.0f;
 
-  const int nDivisions = circularSegments > 2
-                             ? circularSegments
-                             : Quality::GetCircularSegments(radius);
+  const int nDivisions =
+      circularSegments > 2
+          ? circularSegments
+          : Quality::GetCircularSegments(radius) * revolveDegrees / 360;
 
   auto pImpl_ = std::make_shared<Impl>();
   auto& vertPos = pImpl_->vertPos_;
@@ -384,14 +384,14 @@ Manifold Manifold::Revolve(const CrossSection& crossSection,
 
       if (!isFullRevolution) startPoses.push_back(startPosIndex);
 
+      const glm::vec2 currPolyVertex = poly[polyVert];
+      const glm::vec2 prevPolyVertex =
+          poly[polyVert == 0 ? poly.size() - 1 : polyVert - 1];
+
       const int prevStartPosIndex =
           startPosIndex +
-          (polyVert == 0 ? nRevolveAxisVerts + (nSlices * nPosVerts) - nSlices
-           : poly[polyVert - 1].x == 0.0 ? -1
-                                         : -nSlices);
-      glm::vec2 currPolyVertex = poly[polyVert];
-      glm::vec2 prevPolyVertex =
-          poly[polyVert == 0 ? poly.size() - 1 : polyVert - 1];
+          (polyVert == 0 ? nRevolveAxisVerts + (nSlices * nPosVerts) : 0) +
+          (prevPolyVertex.x == 0.0 ? -1 : -nSlices);
 
       for (int slice = 0; slice < nSlices; ++slice) {
         const float phi = slice * dPhi;
@@ -464,6 +464,7 @@ Manifold Manifold::Compose(const std::vector<Manifold>& manifolds) {
  * containing a copy of the original. It is the inverse operation of Compose().
  */
 std::vector<Manifold> Manifold::Decompose() const {
+  ZoneScoped;
   UnionFind<> uf(NumVert());
   // Graph graph;
   auto pImpl_ = GetCsgLeafNode().GetImpl();
@@ -508,7 +509,6 @@ std::vector<Manifold> Manifold::Decompose() const {
 
     impl->GatherFaces(*pImpl_, faceNew2Old);
     impl->ReindexVerts(vertNew2Old, pImpl_->NumVert());
-
     impl->Finish();
 
     meshes.push_back(Manifold(impl));

src/manifold/src/csg_tree.cpp

@@ -172,6 +172,7 @@ CsgNodeType CsgLeafNode::GetNodeType() const { return CsgNodeType::Leaf; }
  */
 Manifold::Impl CsgLeafNode::Compose(
     const std::vector<std::shared_ptr<CsgLeafNode>> &nodes) {
+  ZoneScoped;
   float precision = -1;
   int numVert = 0;
   int numEdge = 0;
@@ -316,7 +317,7 @@ Manifold::Impl CsgLeafNode::Compose(
     auto &node = nodes[i];
     const int offset = i * Manifold::Impl::meshIDCounter_;
 
-    for (const auto pair : node->pImpl_->meshRelation_.meshIDtransform) {
+    for (const auto &pair : node->pImpl_->meshRelation_.meshIDtransform) {
       combined.meshRelation_.meshIDtransform[pair.first + offset] = pair.second;
     }
   }
@@ -454,6 +455,7 @@ std::shared_ptr<CsgLeafNode> CsgOpNode::ToLeafNode() const {
 std::shared_ptr<Manifold::Impl> CsgOpNode::BatchBoolean(
     OpType operation,
     std::vector<std::shared_ptr<const Manifold::Impl>> &results) {
+  ZoneScoped;
   auto getImplPtr = GetImplPtr();
   ASSERT(operation != OpType::Subtract, logicErr,
          "BatchBoolean doesn't support Difference.");
@@ -529,6 +531,7 @@ std::shared_ptr<Manifold::Impl> CsgOpNode::BatchBoolean(
  * `BatchBoolean` instead of using `Compose` for non-intersecting manifolds.
  */
 void CsgOpNode::BatchUnion() const {
+  ZoneScoped;
   // INVARIANT: children_ is a vector of leaf nodes
   // this kMaxUnionSize is a heuristic to avoid the pairwise disjoint check
   // with O(n^2) complexity to take too long.

src/manifold/src/edge_op.cpp

@@ -73,9 +73,7 @@ struct FlagEdge {
       current = NextHalfedge(halfedge[current].pairedHalfedge);
       int tri = current / 3;
       const TriRef ref = triRef[tri];
-      if ((ref.meshID != ref0.meshID || ref.tri != ref0.tri) &&
-          (ref.meshID != ref1.meshID || ref.tri != ref1.tri))
-        return false;
+      if (!ref.SameFace(ref0) && !ref.SameFace(ref1)) return false;
     }
     return true;
   }
@@ -145,29 +143,32 @@ namespace manifold {
 void Manifold::Impl::SimplifyTopology() {
   if (!halfedge_.size()) return;
 
-  const int nbEdges = halfedge_.size();
+  const size_t nbEdges = halfedge_.size();
   auto policy = autoPolicy(nbEdges);
-  int numFlagged = 0;
+  size_t numFlagged = 0;
   Vec<uint8_t> bflags(nbEdges);
 
   // In the case of a very bad triangulation, it is possible to create pinched
   // verts. They must be removed before edge collapse.
   SplitPinchedVerts();
 
-  Vec<SortEntry> entries;
-  entries.reserve(nbEdges / 2);
-  for (int i = 0; i < nbEdges; ++i) {
-    if (halfedge_[i].IsForward()) {
-      entries.push_back({halfedge_[i].startVert, halfedge_[i].endVert, i});
+  {
+    ZoneScopedN("DedupeEdge");
+    Vec<SortEntry> entries;
+    entries.reserve(nbEdges / 2);
+    for (int i = 0; i < nbEdges; ++i) {
+      if (halfedge_[i].IsForward()) {
+        entries.push_back({halfedge_[i].startVert, halfedge_[i].endVert, i});
+      }
     }
-  }
 
-  stable_sort(policy, entries.begin(), entries.end());
-  for (int i = 0; i < entries.size() - 1; ++i) {
-    if (entries[i].start == entries[i + 1].start &&
-        entries[i].end == entries[i + 1].end) {
-      DedupeEdge(entries[i].index);
-      numFlagged++;
+    stable_sort(policy, entries.begin(), entries.end());
+    for (int i = 0; i < entries.size() - 1; ++i) {
+      if (entries[i].start == entries[i + 1].start &&
+          entries[i].end == entries[i + 1].end) {
+        DedupeEdge(entries[i].index);
+        numFlagged++;
+      }
     }
   }
 
@@ -178,13 +179,19 @@ void Manifold::Impl::SimplifyTopology() {
   }
 #endif
 
+  if (!ManifoldParams().cleanupTriangles) {
+    return;
+  }
+
   std::vector<int> scratchBuffer;
   scratchBuffer.reserve(10);
   {
+    ZoneScopedN("CollapseShortEdge");
     numFlagged = 0;
     ShortEdge se{halfedge_, vertPos_, precision_};
-    for_each_n(policy, countAt(0), nbEdges, [&](int i) { bflags[i] = se(i); });
-    for (int i = 0; i < nbEdges; ++i) {
+    for_each_n(policy, countAt(0_z), nbEdges,
+               [&](size_t i) { bflags[i] = se(i); });
+    for (size_t i = 0; i < nbEdges; ++i) {
       if (bflags[i]) {
         CollapseEdge(i, scratchBuffer);
         scratchBuffer.resize(0);
@@ -201,10 +208,12 @@ void Manifold::Impl::SimplifyTopology() {
 #endif
 
   {
+    ZoneScopedN("CollapseFlaggedEdge");
     numFlagged = 0;
     FlagEdge se{halfedge_, meshRelation_.triRef};
-    for_each_n(policy, countAt(0), nbEdges, [&](int i) { bflags[i] = se(i); });
-    for (int i = 0; i < nbEdges; ++i) {
+    for_each_n(policy, countAt(0_z), nbEdges,
+               [&](size_t i) { bflags[i] = se(i); });
+    for (size_t i = 0; i < nbEdges; ++i) {
       if (bflags[i]) {
         CollapseEdge(i, scratchBuffer);
         scratchBuffer.resize(0);
@@ -221,13 +230,15 @@ void Manifold::Impl::SimplifyTopology() {
 #endif
 
   {
+    ZoneScopedN("RecursiveEdgeSwap");
     numFlagged = 0;
     SwappableEdge se{halfedge_, vertPos_, faceNormal_, precision_};
-    for_each_n(policy, countAt(0), nbEdges, [&](int i) { bflags[i] = se(i); });
+    for_each_n(policy, countAt(0_z), nbEdges,
+               [&](size_t i) { bflags[i] = se(i); });
     std::vector<int> edgeSwapStack;
     std::vector<int> visited(halfedge_.size(), -1);
     int tag = 0;
-    for (int i = 0; i < nbEdges; ++i) {
+    for (size_t i = 0; i < nbEdges; ++i) {
       if (bflags[i]) {
         numFlagged++;
         tag++;
@@ -312,12 +323,10 @@ void Manifold::Impl::DedupeEdge(const int edge) {
     vertPos_.push_back(vertPos_[endVert]);
     if (vertNormal_.size() > 0) vertNormal_.push_back(vertNormal_[endVert]);
 
-    do {
-      halfedge_[current].endVert = newVert;
-      current = NextHalfedge(current);
-      halfedge_[current].startVert = newVert;
-      current = halfedge_[current].pairedHalfedge;
-    } while (current != edge);
+    ForVert(NextHalfedge(current), [this, newVert](int e) {
+      halfedge_[e].startVert = newVert;
+      halfedge_[halfedge_[e].pairedHalfedge].endVert = newVert;
+    });
   }
 
   // Orbit startVert
@@ -337,12 +346,10 @@ void Manifold::Impl::DedupeEdge(const int edge) {
     vertPos_.push_back(vertPos_[endVert]);
     if (vertNormal_.size() > 0) vertNormal_.push_back(vertNormal_[endVert]);
 
-    do {
-      halfedge_[current].endVert = newVert;
-      current = NextHalfedge(current);
-      halfedge_[current].startVert = newVert;
-      current = halfedge_[current].pairedHalfedge;
-    } while (current != pair);
+    ForVert(NextHalfedge(current), [this, newVert](int e) {
+      halfedge_[e].startVert = newVert;
+      halfedge_[halfedge_[e].pairedHalfedge].endVert = newVert;
+    });
   }
 }
 
@@ -469,9 +476,9 @@ void Manifold::Impl::CollapseEdge(const int edge, std::vector<int>& edges) {
       const glm::mat3x2 projection = GetAxisAlignedProjection(faceNormal_[tri]);
       // Don't collapse if the edge is not redundant (this may have changed due
       // to the collapse of neighbors).
-      if (ref.meshID != refCheck.meshID || ref.tri != refCheck.tri) {
+      if (!ref.SameFace(refCheck)) {
         refCheck = triRef[edge / 3];
-        if (ref.meshID != refCheck.meshID || ref.tri != refCheck.tri) {
+        if (!ref.SameFace(refCheck)) {
           return;
         } else {
           // Don't collapse if the edges separating the faces are not colinear
@@ -501,25 +508,18 @@ void Manifold::Impl::CollapseEdge(const int edge, std::vector<int>& edges) {
   const int tri1 = toRemove.pairedHalfedge / 3;
   const int triVert0 = (edge + 1) % 3;
   const int triVert1 = toRemove.pairedHalfedge % 3;
-  const int prop0 = triProp.size() > 0 ? triProp[tri0][edge % 3] : -1;
-  const int prop1 = triProp.size() > 0
-                        ? triProp[tri1][(toRemove.pairedHalfedge + 1) % 3]
-                        : -1;
   current = start;
   while (current != tri0edge[2]) {
     current = NextHalfedge(current);
 
-    // Update the shifted triangles to the vertBary of endVert
-    const int tri = current / 3;
-    const int vIdx = current - 3 * tri;
-
-    if (!shortEdge) {
-      if (triProp.size() > 0) {
-        if (triProp[tri][vIdx] == prop0) {
-          triProp[tri][vIdx] = triProp[tri0][triVert0];
-        } else if (triProp[tri][vIdx] == prop1) {
-          triProp[tri][vIdx] = triProp[tri1][triVert1];
-        }
+    if (triProp.size() > 0) {
+      // Update the shifted triangles to the vertBary of endVert
+      const int tri = current / 3;
+      const int vIdx = current - 3 * tri;
+      if (triRef[tri].SameFace(triRef[tri0])) {
+        triProp[tri][vIdx] = triProp[tri0][triVert0];
+      } else if (triRef[tri].SameFace(triRef[tri1])) {
+        triProp[tri][vIdx] = triProp[tri1][triVert1];
       }
     }
 
@@ -656,6 +656,7 @@ void Manifold::Impl::RecursiveEdgeSwap(const int edge, int& tag,
 }
 
 void Manifold::Impl::SplitPinchedVerts() {
+  ZoneScoped;
   std::vector<bool> vertProcessed(NumVert(), false);
   std::vector<bool> halfedgeProcessed(halfedge_.size(), false);
   for (int i = 0; i < halfedge_.size(); ++i) {
@@ -667,14 +668,11 @@ void Manifold::Impl::SplitPinchedVerts() {
     } else {
       vertProcessed[vert] = true;
     }
-    int current = i;
-    do {
+    ForVert(i, [this, &halfedgeProcessed, vert](int current) {
       halfedgeProcessed[current] = true;
       halfedge_[current].startVert = vert;
-      current = halfedge_[current].pairedHalfedge;
-      halfedge_[current].endVert = vert;
-      current = NextHalfedge(current);
-    } while (current != i);
+      halfedge_[halfedge_[current].pairedHalfedge].endVert = vert;
+    });
   }
 }
 }  // namespace manifold

src/manifold/src/face_op.cpp

@@ -17,7 +17,7 @@
 #define TBB_PREVIEW_CONCURRENT_ORDERED_CONTAINERS 1
 #include <tbb/concurrent_map.h>
 #endif
-#include <map>
+#include <unordered_set>
 
 #include "impl.h"
 #include "polygon.h"
@@ -39,6 +39,7 @@ using AddTriangle = std::function<void(int, glm::ivec3, glm::vec3, TriRef)>;
  */
 void Manifold::Impl::Face2Tri(const Vec<int>& faceEdge,
                               const Vec<TriRef>& halfedgeRef) {
+  ZoneScoped;
   Vec<glm::ivec3> triVerts;
   Vec<glm::vec3> triNormal;
   Vec<TriRef>& triRef = meshRelation_.triRef;
@@ -126,19 +127,21 @@ void Manifold::Impl::Face2Tri(const Vec<int>& faceEdge,
   auto generalTriangulation = [&](int face) {
     const glm::vec3 normal = faceNormal_[face];
     const glm::mat3x2 projection = GetAxisAlignedProjection(normal);
-    const PolygonsIdx polys = Face2Polygons(face, projection, faceEdge);
+    const PolygonsIdx polys =
+        Face2Polygons(halfedge_.cbegin() + faceEdge[face],
+                      halfedge_.cbegin() + faceEdge[face + 1], projection);
     return TriangulateIdx(polys, precision_);
   };
 #if MANIFOLD_PAR == 'T' && __has_include(<tbb/tbb.h>)
   tbb::task_group group;
   // map from face to triangle
   tbb::concurrent_unordered_map<int, std::vector<glm::ivec3>> results;
-  Vec<int> triCount(faceEdge.size());
+  Vec<size_t> triCount(faceEdge.size());
   triCount.back() = 0;
   // precompute number of triangles per face, and launch async tasks to
   // triangulate complex faces
-  for_each(autoPolicy(faceEdge.size()), countAt(0),
-           countAt(faceEdge.size() - 1), [&](int face) {
+  for_each(autoPolicy(faceEdge.size()), countAt(0_z),
+           countAt(faceEdge.size() - 1), [&](size_t face) {
              triCount[face] = faceEdge[face + 1] - faceEdge[face] - 2;
              ASSERT(triCount[face] >= 1, topologyErr,
                     "face has less than three edges.");
@@ -152,13 +155,15 @@ void Manifold::Impl::Face2Tri(const Vec<int>& faceEdge,
   group.wait();
   // prefix sum computation (assign unique index to each face) and preallocation
   exclusive_scan(autoPolicy(triCount.size()), triCount.begin(), triCount.end(),
-                 triCount.begin(), 0);
+                 triCount.begin(), 0_z);
+  if (triCount.back() >= std::numeric_limits<int>::max())
+    throw std::out_of_range("too many triangles");
   triVerts.resize(triCount.back());
   triNormal.resize(triCount.back());
   triRef.resize(triCount.back());
 
   auto processFace2 = std::bind(
-      processFace, [&](int face) { return std::move(results[face]); },
+      processFace, [&](size_t face) { return std::move(results[face]); },
       [&](int face, glm::ivec3 tri, glm::vec3 normal, TriRef r) {
         triVerts[triCount[face]] = tri;
         triNormal[triCount[face]] = normal;
@@ -167,7 +172,7 @@ void Manifold::Impl::Face2Tri(const Vec<int>& faceEdge,
       },
       std::placeholders::_1);
   // set triangles in parallel
-  for_each(autoPolicy(faceEdge.size()), countAt(0),
+  for_each(autoPolicy(faceEdge.size()), countAt(0_z),
            countAt(faceEdge.size() - 1), processFace2);
 #else
   triVerts.reserve(faceEdge.size());
@@ -191,20 +196,16 @@ void Manifold::Impl::Face2Tri(const Vec<int>& faceEdge,
 }
 
 /**
- * For the input face index, return a set of 2D polygons formed by the input
- * projection of the vertices.
+ * Returns a set of 2D polygons formed by the input projection of the vertices
+ * of the list of Halfedges, which must be an even-manifold, meaning each vert
+ * must be referenced the same number of times as a startVert and endVert.
  */
-PolygonsIdx Manifold::Impl::Face2Polygons(int face, glm::mat3x2 projection,
-                                          const Vec<int>& faceEdge) const {
-  const int firstEdge = faceEdge[face];
-  const int lastEdge = faceEdge[face + 1];
-
-  std::map<int, int> vert_edge;
-  for (int edge = firstEdge; edge < lastEdge; ++edge) {
-    const bool inserted =
-        vert_edge.emplace(std::make_pair(halfedge_[edge].startVert, edge))
-            .second;
-    ASSERT(inserted, topologyErr, "face has duplicate vertices.");
+PolygonsIdx Manifold::Impl::Face2Polygons(VecView<Halfedge>::IterC start,
+                                          VecView<Halfedge>::IterC end,
+                                          glm::mat3x2 projection) const {
+  std::multimap<int, int> vert_edge;
+  for (auto edge = start; edge != end; ++edge) {
+    vert_edge.emplace(std::make_pair(edge->startVert, edge - start));
   }
 
   PolygonsIdx polys;
@@ -217,13 +218,104 @@ PolygonsIdx Manifold::Impl::Face2Polygons(int face, glm::mat3x2 projection,
       thisEdge = startEdge;
       polys.push_back({});
     }
-    int vert = halfedge_[thisEdge].startVert;
+    int vert = (start + thisEdge)->startVert;
     polys.back().push_back({projection * vertPos_[vert], vert});
-    const auto result = vert_edge.find(halfedge_[thisEdge].endVert);
+    const auto result = vert_edge.find((start + thisEdge)->endVert);
     ASSERT(result != vert_edge.end(), topologyErr, "non-manifold edge");
     thisEdge = result->second;
     vert_edge.erase(result);
   }
   return polys;
 }
+
+CrossSection Manifold::Impl::Slice(float height) const {
+  Box plane = bBox_;
+  plane.min.z = plane.max.z = height;
+  Vec<Box> query;
+  query.push_back(plane);
+  const SparseIndices collisions =
+      collider_.Collisions<false, false>(query.cview());
+
+  std::unordered_set<int> tris;
+  for (int i = 0; i < collisions.size(); ++i) {
+    const int tri = collisions.Get(i, 1);
+    float min = std::numeric_limits<float>::infinity();
+    float max = -std::numeric_limits<float>::infinity();
+    for (const int j : {0, 1, 2}) {
+      const float z = vertPos_[halfedge_[3 * tri + j].startVert].z;
+      min = glm::min(min, z);
+      max = glm::max(max, z);
+    }
+
+    if (min <= height && max > height) {
+      tris.insert(tri);
+    }
+  }
+
+  Polygons polys;
+  while (!tris.empty()) {
+    const int startTri = *tris.begin();
+    SimplePolygon poly;
+
+    int k = 0;
+    for (const int j : {0, 1, 2}) {
+      if (vertPos_[halfedge_[3 * startTri + j].startVert].z > height &&
+          vertPos_[halfedge_[3 * startTri + Next3(j)].startVert].z <= height) {
+        k = Next3(j);
+        break;
+      }
+    }
+
+    int tri = startTri;
+    do {
+      tris.erase(tris.find(tri));
+      if (vertPos_[halfedge_[3 * tri + k].endVert].z <= height) {
+        k = Next3(k);
+      }
+
+      Halfedge up = halfedge_[3 * tri + k];
+      const glm::vec3 below = vertPos_[up.startVert];
+      const glm::vec3 above = vertPos_[up.endVert];
+      const float a = (height - below.z) / (above.z - below.z);
+      poly.push_back(glm::vec2(glm::mix(below, above, a)));
+
+      const int pair = up.pairedHalfedge;
+      tri = pair / 3;
+      k = Next3(pair % 3);
+    } while (tri != startTri);
+
+    polys.push_back(poly);
+  }
+
+  return CrossSection(polys);
+}
+
+CrossSection Manifold::Impl::Project() const {
+  const glm::mat3x2 projection = GetAxisAlignedProjection({0, 0, 1});
+  auto policy = autoPolicy(halfedge_.size());
+
+  Vec<Halfedge> cusps(NumEdge());
+  cusps.resize(copy_if<decltype(cusps.begin())>(
+                   policy, halfedge_.cbegin(), halfedge_.cend(), cusps.begin(),
+                   [&](Halfedge edge) {
+                     return faceNormal_[edge.face].z >= 0 &&
+                            faceNormal_[halfedge_[edge.pairedHalfedge].face].z <
+                                0;
+                   }) -
+               cusps.begin());
+
+  PolygonsIdx polysIndexed =
+      Face2Polygons(cusps.cbegin(), cusps.cend(), projection);
+
+  Polygons polys;
+  for (const auto& poly : polysIndexed) {
+    SimplePolygon simple;
+    for (const PolyVert& polyVert : poly) {
+      simple.push_back(polyVert.pos);
+    }
+    polys.push_back(simple);
+  }
+
+  return CrossSection(polys).Simplify(precision_);
+}
 }  // namespace manifold

src/manifold/src/impl.cpp

@@ -22,6 +22,8 @@
 #include "hashtable.h"
 #include "mesh_fixes.h"
 #include "par.h"
+#include "svd.h"
+#include "tri_dist.h"
 
 namespace {
 using namespace manifold;
@@ -320,6 +322,7 @@ int GetLabels(std::vector<int>& components,
 
 void DedupePropVerts(manifold::Vec<glm::ivec3>& triProp,
                      const Vec<thrust::pair<int, int>>& vert2vert) {
+  ZoneScoped;
   std::vector<int> vertLabels;
   const int numLabels = GetLabels(vertLabels, vert2vert, vert2vert.size());
 
@@ -349,6 +352,11 @@ Manifold::Impl::Impl(const MeshGL& meshGL,
   const int numVert = meshGL.NumVert();
   const int numTri = meshGL.NumTri();
 
+  if (meshGL.numProp > 3 &&
+      static_cast<size_t>(numVert) * static_cast<size_t>(meshGL.numProp - 3) >=
+          std::numeric_limits<int>::max())
+    throw std::out_of_range("mesh too large");
+
   if (meshGL.numProp < 3) {
     MarkFailure(Error::MissingPositionProperties);
     return;
@@ -367,7 +375,8 @@ Manifold::Impl::Impl(const MeshGL& meshGL,
   }
 
   if (!meshGL.runOriginalID.empty() && !meshGL.runIndex.empty() &&
-      meshGL.runOriginalID.size() + 1 != meshGL.runIndex.size()) {
+      meshGL.runOriginalID.size() + 1 != meshGL.runIndex.size() &&
+      meshGL.runOriginalID.size() != meshGL.runIndex.size()) {
     MarkFailure(Error::RunIndexWrongLength);
     return;
   }
@@ -379,7 +388,7 @@ Manifold::Impl::Impl(const MeshGL& meshGL,
 
   std::vector<int> prop2vert(numVert);
   std::iota(prop2vert.begin(), prop2vert.end(), 0);
-  for (int i = 0; i < meshGL.mergeFromVert.size(); ++i) {
+  for (size_t i = 0; i < meshGL.mergeFromVert.size(); ++i) {
     const int from = meshGL.mergeFromVert[i];
     const int to = meshGL.mergeToVert[i];
     if (from >= numVert || to >= numVert) {
@@ -388,8 +397,8 @@ Manifold::Impl::Impl(const MeshGL& meshGL,
     }
     prop2vert[from] = to;
   }
-  for (int i = 0; i < numTri; ++i) {
-    for (const int j : {0, 1, 2}) {
+  for (size_t i = 0; i < numTri; ++i) {
+    for (const size_t j : {0, 1, 2}) {
       const int vert = meshGL.triVerts[3 * i + j];
       if (vert < 0 || vert >= numVert) {
         MarkFailure(Error::VertexOutOfBounds);
@@ -403,8 +412,8 @@ Manifold::Impl::Impl(const MeshGL& meshGL,
 
   if (meshGL.numProp > 3) {
     relation.triProperties.resize(numTri);
-    for (int i = 0; i < numTri; ++i) {
-      for (const int j : {0, 1, 2}) {
+    for (size_t i = 0; i < numTri; ++i) {
+      for (const size_t j : {0, 1, 2}) {
         relation.triProperties[i][j] = meshGL.triVerts[3 * i + j];
       }
     }
@@ -435,8 +444,11 @@ Manifold::Impl::Impl(const MeshGL& meshGL,
     relation.originalID = Impl::ReserveIDs(1);
   } else {
     std::vector<uint32_t> runIndex = meshGL.runIndex;
+    const uint32_t runEnd = meshGL.triVerts.size();
     if (runIndex.empty()) {
-      runIndex = {0, 3 * meshGL.NumTri()};
+      runIndex = {0, runEnd};
+    } else if (runIndex.size() == meshGL.runOriginalID.size()) {
+      runIndex.push_back(runEnd);
     }
     relation.triRef.resize(meshGL.NumTri());
     const int startID = Impl::ReserveIDs(meshGL.runOriginalID.size());
@@ -478,11 +490,13 @@ Manifold::Impl::Impl(const Mesh& mesh, const MeshRelationD& relation,
                      const std::vector<float>& propertyTolerance,
                      bool hasFaceIDs)
     : vertPos_(mesh.vertPos), halfedgeTangent_(mesh.halfedgeTangent) {
+  if (mesh.triVerts.size() >= std::numeric_limits<int>::max())
+    throw std::out_of_range("mesh too large");
   meshRelation_ = {relation.originalID, relation.numProp, relation.properties,
                    relation.meshIDtransform};
 
   Vec<glm::ivec3> triVerts;
-  for (int i = 0; i < mesh.triVerts.size(); ++i) {
+  for (size_t i = 0; i < mesh.triVerts.size(); ++i) {
     const glm::ivec3 tri = mesh.triVerts[i];
     // Remove topological degenerates
     if (tri[0] != tri[1] && tri[1] != tri[2] && tri[2] != tri[0]) {
@@ -532,7 +546,7 @@ Manifold::Impl::Impl(const Mesh& mesh, const MeshRelationD& relation,
  * Create either a unit tetrahedron, cube or octahedron. The cube is in the
  * first octant, while the others are symmetric about the origin.
  */
-Manifold::Impl::Impl(Shape shape) {
+Manifold::Impl::Impl(Shape shape, const glm::mat4x3 m) {
   std::vector<glm::vec3> vertPos;
   std::vector<glm::ivec3> triVerts;
   switch (shape) {
@@ -545,19 +559,19 @@ Manifold::Impl::Impl(Shape shape) {
       break;
     case Shape::Cube:
       vertPos = {{0.0f, 0.0f, 0.0f},  //
-                 {1.0f, 0.0f, 0.0f},  //
-                 {1.0f, 1.0f, 0.0f},  //
-                 {0.0f, 1.0f, 0.0f},  //
                  {0.0f, 0.0f, 1.0f},  //
+                 {0.0f, 1.0f, 0.0f},  //
+                 {0.0f, 1.0f, 1.0f},  //
+                 {1.0f, 0.0f, 0.0f},  //
                  {1.0f, 0.0f, 1.0f},  //
-                 {1.0f, 1.0f, 1.0f},  //
-                 {0.0f, 1.0f, 1.0f}};
-      triVerts = {{0, 2, 1}, {0, 3, 2},  //
-                  {4, 5, 6}, {4, 6, 7},  //
-                  {0, 1, 5}, {0, 5, 4},  //
-                  {1, 2, 6}, {1, 6, 5},  //
-                  {2, 3, 7}, {2, 7, 6},  //
-                  {3, 0, 4}, {3, 4, 7}};
+                 {1.0f, 1.0f, 0.0f},  //
+                 {1.0f, 1.0f, 1.0f}};
+      triVerts = {{1, 0, 4}, {2, 4, 0},  //
+                  {1, 3, 0}, {3, 1, 5},  //
+                  {3, 2, 0}, {3, 7, 2},  //
+                  {5, 4, 6}, {5, 1, 4},  //
+                  {6, 4, 2}, {7, 6, 2},  //
+                  {7, 3, 5}, {7, 5, 6}};
       break;
     case Shape::Octahedron:
       vertPos = {{1.0f, 0.0f, 0.0f},   //
@@ -573,6 +587,7 @@ Manifold::Impl::Impl(Shape shape) {
       break;
   }
   vertPos_ = vertPos;
+  for (auto& v : vertPos_) v = m * glm::vec4(v, 1.0f);
   CreateHalfedges(triVerts);
   Finish();
   meshRelation_.originalID = ReserveIDs(1);
@@ -581,6 +596,7 @@ Manifold::Impl::Impl(Shape shape) {
 }
 
 void Manifold::Impl::RemoveUnreferencedVerts(Vec<glm::ivec3>& triVerts) {
+  ZoneScoped;
   Vec<int> vertOld2New(NumVert() + 1, 0);
   auto policy = autoPolicy(NumVert());
   for_each(policy, triVerts.cbegin(), triVerts.cend(),
@@ -613,6 +629,7 @@ void Manifold::Impl::InitializeOriginal() {
 }
 
 void Manifold::Impl::CreateFaces(const std::vector<float>& propertyTolerance) {
+  ZoneScoped;
   Vec<float> propertyToleranceD =
       propertyTolerance.empty() ? Vec<float>(meshRelation_.numProp, kTolerance)
                                 : propertyTolerance;
@@ -661,6 +678,7 @@ void Manifold::Impl::CreateFaces(const std::vector<float>& propertyTolerance) {
  * Create the halfedge_ data structure from an input triVerts array like Mesh.
  */
 void Manifold::Impl::CreateHalfedges(const Vec<glm::ivec3>& triVerts) {
+  ZoneScoped;
   const int numTri = triVerts.size();
   const int numHalfedge = 3 * numTri;
   // drop the old value first to avoid copy
@@ -714,7 +732,14 @@ void Manifold::Impl::MarkFailure(Error status) {
 }
 
 void Manifold::Impl::Warp(std::function<void(glm::vec3&)> warpFunc) {
-  thrust::for_each_n(thrust::host, vertPos_.begin(), NumVert(), warpFunc);
+  WarpBatch([&warpFunc](VecView<glm::vec3> vecs) {
+    thrust::for_each(thrust::host, vecs.begin(), vecs.end(), warpFunc);
+  });
+}
+
+void Manifold::Impl::WarpBatch(
+    std::function<void(VecView<glm::vec3>)> warpFunc) {
+  warpFunc(vertPos_.view());
   CalculateBBox();
   if (!IsFinite()) {
     MarkFailure(Error::NonFiniteVertex);
@@ -725,11 +750,11 @@ void Manifold::Impl::Warp(std::function<void(glm::vec3&)> warpFunc) {
   CalculateNormals();
   SetPrecision();
   CreateFaces();
-  SimplifyTopology();
   Finish();
 }
 
 Manifold::Impl Manifold::Impl::Transform(const glm::mat4x3& transform_) const {
+  ZoneScoped;
   if (transform_ == glm::mat4x3(1.0f)) return *this;
   auto policy = autoPolicy(NumVert());
   Impl result;
@@ -776,11 +801,8 @@ Manifold::Impl Manifold::Impl::Transform(const glm::mat4x3& transform_) const {
   if (!result.collider_.Transform(transform_)) result.Update();
 
   result.CalculateBBox();
-  float scale = 0;
-  for (int i : {0, 1, 2})
-    scale =
-        glm::max(scale, transform_[0][i] + transform_[1][i] + transform_[2][i]);
-  result.precision_ *= scale;
+  // Scale the precision by the norm of the 3x3 portion of the transform.
+  result.precision_ *= SpectralNorm(glm::mat3(transform_));
   // Maximum of inherited precision loss and translational precision loss.
   result.SetPrecision(result.precision_);
   return result;
@@ -807,6 +829,7 @@ void Manifold::Impl::SetPrecision(float minPrecision) {
  * recalculation.
  */
 void Manifold::Impl::CalculateNormals() {
+  ZoneScoped;
   vertNormal_.resize(NumVert());
   auto policy = autoPolicy(NumTri());
   fill(policy, vertNormal_.begin(), vertNormal_.end(), glm::vec3(0));
@@ -849,6 +872,7 @@ void Manifold::Impl::IncrementMeshIDs() {
  */
 SparseIndices Manifold::Impl::EdgeCollisions(const Impl& Q,
                                              bool inverted) const {
+  ZoneScoped;
   Vec<TmpEdge> edges = CreateTmpEdges(Q.halfedge_);
   const int numEdge = edges.size();
   Vec<Box> QedgeBB(numEdge);
@@ -863,10 +887,10 @@ SparseIndices Manifold::Impl::EdgeCollisions(const Impl& Q,
     q1p2 = collider_.Collisions<false, false>(QedgeBB.cview());
 
   if (inverted)
-    for_each(policy, countAt(0), countAt(q1p2.size()),
+    for_each(policy, countAt(0_z), countAt(q1p2.size()),
              ReindexEdge<true>({edges, q1p2}));
   else
-    for_each(policy, countAt(0), countAt(q1p2.size()),
+    for_each(policy, countAt(0_z), countAt(q1p2.size()),
              ReindexEdge<false>({edges, q1p2}));
   return q1p2;
 }
@@ -877,9 +901,11 @@ SparseIndices Manifold::Impl::EdgeCollisions(const Impl& Q,
  */
 SparseIndices Manifold::Impl::VertexCollisionsZ(
     VecView<const glm::vec3> vertsIn, bool inverted) const {
+  ZoneScoped;
   if (inverted)
     return collider_.Collisions<false, true>(vertsIn);
   else
     return collider_.Collisions<false, false>(vertsIn);
 }
+
 }  // namespace manifold

src/manifold/src/impl.h

@@ -42,6 +42,9 @@ struct Manifold::Impl {
     Vec<TriRef> triRef;
     Vec<glm::ivec3> triProperties;
   };
+  struct BaryIndices {
+    int tri, start4, end4;
+  };
 
   Box bBox_;
   float precision_ = -1;
@@ -59,13 +62,36 @@ struct Manifold::Impl {
 
   Impl() {}
   enum class Shape { Tetrahedron, Cube, Octahedron };
-  Impl(Shape);
+  Impl(Shape, const glm::mat4x3 = glm::mat4x3(1));
 
   Impl(const MeshGL&, std::vector<float> propertyTolerance = {});
   Impl(const Mesh&, const MeshRelationD& relation,
        const std::vector<float>& propertyTolerance = {},
        bool hasFaceIDs = false);
 
+  inline void ForVert(int halfedge, std::function<void(int halfedge)> func) {
+    int current = halfedge;
+    do {
+      current = NextHalfedge(halfedge_[current].pairedHalfedge);
+      func(current);
+    } while (current != halfedge);
+  }
+
+  template <typename T>
+  void ForVert(
+      int halfedge, std::function<T(int halfedge)> transform,
+      std::function<void(int halfedge, const T& here, T& next)> binaryOp) {
+    T here = transform(halfedge);
+    int current = halfedge;
+    do {
+      const int nextHalfedge = NextHalfedge(halfedge_[current].pairedHalfedge);
+      T next = transform(nextHalfedge);
+      binaryOp(current, here, next);
+      here = next;
+      current = nextHalfedge;
+    } while (current != halfedge);
+  }
+
   void CreateFaces(const std::vector<float>& propertyTolerance = {});
   void RemoveUnreferencedVerts(Vec<glm::ivec3>& triVerts);
   void InitializeOriginal();
@@ -76,6 +102,7 @@ struct Manifold::Impl {
   void Update();
   void MarkFailure(Error status);
   void Warp(std::function<void(glm::vec3&)> warpFunc);
+  void WarpBatch(std::function<void(VecView<glm::vec3>)> warpFunc);
   Impl Transform(const glm::mat4x3& transform) const;
   SparseIndices EdgeCollisions(const Impl& B, bool inverted = false) const;
   SparseIndices VertexCollisionsZ(VecView<const glm::vec3> vertsIn,
@@ -102,6 +129,7 @@ struct Manifold::Impl {
   bool Is2Manifold() const;
   bool MatchesTriNormals() const;
   int NumDegenerateTris() const;
+  float MinGap(const Impl& other, float searchLength) const;
 
   // sort.cu
   void Finish();
@@ -115,8 +143,11 @@ struct Manifold::Impl {
 
   // face_op.cu
   void Face2Tri(const Vec<int>& faceEdge, const Vec<TriRef>& halfedgeRef);
-  PolygonsIdx Face2Polygons(int face, glm::mat3x2 projection,
-                            const Vec<int>& faceEdge) const;
+  PolygonsIdx Face2Polygons(VecView<Halfedge>::IterC start,
+                            VecView<Halfedge>::IterC end,
+                            glm::mat3x2 projection) const;
+  CrossSection Slice(float height) const;
+  CrossSection Project() const;
 
   // edge_op.cu
   void SimplifyTopology();
@@ -132,9 +163,31 @@ struct Manifold::Impl {
   void CollapseTri(const glm::ivec3& triEdge);
   void SplitPinchedVerts();
 
-  // smoothing.cu
-  void CreateTangents(const std::vector<Smoothness>&);
-  Vec<Barycentric> Subdivide(int n);
-  void Refine(int n);
+  // subdivision.cpp
+  int GetNeighbor(int tri) const;
+  glm::ivec4 GetHalfedges(int tri) const;
+  BaryIndices GetIndices(int halfedge) const;
+  void FillRetainedVerts(Vec<Barycentric>& vertBary) const;
+  Vec<Barycentric> Subdivide(std::function<int(glm::vec3)>);
+
+  // smoothing.cpp
+  bool IsInsideQuad(int halfedge) const;
+  bool IsMarkedInsideQuad(int halfedge) const;
+  glm::vec3 GetNormal(int halfedge, int normalIdx) const;
+  glm::vec4 TangentFromNormal(const glm::vec3& normal, int halfedge) const;
+  std::vector<Smoothness> UpdateSharpenedEdges(
+      const std::vector<Smoothness>&) const;
+  Vec<bool> FlatFaces() const;
+  Vec<int> VertFlatFace(const Vec<bool>&) const;
+  Vec<int> VertHalfedge() const;
+  std::vector<Smoothness> SharpenEdges(float minSharpAngle,
+                                       float minSmoothness) const;
+  void SharpenTangent(int halfedge, float smoothness);
+  void SetNormals(int normalIdx, float minSharpAngle);
+  void LinearizeFlatTangents();
+  void DistributeTangents(const Vec<bool>& fixedHalfedges);
+  void CreateTangents(int normalIdx);
+  void CreateTangents(std::vector<Smoothness>);
+  void Refine(std::function<int(glm::vec3)>);
 };
 }  // namespace manifold