A design with components and joints exports as a URDF robot description (file.export to .urdf, the MCP export tool, solidcraft-cli run --out, File > Export URDF...). It writes one binary STL per component in metres, links with mass, centre of mass and inertia from material density, and maps rigid, revolute, slider, cylindrical, pin-slot, planar and ball joints to URDF joints or short chains. Loops, broken joints and loose parts are reported as warnings. Options: mesh_prefix, effort, velocity. Docs in docs/urdf.md.
find_close_pair's budget now counts the grid's own work too (each cell a triangle is filed under or visits), not only the pair tests, so a pathological pair of meshes can't spend unbounded time building and walking the grid. Adds tests for find_close_pair and the budget.
When sample points say two bodies are apart or one is inside the other, the facetings are now checked for surfaces passing through each other; if they do, the boolean is computed instead of shortcut. If it still can't be intersected, the sampled answer is kept as a flagged, unverified result, and Interference lists such pairs as "could not be checked" with the reason. Fixes#442 and #443.
Co-Authored-By: Claude Opus 5.5 <[email protected]>
Group kernel pieces across circular rims and hidden surface seams for hovering, selection, dialogs, and measurement. Preserve physical references and cover full-item toggling and picking with regression tests.
Fixes#88
Mateusz Sych