@adobe/data 0.5.16 → 0.5.18

package/dist/math/quat/quat.js.map

@@ -1 +1 @@
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package/dist/math/transform/debug-inverse.d.ts

@@ -0,0 +1 @@
+export {};

package/dist/math/transform/debug-inverse.js

@@ -0,0 +1,28 @@
+import { Transform } from "./transform.js";
+import { Quat } from "../quat/quat.js";
+const transform = {
+    position: [5, -3, 7],
+    rotation: Quat.fromAxisAngle([1, 1, 0], Math.PI / 4),
+    scale: [2, 0.5, 3],
+};
+const point = [1, 2, 3];
+console.log("Original point:", point);
+const transformed = Transform.transform(transform, point);
+console.log("Transformed:", transformed);
+const inverted = Transform.transformInverse(transform, transformed);
+console.log("Inverted back:", inverted);
+console.log("Difference:", [
+    inverted[0] - point[0],
+    inverted[1] - point[1],
+    inverted[2] - point[2]
+]);
+// Test just the rotation part
+console.log("\n=== Testing rotation ===");
+const rotated = Quat.rotateVec3(transform.rotation, point);
+console.log("Rotated:", rotated);
+const conjugate = Quat.conjugate(transform.rotation);
+console.log("Conjugate quat:", conjugate);
+const rotatedBack = Quat.rotateVec3(conjugate, rotated);
+console.log("Rotated back:", rotatedBack);
+console.log("Should equal original:", point);
+//# sourceMappingURL=debug-inverse.js.map

package/dist/math/transform/debug-inverse.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"debug-inverse.js","sourceRoot":"","sources":["../../../src/math/transform/debug-inverse.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,SAAS,EAAE,MAAM,gBAAgB,CAAC;AAE3C,OAAO,EAAE,IAAI,EAAE,MAAM,iBAAiB,CAAC;AAEvC,MAAM,SAAS,GAAc;IACzB,QAAQ,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;IACpB,QAAQ,EAAE,IAAI,CAAC,aAAa,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC;IACpD,KAAK,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,CAAC,CAAC;CACrB,CAAC;AAEF,MAAM,KAAK,GAAS,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAE9B,OAAO,CAAC,GAAG,CAAC,iBAAiB,EAAE,KAAK,CAAC,CAAC;AAEtC,MAAM,WAAW,GAAG,SAAS,CAAC,SAAS,CAAC,SAAS,EAAE,KAAK,CAAC,CAAC;AAC1D,OAAO,CAAC,GAAG,CAAC,cAAc,EAAE,WAAW,CAAC,CAAC;AAEzC,MAAM,QAAQ,GAAG,SAAS,CAAC,gBAAgB,CAAC,SAAS,EAAE,WAAW,CAAC,CAAC;AACpE,OAAO,CAAC,GAAG,CAAC,gBAAgB,EAAE,QAAQ,CAAC,CAAC;AAExC,OAAO,CAAC,GAAG,CAAC,aAAa,EAAE;IACvB,QAAQ,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC;IACtB,QAAQ,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC;IACtB,QAAQ,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC;CACzB,CAAC,CAAC;AAEH,8BAA8B;AAC9B,OAAO,CAAC,GAAG,CAAC,4BAA4B,CAAC,CAAC;AAC1C,MAAM,OAAO,GAAG,IAAI,CAAC,UAAU,CAAC,SAAS,CAAC,QAAQ,EAAE,KAAK,CAAC,CAAC;AAC3D,OAAO,CAAC,GAAG,CAAC,UAAU,EAAE,OAAO,CAAC,CAAC;AAEjC,MAAM,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;AACrD,OAAO,CAAC,GAAG,CAAC,iBAAiB,EAAE,SAAS,CAAC,CAAC;AAC1C,MAAM,WAAW,GAAG,IAAI,CAAC,UAAU,CAAC,SAAS,EAAE,OAAO,CAAC,CAAC;AACxD,OAAO,CAAC,GAAG,CAAC,eAAe,EAAE,WAAW,CAAC,CAAC;AAC1C,OAAO,CAAC,GAAG,CAAC,wBAAwB,EAAE,KAAK,CAAC,CAAC"}

package/dist/math/transform/debug-quat.d.ts

@@ -0,0 +1 @@
+export {};

package/dist/math/transform/debug-quat.js

@@ -0,0 +1,23 @@
+import { Quat } from "../quat/quat.js";
+import { Vec3 } from "../vec3/vec3.js";
+// Test with normalized axis
+const axis = [1, 1, 0];
+const normalizedAxis = Vec3.normalize(axis);
+console.log("Axis:", axis);
+console.log("Normalized:", normalizedAxis);
+const quat = Quat.fromAxisAngle(normalizedAxis, Math.PI / 4);
+console.log("Quaternion:", quat);
+console.log("Length:", Quat.length(quat));
+const point = [1, 2, 3];
+const rotated = Quat.rotateVec3(quat, point);
+console.log("\nRotated:", rotated);
+const conjugate = Quat.conjugate(quat);
+const back = Quat.rotateVec3(conjugate, rotated);
+console.log("Rotated back:", back);
+console.log("Original:", point);
+console.log("Difference:", [
+    back[0] - point[0],
+    back[1] - point[1],
+    back[2] - point[2]
+]);
+//# sourceMappingURL=debug-quat.js.map

package/dist/math/transform/debug-quat.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"debug-quat.js","sourceRoot":"","sources":["../../../src/math/transform/debug-quat.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,MAAM,iBAAiB,CAAC;AACvC,OAAO,EAAE,IAAI,EAAE,MAAM,iBAAiB,CAAC;AAEvC,4BAA4B;AAC5B,MAAM,IAAI,GAAS,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC7B,MAAM,cAAc,GAAG,IAAI,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC;AAC5C,OAAO,CAAC,GAAG,CAAC,OAAO,EAAE,IAAI,CAAC,CAAC;AAC3B,OAAO,CAAC,GAAG,CAAC,aAAa,EAAE,cAAc,CAAC,CAAC;AAE3C,MAAM,IAAI,GAAG,IAAI,CAAC,aAAa,CAAC,cAAc,EAAE,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC;AAC7D,OAAO,CAAC,GAAG,CAAC,aAAa,EAAE,IAAI,CAAC,CAAC;AACjC,OAAO,CAAC,GAAG,CAAC,SAAS,EAAE,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC;AAE1C,MAAM,KAAK,GAAS,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC9B,MAAM,OAAO,GAAG,IAAI,CAAC,UAAU,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC;AAC7C,OAAO,CAAC,GAAG,CAAC,YAAY,EAAE,OAAO,CAAC,CAAC;AAEnC,MAAM,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC;AACvC,MAAM,IAAI,GAAG,IAAI,CAAC,UAAU,CAAC,SAAS,EAAE,OAAO,CAAC,CAAC;AACjD,OAAO,CAAC,GAAG,CAAC,eAAe,EAAE,IAAI,CAAC,CAAC;AACnC,OAAO,CAAC,GAAG,CAAC,WAAW,EAAE,KAAK,CAAC,CAAC;AAChC,OAAO,CAAC,GAAG,CAAC,aAAa,EAAE;IACvB,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC;IAClB,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC;IAClB,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC;CACrB,CAAC,CAAC"}

package/dist/math/transform/debug-test.d.ts

@@ -0,0 +1 @@
+export {};

package/dist/math/transform/debug-test.js

@@ -0,0 +1,34 @@
+import { Transform } from "./transform.js";
+import { Vec3 } from "../vec3/vec3.js";
+import { Quat } from "../quat/quat.js";
+import { Mat4x4 } from "../mat4x4/mat4x4.js";
+// Simple rotation test
+const transform = {
+    position: Vec3.zero,
+    rotation: Quat.fromAxisAngle([0, 0, 1], Math.PI / 2),
+    scale: Vec3.one,
+};
+const point = [1, 2, 3];
+console.log("Transform:", transform);
+console.log("Point:", point);
+console.log("");
+// Direct method
+const directResult = Transform.transform(transform, point);
+console.log("Direct result:", directResult);
+// Matrix method
+const matrix = Transform.toMatrix(transform);
+console.log("Matrix:", matrix);
+const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+console.log("Matrix result:", matrixResult);
+console.log("");
+console.log("Difference:", [
+    directResult[0] - matrixResult[0],
+    directResult[1] - matrixResult[1],
+    directResult[2] - matrixResult[2]
+]);
+// Test quaternion rotation directly
+console.log("");
+console.log("Testing Quat.rotateVec3 directly:");
+const quatRotated = Quat.rotateVec3(transform.rotation, point);
+console.log("Quat.rotateVec3 result:", quatRotated);
+//# sourceMappingURL=debug-test.js.map

package/dist/math/transform/debug-test.js.map

@@ -0,0 +1 @@
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package/dist/math/transform/transform.d.ts

@@ -0,0 +1,58 @@
+import { FromSchema } from "../../schema/schema.js";
+import { Mat4x4 } from "../mat4x4/mat4x4.js";
+import { Vec3 } from "../vec3/vec3.js";
+export type Transform = FromSchema<typeof Transform.schema>;
+export declare namespace Transform {
+    const schema: {
+        readonly type: "object";
+        readonly properties: {
+            readonly position: {
+                readonly type: "array";
+                readonly items: {
+                    readonly type: "number";
+                    readonly precision: 1;
+                    readonly default: number;
+                };
+                readonly minItems: 3;
+                readonly maxItems: 3;
+                readonly default: readonly [0, 0, 0];
+            };
+            readonly rotation: {
+                readonly type: "array";
+                readonly items: {
+                    readonly type: "number";
+                    readonly precision: 1;
+                    readonly default: number;
+                };
+                readonly minItems: 4;
+                readonly maxItems: 4;
+                readonly default: readonly [0, 0, 0, 1];
+            };
+            readonly scale: {
+                readonly type: "array";
+                readonly items: {
+                    readonly type: "number";
+                    readonly precision: 1;
+                    readonly default: number;
+                };
+                readonly minItems: 3;
+                readonly maxItems: 3;
+                readonly default: readonly [0, 0, 0];
+            };
+        };
+        readonly required: readonly ["position", "rotation", "scale"];
+        readonly additionalProperties: false;
+        readonly layout: "std140";
+    };
+    const identity: Transform;
+    const toMatrix: (transform: Transform) => Mat4x4;
+    const transform: (transform: Transform, point: Vec3) => Vec3;
+    /**
+     * Applies the inverse transformation to a point.
+     * This is the reverse operation of transform(): if transform(t, p) = p',
+     * then transformInverse(t, p') = p.
+     *
+     * Note: Assumes rotation is a unit quaternion (which is guaranteed by Quat.fromAxisAngle).
+     */
+    const transformInverse: (transform: Transform, point: Vec3) => Vec3;
+}

package/dist/math/transform/transform.js

@@ -0,0 +1,101 @@
+import { Mat4x4 } from "../mat4x4/mat4x4.js";
+import { Quat } from "../quat/quat.js";
+import { Vec3 } from "../vec3/vec3.js";
+export var Transform;
+(function (Transform) {
+    Transform.schema = {
+        type: "object",
+        properties: {
+            position: Vec3.schema,
+            rotation: Quat.schema,
+            scale: Vec3.schema,
+        },
+        required: ["position", "rotation", "scale"],
+        additionalProperties: false,
+        layout: "std140",
+    };
+    Transform.identity = {
+        position: Vec3.zero,
+        rotation: Quat.identity,
+        scale: Vec3.one,
+    };
+    Transform.toMatrix = (transform) => {
+        const { position, rotation, scale } = transform;
+        // Create rotation matrix from quaternion
+        const rotationMatrix = Quat.toMat4(rotation);
+        // Create scale matrix
+        const scaleMatrix = Mat4x4.scaling(scale[0], scale[1], scale[2]);
+        // Create translation matrix
+        const translationMatrix = Mat4x4.translation(position[0], position[1], position[2]);
+        // Combine in TRS order: Translation * Rotation * Scale
+        const rs = Mat4x4.multiply(rotationMatrix, scaleMatrix);
+        return Mat4x4.multiply(translationMatrix, rs);
+    };
+    Transform.transform = (transform, point) => {
+        const { position, rotation, scale } = transform;
+        // Apply scale
+        const sx = point[0] * scale[0];
+        const sy = point[1] * scale[1];
+        const sz = point[2] * scale[2];
+        // Apply rotation (quaternion rotation unrolled)
+        const [qx, qy, qz, qw] = rotation;
+        // Compute qv × scaled (cross product)
+        const uvx = qy * sz - qz * sy;
+        const uvy = qz * sx - qx * sz;
+        const uvz = qx * sy - qy * sx;
+        // Compute qv × uv (cross product)
+        const uuvx = qy * uvz - qz * uvy;
+        const uuvy = qz * uvx - qx * uvz;
+        const uuvz = qx * uvy - qy * uvx;
+        // Combine: scaled + 2*w*uv + 2*uuv
+        const scaleFactor = 2 * qw;
+        const rx = sx + scaleFactor * uvx + 2 * uuvx;
+        const ry = sy + scaleFactor * uvy + 2 * uuvy;
+        const rz = sz + scaleFactor * uvz + 2 * uuvz;
+        // Apply translation
+        return [
+            rx + position[0],
+            ry + position[1],
+            rz + position[2]
+        ];
+    };
+    /**
+     * Applies the inverse transformation to a point.
+     * This is the reverse operation of transform(): if transform(t, p) = p',
+     * then transformInverse(t, p') = p.
+     *
+     * Note: Assumes rotation is a unit quaternion (which is guaranteed by Quat.fromAxisAngle).
+     */
+    Transform.transformInverse = (transform, point) => {
+        const { position, rotation, scale } = transform;
+        // Remove translation
+        const tx = point[0] - position[0];
+        const ty = point[1] - position[1];
+        const tz = point[2] - position[2];
+        // Apply inverse rotation using quaternion conjugate (for unit quaternions: q^-1 = conjugate(q))
+        const [qx, qy, qz, qw] = rotation;
+        const iqx = -qx;
+        const iqy = -qy;
+        const iqz = -qz;
+        // Compute qv × translated (cross product)
+        const uvx = iqy * tz - iqz * ty;
+        const uvy = iqz * tx - iqx * tz;
+        const uvz = iqx * ty - iqy * tx;
+        // Compute qv × uv (cross product)
+        const uuvx = iqy * uvz - iqz * uvy;
+        const uuvy = iqz * uvx - iqx * uvz;
+        const uuvz = iqx * uvy - iqy * uvx;
+        // Combine: translated + 2*w*uv + 2*uuv
+        const scaleFactor = 2 * qw;
+        const rx = tx + scaleFactor * uvx + 2 * uuvx;
+        const ry = ty + scaleFactor * uvy + 2 * uuvy;
+        const rz = tz + scaleFactor * uvz + 2 * uuvz;
+        // Apply inverse scale (division)
+        return [
+            rx / scale[0],
+            ry / scale[1],
+            rz / scale[2]
+        ];
+    };
+})(Transform || (Transform = {}));
+//# sourceMappingURL=transform.js.map

package/dist/math/transform/transform.js.map

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package/dist/math/transform/transform.test.d.ts

@@ -0,0 +1 @@
+export {};

package/dist/math/transform/transform.test.js

@@ -0,0 +1,309 @@
+import { describe, it, expect } from "vitest";
+import { Transform } from "./transform.js";
+import { Vec3 } from "../vec3/vec3.js";
+import { Quat } from "../quat/quat.js";
+import { Mat4x4 } from "../mat4x4/mat4x4.js";
+const EPSILON = 1e-6;
+const expectVec3Close = (a, b, epsilon = EPSILON) => {
+    expect(Math.abs(a[0] - b[0])).toBeLessThan(epsilon);
+    expect(Math.abs(a[1] - b[1])).toBeLessThan(epsilon);
+    expect(Math.abs(a[2] - b[2])).toBeLessThan(epsilon);
+};
+describe("Transform", () => {
+    describe("identity transform", () => {
+        it("should not change a point when applying identity transform", () => {
+            const point = [1, 2, 3];
+            const result = Transform.transform(Transform.identity, point);
+            expectVec3Close(result, point);
+        });
+        it("should match matrix transformation for identity", () => {
+            const point = [1, 2, 3];
+            const matrix = Transform.toMatrix(Transform.identity);
+            const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+            const directResult = Transform.transform(Transform.identity, point);
+            expectVec3Close(directResult, matrixResult);
+        });
+    });
+    describe("translation only", () => {
+        it("should translate a point correctly", () => {
+            const transform = {
+                position: [5, -3, 2],
+                rotation: Quat.identity,
+                scale: Vec3.one,
+            };
+            const point = [1, 2, 3];
+            const result = Transform.transform(transform, point);
+            expectVec3Close(result, [6, -1, 5]);
+        });
+        it("should match matrix transformation for translation", () => {
+            const transform = {
+                position: [5, -3, 2],
+                rotation: Quat.identity,
+                scale: Vec3.one,
+            };
+            const point = [1, 2, 3];
+            const matrix = Transform.toMatrix(transform);
+            const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+            const directResult = Transform.transform(transform, point);
+            expectVec3Close(directResult, matrixResult);
+        });
+    });
+    describe("scale only", () => {
+        it("should scale a point correctly", () => {
+            const transform = {
+                position: Vec3.zero,
+                rotation: Quat.identity,
+                scale: [2, 3, 0.5],
+            };
+            const point = [1, 2, 4];
+            const result = Transform.transform(transform, point);
+            expectVec3Close(result, [2, 6, 2]);
+        });
+        it("should match matrix transformation for scale", () => {
+            const transform = {
+                position: Vec3.zero,
+                rotation: Quat.identity,
+                scale: [2, 3, 0.5],
+            };
+            const point = [1, 2, 4];
+            const matrix = Transform.toMatrix(transform);
+            const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+            const directResult = Transform.transform(transform, point);
+            expectVec3Close(directResult, matrixResult);
+        });
+    });
+    describe("rotation only", () => {
+        it("should rotate a point 90 degrees around Z axis", () => {
+            const transform = {
+                position: Vec3.zero,
+                rotation: Quat.fromAxisAngle([0, 0, 1], Math.PI / 2),
+                scale: Vec3.one,
+            };
+            const point = [1, 0, 0];
+            const result = Transform.transform(transform, point);
+            expectVec3Close(result, [0, 1, 0]);
+        });
+        it("should rotate a point 90 degrees around Y axis", () => {
+            const transform = {
+                position: Vec3.zero,
+                rotation: Quat.fromAxisAngle([0, 1, 0], Math.PI / 2),
+                scale: Vec3.one,
+            };
+            const point = [1, 0, 0];
+            const result = Transform.transform(transform, point);
+            expectVec3Close(result, [0, 0, -1]);
+        });
+        it("should match matrix transformation for rotation", () => {
+            const transform = {
+                position: Vec3.zero,
+                rotation: Quat.fromAxisAngle([0, 0, 1], Math.PI / 2),
+                scale: Vec3.one,
+            };
+            const point = [1, 2, 3];
+            const matrix = Transform.toMatrix(transform);
+            const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+            const directResult = Transform.transform(transform, point);
+            expectVec3Close(directResult, matrixResult);
+        });
+    });
+    describe("combined transformations", () => {
+        it("should apply scale, rotation, and translation in correct order", () => {
+            const transform = {
+                position: [10, 20, 30],
+                rotation: Quat.fromAxisAngle([0, 0, 1], Math.PI / 2),
+                scale: [2, 2, 2],
+            };
+            const point = [1, 0, 0];
+            const result = Transform.transform(transform, point);
+            // Scale: [2, 0, 0]
+            // Rotate 90° around Z: [0, 2, 0]
+            // Translate: [10, 22, 30]
+            expectVec3Close(result, [10, 22, 30]);
+        });
+        it("should match matrix transformation for complex transform", () => {
+            const transform = {
+                position: [5, -3, 7],
+                rotation: Quat.fromAxisAngle([1, 1, 0], Math.PI / 4),
+                scale: [2, 0.5, 3],
+            };
+            const point = [1, 2, 3];
+            const matrix = Transform.toMatrix(transform);
+            const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+            const directResult = Transform.transform(transform, point);
+            expectVec3Close(directResult, matrixResult);
+        });
+        it("should match matrix transformation with arbitrary rotation", () => {
+            const transform = {
+                position: [-2, 4, -1],
+                rotation: Quat.fromEuler(0.5, 1.2, -0.3),
+                scale: [1.5, 0.8, 2.2],
+            };
+            const point = [3, -1, 2];
+            const matrix = Transform.toMatrix(transform);
+            const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+            const directResult = Transform.transform(transform, point);
+            expectVec3Close(directResult, matrixResult);
+        });
+    });
+    describe("multiple points consistency", () => {
+        it("should consistently match matrix transformation for various points", () => {
+            const transform = {
+                position: [1, 2, 3],
+                rotation: Quat.fromAxisAngle([1, 0.5, 0.3], 1.5),
+                scale: [2, 1.5, 0.75],
+            };
+            const testPoints = [
+                [0, 0, 0],
+                [1, 0, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+                [1, 1, 1],
+                [-1, -1, -1],
+                [5, -3, 2],
+                [0.1, 0.2, 0.3],
+            ];
+            const matrix = Transform.toMatrix(transform);
+            for (const point of testPoints) {
+                const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+                const directResult = Transform.transform(transform, point);
+                expectVec3Close(directResult, matrixResult);
+            }
+        });
+    });
+    describe("edge cases", () => {
+        it("should handle zero point", () => {
+            const transform = {
+                position: [1, 2, 3],
+                rotation: Quat.fromAxisAngle([0, 1, 0], Math.PI / 4),
+                scale: [2, 3, 4],
+            };
+            const point = [0, 0, 0];
+            const matrix = Transform.toMatrix(transform);
+            const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+            const directResult = Transform.transform(transform, point);
+            expectVec3Close(directResult, matrixResult);
+        });
+        it("should handle zero scale components", () => {
+            const transform = {
+                position: [1, 2, 3],
+                rotation: Quat.fromAxisAngle([0, 1, 0], Math.PI / 4),
+                scale: [0, 1, 1],
+            };
+            const point = [5, 5, 5];
+            const matrix = Transform.toMatrix(transform);
+            const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+            const directResult = Transform.transform(transform, point);
+            expectVec3Close(directResult, matrixResult);
+        });
+        it("should handle negative scale", () => {
+            const transform = {
+                position: [0, 0, 0],
+                rotation: Quat.identity,
+                scale: [-1, 1, -1],
+            };
+            const point = [1, 2, 3];
+            const matrix = Transform.toMatrix(transform);
+            const matrixResult = Mat4x4.multiplyVec3(matrix, point);
+            const directResult = Transform.transform(transform, point);
+            expectVec3Close(directResult, matrixResult);
+        });
+    });
+    describe("transformInverse", () => {
+        it("should be the inverse of transform for identity", () => {
+            const point = [1, 2, 3];
+            const transformed = Transform.transform(Transform.identity, point);
+            const result = Transform.transformInverse(Transform.identity, transformed);
+            expectVec3Close(result, point);
+        });
+        it("should be the inverse of transform for translation only", () => {
+            const transform = {
+                position: [5, -3, 2],
+                rotation: Quat.identity,
+                scale: Vec3.one,
+            };
+            const point = [1, 2, 3];
+            const transformed = Transform.transform(transform, point);
+            const result = Transform.transformInverse(transform, transformed);
+            expectVec3Close(result, point);
+        });
+        it("should be the inverse of transform for scale only", () => {
+            const transform = {
+                position: Vec3.zero,
+                rotation: Quat.identity,
+                scale: [2, 3, 0.5],
+            };
+            const point = [1, 2, 4];
+            const transformed = Transform.transform(transform, point);
+            const result = Transform.transformInverse(transform, transformed);
+            expectVec3Close(result, point);
+        });
+        it("should be the inverse of transform for rotation only", () => {
+            const transform = {
+                position: Vec3.zero,
+                rotation: Quat.fromAxisAngle([0, 0, 1], Math.PI / 2),
+                scale: Vec3.one,
+            };
+            const point = [1, 2, 3];
+            const transformed = Transform.transform(transform, point);
+            const result = Transform.transformInverse(transform, transformed);
+            expectVec3Close(result, point);
+        });
+        it("should be the inverse of transform for combined transformations", () => {
+            const transform = {
+                position: [5, -3, 7],
+                rotation: Quat.fromAxisAngle([1, 1, 0], Math.PI / 4),
+                scale: [2, 0.5, 3],
+            };
+            const point = [1, 2, 3];
+            const transformed = Transform.transform(transform, point);
+            const result = Transform.transformInverse(transform, transformed);
+            expectVec3Close(result, point);
+        });
+        it("should handle multiple points correctly", () => {
+            const transform = {
+                position: [1, 2, 3],
+                rotation: Quat.fromEuler(0.5, 1.2, -0.3),
+                scale: [2, 1.5, 0.75],
+            };
+            const testPoints = [
+                [0, 0, 0],
+                [1, 0, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+                [1, 1, 1],
+                [-1, -1, -1],
+                [5, -3, 2],
+            ];
+            for (const point of testPoints) {
+                const transformed = Transform.transform(transform, point);
+                const result = Transform.transformInverse(transform, transformed);
+                expectVec3Close(result, point);
+            }
+        });
+        it("should match inverse matrix transformation", () => {
+            const transform = {
+                position: [2, -1, 3],
+                rotation: Quat.fromAxisAngle([1, 0, 1], 0.8),
+                scale: [1.5, 2, 0.8],
+            };
+            const point = [3, -1, 2];
+            const matrix = Transform.toMatrix(transform);
+            const inverseMatrix = Mat4x4.inverse(matrix);
+            const matrixResult = Mat4x4.multiplyVec3(inverseMatrix, point);
+            const directResult = Transform.transformInverse(transform, point);
+            expectVec3Close(directResult, matrixResult);
+        });
+        it("should handle negative scale", () => {
+            const transform = {
+                position: [1, 2, 3],
+                rotation: Quat.fromAxisAngle([0, 1, 0], Math.PI / 6),
+                scale: [-2, 1, -1],
+            };
+            const point = [4, 5, 6];
+            const transformed = Transform.transform(transform, point);
+            const result = Transform.transformInverse(transform, transformed);
+            expectVec3Close(result, point);
+        });
+    });
+});
+//# sourceMappingURL=transform.test.js.map