@adobe/data 0.7.2 → 0.7.4

package/dist/math/picking/getClosestEntityToLine.js

@@ -0,0 +1,29 @@
+import { Aabb, Line3, Vec3, AabbFace } from "../index.js";
+export function getClosestEntityToLine(rows, line) {
+    let closestEntity = null;
+    let closestDistanceSquared = Infinity;
+    let closestAlpha = Infinity;
+    let pickedPosition = null;
+    for (const [id, aabb] of rows) {
+        const aabbCenter = Aabb.center(aabb);
+        const alpha = Line3.closestPointOnLine(line, aabbCenter);
+        const closestPointOnLineSegment = Line3.interpolate(line, alpha);
+        const distSquared = Vec3.distanceSquared(aabbCenter, closestPointOnLineSegment);
+        if (distSquared < closestDistanceSquared ||
+            (distSquared === closestDistanceSquared && alpha < closestAlpha)) {
+            closestDistanceSquared = distSquared;
+            closestAlpha = alpha;
+            closestEntity = id;
+            pickedPosition = closestPointOnLineSegment;
+        }
+    }
+    if (closestEntity !== null && pickedPosition) {
+        return {
+            entity: closestEntity,
+            position: pickedPosition,
+            face: AabbFace.fromPosition(pickedPosition, rows.get(closestEntity)),
+        };
+    }
+    return null;
+}
+//# sourceMappingURL=getClosestEntityToLine.js.map

package/dist/math/picking/getClosestEntityToLine.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"getClosestEntityToLine.js","sourceRoot":"","sources":["../../../src/math/picking/getClosestEntityToLine.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,aAAa,CAAC;AAG1D,MAAM,UAAU,sBAAsB,CAAC,IAAuB,EAAE,IAAW;IACvE,IAAI,aAAa,GAAkB,IAAI,CAAC;IACxC,IAAI,sBAAsB,GAAG,QAAQ,CAAC;IACtC,IAAI,YAAY,GAAG,QAAQ,CAAC;IAC5B,IAAI,cAAc,GAAgB,IAAI,CAAC;IACvC,KAAK,MAAM,CAAC,EAAE,EAAE,IAAI,CAAC,IAAI,IAAI,EAAE,CAAC;QAC5B,MAAM,UAAU,GAAG,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;QACrC,MAAM,KAAK,GAAG,KAAK,CAAC,kBAAkB,CAAC,IAAI,EAAE,UAAU,CAAC,CAAC;QACzD,MAAM,yBAAyB,GAAG,KAAK,CAAC,WAAW,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC;QACjE,MAAM,WAAW,GAAG,IAAI,CAAC,eAAe,CAAC,UAAU,EAAE,yBAAyB,CAAC,CAAC;QAChF,IAAI,WAAW,GAAG,sBAAsB;YACpC,CAAC,WAAW,KAAK,sBAAsB,IAAI,KAAK,GAAG,YAAY,CAAC,EAAE,CAAC;YACnE,sBAAsB,GAAG,WAAW,CAAC;YACrC,YAAY,GAAG,KAAK,CAAC;YACrB,aAAa,GAAG,EAAE,CAAC;YACnB,cAAc,GAAG,yBAAyB,CAAC;QAC/C,CAAC;IACL,CAAC;IACD,IAAI,aAAa,KAAK,IAAI,IAAI,cAAc,EAAE,CAAC;QAC3C,OAAO;YACH,MAAM,EAAE,aAAa;YACrB,QAAQ,EAAE,cAAc;YACxB,IAAI,EAAE,QAAQ,CAAC,YAAY,CAAC,cAAc,EAAE,IAAI,CAAC,GAAG,CAAC,aAAa,CAAE,CAAC;SACxE,CAAC;IACN,CAAC;IACD,OAAO,IAAI,CAAC;AAChB,CAAC"}

package/dist/math/picking/getClosestEntityToPoint.d.ts

@@ -0,0 +1,4 @@
+import { Entity } from "../../ecs/index.js";
+import { Aabb, Vec3 } from "../index.js";
+import { PickResult } from "./pick-result.js";
+export declare function getClosestEntityToPoint(rows: Map<Entity, Aabb>, point: Vec3): PickResult | null;

package/dist/math/picking/getClosestEntityToPoint.js

@@ -0,0 +1,27 @@
+import { Aabb, Vec3, AabbFace } from "../index.js";
+export function getClosestEntityToPoint(rows, point) {
+    let closestRow = -1;
+    let closestDistanceSquared = Infinity;
+    let closestAabb = null;
+    for (const [row, aabb] of rows) {
+        const distSquared = Vec3.distanceSquared(point, Aabb.center(aabb));
+        if (distSquared < closestDistanceSquared) {
+            closestDistanceSquared = distSquared;
+            closestRow = row;
+            closestAabb = aabb;
+        }
+    }
+    if (closestRow !== -1 && closestAabb) {
+        // For direct intersection, use the intersection point if possible
+        // We'll use the intersection alpha from Aabb.lineIntersection
+        // If the line starts inside, alpha=0, so position is line.a
+        // Otherwise, Line3.interpolate at alpha
+        return {
+            entity: closestRow,
+            position: point,
+            face: AabbFace.fromPosition(point, closestAabb),
+        };
+    }
+    return null;
+}
+//# sourceMappingURL=getClosestEntityToPoint.js.map

package/dist/math/picking/getClosestEntityToPoint.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"getClosestEntityToPoint.js","sourceRoot":"","sources":["../../../src/math/picking/getClosestEntityToPoint.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,aAAa,CAAC;AAGnD,MAAM,UAAU,uBAAuB,CAAC,IAAuB,EAAE,KAAW;IACxE,IAAI,UAAU,GAAG,CAAC,CAAC,CAAC;IACpB,IAAI,sBAAsB,GAAG,QAAQ,CAAC;IACtC,IAAI,WAAW,GAAgB,IAAI,CAAC;IACpC,KAAK,MAAM,CAAC,GAAG,EAAE,IAAI,CAAC,IAAI,IAAI,EAAE,CAAC;QAC7B,MAAM,WAAW,GAAG,IAAI,CAAC,eAAe,CAAC,KAAK,EAAE,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC;QACnE,IAAI,WAAW,GAAG,sBAAsB,EAAE,CAAC;YACvC,sBAAsB,GAAG,WAAW,CAAC;YACrC,UAAU,GAAG,GAAG,CAAC;YACjB,WAAW,GAAG,IAAI,CAAC;QACvB,CAAC;IACL,CAAC;IACD,IAAI,UAAU,KAAK,CAAC,CAAC,IAAI,WAAW,EAAE,CAAC;QACnC,kEAAkE;QAClE,8DAA8D;QAC9D,4DAA4D;QAC5D,wCAAwC;QACxC,OAAO;YACH,MAAM,EAAE,UAAU;YAClB,QAAQ,EAAE,KAAK;YACf,IAAI,EAAE,QAAQ,CAAC,YAAY,CAAC,KAAK,EAAE,WAAW,CAAC;SAClD,CAAC;IACN,CAAC;IACD,OAAO,IAAI,CAAC;AAChB,CAAC"}

package/dist/math/picking/getIntersectingEntities.d.ts

@@ -0,0 +1,12 @@
+import { Entity } from "../../ecs/index.js";
+import { Table } from "../../table/table.js";
+import { Aabb, Line3 } from "../index.js";
+export declare function getIntersectingEntities<T extends Table<{
+    id: Entity;
+    boundingBox: Aabb;
+}>>(options: {
+    tables: readonly T[];
+    line: Line3;
+    radius?: number;
+    predicate?: (table: T, row: number) => boolean;
+}): Map<Entity, Aabb>;

package/dist/math/picking/getIntersectingEntities.js

@@ -0,0 +1,15 @@
+import { Aabb } from "../index.js";
+export function getIntersectingEntities(options) {
+    const { tables, line, radius = 0, predicate } = options;
+    const rows = new Map();
+    for (const table of tables) {
+        for (let row = 0; row < table.rowCount; row++) {
+            const boundingBox = table.columns.boundingBox.get(row);
+            if (Aabb.lineIntersection(boundingBox, line, radius) !== -1 && (predicate?.(table, row) ?? true)) {
+                rows.set(table.columns.id.get(row), boundingBox);
+            }
+        }
+    }
+    return rows;
+}
+//# sourceMappingURL=getIntersectingEntities.js.map

package/dist/math/picking/getIntersectingEntities.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"getIntersectingEntities.js","sourceRoot":"","sources":["../../../src/math/picking/getIntersectingEntities.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,IAAI,EAAS,MAAM,aAAa,CAAC;AAE1C,MAAM,UAAU,uBAAuB,CAAsD,OAK5F;IACG,MAAM,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,CAAC,EAAE,SAAS,EAAE,GAAG,OAAO,CAAC;IACxD,MAAM,IAAI,GAAG,IAAI,GAAG,EAAgB,CAAC;IACrC,KAAK,MAAM,KAAK,IAAI,MAAM,EAAE,CAAC;QACzB,KAAK,IAAI,GAAG,GAAG,CAAC,EAAE,GAAG,GAAG,KAAK,CAAC,QAAQ,EAAE,GAAG,EAAE,EAAE,CAAC;YAC5C,MAAM,WAAW,GAAG,KAAK,CAAC,OAAO,CAAC,WAAW,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;YACvD,IAAI,IAAI,CAAC,gBAAgB,CAAC,WAAW,EAAE,IAAI,EAAE,MAAM,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC,SAAS,EAAE,CAAC,KAAK,EAAE,GAAG,CAAC,IAAI,IAAI,CAAC,EAAE,CAAC;gBAC/F,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,OAAO,CAAC,EAAE,CAAC,GAAG,CAAC,GAAG,CAAC,EAAE,WAAW,CAAC,CAAC;YACrD,CAAC;QACL,CAAC;IACL,CAAC;IACD,OAAO,IAAI,CAAC;AAChB,CAAC"}

package/dist/math/picking/pick-from-tables.js

@@ -45,7 +45,7 @@ export function pickFromTables(options) {
             return {
                 entity: best.id,
                 lineAlpha: best.alpha,
-                entityPosition: Line3.interpolate(line, best.alpha),
+                worldPosition: Line3.interpolate(line, best.alpha),
                 // face: AabbFace.fromPosition(Line3.interpolate(line, best.alpha), rows.get(best.id)!),
             };
         }

package/dist/math/picking/pick-from-tables.js.map

@@ -1 +1 @@
-{"version":3,"file":"pick-from-tables.js","sourceRoot":"","sources":["../../../src/math/picking/pick-from-tables.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;WAoBW;AAGX,OAAO,EAAE,IAAI,EAAE,MAAM,aAAa,CAAC;AACnC,OAAO,EAAE,KAAK,EAAE,MAAM,aAAa,CAAC;AAGpC,OAAO,EAAE,uBAAuB,EAAE,MAAM,gCAAgC,CAAC;AACzE,OAAO,EAAE,uBAAuB,EAAE,MAAM,kCAAkC,CAAC;AAC3E,OAAO,EAAE,sBAAsB,EAAE,MAAM,iCAAiC,CAAC;AAEzE;;;;GAIG;AACH,MAAM,UAAU,cAAc,CAAqD,OAKlF;IACG,MAAM,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,CAAC,EAAE,SAAS,EAAE,GAAG,OAAO,CAAC;IACxD,IAAI,IAAI,GAAG,uBAAuB,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC,EAAE,SAAS,EAAE,CAAC,CAAC;IAC3E,IAAI,IAAI,CAAC,IAAI,GAAG,CAAC,EAAE,CAAC;QAChB,8EAA8E;QAC9E,IAAI,IAAI,GAAyC,IAAI,CAAC;QACtD,KAAK,MAAM,CAAC,EAAE,EAAE,IAAI,CAAC,IAAI,IAAI,EAAE,CAAC;YAC5B,MAAM,KAAK,GAAG,IAAI,CAAC,gBAAgB,CAAC,IAAI,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;YACnD,IAAI,KAAK,KAAK,CAAC,CAAC,IAAI,CAAC,IAAI,KAAK,IAAI,IAAI,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,CAAC;gBACxD,IAAI,GAAG,EAAE,EAAE,EAAE,KAAK,EAAE,CAAC;YACzB,CAAC;QACL,CAAC;QACD,IAAI,IAAI,EAAE,CAAC;YACP,OAAO;gBACH,MAAM,EAAE,IAAI,CAAC,EAAE;gBACf,SAAS,EAAE,IAAI,CAAC,KAAK;gBACrB,cAAc,EAAE,KAAK,CAAC,WAAW,CAAC,IAAI,EAAE,IAAI,CAAC,KAAK,CAAC;gBACnD,wFAAwF;aAC3F,CAAC;QACN,CAAC;QACD,gCAAgC;QAChC,OAAO,uBAAuB,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC;IACjD,CAAC;SAAM,IAAI,MAAM,GAAG,CAAC,EAAE,CAAC;QACpB,IAAI,GAAG,uBAAuB,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,SAAS,EAAE,CAAC,CAAC;QACpE,IAAI,IAAI,CAAC,IAAI,GAAG,CAAC,EAAE,CAAC;YAChB,OAAO,sBAAsB,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;QAC9C,CAAC;IACL,CAAC;IACD,OAAO,IAAI,CAAC;AAChB,CAAC"}
+{"version":3,"file":"pick-from-tables.js","sourceRoot":"","sources":["../../../src/math/picking/pick-from-tables.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;WAoBW;AAGX,OAAO,EAAE,IAAI,EAAE,MAAM,aAAa,CAAC;AACnC,OAAO,EAAE,KAAK,EAAE,MAAM,aAAa,CAAC;AAGpC,OAAO,EAAE,uBAAuB,EAAE,MAAM,gCAAgC,CAAC;AACzE,OAAO,EAAE,uBAAuB,EAAE,MAAM,kCAAkC,CAAC;AAC3E,OAAO,EAAE,sBAAsB,EAAE,MAAM,iCAAiC,CAAC;AAEzE;;;;GAIG;AACH,MAAM,UAAU,cAAc,CAAqD,OAKlF;IACG,MAAM,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,CAAC,EAAE,SAAS,EAAE,GAAG,OAAO,CAAC;IACxD,IAAI,IAAI,GAAG,uBAAuB,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC,EAAE,SAAS,EAAE,CAAC,CAAC;IAC3E,IAAI,IAAI,CAAC,IAAI,GAAG,CAAC,EAAE,CAAC;QAChB,8EAA8E;QAC9E,IAAI,IAAI,GAAyC,IAAI,CAAC;QACtD,KAAK,MAAM,CAAC,EAAE,EAAE,IAAI,CAAC,IAAI,IAAI,EAAE,CAAC;YAC5B,MAAM,KAAK,GAAG,IAAI,CAAC,gBAAgB,CAAC,IAAI,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;YACnD,IAAI,KAAK,KAAK,CAAC,CAAC,IAAI,CAAC,IAAI,KAAK,IAAI,IAAI,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,CAAC;gBACxD,IAAI,GAAG,EAAE,EAAE,EAAE,KAAK,EAAE,CAAC;YACzB,CAAC;QACL,CAAC;QACD,IAAI,IAAI,EAAE,CAAC;YACP,OAAO;gBACH,MAAM,EAAE,IAAI,CAAC,EAAE;gBACf,SAAS,EAAE,IAAI,CAAC,KAAK;gBACrB,aAAa,EAAE,KAAK,CAAC,WAAW,CAAC,IAAI,EAAE,IAAI,CAAC,KAAK,CAAC;gBAClD,wFAAwF;aAC3F,CAAC;QACN,CAAC;QACD,gCAAgC;QAChC,OAAO,uBAAuB,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC;IACjD,CAAC;SAAM,IAAI,MAAM,GAAG,CAAC,EAAE,CAAC;QACpB,IAAI,GAAG,uBAAuB,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,SAAS,EAAE,CAAC,CAAC;QACpE,IAAI,IAAI,CAAC,IAAI,GAAG,CAAC,EAAE,CAAC;YAChB,OAAO,sBAAsB,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;QAC9C,CAAC;IACL,CAAC;IACD,OAAO,IAAI,CAAC;AAChB,CAAC"}

package/dist/math/picking/pick-result.d.ts

@@ -5,6 +5,8 @@ export interface PickResult {
     entity: Entity;
     /** Alpha value (0-1) along the picking line where the intersection/closest point occurs. */
     lineAlpha: number;
-    /** World-space position of the entity or closest point on the AABB. */
-    entityPosition: Vec3;
+    /** World-space position of the picked entity. */
+    worldPosition: Vec3;
+    /** Model-space position on the picked entity. */
+    modelPosition?: Vec3;
 }

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 @@
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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 @@
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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

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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 {};