@adobe/data 0.7.4 → 0.8.1

package/dist/math/plane/schema.js

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+/*MIT License
+
+© Copyright 2025 Adobe. All rights reserved.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.*/
+import { Vec3 } from "../vec3/index.js";
+import { F32 } from "../f32/index.js";
+export const schema = {
+    type: 'object',
+    properties: {
+        normal: Vec3.schema,
+        distance: F32.schema,
+    },
+    layout: 'std140',
+    required: ['normal', 'distance'],
+    additionalProperties: false,
+};
+//# sourceMappingURL=schema.js.map

package/dist/math/plane/schema.js.map

@@ -0,0 +1 @@
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package/dist/math/quat/constants/functions.d.ts

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+import type { Quat } from "../index.js";
+import type { Vec3 } from "../../vec3/index.js";
+import type { Mat4x4 } from "../../mat4x4/index.js";
+export declare const identity: Quat;
+export declare const add: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;
+export declare const subtract: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;
+export declare const scale: ([x, y, z, w]: Quat, s: number) => Quat;
+export declare const negate: ([x, y, z, w]: Quat) => Quat;
+export declare const conjugate: ([x, y, z, w]: Quat) => Quat;
+export declare const multiply: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;
+export declare const length: ([x, y, z, w]: Quat) => number;
+export declare const lengthSquared: ([x, y, z, w]: Quat) => number;
+export declare const normalize: (q: Quat) => Quat;
+export declare const dot: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => number;
+export declare const distance: (a: Quat, b: Quat) => number;
+export declare const fromAxisAngle: (axis: Vec3, angle: number) => Quat;
+export declare const toAxisAngle: ([x, y, z, w]: Quat) => {
+    axis: Vec3;
+    angle: number;
+};
+export declare const fromEuler: (x: number, y: number, z: number) => Quat;
+export declare const toEuler: ([x, y, z, w]: Quat) => Vec3;
+export declare const rotateVec3: ([x, y, z, w]: Quat, v: Vec3) => Vec3;
+export declare const slerp: (q1: Quat, q2: Quat, t: number) => Quat;
+export declare const lerp: (q1: Quat, q2: Quat, t: number) => Quat;
+/**
+ * Converts a quaternion to a 4x4 rotation matrix in column-major order.
+ * The resulting matrix is compatible with WebGPU and can be directly used
+ * with Mat4x4 operations.
+ */
+export declare const toMat4: ([x, y, z, w]: Quat) => Mat4x4;
+export declare const inverse: (q: Quat) => Quat;
+export declare const lookAt: (forward: Vec3, up: Vec3) => Quat;
+/**
+ * Returns a quaternion that aligns the local Z-axis to the given direction via the shortest arc,
+ * then applies an additional twist around that aligned Z-axis.
+ *
+ * Note: This aligns the Z axis.
+ *
+ * @param direction - Target world-space direction for local Z. If zero-length, returns identity.
+ * @param twistRadians - Extra rotation around the aligned Z-axis, in radians. Defaults to 0.
+ */
+export declare const alignTo: (direction: Vec3, twistRadians?: number) => Quat;

package/dist/math/quat/constants/functions.js

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+/*MIT License
+
+© Copyright 2025 Adobe. All rights reserved.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.*/
+import { Vec3 as Vec3Namespace } from "../../index.js";
+export const identity = [0, 0, 0, 1];
+// Basic Quaternion Operations
+export const add = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => [
+    x1 + x2,
+    y1 + y2,
+    z1 + z2,
+    w1 + w2
+];
+export const subtract = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => [
+    x1 - x2,
+    y1 - y2,
+    z1 - z2,
+    w1 - w2
+];
+export const scale = ([x, y, z, w], s) => [x * s, y * s, z * s, w * s];
+export const negate = ([x, y, z, w]) => [-x, -y, -z, -w];
+export const conjugate = ([x, y, z, w]) => [-x, -y, -z, w];
+export const multiply = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => [
+    x1 * w2 + w1 * x2 + y1 * z2 - z1 * y2,
+    y1 * w2 + w1 * y2 + z1 * x2 - x1 * z2,
+    z1 * w2 + w1 * z2 + x1 * y2 - y1 * x2,
+    w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
+];
+// Geometric Functions
+export const length = ([x, y, z, w]) => Math.sqrt(x * x + y * y + z * z + w * w);
+export const lengthSquared = ([x, y, z, w]) => x * x + y * y + z * z + w * w;
+export const normalize = (q) => {
+    const len = length(q);
+    return len === 0 ? [0, 0, 0, 1] : scale(q, 1 / len);
+};
+export const dot = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => x1 * x2 + y1 * y2 + z1 * z2 + w1 * w2;
+export const distance = (a, b) => length(subtract(b, a));
+// Rotation Functions
+export const fromAxisAngle = (axis, angle) => {
+    const halfAngle = angle * 0.5;
+    const s = Math.sin(halfAngle);
+    const c = Math.cos(halfAngle);
+    // Normalize the axis to ensure a unit quaternion
+    const len = Math.sqrt(axis[0] * axis[0] + axis[1] * axis[1] + axis[2] * axis[2]);
+    if (len === 0)
+        return identity;
+    const invLen = 1 / len;
+    return [axis[0] * invLen * s, axis[1] * invLen * s, axis[2] * invLen * s, c];
+};
+export const toAxisAngle = ([x, y, z, w]) => {
+    const angle = 2 * Math.acos(Math.abs(w));
+    const s = Math.sin(angle * 0.5);
+    if (s === 0) {
+        return { axis: [0, 0, 1], angle: 0 };
+    }
+    return {
+        axis: [x / s, y / s, z / s],
+        angle: w < 0 ? -angle : angle
+    };
+};
+export const fromEuler = (x, y, z) => {
+    const cx = Math.cos(x * 0.5);
+    const sx = Math.sin(x * 0.5);
+    const cy = Math.cos(y * 0.5);
+    const sy = Math.sin(y * 0.5);
+    const cz = Math.cos(z * 0.5);
+    const sz = Math.sin(z * 0.5);
+    return [
+        sx * cy * cz - cx * sy * sz,
+        cx * sy * cz + sx * cy * sz,
+        cx * cy * sz - sx * sy * cz,
+        cx * cy * cz + sx * sy * sz
+    ];
+};
+export const toEuler = ([x, y, z, w]) => {
+    // Roll (x-axis rotation)
+    const sinr_cosp = 2 * (w * x + y * z);
+    const cosr_cosp = 1 - 2 * (x * x + y * y);
+    const roll = Math.atan2(sinr_cosp, cosr_cosp);
+    // Pitch (y-axis rotation)
+    const sinp = 2 * (w * y - z * x);
+    let pitch;
+    if (Math.abs(sinp) >= 1) {
+        pitch = Math.sign(sinp) * Math.PI / 2; // use 90 degrees if out of range
+    }
+    else {
+        pitch = Math.asin(sinp);
+    }
+    // Yaw (z-axis rotation)
+    const siny_cosp = 2 * (w * z + x * y);
+    const cosy_cosp = 1 - 2 * (y * y + z * z);
+    const yaw = Math.atan2(siny_cosp, cosy_cosp);
+    return [roll, pitch, yaw];
+};
+// Vector Rotation
+export const rotateVec3 = ([x, y, z, w], v) => {
+    // q * v * q^-1
+    const qv = [x, y, z];
+    const uv = Vec3Namespace.cross(qv, v);
+    const uuv = Vec3Namespace.cross(qv, uv);
+    const scaleFactor = 2 * w;
+    return [
+        v[0] + scaleFactor * uv[0] + 2 * uuv[0],
+        v[1] + scaleFactor * uv[1] + 2 * uuv[1],
+        v[2] + scaleFactor * uv[2] + 2 * uuv[2]
+    ];
+};
+// Interpolation
+export const slerp = (q1, q2, t) => {
+    const dotProduct = dot(q1, q2);
+    // If the dot product is negative, slerp won't take the shorter route
+    const q2Adjusted = dotProduct < 0 ? negate(q2) : q2;
+    const adjustedDot = Math.abs(dotProduct);
+    // If the inputs are too close for comfort, linearly interpolate
+    if (adjustedDot > 0.9995) {
+        return normalize(add(scale(q1, 1 - t), scale(q2Adjusted, t)));
+    }
+    const theta = Math.acos(adjustedDot);
+    const sinTheta = Math.sin(theta);
+    const factor1 = Math.sin((1 - t) * theta) / sinTheta;
+    const factor2 = Math.sin(t * theta) / sinTheta;
+    return normalize(add(scale(q1, factor1), scale(q2Adjusted, factor2)));
+};
+export const lerp = (q1, q2, t) => {
+    return normalize(add(scale(q1, 1 - t), scale(q2, t)));
+};
+// Matrix Conversion
+/**
+ * Converts a quaternion to a 4x4 rotation matrix in column-major order.
+ * The resulting matrix is compatible with WebGPU and can be directly used
+ * with Mat4x4 operations.
+ */
+export const toMat4 = ([x, y, z, w]) => {
+    const xx = x * x;
+    const yy = y * y;
+    const zz = z * z;
+    const xy = x * y;
+    const xz = x * z;
+    const yz = y * z;
+    const wx = w * x;
+    const wy = w * y;
+    const wz = w * z;
+    // Column-major format (WebGPU standard)
+    return [
+        1 - 2 * (yy + zz), 2 * (xy + wz), 2 * (xz - wy), 0,
+        2 * (xy - wz), 1 - 2 * (xx + zz), 2 * (yz + wx), 0,
+        2 * (xz + wy), 2 * (yz - wx), 1 - 2 * (xx + yy), 0,
+        0, 0, 0, 1
+    ];
+};
+// Utility Functions
+export const inverse = (q) => {
+    const lenSq = lengthSquared(q);
+    if (lenSq === 0)
+        return [0, 0, 0, 1];
+    return scale(conjugate(q), 1 / lenSq);
+};
+export const lookAt = (forward, up) => {
+    // Normalize forward vector
+    const f = Vec3Namespace.normalize(forward);
+    // Calculate right vector
+    const r = Vec3Namespace.normalize(Vec3Namespace.cross(f, up));
+    // Recalculate up vector
+    const u = Vec3Namespace.cross(r, f);
+    // Convert to quaternion
+    const trace = r[0] + u[1] + f[2];
+    if (trace > 0) {
+        const s = Math.sqrt(trace + 1) * 2;
+        return [
+            (u[2] - f[1]) / s,
+            (f[0] - r[2]) / s,
+            (r[1] - u[0]) / s,
+            0.25 * s
+        ];
+    }
+    else if (r[0] > u[1] && r[0] > f[2]) {
+        const s = Math.sqrt(1 + r[0] - u[1] - f[2]) * 2;
+        return [
+            0.25 * s,
+            (u[0] + r[1]) / s,
+            (f[0] + r[2]) / s,
+            (u[2] - f[1]) / s
+        ];
+    }
+    else if (u[1] > f[2]) {
+        const s = Math.sqrt(1 + u[1] - r[0] - f[2]) * 2;
+        return [
+            (u[0] + r[1]) / s,
+            0.25 * s,
+            (f[1] + u[2]) / s,
+            (f[0] - r[2]) / s
+        ];
+    }
+    else {
+        const s = Math.sqrt(1 + f[2] - r[0] - u[1]) * 2;
+        return [
+            (f[0] + r[2]) / s,
+            (f[1] + u[2]) / s,
+            0.25 * s,
+            (r[1] - u[0]) / s
+        ];
+    }
+};
+/**
+ * Returns a quaternion that aligns the local Z-axis to the given direction via the shortest arc,
+ * then applies an additional twist around that aligned Z-axis.
+ *
+ * Note: This aligns the Z axis.
+ *
+ * @param direction - Target world-space direction for local Z. If zero-length, returns identity.
+ * @param twistRadians - Extra rotation around the aligned Z-axis, in radians. Defaults to 0.
+ */
+export const alignTo = (direction, twistRadians = 0) => {
+    const zAxis = [0, 0, 1];
+    const dirLen = Vec3Namespace.length(direction);
+    if (dirLen === 0)
+        return identity;
+    const dir = Vec3Namespace.normalize(direction);
+    const dotVal = Vec3Namespace.dot(zAxis, dir);
+    let base;
+    if (dotVal > 0.999999) {
+        base = identity;
+    }
+    else if (dotVal < -0.999999) {
+        // Opposite: 180° around any axis orthogonal to Z
+        const orthoCandidate = [1, 0, 0];
+        const axis = Math.abs(Vec3Namespace.dot(zAxis, orthoCandidate)) > 0.999 ? [0, 1, 0] : orthoCandidate;
+        base = fromAxisAngle(axis, Math.PI);
+    }
+    else {
+        const axis = Vec3Namespace.normalize(Vec3Namespace.cross(zAxis, dir));
+        const angle = Math.acos(dotVal);
+        base = fromAxisAngle(axis, angle);
+    }
+    if (twistRadians === 0)
+        return base;
+    // Twist around the final aligned Z (which is 'dir' in world space)
+    const twist = fromAxisAngle(dir, twistRadians);
+    return multiply(twist, base);
+};
+//# sourceMappingURL=functions.js.map

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

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package/dist/math/quat/functions.d.ts

@@ -0,0 +1,43 @@
+import type { Quat } from "../index.js";
+import type { Vec3 } from "../vec3/index.js";
+import type { Mat4x4 } from "../mat4x4/index.js";
+export declare const identity: Quat;
+export declare const add: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;
+export declare const subtract: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;
+export declare const scale: ([x, y, z, w]: Quat, s: number) => Quat;
+export declare const negate: ([x, y, z, w]: Quat) => Quat;
+export declare const conjugate: ([x, y, z, w]: Quat) => Quat;
+export declare const multiply: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;
+export declare const length: ([x, y, z, w]: Quat) => number;
+export declare const lengthSquared: ([x, y, z, w]: Quat) => number;
+export declare const normalize: (q: Quat) => Quat;
+export declare const dot: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => number;
+export declare const distance: (a: Quat, b: Quat) => number;
+export declare const fromAxisAngle: (axis: Vec3, angle: number) => Quat;
+export declare const toAxisAngle: ([x, y, z, w]: Quat) => {
+    axis: Vec3;
+    angle: number;
+};
+export declare const fromEuler: (x: number, y: number, z: number) => Quat;
+export declare const toEuler: ([x, y, z, w]: Quat) => Vec3;
+export declare const rotateVec3: ([x, y, z, w]: Quat, v: Vec3) => Vec3;
+export declare const slerp: (q1: Quat, q2: Quat, t: number) => Quat;
+export declare const lerp: (q1: Quat, q2: Quat, t: number) => Quat;
+/**
+ * Converts a quaternion to a 4x4 rotation matrix in column-major order.
+ * The resulting matrix is compatible with WebGPU and can be directly used
+ * with Mat4x4 operations.
+ */
+export declare const toMat4: ([x, y, z, w]: Quat) => Mat4x4;
+export declare const inverse: (q: Quat) => Quat;
+export declare const lookAt: (forward: Vec3, up: Vec3) => Quat;
+/**
+ * Returns a quaternion that aligns the local Z-axis to the given direction via the shortest arc,
+ * then applies an additional twist around that aligned Z-axis.
+ *
+ * Note: This aligns the Z axis.
+ *
+ * @param direction - Target world-space direction for local Z. If zero-length, returns identity.
+ * @param twistRadians - Extra rotation around the aligned Z-axis, in radians. Defaults to 0.
+ */
+export declare const alignTo: (direction: Vec3, twistRadians?: number) => Quat;

package/dist/math/quat/functions.js

@@ -0,0 +1,258 @@
+/*MIT License
+
+© Copyright 2025 Adobe. All rights reserved.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.*/
+import { Vec3 as Vec3Namespace } from "../vec3/index.js";
+export const identity = [0, 0, 0, 1];
+// Basic Quaternion Operations
+export const add = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => [
+    x1 + x2,
+    y1 + y2,
+    z1 + z2,
+    w1 + w2
+];
+export const subtract = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => [
+    x1 - x2,
+    y1 - y2,
+    z1 - z2,
+    w1 - w2
+];
+export const scale = ([x, y, z, w], s) => [x * s, y * s, z * s, w * s];
+export const negate = ([x, y, z, w]) => [-x, -y, -z, -w];
+export const conjugate = ([x, y, z, w]) => [-x, -y, -z, w];
+export const multiply = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => [
+    x1 * w2 + w1 * x2 + y1 * z2 - z1 * y2,
+    y1 * w2 + w1 * y2 + z1 * x2 - x1 * z2,
+    z1 * w2 + w1 * z2 + x1 * y2 - y1 * x2,
+    w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
+];
+// Geometric Functions
+export const length = ([x, y, z, w]) => Math.sqrt(x * x + y * y + z * z + w * w);
+export const lengthSquared = ([x, y, z, w]) => x * x + y * y + z * z + w * w;
+export const normalize = (q) => {
+    const len = length(q);
+    return len === 0 ? [0, 0, 0, 1] : scale(q, 1 / len);
+};
+export const dot = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => x1 * x2 + y1 * y2 + z1 * z2 + w1 * w2;
+export const distance = (a, b) => length(subtract(b, a));
+// Rotation Functions
+export const fromAxisAngle = (axis, angle) => {
+    const halfAngle = angle * 0.5;
+    const s = Math.sin(halfAngle);
+    const c = Math.cos(halfAngle);
+    // Normalize the axis to ensure a unit quaternion
+    const len = Math.sqrt(axis[0] * axis[0] + axis[1] * axis[1] + axis[2] * axis[2]);
+    if (len === 0)
+        return identity;
+    const invLen = 1 / len;
+    return [axis[0] * invLen * s, axis[1] * invLen * s, axis[2] * invLen * s, c];
+};
+export const toAxisAngle = ([x, y, z, w]) => {
+    const angle = 2 * Math.acos(Math.abs(w));
+    const s = Math.sin(angle * 0.5);
+    if (s === 0) {
+        return { axis: [0, 0, 1], angle: 0 };
+    }
+    return {
+        axis: [x / s, y / s, z / s],
+        angle: w < 0 ? -angle : angle
+    };
+};
+export const fromEuler = (x, y, z) => {
+    const cx = Math.cos(x * 0.5);
+    const sx = Math.sin(x * 0.5);
+    const cy = Math.cos(y * 0.5);
+    const sy = Math.sin(y * 0.5);
+    const cz = Math.cos(z * 0.5);
+    const sz = Math.sin(z * 0.5);
+    return [
+        sx * cy * cz - cx * sy * sz,
+        cx * sy * cz + sx * cy * sz,
+        cx * cy * sz - sx * sy * cz,
+        cx * cy * cz + sx * sy * sz
+    ];
+};
+export const toEuler = ([x, y, z, w]) => {
+    // Roll (x-axis rotation)
+    const sinr_cosp = 2 * (w * x + y * z);
+    const cosr_cosp = 1 - 2 * (x * x + y * y);
+    const roll = Math.atan2(sinr_cosp, cosr_cosp);
+    // Pitch (y-axis rotation)
+    const sinp = 2 * (w * y - z * x);
+    let pitch;
+    if (Math.abs(sinp) >= 1) {
+        pitch = Math.sign(sinp) * Math.PI / 2; // use 90 degrees if out of range
+    }
+    else {
+        pitch = Math.asin(sinp);
+    }
+    // Yaw (z-axis rotation)
+    const siny_cosp = 2 * (w * z + x * y);
+    const cosy_cosp = 1 - 2 * (y * y + z * z);
+    const yaw = Math.atan2(siny_cosp, cosy_cosp);
+    return [roll, pitch, yaw];
+};
+// Vector Rotation
+export const rotateVec3 = ([x, y, z, w], v) => {
+    // q * v * q^-1
+    const qv = [x, y, z];
+    const uv = Vec3Namespace.cross(qv, v);
+    const uuv = Vec3Namespace.cross(qv, uv);
+    const scaleFactor = 2 * w;
+    return [
+        v[0] + scaleFactor * uv[0] + 2 * uuv[0],
+        v[1] + scaleFactor * uv[1] + 2 * uuv[1],
+        v[2] + scaleFactor * uv[2] + 2 * uuv[2]
+    ];
+};
+// Interpolation
+export const slerp = (q1, q2, t) => {
+    const dotProduct = dot(q1, q2);
+    // If the dot product is negative, slerp won't take the shorter route
+    const q2Adjusted = dotProduct < 0 ? negate(q2) : q2;
+    const adjustedDot = Math.abs(dotProduct);
+    // If the inputs are too close for comfort, linearly interpolate
+    if (adjustedDot > 0.9995) {
+        return normalize(add(scale(q1, 1 - t), scale(q2Adjusted, t)));
+    }
+    const theta = Math.acos(adjustedDot);
+    const sinTheta = Math.sin(theta);
+    const factor1 = Math.sin((1 - t) * theta) / sinTheta;
+    const factor2 = Math.sin(t * theta) / sinTheta;
+    return normalize(add(scale(q1, factor1), scale(q2Adjusted, factor2)));
+};
+export const lerp = (q1, q2, t) => {
+    return normalize(add(scale(q1, 1 - t), scale(q2, t)));
+};
+// Matrix Conversion
+/**
+ * Converts a quaternion to a 4x4 rotation matrix in column-major order.
+ * The resulting matrix is compatible with WebGPU and can be directly used
+ * with Mat4x4 operations.
+ */
+export const toMat4 = ([x, y, z, w]) => {
+    const xx = x * x;
+    const yy = y * y;
+    const zz = z * z;
+    const xy = x * y;
+    const xz = x * z;
+    const yz = y * z;
+    const wx = w * x;
+    const wy = w * y;
+    const wz = w * z;
+    // Column-major format (WebGPU standard)
+    return [
+        1 - 2 * (yy + zz), 2 * (xy + wz), 2 * (xz - wy), 0,
+        2 * (xy - wz), 1 - 2 * (xx + zz), 2 * (yz + wx), 0,
+        2 * (xz + wy), 2 * (yz - wx), 1 - 2 * (xx + yy), 0,
+        0, 0, 0, 1
+    ];
+};
+// Utility Functions
+export const inverse = (q) => {
+    const lenSq = lengthSquared(q);
+    if (lenSq === 0)
+        return [0, 0, 0, 1];
+    return scale(conjugate(q), 1 / lenSq);
+};
+export const lookAt = (forward, up) => {
+    // Normalize forward vector
+    const f = Vec3Namespace.normalize(forward);
+    // Calculate right vector
+    const r = Vec3Namespace.normalize(Vec3Namespace.cross(f, up));
+    // Recalculate up vector
+    const u = Vec3Namespace.cross(r, f);
+    // Convert to quaternion
+    const trace = r[0] + u[1] + f[2];
+    if (trace > 0) {
+        const s = Math.sqrt(trace + 1) * 2;
+        return [
+            (u[2] - f[1]) / s,
+            (f[0] - r[2]) / s,
+            (r[1] - u[0]) / s,
+            0.25 * s
+        ];
+    }
+    else if (r[0] > u[1] && r[0] > f[2]) {
+        const s = Math.sqrt(1 + r[0] - u[1] - f[2]) * 2;
+        return [
+            0.25 * s,
+            (u[0] + r[1]) / s,
+            (f[0] + r[2]) / s,
+            (u[2] - f[1]) / s
+        ];
+    }
+    else if (u[1] > f[2]) {
+        const s = Math.sqrt(1 + u[1] - r[0] - f[2]) * 2;
+        return [
+            (u[0] + r[1]) / s,
+            0.25 * s,
+            (f[1] + u[2]) / s,
+            (f[0] - r[2]) / s
+        ];
+    }
+    else {
+        const s = Math.sqrt(1 + f[2] - r[0] - u[1]) * 2;
+        return [
+            (f[0] + r[2]) / s,
+            (f[1] + u[2]) / s,
+            0.25 * s,
+            (r[1] - u[0]) / s
+        ];
+    }
+};
+/**
+ * Returns a quaternion that aligns the local Z-axis to the given direction via the shortest arc,
+ * then applies an additional twist around that aligned Z-axis.
+ *
+ * Note: This aligns the Z axis.
+ *
+ * @param direction - Target world-space direction for local Z. If zero-length, returns identity.
+ * @param twistRadians - Extra rotation around the aligned Z-axis, in radians. Defaults to 0.
+ */
+export const alignTo = (direction, twistRadians = 0) => {
+    const zAxis = [0, 0, 1];
+    const dirLen = Vec3Namespace.length(direction);
+    if (dirLen === 0)
+        return identity;
+    const dir = Vec3Namespace.normalize(direction);
+    const dotVal = Vec3Namespace.dot(zAxis, dir);
+    let base;
+    if (dotVal > 0.999999) {
+        base = identity;
+    }
+    else if (dotVal < -0.999999) {
+        // Opposite: 180° around any axis orthogonal to Z
+        const orthoCandidate = [1, 0, 0];
+        const axis = Math.abs(Vec3Namespace.dot(zAxis, orthoCandidate)) > 0.999 ? [0, 1, 0] : orthoCandidate;
+        base = fromAxisAngle(axis, Math.PI);
+    }
+    else {
+        const axis = Vec3Namespace.normalize(Vec3Namespace.cross(zAxis, dir));
+        const angle = Math.acos(dotVal);
+        base = fromAxisAngle(axis, angle);
+    }
+    if (twistRadians === 0)
+        return base;
+    // Twist around the final aligned Z (which is 'dir' in world space)
+    const twist = fromAxisAngle(dir, twistRadians);
+    return multiply(twist, base);
+};
+//# sourceMappingURL=functions.js.map