@adobe/data 0.8.4 → 0.8.6

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

@@ -1,57 +1,4 @@
 import { FromSchema } from "../../schema/index.js";
-import { Vec3, Mat4x4 } from "../index.js";
-export type Quat = FromSchema<typeof Quat.schema>;
-export declare namespace Quat {
-    const schema: {
-        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];
-    };
-    const layout: import("../../typed-buffer/index.js").StructLayout;
-    const add: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;
-    const subtract: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;
-    const scale: ([x, y, z, w]: Quat, s: number) => Quat;
-    const negate: ([x, y, z, w]: Quat) => Quat;
-    const conjugate: ([x, y, z, w]: Quat) => Quat;
-    const multiply: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;
-    const length: ([x, y, z, w]: Quat) => number;
-    const lengthSquared: ([x, y, z, w]: Quat) => number;
-    const normalize: (q: Quat) => Quat;
-    const dot: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => number;
-    const distance: (a: Quat, b: Quat) => number;
-    const fromAxisAngle: (axis: Vec3, angle: number) => Quat;
-    const toAxisAngle: ([x, y, z, w]: Quat) => {
-        axis: Vec3;
-        angle: number;
-    };
-    const fromEuler: (x: number, y: number, z: number) => Quat;
-    const toEuler: ([x, y, z, w]: Quat) => Vec3;
-    const rotateVec3: ([x, y, z, w]: Quat, v: Vec3) => Vec3;
-    const slerp: (q1: Quat, q2: Quat, t: number) => Quat;
-    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.
-     */
-    const toMat4: ([x, y, z, w]: Quat) => Mat4x4;
-    const identity: Quat;
-    const inverse: (q: Quat) => Quat;
-    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.
-     */
-    const alignTo: (direction: Vec3, twistRadians?: number) => Quat;
-}
+import { schema } from "./constants/schema.js";
+export type Quat = FromSchema<typeof schema>;
+export * as Quat from "./constants/index.js";

package/dist/math/quat/quat.js

@@ -19,254 +19,5 @@ 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 { F32Schema } from "../../schema/index.js";
-import { getStructLayout } from "../../typed-buffer/index.js";
-import { Vec3 } from "../index.js";
-// eslint-disable-next-line @typescript-eslint/no-namespace
-export var Quat;
-(function (Quat) {
-    Quat.schema = {
-        type: 'array',
-        items: F32Schema,
-        minItems: 4,
-        maxItems: 4,
-        default: [0, 0, 0, 1], // identity quaternion
-    };
-    Quat.layout = getStructLayout(Quat.schema);
-    // Basic Quaternion Operations
-    Quat.add = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => [
-        x1 + x2,
-        y1 + y2,
-        z1 + z2,
-        w1 + w2
-    ];
-    Quat.subtract = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => [
-        x1 - x2,
-        y1 - y2,
-        z1 - z2,
-        w1 - w2
-    ];
-    Quat.scale = ([x, y, z, w], s) => [x * s, y * s, z * s, w * s];
-    Quat.negate = ([x, y, z, w]) => [-x, -y, -z, -w];
-    Quat.conjugate = ([x, y, z, w]) => [-x, -y, -z, w];
-    Quat.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
-    Quat.length = ([x, y, z, w]) => Math.sqrt(x * x + y * y + z * z + w * w);
-    Quat.lengthSquared = ([x, y, z, w]) => x * x + y * y + z * z + w * w;
-    Quat.normalize = (q) => {
-        const len = Quat.length(q);
-        return len === 0 ? [0, 0, 0, 1] : Quat.scale(q, 1 / len);
-    };
-    Quat.dot = ([x1, y1, z1, w1], [x2, y2, z2, w2]) => x1 * x2 + y1 * y2 + z1 * z2 + w1 * w2;
-    Quat.distance = (a, b) => Quat.length(Quat.subtract(b, a));
-    // Rotation Functions
-    Quat.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 Quat.identity;
-        const invLen = 1 / len;
-        return [axis[0] * invLen * s, axis[1] * invLen * s, axis[2] * invLen * s, c];
-    };
-    Quat.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
-        };
-    };
-    Quat.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
-        ];
-    };
-    Quat.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
-    Quat.rotateVec3 = ([x, y, z, w], v) => {
-        // q * v * q^-1
-        const qv = [x, y, z];
-        const uv = Vec3.cross(qv, v);
-        const uuv = Vec3.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
-    Quat.slerp = (q1, q2, t) => {
-        const dotProduct = Quat.dot(q1, q2);
-        // If the dot product is negative, slerp won't take the shorter route
-        const q2Adjusted = dotProduct < 0 ? Quat.negate(q2) : q2;
-        const adjustedDot = Math.abs(dotProduct);
-        // If the inputs are too close for comfort, linearly interpolate
-        if (adjustedDot > 0.9995) {
-            return Quat.normalize(Quat.add(Quat.scale(q1, 1 - t), Quat.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 Quat.normalize(Quat.add(Quat.scale(q1, factor1), Quat.scale(q2Adjusted, factor2)));
-    };
-    Quat.lerp = (q1, q2, t) => {
-        return Quat.normalize(Quat.add(Quat.scale(q1, 1 - t), Quat.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.
-     */
-    Quat.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
-        ];
-    };
-    Quat.identity = [0, 0, 0, 1];
-    // Utility Functions
-    Quat.inverse = (q) => {
-        const lenSq = Quat.lengthSquared(q);
-        if (lenSq === 0)
-            return [0, 0, 0, 1];
-        return Quat.scale(Quat.conjugate(q), 1 / lenSq);
-    };
-    Quat.lookAt = (forward, up) => {
-        // Normalize forward vector
-        const f = Vec3.normalize(forward);
-        // Calculate right vector
-        const r = Vec3.normalize(Vec3.cross(f, up));
-        // Recalculate up vector
-        const u = Vec3.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.
-     */
-    Quat.alignTo = (direction, twistRadians = 0) => {
-        const zAxis = [0, 0, 1];
-        const dirLen = Vec3.length(direction);
-        if (dirLen === 0)
-            return Quat.identity;
-        const dir = Vec3.normalize(direction);
-        const dotVal = Vec3.dot(zAxis, dir);
-        let base;
-        if (dotVal > 0.999999) {
-            base = Quat.identity;
-        }
-        else if (dotVal < -0.999999) {
-            // Opposite: 180° around any axis orthogonal to Z
-            const orthoCandidate = [1, 0, 0];
-            const axis = Math.abs(Vec3.dot(zAxis, orthoCandidate)) > 0.999 ? [0, 1, 0] : orthoCandidate;
-            base = Quat.fromAxisAngle(axis, Math.PI);
-        }
-        else {
-            const axis = Vec3.normalize(Vec3.cross(zAxis, dir));
-            const angle = Math.acos(dotVal);
-            base = Quat.fromAxisAngle(axis, angle);
-        }
-        if (twistRadians === 0)
-            return base;
-        // Twist around the final aligned Z (which is 'dir' in world space)
-        const twist = Quat.fromAxisAngle(dir, twistRadians);
-        return Quat.multiply(twist, base);
-    };
-})(Quat || (Quat = {}));
+export * as Quat from "./constants/index.js";
 //# sourceMappingURL=quat.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"quat.js","sourceRoot":"","sources":["../../../src/math/quat/quat.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;WAoBW;AAOX,OAAO,KAAK,IAAI,MAAM,sBAAsB,CAAC"}

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

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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 {};