@adobe/ecs 0.0.0-stage → 0.1.0

package/dist/interface/math/mat4x4/transpose.js

@@ -0,0 +1,8 @@
+import { intrinsic } from "../intrinsic.js";
+export const transpose = intrinsic({ wgsl: "transpose", parameters: ["mat4x4f"], result: "mat4x4f" }, (m) => [
+    m[0], m[4], m[8], m[12],
+    m[1], m[5], m[9], m[13],
+    m[2], m[6], m[10], m[14],
+    m[3], m[7], m[11], m[15]
+]);
+//# sourceMappingURL=transpose.js.map

package/dist/interface/math/mat4x4/transpose.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"transpose.js","sourceRoot":"","sources":["../../../../src/interface/math/mat4x4/transpose.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,SAAS,EAAE,MAAM,iBAAiB,CAAC;AAE5C,MAAM,CAAC,MAAM,SAAS,GAAG,SAAS,CAAC,EAAE,IAAI,EAAE,WAAW,EAAE,UAAU,EAAE,CAAC,SAAS,CAAC,EAAE,MAAM,EAAE,SAAS,EAAE,EAAE,CAAC,CAAS,EAAU,EAAE,CAAC;IACzH,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC;IACvB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC;IACvB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC;IACxB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC;CAC3B,CAAC,CAAC"}

package/dist/interface/math/mat4x4/zero.d.ts

@@ -0,0 +1,2 @@
+import type { Mat4x4 } from "./index.js";
+export declare const zero: Mat4x4;

package/dist/interface/math/mat4x4/zero.js

@@ -0,0 +1,7 @@
+export const zero = [
+    0, 0, 0, 0,
+    0, 0, 0, 0,
+    0, 0, 0, 0,
+    0, 0, 0, 0
+];
+//# sourceMappingURL=zero.js.map

package/dist/interface/math/mat4x4/zero.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"zero.js","sourceRoot":"","sources":["../../../../src/interface/math/mat4x4/zero.ts"],"names":[],"mappings":"AAEA,MAAM,CAAC,MAAM,IAAI,GAAW;IACxB,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;IACV,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;IACV,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;IACV,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;CACb,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const add: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;

package/dist/interface/math/quat/add.js

@@ -0,0 +1,8 @@
+import { intrinsic } from "../intrinsic.js";
+export const add = intrinsic({ wgsl: "+", form: "infix", parameters: ["vec4f", "vec4f"], result: "vec4f" }, ([x1, y1, z1, w1], [x2, y2, z2, w2]) => [
+    x1 + x2,
+    y1 + y2,
+    z1 + z2,
+    w1 + w2
+]);
+//# sourceMappingURL=add.js.map

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

@@ -0,0 +1 @@
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package/dist/interface/math/quat/align-to.d.ts

@@ -0,0 +1,12 @@
+import type { Quat } from "../index.js";
+import type { Vec3 } from "../vec3/index.js";
+/**
+ * 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/interface/math/quat/align-to.js

@@ -0,0 +1,42 @@
+import { Vec3 as Vec3Namespace } from "../vec3/index.js";
+import { fromAxisAngle } from "./from-axis-angle.js";
+import { identity } from "./identity.js";
+import { multiply } from "./multiply.js";
+/**
+ * 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=align-to.js.map

package/dist/interface/math/quat/align-to.js.map

@@ -0,0 +1 @@
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package/dist/interface/math/quat/conjugate.d.ts

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const conjugate: ([x, y, z, w]: Quat) => Quat;

package/dist/interface/math/quat/conjugate.js

@@ -0,0 +1,2 @@
+export const conjugate = ([x, y, z, w]) => [-x, -y, -z, w];
+//# sourceMappingURL=conjugate.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"conjugate.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/conjugate.ts"],"names":[],"mappings":"AAEA,MAAM,CAAC,MAAM,SAAS,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAO,EAAQ,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const distance: (a: Quat, b: Quat) => number;

package/dist/interface/math/quat/distance.js

@@ -0,0 +1,4 @@
+import { length } from "./length.js";
+import { subtract } from "./subtract.js";
+export const distance = (a, b) => length(subtract(b, a));
+//# sourceMappingURL=distance.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"distance.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/distance.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,MAAM,EAAE,MAAM,aAAa,CAAC;AACrC,OAAO,EAAE,QAAQ,EAAE,MAAM,eAAe,CAAC;AAEzC,MAAM,CAAC,MAAM,QAAQ,GAAG,CAAC,CAAO,EAAE,CAAO,EAAU,EAAE,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const dot: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => number;

package/dist/interface/math/quat/dot.js

@@ -0,0 +1,3 @@
+import { intrinsic } from "../intrinsic.js";
+export const dot = intrinsic({ wgsl: "dot", parameters: ["vec4f", "vec4f"], result: "f32" }, ([x1, y1, z1, w1], [x2, y2, z2, w2]) => x1 * x2 + y1 * y2 + z1 * z2 + w1 * w2);
+//# sourceMappingURL=dot.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"dot.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/dot.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,SAAS,EAAE,MAAM,iBAAiB,CAAC;AAE5C,MAAM,CAAC,MAAM,GAAG,GAAG,SAAS,CAAC,EAAE,IAAI,EAAE,KAAK,EAAE,UAAU,EAAE,CAAC,OAAO,EAAE,OAAO,CAAC,EAAE,MAAM,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAO,EAAE,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAO,EAAU,EAAE,CACpJ,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC"}

package/dist/interface/math/quat/from-axis-angle.d.ts

@@ -0,0 +1,3 @@
+import type { Quat } from "../index.js";
+import type { Vec3 } from "../vec3/index.js";
+export declare const fromAxisAngle: (axis: Vec3, angle: number) => Quat;

package/dist/interface/math/quat/from-axis-angle.js

@@ -0,0 +1,13 @@
+import { identity } from "./identity.js";
+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];
+};
+//# sourceMappingURL=from-axis-angle.js.map

package/dist/interface/math/quat/from-axis-angle.js.map

@@ -0,0 +1 @@
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package/dist/interface/math/quat/from-euler.d.ts

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const fromEuler: (x: number, y: number, z: number) => Quat;

package/dist/interface/math/quat/from-euler.js

@@ -0,0 +1,15 @@
+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
+    ];
+};
+//# sourceMappingURL=from-euler.js.map

package/dist/interface/math/quat/from-euler.js.map

@@ -0,0 +1 @@
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package/dist/interface/math/quat/identity.d.ts

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const identity: Quat;

package/dist/interface/math/quat/identity.js

@@ -0,0 +1,2 @@
+export const identity = [0, 0, 0, 1];
+//# sourceMappingURL=identity.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"identity.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/identity.ts"],"names":[],"mappings":"AAEA,MAAM,CAAC,MAAM,QAAQ,GAAS,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC"}

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

@@ -0,0 +1,2 @@
+export type Quat = readonly [number, number, number, number];
+export * as Quat from "./public.js";

package/dist/interface/math/quat/index.js

@@ -0,0 +1,2 @@
+export * as Quat from "./public.js";
+//# sourceMappingURL=index.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/index.ts"],"names":[],"mappings":"AAEA,OAAO,KAAK,IAAI,MAAM,aAAa,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const inverse: (q: Quat) => Quat;

package/dist/interface/math/quat/inverse.js

@@ -0,0 +1,10 @@
+import { conjugate } from "./conjugate.js";
+import { lengthSquared } from "./length-squared.js";
+import { scale } from "./scale.js";
+export const inverse = (q) => {
+    const lenSq = lengthSquared(q);
+    if (lenSq === 0)
+        return [0, 0, 0, 1];
+    return scale(conjugate(q), 1 / lenSq);
+};
+//# sourceMappingURL=inverse.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"inverse.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/inverse.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,SAAS,EAAE,MAAM,gBAAgB,CAAC;AAC3C,OAAO,EAAE,aAAa,EAAE,MAAM,qBAAqB,CAAC;AACpD,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AAEnC,MAAM,CAAC,MAAM,OAAO,GAAG,CAAC,CAAO,EAAQ,EAAE;IACrC,MAAM,KAAK,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;IAC/B,IAAI,KAAK,KAAK,CAAC;QAAE,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACrC,OAAO,KAAK,CAAC,SAAS,CAAC,CAAC,CAAC,EAAE,CAAC,GAAG,KAAK,CAAC,CAAC;AAC1C,CAAC,CAAC"}

package/dist/interface/math/quat/length-squared.d.ts

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const lengthSquared: ([x, y, z, w]: Quat) => number;

package/dist/interface/math/quat/length-squared.js

@@ -0,0 +1,2 @@
+export const lengthSquared = ([x, y, z, w]) => x * x + y * y + z * z + w * w;
+//# sourceMappingURL=length-squared.js.map

package/dist/interface/math/quat/length-squared.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"length-squared.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/length-squared.ts"],"names":[],"mappings":"AAEA,MAAM,CAAC,MAAM,aAAa,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAO,EAAU,EAAE,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const length: ([x, y, z, w]: Quat) => number;

package/dist/interface/math/quat/length.js

@@ -0,0 +1,3 @@
+import { intrinsic } from "../intrinsic.js";
+export const length = intrinsic({ wgsl: "length", parameters: ["vec4f"], result: "f32" }, ([x, y, z, w]) => Math.sqrt(x * x + y * y + z * z + w * w));
+//# sourceMappingURL=length.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"length.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/length.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,SAAS,EAAE,MAAM,iBAAiB,CAAC;AAE5C,MAAM,CAAC,MAAM,MAAM,GAAG,SAAS,CAAC,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,CAAC,OAAO,CAAC,EAAE,MAAM,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAO,EAAU,EAAE,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const lerp: (q1: Quat, q2: Quat, t: number) => Quat;

package/dist/interface/math/quat/lerp.js

@@ -0,0 +1,7 @@
+import { add } from "./add.js";
+import { normalize } from "./normalize.js";
+import { scale } from "./scale.js";
+export const lerp = (q1, q2, t) => {
+    return normalize(add(scale(q1, 1 - t), scale(q2, t)));
+};
+//# sourceMappingURL=lerp.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"lerp.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/lerp.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,GAAG,EAAE,MAAM,UAAU,CAAC;AAC/B,OAAO,EAAE,SAAS,EAAE,MAAM,gBAAgB,CAAC;AAC3C,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AAEnC,MAAM,CAAC,MAAM,IAAI,GAAG,CAAC,EAAQ,EAAE,EAAQ,EAAE,CAAS,EAAQ,EAAE;IACxD,OAAO,SAAS,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,EAAE,CAAC,GAAG,CAAC,CAAC,EAAE,KAAK,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;AAC1D,CAAC,CAAC"}

package/dist/interface/math/quat/look-at.d.ts

@@ -0,0 +1,3 @@
+import type { Quat } from "../index.js";
+import type { Vec3 } from "../vec3/index.js";
+export declare const lookAt: (forward: Vec3, up: Vec3) => Quat;

package/dist/interface/math/quat/look-at.js

@@ -0,0 +1,49 @@
+import { Vec3 as Vec3Namespace } from "../vec3/index.js";
+export const lookAt = (forward, up) => {
+    // Normalize forward vector
+    const f = Vec3Namespace.length(forward) === 0 ? Vec3Namespace.zero : Vec3Namespace.normalize(forward);
+    // Calculate right vector; it is zero when up is parallel to forward
+    const right = Vec3Namespace.cross(f, up);
+    const r = Vec3Namespace.length(right) === 0 ? Vec3Namespace.zero : Vec3Namespace.normalize(right);
+    // 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
+        ];
+    }
+};
+//# sourceMappingURL=look-at.js.map

package/dist/interface/math/quat/look-at.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"look-at.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/look-at.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,IAAI,IAAI,aAAa,EAAE,MAAM,kBAAkB,CAAC;AAEzD,MAAM,CAAC,MAAM,MAAM,GAAG,CAAC,OAAa,EAAE,EAAQ,EAAQ,EAAE;IACpD,2BAA2B;IAC3B,MAAM,CAAC,GAAG,aAAa,CAAC,MAAM,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,aAAa,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC;IAEtG,oEAAoE;IACpE,MAAM,KAAK,GAAG,aAAa,CAAC,KAAK,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC;IACzC,MAAM,CAAC,GAAG,aAAa,CAAC,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,aAAa,CAAC,SAAS,CAAC,KAAK,CAAC,CAAC;IAElG,wBAAwB;IACxB,MAAM,CAAC,GAAG,aAAa,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAEpC,wBAAwB;IACxB,MAAM,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;IAEjC,IAAI,KAAK,GAAG,CAAC,EAAE,CAAC;QACZ,MAAM,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,KAAK,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC;QACnC,OAAO;YACH,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;YACjB,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;YACjB,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;YACjB,IAAI,GAAG,CAAC;SACX,CAAC;IACN,CAAC;SAAM,IAAI,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC;QACpC,MAAM,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QAChD,OAAO;YACH,IAAI,GAAG,CAAC;YACR,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;YACjB,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;YACjB,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;SACpB,CAAC;IACN,CAAC;SAAM,IAAI,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC;QACrB,MAAM,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QAChD,OAAO;YACH,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;YACjB,IAAI,GAAG,CAAC;YACR,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;YACjB,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;SACpB,CAAC;IACN,CAAC;SAAM,CAAC;QACJ,MAAM,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QAChD,OAAO;YACH,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;YACjB,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;YACjB,IAAI,GAAG,CAAC;YACR,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;SACpB,CAAC;IACN,CAAC;AACL,CAAC,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const multiply: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;

package/dist/interface/math/quat/multiply.js

@@ -0,0 +1,7 @@
+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
+];
+//# sourceMappingURL=multiply.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"multiply.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/multiply.ts"],"names":[],"mappings":"AAEA,MAAM,CAAC,MAAM,QAAQ,GAAG,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAO,EAAE,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAO,EAAQ,EAAE,CAAC;IAC9E,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;IACrC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;IACrC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;IACrC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;CACxC,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const negate: ([x, y, z, w]: Quat) => Quat;

package/dist/interface/math/quat/negate.js

@@ -0,0 +1,3 @@
+import { intrinsic } from "../intrinsic.js";
+export const negate = intrinsic({ wgsl: "-", form: "prefix", parameters: ["vec4f"], result: "vec4f" }, ([x, y, z, w]) => [-x, -y, -z, -w]);
+//# sourceMappingURL=negate.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"negate.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/negate.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,SAAS,EAAE,MAAM,iBAAiB,CAAC;AAE5C,MAAM,CAAC,MAAM,MAAM,GAAG,SAAS,CAAC,EAAE,IAAI,EAAE,GAAG,EAAE,IAAI,EAAE,QAAQ,EAAE,UAAU,EAAE,CAAC,OAAO,CAAC,EAAE,MAAM,EAAE,OAAO,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAO,EAAQ,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const normalize: (q: Quat) => Quat;

package/dist/interface/math/quat/normalize.js

@@ -0,0 +1,7 @@
+import { length } from "./length.js";
+import { scale } from "./scale.js";
+export const normalize = (q) => {
+    const len = length(q);
+    return len === 0 ? [0, 0, 0, 1] : scale(q, 1 / len);
+};
+//# sourceMappingURL=normalize.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"normalize.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/normalize.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,MAAM,EAAE,MAAM,aAAa,CAAC;AACrC,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AAEnC,MAAM,CAAC,MAAM,SAAS,GAAG,CAAC,CAAO,EAAQ,EAAE;IACvC,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC;IACtB,OAAO,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC,CAAC;AACxD,CAAC,CAAC"}

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

@@ -0,0 +1,24 @@
+export * from "./add.js";
+export * from "./align-to.js";
+export * from "./conjugate.js";
+export * from "./distance.js";
+export * from "./dot.js";
+export * from "./from-axis-angle.js";
+export * from "./from-euler.js";
+export * from "./identity.js";
+export * from "./inverse.js";
+export * from "./length-squared.js";
+export * from "./length.js";
+export * from "./lerp.js";
+export * from "./look-at.js";
+export * from "./multiply.js";
+export * from "./negate.js";
+export * from "./normalize.js";
+export * from "./rotate-vec3.js";
+export * from "./scale.js";
+export * from "./slerp.js";
+export * from "./subtract.js";
+export * from "./to-axis-angle.js";
+export * from "./to-euler.js";
+export * from "./to-mat4.js";
+export * from "./schema.js";

package/dist/interface/math/quat/public.js

@@ -0,0 +1,25 @@
+export * from "./add.js";
+export * from "./align-to.js";
+export * from "./conjugate.js";
+export * from "./distance.js";
+export * from "./dot.js";
+export * from "./from-axis-angle.js";
+export * from "./from-euler.js";
+export * from "./identity.js";
+export * from "./inverse.js";
+export * from "./length-squared.js";
+export * from "./length.js";
+export * from "./lerp.js";
+export * from "./look-at.js";
+export * from "./multiply.js";
+export * from "./negate.js";
+export * from "./normalize.js";
+export * from "./rotate-vec3.js";
+export * from "./scale.js";
+export * from "./slerp.js";
+export * from "./subtract.js";
+export * from "./to-axis-angle.js";
+export * from "./to-euler.js";
+export * from "./to-mat4.js";
+export * from "./schema.js";
+//# sourceMappingURL=public.js.map

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

@@ -0,0 +1 @@
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package/dist/interface/math/quat/rotate-vec3.d.ts

@@ -0,0 +1,3 @@
+import type { Quat } from "../index.js";
+import type { Vec3 } from "../vec3/index.js";
+export declare const rotateVec3: ([x, y, z, w]: Quat, v: Vec3) => Vec3;

package/dist/interface/math/quat/rotate-vec3.js

@@ -0,0 +1,14 @@
+import { Vec3 as Vec3Namespace } from "../vec3/index.js";
+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]
+    ];
+};
+//# sourceMappingURL=rotate-vec3.js.map

package/dist/interface/math/quat/rotate-vec3.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"rotate-vec3.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/rotate-vec3.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,IAAI,IAAI,aAAa,EAAE,MAAM,kBAAkB,CAAC;AAEzD,MAAM,CAAC,MAAM,UAAU,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAO,EAAE,CAAO,EAAQ,EAAE;IAC5D,eAAe;IACf,MAAM,EAAE,GAAS,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC3B,MAAM,EAAE,GAAG,aAAa,CAAC,KAAK,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;IACtC,MAAM,GAAG,GAAG,aAAa,CAAC,KAAK,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;IACxC,MAAM,WAAW,GAAG,CAAC,GAAG,CAAC,CAAC;IAC1B,OAAO;QACH,CAAC,CAAC,CAAC,CAAC,GAAG,WAAW,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;QACvC,CAAC,CAAC,CAAC,CAAC,GAAG,WAAW,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;QACvC,CAAC,CAAC,CAAC,CAAC,GAAG,WAAW,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;KAC1C,CAAC;AACN,CAAC,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const scale: ([x, y, z, w]: Quat, s: number) => Quat;

package/dist/interface/math/quat/scale.js

@@ -0,0 +1,3 @@
+import { intrinsic } from "../intrinsic.js";
+export const scale = intrinsic({ wgsl: "*", form: "infix", parameters: ["vec4f", "f32"], result: "vec4f" }, ([x, y, z, w], s) => [x * s, y * s, z * s, w * s]);
+//# sourceMappingURL=scale.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"scale.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/scale.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,SAAS,EAAE,MAAM,iBAAiB,CAAC;AAE5C,MAAM,CAAC,MAAM,KAAK,GAAG,SAAS,CAAC,EAAE,IAAI,EAAE,GAAG,EAAE,IAAI,EAAE,OAAO,EAAE,UAAU,EAAE,CAAC,OAAO,EAAE,KAAK,CAAC,EAAE,MAAM,EAAE,OAAO,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAO,EAAE,CAAS,EAAQ,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC"}

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

@@ -0,0 +1,9 @@
+export declare const schema: {
+    readonly type: "array";
+    readonly items: {
+        readonly type: "number";
+        readonly precision: 1;
+    };
+    readonly minItems: 4;
+    readonly maxItems: 4;
+};

package/dist/interface/math/quat/schema.js

@@ -0,0 +1,3 @@
+import { schema as item } from "../f32/schema.js";
+export const schema = { type: "array", items: item, minItems: 4, maxItems: 4 };
+//# sourceMappingURL=schema.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"schema.js","sourceRoot":"","sources":["../../../../src/interface/math/quat/schema.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,MAAM,IAAI,IAAI,EAAE,MAAM,kBAAkB,CAAC;AAElD,MAAM,CAAC,MAAM,MAAM,GAAG,EAAE,IAAI,EAAE,OAAO,EAAE,KAAK,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC,EAA4B,CAAC"}

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

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const slerp: (q1: Quat, q2: Quat, t: number) => Quat;

package/dist/interface/math/quat/slerp.js

@@ -0,0 +1,21 @@
+import { add } from "./add.js";
+import { dot } from "./dot.js";
+import { negate } from "./negate.js";
+import { normalize } from "./normalize.js";
+import { scale } from "./scale.js";
+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)));
+};
+//# sourceMappingURL=slerp.js.map

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

@@ -0,0 +1 @@
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package/dist/interface/math/quat/subtract.d.ts

@@ -0,0 +1,2 @@
+import type { Quat } from "../index.js";
+export declare const subtract: ([x1, y1, z1, w1]: Quat, [x2, y2, z2, w2]: Quat) => Quat;

package/dist/interface/math/quat/subtract.js

@@ -0,0 +1,8 @@
+import { intrinsic } from "../intrinsic.js";
+export const subtract = intrinsic({ wgsl: "-", form: "infix", parameters: ["vec4f", "vec4f"], result: "vec4f" }, ([x1, y1, z1, w1], [x2, y2, z2, w2]) => [
+    x1 - x2,
+    y1 - y2,
+    z1 - z2,
+    w1 - w2
+]);
+//# sourceMappingURL=subtract.js.map

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

@@ -0,0 +1 @@
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package/dist/interface/math/quat/to-axis-angle.d.ts

@@ -0,0 +1,6 @@
+import type { Quat } from "../index.js";
+import type { Vec3 } from "../vec3/index.js";
+export declare const toAxisAngle: ([x, y, z, w]: Quat) => {
+    axis: Vec3;
+    angle: number;
+};

package/dist/interface/math/quat/to-axis-angle.js

@@ -0,0 +1,12 @@
+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
+    };
+};
+//# sourceMappingURL=to-axis-angle.js.map

package/dist/interface/math/quat/to-axis-angle.js.map

@@ -0,0 +1 @@
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package/dist/interface/math/quat/to-euler.d.ts

@@ -0,0 +1,3 @@
+import type { Quat } from "../index.js";
+import type { Vec3 } from "../vec3/index.js";
+export declare const toEuler: ([x, y, z, w]: Quat) => Vec3;