@apexnative/navigation 1.0.0-alpha.0 → 1.0.0-alpha.10

package/ios/Animations/Interpolators/ANNTransformParts.mm

@@ -0,0 +1,507 @@
+#import "ANNTransformParts.h"
+#import <React/RCTLog.h>
+#include <algorithm>
+#include <cmath>
+
+// The math works on m[i][j] = m(i+1)(j+1) of `CATransform3D`: a row is what a point's coordinate multiplies (row
+// vectors), the layout of the decomposition's own pseudo-code (its matrix[3][0..2] is the translation).
+typedef double ANNMatrix[4][4];
+
+static void ANNMatrixOf(CATransform3D t, ANNMatrix m) {
+    const CGFloat values[16] = {t.m11, t.m12, t.m13, t.m14, t.m21, t.m22, t.m23, t.m24,
+                                t.m31, t.m32, t.m33, t.m34, t.m41, t.m42, t.m43, t.m44};
+    for (int i = 0; i < 16; i++) {
+        m[i / 4][i % 4] = values[i];
+    }
+}
+
+static CATransform3D ANNTransformOfMatrix(const ANNMatrix m) {
+    CATransform3D t;
+    t.m11 = m[0][0];
+    t.m12 = m[0][1];
+    t.m13 = m[0][2];
+    t.m14 = m[0][3];
+    t.m21 = m[1][0];
+    t.m22 = m[1][1];
+    t.m23 = m[1][2];
+    t.m24 = m[1][3];
+    t.m31 = m[2][0];
+    t.m32 = m[2][1];
+    t.m33 = m[2][2];
+    t.m34 = m[2][3];
+    t.m41 = m[3][0];
+    t.m42 = m[3][1];
+    t.m43 = m[3][2];
+    t.m44 = m[3][3];
+    return t;
+}
+
+static void ANNMatrixIdentity(ANNMatrix m) {
+    for (int i = 0; i < 4; i++) {
+        for (int j = 0; j < 4; j++) {
+            m[i][j] = i == j ? 1 : 0;
+        }
+    }
+}
+
+// a · b: the point goes through a, then through b.
+static void ANNMatrixMultiply(const ANNMatrix a, const ANNMatrix b, ANNMatrix out) {
+    ANNMatrix product;
+    for (int i = 0; i < 4; i++) {
+        for (int j = 0; j < 4; j++) {
+            double sum = 0;
+            for (int k = 0; k < 4; k++) {
+                sum += a[i][k] * b[k][j];
+            }
+            product[i][j] = sum;
+        }
+    }
+    memcpy(out, product, sizeof(ANNMatrix));
+}
+
+// The inverse of m into `out`; NO when m has none.
+static BOOL ANNMatrixInvert(const ANNMatrix m, ANNMatrix out) {
+    const double *a = &m[0][0];
+    double inv[16];
+    inv[0] = a[5] * a[10] * a[15] - a[5] * a[11] * a[14] - a[9] * a[6] * a[15] +
+             a[9] * a[7] * a[14] + a[13] * a[6] * a[11] - a[13] * a[7] * a[10];
+    inv[4] = -a[4] * a[10] * a[15] + a[4] * a[11] * a[14] + a[8] * a[6] * a[15] -
+             a[8] * a[7] * a[14] - a[12] * a[6] * a[11] + a[12] * a[7] * a[10];
+    inv[8] = a[4] * a[9] * a[15] - a[4] * a[11] * a[13] - a[8] * a[5] * a[15] +
+             a[8] * a[7] * a[13] + a[12] * a[5] * a[11] - a[12] * a[7] * a[9];
+    inv[12] = -a[4] * a[9] * a[14] + a[4] * a[10] * a[13] + a[8] * a[5] * a[14] -
+              a[8] * a[6] * a[13] - a[12] * a[5] * a[10] + a[12] * a[6] * a[9];
+    inv[1] = -a[1] * a[10] * a[15] + a[1] * a[11] * a[14] + a[9] * a[2] * a[15] -
+             a[9] * a[3] * a[14] - a[13] * a[2] * a[11] + a[13] * a[3] * a[10];
+    inv[5] = a[0] * a[10] * a[15] - a[0] * a[11] * a[14] - a[8] * a[2] * a[15] +
+             a[8] * a[3] * a[14] + a[12] * a[2] * a[11] - a[12] * a[3] * a[10];
+    inv[9] = -a[0] * a[9] * a[15] + a[0] * a[11] * a[13] + a[8] * a[1] * a[15] -
+             a[8] * a[3] * a[13] - a[12] * a[1] * a[11] + a[12] * a[3] * a[9];
+    inv[13] = a[0] * a[9] * a[14] - a[0] * a[10] * a[13] - a[8] * a[1] * a[14] +
+              a[8] * a[2] * a[13] + a[12] * a[1] * a[10] - a[12] * a[2] * a[9];
+    inv[2] = a[1] * a[6] * a[15] - a[1] * a[7] * a[14] - a[5] * a[2] * a[15] +
+             a[5] * a[3] * a[14] + a[13] * a[2] * a[7] - a[13] * a[3] * a[6];
+    inv[6] = -a[0] * a[6] * a[15] + a[0] * a[7] * a[14] + a[4] * a[2] * a[15] -
+             a[4] * a[3] * a[14] - a[12] * a[2] * a[7] + a[12] * a[3] * a[6];
+    inv[10] = a[0] * a[5] * a[15] - a[0] * a[7] * a[13] - a[4] * a[1] * a[15] +
+              a[4] * a[3] * a[13] + a[12] * a[1] * a[7] - a[12] * a[3] * a[5];
+    inv[14] = -a[0] * a[5] * a[14] + a[0] * a[6] * a[13] + a[4] * a[1] * a[14] -
+              a[4] * a[2] * a[13] - a[12] * a[1] * a[6] + a[12] * a[2] * a[5];
+    inv[3] = -a[1] * a[6] * a[11] + a[1] * a[7] * a[10] + a[5] * a[2] * a[11] -
+             a[5] * a[3] * a[10] - a[9] * a[2] * a[7] + a[9] * a[3] * a[6];
+    inv[7] = a[0] * a[6] * a[11] - a[0] * a[7] * a[10] - a[4] * a[2] * a[11] +
+             a[4] * a[3] * a[10] + a[8] * a[2] * a[7] - a[8] * a[3] * a[6];
+    inv[11] = -a[0] * a[5] * a[11] + a[0] * a[7] * a[9] + a[4] * a[1] * a[11] -
+              a[4] * a[3] * a[9] - a[8] * a[1] * a[7] + a[8] * a[3] * a[5];
+    inv[15] = a[0] * a[5] * a[10] - a[0] * a[6] * a[9] - a[4] * a[1] * a[10] +
+              a[4] * a[2] * a[9] + a[8] * a[1] * a[6] - a[8] * a[2] * a[5];
+    double determinant = a[0] * inv[0] + a[1] * inv[4] + a[2] * inv[8] + a[3] * inv[12];
+    if (determinant == 0 || !std::isfinite(determinant)) {
+        return NO;
+    }
+    for (int i = 0; i < 16; i++) {
+        out[i / 4][i % 4] = inv[i] / determinant;
+    }
+    return YES;
+}
+
+static double ANNLength(const double v[3]) {
+    return std::sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
+}
+
+static double ANNDot(const double a[3], const double b[3]) {
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+
+// a·sa + b·sb into a.
+static void ANNCombine(double a[3], const double b[3], double sa, double sb) {
+    for (int i = 0; i < 3; i++) {
+        a[i] = a[i] * sa + b[i] * sb;
+    }
+}
+
+ANNTransformParts ANNTransformPartsIdentity(void) {
+    ANNTransformParts parts = {};
+    parts.scale[0] = parts.scale[1] = parts.scale[2] = 1;
+    parts.perspective[3] = 1;
+    parts.quaternion[3] = 1;
+    return parts;
+}
+
+BOOL ANNTransformPartsOf(CATransform3D transform, ANNTransformParts *parts) {
+    ANNMatrix m;
+    ANNMatrixOf(transform, m);
+    if (m[3][3] == 0) {
+        return NO;
+    }
+    double w = m[3][3];
+    for (int i = 0; i < 4; i++) {
+        for (int j = 0; j < 4; j++) {
+            m[i][j] /= w;
+        }
+    }
+    // The perspective's own matrix: the rest without the perspective column; it also tells a flat transform.
+    ANNMatrix perspectiveMatrix;
+    memcpy(perspectiveMatrix, m, sizeof(ANNMatrix));
+    for (int i = 0; i < 3; i++) {
+        perspectiveMatrix[i][3] = 0;
+    }
+    perspectiveMatrix[3][3] = 1;
+    ANNMatrix inverse;
+    if (!ANNMatrixInvert(perspectiveMatrix, inverse)) {
+        return NO;
+    }
+    ANNTransformParts result = {};
+    if (m[0][3] != 0 || m[1][3] != 0 || m[2][3] != 0) {
+        const double right[4] = {m[0][3], m[1][3], m[2][3], m[3][3]};
+        // right · (inverse transposed): each component is a row of the inverse dotted with `right`.
+        for (int i = 0; i < 4; i++) {
+            double sum = 0;
+            for (int j = 0; j < 4; j++) {
+                sum += right[j] * inverse[i][j];
+            }
+            result.perspective[i] = sum;
+        }
+    } else {
+        result.perspective[3] = 1;
+    }
+    for (int i = 0; i < 3; i++) {
+        result.translate[i] = m[3][i];
+    }
+    double row[3][3];
+    for (int i = 0; i < 3; i++) {
+        for (int j = 0; j < 3; j++) {
+            row[i][j] = m[i][j];
+        }
+    }
+    result.scale[0] = ANNLength(row[0]);
+    if (result.scale[0] == 0) {
+        return NO;
+    }
+    ANNCombine(row[0], row[0], 1 / result.scale[0], 0);
+    result.skew[0] = ANNDot(row[0], row[1]);
+    ANNCombine(row[1], row[0], 1, -result.skew[0]);
+    result.scale[1] = ANNLength(row[1]);
+    if (result.scale[1] == 0) {
+        return NO;
+    }
+    ANNCombine(row[1], row[1], 1 / result.scale[1], 0);
+    result.skew[0] /= result.scale[1];
+    result.skew[1] = ANNDot(row[0], row[2]);
+    ANNCombine(row[2], row[0], 1, -result.skew[1]);
+    result.skew[2] = ANNDot(row[1], row[2]);
+    ANNCombine(row[2], row[1], 1, -result.skew[2]);
+    result.scale[2] = ANNLength(row[2]);
+    if (result.scale[2] == 0) {
+        return NO;
+    }
+    ANNCombine(row[2], row[2], 1 / result.scale[2], 0);
+    result.skew[1] /= result.scale[2];
+    result.skew[2] /= result.scale[2];
+    // The rows are orthonormal now; a mirrored system turns into a rotation with every scale negated. A flat transform
+    // (nothing out of the screen's plane) negates only x and keeps its rotation in the plane, as Android's views hold a
+    // mirror: it then flips across the element's own axis on the way, on both platforms, rather than through 3D.
+    const double cross[3] = {row[1][1] * row[2][2] - row[1][2] * row[2][1],
+                             row[1][2] * row[2][0] - row[1][0] * row[2][2],
+                             row[1][0] * row[2][1] - row[1][1] * row[2][0]};
+    if (ANNDot(row[0], cross) < 0) {
+        const double flatness = std::fabs(m[0][2]) + std::fabs(m[1][2]) + std::fabs(m[2][0]) +
+                                std::fabs(m[2][1]) + std::fabs(m[0][3]) + std::fabs(m[1][3]) +
+                                std::fabs(m[2][3]);
+        const int negated = flatness < 1e-9 ? 1 : 3;
+        for (int i = 0; i < negated; i++) {
+            result.scale[i] = -result.scale[i];
+            ANNCombine(row[i], row[i], -1, 0);
+        }
+    }
+    // The quaternion by Shepperd's method, from the largest of its four terms: the signs of the others follow from
+    // the off-diagonal terms, also for half a turn (w = 0), where the comparisons of the pseudo-code lose them. `r` is
+    // the rotation for column vectors, the transpose of the rows.
+    auto r = [&row](int i, int j) {
+        return row[j][i];
+    };
+    double *q = result.quaternion;
+    double trace = r(0, 0) + r(1, 1) + r(2, 2);
+    if (trace > 0) {
+        double s = 2 * std::sqrt(trace + 1);
+        q[3] = s / 4;
+        q[0] = (r(2, 1) - r(1, 2)) / s;
+        q[1] = (r(0, 2) - r(2, 0)) / s;
+        q[2] = (r(1, 0) - r(0, 1)) / s;
+    } else if (r(0, 0) > r(1, 1) && r(0, 0) > r(2, 2)) {
+        double s = 2 * std::sqrt(1 + r(0, 0) - r(1, 1) - r(2, 2));
+        q[3] = (r(2, 1) - r(1, 2)) / s;
+        q[0] = s / 4;
+        q[1] = (r(0, 1) + r(1, 0)) / s;
+        q[2] = (r(0, 2) + r(2, 0)) / s;
+    } else if (r(1, 1) > r(2, 2)) {
+        double s = 2 * std::sqrt(1 + r(1, 1) - r(0, 0) - r(2, 2));
+        q[3] = (r(0, 2) - r(2, 0)) / s;
+        q[0] = (r(0, 1) + r(1, 0)) / s;
+        q[1] = s / 4;
+        q[2] = (r(1, 2) + r(2, 1)) / s;
+    } else {
+        double s = 2 * std::sqrt(1 + r(2, 2) - r(0, 0) - r(1, 1));
+        q[3] = (r(1, 0) - r(0, 1)) / s;
+        q[0] = (r(0, 2) + r(2, 0)) / s;
+        q[1] = (r(1, 2) + r(2, 1)) / s;
+        q[2] = s / 4;
+    }
+    *parts = result;
+    return YES;
+}
+
+// The rotation of a unit quaternion as a matrix of row vectors: the transpose of the decomposition's pseudo-code,
+// whose matrix is written for column vectors there.
+static void ANNRotationMatrixOf(const double q[4], ANNMatrix m) {
+    double x = q[0], y = q[1], z = q[2], w = q[3];
+    ANNMatrixIdentity(m);
+    m[0][0] = 1 - 2 * (y * y + z * z);
+    m[0][1] = 2 * (x * y + z * w);
+    m[0][2] = 2 * (x * z - y * w);
+    m[1][0] = 2 * (x * y - z * w);
+    m[1][1] = 1 - 2 * (x * x + z * z);
+    m[1][2] = 2 * (y * z + x * w);
+    m[2][0] = 2 * (x * z + y * w);
+    m[2][1] = 2 * (y * z - x * w);
+    m[2][2] = 1 - 2 * (x * x + y * y);
+}
+
+// The shears as the decomposition took them off the rows: row 1 gains xy of row 0, row 2 xz of row 0 and yz of row 1.
+static void ANNSkewMatrixOf(const double skew[3], ANNMatrix m) {
+    ANNMatrixIdentity(m);
+    m[1][0] = skew[0];
+    m[2][0] = skew[1];
+    m[2][1] = skew[2];
+}
+
+CATransform3D ANNTransformOfParts(ANNTransformParts parts) {
+    // Built from the last step back: perspective, translation, rotation, skew, then the scale goes first.
+    ANNMatrix m;
+    ANNMatrixIdentity(m);
+    for (int i = 0; i < 4; i++) {
+        m[i][3] = parts.perspective[i];
+    }
+    for (int i = 0; i < 4; i++) {
+        for (int j = 0; j < 3; j++) {
+            m[3][i] += parts.translate[j] * m[j][i];
+        }
+    }
+    ANNMatrix rotation;
+    ANNRotationMatrixOf(parts.quaternion, rotation);
+    ANNMatrixMultiply(rotation, m, m);
+    ANNMatrix skew;
+    ANNSkewMatrixOf(parts.skew, skew);
+    ANNMatrixMultiply(skew, m, m);
+    for (int i = 0; i < 3; i++) {
+        for (int j = 0; j < 4; j++) {
+            m[i][j] *= parts.scale[i];
+        }
+    }
+    return ANNTransformOfMatrix(m);
+}
+
+static double ANNLerp(double from, double to, double f) {
+    return from + f * (to - from);
+}
+
+ANNTransformParts ANNInterpolateTransformParts(ANNTransformParts from, ANNTransformParts to,
+                                               double f) {
+    if (f == 0) {
+        return from;
+    }
+    if (f == 1) {
+        return to;
+    }
+    ANNTransformParts parts;
+    for (int i = 0; i < 3; i++) {
+        parts.translate[i] = ANNLerp(from.translate[i], to.translate[i], f);
+        parts.scale[i] = ANNLerp(from.scale[i], to.scale[i], f);
+        parts.skew[i] = ANNLerp(from.skew[i], to.skew[i], f);
+    }
+    for (int i = 0; i < 4; i++) {
+        parts.perspective[i] = ANNLerp(from.perspective[i], to.perspective[i], f);
+    }
+    // The slerp, along the shorter arc: q and −q are the same rotation.
+    const double *a = from.quaternion;
+    double b[4] = {to.quaternion[0], to.quaternion[1], to.quaternion[2], to.quaternion[3]};
+    double product = a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
+    if (product < 0) {
+        for (int i = 0; i < 4; i++) {
+            b[i] = -b[i];
+        }
+        product = -product;
+    }
+    product = std::min(product, 1.0);
+    if (product >= 1.0 - 1e-12) {
+        for (int i = 0; i < 4; i++) {
+            parts.quaternion[i] = ANNLerp(a[i], b[i], f);
+        }
+        return parts;
+    }
+    double theta = std::acos(product);
+    double sinTheta = std::sqrt(1 - product * product);
+    double wa = std::sin((1 - f) * theta) / sinTheta;
+    double wb = std::sin(f * theta) / sinTheta;
+    for (int i = 0; i < 4; i++) {
+        parts.quaternion[i] = a[i] * wa + b[i] * wb;
+    }
+    return parts;
+}
+
+void ANNRotationDegreesOf(ANNTransformParts parts, double *x, double *y, double *z) {
+    ANNMatrix r;
+    ANNRotationMatrixOf(parts.quaternion, r);
+    // r = Rx(a)·Ry(b)·Rz(c) in row vectors: r[0][2] = −sin b, r[1][2] = sin a·cos b, r[2][2] = cos a·cos b,
+    // r[0][1] = cos b·sin c, r[0][0] = cos b·cos c.
+    double sinB = std::max(-1.0, std::min(1.0, -r[0][2]));
+    double b = std::asin(sinB);
+    double a;
+    double c;
+    if (std::fabs(std::cos(b)) > 1e-6) {
+        a = std::atan2(r[1][2], r[2][2]);
+        c = std::atan2(r[0][1], r[0][0]);
+    } else {
+        // Turned a quarter about y: x and z turn about one axis, all of it goes to x.
+        c = 0;
+        a = std::atan2(sinB * r[1][0], r[1][1]);
+    }
+    const double degrees = 180.0 / M_PI;
+    *x = a * degrees;
+    *y = b * degrees;
+    *z = c * degrees;
+}
+
+CATransform3D ANNSkewTransformOf(ANNTransformParts parts) {
+    ANNMatrix m;
+    ANNSkewMatrixOf(parts.skew, m);
+    return ANNTransformOfMatrix(m);
+}
+
+#if DEBUG
+
+static BOOL ANNSameTransform(CATransform3D a, CATransform3D b, double tolerance) {
+    ANNMatrix ma;
+    ANNMatrix mb;
+    ANNMatrixOf(a, ma);
+    ANNMatrixOf(b, mb);
+    for (int i = 0; i < 4; i++) {
+        for (int j = 0; j < 4; j++) {
+            if (!(std::fabs(ma[i][j] - mb[i][j]) <= tolerance)) {
+                return NO;
+            }
+        }
+    }
+    return YES;
+}
+
+static void ANNExpectTransform(const char *what, CATransform3D value, CATransform3D expected) {
+    if (!ANNSameTransform(value, expected, 1e-6)) {
+        RCTLogWarn(@"[ApexNavigation] transform self-check: %s is off", what);
+    }
+}
+
+static CATransform3D ANNRotationZ(double degrees) {
+    return CATransform3DMakeRotation(degrees * M_PI / 180.0, 0, 0, 1);
+}
+
+// The transform at f of the way from `from` to `to`, split and rebuilt.
+static CATransform3D ANNTransformBetween(CATransform3D from, CATransform3D to, double f) {
+    ANNTransformParts a;
+    ANNTransformParts b;
+    if (!ANNTransformPartsOf(from, &a) || !ANNTransformPartsOf(to, &b)) {
+        return CATransform3DIdentity;
+    }
+    return ANNTransformOfParts(ANNInterpolateTransformParts(a, b, f));
+}
+
+void ANNTransformPartsSelfCheck(void) {
+    static dispatch_once_t once;
+    dispatch_once(&once, ^{
+      CATransform3D tilt = CATransform3DMakeRotation(40 * M_PI / 180.0, 1, 0, 0);
+      tilt.m34 = -1.0 / 500;
+      CATransform3D shear = CATransform3DIdentity;
+      shear.m21 = 0.3;
+      const struct {
+          const char *name;
+          CATransform3D transform;
+      } splits[] = {
+          {"a rotation of 90", ANNRotationZ(90)},
+          {"a rotation of 180", ANNRotationZ(180)},
+          {"a scale, a rotation and a translation",
+           CATransform3DConcat(CATransform3DConcat(CATransform3DMakeScale(2, 0.5, 1),
+                                                   ANNRotationZ(30)),
+                               CATransform3DMakeTranslation(12, -7, 0))},
+          {"a skew", CATransform3DConcat(shear, ANNRotationZ(-20))},
+          {"a tilt with perspective", tilt},
+          {"a mirror", CATransform3DMakeScale(-1, 1, 1)},
+          {"a mirror and a turn of 30",
+           CATransform3DConcat(ANNRotationZ(30), CATransform3DMakeScale(-1, 1, 1))},
+          {"a turn of -90 and a mirror",
+           CATransform3DConcat(CATransform3DMakeScale(-1, 1, 1), ANNRotationZ(-90))},
+          {"a mirror upside down and a turn of -30",
+           CATransform3DConcat(ANNRotationZ(-30), CATransform3DMakeScale(1, -1, 1))},
+          {"half a turn and a tilt",
+           CATransform3DConcat(ANNRotationZ(180),
+                               CATransform3DMakeRotation(20 * M_PI / 180.0, 1, 0, 0))},
+      };
+      for (const auto &split : splits) {
+          ANNTransformParts parts;
+          if (!ANNTransformPartsOf(split.transform, &parts)) {
+              RCTLogWarn(@"[ApexNavigation] transform self-check: %s can't be split", split.name);
+              continue;
+          }
+          ANNExpectTransform(split.name, ANNTransformOfParts(parts), split.transform);
+      }
+      ANNExpectTransform("0 to 90 half way",
+                         ANNTransformBetween(ANNRotationZ(0), ANNRotationZ(90), 0.5),
+                         ANNRotationZ(45));
+      ANNExpectTransform("45 to -45 half way",
+                         ANNTransformBetween(ANNRotationZ(45), ANNRotationZ(-45), 0.5),
+                         CATransform3DIdentity);
+      ANNExpectTransform("0 to 270 half way, the shorter arc",
+                         ANNTransformBetween(ANNRotationZ(0), ANNRotationZ(270), 0.5),
+                         ANNRotationZ(-45));
+      ANNExpectTransform("170 to -170 half way, the shorter arc",
+                         ANNTransformBetween(ANNRotationZ(170), ANNRotationZ(-170), 0.5),
+                         ANNRotationZ(180));
+      ANNExpectTransform("a scale half way",
+                         ANNTransformBetween(CATransform3DIdentity,
+                                             CATransform3DMakeScale(3, 2, 1), 0.5),
+                         CATransform3DMakeScale(2, 1.5, 1));
+      // Half a turn keeps its size on the way: a quarter turn, either way, half way.
+      CATransform3D half = ANNTransformBetween(ANNRotationZ(0), ANNRotationZ(180), 0.5);
+      if (!ANNSameTransform(half, ANNRotationZ(90), 1e-6) &&
+          !ANNSameTransform(half, ANNRotationZ(-90), 1e-6)) {
+          RCTLogWarn(@"[ApexNavigation] transform self-check: 0 to 180 half way is off");
+      }
+      // A flat mirror turned keeps its rotation in the plane, the mirror in x, as Android's views hold it.
+      ANNTransformParts mirrored;
+      CATransform3D mirror =
+          CATransform3DConcat(ANNRotationZ(30), CATransform3DMakeScale(-1, 1, 1));
+      if (ANNTransformPartsOf(mirror, &mirrored)) {
+          BOOL flat = std::fabs(mirrored.quaternion[0]) < 1e-9 &&
+                      std::fabs(mirrored.quaternion[1]) < 1e-9;
+          if (!(mirrored.scale[0] < 0 && mirrored.scale[1] > 0 && flat)) {
+              RCTLogWarn(@"[ApexNavigation] transform self-check: a flat mirror leaves the plane");
+          }
+      }
+      // The turns about x, y and z rebuild the rotation in the order of a view's tracks.
+      CATransform3D turned = CATransform3DConcat(
+          CATransform3DConcat(CATransform3DMakeRotation(25 * M_PI / 180.0, 1, 0, 0),
+                              CATransform3DMakeRotation(-35 * M_PI / 180.0, 0, 1, 0)),
+          ANNRotationZ(120));
+      ANNTransformParts turnedParts;
+      if (ANNTransformPartsOf(turned, &turnedParts)) {
+          double x = 0, y = 0, z = 0;
+          ANNRotationDegreesOf(turnedParts, &x, &y, &z);
+          CATransform3D rebuilt = CATransform3DConcat(
+              CATransform3DConcat(CATransform3DMakeRotation(x * M_PI / 180.0, 1, 0, 0),
+                                  CATransform3DMakeRotation(y * M_PI / 180.0, 0, 1, 0)),
+              ANNRotationZ(z));
+          ANNExpectTransform("the turns about x, y and z", rebuilt, turned);
+      }
+    });
+}
+
+#endif

package/ios/Animations/Interpolators/ANNViewTracks.h

@@ -17,14 +17,17 @@ FOUNDATION_EXPORT CGFloat ANNCameraDistance(void);
 /// `rotationY`, `rotation` (clockwise, degrees), the perspective, the translation.
 ///
 /// A missing end is the view's value when the tracks are made: `x`, `y` its place in its parent (from its layer's
-/// position and bounds, never its frame), the translations 0, `alpha` its alpha before any hide, the scales 1, the
-/// rotations 0. Each frame writes only what plays: `alpha` only with an `alpha` track, `layer.transform` only when a
-/// property of the transform plays; with `translationX` and `x` on one side the translation wins. The frame is never
-/// changed (React keeps the layout). `restore` puts back the alpha and the transform as they were read.
+/// position and bounds, never its frame) moved by its own translation, `alpha` its alpha before any hide, the
+/// translations, scales and rotations those of its own transform (React Native's `transform`, split into its parts as
+/// Android's views hold it: the shorter angle, −180…180). A property that doesn't play keeps the view's own value, its
+/// skew and perspective stay. Only what plays animates, in Core Animation (`ANNKeyframes`): `opacity` only with an
+/// `alpha` track, `transform` only when a property of the transform plays; with `translationX` and `x` on one side the
+/// translation wins. The view's own values (its frame, alpha and transform) are never written: the animations show
+/// over them, and `restore` removes the animations.
 @interface ANNViewTracks : NSObject <ANNFrameClient>
 
 /// The playing properties of `side` on `view`. `alphaBefore`: the view's alpha before the core hid it for the
-/// transition (the arriving screen), else its alpha now; it is also what `restore` puts back.
+/// transition (the arriving screen), else its alpha now.
 - (instancetype)initWithView:(UIView *)view
                         side:(ANNViewAnimationOptions *)side
                  alphaBefore:(CGFloat)alphaBefore;
@@ -33,7 +36,7 @@ FOUNDATION_EXPORT CGFloat ANNCameraDistance(void);
 /// disappearing from it to `to`, or both ends given.
 - (instancetype)initWithView:(UIView *)view element:(ANNElementTransitionOptions *)element;
 
-/// A linear fade of `view`'s alpha (a dismissed popover with nothing to play); `restore` puts back `alphaBefore`.
+/// A linear fade of `view`'s alpha (a dismissed popover with nothing to play, a transition under Reduce Motion).
 - (instancetype)initWithView:(UIView *)view
                     fadeFrom:(CGFloat)from
                           to:(CGFloat)to