@aura3d/engine 1.0.0

package/dist/math/Curves.js

@@ -0,0 +1,74 @@
+import { Vector3 } from "./Vector3.js";
+export class CatmullRomCurve3 {
+    points;
+    constructor(points) {
+        this.points = points;
+        if (points.length < 2)
+            throw new Error("CatmullRomCurve3 requires at least two points.");
+    }
+    getPoint(t) {
+        const clamped = clamp01(t);
+        const scaled = clamped * (this.points.length - 1);
+        const index = Math.min(Math.floor(scaled), this.points.length - 2);
+        const localT = scaled - index;
+        const p0 = this.points[Math.max(0, index - 1)];
+        const p1 = this.points[index];
+        const p2 = this.points[index + 1];
+        const p3 = this.points[Math.min(this.points.length - 1, index + 2)];
+        return catmullRom(p0, p1, p2, p3, localT);
+    }
+    getTangent(t) {
+        const delta = 1e-4;
+        const before = this.getPoint(Math.max(0, t - delta));
+        const after = this.getPoint(Math.min(1, t + delta));
+        return after.subtract(before).normalize();
+    }
+    sample(t) {
+        return { position: this.getPoint(t), tangent: this.getTangent(t) };
+    }
+}
+export class CubicBezierCurve3 {
+    p0;
+    p1;
+    p2;
+    p3;
+    constructor(p0, p1, p2, p3) {
+        this.p0 = p0;
+        this.p1 = p1;
+        this.p2 = p2;
+        this.p3 = p3;
+    }
+    getPoint(t) {
+        const u = 1 - clamp01(t);
+        const tt = clamp01(t) * clamp01(t);
+        const uu = u * u;
+        const uuu = uu * u;
+        const ttt = tt * clamp01(t);
+        return this.p0.multiplyScalar(uuu)
+            .add(this.p1.multiplyScalar(3 * uu * clamp01(t)))
+            .add(this.p2.multiplyScalar(3 * u * tt))
+            .add(this.p3.multiplyScalar(ttt));
+    }
+    getTangent(t) {
+        const u = 1 - clamp01(t);
+        return this.p1.subtract(this.p0).multiplyScalar(3 * u * u)
+            .add(this.p2.subtract(this.p1).multiplyScalar(6 * u * clamp01(t)))
+            .add(this.p3.subtract(this.p2).multiplyScalar(3 * clamp01(t) * clamp01(t)))
+            .normalize();
+    }
+}
+function catmullRom(p0, p1, p2, p3, t) {
+    const t2 = t * t;
+    const t3 = t2 * t;
+    return p1.multiplyScalar(2)
+        .add(p2.subtract(p0).multiplyScalar(t))
+        .add(p0.multiplyScalar(2).subtract(p1.multiplyScalar(5)).add(p2.multiplyScalar(4)).subtract(p3).multiplyScalar(t2))
+        .add(p3.subtract(p0).add(p1.multiplyScalar(3).subtract(p2.multiplyScalar(3))).multiplyScalar(t3))
+        .multiplyScalar(0.5);
+}
+function clamp01(value) {
+    if (!Number.isFinite(value))
+        throw new Error("Curve parameter must be finite.");
+    return Math.min(1, Math.max(0, value));
+}
+//# sourceMappingURL=Curves.js.map

package/dist/math/Curves.js.map

@@ -0,0 +1 @@
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package/dist/math/Easing.d.ts

@@ -0,0 +1,7 @@
+export declare const Easing: Readonly<{
+    linear(t: number): number;
+    easeInQuad(t: number): number;
+    easeOutQuad(t: number): number;
+    easeInOutCubic(t: number): number;
+}>;
+//# sourceMappingURL=Easing.d.ts.map

package/dist/math/Easing.d.ts.map

@@ -0,0 +1 @@
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package/dist/math/Easing.js

@@ -0,0 +1,24 @@
+export const Easing = Object.freeze({
+    linear(t) {
+        assertUnit(t);
+        return t;
+    },
+    easeInQuad(t) {
+        assertUnit(t);
+        return t * t;
+    },
+    easeOutQuad(t) {
+        assertUnit(t);
+        return t * (2 - t);
+    },
+    easeInOutCubic(t) {
+        assertUnit(t);
+        return t < 0.5 ? 4 * t * t * t : 1 - Math.pow(-2 * t + 2, 3) / 2;
+    }
+});
+function assertUnit(t) {
+    if (!Number.isFinite(t) || t < 0 || t > 1) {
+        throw new RangeError("Easing input must be a finite value in [0, 1].");
+    }
+}
+//# sourceMappingURL=Easing.js.map

package/dist/math/Easing.js.map

@@ -0,0 +1 @@
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package/dist/math/Euler.d.ts

@@ -0,0 +1,12 @@
+import { Quaternion, type EulerOrder } from "./Quaternion.js";
+export declare class Euler {
+    readonly x: number;
+    readonly y: number;
+    readonly z: number;
+    readonly order: EulerOrder;
+    constructor(x?: number, y?: number, z?: number, order?: EulerOrder);
+    toQuaternion(): Quaternion;
+    equals(euler: Euler, epsilon?: number): boolean;
+    toArray(): [number, number, number];
+}
+//# sourceMappingURL=Euler.d.ts.map

package/dist/math/Euler.d.ts.map

@@ -0,0 +1 @@
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package/dist/math/Euler.js

@@ -0,0 +1,30 @@
+import { Quaternion } from "./Quaternion.js";
+export class Euler {
+    x;
+    y;
+    z;
+    order;
+    constructor(x = 0, y = 0, z = 0, order = "XYZ") {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        this.order = order;
+        if (![x, y, z].every(Number.isFinite))
+            throw new RangeError("Euler angles must be finite.");
+        if (order !== "XYZ")
+            throw new RangeError(`Unsupported Euler order: ${order}`);
+    }
+    toQuaternion() {
+        return Quaternion.fromEuler(this.x, this.y, this.z, this.order);
+    }
+    equals(euler, epsilon = 1e-10) {
+        return (Math.abs(this.x - euler.x) <= epsilon &&
+            Math.abs(this.y - euler.y) <= epsilon &&
+            Math.abs(this.z - euler.z) <= epsilon &&
+            this.order === euler.order);
+    }
+    toArray() {
+        return [this.x, this.y, this.z];
+    }
+}
+//# sourceMappingURL=Euler.js.map

package/dist/math/Euler.js.map

@@ -0,0 +1 @@
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package/dist/math/Frustum.d.ts

@@ -0,0 +1,14 @@
+import { Box3 } from "./Box3.js";
+import { Matrix4 } from "./Matrix4.js";
+import { Plane } from "./Plane.js";
+import { Sphere } from "./Sphere.js";
+import { Vector3 } from "./Vector3.js";
+export declare class Frustum {
+    readonly planes: readonly [Plane, Plane, Plane, Plane, Plane, Plane];
+    constructor(planes: readonly [Plane, Plane, Plane, Plane, Plane, Plane]);
+    static fromMatrix(matrix: Matrix4): Frustum;
+    containsPoint(point: Vector3): boolean;
+    intersectsSphere(sphere: Sphere): boolean;
+    intersectsBox(box: Box3): boolean;
+}
+//# sourceMappingURL=Frustum.d.ts.map

package/dist/math/Frustum.d.ts.map

@@ -0,0 +1 @@
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package/dist/math/Frustum.js

@@ -0,0 +1,40 @@
+import { Box3 } from "./Box3.js";
+import { Matrix4 } from "./Matrix4.js";
+import { Plane } from "./Plane.js";
+import { Sphere } from "./Sphere.js";
+import { Vector3 } from "./Vector3.js";
+export class Frustum {
+    planes;
+    constructor(planes) {
+        this.planes = planes;
+    }
+    static fromMatrix(matrix) {
+        const m = matrix.elements;
+        const planes = [
+            new Plane(new Vector3(m[3] + m[0], m[7] + m[4], m[11] + m[8]), m[15] + m[12]),
+            new Plane(new Vector3(m[3] - m[0], m[7] - m[4], m[11] - m[8]), m[15] - m[12]),
+            new Plane(new Vector3(m[3] + m[1], m[7] + m[5], m[11] + m[9]), m[15] + m[13]),
+            new Plane(new Vector3(m[3] - m[1], m[7] - m[5], m[11] - m[9]), m[15] - m[13]),
+            new Plane(new Vector3(m[3] + m[2], m[7] + m[6], m[11] + m[10]), m[15] + m[14]),
+            new Plane(new Vector3(m[3] - m[2], m[7] - m[6], m[11] - m[10]), m[15] - m[14])
+        ];
+        return new Frustum(planes);
+    }
+    containsPoint(point) {
+        return this.planes.every((plane) => plane.distanceToPoint(point) >= 0);
+    }
+    intersectsSphere(sphere) {
+        return this.planes.every((plane) => plane.distanceToPoint(sphere.center) >= -sphere.radius);
+    }
+    intersectsBox(box) {
+        if (box.isEmpty())
+            return false;
+        for (const plane of this.planes) {
+            const p = new Vector3(plane.normal.x >= 0 ? box.max.x : box.min.x, plane.normal.y >= 0 ? box.max.y : box.min.y, plane.normal.z >= 0 ? box.max.z : box.min.z);
+            if (plane.distanceToPoint(p) < 0)
+                return false;
+        }
+        return true;
+    }
+}
+//# sourceMappingURL=Frustum.js.map

package/dist/math/Frustum.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"Frustum.js","sourceRoot":"","sources":["../../../../packages/math/src/Frustum.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AACjC,OAAO,EAAE,OAAO,EAAE,MAAM,cAAc,CAAC;AACvC,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AACnC,OAAO,EAAE,MAAM,EAAE,MAAM,aAAa,CAAC;AACrC,OAAO,EAAE,OAAO,EAAE,MAAM,cAAc,CAAC;AAEvC,MAAM,OAAO,OAAO;IACG;IAArB,YAAqB,MAA2D;QAA3D,WAAM,GAAN,MAAM,CAAqD;IAAG,CAAC;IAEpF,MAAM,CAAC,UAAU,CAAC,MAAe;QAC/B,MAAM,CAAC,GAAG,MAAM,CAAC,QAAQ,CAAC;QAC1B,MAAM,MAAM,GAA+C;YACzD,IAAI,KAAK,CAAC,IAAI,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;YAC7E,IAAI,KAAK,CAAC,IAAI,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;YAC7E,IAAI,KAAK,CAAC,IAAI,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;YAC7E,IAAI,KAAK,CAAC,IAAI,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;YAC7E,IAAI,KAAK,CAAC,IAAI,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;YAC9E,IAAI,KAAK,CAAC,IAAI,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;SAC/E,CAAC;QACF,OAAO,IAAI,OAAO,CAAC,MAAM,CAAC,CAAC;IAC7B,CAAC;IAED,aAAa,CAAC,KAAc;QAC1B,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,KAAK,CAAC,eAAe,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;IACzE,CAAC;IAED,gBAAgB,CAAC,MAAc;QAC7B,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,KAAK,CAAC,eAAe,CAAC,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC;IAC9F,CAAC;IAED,aAAa,CAAC,GAAS;QACrB,IAAI,GAAG,CAAC,OAAO,EAAE;YAAE,OAAO,KAAK,CAAC;QAChC,KAAK,MAAM,KAAK,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YAChC,MAAM,CAAC,GAAG,IAAI,OAAO,CACnB,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,EAC3C,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,EAC3C,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAC5C,CAAC;YACF,IAAI,KAAK,CAAC,eAAe,CAAC,CAAC,CAAC,GAAG,CAAC;gBAAE,OAAO,KAAK,CAAC;QACjD,CAAC;QACD,OAAO,IAAI,CAAC;IACd,CAAC;CACF"}

package/dist/math/Interpolation.d.ts

@@ -0,0 +1,11 @@
+import { Vector2 } from "./Vector2.js";
+import { Vector3 } from "./Vector3.js";
+import { Vector4 } from "./Vector4.js";
+export declare function clamp(value: number, min?: number, max?: number): number;
+export declare function lerp(a: number, b: number, t: number): number;
+export declare function inverseLerp(a: number, b: number, value: number): number;
+export declare function smoothstep(edge0: number, edge1: number, value: number): number;
+export declare function lerpVector2(a: Vector2, b: Vector2, t: number): Vector2;
+export declare function lerpVector3(a: Vector3, b: Vector3, t: number): Vector3;
+export declare function lerpVector4(a: Vector4, b: Vector4, t: number): Vector4;
+//# sourceMappingURL=Interpolation.d.ts.map

package/dist/math/Interpolation.d.ts.map

@@ -0,0 +1 @@
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package/dist/math/Interpolation.js

@@ -0,0 +1,30 @@
+import { Vector2 } from "./Vector2.js";
+import { Vector3 } from "./Vector3.js";
+import { Vector4 } from "./Vector4.js";
+export function clamp(value, min = 0, max = 1) {
+    if (min > max)
+        throw new RangeError("min must be <= max");
+    return Math.min(max, Math.max(min, value));
+}
+export function lerp(a, b, t) {
+    return a + (b - a) * t;
+}
+export function inverseLerp(a, b, value) {
+    if (a === b)
+        throw new RangeError("inverseLerp requires distinct endpoints");
+    return (value - a) / (b - a);
+}
+export function smoothstep(edge0, edge1, value) {
+    const t = clamp(inverseLerp(edge0, edge1, value));
+    return t * t * (3 - 2 * t);
+}
+export function lerpVector2(a, b, t) {
+    return a.lerp(b, t);
+}
+export function lerpVector3(a, b, t) {
+    return a.lerp(b, t);
+}
+export function lerpVector4(a, b, t) {
+    return a.lerp(b, t);
+}
+//# sourceMappingURL=Interpolation.js.map

package/dist/math/Interpolation.js.map

@@ -0,0 +1 @@
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package/dist/math/Matrix3.d.ts

@@ -0,0 +1,9 @@
+export declare class Matrix3 {
+    readonly elements: readonly [number, number, number, number, number, number, number, number, number];
+    constructor(elements?: readonly [number, number, number, number, number, number, number, number, number]);
+    determinant(): number;
+    inverse(): Matrix3;
+    multiply(other: Matrix3): Matrix3;
+    transpose(): Matrix3;
+}
+//# sourceMappingURL=Matrix3.d.ts.map

package/dist/math/Matrix3.d.ts.map

@@ -0,0 +1 @@
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package/dist/math/Matrix3.js

@@ -0,0 +1,51 @@
+export class Matrix3 {
+    elements;
+    constructor(elements) {
+        this.elements = elements ? [...elements] : [1, 0, 0, 0, 1, 0, 0, 0, 1];
+    }
+    determinant() {
+        const m = this.elements;
+        return m[0] * (m[4] * m[8] - m[5] * m[7]) - m[3] * (m[1] * m[8] - m[2] * m[7]) + m[6] * (m[1] * m[5] - m[2] * m[4]);
+    }
+    inverse() {
+        const m = this.elements;
+        const det = this.determinant();
+        if (Math.abs(det) < 1e-12)
+            throw new RangeError("Matrix3 is singular.");
+        const invDet = 1 / det;
+        return new Matrix3([
+            (m[4] * m[8] - m[5] * m[7]) * invDet,
+            (m[2] * m[7] - m[1] * m[8]) * invDet,
+            (m[1] * m[5] - m[2] * m[4]) * invDet,
+            (m[5] * m[6] - m[3] * m[8]) * invDet,
+            (m[0] * m[8] - m[2] * m[6]) * invDet,
+            (m[2] * m[3] - m[0] * m[5]) * invDet,
+            (m[3] * m[7] - m[4] * m[6]) * invDet,
+            (m[1] * m[6] - m[0] * m[7]) * invDet,
+            (m[0] * m[4] - m[1] * m[3]) * invDet
+        ]);
+    }
+    multiply(other) {
+        const a = this.elements;
+        const b = other.elements;
+        const out = new Array(9);
+        for (let row = 0; row < 3; row++) {
+            for (let col = 0; col < 3; col++) {
+                out[col * 3 + row] =
+                    a[0 * 3 + row] * b[col * 3 + 0] +
+                        a[1 * 3 + row] * b[col * 3 + 1] +
+                        a[2 * 3 + row] * b[col * 3 + 2];
+            }
+        }
+        return new Matrix3(out);
+    }
+    transpose() {
+        const m = this.elements;
+        return new Matrix3([
+            m[0], m[3], m[6],
+            m[1], m[4], m[7],
+            m[2], m[5], m[8]
+        ]);
+    }
+}
+//# sourceMappingURL=Matrix3.js.map

package/dist/math/Matrix3.js.map

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package/dist/math/Matrix4.d.ts

@@ -0,0 +1,45 @@
+import { Quaternion } from "./Quaternion.js";
+import { Vector3 } from "./Vector3.js";
+import { Vector4 } from "./Vector4.js";
+export declare class Matrix4 {
+    readonly elements: readonly [
+        number,
+        number,
+        number,
+        number,
+        number,
+        number,
+        number,
+        number,
+        number,
+        number,
+        number,
+        number,
+        number,
+        number,
+        number,
+        number
+    ];
+    constructor(elements?: Matrix4["elements"]);
+    static identity(): Matrix4;
+    static translation(v: Vector3): Matrix4;
+    static scaling(v: Vector3): Matrix4;
+    static rotation(q: Quaternion): Matrix4;
+    static compose(position: Vector3, rotation: Quaternion, scale: Vector3): Matrix4;
+    static perspective(fovYRadians: number, aspect: number, near: number, far: number): Matrix4;
+    static orthographic(left: number, right: number, bottom: number, top: number, near: number, far: number): Matrix4;
+    static lookAt(eye: Vector3, target: Vector3, up: Vector3): Matrix4;
+    multiply(other: Matrix4): Matrix4;
+    transformPoint(v: Vector3): Vector3;
+    transformVector4(v: Vector4): Vector4;
+    transpose(): Matrix4;
+    determinant(): number;
+    inverse(): Matrix4;
+    decompose(): {
+        position: Vector3;
+        rotation: Quaternion;
+        scale: Vector3;
+    };
+    getTranslation(): Vector3;
+}
+//# sourceMappingURL=Matrix4.d.ts.map

package/dist/math/Matrix4.d.ts.map

@@ -0,0 +1 @@
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package/dist/math/Matrix4.js

@@ -0,0 +1,204 @@
+import { Quaternion } from "./Quaternion.js";
+import { Vector3 } from "./Vector3.js";
+import { Vector4 } from "./Vector4.js";
+export class Matrix4 {
+    elements;
+    constructor(elements) {
+        this.elements = elements ? [...elements] : [
+            1, 0, 0, 0,
+            0, 1, 0, 0,
+            0, 0, 1, 0,
+            0, 0, 0, 1
+        ];
+    }
+    static identity() {
+        return new Matrix4();
+    }
+    static translation(v) {
+        return new Matrix4([
+            1, 0, 0, 0,
+            0, 1, 0, 0,
+            0, 0, 1, 0,
+            v.x, v.y, v.z, 1
+        ]);
+    }
+    static scaling(v) {
+        return new Matrix4([
+            v.x, 0, 0, 0,
+            0, v.y, 0, 0,
+            0, 0, v.z, 0,
+            0, 0, 0, 1
+        ]);
+    }
+    static rotation(q) {
+        const n = q.normalize();
+        const x2 = n.x + n.x;
+        const y2 = n.y + n.y;
+        const z2 = n.z + n.z;
+        const xx = n.x * x2;
+        const xy = n.x * y2;
+        const xz = n.x * z2;
+        const yy = n.y * y2;
+        const yz = n.y * z2;
+        const zz = n.z * z2;
+        const wx = n.w * x2;
+        const wy = n.w * y2;
+        const wz = n.w * z2;
+        return new Matrix4([
+            1 - (yy + zz), xy + wz, xz - wy, 0,
+            xy - wz, 1 - (xx + zz), yz + wx, 0,
+            xz + wy, yz - wx, 1 - (xx + yy), 0,
+            0, 0, 0, 1
+        ]);
+    }
+    static compose(position, rotation, scale) {
+        return Matrix4.translation(position).multiply(Matrix4.rotation(rotation)).multiply(Matrix4.scaling(scale));
+    }
+    static perspective(fovYRadians, aspect, near, far) {
+        if (![fovYRadians, aspect, near, far].every(Number.isFinite) || fovYRadians <= 0 || aspect <= 0 || near <= 0 || far <= near) {
+            throw new RangeError("Invalid perspective projection parameters.");
+        }
+        const f = 1 / Math.tan(fovYRadians / 2);
+        const nf = 1 / (near - far);
+        return new Matrix4([
+            f / aspect, 0, 0, 0,
+            0, f, 0, 0,
+            0, 0, (far + near) * nf, -1,
+            0, 0, 2 * far * near * nf, 0
+        ]);
+    }
+    static orthographic(left, right, bottom, top, near, far) {
+        if (![left, right, bottom, top, near, far].every(Number.isFinite) || left === right || bottom === top || near === far) {
+            throw new RangeError("Invalid orthographic projection parameters.");
+        }
+        const lr = 1 / (left - right);
+        const bt = 1 / (bottom - top);
+        const nf = 1 / (near - far);
+        return new Matrix4([
+            -2 * lr, 0, 0, 0,
+            0, -2 * bt, 0, 0,
+            0, 0, 2 * nf, 0,
+            (left + right) * lr, (top + bottom) * bt, (far + near) * nf, 1
+        ]);
+    }
+    static lookAt(eye, target, up) {
+        const z = eye.subtract(target).normalize();
+        if (z.lengthSquared() === 0)
+            throw new RangeError("Look-at eye and target must not be identical.");
+        let x = up.cross(z).normalize();
+        if (x.lengthSquared() === 0) {
+            const fallbackUp = Math.abs(up.z) === 1 ? Vector3.up : Vector3.forward;
+            x = fallbackUp.cross(z).normalize();
+        }
+        const y = z.cross(x).normalize();
+        return new Matrix4([
+            x.x, y.x, z.x, 0,
+            x.y, y.y, z.y, 0,
+            x.z, y.z, z.z, 0,
+            -x.dot(eye), -y.dot(eye), -z.dot(eye), 1
+        ]);
+    }
+    multiply(other) {
+        const a = this.elements;
+        const b = other.elements;
+        const out = new Array(16);
+        for (let row = 0; row < 4; row++) {
+            for (let col = 0; col < 4; col++) {
+                out[col * 4 + row] =
+                    a[0 * 4 + row] * b[col * 4 + 0] +
+                        a[1 * 4 + row] * b[col * 4 + 1] +
+                        a[2 * 4 + row] * b[col * 4 + 2] +
+                        a[3 * 4 + row] * b[col * 4 + 3];
+            }
+        }
+        return new Matrix4(out);
+    }
+    transformPoint(v) {
+        const m = this.elements;
+        const x = v.x;
+        const y = v.y;
+        const z = v.z;
+        const w = m[3] * x + m[7] * y + m[11] * z + m[15];
+        const iw = w === 0 ? 1 : 1 / w;
+        return new Vector3((m[0] * x + m[4] * y + m[8] * z + m[12]) * iw, (m[1] * x + m[5] * y + m[9] * z + m[13]) * iw, (m[2] * x + m[6] * y + m[10] * z + m[14]) * iw);
+    }
+    transformVector4(v) {
+        const m = this.elements;
+        return new Vector4(m[0] * v.x + m[4] * v.y + m[8] * v.z + m[12] * v.w, m[1] * v.x + m[5] * v.y + m[9] * v.z + m[13] * v.w, m[2] * v.x + m[6] * v.y + m[10] * v.z + m[14] * v.w, m[3] * v.x + m[7] * v.y + m[11] * v.z + m[15] * v.w);
+    }
+    transpose() {
+        const m = this.elements;
+        return new Matrix4([
+            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]
+        ]);
+    }
+    determinant() {
+        const m = this.elements;
+        const m00 = m[0], m01 = m[4], m02 = m[8], m03 = m[12];
+        const m10 = m[1], m11 = m[5], m12 = m[9], m13 = m[13];
+        const m20 = m[2], m21 = m[6], m22 = m[10], m23 = m[14];
+        const m30 = m[3], m31 = m[7], m32 = m[11], m33 = m[15];
+        return (m03 * m12 * m21 * m30 - m02 * m13 * m21 * m30 -
+            m03 * m11 * m22 * m30 + m01 * m13 * m22 * m30 +
+            m02 * m11 * m23 * m30 - m01 * m12 * m23 * m30 -
+            m03 * m12 * m20 * m31 + m02 * m13 * m20 * m31 +
+            m03 * m10 * m22 * m31 - m00 * m13 * m22 * m31 -
+            m02 * m10 * m23 * m31 + m00 * m12 * m23 * m31 +
+            m03 * m11 * m20 * m32 - m01 * m13 * m20 * m32 -
+            m03 * m10 * m21 * m32 + m00 * m13 * m21 * m32 +
+            m01 * m10 * m23 * m32 - m00 * m11 * m23 * m32 -
+            m02 * m11 * m20 * m33 + m01 * m12 * m20 * m33 +
+            m02 * m10 * m21 * m33 - m00 * m12 * m21 * m33 -
+            m01 * m10 * m22 * m33 + m00 * m11 * m22 * m33);
+    }
+    inverse() {
+        const m = this.elements;
+        const inv = new Array(16);
+        inv[0] = m[5] * m[10] * m[15] - m[5] * m[11] * m[14] - m[9] * m[6] * m[15] + m[9] * m[7] * m[14] + m[13] * m[6] * m[11] - m[13] * m[7] * m[10];
+        inv[4] = -m[4] * m[10] * m[15] + m[4] * m[11] * m[14] + m[8] * m[6] * m[15] - m[8] * m[7] * m[14] - m[12] * m[6] * m[11] + m[12] * m[7] * m[10];
+        inv[8] = m[4] * m[9] * m[15] - m[4] * m[11] * m[13] - m[8] * m[5] * m[15] + m[8] * m[7] * m[13] + m[12] * m[5] * m[11] - m[12] * m[7] * m[9];
+        inv[12] = -m[4] * m[9] * m[14] + m[4] * m[10] * m[13] + m[8] * m[5] * m[14] - m[8] * m[6] * m[13] - m[12] * m[5] * m[10] + m[12] * m[6] * m[9];
+        inv[1] = -m[1] * m[10] * m[15] + m[1] * m[11] * m[14] + m[9] * m[2] * m[15] - m[9] * m[3] * m[14] - m[13] * m[2] * m[11] + m[13] * m[3] * m[10];
+        inv[5] = m[0] * m[10] * m[15] - m[0] * m[11] * m[14] - m[8] * m[2] * m[15] + m[8] * m[3] * m[14] + m[12] * m[2] * m[11] - m[12] * m[3] * m[10];
+        inv[9] = -m[0] * m[9] * m[15] + m[0] * m[11] * m[13] + m[8] * m[1] * m[15] - m[8] * m[3] * m[13] - m[12] * m[1] * m[11] + m[12] * m[3] * m[9];
+        inv[13] = m[0] * m[9] * m[14] - m[0] * m[10] * m[13] - m[8] * m[1] * m[14] + m[8] * m[2] * m[13] + m[12] * m[1] * m[10] - m[12] * m[2] * m[9];
+        inv[2] = m[1] * m[6] * m[15] - m[1] * m[7] * m[14] - m[5] * m[2] * m[15] + m[5] * m[3] * m[14] + m[13] * m[2] * m[7] - m[13] * m[3] * m[6];
+        inv[6] = -m[0] * m[6] * m[15] + m[0] * m[7] * m[14] + m[4] * m[2] * m[15] - m[4] * m[3] * m[14] - m[12] * m[2] * m[7] + m[12] * m[3] * m[6];
+        inv[10] = m[0] * m[5] * m[15] - m[0] * m[7] * m[13] - m[4] * m[1] * m[15] + m[4] * m[3] * m[13] + m[12] * m[1] * m[7] - m[12] * m[3] * m[5];
+        inv[14] = -m[0] * m[5] * m[14] + m[0] * m[6] * m[13] + m[4] * m[1] * m[14] - m[4] * m[2] * m[13] - m[12] * m[1] * m[6] + m[12] * m[2] * m[5];
+        inv[3] = -m[1] * m[6] * m[11] + m[1] * m[7] * m[10] + m[5] * m[2] * m[11] - m[5] * m[3] * m[10] - m[9] * m[2] * m[7] + m[9] * m[3] * m[6];
+        inv[7] = m[0] * m[6] * m[11] - m[0] * m[7] * m[10] - m[4] * m[2] * m[11] + m[4] * m[3] * m[10] + m[8] * m[2] * m[7] - m[8] * m[3] * m[6];
+        inv[11] = -m[0] * m[5] * m[11] + m[0] * m[7] * m[9] + m[4] * m[1] * m[11] - m[4] * m[3] * m[9] - m[8] * m[1] * m[7] + m[8] * m[3] * m[5];
+        inv[15] = m[0] * m[5] * m[10] - m[0] * m[6] * m[9] - m[4] * m[1] * m[10] + m[4] * m[2] * m[9] + m[8] * m[1] * m[6] - m[8] * m[2] * m[5];
+        const det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
+        if (Math.abs(det) < 1e-12)
+            throw new RangeError("Matrix4 is singular.");
+        return new Matrix4(inv.map((value) => value / det));
+    }
+    decompose() {
+        const m = this.elements;
+        const position = new Vector3(m[12], m[13], m[14]);
+        const sx = new Vector3(m[0], m[1], m[2]).length();
+        const sy = new Vector3(m[4], m[5], m[6]).length();
+        const sz = new Vector3(m[8], m[9], m[10]).length();
+        if (sx === 0 || sy === 0 || sz === 0)
+            throw new RangeError("Cannot decompose matrix with zero scale.");
+        const det = this.determinant();
+        const scale = new Vector3(det < 0 ? -sx : sx, sy, sz);
+        const rotationMatrix = new Matrix4([
+            m[0] / scale.x, m[1] / scale.x, m[2] / scale.x, 0,
+            m[4] / scale.y, m[5] / scale.y, m[6] / scale.y, 0,
+            m[8] / scale.z, m[9] / scale.z, m[10] / scale.z, 0,
+            0, 0, 0, 1
+        ]);
+        return { position, rotation: Quaternion.fromRotationMatrix(rotationMatrix), scale };
+    }
+    getTranslation() {
+        const m = this.elements;
+        return new Vector3(m[12], m[13], m[14]);
+    }
+}
+//# sourceMappingURL=Matrix4.js.map