@aura3d/math 1.0.6

package/README.md

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+# @aura3d/math
+
+`@aura3d/math` owns deterministic engine math primitives used by runtime packages without depending on browser, rendering, scene, physics, or ECS packages.
+
+## Public API
+
+- `Vector2`, `Vector3`, `Vector4`: immutable vector operations and finite-value validation.
+- `Matrix3`, `Matrix4`: matrix construction, multiplication, inversion, projection, and transform helpers.
+- `Quaternion`: rotations, normalization, interpolation, and matrix conversion.
+- `Color`: linear/color utility data.
+- `Ray`, `Plane`, `Box3`, `Sphere`, `Frustum`: geometry queries, bounds, intersections, and containment.
+- `Transform`: position/rotation/scale composition helpers.
+- `Interpolation`, `Easing`: scalar interpolation and easing curves.
+- `Random`: deterministic seeded random number generation.
+
+## Verification
+
+Vector, matrix, quaternion, bounds, ray, frustum, transform, interpolation, easing, and deterministic random behavior are covered by `tests/unit/math/vector-matrix.test.ts` and `tests/unit/math/geometry-random.test.ts`. Export and import consistency is covered by `pnpm verify:exports` and `pnpm verify:imports`.

package/dist/Box3.d.ts

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+import { Matrix4 } from "./Matrix4.js";
+import { Sphere } from "./Sphere.js";
+import { Vector3 } from "./Vector3.js";
+export declare class Box3 {
+    readonly min: Vector3;
+    readonly max: Vector3;
+    constructor(min?: Vector3, max?: Vector3);
+    static fromPoints(points: readonly Vector3[]): Box3;
+    isEmpty(): boolean;
+    expandByPoint(point: Vector3): Box3;
+    union(box: Box3): Box3;
+    intersectsBox(box: Box3): boolean;
+    containsPoint(point: Vector3): boolean;
+    getCenter(): Vector3;
+    getSize(): Vector3;
+    getBoundingSphere(): Sphere;
+    transform(matrix: Matrix4): Box3;
+}
+//# sourceMappingURL=Box3.d.ts.map

package/dist/Box3.d.ts.map

@@ -0,0 +1 @@
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package/dist/Box3.js

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+import { Matrix4 } from "./Matrix4.js";
+import { Sphere } from "./Sphere.js";
+import { Vector3 } from "./Vector3.js";
+export class Box3 {
+    min;
+    max;
+    constructor(min = new Vector3(Number.POSITIVE_INFINITY, Number.POSITIVE_INFINITY, Number.POSITIVE_INFINITY), max = new Vector3(Number.NEGATIVE_INFINITY, Number.NEGATIVE_INFINITY, Number.NEGATIVE_INFINITY)) {
+        this.min = min;
+        this.max = max;
+    }
+    static fromPoints(points) {
+        return points.reduce((box, point) => box.expandByPoint(point), new Box3());
+    }
+    isEmpty() {
+        return this.max.x < this.min.x || this.max.y < this.min.y || this.max.z < this.min.z;
+    }
+    expandByPoint(point) {
+        return new Box3(this.min.min(point), this.max.max(point));
+    }
+    union(box) {
+        if (this.isEmpty())
+            return box;
+        if (box.isEmpty())
+            return this;
+        return new Box3(this.min.min(box.min), this.max.max(box.max));
+    }
+    intersectsBox(box) {
+        if (this.isEmpty() || box.isEmpty())
+            return false;
+        return !(box.max.x < this.min.x || box.min.x > this.max.x || box.max.y < this.min.y || box.min.y > this.max.y || box.max.z < this.min.z || box.min.z > this.max.z);
+    }
+    containsPoint(point) {
+        return !this.isEmpty() && point.x >= this.min.x && point.x <= this.max.x && point.y >= this.min.y && point.y <= this.max.y && point.z >= this.min.z && point.z <= this.max.z;
+    }
+    getCenter() {
+        return this.isEmpty() ? Vector3.zero.clone() : this.min.add(this.max).multiplyScalar(0.5);
+    }
+    getSize() {
+        return this.isEmpty() ? Vector3.zero.clone() : this.max.subtract(this.min);
+    }
+    getBoundingSphere() {
+        const center = this.getCenter();
+        return new Sphere(center, center.distanceTo(this.max));
+    }
+    transform(matrix) {
+        if (this.isEmpty())
+            return new Box3();
+        const corners = [
+            new Vector3(this.min.x, this.min.y, this.min.z),
+            new Vector3(this.min.x, this.min.y, this.max.z),
+            new Vector3(this.min.x, this.max.y, this.min.z),
+            new Vector3(this.min.x, this.max.y, this.max.z),
+            new Vector3(this.max.x, this.min.y, this.min.z),
+            new Vector3(this.max.x, this.min.y, this.max.z),
+            new Vector3(this.max.x, this.max.y, this.min.z),
+            new Vector3(this.max.x, this.max.y, this.max.z)
+        ];
+        return Box3.fromPoints(corners.map((corner) => matrix.transformPoint(corner)));
+    }
+}
+//# sourceMappingURL=Box3.js.map

package/dist/Box3.js.map

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package/dist/Color.d.ts

@@ -0,0 +1,15 @@
+export declare class Color {
+    readonly r: number;
+    readonly g: number;
+    readonly b: number;
+    readonly a: number;
+    constructor(r?: number, g?: number, b?: number, a?: number);
+    static fromSRGB(r: number, g: number, b: number, a?: number): Color;
+    toSRGB(): Color;
+    clamp01(): Color;
+    lerp(to: Color, t: number): Color;
+    equals(color: Color, epsilon?: number): boolean;
+}
+export declare function srgbToLinear(value: number): number;
+export declare function linearToSrgb(value: number): number;
+//# sourceMappingURL=Color.d.ts.map

package/dist/Color.d.ts.map

@@ -0,0 +1 @@
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package/dist/Color.js

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+import { clamp } from "./Interpolation.js";
+export class Color {
+    r;
+    g;
+    b;
+    a;
+    constructor(r = 1, g = 1, b = 1, a = 1) {
+        this.r = r;
+        this.g = g;
+        this.b = b;
+        this.a = a;
+        for (const channel of [r, g, b, a]) {
+            if (!Number.isFinite(channel))
+                throw new RangeError("Color channels must be finite.");
+        }
+    }
+    static fromSRGB(r, g, b, a = 1) {
+        return new Color(srgbToLinear(r), srgbToLinear(g), srgbToLinear(b), a);
+    }
+    toSRGB() {
+        return new Color(linearToSrgb(this.r), linearToSrgb(this.g), linearToSrgb(this.b), this.a);
+    }
+    clamp01() {
+        return new Color(clamp(this.r), clamp(this.g), clamp(this.b), clamp(this.a));
+    }
+    lerp(to, t) {
+        return new Color(this.r + (to.r - this.r) * t, this.g + (to.g - this.g) * t, this.b + (to.b - this.b) * t, this.a + (to.a - this.a) * t);
+    }
+    equals(color, epsilon = 1e-10) {
+        return Math.abs(this.r - color.r) <= epsilon && Math.abs(this.g - color.g) <= epsilon && Math.abs(this.b - color.b) <= epsilon && Math.abs(this.a - color.a) <= epsilon;
+    }
+}
+export function srgbToLinear(value) {
+    const v = clamp(value);
+    return v <= 0.04045 ? v / 12.92 : Math.pow((v + 0.055) / 1.055, 2.4);
+}
+export function linearToSrgb(value) {
+    const v = clamp(value);
+    return v <= 0.0031308 ? v * 12.92 : 1.055 * Math.pow(v, 1 / 2.4) - 0.055;
+}
+//# sourceMappingURL=Color.js.map

package/dist/Color.js.map

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package/dist/Curves.d.ts

@@ -0,0 +1,22 @@
+import { Vector3 } from "./Vector3.js";
+export interface CurveSample {
+    readonly position: Vector3;
+    readonly tangent: Vector3;
+}
+export declare class CatmullRomCurve3 {
+    readonly points: readonly Vector3[];
+    constructor(points: readonly Vector3[]);
+    getPoint(t: number): Vector3;
+    getTangent(t: number): Vector3;
+    sample(t: number): CurveSample;
+}
+export declare class CubicBezierCurve3 {
+    readonly p0: Vector3;
+    readonly p1: Vector3;
+    readonly p2: Vector3;
+    readonly p3: Vector3;
+    constructor(p0: Vector3, p1: Vector3, p2: Vector3, p3: Vector3);
+    getPoint(t: number): Vector3;
+    getTangent(t: number): Vector3;
+}
+//# sourceMappingURL=Curves.d.ts.map

package/dist/Curves.d.ts.map

@@ -0,0 +1 @@
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package/dist/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/Curves.js.map

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

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

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

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

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

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

@@ -0,0 +1 @@
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package/dist/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/Interpolation.d.ts.map

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

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

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

@@ -0,0 +1 @@
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package/dist/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