@aura3d/math 1.0.6

package/dist/Matrix4.d.ts.map

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package/dist/Matrix4.js

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+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

package/dist/Matrix4.js.map

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package/dist/Plane.d.ts

@@ -0,0 +1,11 @@
+import { Vector3 } from "./Vector3.js";
+export declare class Plane {
+    readonly normal: Vector3;
+    readonly constant: number;
+    constructor(normal?: Vector3, constant?: number);
+    static fromPointNormal(point: Vector3, normal: Vector3): Plane;
+    distanceToPoint(point: Vector3): number;
+    projectPoint(point: Vector3): Vector3;
+    intersectLine(start: Vector3, end: Vector3): Vector3 | undefined;
+}
+//# sourceMappingURL=Plane.d.ts.map

package/dist/Plane.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"Plane.d.ts","sourceRoot":"","sources":["../../../../packages/math/src/Plane.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,EAAE,MAAM,cAAc,CAAC;AAEvC,qBAAa,KAAK;IAChB,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;gBAEd,MAAM,UAAqB,EAAE,QAAQ,SAAI;IAOrD,MAAM,CAAC,eAAe,CAAC,KAAK,EAAE,OAAO,EAAE,MAAM,EAAE,OAAO,GAAG,KAAK;IAK9D,eAAe,CAAC,KAAK,EAAE,OAAO,GAAG,MAAM;IAIvC,YAAY,CAAC,KAAK,EAAE,OAAO,GAAG,OAAO;IAIrC,aAAa,CAAC,KAAK,EAAE,OAAO,EAAE,GAAG,EAAE,OAAO,GAAG,OAAO,GAAG,SAAS;CAOjE"}

package/dist/Plane.js

@@ -0,0 +1,31 @@
+import { Vector3 } from "./Vector3.js";
+export class Plane {
+    normal;
+    constant;
+    constructor(normal = Vector3.up.clone(), constant = 0) {
+        const len = normal.length();
+        if (len === 0)
+            throw new RangeError("Plane normal must be non-zero.");
+        this.normal = normal.multiplyScalar(1 / len);
+        this.constant = constant / len;
+    }
+    static fromPointNormal(point, normal) {
+        const normalized = normal.normalize();
+        return new Plane(normalized, -point.dot(normalized));
+    }
+    distanceToPoint(point) {
+        return this.normal.dot(point) + this.constant;
+    }
+    projectPoint(point) {
+        return point.subtract(this.normal.multiplyScalar(this.distanceToPoint(point)));
+    }
+    intersectLine(start, end) {
+        const direction = end.subtract(start);
+        const denominator = this.normal.dot(direction);
+        if (Math.abs(denominator) < 1e-12)
+            return undefined;
+        const t = -(start.dot(this.normal) + this.constant) / denominator;
+        return t < 0 || t > 1 ? undefined : start.add(direction.multiplyScalar(t));
+    }
+}
+//# sourceMappingURL=Plane.js.map

package/dist/Plane.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"Plane.js","sourceRoot":"","sources":["../../../../packages/math/src/Plane.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,EAAE,MAAM,cAAc,CAAC;AAEvC,MAAM,OAAO,KAAK;IACP,MAAM,CAAU;IAChB,QAAQ,CAAS;IAE1B,YAAY,MAAM,GAAG,OAAO,CAAC,EAAE,CAAC,KAAK,EAAE,EAAE,QAAQ,GAAG,CAAC;QACnD,MAAM,GAAG,GAAG,MAAM,CAAC,MAAM,EAAE,CAAC;QAC5B,IAAI,GAAG,KAAK,CAAC;YAAE,MAAM,IAAI,UAAU,CAAC,gCAAgC,CAAC,CAAC;QACtE,IAAI,CAAC,MAAM,GAAG,MAAM,CAAC,cAAc,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC;QAC7C,IAAI,CAAC,QAAQ,GAAG,QAAQ,GAAG,GAAG,CAAC;IACjC,CAAC;IAED,MAAM,CAAC,eAAe,CAAC,KAAc,EAAE,MAAe;QACpD,MAAM,UAAU,GAAG,MAAM,CAAC,SAAS,EAAE,CAAC;QACtC,OAAO,IAAI,KAAK,CAAC,UAAU,EAAE,CAAC,KAAK,CAAC,GAAG,CAAC,UAAU,CAAC,CAAC,CAAC;IACvD,CAAC;IAED,eAAe,CAAC,KAAc;QAC5B,OAAO,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC;IAChD,CAAC;IAED,YAAY,CAAC,KAAc;QACzB,OAAO,KAAK,CAAC,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,cAAc,CAAC,IAAI,CAAC,eAAe,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC;IACjF,CAAC;IAED,aAAa,CAAC,KAAc,EAAE,GAAY;QACxC,MAAM,SAAS,GAAG,GAAG,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;QACtC,MAAM,WAAW,GAAG,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC;QAC/C,IAAI,IAAI,CAAC,GAAG,CAAC,WAAW,CAAC,GAAG,KAAK;YAAE,OAAO,SAAS,CAAC;QACpD,MAAM,CAAC,GAAG,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,IAAI,CAAC,MAAM,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC,GAAG,WAAW,CAAC;QAClE,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,SAAS,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC,CAAC;IAC7E,CAAC;CACF"}

package/dist/Quaternion.d.ts

@@ -0,0 +1,25 @@
+import { Vector3 } from "./Vector3.js";
+import type { Matrix4 } from "./Matrix4.js";
+export type EulerOrder = "XYZ";
+export declare class Quaternion {
+    readonly x: number;
+    readonly y: number;
+    readonly z: number;
+    readonly w: number;
+    static readonly identity: Readonly<Quaternion>;
+    constructor(x?: number, y?: number, z?: number, w?: number);
+    static fromAxisAngle(axis: Vector3, radians: number): Quaternion;
+    static fromUnitVectors(from: Vector3, to: Vector3): Quaternion;
+    static fromEuler(x: number, y: number, z: number, order?: EulerOrder): Quaternion;
+    static fromRotationMatrix(matrix: Matrix4): Quaternion;
+    clone(): Quaternion;
+    length(): number;
+    normalize(): Quaternion;
+    conjugate(): Quaternion;
+    inverse(): Quaternion;
+    multiply(q: Quaternion): Quaternion;
+    rotateVector(v: Vector3): Vector3;
+    slerp(to: Quaternion, t: number): Quaternion;
+    equals(q: Quaternion, epsilon?: number): boolean;
+}
+//# sourceMappingURL=Quaternion.d.ts.map

package/dist/Quaternion.d.ts.map

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package/dist/Quaternion.js

@@ -0,0 +1,121 @@
+import { Vector3 } from "./Vector3.js";
+export class Quaternion {
+    x;
+    y;
+    z;
+    w;
+    static identity = Object.freeze(new Quaternion(0, 0, 0, 1));
+    constructor(x = 0, y = 0, z = 0, w = 1) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        this.w = w;
+    }
+    static fromAxisAngle(axis, radians) {
+        const normalized = axis.normalize();
+        if (normalized.lengthSquared() === 0)
+            throw new RangeError("Axis must be non-zero.");
+        const half = radians / 2;
+        const s = Math.sin(half);
+        return new Quaternion(normalized.x * s, normalized.y * s, normalized.z * s, Math.cos(half)).normalize();
+    }
+    static fromUnitVectors(from, to) {
+        const vFrom = from.normalize();
+        const vTo = to.normalize();
+        const dot = vFrom.dot(vTo);
+        if (dot < -0.999999) {
+            const axis = Math.abs(vFrom.x) > 0.1 ? Vector3.up.cross(vFrom).normalize() : Vector3.right.cross(vFrom).normalize();
+            return Quaternion.fromAxisAngle(axis, Math.PI);
+        }
+        if (dot > 0.999999)
+            return Quaternion.identity.clone();
+        const cross = vFrom.cross(vTo);
+        return new Quaternion(cross.x, cross.y, cross.z, 1 + dot).normalize();
+    }
+    static fromEuler(x, y, z, order = "XYZ") {
+        if (order !== "XYZ")
+            throw new RangeError(`Unsupported Euler order: ${order}`);
+        if (![x, y, z].every(Number.isFinite))
+            throw new RangeError("Euler angles must be finite.");
+        const c1 = Math.cos(x / 2);
+        const c2 = Math.cos(y / 2);
+        const c3 = Math.cos(z / 2);
+        const s1 = Math.sin(x / 2);
+        const s2 = Math.sin(y / 2);
+        const s3 = Math.sin(z / 2);
+        return new Quaternion(s1 * c2 * c3 + c1 * s2 * s3, c1 * s2 * c3 - s1 * c2 * s3, c1 * c2 * s3 + s1 * s2 * c3, c1 * c2 * c3 - s1 * s2 * s3).normalize();
+    }
+    static fromRotationMatrix(matrix) {
+        const m = matrix.elements;
+        const m11 = m[0], m12 = m[4], m13 = m[8];
+        const m21 = m[1], m22 = m[5], m23 = m[9];
+        const m31 = m[2], m32 = m[6], m33 = m[10];
+        const trace = m11 + m22 + m33;
+        if (trace > 0) {
+            const s = 0.5 / Math.sqrt(trace + 1);
+            return new Quaternion((m32 - m23) * s, (m13 - m31) * s, (m21 - m12) * s, 0.25 / s).normalize();
+        }
+        if (m11 > m22 && m11 > m33) {
+            const s = 2 * Math.sqrt(1 + m11 - m22 - m33);
+            return new Quaternion(0.25 * s, (m12 + m21) / s, (m13 + m31) / s, (m32 - m23) / s).normalize();
+        }
+        if (m22 > m33) {
+            const s = 2 * Math.sqrt(1 + m22 - m11 - m33);
+            return new Quaternion((m12 + m21) / s, 0.25 * s, (m23 + m32) / s, (m13 - m31) / s).normalize();
+        }
+        const s = 2 * Math.sqrt(1 + m33 - m11 - m22);
+        return new Quaternion((m13 + m31) / s, (m23 + m32) / s, 0.25 * s, (m21 - m12) / s).normalize();
+    }
+    clone() {
+        return new Quaternion(this.x, this.y, this.z, this.w);
+    }
+    length() {
+        return Math.hypot(this.x, this.y, this.z, this.w);
+    }
+    normalize() {
+        const len = this.length();
+        if (len === 0)
+            return Quaternion.identity.clone();
+        return new Quaternion(this.x / len, this.y / len, this.z / len, this.w / len);
+    }
+    conjugate() {
+        return new Quaternion(-this.x, -this.y, -this.z, this.w);
+    }
+    inverse() {
+        const lengthSquared = this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w;
+        if (lengthSquared === 0)
+            return Quaternion.identity.clone();
+        const conjugate = this.conjugate();
+        return new Quaternion(conjugate.x / lengthSquared, conjugate.y / lengthSquared, conjugate.z / lengthSquared, conjugate.w / lengthSquared);
+    }
+    multiply(q) {
+        return new Quaternion(this.w * q.x + this.x * q.w + this.y * q.z - this.z * q.y, this.w * q.y - this.x * q.z + this.y * q.w + this.z * q.x, this.w * q.z + this.x * q.y - this.y * q.x + this.z * q.w, this.w * q.w - this.x * q.x - this.y * q.y - this.z * q.z);
+    }
+    rotateVector(v) {
+        const qv = new Quaternion(v.x, v.y, v.z, 0);
+        const result = this.multiply(qv).multiply(this.conjugate());
+        return new Vector3(result.x, result.y, result.z);
+    }
+    slerp(to, t) {
+        let target = to;
+        let cosHalfTheta = this.x * to.x + this.y * to.y + this.z * to.z + this.w * to.w;
+        if (cosHalfTheta < 0) {
+            target = new Quaternion(-to.x, -to.y, -to.z, -to.w);
+            cosHalfTheta = -cosHalfTheta;
+        }
+        if (cosHalfTheta >= 1.0)
+            return this.clone();
+        if (cosHalfTheta > 0.9995) {
+            return new Quaternion(this.x + t * (target.x - this.x), this.y + t * (target.y - this.y), this.z + t * (target.z - this.z), this.w + t * (target.w - this.w)).normalize();
+        }
+        const halfTheta = Math.acos(cosHalfTheta);
+        const sinHalfTheta = Math.sqrt(1 - cosHalfTheta * cosHalfTheta);
+        const ratioA = Math.sin((1 - t) * halfTheta) / sinHalfTheta;
+        const ratioB = Math.sin(t * halfTheta) / sinHalfTheta;
+        return new Quaternion(this.x * ratioA + target.x * ratioB, this.y * ratioA + target.y * ratioB, this.z * ratioA + target.z * ratioB, this.w * ratioA + target.w * ratioB).normalize();
+    }
+    equals(q, epsilon = 1e-10) {
+        return Math.abs(this.x - q.x) <= epsilon && Math.abs(this.y - q.y) <= epsilon && Math.abs(this.z - q.z) <= epsilon && Math.abs(this.w - q.w) <= epsilon;
+    }
+}
+//# sourceMappingURL=Quaternion.js.map

package/dist/Quaternion.js.map

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package/dist/Random.d.ts

@@ -0,0 +1,9 @@
+export declare class SeededRandom {
+    private state;
+    constructor(seed: number);
+    nextUint32(): number;
+    nextFloat(): number;
+    range(min: number, max: number): number;
+    clone(): SeededRandom;
+}
+//# sourceMappingURL=Random.d.ts.map

package/dist/Random.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"Random.d.ts","sourceRoot":"","sources":["../../../../packages/math/src/Random.ts"],"names":[],"mappings":"AAAA,qBAAa,YAAY;IACvB,OAAO,CAAC,KAAK,CAAS;gBAEV,IAAI,EAAE,MAAM;IAKxB,UAAU,IAAI,MAAM;IASpB,SAAS,IAAI,MAAM;IAInB,KAAK,CAAC,GAAG,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM;IAKvC,KAAK,IAAI,YAAY;CAKtB"}

package/dist/Random.js

@@ -0,0 +1,30 @@
+export class SeededRandom {
+    state;
+    constructor(seed) {
+        if (!Number.isInteger(seed))
+            throw new RangeError("Seed must be an integer.");
+        this.state = seed >>> 0;
+    }
+    nextUint32() {
+        let x = this.state;
+        x ^= x << 13;
+        x ^= x >>> 17;
+        x ^= x << 5;
+        this.state = x >>> 0;
+        return this.state;
+    }
+    nextFloat() {
+        return this.nextUint32() / 0x1_0000_0000;
+    }
+    range(min, max) {
+        if (min > max)
+            throw new RangeError("min must be <= max");
+        return min + (max - min) * this.nextFloat();
+    }
+    clone() {
+        const random = new SeededRandom(0);
+        random.state = this.state;
+        return random;
+    }
+}
+//# sourceMappingURL=Random.js.map

package/dist/Random.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"Random.js","sourceRoot":"","sources":["../../../../packages/math/src/Random.ts"],"names":[],"mappings":"AAAA,MAAM,OAAO,YAAY;IACf,KAAK,CAAS;IAEtB,YAAY,IAAY;QACtB,IAAI,CAAC,MAAM,CAAC,SAAS,CAAC,IAAI,CAAC;YAAE,MAAM,IAAI,UAAU,CAAC,0BAA0B,CAAC,CAAC;QAC9E,IAAI,CAAC,KAAK,GAAG,IAAI,KAAK,CAAC,CAAC;IAC1B,CAAC;IAED,UAAU;QACR,IAAI,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;QACnB,CAAC,IAAI,CAAC,IAAI,EAAE,CAAC;QACb,CAAC,IAAI,CAAC,KAAK,EAAE,CAAC;QACd,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QACZ,IAAI,CAAC,KAAK,GAAG,CAAC,KAAK,CAAC,CAAC;QACrB,OAAO,IAAI,CAAC,KAAK,CAAC;IACpB,CAAC;IAED,SAAS;QACP,OAAO,IAAI,CAAC,UAAU,EAAE,GAAG,aAAa,CAAC;IAC3C,CAAC;IAED,KAAK,CAAC,GAAW,EAAE,GAAW;QAC5B,IAAI,GAAG,GAAG,GAAG;YAAE,MAAM,IAAI,UAAU,CAAC,oBAAoB,CAAC,CAAC;QAC1D,OAAO,GAAG,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,IAAI,CAAC,SAAS,EAAE,CAAC;IAC9C,CAAC;IAED,KAAK;QACH,MAAM,MAAM,GAAG,IAAI,YAAY,CAAC,CAAC,CAAC,CAAC;QACnC,MAAM,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;QAC1B,OAAO,MAAM,CAAC;IAChB,CAAC;CACF"}

package/dist/Ray.d.ts

@@ -0,0 +1,14 @@
+import { Box3 } from "./Box3.js";
+import { Plane } from "./Plane.js";
+import { Sphere } from "./Sphere.js";
+import { Vector3 } from "./Vector3.js";
+export declare class Ray {
+    readonly origin: Vector3;
+    readonly direction: Vector3;
+    constructor(origin?: Vector3, direction?: Vector3);
+    at(distance: number): Vector3;
+    intersectPlane(plane: Plane): Vector3 | undefined;
+    intersectSphere(sphere: Sphere): Vector3 | undefined;
+    intersectBox(box: Box3): Vector3 | undefined;
+}
+//# sourceMappingURL=Ray.d.ts.map

package/dist/Ray.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"Ray.d.ts","sourceRoot":"","sources":["../../../../packages/math/src/Ray.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AACjC,OAAO,EAAE,KAAK,EAAE,MAAM,YAAY,CAAC;AACnC,OAAO,EAAE,MAAM,EAAE,MAAM,aAAa,CAAC;AACrC,OAAO,EAAE,OAAO,EAAE,MAAM,cAAc,CAAC;AAEvC,qBAAa,GAAG;IACd,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,SAAS,EAAE,OAAO,CAAC;gBAEhB,MAAM,UAAuB,EAAE,SAAS,UAA0B;IAO9E,EAAE,CAAC,QAAQ,EAAE,MAAM,GAAG,OAAO;IAI7B,cAAc,CAAC,KAAK,EAAE,KAAK,GAAG,OAAO,GAAG,SAAS;IAOjD,eAAe,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,GAAG,SAAS;IAapD,YAAY,CAAC,GAAG,EAAE,IAAI,GAAG,OAAO,GAAG,SAAS;CA0B7C"}

package/dist/Ray.js

@@ -0,0 +1,67 @@
+import { Box3 } from "./Box3.js";
+import { Plane } from "./Plane.js";
+import { Sphere } from "./Sphere.js";
+import { Vector3 } from "./Vector3.js";
+export class Ray {
+    origin;
+    direction;
+    constructor(origin = Vector3.zero.clone(), direction = Vector3.forward.clone()) {
+        const normalized = direction.normalize();
+        if (normalized.lengthSquared() === 0)
+            throw new RangeError("Ray direction must be non-zero.");
+        this.origin = origin;
+        this.direction = normalized;
+    }
+    at(distance) {
+        return this.origin.add(this.direction.multiplyScalar(distance));
+    }
+    intersectPlane(plane) {
+        const denominator = plane.normal.dot(this.direction);
+        if (Math.abs(denominator) < 1e-12)
+            return undefined;
+        const distance = -(this.origin.dot(plane.normal) + plane.constant) / denominator;
+        return distance < 0 ? undefined : this.at(distance);
+    }
+    intersectSphere(sphere) {
+        const l = sphere.center.subtract(this.origin);
+        const tca = l.dot(this.direction);
+        const d2 = l.dot(l) - tca * tca;
+        const radius2 = sphere.radius * sphere.radius;
+        if (d2 > radius2)
+            return undefined;
+        const thc = Math.sqrt(radius2 - d2);
+        const t0 = tca - thc;
+        const t1 = tca + thc;
+        const distance = t0 >= 0 ? t0 : t1;
+        return distance < 0 ? undefined : this.at(distance);
+    }
+    intersectBox(box) {
+        if (box.isEmpty())
+            return undefined;
+        let tmin = Number.NEGATIVE_INFINITY;
+        let tmax = Number.POSITIVE_INFINITY;
+        for (const axis of ["x", "y", "z"]) {
+            const origin = this.origin[axis];
+            const direction = this.direction[axis];
+            const min = box.min[axis];
+            const max = box.max[axis];
+            if (Math.abs(direction) < 1e-12) {
+                if (origin < min || origin > max)
+                    return undefined;
+                continue;
+            }
+            const invD = 1 / direction;
+            let t1 = (min - origin) * invD;
+            let t2 = (max - origin) * invD;
+            if (t1 > t2)
+                [t1, t2] = [t2, t1];
+            tmin = Math.max(tmin, t1);
+            tmax = Math.min(tmax, t2);
+            if (tmin > tmax)
+                return undefined;
+        }
+        const distance = tmin >= 0 ? tmin : tmax;
+        return distance < 0 ? undefined : this.at(distance);
+    }
+}
+//# sourceMappingURL=Ray.js.map

package/dist/Ray.js.map

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

@@ -0,0 +1,9 @@
+import { Vector3 } from "./Vector3.js";
+export declare class Sphere {
+    readonly center: Vector3;
+    readonly radius: number;
+    constructor(center?: Vector3, radius?: number);
+    containsPoint(point: Vector3): boolean;
+    intersectsSphere(other: Sphere): boolean;
+}
+//# sourceMappingURL=Sphere.d.ts.map

package/dist/Sphere.d.ts.map

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