@aura3d/math 4.0.2 → 4.0.4

package/dist/Frustum.js

@@ -3,38 +3,88 @@ import { Matrix4 } from "./Matrix4.js";
 import { Plane } from "./Plane.js";
 import { Sphere } from "./Sphere.js";
 import { Vector3 } from "./Vector3.js";
+/**
+ * View frustum as six clipping planes — three.js `Frustum` parity.
+ * Plane order matches three: `[right, left, bottom, top, far, near]`.
+ */
 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);
+        return Frustum.setFromProjectionMatrix(matrix);
+    }
+    /**
+     * Extracts the six frustum planes from a projection matrix —
+     * three.js `Frustum.setFromProjectionMatrix`. `coordinateSystem` selects
+     * the near-plane convention (`"webgl"`: NDC z ∈ [−1,1], `"webgpu"`:
+     * [0,1]); `reversedDepth` swaps near/far.
+     */
+    static setFromProjectionMatrix(matrix, coordinateSystem = "webgl", reversedDepth = false) {
+        const me = matrix.elements;
+        const me0 = me[0], me1 = me[1], me2 = me[2], me3 = me[3];
+        const me4 = me[4], me5 = me[5], me6 = me[6], me7 = me[7];
+        const me8 = me[8], me9 = me[9], me10 = me[10], me11 = me[11];
+        const me12 = me[12], me13 = me[13], me14 = me[14], me15 = me[15];
+        let far;
+        let near;
+        if (reversedDepth) {
+            far = new Plane(new Vector3(me2, me6, me10), me14);
+            near = new Plane(new Vector3(me3 - me2, me7 - me6, me11 - me10), me15 - me14);
+        }
+        else {
+            far = new Plane(new Vector3(me3 - me2, me7 - me6, me11 - me10), me15 - me14);
+            if (coordinateSystem === "webgl") {
+                near = new Plane(new Vector3(me3 + me2, me7 + me6, me11 + me10), me15 + me14);
+            }
+            else if (coordinateSystem === "webgpu") {
+                near = new Plane(new Vector3(me2, me6, me10), me14);
+            }
+            else {
+                throw new RangeError(`Invalid coordinate system: ${coordinateSystem}`);
+            }
+        }
+        return new Frustum([
+            new Plane(new Vector3(me3 - me0, me7 - me4, me11 - me8), me15 - me12), // right
+            new Plane(new Vector3(me3 + me0, me7 + me4, me11 + me8), me15 + me12), // left
+            new Plane(new Vector3(me3 + me1, me7 + me5, me11 + me9), me15 + me13), // bottom
+            new Plane(new Vector3(me3 - me1, me7 - me5, me11 - me9), me15 - me13), // top
+            far,
+            near
+        ]);
+    }
+    set(p0, p1, p2, p3, p4, p5) {
+        return new Frustum([p0, p1, p2, p3, p4, p5]);
+    }
+    clone() {
+        return new Frustum([...this.planes]);
+    }
+    copy(frustum) {
+        return frustum.clone();
     }
     containsPoint(point) {
         return this.planes.every((plane) => plane.distanceToPoint(point) >= 0);
     }
     intersectsSphere(sphere) {
-        return this.planes.every((plane) => plane.distanceToPoint(sphere.center) >= -sphere.radius);
+        const negRadius = -sphere.radius;
+        return this.planes.every((plane) => plane.distanceToPoint(sphere.center) >= negRadius);
     }
     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);
+            // corner at max distance along the plane normal
+            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;
     }
+    /** three.js `Frustum.intersectsObject`-equivalent over a bounds provider. */
+    intersectsBoundingSphere(sphere, worldMatrix) {
+        const transformed = worldMatrix ? sphere.applyMatrix4(worldMatrix) : sphere;
+        return this.intersectsSphere(transformed);
+    }
 }
 //# sourceMappingURL=Frustum.js.map

package/dist/Frustum.js.map

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package/dist/Line3.d.ts

@@ -0,0 +1,38 @@
+import { Vector3 } from "./Vector3.js";
+import type { Matrix4 } from "./Matrix4.js";
+/** Finite 3D line segment — three.js `Line3` parity (immutable methods). */
+export declare class Line3 {
+    readonly start: Vector3;
+    readonly end: Vector3;
+    constructor(start?: Vector3, end?: Vector3);
+    set(start: Vector3, end: Vector3): Line3;
+    clone(): Line3;
+    copy(line: Line3): Line3;
+    getCenter(): Vector3;
+    /** `end - start` direction (unnormalized, three.js `delta`). */
+    delta(): Vector3;
+    distanceSq(): number;
+    distance(): number;
+    /** Point at fraction `t` along the segment (unclamped). */
+    at(t: number): Vector3;
+    /**
+     * Parameter `t` of the point on the *infinite* line closest to `point`
+     * (three.js `closestPointToPointParameter`). Clamped to [0,1] when
+     * `clampToLine` is true.
+     */
+    closestPointToPointParameter(point: Vector3, clampToLine?: boolean): number;
+    closestPointToPoint(point: Vector3, clampToLine?: boolean): Vector3;
+    /**
+     * Squared distance between the segments `this` and `line` plus their
+     * closest points — three.js `Line3.distanceSqToLine3` (Real-Time Collision
+     * Detection, Christer Ericson §5.1.9).
+     */
+    distanceSqToLine3(line: Line3): {
+        distanceSq: number;
+        point1: Vector3;
+        point2: Vector3;
+    };
+    applyMatrix4(matrix: Matrix4): Line3;
+    equals(line: Line3, epsilon?: number): boolean;
+}
+//# sourceMappingURL=Line3.d.ts.map

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package/dist/Line3.js

@@ -0,0 +1,122 @@
+import { Vector3 } from "./Vector3.js";
+function clampNum(v, min, max) {
+    return Math.max(min, Math.min(max, v));
+}
+/** Finite 3D line segment — three.js `Line3` parity (immutable methods). */
+export class Line3 {
+    start;
+    end;
+    constructor(start = new Vector3(0, 0, 0), end = new Vector3(0, 0, 0)) {
+        this.start = start;
+        this.end = end;
+    }
+    set(start, end) {
+        return new Line3(start, end);
+    }
+    clone() {
+        return new Line3(this.start, this.end);
+    }
+    copy(line) {
+        return new Line3(line.start, line.end);
+    }
+    getCenter() {
+        return this.start.add(this.end).multiplyScalar(0.5);
+    }
+    /** `end - start` direction (unnormalized, three.js `delta`). */
+    delta() {
+        return this.end.subtract(this.start);
+    }
+    distanceSq() {
+        return this.start.distanceToSquared(this.end);
+    }
+    distance() {
+        return this.start.distanceTo(this.end);
+    }
+    /** Point at fraction `t` along the segment (unclamped). */
+    at(t) {
+        return this.delta().multiplyScalar(t).add(this.start);
+    }
+    /**
+     * Parameter `t` of the point on the *infinite* line closest to `point`
+     * (three.js `closestPointToPointParameter`). Clamped to [0,1] when
+     * `clampToLine` is true.
+     */
+    closestPointToPointParameter(point, clampToLine = false) {
+        const startP = point.subtract(this.start);
+        const startPEnd = this.end.subtract(this.start);
+        const startPEnd2 = startPEnd.dot(startPEnd);
+        const startPEnd_startP = startPEnd.dot(startP);
+        let t = startPEnd_startP / startPEnd2;
+        if (clampToLine)
+            t = Math.max(0, Math.min(1, t));
+        return t;
+    }
+    closestPointToPoint(point, clampToLine = false) {
+        const t = this.closestPointToPointParameter(point, clampToLine);
+        return this.delta().multiplyScalar(t).add(this.start);
+    }
+    /**
+     * Squared distance between the segments `this` and `line` plus their
+     * closest points — three.js `Line3.distanceSqToLine3` (Real-Time Collision
+     * Detection, Christer Ericson §5.1.9).
+     */
+    distanceSqToLine3(line) {
+        const EPSILON = 1e-8 * 1e-8; // squared — compared against squared lengths
+        const p1 = this.start;
+        const p2 = line.start;
+        const q1 = this.end;
+        const q2 = line.end;
+        const d1 = q1.subtract(p1); // direction of S1
+        const d2 = q2.subtract(p2); // direction of S2
+        const r = p1.subtract(p2);
+        const a = d1.dot(d1); // squared length of S1
+        const e = d2.dot(d2); // squared length of S2
+        const f = d2.dot(r);
+        let s;
+        let t;
+        if (a <= EPSILON && e <= EPSILON) {
+            // both segments degenerate into points
+            const c1 = p1;
+            const c2 = p2;
+            return { distanceSq: c1.subtract(c2).dot(c1.subtract(c2)), point1: c1, point2: c2 };
+        }
+        if (a <= EPSILON) {
+            // first segment degenerates into a point
+            s = 0;
+            t = clampNum(f / e, 0, 1);
+        }
+        else {
+            const c = d1.dot(r);
+            if (e <= EPSILON) {
+                // second segment degenerates into a point
+                t = 0;
+                s = clampNum(-c / a, 0, 1);
+            }
+            else {
+                // general nondegenerate case
+                const b = d1.dot(d2);
+                const denom = a * e - b * b; // always nonnegative
+                s = denom !== 0 ? clampNum((b * f - c * e) / denom, 0, 1) : 0;
+                t = (b * s + f) / e;
+                if (t < 0) {
+                    t = 0;
+                    s = clampNum(-c / a, 0, 1);
+                }
+                else if (t > 1) {
+                    t = 1;
+                    s = clampNum((b - c) / a, 0, 1);
+                }
+            }
+        }
+        const point1 = p1.addScaled(d1, s);
+        const point2 = p2.addScaled(d2, t);
+        return { distanceSq: point1.distanceToSquared(point2), point1, point2 };
+    }
+    applyMatrix4(matrix) {
+        return new Line3(this.start.transformMatrix4(matrix), this.end.transformMatrix4(matrix));
+    }
+    equals(line, epsilon = 0) {
+        return this.start.equals(line.start, epsilon) && this.end.equals(line.end, epsilon);
+    }
+}
+//# sourceMappingURL=Line3.js.map

package/dist/Line3.js.map

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package/dist/MathUtils.d.ts

@@ -0,0 +1,37 @@
+/**
+ * three.js `MathUtils` parity (docs/workflows/threejs-parity-gaps.md SM-04).
+ * Pure scalar helpers — same names and semantics as three 0.185.1.
+ */
+/** RFC4122-ish UUIDv4 string (same construction as three's `generateUUID`). */
+export declare function generateUUID(): string;
+export declare function clamp(value: number, min: number, max: number): number;
+/** ((n % m) + m) % m — always non-negative for positive m. */
+export declare function euclideanModulo(n: number, m: number): number;
+export declare function mapLinear(x: number, a1: number, a2: number, b1: number, b2: number): number;
+/** Returns 0 when x === y (three.js semantics). */
+export declare function inverseLerp(x: number, y: number, value: number): number;
+/** (1 - t) * x + t * y — note three's argument order. */
+export declare function lerp(x: number, y: number, t: number): number;
+/** Frame-rate independent exponential approach (three.js `damp`). */
+export declare function damp(x: number, y: number, lambda: number, dt: number): number;
+/** Triangle wave: 0→length→0 as x grows (three.js `pingpong`). */
+export declare function pingpong(x: number, length?: number): number;
+export declare function smoothstep(x: number, min: number, max: number): number;
+export declare function smootherstep(x: number, min: number, max: number): number;
+/** Integer in [low, high] inclusive. */
+export declare function randInt(low: number, high: number): number;
+export declare function randFloat(low: number, high: number): number;
+/** Uniform in [-range/2, range/2]. */
+export declare function randFloatSpread(range: number): number;
+/**
+ * Deterministic Mulberry32 generator — same sequence as three's
+ * `seededRandom`: calling with `s` sets the stream seed; each call returns a
+ * float in [0, 1).
+ */
+export declare function seededRandom(s?: number): number;
+export declare function degToRad(degrees: number): number;
+export declare function radToDeg(radians: number): number;
+export declare function isPowerOfTwo(value: number): boolean;
+export declare function ceilPowerOfTwo(value: number): number;
+export declare function floorPowerOfTwo(value: number): number;
+//# sourceMappingURL=MathUtils.d.ts.map

package/dist/MathUtils.d.ts.map

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package/dist/MathUtils.js

@@ -0,0 +1,105 @@
+/**
+ * three.js `MathUtils` parity (docs/workflows/threejs-parity-gaps.md SM-04).
+ * Pure scalar helpers — same names and semantics as three 0.185.1.
+ */
+const DEG2RAD = Math.PI / 180;
+const RAD2DEG = 180 / Math.PI;
+const _lut = [];
+for (let i = 0; i < 256; i += 1)
+    _lut[i] = i.toString(16).padStart(2, "0");
+let _seed = 1234567;
+/** RFC4122-ish UUIDv4 string (same construction as three's `generateUUID`). */
+export function generateUUID() {
+    const d0 = (Math.random() * 0xffffffff) | 0;
+    const d1 = (Math.random() * 0xffffffff) | 0;
+    const d2 = (Math.random() * 0xffffffff) | 0;
+    const d3 = (Math.random() * 0xffffffff) | 0;
+    return (_lut[d0 & 0xff] + _lut[(d0 >> 8) & 0xff] + _lut[(d0 >> 16) & 0xff] + _lut[(d0 >> 24) & 0xff] + "-" +
+        _lut[d1 & 0xff] + _lut[(d1 >> 8) & 0xff] + "-" + _lut[((d1 >> 16) & 0x0f) | 0x40] + _lut[(d1 >> 24) & 0xff] + "-" +
+        _lut[(d2 & 0x3f) | 0x80] + _lut[(d2 >> 8) & 0xff] + "-" + _lut[(d2 >> 16) & 0xff] + _lut[(d2 >> 24) & 0xff] +
+        _lut[d3 & 0xff] + _lut[(d3 >> 8) & 0xff] + _lut[(d3 >> 16) & 0xff] + _lut[(d3 >> 24) & 0xff]).toLowerCase();
+}
+export function clamp(value, min, max) {
+    return Math.max(min, Math.min(max, value));
+}
+/** ((n % m) + m) % m — always non-negative for positive m. */
+export function euclideanModulo(n, m) {
+    return ((n % m) + m) % m;
+}
+export function mapLinear(x, a1, a2, b1, b2) {
+    return b1 + ((x - a1) * (b2 - b1)) / (a2 - a1);
+}
+/** Returns 0 when x === y (three.js semantics). */
+export function inverseLerp(x, y, value) {
+    if (x !== y)
+        return (value - x) / (y - x);
+    return 0;
+}
+/** (1 - t) * x + t * y — note three's argument order. */
+export function lerp(x, y, t) {
+    return (1 - t) * x + t * y;
+}
+/** Frame-rate independent exponential approach (three.js `damp`). */
+export function damp(x, y, lambda, dt) {
+    return lerp(x, y, 1 - Math.exp(-lambda * dt));
+}
+/** Triangle wave: 0→length→0 as x grows (three.js `pingpong`). */
+export function pingpong(x, length = 1) {
+    return length - Math.abs(euclideanModulo(x, length * 2) - length);
+}
+export function smoothstep(x, min, max) {
+    if (x <= min)
+        return 0;
+    if (x >= max)
+        return 1;
+    const t = (x - min) / (max - min);
+    return t * t * (3 - 2 * t);
+}
+export function smootherstep(x, min, max) {
+    if (x <= min)
+        return 0;
+    if (x >= max)
+        return 1;
+    const t = (x - min) / (max - min);
+    return t * t * t * (t * (t * 6 - 15) + 10);
+}
+/** Integer in [low, high] inclusive. */
+export function randInt(low, high) {
+    return low + Math.floor(Math.random() * (high - low + 1));
+}
+export function randFloat(low, high) {
+    return low + Math.random() * (high - low);
+}
+/** Uniform in [-range/2, range/2]. */
+export function randFloatSpread(range) {
+    return range * (0.5 - Math.random());
+}
+/**
+ * Deterministic Mulberry32 generator — same sequence as three's
+ * `seededRandom`: calling with `s` sets the stream seed; each call returns a
+ * float in [0, 1).
+ */
+export function seededRandom(s) {
+    if (s !== undefined)
+        _seed = s;
+    let t = (_seed += 0x6d2b79f5);
+    t = Math.imul(t ^ (t >>> 15), t | 1);
+    t ^= t + Math.imul(t ^ (t >>> 7), t | 61);
+    return ((t ^ (t >>> 14)) >>> 0) / 4294967296;
+}
+export function degToRad(degrees) {
+    return degrees * DEG2RAD;
+}
+export function radToDeg(radians) {
+    return radians * RAD2DEG;
+}
+export function isPowerOfTwo(value) {
+    return (value & (value - 1)) === 0 && value !== 0;
+}
+export function ceilPowerOfTwo(value) {
+    return Math.pow(2, Math.ceil(Math.log(value) / Math.LN2));
+}
+export function floorPowerOfTwo(value) {
+    return Math.pow(2, Math.floor(Math.log(value) / Math.LN2));
+}
+//# sourceMappingURL=MathUtils.js.map

package/dist/MathUtils.js.map

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package/dist/Matrix3.d.ts

@@ -1,9 +1,30 @@
+import type { Matrix4 } from "./Matrix4.js";
+import { Vector3 } from "./Vector3.js";
+type Matrix3Elements = readonly [number, number, number, number, number, number, number, number, number];
 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]);
+    readonly elements: Matrix3Elements;
+    constructor(elements?: Matrix3Elements);
+    static identity(): Matrix3;
+    static fromMatrix4(matrix: Matrix4): Matrix3;
+    static normalFromMatrix4(matrix: Matrix4): Matrix3;
+    /** three.js `Matrix3.set` — row-major arguments, column-major storage. */
+    set(n11: number, n12: number, n13: number, n21: number, n22: number, n23: number, n31: number, n32: number, n33: number): Matrix3;
+    clone(): Matrix3;
+    equals(matrix: Matrix3): boolean;
     determinant(): number;
+    /** three.js `invert` — returns identity when the matrix is singular (three semantics). */
+    invert(): Matrix3;
     inverse(): Matrix3;
     multiply(other: Matrix3): Matrix3;
+    premultiply(other: Matrix3): Matrix3;
+    multiplyScalar(s: number): Matrix3;
+    /** three.js `Matrix3.getNormalMatrix` — inverse-transpose of m's upper-left 3x3. */
+    getNormalMatrix(matrix4: Matrix4): Matrix3;
+    /** three.js `Matrix3.extractBasis` — basis vectors from the three columns. */
+    extractBasis(): [Vector3, Vector3, Vector3];
     transpose(): Matrix3;
+    toArray(offset?: number, array?: number[]): number[];
+    static fromArray(array: ArrayLike<number>, offset?: number): Matrix3;
 }
+export {};
 //# sourceMappingURL=Matrix3.d.ts.map

package/dist/Matrix3.d.ts.map

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package/dist/Matrix3.js

@@ -1,12 +1,66 @@
+import { Vector3 } from "./Vector3.js";
 export class Matrix3 {
     elements;
     constructor(elements) {
         this.elements = elements ? [...elements] : [1, 0, 0, 0, 1, 0, 0, 0, 1];
     }
+    static identity() {
+        return new Matrix3();
+    }
+    static fromMatrix4(matrix) {
+        const m = matrix.elements;
+        return new Matrix3([
+            m[0], m[1], m[2],
+            m[4], m[5], m[6],
+            m[8], m[9], m[10]
+        ]);
+    }
+    static normalFromMatrix4(matrix) {
+        return Matrix3.fromMatrix4(matrix).inverse().transpose();
+    }
+    /** three.js `Matrix3.set` — row-major arguments, column-major storage. */
+    set(n11, n12, n13, n21, n22, n23, n31, n32, n33) {
+        return new Matrix3([
+            n11, n21, n31,
+            n12, n22, n32,
+            n13, n23, n33
+        ]);
+    }
+    clone() {
+        return new Matrix3([...this.elements]);
+    }
+    equals(matrix) {
+        const a = this.elements;
+        const b = matrix.elements;
+        for (let i = 0; i < 9; i += 1) {
+            if (a[i] !== b[i])
+                return false;
+        }
+        return true;
+    }
     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]);
     }
+    /** three.js `invert` — returns identity when the matrix is singular (three semantics). */
+    invert() {
+        const m = this.elements;
+        const det = this.determinant();
+        if (det === 0)
+            return new Matrix3();
+        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
+        ]);
+    }
     inverse() {
         const m = this.elements;
         const det = this.determinant();
@@ -39,6 +93,30 @@ export class Matrix3 {
         }
         return new Matrix3(out);
     }
+    premultiply(other) {
+        return other.multiply(this);
+    }
+    multiplyScalar(s) {
+        const m = this.elements;
+        return new Matrix3([
+            m[0] * s, m[1] * s, m[2] * s,
+            m[3] * s, m[4] * s, m[5] * s,
+            m[6] * s, m[7] * s, m[8] * s
+        ]);
+    }
+    /** three.js `Matrix3.getNormalMatrix` — inverse-transpose of m's upper-left 3x3. */
+    getNormalMatrix(matrix4) {
+        return Matrix3.normalFromMatrix4(matrix4);
+    }
+    /** three.js `Matrix3.extractBasis` — basis vectors from the three columns. */
+    extractBasis() {
+        const m = this.elements;
+        return [
+            new Vector3(m[0], m[1], m[2]),
+            new Vector3(m[3], m[4], m[5]),
+            new Vector3(m[6], m[7], m[8])
+        ];
+    }
     transpose() {
         const m = this.elements;
         return new Matrix3([
@@ -47,5 +125,17 @@ export class Matrix3 {
             m[2], m[5], m[8]
         ]);
     }
+    toArray(offset = 0, array = []) {
+        const m = this.elements;
+        for (let i = 0; i < 9; i += 1)
+            array[offset + i] = m[i];
+        return array;
+    }
+    static fromArray(array, offset = 0) {
+        const e = new Array(9);
+        for (let i = 0; i < 9; i += 1)
+            e[i] = array[offset + i];
+        return new Matrix3(e);
+    }
 }
 //# sourceMappingURL=Matrix3.js.map

package/dist/Matrix3.js.map

@@ -1 +1 @@
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