@aura3d/math 4.0.2 → 4.0.4

package/dist/Quaternion.js

@@ -32,9 +32,11 @@ export class Quaternion {
         const cross = vFrom.cross(vTo);
         return new Quaternion(cross.x, cross.y, cross.z, 1 + dot).normalize();
     }
+    /**
+     * Quaternion for the given intrinsic Euler rotations, applied in `order`
+     * (all six three.js orders — same formulas as `Quaternion.setFromEuler`).
+     */
     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);
@@ -43,7 +45,30 @@ export class Quaternion {
         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();
+        let q;
+        switch (order) {
+            case "XYZ":
+                q = 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);
+                break;
+            case "YXZ":
+                q = 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);
+                break;
+            case "ZXY":
+                q = 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);
+                break;
+            case "ZYX":
+                q = 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);
+                break;
+            case "YZX":
+                q = 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);
+                break;
+            case "XZY":
+                q = 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);
+                break;
+            default:
+                throw new RangeError(`Unsupported Euler order: ${String(order)}`);
+        }
+        return q.normalize();
     }
     static fromRotationMatrix(matrix) {
         const m = matrix.elements;

package/dist/Quaternion.js.map

@@ -1 +1 @@
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package/dist/Ray.d.ts

@@ -2,13 +2,53 @@ import { Box3 } from "./Box3.js";
 import { Plane } from "./Plane.js";
 import { Sphere } from "./Sphere.js";
 import { Vector3 } from "./Vector3.js";
+import type { Matrix4 } from "./Matrix4.js";
+/**
+ * Ray `origin + t·direction` with normalized `direction` —
+ * three.js `Ray` parity (immutable methods).
+ */
 export declare class Ray {
     readonly origin: Vector3;
     readonly direction: Vector3;
     constructor(origin?: Vector3, direction?: Vector3);
-    at(distance: number): Vector3;
-    intersectPlane(plane: Plane): Vector3 | undefined;
+    set(origin: Vector3, direction: Vector3): Ray;
+    clone(): Ray;
+    copy(ray: Ray): Ray;
+    at(t: number): Vector3;
+    /** Reorients the ray toward `target` (three.js `Ray.lookAt`). */
+    lookAt(target: Vector3): Ray;
+    /** Moves the origin forward along the ray (three.js `Ray.recast`). */
+    recast(t: number): Ray;
+    /** Point on the ray closest to `point` (three.js `closestPointToPoint`). */
+    closestPointToPoint(point: Vector3): Vector3;
+    distanceToPoint(point: Vector3): number;
+    distanceSqToPoint(point: Vector3): number;
+    /**
+     * Min squared distance between the ray and segment `v0–v1` plus the
+     * closest points (three.js `Ray.distanceSqToSegment`, Geometric Tools).
+     */
+    distanceSqToSegment(v0: Vector3, v1: Vector3): {
+        distanceSq: number;
+        pointOnRay: Vector3;
+        pointOnSegment: Vector3;
+    };
+    /** Ray–sphere hit point (closest to the origin), or `undefined`. */
     intersectSphere(sphere: Sphere): Vector3 | undefined;
+    /** three.js `Ray.intersectsSphere` — empty spheres never intersect. */
+    intersectsSphere(sphere: Sphere): boolean;
+    /** Distance along the ray to `plane`; `null` when parallel/behind (three `distanceToPlane`). */
+    distanceToPlane(plane: Plane): number | null;
+    intersectPlane(plane: Plane): Vector3 | undefined;
+    /** three.js `Ray.intersectsPlane`. */
+    intersectsPlane(plane: Plane): boolean;
     intersectBox(box: Box3): Vector3 | undefined;
+    intersectsBox(box: Box3): boolean;
+    /**
+     * Ray–triangle intersection (Möller–Trumbore via Geometric Tools) —
+     * three.js `Ray.intersectTriangle`. Returns the hit point or `undefined`.
+     */
+    intersectTriangle(a: Vector3, b: Vector3, c: Vector3, backfaceCulling?: boolean): Vector3 | undefined;
+    applyMatrix4(matrix: Matrix4): Ray;
+    equals(ray: Ray, epsilon?: number): boolean;
 }
 //# sourceMappingURL=Ray.d.ts.map

package/dist/Ray.d.ts.map

@@ -1 +1 @@
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package/dist/Ray.js

@@ -2,6 +2,10 @@ import { Box3 } from "./Box3.js";
 import { Plane } from "./Plane.js";
 import { Sphere } from "./Sphere.js";
 import { Vector3 } from "./Vector3.js";
+/**
+ * Ray `origin + t·direction` with normalized `direction` —
+ * three.js `Ray` parity (immutable methods).
+ */
 export class Ray {
     origin;
     direction;
@@ -12,16 +16,124 @@ export class Ray {
         this.origin = origin;
         this.direction = normalized;
     }
-    at(distance) {
-        return this.origin.add(this.direction.multiplyScalar(distance));
+    set(origin, direction) {
+        return new Ray(origin, direction);
     }
-    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);
+    clone() {
+        return new Ray(this.origin, this.direction);
+    }
+    copy(ray) {
+        return new Ray(ray.origin, ray.direction);
+    }
+    at(t) {
+        return this.origin.add(this.direction.multiplyScalar(t));
+    }
+    /** Reorients the ray toward `target` (three.js `Ray.lookAt`). */
+    lookAt(target) {
+        return new Ray(this.origin, target.subtract(this.origin).normalize());
+    }
+    /** Moves the origin forward along the ray (three.js `Ray.recast`). */
+    recast(t) {
+        return new Ray(this.at(t), this.direction);
+    }
+    /** Point on the ray closest to `point` (three.js `closestPointToPoint`). */
+    closestPointToPoint(point) {
+        const directionDistance = point.subtract(this.origin).dot(this.direction);
+        if (directionDistance < 0)
+            return this.origin;
+        return this.origin.addScaled(this.direction, directionDistance);
+    }
+    distanceToPoint(point) {
+        return Math.sqrt(this.distanceSqToPoint(point));
     }
+    distanceSqToPoint(point) {
+        const directionDistance = point.subtract(this.origin).dot(this.direction);
+        if (directionDistance < 0) {
+            return this.origin.distanceToSquared(point);
+        }
+        const closest = this.origin.addScaled(this.direction, directionDistance);
+        return closest.distanceToSquared(point);
+    }
+    /**
+     * Min squared distance between the ray and segment `v0–v1` plus the
+     * closest points (three.js `Ray.distanceSqToSegment`, Geometric Tools).
+     */
+    distanceSqToSegment(v0, v1) {
+        const segCenter = v0.add(v1).multiplyScalar(0.5);
+        const segDir = v1.subtract(v0).normalize();
+        const diff = this.origin.subtract(segCenter);
+        const segExtent = v0.distanceTo(v1) * 0.5;
+        const a01 = -this.direction.dot(segDir);
+        const b0 = diff.dot(this.direction);
+        const b1 = -diff.dot(segDir);
+        const c = diff.lengthSquared();
+        const det = Math.abs(1 - a01 * a01);
+        let s0;
+        let s1;
+        let sqrDist;
+        let extDet;
+        if (det > 0) {
+            // ray and segment are not parallel
+            s0 = a01 * b1 - b0;
+            s1 = a01 * b0 - b1;
+            extDet = segExtent * det;
+            if (s0 >= 0) {
+                if (s1 >= -extDet) {
+                    if (s1 <= extDet) {
+                        // region 0
+                        const invDet = 1 / det;
+                        s0 *= invDet;
+                        s1 *= invDet;
+                        sqrDist = s0 * (s0 + a01 * s1 + 2 * b0) + s1 * (a01 * s0 + s1 + 2 * b1) + c;
+                    }
+                    else {
+                        // region 1
+                        s1 = segExtent;
+                        s0 = Math.max(0, -(a01 * s1 + b0));
+                        sqrDist = -s0 * s0 + s1 * (s1 + 2 * b1) + c;
+                    }
+                }
+                else {
+                    // region 5
+                    s1 = -segExtent;
+                    s0 = Math.max(0, -(a01 * s1 + b0));
+                    sqrDist = -s0 * s0 + s1 * (s1 + 2 * b1) + c;
+                }
+            }
+            else {
+                if (s1 <= -extDet) {
+                    // region 4
+                    s0 = Math.max(0, -(-a01 * segExtent + b0));
+                    s1 = s0 > 0 ? -segExtent : Math.min(Math.max(-segExtent, -b1), segExtent);
+                    sqrDist = -s0 * s0 + s1 * (s1 + 2 * b1) + c;
+                }
+                else if (s1 <= extDet) {
+                    // region 3
+                    s0 = 0;
+                    s1 = Math.min(Math.max(-segExtent, -b1), segExtent);
+                    sqrDist = s1 * (s1 + 2 * b1) + c;
+                }
+                else {
+                    // region 2
+                    s0 = Math.max(0, -(a01 * segExtent + b0));
+                    s1 = s0 > 0 ? segExtent : Math.min(Math.max(-segExtent, -b1), segExtent);
+                    sqrDist = -s0 * s0 + s1 * (s1 + 2 * b1) + c;
+                }
+            }
+        }
+        else {
+            // ray and segment are parallel
+            s1 = a01 > 0 ? -segExtent : segExtent;
+            s0 = Math.max(0, -(a01 * s1 + b0));
+            sqrDist = -s0 * s0 + s1 * (s1 + 2 * b1) + c;
+        }
+        return {
+            distanceSq: sqrDist,
+            pointOnRay: this.origin.addScaled(this.direction, s0),
+            pointOnSegment: segCenter.addScaled(segDir, s1)
+        };
+    }
+    /** Ray–sphere hit point (closest to the origin), or `undefined`. */
     intersectSphere(sphere) {
         const l = sphere.center.subtract(this.origin);
         const tca = l.dot(this.direction);
@@ -32,8 +144,44 @@ export class Ray {
         const thc = Math.sqrt(radius2 - d2);
         const t0 = tca - thc;
         const t1 = tca + thc;
+        if (t1 < 0)
+            return undefined;
         const distance = t0 >= 0 ? t0 : t1;
-        return distance < 0 ? undefined : this.at(distance);
+        return this.at(distance);
+    }
+    /** three.js `Ray.intersectsSphere` — empty spheres never intersect. */
+    intersectsSphere(sphere) {
+        if (sphere.radius < 0)
+            return false;
+        return this.distanceSqToPoint(sphere.center) <= sphere.radius * sphere.radius;
+    }
+    /** Distance along the ray to `plane`; `null` when parallel/behind (three `distanceToPlane`). */
+    distanceToPlane(plane) {
+        const denominator = plane.normal.dot(this.direction);
+        if (denominator === 0) {
+            // line is coplanar, return origin
+            if (plane.distanceToPoint(this.origin) === 0)
+                return 0;
+            return null;
+        }
+        const t = -(this.origin.dot(plane.normal) + plane.constant) / denominator;
+        return t >= 0 ? t : null;
+    }
+    intersectPlane(plane) {
+        const t = this.distanceToPlane(plane);
+        if (t === null)
+            return undefined;
+        return this.at(t);
+    }
+    /** three.js `Ray.intersectsPlane`. */
+    intersectsPlane(plane) {
+        const distToPoint = plane.distanceToPoint(this.origin);
+        if (distToPoint === 0)
+            return true;
+        const denominator = plane.normal.dot(this.direction);
+        if (denominator * distToPoint < 0)
+            return true;
+        return false;
     }
     intersectBox(box) {
         if (box.isEmpty())
@@ -63,5 +211,50 @@ export class Ray {
         const distance = tmin >= 0 ? tmin : tmax;
         return distance < 0 ? undefined : this.at(distance);
     }
+    intersectsBox(box) {
+        return this.intersectBox(box) !== undefined;
+    }
+    /**
+     * Ray–triangle intersection (Möller–Trumbore via Geometric Tools) —
+     * three.js `Ray.intersectTriangle`. Returns the hit point or `undefined`.
+     */
+    intersectTriangle(a, b, c, backfaceCulling = false) {
+        const edge1 = b.subtract(a);
+        const edge2 = c.subtract(a);
+        const normal = edge1.cross(edge2);
+        let DdN = this.direction.dot(normal);
+        let sign;
+        if (DdN > 0) {
+            if (backfaceCulling)
+                return undefined;
+            sign = 1;
+        }
+        else if (DdN < 0) {
+            sign = -1;
+            DdN = -DdN;
+        }
+        else {
+            return undefined;
+        }
+        const diff = this.origin.subtract(a);
+        const DdQxE2 = sign * this.direction.dot(diff.cross(edge2));
+        if (DdQxE2 < 0)
+            return undefined; // b1 < 0
+        const DdE1xQ = sign * this.direction.dot(edge1.cross(diff));
+        if (DdE1xQ < 0)
+            return undefined; // b2 < 0
+        if (DdQxE2 + DdE1xQ > DdN)
+            return undefined; // b1+b2 > 1
+        const QdN = -sign * diff.dot(normal);
+        if (QdN < 0)
+            return undefined; // t < 0
+        return this.at(QdN / DdN);
+    }
+    applyMatrix4(matrix) {
+        return new Ray(this.origin.transformMatrix4(matrix), this.direction.transformDirection(matrix));
+    }
+    equals(ray, epsilon = 1e-10) {
+        return this.origin.equals(ray.origin, epsilon) && this.direction.equals(ray.direction, epsilon);
+    }
 }
 //# sourceMappingURL=Ray.js.map

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package/dist/ShapeUtils.d.ts

@@ -0,0 +1,28 @@
+import type { Vector2 } from "./Vector2.js";
+/**
+ * Triangulates a polygon defined by flattened 2D coordinates —
+ * three.js `Earcut.triangulate` / mapbox earcut parity.
+ *
+ * @param data Flattened `[x0,y0, x1,y1, ...]` vertex coordinates.
+ * @param holeIndices Vertex-start indices of each hole ring (or `null`).
+ * @param dim Coordinates per vertex (default 2).
+ * @returns Flat triangle index list (3 indices per face).
+ */
+export declare function earcut(data: ArrayLike<number>, holeIndices: readonly number[] | null, dim?: number): number[];
+/** Signed 2D polygon area (three.js `ShapeUtils.area`). */
+export declare function shapeArea(contour: readonly Vector2[]): number;
+/** `true` when the polygon winding is clockwise (three.js `isClockWise`). */
+export declare function isClockWise(pts: readonly Vector2[]): boolean;
+/**
+ * Triangulates a polygon outline with holes —
+ * three.js `ShapeUtils.triangulateShape` parity.
+ * @returns Faces as `[a,b,c]` vertex-index triples.
+ */
+export declare function triangulateShape(contour: readonly Vector2[], holes: readonly (readonly Vector2[])[]): [number, number, number][];
+/** three.js-compatible grouped surface (matches `ShapeUtils` usage style). */
+export declare const ShapeUtils: {
+    readonly area: typeof shapeArea;
+    readonly isClockWise: typeof isClockWise;
+    readonly triangulateShape: typeof triangulateShape;
+};
+//# sourceMappingURL=ShapeUtils.d.ts.map

package/dist/ShapeUtils.d.ts.map

@@ -0,0 +1 @@
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