@certe/atmos-math 0.1.0

package/dist/noise.js

@@ -0,0 +1,138 @@
+/**
+ * Simple 2D value noise — no dependencies.
+ * Uses a hash-based pseudo-random lattice with smooth interpolation.
+ */
+/** Deterministic hash for integer coordinates → [0, 1) */
+function hash(ix, iz) {
+    // Large primes for mixing
+    let h = (ix * 374761393 + iz * 668265263 + 1013904223) | 0;
+    h = Math.imul(h ^ (h >>> 13), 1274126177);
+    h = h ^ (h >>> 16);
+    return (h & 0x7FFFFFFF) / 0x7FFFFFFF;
+}
+/** Smoothstep (Hermite) interpolation */
+function smoothstep(t) {
+    return t * t * (3 - 2 * t);
+}
+/** Lerp */
+function lerp(a, b, t) {
+    return a + (b - a) * t;
+}
+/**
+ * 2D value noise at (x, z). Returns a value in approximately [-1, 1].
+ * @param x World X coordinate (pre-scaled by caller)
+ * @param z World Z coordinate (pre-scaled by caller)
+ */
+export function valueNoise2D(x, z) {
+    const ix = Math.floor(x);
+    const iz = Math.floor(z);
+    const fx = smoothstep(x - ix);
+    const fz = smoothstep(z - iz);
+    const v00 = hash(ix, iz);
+    const v10 = hash(ix + 1, iz);
+    const v01 = hash(ix, iz + 1);
+    const v11 = hash(ix + 1, iz + 1);
+    const top = lerp(v00, v10, fx);
+    const bot = lerp(v01, v11, fx);
+    // Map from [0,1] to [-1,1]
+    return lerp(top, bot, fz) * 2 - 1;
+}
+/**
+ * Fractal Brownian Motion (fBm) using value noise.
+ * Stacks multiple octaves for natural-looking terrain.
+ */
+export function fbm(x, z, octaves = 4, lacunarity = 2, persistence = 0.5) {
+    let value = 0;
+    let amplitude = 1;
+    let frequency = 1;
+    let maxAmp = 0;
+    for (let i = 0; i < octaves; i++) {
+        value += valueNoise2D(x * frequency, z * frequency) * amplitude;
+        maxAmp += amplitude;
+        amplitude *= persistence;
+        frequency *= lacunarity;
+    }
+    return value / maxAmp;
+}
+// ---------------------------------------------------------------------------
+// 3D Perlin noise (improved, gradient-lattice)
+// ---------------------------------------------------------------------------
+/** 12 gradient vectors — edges of a cube (Perlin standard). */
+const GRAD3 = [
+    1, 1, 0, -1, 1, 0, 1, -1, 0, -1, -1, 0,
+    1, 0, 1, -1, 0, 1, 1, 0, -1, -1, 0, -1,
+    0, 1, 1, 0, -1, 1, 0, 1, -1, 0, -1, -1,
+];
+/** Permutation table (256 entries, doubled to avoid modulo). */
+const PERM = new Uint8Array(512);
+{
+    const p = [
+        151, 160, 137, 91, 90, 15, 131, 13, 201, 95, 96, 53, 194, 233, 7, 225,
+        140, 36, 103, 30, 69, 142, 8, 99, 37, 240, 21, 10, 23, 190, 6, 148,
+        247, 120, 234, 75, 0, 26, 197, 62, 94, 252, 219, 203, 117, 35, 11, 32,
+        57, 177, 33, 88, 237, 149, 56, 87, 174, 20, 125, 136, 171, 168, 68, 175,
+        74, 165, 71, 134, 139, 48, 27, 166, 77, 146, 158, 231, 83, 111, 229, 122,
+        60, 211, 133, 230, 220, 105, 92, 41, 55, 46, 245, 40, 244, 102, 143, 54,
+        65, 25, 63, 161, 1, 216, 80, 73, 209, 76, 132, 187, 208, 89, 18, 169,
+        200, 196, 135, 130, 116, 188, 159, 86, 164, 100, 109, 198, 173, 186, 3, 64,
+        52, 217, 226, 250, 124, 123, 5, 202, 38, 147, 118, 126, 255, 82, 85, 212,
+        207, 206, 59, 227, 47, 16, 58, 17, 182, 189, 28, 42, 223, 183, 170, 213,
+        119, 248, 152, 2, 44, 154, 163, 70, 221, 153, 101, 155, 167, 43, 172, 9,
+        129, 22, 39, 253, 19, 98, 108, 110, 79, 113, 224, 232, 178, 185, 112, 104,
+        218, 246, 97, 228, 251, 34, 242, 193, 238, 210, 144, 12, 191, 179, 162, 241,
+        81, 51, 145, 235, 249, 14, 239, 107, 49, 192, 214, 31, 181, 199, 106, 157,
+        184, 84, 204, 176, 115, 121, 50, 45, 127, 4, 150, 254, 138, 236, 205, 93,
+        222, 114, 67, 29, 24, 72, 243, 141, 128, 195, 78, 66, 215, 61, 156, 180,
+    ];
+    for (let i = 0; i < 256; i++)
+        PERM[i] = PERM[i + 256] = p[i];
+}
+/** Improved Perlin fade: 6t^5 - 15t^4 + 10t^3 */
+function fade(t) {
+    return t * t * t * (t * (t * 6 - 15) + 10);
+}
+/** Dot product with one of the 12 gradient vectors. */
+function grad3dot(hash, x, y, z) {
+    const idx = (hash % 12) * 3;
+    return GRAD3[idx] * x + GRAD3[idx + 1] * y + GRAD3[idx + 2] * z;
+}
+/**
+ * 3D Perlin noise. Returns a value in approximately [-1, 1].
+ */
+export function perlinNoise3D(x, y, z) {
+    const X = Math.floor(x) & 255;
+    const Y = Math.floor(y) & 255;
+    const Z = Math.floor(z) & 255;
+    const xf = x - Math.floor(x);
+    const yf = y - Math.floor(y);
+    const zf = z - Math.floor(z);
+    const u = fade(xf);
+    const v = fade(yf);
+    const w = fade(zf);
+    // Hash 8 corners
+    const A = PERM[X] + Y;
+    const AA = PERM[A] + Z;
+    const AB = PERM[A + 1] + Z;
+    const B = PERM[X + 1] + Y;
+    const BA = PERM[B] + Z;
+    const BB = PERM[B + 1] + Z;
+    // Gradient dots + trilinear interpolation
+    return lerp(lerp(lerp(grad3dot(PERM[AA], xf, yf, zf), grad3dot(PERM[BA], xf - 1, yf, zf), u), lerp(grad3dot(PERM[AB], xf, yf - 1, zf), grad3dot(PERM[BB], xf - 1, yf - 1, zf), u), v), lerp(lerp(grad3dot(PERM[AA + 1], xf, yf, zf - 1), grad3dot(PERM[BA + 1], xf - 1, yf, zf - 1), u), lerp(grad3dot(PERM[AB + 1], xf, yf - 1, zf - 1), grad3dot(PERM[BB + 1], xf - 1, yf - 1, zf - 1), u), v), w);
+}
+/**
+ * Fractal Brownian Motion using 3D Perlin noise.
+ */
+export function fbm3D(x, y, z, octaves = 4, lacunarity = 2, persistence = 0.5) {
+    let value = 0;
+    let amplitude = 1;
+    let frequency = 1;
+    let maxAmp = 0;
+    for (let i = 0; i < octaves; i++) {
+        value += perlinNoise3D(x * frequency, y * frequency, z * frequency) * amplitude;
+        maxAmp += amplitude;
+        amplitude *= persistence;
+        frequency *= lacunarity;
+    }
+    return value / maxAmp;
+}
+//# sourceMappingURL=noise.js.map

package/dist/noise.js.map

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package/dist/quat.d.ts

@@ -0,0 +1,40 @@
+import type { Vec3 } from './vec3.js';
+import type { Mat4 } from './mat4.js';
+/** A Quat is a Float32Array of length 4: [x, y, z, w] */
+export type Quat = Float32Array;
+export declare function create(): Quat;
+export declare function identity(out: Quat): Quat;
+export declare function fromAxisAngle(out: Quat, axis: Vec3, rad: number): Quat;
+export declare function fromEuler(out: Quat, x: number, y: number, z: number): Quat;
+export declare function multiply(out: Quat, a: Quat, b: Quat): Quat;
+export declare function normalize(out: Quat, a: Quat): Quat;
+export declare function slerp(out: Quat, a: Quat, b: Quat, t: number): Quat;
+/**
+ * Extract Euler angles (XYZ order) from a quaternion.
+ * Returns [x, y, z] in radians.
+ */
+export declare function toEuler(out: Vec3, q: Quat): Vec3;
+export declare function invert(out: Quat, a: Quat): Quat;
+export declare function copy(out: Quat, a: Quat): Quat;
+/**
+ * Extract rotation quaternion from a Mat4.
+ * Handles non-uniform scale by normalizing column vectors.
+ */
+export declare function fromMat4(out: Quat, m: Mat4): Quat;
+/**
+ * Rotate a quaternion around the X axis by the given angle (radians).
+ * Equivalent to multiply(out, fromAxisAngle([1,0,0], rad), a) but without temp allocation.
+ */
+export declare function rotateX(out: Quat, a: Quat, rad: number): Quat;
+/**
+ * Rotate a quaternion around the Y axis by the given angle (radians).
+ * Equivalent to multiply(out, fromAxisAngle([0,1,0], rad), a) but without temp allocation.
+ */
+export declare function rotateY(out: Quat, a: Quat, rad: number): Quat;
+/**
+ * Rotate a quaternion around the Z axis by the given angle (radians).
+ * Equivalent to multiply(out, fromAxisAngle([0,0,1], rad), a) but without temp allocation.
+ */
+export declare function rotateZ(out: Quat, a: Quat, rad: number): Quat;
+export declare function toMat4(out: Mat4, q: Quat): Mat4;
+//# sourceMappingURL=quat.d.ts.map

package/dist/quat.d.ts.map

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

@@ -0,0 +1,249 @@
+export function create() {
+    const out = new Float32Array(4);
+    out[3] = 1;
+    return out;
+}
+export function identity(out) {
+    out[0] = 0;
+    out[1] = 0;
+    out[2] = 0;
+    out[3] = 1;
+    return out;
+}
+export function fromAxisAngle(out, axis, rad) {
+    const half = rad * 0.5;
+    const s = Math.sin(half);
+    out[0] = axis[0] * s;
+    out[1] = axis[1] * s;
+    out[2] = axis[2] * s;
+    out[3] = Math.cos(half);
+    return out;
+}
+export function fromEuler(out, x, y, z) {
+    const halfX = x * 0.5;
+    const halfY = y * 0.5;
+    const halfZ = z * 0.5;
+    const sx = Math.sin(halfX), cx = Math.cos(halfX);
+    const sy = Math.sin(halfY), cy = Math.cos(halfY);
+    const sz = Math.sin(halfZ), cz = Math.cos(halfZ);
+    out[0] = sx * cy * cz - cx * sy * sz;
+    out[1] = cx * sy * cz + sx * cy * sz;
+    out[2] = cx * cy * sz - sx * sy * cz;
+    out[3] = cx * cy * cz + sx * sy * sz;
+    return out;
+}
+export function multiply(out, a, b) {
+    const ax = a[0], ay = a[1], az = a[2], aw = a[3];
+    const bx = b[0], by = b[1], bz = b[2], bw = b[3];
+    out[0] = ax * bw + aw * bx + ay * bz - az * by;
+    out[1] = ay * bw + aw * by + az * bx - ax * bz;
+    out[2] = az * bw + aw * bz + ax * by - ay * bx;
+    out[3] = aw * bw - ax * bx - ay * by - az * bz;
+    return out;
+}
+export function normalize(out, a) {
+    const x = a[0], y = a[1], z = a[2], w = a[3];
+    let len = x * x + y * y + z * z + w * w;
+    if (len > 0) {
+        len = 1 / Math.sqrt(len);
+        out[0] = x * len;
+        out[1] = y * len;
+        out[2] = z * len;
+        out[3] = w * len;
+    }
+    return out;
+}
+export function slerp(out, a, b, t) {
+    const ax = a[0], ay = a[1], az = a[2], aw = a[3];
+    let bx = b[0], by = b[1], bz = b[2], bw = b[3];
+    let cosom = ax * bx + ay * by + az * bz + aw * bw;
+    if (cosom < 0) {
+        cosom = -cosom;
+        bx = -bx;
+        by = -by;
+        bz = -bz;
+        bw = -bw;
+    }
+    // Clamp to [0, 1] to avoid NaN from floating-point overshoot in Math.acos
+    if (cosom > 1)
+        cosom = 1;
+    let scale0;
+    let scale1;
+    if (1.0 - cosom > 1e-6) {
+        const omega = Math.acos(cosom);
+        const sinom = Math.sin(omega);
+        if (sinom > 1e-6) {
+            scale0 = Math.sin((1.0 - t) * omega) / sinom;
+            scale1 = Math.sin(t * omega) / sinom;
+        }
+        else {
+            scale0 = 1.0 - t;
+            scale1 = t;
+        }
+    }
+    else {
+        scale0 = 1.0 - t;
+        scale1 = t;
+    }
+    out[0] = scale0 * ax + scale1 * bx;
+    out[1] = scale0 * ay + scale1 * by;
+    out[2] = scale0 * az + scale1 * bz;
+    out[3] = scale0 * aw + scale1 * bw;
+    return out;
+}
+/**
+ * Extract Euler angles (XYZ order) from a quaternion.
+ * Returns [x, y, z] in radians.
+ */
+export function toEuler(out, q) {
+    const x = q[0], y = q[1], z = q[2], w = q[3];
+    // Roll (x-axis)
+    const sinr_cosp = 2 * (w * x + y * z);
+    const cosr_cosp = 1 - 2 * (x * x + y * y);
+    out[0] = Math.atan2(sinr_cosp, cosr_cosp);
+    // Pitch (y-axis) — clamp to avoid NaN from asin
+    const sinp = 2 * (w * y - z * x);
+    out[1] = Math.abs(sinp) >= 1
+        ? Math.sign(sinp) * (Math.PI / 2)
+        : Math.asin(sinp);
+    // Yaw (z-axis)
+    const siny_cosp = 2 * (w * z + x * y);
+    const cosy_cosp = 1 - 2 * (y * y + z * z);
+    out[2] = Math.atan2(siny_cosp, cosy_cosp);
+    return out;
+}
+export function invert(out, a) {
+    const x = a[0], y = a[1], z = a[2], w = a[3];
+    const dot = x * x + y * y + z * z + w * w;
+    const invDot = dot > 0 ? 1.0 / dot : 0;
+    out[0] = -x * invDot;
+    out[1] = -y * invDot;
+    out[2] = -z * invDot;
+    out[3] = w * invDot;
+    return out;
+}
+export function copy(out, a) {
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    out[3] = a[3];
+    return out;
+}
+/**
+ * Extract rotation quaternion from a Mat4.
+ * Handles non-uniform scale by normalizing column vectors.
+ */
+export function fromMat4(out, m) {
+    // Column scale lengths
+    const sx = Math.sqrt(m[0] * m[0] + m[1] * m[1] + m[2] * m[2]);
+    const sy = Math.sqrt(m[4] * m[4] + m[5] * m[5] + m[6] * m[6]);
+    const sz = Math.sqrt(m[8] * m[8] + m[9] * m[9] + m[10] * m[10]);
+    const isx = sx > 1e-8 ? 1 / sx : 0;
+    const isy = sy > 1e-8 ? 1 / sy : 0;
+    const isz = sz > 1e-8 ? 1 / sz : 0;
+    // Normalized rotation matrix elements
+    const m00 = m[0] * isx, m01 = m[1] * isx, m02 = m[2] * isx;
+    const m10 = m[4] * isy, m11 = m[5] * isy, m12 = m[6] * isy;
+    const m20 = m[8] * isz, m21 = m[9] * isz, m22 = m[10] * isz;
+    // Shepperd's method
+    const trace = m00 + m11 + m22;
+    if (trace > 0) {
+        const s = 0.5 / Math.sqrt(trace + 1);
+        out[3] = 0.25 / s;
+        out[0] = (m12 - m21) * s;
+        out[1] = (m20 - m02) * s;
+        out[2] = (m01 - m10) * s;
+    }
+    else if (m00 > m11 && m00 > m22) {
+        const s = 2 * Math.sqrt(1 + m00 - m11 - m22);
+        out[3] = (m12 - m21) / s;
+        out[0] = 0.25 * s;
+        out[1] = (m01 + m10) / s;
+        out[2] = (m20 + m02) / s;
+    }
+    else if (m11 > m22) {
+        const s = 2 * Math.sqrt(1 + m11 - m00 - m22);
+        out[3] = (m20 - m02) / s;
+        out[0] = (m01 + m10) / s;
+        out[1] = 0.25 * s;
+        out[2] = (m12 + m21) / s;
+    }
+    else {
+        const s = 2 * Math.sqrt(1 + m22 - m00 - m11);
+        out[3] = (m01 - m10) / s;
+        out[0] = (m20 + m02) / s;
+        out[1] = (m12 + m21) / s;
+        out[2] = 0.25 * s;
+    }
+    return out;
+}
+/**
+ * Rotate a quaternion around the X axis by the given angle (radians).
+ * Equivalent to multiply(out, fromAxisAngle([1,0,0], rad), a) but without temp allocation.
+ */
+export function rotateX(out, a, rad) {
+    const half = rad * 0.5;
+    const bx = Math.sin(half);
+    const bw = Math.cos(half);
+    const ax = a[0], ay = a[1], az = a[2], aw = a[3];
+    out[0] = bx * aw + bw * ax;
+    out[1] = bw * ay - bx * az;
+    out[2] = bw * az + bx * ay;
+    out[3] = bw * aw - bx * ax;
+    return out;
+}
+/**
+ * Rotate a quaternion around the Y axis by the given angle (radians).
+ * Equivalent to multiply(out, fromAxisAngle([0,1,0], rad), a) but without temp allocation.
+ */
+export function rotateY(out, a, rad) {
+    const half = rad * 0.5;
+    const by = Math.sin(half);
+    const bw = Math.cos(half);
+    const ax = a[0], ay = a[1], az = a[2], aw = a[3];
+    out[0] = bw * ax + by * az;
+    out[1] = by * aw + bw * ay;
+    out[2] = bw * az - by * ax;
+    out[3] = bw * aw - by * ay;
+    return out;
+}
+/**
+ * Rotate a quaternion around the Z axis by the given angle (radians).
+ * Equivalent to multiply(out, fromAxisAngle([0,0,1], rad), a) but without temp allocation.
+ */
+export function rotateZ(out, a, rad) {
+    const half = rad * 0.5;
+    const bz = Math.sin(half);
+    const bw = Math.cos(half);
+    const ax = a[0], ay = a[1], az = a[2], aw = a[3];
+    out[0] = bw * ax - bz * ay;
+    out[1] = bw * ay + bz * ax;
+    out[2] = bz * aw + bw * az;
+    out[3] = bw * aw - bz * az;
+    return out;
+}
+export function toMat4(out, q) {
+    const x = q[0], y = q[1], z = q[2], w = q[3];
+    const x2 = x + x, y2 = y + y, z2 = z + z;
+    const xx = x * x2, xy = x * y2, xz = x * z2;
+    const yy = y * y2, yz = y * z2, zz = z * z2;
+    const wx = w * x2, wy = w * y2, wz = w * z2;
+    out[0] = 1 - (yy + zz);
+    out[1] = xy + wz;
+    out[2] = xz - wy;
+    out[3] = 0;
+    out[4] = xy - wz;
+    out[5] = 1 - (xx + zz);
+    out[6] = yz + wx;
+    out[7] = 0;
+    out[8] = xz + wy;
+    out[9] = yz - wx;
+    out[10] = 1 - (xx + yy);
+    out[11] = 0;
+    out[12] = 0;
+    out[13] = 0;
+    out[14] = 0;
+    out[15] = 1;
+    return out;
+}
+//# sourceMappingURL=quat.js.map

package/dist/quat.js.map

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package/dist/ray.d.ts

@@ -0,0 +1,31 @@
+import type { Vec3 } from './vec3.js';
+import type { Mat4 } from './mat4.js';
+export interface Ray {
+    origin: Vec3;
+    direction: Vec3;
+}
+export declare function create(): Ray;
+/**
+ * Build a ray from screen pixel coordinates using an inverse view-projection matrix.
+ * sx, sy are in pixels; vpW, vpH are viewport dimensions.
+ */
+export declare function fromScreenCoords(out: Ray, sx: number, sy: number, vpW: number, vpH: number, invVP: Mat4): Ray;
+/**
+ * Ray-sphere intersection. Returns t >= 0 if hit, -1 if miss.
+ */
+export declare function intersectSphere(ray: Ray, center: Vec3, radius: number): number;
+/**
+ * Ray-plane intersection. Plane defined as dot(normal, P) = d.
+ * Returns t >= 0 if hit, -1 if parallel or behind.
+ */
+export declare function intersectPlane(ray: Ray, normal: Vec3, d: number): number;
+/**
+ * Ray-triangle intersection using Möller–Trumbore algorithm.
+ * Returns t >= 0 if hit, -1 if miss.
+ */
+export declare function intersectTriangle(ray: Ray, v0: Vec3, v1: Vec3, v2: Vec3): number;
+/**
+ * Compute point on ray at parameter t: out = origin + t * direction.
+ */
+export declare function pointOnRay(out: Vec3, ray: Ray, t: number): Vec3;
+//# sourceMappingURL=ray.d.ts.map

package/dist/ray.d.ts.map

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package/dist/ray.js

@@ -0,0 +1,129 @@
+import * as V3 from './vec3.js';
+export function create() {
+    return {
+        origin: new Float32Array(3),
+        direction: V3.fromValues(0, 0, -1),
+    };
+}
+// Scratch vectors (pre-allocated, no heap alloc per call)
+const _ndcNear = V3.create();
+const _ndcFar = V3.create();
+const _clipNear = new Float32Array(4);
+const _clipFar = new Float32Array(4);
+function transformMat4Vec4(out, v, m) {
+    const x = v[0], y = v[1], z = v[2], w = v[3];
+    out[0] = m[0] * x + m[4] * y + m[8] * z + m[12] * w;
+    out[1] = m[1] * x + m[5] * y + m[9] * z + m[13] * w;
+    out[2] = m[2] * x + m[6] * y + m[10] * z + m[14] * w;
+    out[3] = m[3] * x + m[7] * y + m[11] * z + m[15] * w;
+}
+/**
+ * Build a ray from screen pixel coordinates using an inverse view-projection matrix.
+ * sx, sy are in pixels; vpW, vpH are viewport dimensions.
+ */
+export function fromScreenCoords(out, sx, sy, vpW, vpH, invVP) {
+    // Pixel -> NDC [-1,1]
+    const ndcX = (sx / vpW) * 2 - 1;
+    const ndcY = 1 - (sy / vpH) * 2; // flip Y
+    // Near point in clip space (z = -1 for WebGPU NDC is 0, but we use -1..1 convention with invVP)
+    _clipNear[0] = ndcX;
+    _clipNear[1] = ndcY;
+    _clipNear[2] = 0; // WebGPU near plane = 0
+    _clipNear[3] = 1;
+    // Far point in clip space
+    _clipFar[0] = ndcX;
+    _clipFar[1] = ndcY;
+    _clipFar[2] = 1; // WebGPU far plane = 1
+    _clipFar[3] = 1;
+    // Unproject
+    transformMat4Vec4(_clipNear, _clipNear, invVP);
+    transformMat4Vec4(_clipFar, _clipFar, invVP);
+    // Perspective divide
+    const wNear = _clipNear[3];
+    V3.set(_ndcNear, _clipNear[0] / wNear, _clipNear[1] / wNear, _clipNear[2] / wNear);
+    const wFar = _clipFar[3];
+    V3.set(_ndcFar, _clipFar[0] / wFar, _clipFar[1] / wFar, _clipFar[2] / wFar);
+    // Origin = near point, direction = normalize(far - near)
+    V3.copy(out.origin, _ndcNear);
+    V3.sub(out.direction, _ndcFar, _ndcNear);
+    V3.normalize(out.direction, out.direction);
+    return out;
+}
+/**
+ * Ray-sphere intersection. Returns t >= 0 if hit, -1 if miss.
+ */
+export function intersectSphere(ray, center, radius) {
+    const ocX = ray.origin[0] - center[0];
+    const ocY = ray.origin[1] - center[1];
+    const ocZ = ray.origin[2] - center[2];
+    const dX = ray.direction[0];
+    const dY = ray.direction[1];
+    const dZ = ray.direction[2];
+    const a = dX * dX + dY * dY + dZ * dZ;
+    const b = 2 * (ocX * dX + ocY * dY + ocZ * dZ);
+    const c = ocX * ocX + ocY * ocY + ocZ * ocZ - radius * radius;
+    const discriminant = b * b - 4 * a * c;
+    if (discriminant < 0)
+        return -1;
+    const sqrtD = Math.sqrt(discriminant);
+    const t1 = (-b - sqrtD) / (2 * a);
+    if (t1 >= 0)
+        return t1;
+    const t2 = (-b + sqrtD) / (2 * a);
+    if (t2 >= 0)
+        return t2;
+    return -1;
+}
+/**
+ * Ray-plane intersection. Plane defined as dot(normal, P) = d.
+ * Returns t >= 0 if hit, -1 if parallel or behind.
+ */
+export function intersectPlane(ray, normal, d) {
+    const denom = V3.dot(ray.direction, normal);
+    if (Math.abs(denom) < 1e-8)
+        return -1; // parallel
+    const t = (d - V3.dot(ray.origin, normal)) / denom;
+    return t >= 0 ? t : -1;
+}
+/**
+ * Ray-triangle intersection using Möller–Trumbore algorithm.
+ * Returns t >= 0 if hit, -1 if miss.
+ */
+export function intersectTriangle(ray, v0, v1, v2) {
+    const e1x = v1[0] - v0[0], e1y = v1[1] - v0[1], e1z = v1[2] - v0[2];
+    const e2x = v2[0] - v0[0], e2y = v2[1] - v0[1], e2z = v2[2] - v0[2];
+    const dx = ray.direction[0], dy = ray.direction[1], dz = ray.direction[2];
+    // h = d × e2
+    const hx = dy * e2z - dz * e2y;
+    const hy = dz * e2x - dx * e2z;
+    const hz = dx * e2y - dy * e2x;
+    const a = e1x * hx + e1y * hy + e1z * hz;
+    if (a > -1e-8 && a < 1e-8)
+        return -1; // parallel
+    const f = 1 / a;
+    const sx = ray.origin[0] - v0[0];
+    const sy = ray.origin[1] - v0[1];
+    const sz = ray.origin[2] - v0[2];
+    const u = f * (sx * hx + sy * hy + sz * hz);
+    if (u < 0 || u > 1)
+        return -1;
+    // q = s × e1
+    const qx = sy * e1z - sz * e1y;
+    const qy = sz * e1x - sx * e1z;
+    const qz = sx * e1y - sy * e1x;
+    const v = f * (dx * qx + dy * qy + dz * qz);
+    if (v < 0 || u + v > 1)
+        return -1;
+    const t = f * (e2x * qx + e2y * qy + e2z * qz);
+    return t >= 0 ? t : -1;
+}
+/**
+ * Compute point on ray at parameter t: out = origin + t * direction.
+ */
+export function pointOnRay(out, ray, t) {
+    out[0] = ray.origin[0] + t * ray.direction[0];
+    out[1] = ray.origin[1] + t * ray.direction[1];
+    out[2] = ray.origin[2] + t * ray.direction[2];
+    return out;
+}
+//# sourceMappingURL=ray.js.map

package/dist/ray.js.map

@@ -0,0 +1 @@
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