@certe/atmos-math 0.8.3 → 0.8.5

package/dist/quat.d.ts

@@ -36,5 +36,10 @@ export declare function rotateY(out: Quat, a: Quat, rad: number): Quat;
  * 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;
+/**
+ * Build a quaternion that orients -Z toward `forward` with `up` as hint.
+ * Matches Unity's Quaternion.LookRotation convention.
+ */
+export declare function lookRotation(out: Quat, forward: Vec3, up?: Vec3): Quat;
 export declare function toMat4(out: Mat4, q: Quat): Mat4;
 //# sourceMappingURL=quat.d.ts.map

package/dist/quat.d.ts.map

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

@@ -222,6 +222,91 @@ export function rotateZ(out, a, rad) {
     out[3] = bw * aw - bz * az;
     return out;
 }
+// Scratch arrays for lookRotation (module-level, zero heap allocs)
+const _lrRight = new Float32Array(3);
+const _lrUp = new Float32Array(3);
+const _lrFwd = new Float32Array(3);
+/**
+ * Build a quaternion that orients -Z toward `forward` with `up` as hint.
+ * Matches Unity's Quaternion.LookRotation convention.
+ */
+export function lookRotation(out, forward, up) {
+    // Normalize forward
+    let fx = forward[0], fy = forward[1], fz = forward[2];
+    let fLen = Math.sqrt(fx * fx + fy * fy + fz * fz);
+    if (fLen < 1e-8)
+        return identity(out);
+    fLen = 1 / fLen;
+    fx *= fLen;
+    fy *= fLen;
+    fz *= fLen;
+    _lrFwd[0] = fx;
+    _lrFwd[1] = fy;
+    _lrFwd[2] = fz;
+    // Up hint (default Y-up)
+    const ux = up ? up[0] : 0, uy = up ? up[1] : 1, uz = up ? up[2] : 0;
+    // right = cross(forward, up)
+    let rx = fy * uz - fz * uy;
+    let ry = fz * ux - fx * uz;
+    let rz = fx * uy - fy * ux;
+    let rLen = Math.sqrt(rx * rx + ry * ry + rz * rz);
+    if (rLen < 1e-6) {
+        // forward ≈ up, pick arbitrary perpendicular
+        rx = 1;
+        ry = 0;
+        rz = 0;
+        rLen = 1;
+    }
+    rLen = 1 / rLen;
+    rx *= rLen;
+    ry *= rLen;
+    rz *= rLen;
+    _lrRight[0] = rx;
+    _lrRight[1] = ry;
+    _lrRight[2] = rz;
+    // orthoUp = cross(right, forward)
+    const ox = ry * fz - rz * fy;
+    const oy = rz * fx - rx * fz;
+    const oz = rx * fy - ry * fx;
+    _lrUp[0] = ox;
+    _lrUp[1] = oy;
+    _lrUp[2] = oz;
+    // Rotation matrix columns: X=right, Y=orthoUp, Z=-forward
+    const m00 = rx, m01 = ox, m02 = -fx;
+    const m10 = ry, m11 = oy, m12 = -fy;
+    const m20 = rz, m21 = oz, m22 = -fz;
+    // Matrix to quaternion (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] = (m21 - m12) * s;
+        out[1] = (m02 - m20) * s;
+        out[2] = (m10 - m01) * s;
+    }
+    else if (m00 > m11 && m00 > m22) {
+        const s = 2 * Math.sqrt(1 + m00 - m11 - m22);
+        out[3] = (m21 - m12) / s;
+        out[0] = 0.25 * s;
+        out[1] = (m01 + m10) / s;
+        out[2] = (m02 + m20) / s;
+    }
+    else if (m11 > m22) {
+        const s = 2 * Math.sqrt(1 + m11 - m00 - m22);
+        out[3] = (m02 - m20) / 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] = (m10 - m01) / s;
+        out[0] = (m02 + m20) / s;
+        out[1] = (m12 + m21) / s;
+        out[2] = 0.25 * s;
+    }
+    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;

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package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@certe/atmos-math",
   "description": "Lightweight Float32Array math library for the Atmos Engine — Vec3, Mat4, Quat, Ray",
-  "version": "0.8.3",
+  "version": "0.8.5",
   "repository": {
     "type": "git",
     "url": "https://github.com/certesolutions-cyber/atmos.git",