@flighthq/camera 0.1.0

package/dist/basis.d.ts

@@ -0,0 +1,6 @@
+import type { Camera, Vector3Like } from '@flighthq/types';
+export declare function getCameraForward(out: Vector3Like, camera: Readonly<Camera>): void;
+export declare function getCameraPosition(out: Vector3Like, camera: Readonly<Camera>): void;
+export declare function getCameraRight(out: Vector3Like, camera: Readonly<Camera>): void;
+export declare function getCameraUp(out: Vector3Like, camera: Readonly<Camera>): void;
+//# sourceMappingURL=basis.d.ts.map

package/dist/basis.d.ts.map

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package/dist/basis.js

@@ -0,0 +1,63 @@
+// Extracts the camera's world-space forward direction (-Z of the camera frame) from the view
+// matrix and writes it into `out`. In a right-handed camera frame the forward vector points
+// from the eye toward the target; it is the negated third row of the view matrix.
+//
+// Safe when `out` aliases any field of the camera.
+export function getCameraForward(out, camera) {
+    const m = camera.view.m;
+    // Row 2 of the view matrix is the negated forward direction in world space.
+    // Negate to get the true forward (eye→target).
+    out.x = -m[2];
+    out.y = -m[6];
+    out.z = -m[10];
+}
+// Extracts the camera's world-space eye position from the view matrix and writes it into
+// `out`. For an orthonormal view matrix (rotation + translation), the eye position is
+// computed as the inverse translation without a full matrix inversion:
+//   eye = -(R^T · t)  where R is the upper-3x3 and t is m[12..14] of the view.
+//
+// This is the canonical source for the camera eye position; the scene-gl mesh renderer
+// (setGlMeshCameraPosition) should delegate here rather than recomputing it inline.
+//
+// Safe when `out` aliases any field of the camera.
+export function getCameraPosition(out, camera) {
+    const m = camera.view.m;
+    // Column-major storage: element(row, col) = m[row + 4*col].
+    // The 3×3 rotation block R^T (transposed) has rows:
+    //   row 0: m[0], m[1], m[2]   (column 0 of R = right x-components)
+    //   row 1: m[4], m[5], m[6]   (column 1 of R = up y-components ... wait, this is col 1 of R)
+    // Actually R^T column 0 = R row 0 = [m[0], m[4], m[8]], but the inverse translation is:
+    //   eye = -(R^T · t)
+    //   (R^T · t).x = m[0]*m[12] + m[1]*m[13] + m[2]*m[14]
+    //   (R^T · t).y = m[4]*m[12] + m[5]*m[13] + m[6]*m[14]
+    //   (R^T · t).z = m[8]*m[12] + m[9]*m[13] + m[10]*m[14]
+    const m00 = m[0], m01 = m[1], m02 = m[2];
+    const m10 = m[4], m11 = m[5], m12 = m[6];
+    const m20 = m[8], m21 = m[9], m22 = m[10];
+    const tx = m[12], ty = m[13], tz = m[14];
+    // Read all inputs before writing (alias-safe).
+    out.x = -(m00 * tx + m01 * ty + m02 * tz);
+    out.y = -(m10 * tx + m11 * ty + m12 * tz);
+    out.z = -(m20 * tx + m21 * ty + m22 * tz);
+}
+// Extracts the camera's world-space right direction (+X of the camera frame) from the view
+// matrix and writes it into `out`. It is the first row of the view matrix.
+//
+// Safe when `out` aliases any field of the camera.
+export function getCameraRight(out, camera) {
+    const m = camera.view.m;
+    out.x = m[0];
+    out.y = m[4];
+    out.z = m[8];
+}
+// Extracts the camera's world-space up direction (+Y of the camera frame) from the view
+// matrix and writes it into `out`. It is the second row of the view matrix.
+//
+// Safe when `out` aliases any field of the camera.
+export function getCameraUp(out, camera) {
+    const m = camera.view.m;
+    out.x = m[1];
+    out.y = m[5];
+    out.z = m[9];
+}
+//# sourceMappingURL=basis.js.map

package/dist/basis.js.map

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

@@ -0,0 +1,14 @@
+import type { Camera, Matrix4Like, Projection, Vector3Like } from '@flighthq/types';
+export declare function createCamera(opts: Readonly<CameraOptions>): Camera;
+export declare function getCameraInverseViewProjectionMatrix4(out: Matrix4Like, camera: Readonly<Camera>, aspect: number): boolean;
+export declare function getCameraViewProjectionMatrix4(out: Matrix4Like, camera: Readonly<Camera>, aspect: number): void;
+export declare function setCameraJitter(camera: Camera, x: number, y: number): void;
+export declare function setCameraViewMatrix4FromLookAt(camera: Camera, eye: Readonly<Vector3Like>, target: Readonly<Vector3Like>, up: Readonly<Vector3Like>): void;
+export declare function setCameraViewMatrix4FromMatrix4(camera: Camera, view: Readonly<Matrix4Like>): void;
+export declare function updateCameraInverseViewProjection(camera: Camera, aspect: number): boolean;
+export interface CameraOptions {
+    far: number;
+    near: number;
+    projection: Projection;
+}
+//# sourceMappingURL=camera.d.ts.map

package/dist/camera.d.ts.map

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package/dist/camera.js

@@ -0,0 +1,79 @@
+import { createEntity } from '@flighthq/entity';
+import { createMatrix4, createVector2, inverseMatrix4, multiplyMatrix4, setMatrix4LookAt } from '@flighthq/geometry';
+import { setProjectionMatrix4 } from './projection';
+// Allocates a 3D camera. The camera stores its projection descriptor, a world->view Matrix4
+// (`view`, initialized to identity), the clip-plane distances `near`/`far`, the per-frame
+// sub-pixel NDC `jitter` (consumed by TAA, initialized to zero), and a cached
+// `inverseViewProjection` (consumed by TAA / velocity / fog / depth-of-field, initialized to
+// identity). The view matrix is canonical: the camera has no separate Transform3D — a Matrix4 is
+// the only world->view representation.
+export function createCamera(opts) {
+    return createEntity({
+        far: opts.far,
+        inverseViewProjection: createMatrix4(),
+        jitter: createVector2(0, 0),
+        near: opts.near,
+        projection: opts.projection,
+        view: createMatrix4(),
+    });
+}
+// Writes the inverse of the camera's view-projection matrix into `out` and returns true, or
+// returns false (writing NaN into `out`) when the view-projection is non-invertible. `aspect`
+// is the viewport width / height. This is the matrix the existing TAA / velocity / fog /
+// depth-of-field effects consume to reconstruct world position from NDC.
+//
+// Reads camera fields into a scratch matrix before writing `out`, so it is safe even if `out`
+// aliases the camera's own `inverseViewProjection` or `view`. Use
+// `updateCameraInverseViewProjection` instead to safely update the cached field.
+export function getCameraInverseViewProjectionMatrix4(out, camera, aspect) {
+    getCameraViewProjectionMatrix4(__scratchViewProjection, camera, aspect);
+    return inverseMatrix4(out, __scratchViewProjection);
+}
+// Writes the camera's view-projection matrix (projection × view) into `out`. `aspect` is the
+// viewport width / height, applied to a perspective projection. `near`/`far` are taken from the
+// camera.
+//
+// Reads camera fields into a scratch matrix before writing `out`, so it is safe even if `out`
+// aliases the camera's own `view`.
+export function getCameraViewProjectionMatrix4(out, camera, aspect) {
+    setProjectionMatrix4(__scratchProjection, camera.projection, aspect, camera.near, camera.far);
+    multiplyMatrix4(out, __scratchProjection, camera.view);
+}
+// Sets the camera's per-frame sub-pixel jitter offset (in NDC), in place. TAA reads this when
+// building the jittered projection matrix.
+export function setCameraJitter(camera, x, y) {
+    camera.jitter.x = x;
+    camera.jitter.y = y;
+}
+// Builds the camera's world->view matrix in place from an eye position, a look-at target, and an
+// up vector (right-handed look-at). This is the common path for positioning a camera without an
+// explicit world transform.
+//
+// Reads all vector inputs before writing, so it is safe when the vectors alias one another.
+export function setCameraViewMatrix4FromLookAt(camera, eye, target, up) {
+    setMatrix4LookAt(camera.view, eye, target, up);
+}
+// Copies a precomputed world->view matrix into the camera in place. Use this when the view matrix
+// is derived elsewhere (for example, the inverse of a scene node's world transform).
+export function setCameraViewMatrix4FromMatrix4(camera, view) {
+    camera.view.m.set(view.m);
+}
+// Recomputes and stores the inverse view-projection into camera.inverseViewProjection for the
+// given aspect. Returns true on success or false when the matrix is non-invertible (leaving the
+// cached field untouched). `aspect` is viewport width / height.
+//
+// Call this once per frame after setting the view matrix and before any effects that read
+// camera.inverseViewProjection (TAA, velocity, fog, depth-of-field).
+export function updateCameraInverseViewProjection(camera, aspect) {
+    // Write into a scratch first so the cache is never clobbered with NaN on failure.
+    const ok = getCameraInverseViewProjectionMatrix4(__scratchInverse, camera, aspect);
+    if (ok) {
+        camera.inverseViewProjection.m.set(__scratchInverse.m);
+    }
+    return ok;
+}
+// Scratch matrices reused by the view-projection helpers. Single-threaded; not re-entrant.
+const __scratchInverse = createMatrix4();
+const __scratchProjection = createMatrix4();
+const __scratchViewProjection = createMatrix4();
+//# sourceMappingURL=camera.js.map

package/dist/camera.js.map

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package/dist/culling.d.ts

@@ -0,0 +1,6 @@
+import type { AabbLike, BoundingSphereLike, Camera, FrustumLike, Vector3Like } from '@flighthq/types';
+export declare function getCameraFrustum(out: FrustumLike, camera: Readonly<Camera>, aspect: number): void;
+export declare function isBoxInCameraFrustum(camera: Readonly<Camera>, aabb: Readonly<AabbLike>, aspect: number): boolean;
+export declare function isPointInCameraFrustum(camera: Readonly<Camera>, point: Readonly<Vector3Like>, aspect: number): boolean;
+export declare function isSphereInCameraFrustum(camera: Readonly<Camera>, sphere: Readonly<BoundingSphereLike>, aspect: number): boolean;
+//# sourceMappingURL=culling.d.ts.map

package/dist/culling.d.ts.map

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package/dist/culling.js

@@ -0,0 +1,39 @@
+import { createFrustum, createMatrix4, isFrustumContainingPoint, isFrustumIntersectingAabb, isFrustumIntersectingSphere, setFrustumFromMatrix4, } from '@flighthq/geometry';
+import { getCameraViewProjectionMatrix4 } from './camera';
+// Extracts the six clip planes of the camera's view frustum into `out` and returns true.
+// The planes are normalized with inward-pointing normals (the convention used by geometry's
+// isFrustumContainingPoint / isFrustumIntersectingAabb / isFrustumIntersectingSphere).
+// `aspect` is viewport width / height.
+//
+// Use this when you need the raw planes (e.g. to cache the frustum for a frame). For one-shot
+// culling queries prefer the isBoxInCameraFrustum / isSphereInCameraFrustum / isPointInCameraFrustum
+// helpers which reuse a single scratch frustum.
+export function getCameraFrustum(out, camera, aspect) {
+    getCameraViewProjectionMatrix4(__scratchViewProjection, camera, aspect);
+    setFrustumFromMatrix4(out, __scratchViewProjection);
+}
+// Returns true when an axis-aligned bounding box intersects or is contained by the camera
+// frustum. A box outside any frustum plane is rejected. `aspect` is viewport width / height.
+//
+// Uses the same conservative positive-vertex test as geometry's isFrustumIntersectingAabb:
+// may report false positives for boxes straddling a frustum corner, never false negatives.
+export function isBoxInCameraFrustum(camera, aabb, aspect) {
+    getCameraFrustum(__scratchFrustum, camera, aspect);
+    return isFrustumIntersectingAabb(__scratchFrustum, aabb);
+}
+// Returns true when a world-space point lies inside the camera frustum.
+// `aspect` is viewport width / height.
+export function isPointInCameraFrustum(camera, point, aspect) {
+    getCameraFrustum(__scratchFrustum, camera, aspect);
+    return isFrustumContainingPoint(__scratchFrustum, point);
+}
+// Returns true when a bounding sphere intersects or is contained by the camera frustum.
+// An empty sphere (negative radius) always returns false. `aspect` is viewport width / height.
+export function isSphereInCameraFrustum(camera, sphere, aspect) {
+    getCameraFrustum(__scratchFrustum, camera, aspect);
+    return isFrustumIntersectingSphere(__scratchFrustum, sphere);
+}
+// Scratch objects reused across calls. Single-threaded; not re-entrant.
+const __scratchViewProjection = createMatrix4();
+const __scratchFrustum = createFrustum();
+//# sourceMappingURL=culling.js.map

package/dist/culling.js.map

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

@@ -0,0 +1,4 @@
+import type { Camera } from '@flighthq/types';
+export declare function getCameraLinearDepth(camera: Readonly<Camera>, ndcZ: number): number;
+export declare function getCameraViewSpaceZ(camera: Readonly<Camera>, ndcZ: number): number;
+//# sourceMappingURL=depth.d.ts.map

package/dist/depth.d.ts.map

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

@@ -0,0 +1,39 @@
+// Converts a raw NDC depth value (ndcZ ∈ [-1, 1]) from the camera's projection back to a linear
+// view-space Z value (distance from the camera along its -Z axis). Returns a negative value for a
+// point in front of the camera (standard right-handed convention where the camera looks toward -Z).
+//
+// For perspective projection the NDC depth is non-linear; this undoes that non-linearity using the
+// camera's near/far clip planes. For orthographic projection the depth is already linear, so the
+// same formula still applies but the result is a simple remap.
+//
+// `ndcZ` should be in [-1, 1] (OpenGL depth convention). Values outside that range are clamped
+// mathematically — no explicit clamp is applied; callers should supply valid NDC depths.
+//
+// Returns 0 when `near` equals `far` (degenerate clip range).
+export function getCameraLinearDepth(camera, ndcZ) {
+    const near = camera.near;
+    const far = camera.far;
+    const range = far - near;
+    if (range === 0) {
+        return 0;
+    }
+    // Map ndcZ from [-1, 1] back to the view-space Z for a perspective projection.
+    // Derived from the perspective depth mapping:
+    //   ndcZ = (far + near) / (near - far) + (2 * far * near) / ((near - far) * viewZ)
+    // Solving for viewZ:
+    //   viewZ = (2 * far * near) / ((ndcZ * (far - near)) - (far + near))
+    const denominator = ndcZ * range - (far + near);
+    if (denominator === 0) {
+        return 0;
+    }
+    return (2 * far * near) / denominator;
+}
+// Converts a raw NDC depth value (ndcZ ∈ [-1, 1]) to a positive linear depth in [near, far] —
+// the distance along the camera's view axis. This is the unsigned version of getCameraLinearDepth,
+// useful for fog and SSAO where a positive scalar distance is needed rather than a signed Z.
+//
+// Returns 0 when `near` equals `far` (degenerate clip range).
+export function getCameraViewSpaceZ(camera, ndcZ) {
+    return -getCameraLinearDepth(camera, ndcZ);
+}
+//# sourceMappingURL=depth.js.map

package/dist/depth.js.map

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

@@ -0,0 +1,3 @@
+import type { Camera, Vector3Like } from '@flighthq/types';
+export declare function getCameraFrustumCorners(out: [Vector3Like, Vector3Like, Vector3Like, Vector3Like, Vector3Like, Vector3Like, Vector3Like, Vector3Like], camera: Readonly<Camera>, aspect: number): boolean;
+//# sourceMappingURL=frustumCorners.d.ts.map

package/dist/frustumCorners.d.ts.map

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

@@ -0,0 +1,64 @@
+import { createMatrix4, inverseMatrix4 } from '@flighthq/geometry';
+import { getCameraViewProjectionMatrix4 } from './camera';
+// Writes the 8 world-space corners of the camera frustum into `out` (a length-8 array of
+// Vector3Like) and returns true. Returns false (leaving `out` untouched) when the
+// view-projection is non-invertible. `aspect` is viewport width / height.
+//
+// Corner ordering (NDC cube vertices, rows = near then far):
+//   0: (-1, -1, -1) near bottom-left
+//   1: ( 1, -1, -1) near bottom-right
+//   2: (-1,  1, -1) near top-left
+//   3: ( 1,  1, -1) near top-right
+//   4: (-1, -1,  1) far bottom-left
+//   5: ( 1, -1,  1) far bottom-right
+//   6: (-1,  1,  1) far top-left
+//   7: ( 1,  1,  1) far top-right
+//
+// Needed for cascaded shadow maps, debug draw, and tight bounds fitting.
+// Reads all inputs before writing any `out` element, so it is alias-safe.
+export function getCameraFrustumCorners(out, camera, aspect) {
+    getCameraViewProjectionMatrix4(__scratchViewProjection, camera, aspect);
+    if (!inverseMatrix4(__scratchInverseVP, __scratchViewProjection)) {
+        return false;
+    }
+    const m = __scratchInverseVP.m;
+    // Unproject each NDC corner through the inverse view-projection, applying
+    // the perspective divide. All results are computed before writing to out.
+    const ndcCorners = [
+        [-1, -1, -1],
+        [1, -1, -1],
+        [-1, 1, -1],
+        [1, 1, -1],
+        [-1, -1, 1],
+        [1, -1, 1],
+        [-1, 1, 1],
+        [1, 1, 1],
+    ];
+    // Compute all 8 corners into temporaries before writing.
+    const results = [];
+    for (let i = 0; i < 8; i++) {
+        const [nx, ny, nz] = ndcCorners[i];
+        let wx = m[0] * nx + m[4] * ny + m[8] * nz + m[12];
+        let wy = m[1] * nx + m[5] * ny + m[9] * nz + m[13];
+        let wz = m[2] * nx + m[6] * ny + m[10] * nz + m[14];
+        const ww = m[3] * nx + m[7] * ny + m[11] * nz + m[15];
+        if (ww !== 0) {
+            const invW = 1 / ww;
+            wx *= invW;
+            wy *= invW;
+            wz *= invW;
+        }
+        results.push([wx, wy, wz]);
+    }
+    // Write all results to output.
+    for (let i = 0; i < 8; i++) {
+        out[i].x = results[i][0];
+        out[i].y = results[i][1];
+        out[i].z = results[i][2];
+    }
+    return true;
+}
+// Scratch objects reused across calls. Single-threaded; not re-entrant.
+const __scratchViewProjection = createMatrix4();
+const __scratchInverseVP = createMatrix4();
+//# sourceMappingURL=frustumCorners.js.map

package/dist/frustumCorners.js.map

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

@@ -0,0 +1,10 @@
+export * from './basis';
+export * from './camera';
+export * from './culling';
+export * from './depth';
+export * from './frustumCorners';
+export * from './intersection';
+export * from './picking';
+export * from './projection';
+export * from './shadowCamera';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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

@@ -0,0 +1,10 @@
+export * from './basis';
+export * from './camera';
+export * from './culling';
+export * from './depth';
+export * from './frustumCorners';
+export * from './intersection';
+export * from './picking';
+export * from './projection';
+export * from './shadowCamera';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

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

@@ -0,0 +1,4 @@
+import type { BoundingSphereLike, Camera, PlaneLike, Ray3DLike, Vector3Like } from '@flighthq/types';
+export declare function getCameraRayThroughBoundingSphere(out: Ray3DLike, camera: Readonly<Camera>, sphere: Readonly<BoundingSphereLike>, aspect: number): boolean;
+export declare function intersectCameraRayWithPlane(out: Vector3Like, ray: Readonly<Ray3DLike>, plane: Readonly<PlaneLike>): boolean;
+//# sourceMappingURL=intersection.d.ts.map

package/dist/intersection.d.ts.map

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

@@ -0,0 +1,69 @@
+import { getCameraScreenToWorldRay, getCameraWorldToScreen } from './picking';
+// Returns the world-space ray from the camera through the center of a bounding sphere, writing
+// the result into `out` and returning true. The ray is suitable for picking and hover-highlight
+// queries: it passes through the screen-space projection of the sphere center, and represents
+// "the ray a user would cast toward this sphere's center from the camera."
+//
+// Returns false when:
+//   - The sphere is empty (negative radius).
+//   - The sphere center is at or behind the camera (w <= 0 in clip space).
+//   - The view-projection is non-invertible.
+//
+// The ray direction is normalized. `aspect` is viewport width / height.
+//
+// Reads all inputs before writing `out`, so it is alias-safe.
+export function getCameraRayThroughBoundingSphere(out, camera, sphere, aspect) {
+    if (sphere.radius < 0) {
+        return false;
+    }
+    // Project sphere center to NDC.
+    if (!getCameraWorldToScreen(__scratchNdc, camera, sphere.center, aspect)) {
+        return false;
+    }
+    // Unproject those NDC coords back to a world-space ray.
+    return getCameraScreenToWorldRay(out, camera, __scratchNdc.x, __scratchNdc.y, aspect);
+}
+// Computes the intersection of a ray with an infinite plane, writing the hit point into `out`
+// and returning true. Returns false when:
+//   - The ray direction is parallel to the plane (dot(normal, direction) = 0).
+//   - The intersection is behind the ray origin (t < 0).
+//   - The plane normal is zero.
+//
+// The plane is given in the standard Flight form: a·x + b·y + c·z + d = 0. The normal (a, b, c)
+// does not need to be unit length. The ray direction does not need to be unit length either.
+//
+// This is not specific to a camera but lives here as an ergonomic companion to
+// `getCameraScreenToWorldRay`: cast a ray from mouse position, intersect with a ground plane,
+// and you have world-space mouse drag.
+//
+// Reads all inputs before writing `out`, so it is alias-safe.
+export function intersectCameraRayWithPlane(out, ray, plane) {
+    const dx = ray.direction.x;
+    const dy = ray.direction.y;
+    const dz = ray.direction.z;
+    const ox = ray.origin.x;
+    const oy = ray.origin.y;
+    const oz = ray.origin.z;
+    const a = plane.a;
+    const b = plane.b;
+    const c = plane.c;
+    const d = plane.d;
+    // denom = dot(normal, direction)
+    const denom = a * dx + b * dy + c * dz;
+    if (denom === 0) {
+        return false;
+    }
+    // t = -(dot(normal, origin) + d) / denom
+    const t = -(a * ox + b * oy + c * oz + d) / denom;
+    if (t < 0) {
+        return false;
+    }
+    // Hit point: origin + t * direction. Read all inputs first (already done into locals above).
+    out.x = ox + t * dx;
+    out.y = oy + t * dy;
+    out.z = oz + t * dz;
+    return true;
+}
+// Scratch for NDC projection result. Single-threaded; not re-entrant.
+const __scratchNdc = { x: 0, y: 0, z: 0 };
+//# sourceMappingURL=intersection.js.map

package/dist/intersection.js.map

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

@@ -0,0 +1,4 @@
+import type { Camera, Ray3DLike, Vector3Like } from '@flighthq/types';
+export declare function getCameraScreenToWorldRay(out: Ray3DLike, camera: Readonly<Camera>, ndcX: number, ndcY: number, aspect: number): boolean;
+export declare function getCameraWorldToScreen(out: Vector3Like, camera: Readonly<Camera>, worldPoint: Readonly<Vector3Like>, aspect: number): boolean;
+//# sourceMappingURL=picking.d.ts.map

package/dist/picking.d.ts.map

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

@@ -0,0 +1,90 @@
+import { createMatrix4, createVector3, inverseMatrix4, normalizeVector3, subtractVector3 } from '@flighthq/geometry';
+import { getCameraViewProjectionMatrix4 } from './camera';
+// Writes the world-space ray from the camera through an NDC screen point (ndcX, ndcY) into
+// `out` and returns true, or returns false (leaving `out` untouched) when the view-projection
+// is non-invertible. NDC coordinates range from -1 to +1 on both axes (center = 0, top-right =
+// (1, 1)). `aspect` is viewport width / height.
+//
+// The returned ray origin is the near-plane world position and the direction is the normalized
+// world-space direction from near through far. Use this for mouse picking, drag raycasts, and
+// any screen-to-world query.
+//
+// Reads all inputs into locals before writing `out`, so it is alias-safe.
+export function getCameraScreenToWorldRay(out, camera, ndcX, ndcY, aspect) {
+    getCameraViewProjectionMatrix4(__scratchViewProjection, camera, aspect);
+    if (!inverseMatrix4(__scratchInverseVP, __scratchViewProjection)) {
+        return false;
+    }
+    const m = __scratchInverseVP.m;
+    const nx = ndcX, ny = ndcY;
+    // Unproject near-plane point (ndcX, ndcY, -1, 1) through the inverse view-projection.
+    let nearX = m[0] * nx + m[4] * ny + m[8] * -1 + m[12];
+    let nearY = m[1] * nx + m[5] * ny + m[9] * -1 + m[13];
+    let nearZ = m[2] * nx + m[6] * ny + m[10] * -1 + m[14];
+    const nearW = m[3] * nx + m[7] * ny + m[11] * -1 + m[15];
+    if (nearW !== 0) {
+        const invW = 1 / nearW;
+        nearX *= invW;
+        nearY *= invW;
+        nearZ *= invW;
+    }
+    // Unproject far-plane point (ndcX, ndcY, 1, 1).
+    let farX = m[0] * nx + m[4] * ny + m[8] + m[12];
+    let farY = m[1] * nx + m[5] * ny + m[9] + m[13];
+    let farZ = m[2] * nx + m[6] * ny + m[10] + m[14];
+    const farW = m[3] * nx + m[7] * ny + m[11] + m[15];
+    if (farW !== 0) {
+        const invW = 1 / farW;
+        farX *= invW;
+        farY *= invW;
+        farZ *= invW;
+    }
+    // Direction: from near to far, normalized.
+    __scratchNear.x = nearX;
+    __scratchNear.y = nearY;
+    __scratchNear.z = nearZ;
+    __scratchFar.x = farX;
+    __scratchFar.y = farY;
+    __scratchFar.z = farZ;
+    subtractVector3(__scratchDir, __scratchFar, __scratchNear);
+    normalizeVector3(__scratchDir, __scratchDir);
+    out.origin.x = nearX;
+    out.origin.y = nearY;
+    out.origin.z = nearZ;
+    out.direction.x = __scratchDir.x;
+    out.direction.y = __scratchDir.y;
+    out.direction.z = __scratchDir.z;
+    return true;
+}
+// Writes the NDC coordinates (x, y ∈ [-1, 1], z = clip-space depth) of a world-space point
+// into `out` and returns true, or returns false (leaving `out` untouched) when the point is
+// behind the camera (w <= 0) or when the perspective divide yields a degenerate result.
+// `aspect` is viewport width / height.
+//
+// Use this to anchor HUD elements, labels, and gizmos to world positions.
+//
+// Reads all inputs into locals before writing `out`, so it is alias-safe.
+export function getCameraWorldToScreen(out, camera, worldPoint, aspect) {
+    getCameraViewProjectionMatrix4(__scratchViewProjection, camera, aspect);
+    const m = __scratchViewProjection.m;
+    const wx = worldPoint.x, wy = worldPoint.y, wz = worldPoint.z;
+    const clipX = m[0] * wx + m[4] * wy + m[8] * wz + m[12];
+    const clipY = m[1] * wx + m[5] * wy + m[9] * wz + m[13];
+    const clipZ = m[2] * wx + m[6] * wy + m[10] * wz + m[14];
+    const clipW = m[3] * wx + m[7] * wy + m[11] * wz + m[15];
+    if (clipW <= 0) {
+        return false;
+    }
+    const invW = 1 / clipW;
+    out.x = clipX * invW;
+    out.y = clipY * invW;
+    out.z = clipZ * invW;
+    return true;
+}
+// Scratch objects reused across calls. Single-threaded; not re-entrant.
+const __scratchViewProjection = createMatrix4();
+const __scratchInverseVP = createMatrix4();
+const __scratchNear = createVector3();
+const __scratchFar = createVector3();
+const __scratchDir = createVector3();
+//# sourceMappingURL=picking.js.map

package/dist/picking.js.map

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