@flighthq/geometry 0.1.0

package/dist/quaternion.js

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+import { createEntity } from '@flighthq/entity';
+export function cloneQuaternion(source) {
+    return createQuaternion(source.x, source.y, source.z, source.w);
+}
+/**
+ * Writes the conjugate of a quaternion, negating the vector part (x, y, z) and
+ * leaving the scalar part (w) unchanged. For a unit quaternion the conjugate is
+ * also its inverse.
+ *
+ * Safe when `out` aliases `source`.
+ */
+export function conjugateQuaternion(out, source) {
+    out.x = -source.x;
+    out.y = -source.y;
+    out.z = -source.z;
+    out.w = source.w;
+}
+/**
+ * Copies the x, y, z and w components of a quaternion.
+ *
+ * Safe when `out` aliases `source`.
+ */
+export function copyQuaternion(out, source) {
+    out.x = source.x;
+    out.y = source.y;
+    out.z = source.z;
+    out.w = source.w;
+}
+/**
+ * Creates a unit quaternion (x, y, z, w) representing a 3D rotation. Handedness is pinned
+ * across the 3D suite: right-handed coordinates, CCW front-face, glTF tangent w-sign.
+ *
+ * Defaults to the identity rotation (0, 0, 0, 1).
+ */
+export function createQuaternion(x, y, z, w) {
+    return createEntity({ x: x ?? 0, y: y ?? 0, z: z ?? 0, w: w ?? 1 });
+}
+export function equalsQuaternion(a, b) {
+    if (a === b)
+        return true;
+    if (!a || !b)
+        return false;
+    return a.x === b.x && a.y === b.y && a.z === b.z && a.w === b.w;
+}
+/**
+ * Returns the angle (in radians) between two unit quaternions. Returns 0 for identical
+ * rotations and up to π for opposite rotations. Takes the shorter arc.
+ */
+export function getQuaternionAngleBetween(a, b) {
+    const dot = Math.abs(getQuaternionDot(a, b));
+    return 2 * Math.acos(Math.min(1, dot));
+}
+/**
+ * Returns the dot product of two quaternions: sum of component-wise products.
+ * Useful for measuring the similarity of two orientations; `|dot| === 1` means identical.
+ */
+export function getQuaternionDot(a, b) {
+    return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
+}
+/**
+ * Extracts Euler angles (in radians) from a unit quaternion in the given `order`.
+ * Defaults to `'XYZ'`. Writes the result to `out` as (x=angle around X, y=around Y, z=around Z).
+ *
+ * Note: Euler angles have a gimbal-lock singularity when the middle axis reaches ±90°. At the
+ * singularity the decomposition is not unique; this implementation sets the third angle to 0
+ * and puts all the rotation into the first angle (a common convention).
+ */
+export function getQuaternionEuler(out, source, order = 'XYZ') {
+    // True inverse of setQuaternionFromEuler: build the rotation matrix the set side implies
+    // (m[row][col] of the unit-quaternion rotation), then read the Euler angles off that matrix
+    // with the standard branch per order. Computing the matrix elements inline keeps this
+    // allocation-free while guaranteeing set → get round-trips for every order.
+    const x = source.x, y = source.y, z = source.z, w = source.w;
+    const xx = x * x, yy = y * y, zz = z * z;
+    const xy = x * y, xz = x * z, yz = y * z;
+    const wx = w * x, wy = w * y, wz = w * z;
+    const m00 = 1 - 2 * (yy + zz), m01 = 2 * (xy - wz), m02 = 2 * (xz + wy);
+    const m10 = 2 * (xy + wz), m11 = 1 - 2 * (xx + zz), m12 = 2 * (yz - wx);
+    const m20 = 2 * (xz - wy), m21 = 2 * (yz + wx), m22 = 1 - 2 * (xx + yy);
+    switch (order) {
+        case 'XYZ': {
+            out.y = Math.asin(Math.min(1, Math.max(-1, m02)));
+            if (Math.abs(m02) < 0.9999999) {
+                out.x = Math.atan2(-m12, m22);
+                out.z = Math.atan2(-m01, m00);
+            }
+            else {
+                out.x = Math.atan2(m21, m11);
+                out.z = 0;
+            }
+            break;
+        }
+        case 'XZY': {
+            out.z = Math.asin(Math.min(1, Math.max(-1, -m01)));
+            if (Math.abs(m01) < 0.9999999) {
+                out.x = Math.atan2(m21, m11);
+                out.y = Math.atan2(m02, m00);
+            }
+            else {
+                out.x = Math.atan2(-m12, m22);
+                out.y = 0;
+            }
+            break;
+        }
+        case 'YXZ': {
+            out.x = Math.asin(Math.min(1, Math.max(-1, -m12)));
+            if (Math.abs(m12) < 0.9999999) {
+                out.y = Math.atan2(m02, m22);
+                out.z = Math.atan2(m10, m11);
+            }
+            else {
+                out.y = Math.atan2(-m20, m00);
+                out.z = 0;
+            }
+            break;
+        }
+        case 'YZX': {
+            out.z = Math.asin(Math.min(1, Math.max(-1, m10)));
+            if (Math.abs(m10) < 0.9999999) {
+                out.x = Math.atan2(-m12, m11);
+                out.y = Math.atan2(-m20, m00);
+            }
+            else {
+                out.x = 0;
+                out.y = Math.atan2(m02, m22);
+            }
+            break;
+        }
+        case 'ZXY': {
+            out.x = Math.asin(Math.min(1, Math.max(-1, m21)));
+            if (Math.abs(m21) < 0.9999999) {
+                out.y = Math.atan2(-m20, m22);
+                out.z = Math.atan2(-m01, m11);
+            }
+            else {
+                out.y = 0;
+                out.z = Math.atan2(m10, m00);
+            }
+            break;
+        }
+        case 'ZYX': {
+            out.y = Math.asin(Math.min(1, Math.max(-1, -m20)));
+            if (Math.abs(m20) < 0.9999999) {
+                out.x = Math.atan2(m21, m22);
+                out.z = Math.atan2(m10, m00);
+            }
+            else {
+                out.x = 0;
+                out.z = Math.atan2(-m01, m11);
+            }
+            break;
+        }
+    }
+}
+/**
+ * Writes the inverse of a quaternion. For unit quaternions this is the same as the conjugate;
+ * for non-unit quaternions this divides the conjugate by the squared length.
+ * A zero-length quaternion writes the identity rotation (0, 0, 0, 1).
+ *
+ * Safe when `out` aliases `source`.
+ */
+export function inverseQuaternion(out, source) {
+    const x = source.x, y = source.y, z = source.z, w = source.w;
+    const lenSq = x * x + y * y + z * z + w * w;
+    if (lenSq === 0) {
+        out.x = 0;
+        out.y = 0;
+        out.z = 0;
+        out.w = 1;
+        return;
+    }
+    const inv = 1 / lenSq;
+    out.x = -x * inv;
+    out.y = -y * inv;
+    out.z = -z * inv;
+    out.w = w * inv;
+}
+/**
+ * Hamilton product of two quaternions: out = a · b. The result represents applying
+ * rotation `b` first, then rotation `a`.
+ *
+ * Safe when `out` aliases `a` and/or `b` (all inputs are read into locals first).
+ */
+export function multiplyQuaternion(out, a, b) {
+    const ax = a.x, ay = a.y, az = a.z, aw = a.w;
+    const bx = b.x, by = b.y, bz = b.z, bw = b.w;
+    out.x = aw * bx + ax * bw + ay * bz - az * by;
+    out.y = aw * by - ax * bz + ay * bw + az * bx;
+    out.z = aw * bz + ax * by - ay * bx + az * bw;
+    out.w = aw * bw - ax * bx - ay * by - az * bz;
+}
+/**
+ * Normalizes a quaternion to unit length. A zero-length quaternion is written as the
+ * identity rotation (0, 0, 0, 1).
+ *
+ * Returns the original length. Safe when `out` aliases `source`.
+ */
+export function normalizeQuaternion(out, source) {
+    const x = source.x, y = source.y, z = source.z, w = source.w;
+    const l = Math.sqrt(x * x + y * y + z * z + w * w);
+    if (l !== 0) {
+        const inv = 1 / l;
+        out.x = x * inv;
+        out.y = y * inv;
+        out.z = z * inv;
+        out.w = w * inv;
+    }
+    else {
+        out.x = 0;
+        out.y = 0;
+        out.z = 0;
+        out.w = 1;
+    }
+    return l;
+}
+/**
+ * Applies a quaternion rotation to a Vector3. Computes q * (0, v) * q^-1 using the
+ * sandwich product, which rotates the vector by the quaternion's rotation.
+ *
+ * Safe when `out` aliases `vector` (all inputs are read into locals first).
+ */
+export function rotateVector3ByQuaternion(out, vector, q) {
+    // Rodrigues' rotation formula via quaternion sandwich product.
+    const qx = q.x, qy = q.y, qz = q.z, qw = q.w;
+    const vx = vector.x, vy = vector.y, vz = vector.z;
+    // t = 2 * cross(q.xyz, v)
+    const tx = 2 * (qy * vz - qz * vy);
+    const ty = 2 * (qz * vx - qx * vz);
+    const tz = 2 * (qx * vy - qy * vx);
+    // out = v + q.w * t + cross(q.xyz, t)
+    out.x = vx + qw * tx + (qy * tz - qz * ty);
+    out.y = vy + qw * ty + (qz * tx - qx * tz);
+    out.z = vz + qw * tz + (qx * ty - qy * tx);
+}
+/**
+ * Builds a quaternion from a rotation `axis` (assumed unit length) and an `angle` in
+ * radians. The rotation is right-handed (CCW when looking down the axis toward the origin).
+ *
+ * Safe when `out` aliases `axis`.
+ */
+export function setQuaternionFromAxisAngle(out, axis, angle) {
+    const half = angle * 0.5;
+    const s = Math.sin(half);
+    out.x = axis.x * s;
+    out.y = axis.y * s;
+    out.z = axis.z * s;
+    out.w = Math.cos(half);
+}
+/**
+ * Builds a quaternion from Euler angles (in radians) applied in the given `order`.
+ * Defaults to `'XYZ'` order (intrinsic rotations — each rotation is about the local,
+ * rotated axes).
+ *
+ * Safe when `out` has no aliasing concerns (scalars only).
+ */
+export function setQuaternionFromEuler(out, x, y, z, order = 'XYZ') {
+    const c1 = Math.cos(x / 2), s1 = Math.sin(x / 2);
+    const c2 = Math.cos(y / 2), s2 = Math.sin(y / 2);
+    const c3 = Math.cos(z / 2), s3 = Math.sin(z / 2);
+    switch (order) {
+        case 'XYZ':
+            out.x = s1 * c2 * c3 + c1 * s2 * s3;
+            out.y = c1 * s2 * c3 - s1 * c2 * s3;
+            out.z = c1 * c2 * s3 + s1 * s2 * c3;
+            out.w = c1 * c2 * c3 - s1 * s2 * s3;
+            break;
+        case 'XZY':
+            out.x = s1 * c2 * c3 - c1 * s2 * s3;
+            out.y = c1 * s2 * c3 - s1 * c2 * s3;
+            out.z = c1 * c2 * s3 + s1 * s2 * c3;
+            out.w = c1 * c2 * c3 + s1 * s2 * s3;
+            break;
+        case 'YXZ':
+            out.x = s1 * c2 * c3 + c1 * s2 * s3;
+            out.y = c1 * s2 * c3 - s1 * c2 * s3;
+            out.z = c1 * c2 * s3 - s1 * s2 * c3;
+            out.w = c1 * c2 * c3 + s1 * s2 * s3;
+            break;
+        case 'YZX':
+            out.x = s1 * c2 * c3 + c1 * s2 * s3;
+            out.y = c1 * s2 * c3 + s1 * c2 * s3;
+            out.z = c1 * c2 * s3 - s1 * s2 * c3;
+            out.w = c1 * c2 * c3 - s1 * s2 * s3;
+            break;
+        case 'ZXY':
+            out.x = s1 * c2 * c3 - c1 * s2 * s3;
+            out.y = c1 * s2 * c3 + s1 * c2 * s3;
+            out.z = c1 * c2 * s3 + s1 * s2 * c3;
+            out.w = c1 * c2 * c3 - s1 * s2 * s3;
+            break;
+        case 'ZYX':
+            out.x = s1 * c2 * c3 - c1 * s2 * s3;
+            out.y = c1 * s2 * c3 + s1 * c2 * s3;
+            out.z = c1 * c2 * s3 - s1 * s2 * c3;
+            out.w = c1 * c2 * c3 + s1 * s2 * s3;
+            break;
+    }
+}
+/**
+ * Extracts the rotation of a Matrix4 (upper-left 3×3, assumed orthonormal) into a unit
+ * quaternion. Uses the numerically stable trace/largest-diagonal branch.
+ */
+export function setQuaternionFromMatrix4(out, source) {
+    const m = source.m;
+    // Column-major Matrix4: m[col*4 + row]. Upper-left 3×3 rotation basis.
+    const m00 = m[0], m10 = m[4], m20 = m[8], m01 = m[1], m11 = m[5], m21 = m[9], m02 = m[2], m12 = m[6], m22 = m[10];
+    const trace = m00 + m11 + m22;
+    if (trace > 0) {
+        const s = 0.5 / Math.sqrt(trace + 1.0);
+        out.w = 0.25 / s;
+        out.x = (m12 - m21) * s;
+        out.y = (m20 - m02) * s;
+        out.z = (m01 - m10) * s;
+    }
+    else if (m00 > m11 && m00 > m22) {
+        const s = 2.0 * Math.sqrt(1.0 + m00 - m11 - m22);
+        out.w = (m12 - m21) / s;
+        out.x = 0.25 * s;
+        out.y = (m10 + m01) / s;
+        out.z = (m20 + m02) / s;
+    }
+    else if (m11 > m22) {
+        const s = 2.0 * Math.sqrt(1.0 + m11 - m00 - m22);
+        out.w = (m20 - m02) / s;
+        out.x = (m10 + m01) / s;
+        out.y = 0.25 * s;
+        out.z = (m21 + m12) / s;
+    }
+    else {
+        const s = 2.0 * Math.sqrt(1.0 + m22 - m00 - m11);
+        out.w = (m01 - m10) / s;
+        out.x = (m20 + m02) / s;
+        out.y = (m21 + m12) / s;
+        out.z = 0.25 * s;
+    }
+}
+/**
+ * Builds the shortest-arc rotation quaternion from unit vector `from` to unit vector `to`.
+ *
+ * Handles the antiparallel case (from ≈ -to) by choosing an arbitrary perpendicular axis
+ * for a 180-degree rotation, so the result is always valid.
+ *
+ * Safe when `out` aliases `from` or `to`.
+ */
+export function setQuaternionFromUnitVectors(out, from, to) {
+    const fx = from.x, fy = from.y, fz = from.z;
+    const tx = to.x, ty = to.y, tz = to.z;
+    const dot = fx * tx + fy * ty + fz * tz;
+    if (dot > 0.999999) {
+        // Already aligned — identity
+        setQuaternionIdentity(out);
+        return;
+    }
+    if (dot < -0.999999) {
+        // Antiparallel — 180-degree rotation about any perpendicular axis
+        // Find an axis not parallel to `from`
+        let ax = 1, ay = 0, az = 0;
+        if (Math.abs(fx) > 0.9) {
+            ax = 0;
+            ay = 1;
+            az = 0;
+        }
+        // perpendicular = cross(from, axis), normalized
+        let px = fy * az - fz * ay;
+        let py = fz * ax - fx * az;
+        let pz = fx * ay - fy * ax;
+        const pLen = Math.sqrt(px * px + py * py + pz * pz);
+        px /= pLen;
+        py /= pLen;
+        pz /= pLen;
+        out.x = px;
+        out.y = py;
+        out.z = pz;
+        out.w = 0;
+        return;
+    }
+    // General case: cross product gives the rotation axis * sin(theta/2)
+    const cx = fy * tz - fz * ty;
+    const cy = fz * tx - fx * tz;
+    const cz = fx * ty - fy * tx;
+    out.x = cx;
+    out.y = cy;
+    out.z = cz;
+    out.w = 1 + dot;
+    // normalize
+    const len = Math.sqrt(out.x * out.x + out.y * out.y + out.z * out.z + out.w * out.w);
+    if (len !== 0) {
+        const inv = 1 / len;
+        out.x *= inv;
+        out.y *= inv;
+        out.z *= inv;
+        out.w *= inv;
+    }
+}
+/**
+ * Resets a quaternion to the identity rotation (0, 0, 0, 1).
+ */
+export function setQuaternionIdentity(out) {
+    out.x = 0;
+    out.y = 0;
+    out.z = 0;
+    out.w = 1;
+}
+/**
+ * Builds a "look rotation" quaternion from a `forward` and an `up` direction. Both vectors are
+ * assumed unit length. Convention: +Z forward with +Y up = identity quaternion (matches
+ * three.js / Unity).
+ *
+ * Internally computes `right = up × forward`, `correctedUp = forward × right`, and builds the
+ * rotation matrix from `[right, correctedUp, forward]` as column vectors.
+ *
+ * If `forward` and `up` are parallel or `forward` has zero length, the result is the
+ * identity quaternion.
+ *
+ * Safe when `out` has no aliasing concerns.
+ */
+export function setQuaternionLookRotation(out, forward, up) {
+    const fx = forward.x, fy = forward.y, fz = forward.z;
+    const ux = up.x, uy = up.y, uz = up.z;
+    // right = up × forward
+    let rx = uy * fz - uz * fy;
+    let ry = uz * fx - ux * fz;
+    let rz = ux * fy - uy * fx;
+    const rLen = Math.sqrt(rx * rx + ry * ry + rz * rz);
+    if (rLen === 0) {
+        setQuaternionIdentity(out);
+        return;
+    }
+    const rInv = 1 / rLen;
+    rx *= rInv;
+    ry *= rInv;
+    rz *= rInv;
+    // correctedUp = forward × right
+    const cux = fy * rz - fz * ry;
+    const cuy = fz * rx - fx * rz;
+    const cuz = fx * ry - fy * rx;
+    // Rotation matrix columns: col0 = right, col1 = correctedUp, col2 = forward
+    const m00 = rx, m01 = cux, m02 = fx;
+    const m10 = ry, m11 = cuy, m12 = fy;
+    const m20 = rz, m21 = cuz, m22 = fz;
+    const trace = m00 + m11 + m22;
+    if (trace > 0) {
+        const s = 0.5 / Math.sqrt(trace + 1);
+        out.w = 0.25 / s;
+        out.x = (m12 - m21) * s;
+        out.y = (m20 - m02) * s;
+        out.z = (m01 - m10) * s;
+    }
+    else if (m00 > m11 && m00 > m22) {
+        const s = 2 * Math.sqrt(1 + m00 - m11 - m22);
+        out.w = (m12 - m21) / s;
+        out.x = 0.25 * s;
+        out.y = (m10 + m01) / s;
+        out.z = (m20 + m02) / s;
+    }
+    else if (m11 > m22) {
+        const s = 2 * Math.sqrt(1 + m11 - m00 - m22);
+        out.w = (m20 - m02) / s;
+        out.x = (m10 + m01) / s;
+        out.y = 0.25 * s;
+        out.z = (m21 + m12) / s;
+    }
+    else {
+        const s = 2 * Math.sqrt(1 + m22 - m00 - m11);
+        out.w = (m01 - m10) / s;
+        out.x = (m20 + m02) / s;
+        out.y = (m21 + m12) / s;
+        out.z = 0.25 * s;
+    }
+}
+/**
+ * Spherical linear interpolation between two unit quaternions at parameter `t` in [0, 1].
+ * Chooses the shorter arc (negating `b` if the dot product is negative) and falls back to
+ * normalized linear interpolation when the inputs are nearly collinear.
+ *
+ * Safe when `out` aliases `a` and/or `b` (all inputs are read into locals first).
+ */
+export function slerpQuaternion(out, a, b, t) {
+    const ax = a.x, ay = a.y, az = a.z, aw = a.w;
+    let bx = b.x, by = b.y, bz = b.z, bw = b.w;
+    let cosHalfTheta = ax * bx + ay * by + az * bz + aw * bw;
+    // Take the shorter arc.
+    if (cosHalfTheta < 0) {
+        cosHalfTheta = -cosHalfTheta;
+        bx = -bx;
+        by = -by;
+        bz = -bz;
+        bw = -bw;
+    }
+    let scaleA;
+    let scaleB;
+    if (cosHalfTheta < 0.999999) {
+        const halfTheta = Math.acos(cosHalfTheta);
+        const sinHalfTheta = Math.sin(halfTheta);
+        scaleA = Math.sin((1 - t) * halfTheta) / sinHalfTheta;
+        scaleB = Math.sin(t * halfTheta) / sinHalfTheta;
+    }
+    else {
+        // Nearly collinear: fall back to linear interpolation.
+        scaleA = 1 - t;
+        scaleB = t;
+    }
+    out.x = ax * scaleA + bx * scaleB;
+    out.y = ay * scaleA + by * scaleB;
+    out.z = az * scaleA + bz * scaleB;
+    out.w = aw * scaleA + bw * scaleB;
+}
+//# sourceMappingURL=quaternion.js.map

package/dist/quaternion.js.map

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package/dist/quaternionPool.d.ts

@@ -0,0 +1,6 @@
+import type { Quaternion } from '@flighthq/types';
+export declare function acquireIdentityQuaternion(): Quaternion;
+export declare function acquireQuaternion(): Quaternion;
+export declare function clearQuaternionPool(): void;
+export declare function releaseQuaternion(q: Quaternion): void;
+//# sourceMappingURL=quaternionPool.d.ts.map

package/dist/quaternionPool.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"quaternionPool.d.ts","sourceRoot":"","sources":["../src/quaternionPool.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,iBAAiB,CAAC;AAIlD,wBAAgB,yBAAyB,IAAI,UAAU,CAOtD;AAED,wBAAgB,iBAAiB,IAAI,UAAU,CAU9C;AAED,wBAAgB,mBAAmB,IAAI,IAAI,CAE1C;AAED,wBAAgB,iBAAiB,CAAC,CAAC,EAAE,UAAU,GAAG,IAAI,CAGrD"}

package/dist/quaternionPool.js

@@ -0,0 +1,29 @@
+import { createQuaternion } from './quaternion';
+export function acquireIdentityQuaternion() {
+    const q = acquireQuaternion();
+    q.x = 0;
+    q.y = 0;
+    q.z = 0;
+    q.w = 1;
+    return q;
+}
+export function acquireQuaternion() {
+    let q;
+    if (pool.length > 0) {
+        q = pool.pop();
+    }
+    else {
+        q = createQuaternion();
+    }
+    return q;
+}
+export function clearQuaternionPool() {
+    pool.length = 0;
+}
+export function releaseQuaternion(q) {
+    if (!q)
+        return;
+    pool.push(q);
+}
+const pool = [];
+//# sourceMappingURL=quaternionPool.js.map

package/dist/quaternionPool.js.map

@@ -0,0 +1 @@
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package/dist/ray3d.d.ts

@@ -0,0 +1,69 @@
+import type { AabbLike, BoundingSphereLike, PlaneLike, Ray3D, Ray3DLike, Vector3Like } from '@flighthq/types';
+export declare function createRay3D(originX?: number, originY?: number, originZ?: number, directionX?: number, directionY?: number, directionZ?: number): Ray3D;
+/**
+ * Writes the closest pair of points between two rays: `outA` receives the point on ray `a`
+ * closest to ray `b`, and `outB` the point on ray `b` closest to ray `a`. Both parameters are
+ * clamped to `t >= 0` so the result respects ray (half-line) semantics rather than infinite
+ * lines. Parallel rays fall back to projecting `b`'s origin onto ray `a`.
+ *
+ * Directions need not be normalized. Reads all inputs into locals before writing, so it is safe
+ * when `outA`/`outB` alias the ray vectors.
+ */
+export declare function getClosestPointBetweenRay3Ds(outA: Vector3Like, outB: Vector3Like, a: Readonly<Ray3DLike>, b: Readonly<Ray3DLike>): void;
+/**
+ * Writes the point on a ray closest to `point`: `point` projected onto the ray and clamped to
+ * `t >= 0` so it stays in front of the origin. When `point` projects behind the origin the ray
+ * origin is written. Direction need not be normalized.
+ *
+ * Reads all inputs into locals before writing, so it is safe when `out` aliases `point` or a
+ * ray vector.
+ */
+export declare function getClosestPointOnRay3D(out: Vector3Like, ray: Readonly<Ray3DLike>, point: Readonly<Vector3Like>): void;
+/**
+ * Returns the point on a ray at parameter `t`: `origin + t * direction`. Writes the result to
+ * `out`. `t` should be >= 0 for points in front of the origin. There is no bounds check on `t`.
+ *
+ * Safe when `out` aliases `ray.origin` or `ray.direction`.
+ */
+export declare function getRay3DPointAt(out: Vector3Like, ray: Readonly<Ray3DLike>, t: number): void;
+/**
+ * Tests whether a ray intersects an axis-aligned bounding box (slab method).
+ *
+ * Returns the entry parameter `t` (>= 0) on hit, or `-1` on miss. A ray that starts inside the
+ * box returns `t = 0`. Direction components need not be normalized; the test works for any
+ * non-zero direction. A zero-component direction is handled (the ray is parallel to that slab
+ * and outside returns -1, inside continues).
+ */
+export declare function intersectRay3DAabb(ray: Readonly<Ray3DLike>, aabb: Readonly<AabbLike>): number;
+/**
+ * Tests whether a ray intersects a plane.
+ *
+ * Returns the parameter `t` (>= 0) such that `origin + t * direction` lies on the plane, or
+ * `-1` if the ray is parallel to the plane (no intersection) or intersects behind the origin.
+ * The plane is given in the form `ax + by + cz + d = 0` with a (not necessarily unit) normal.
+ *
+ * Direction need not be normalized; `t` is in the same units as `direction`.
+ */
+export declare function intersectRay3DPlane(ray: Readonly<Ray3DLike>, plane: Readonly<PlaneLike>): number;
+/**
+ * Tests whether a ray intersects a bounding sphere.
+ *
+ * Returns the parameter `t` of the nearer intersection (>= 0), or `-1` on miss. An empty
+ * sphere (radius < 0) always returns `-1`. A ray that starts inside the sphere returns `t = 0`
+ * at the entry point (the near intersection is behind the origin; we clamp to `0`).
+ *
+ * Direction need not be normalized; `t` is in direction units.
+ */
+export declare function intersectRay3DSphere(ray: Readonly<Ray3DLike>, sphere: Readonly<BoundingSphereLike>): number;
+/**
+ * Tests whether a ray intersects a triangle using the Möller–Trumbore algorithm.
+ *
+ * Returns the parameter `t` (>= 0) such that `origin + t * direction` is the hit point, or
+ * `-1` on miss (back-face culling is off — both sides are tested). The direction need not be
+ * normalized; `t` is in direction units.
+ *
+ * Also returns `-1` for degenerate triangles (area ≈ 0).
+ */
+export declare function intersectRay3DTriangle(ray: Readonly<Ray3DLike>, a: Readonly<Vector3Like>, b: Readonly<Vector3Like>, c: Readonly<Vector3Like>): number;
+export declare function setRay3D(out: Ray3DLike, origin: Readonly<Vector3Like>, direction: Readonly<Vector3Like>): void;
+//# sourceMappingURL=ray3d.d.ts.map

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