@flighthq/geometry 0.3.0 → 0.3.1-next.1041.35b950c

package/dist/matrix4.js

@@ -1,13 +1,12 @@
 import { createEntity } from '@flighthq/entity/contract';
 import { acquireIdentityMatrix4, acquireMatrix4, releaseMatrix4 } from './matrix4Pool';
 /**
- * Appends a matrix in world space (post-multiply).
+ * Appends a matrix in world space: `other` applies AFTER everything already in `source`.
  *
- * out = source · other
+ * out = other · source
  */
 export function appendMatrix4(out, source, other) {
-    // world-space append
-    multiplyMatrix4(out, source, other);
+    multiplyMatrix4(out, other, source);
 }
 /**
  * Applies a world-space rotation to the current matrix.
@@ -16,6 +15,7 @@ export function appendMatrix4(out, source, other) {
  *
  * @param radians rotation angle in radians (the @flighthq/geometry convention — convert a
  * designer-facing degree value with `DEG_TO_RAD` from `@flighthq/math`).
+ * @param axis assumed unit length; a longer axis scales the basis instead of rotating it.
  **/
 export function appendRotationMatrix4(out, source, radians, axis, pivotPoint) {
     const m = acquireIdentityMatrix4();
@@ -26,8 +26,8 @@ export function appendRotationMatrix4(out, source, radians, axis, pivotPoint) {
         const t2 = acquireIdentityMatrix4();
         appendTranslationMatrix4(t1, t1, -p.x, -p.y, -p.z);
         appendTranslationMatrix4(t2, t2, p.x, p.y, p.z);
-        multiplyMatrix4(m, t1, m); // R · T(-p)
-        multiplyMatrix4(m, m, t2); // T(p) · (R · T(-p))
+        multiplyMatrix4(m, m, t1); // R · T(-p)
+        multiplyMatrix4(m, t2, m); // T(p) · (R · T(-p))
         releaseMatrix4(t1);
         releaseMatrix4(t2);
     }
@@ -422,7 +422,10 @@ export function interpolateMatrix4(out, a, b, t) {
     }
 }
 /**
- * Attempts to invert the current matrix, so long as the determinant is greater than zero
+ * Writes the inverse of `source` and returns whether it existed. A matrix whose determinant is
+ * within 1e-6 of zero is treated as singular: `out` is filled with NaN and the return is `false`,
+ * so an ignored result cannot masquerade as a valid transform. A negative determinant is a mirror,
+ * not a failure, and inverts normally.
  **/
 export function inverseMatrix4(out, source) {
     const _out = out.m;
@@ -433,8 +436,7 @@ export function inverseMatrix4(out, source) {
     const EPS = 1e-6;
     const invertable = Math.abs(d) > EPS;
     if (!invertable) {
-        // If the matrix is singular, set output to NaN or Identity
-        _out.fill(NaN); // Set all elements to NaN (or you could set to the identity matrix, depending on your preference)
+        _out.fill(NaN);
         return false;
     }
     // Invertable matrix, proceed with inversion
@@ -534,12 +536,12 @@ export function multiplyMatrix4(out, a, b) {
     _out[15] = m241 * m114 + m242 * m124 + m243 * m134 + m244 * m144;
 }
 /**
- * Prepends a matrix in world space (pre-multiply).
+ * Prepends a matrix in local space: `other` applies BEFORE everything already in `source`.
  *
- * out = other · source
+ * out = source · other
  */
 export function prependMatrix4(out, source, other) {
-    multiplyMatrix4(out, other, source);
+    multiplyMatrix4(out, source, other);
 }
 /**
  * Prepends rotation before all local-space transforms.
@@ -549,6 +551,7 @@ export function prependMatrix4(out, source, other) {
  *
  * @param radians rotation angle in radians (the @flighthq/geometry convention — convert a
  * designer-facing degree value with `DEG_TO_RAD` from `@flighthq/math`).
+ * @param axis assumed unit length; a longer axis scales the basis instead of rotating it.
  **/
 export function prependRotationMatrix4(out, source, radians, axis, pivotPoint) {
     const m = acquireIdentityMatrix4();
@@ -580,22 +583,25 @@ export function prependScaleMatrix4(out, source, xScale, yScale, zScale) {
     releaseMatrix4(m);
 }
 /**
- * Prepends a translation before all local-space transforms.
+ * Prepends a translation before all local-space transforms: the offset applies BEFORE everything
+ * already in `source`, so `source`'s rotation and scale carry it.
  *
- * This method first applies the translation (tx, ty, tz) and then applies all the transformations
- * (e.g., rotation, scaling, etc.) from the source matrix.
+ * out = source · T(x, y, z)
  */
 export function prependTranslationMatrix4(out, source, x, y, z) {
     const m = acquireIdentityMatrix4();
-    translateMatrix4(m, m, x, y, z); // LOCAL translation matrix
-    multiplyMatrix4(out, m, source);
+    translateMatrix4(m, m, x, y, z);
+    prependMatrix4(out, source, m);
     releaseMatrix4(m);
 }
 /**
  * Applies a local-space rotation relative to the matrix's existing orientation.
  *
+ * `out = source · R`
+ *
  * Translation is preserved.
  *
+ * @param axis assumed unit length; a longer axis scales the basis instead of rotating it.
  * @param radians rotation angle in radians (the @flighthq/geometry convention — convert a
  * designer-facing degree value with `DEG_TO_RAD` from `@flighthq/math`).
  */
@@ -608,28 +614,31 @@ export function rotateMatrix4(out, source, axis, radians) {
 /**
  * Applies a local-space scale relative to the matrix's existing orientation.
  *
+ * `out = source · S`
+ *
  * Translation is preserved.
  */
 export function scaleMatrix4(out, source, sx, sy, sz) {
     const a = source.m;
     const o = out.m;
-    if (out !== source)
-        out.m.set(source.m);
-    if (sx !== 1) {
-        o[0] = a[0] * sx;
-        o[4] = a[4] * sx;
-        o[8] = a[8] * sx;
-    }
-    if (sy !== 1) {
-        o[1] = a[1] * sy;
-        o[5] = a[5] * sy;
-        o[9] = a[9] * sy;
-    }
-    if (sz !== 1) {
-        o[2] = a[2] * sz;
-        o[6] = a[6] * sz;
-        o[10] = a[10] * sz;
-    }
+    // Post-multiply by diag(sx, sy, sz, 1): scale column 0 by sx, column 1 by sy, column 2 by sz,
+    // and leave the translation column. Every element reads its own index, so `out` may alias `source`.
+    o[0] = a[0] * sx;
+    o[1] = a[1] * sx;
+    o[2] = a[2] * sx;
+    o[3] = a[3] * sx;
+    o[4] = a[4] * sy;
+    o[5] = a[5] * sy;
+    o[6] = a[6] * sy;
+    o[7] = a[7] * sy;
+    o[8] = a[8] * sz;
+    o[9] = a[9] * sz;
+    o[10] = a[10] * sz;
+    o[11] = a[11] * sz;
+    o[12] = a[12];
+    o[13] = a[13];
+    o[14] = a[14];
+    o[15] = a[15];
 }
 export function setMatrix4(out, m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {
     const _out = out.m;
@@ -737,6 +746,9 @@ export function setMatrix4Identity(out) {
  * `target`, with `up` defining the camera roll. The forward axis points from eye to target;
  * the resulting matrix transforms world-space points into view space.
  *
+ * Degenerate inputs still yield an orthonormal basis: a zero-length view direction (`eye` equals
+ * `target`) looks down +Z, and an `up` parallel to the view direction picks an arbitrary roll.
+ *
  * Reads all inputs into locals before writing, so it is safe when `out` is unrelated to the
  * vector inputs.
  */
@@ -760,15 +772,24 @@ export function setMatrix4LookAt(out, eye, target, up) {
     let xz = up.x * zy - up.y * zx;
     let xl = Math.sqrt(xx * xx + xy * xy + xz * xz);
     if (xl === 0) {
-        xx = 0;
-        xy = 0;
-        xz = 0;
-    }
-    else {
-        xx /= xl;
-        xy /= xl;
-        xz /= xl;
+        // `up` is parallel to the view direction — an overhead camera with a +Y up lands here. Reseed
+        // from whichever world axis is least aligned with z; zeroing the axis instead would emit a
+        // singular view matrix that no caller can invert.
+        if (Math.abs(zz) < 0.9) {
+            xx = -zy;
+            xy = zx;
+            xz = 0;
+        }
+        else {
+            xx = 0;
+            xy = -zz;
+            xz = zy;
+        }
+        xl = Math.sqrt(xx * xx + xy * xy + xz * xz);
     }
+    xx /= xl;
+    xy /= xl;
+    xz /= xl;
     // y axis = cross(z, x) (already orthonormal).
     const yx = zy * xz - zz * xy;
     const yy = zz * xx - zx * xz;
@@ -859,7 +880,7 @@ export function setPerspectiveMatrix4(out, fov, aspect, zNear, zFar) {
 /**
  * Applies a local-space translation to the matrix, taking into account the source matrix's rotation and scale.
  *
- * Translation is applied respecting using all other transformations of source.
+ * `out = source · T`
  */
 export function translateMatrix4(out, source, tx, ty, tz) {
     const a = source.m;
@@ -870,16 +891,6 @@ export function translateMatrix4(out, source, tx, ty, tz) {
     o[13] = a[1] * tx + a[5] * ty + a[9] * tz + a[13];
     o[14] = a[2] * tx + a[6] * ty + a[10] * tz + a[14];
 }
-export function transposeMatrix4(out, source) {
-    if (out !== source)
-        out.m.set(source.m);
-    __swap(out, source, 1, 4);
-    __swap(out, source, 2, 8);
-    __swap(out, source, 3, 12);
-    __swap(out, source, 6, 9);
-    __swap(out, source, 7, 13);
-    __swap(out, source, 11, 14);
-}
 /**
  * Transposes the matrix (swaps rows and columns).
  *
@@ -891,6 +902,16 @@ export function transposeMatrix4(out, source) {
  * - Computing inverse-transpose for normals
  * - Switching between row- and column-vector math conventions
  */
+export function transposeMatrix4(out, source) {
+    if (out !== source)
+        out.m.set(source.m);
+    __swap(out, source, 1, 4);
+    __swap(out, source, 2, 8);
+    __swap(out, source, 3, 12);
+    __swap(out, source, 6, 9);
+    __swap(out, source, 7, 13);
+    __swap(out, source, 11, 14);
+}
 /**
  * Writes 16 column-major elements of a Matrix4Like into a Float32Array at `offset`.
  *

package/dist/matrix4.js.map

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package/dist/matrix4Pool.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"matrix4Pool.d.ts","sourceRoot":"","sources":["../src/matrix4Pool.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,0BAA0B,CAAC;AAIxD,wBAAgB,sBAAsB,IAAI,OAAO,CAIhD;AAED,wBAAgB,cAAc,IAAI,OAAO,CAUxC;AAED,wBAAgB,gBAAgB,IAAI,IAAI,CAEvC;AAED,wBAAgB,cAAc,CAAC,CAAC,EAAE,OAAO,GAAG,IAAI,CAG/C"}
+{"version":3,"file":"matrix4Pool.d.ts","sourceRoot":"","sources":["../src/matrix4Pool.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,0BAA0B,CAAC;AAMxD,wBAAgB,sBAAsB,IAAI,OAAO,CAIhD;AAGD,wBAAgB,cAAc,IAAI,OAAO,CAUxC;AAED,wBAAgB,gBAAgB,IAAI,IAAI,CAEvC;AAED,wBAAgB,cAAc,CAAC,CAAC,EAAE,OAAO,GAAG,IAAI,CAK/C"}

package/dist/matrix4Pool.js

@@ -1,9 +1,12 @@
+import { EntityRuntimeKey } from '@flighthq/types/contract';
+import { geometryPoolReleaseGuard } from './geometryPoolGuards';
 import { createMatrix4, setMatrix4Identity } from './matrix4';
 export function acquireIdentityMatrix4() {
     const m = acquireMatrix4();
     setMatrix4Identity(m);
     return m;
 }
+// Acquires without initializing the elements. Use acquireIdentityMatrix4 when a known value is required.
 export function acquireMatrix4() {
     let m;
     if (pool.length > 0) {
@@ -20,6 +23,9 @@ export function clearMatrix4Pool() {
 export function releaseMatrix4(m) {
     if (!m)
         return;
+    if (geometryPoolReleaseGuard !== null && pool.includes(m))
+        geometryPoolReleaseGuard('releaseMatrix4');
+    m[EntityRuntimeKey] = undefined;
     pool.push(m);
 }
 const pool = [];

package/dist/matrix4Pool.js.map

@@ -1 +1 @@
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+{"version":3,"file":"matrix4Pool.js","sourceRoot":"","sources":["../src/matrix4Pool.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,gBAAgB,EAAE,MAAM,0BAA0B,CAAC;AAE5D,OAAO,EAAE,wBAAwB,EAAE,MAAM,sBAAsB,CAAC;AAChE,OAAO,EAAE,aAAa,EAAE,kBAAkB,EAAE,MAAM,WAAW,CAAC;AAE9D,MAAM,UAAU,sBAAsB;IACpC,MAAM,CAAC,GAAG,cAAc,EAAE,CAAC;IAC3B,kBAAkB,CAAC,CAAC,CAAC,CAAC;IACtB,OAAO,CAAC,CAAC;AACX,CAAC;AAED,yGAAyG;AACzG,MAAM,UAAU,cAAc;IAC5B,IAAI,CAAU,CAAC;IAEf,IAAI,IAAI,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QACpB,CAAC,GAAG,IAAI,CAAC,GAAG,EAAa,CAAC;IAC5B,CAAC;SAAM,CAAC;QACN,CAAC,GAAG,aAAa,EAAE,CAAC;IACtB,CAAC;IAED,OAAO,CAAC,CAAC;AACX,CAAC;AAED,MAAM,UAAU,gBAAgB;IAC9B,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;AAClB,CAAC;AAED,MAAM,UAAU,cAAc,CAAC,CAAU;IACvC,IAAI,CAAC,CAAC;QAAE,OAAO;IACf,IAAI,wBAAwB,KAAK,IAAI,IAAI,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC;QAAE,wBAAwB,CAAC,gBAAgB,CAAC,CAAC;IACtG,CAAC,CAAC,gBAAgB,CAAC,GAAG,SAAS,CAAC;IAChC,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;AACf,CAAC;AAED,MAAM,IAAI,GAAc,EAAE,CAAC"}

package/dist/matrixPool.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"matrixPool.d.ts","sourceRoot":"","sources":["../src/matrixPool.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,MAAM,EAAE,MAAM,0BAA0B,CAAC;AAMvD,wBAAgB,qBAAqB,IAAI,MAAM,CAI9C;AAGD,wBAAgB,aAAa,IAAI,MAAM,CAUtC;AAED,wBAAgB,eAAe,IAAI,IAAI,CAEtC;AAED,wBAAgB,aAAa,CAAC,CAAC,EAAE,MAAM,GAAG,IAAI,CAK7C"}

package/dist/matrixPool.js

@@ -1,9 +1,12 @@
+import { EntityRuntimeKey } from '@flighthq/types/contract';
+import { geometryPoolReleaseGuard } from './geometryPoolGuards';
 import { createMatrix, setMatrixIdentity } from './matrix';
 export function acquireIdentityMatrix() {
     const m = acquireMatrix();
     setMatrixIdentity(m);
     return m;
 }
+// Acquires without initializing the components. Use acquireIdentityMatrix when a known value is required.
 export function acquireMatrix() {
     let m;
     if (pool.length > 0) {
@@ -20,6 +23,9 @@ export function clearMatrixPool() {
 export function releaseMatrix(m) {
     if (!m)
         return;
+    if (geometryPoolReleaseGuard !== null && pool.includes(m))
+        geometryPoolReleaseGuard('releaseMatrix');
+    m[EntityRuntimeKey] = undefined;
     pool.push(m);
 }
 const pool = [];

package/dist/matrixPool.js.map

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package/dist/obb.d.ts

@@ -16,12 +16,14 @@ export declare function getClosestPointOnObb(out: Vector3Like, obb: Readonly<Obb
  * space, then applies the slab method against the axis-aligned half-extent box.
  *
  * Returns the entry parameter `t` (>= 0) on hit, or `-1` on miss. A ray starting inside the
- * OBB returns `t = 0`.
+ * OBB returns `t = 0`. Direction need not be normalized. A direction of zero length is not a
+ * ray and always returns `-1`.
  */
 export declare function intersectRay3DObb(ray: Readonly<Ray3DLike>, obb: Readonly<ObbLike>): number;
 /**
  * Returns whether an oriented bounding box overlaps an axis-aligned bounding box using the
- * Separating Axis Theorem with 15 candidate axes.
+ * Separating Axis Theorem with 15 candidate axes. An empty AABB (min > max on any axis) does
+ * not intersect the OBB.
  */
 export declare function isObbIntersectingAabb(obb: Readonly<ObbLike>, aabb: Readonly<AabbLike>): boolean;
 /**

package/dist/obb.d.ts.map

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