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

package/dist/obb.js

@@ -27,7 +27,9 @@ export function getClosestPointOnObb(out, obb, point) {
     const cx = obb.centerX, cy = obb.centerY, cz = obb.centerZ;
     const hx = obb.halfExtentX, hy = obb.halfExtentY, hz = obb.halfExtentZ;
     const px = point.x, py = point.y, pz = point.z;
-    const [ax0, ay0, az0, ax1, ay1, az1, ax2, ay2, az2] = obbLocalAxes(obb);
+    const qx = obb.orientationX, qy = obb.orientationY, qz = obb.orientationZ, qw = obb.orientationW;
+    const xx = qx * qx, yy = qy * qy, zz = qz * qz, xy = qx * qy, xz = qx * qz, yz = qy * qz, wx = qw * qx, wy = qw * qy, wz = qw * qz;
+    const ax0 = 1 - 2 * (yy + zz), ay0 = 2 * (xy + wz), az0 = 2 * (xz - wy), ax1 = 2 * (xy - wz), ay1 = 1 - 2 * (xx + zz), az1 = 2 * (yz + wx), ax2 = 2 * (xz + wy), ay2 = 2 * (yz - wx), az2 = 1 - 2 * (xx + yy);
     const dx = px - cx, dy = py - cy, dz = pz - cz;
     const d0 = Math.min(Math.max(dx * ax0 + dy * ay0 + dz * az0, -hx), hx);
     const d1 = Math.min(Math.max(dx * ax1 + dy * ay1 + dz * az1, -hy), hy);
@@ -41,50 +43,88 @@ export function getClosestPointOnObb(out, obb, point) {
  * 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 function intersectRay3DObb(ray, obb) {
     const ox = ray.origin.x - obb.centerX, oy = ray.origin.y - obb.centerY, oz = ray.origin.z - obb.centerZ;
     const dx = ray.direction.x, dy = ray.direction.y, dz = ray.direction.z;
+    if (dx * dx + dy * dy + dz * dz === 0)
+        return -1; // zero-length direction
     const hx = obb.halfExtentX, hy = obb.halfExtentY, hz = obb.halfExtentZ;
-    const [ax0, ay0, az0, ax1, ay1, az1, ax2, ay2, az2] = obbLocalAxes(obb);
-    const origins = [ox * ax0 + oy * ay0 + oz * az0, ox * ax1 + oy * ay1 + oz * az1, ox * ax2 + oy * ay2 + oz * az2];
-    const dirs = [dx * ax0 + dy * ay0 + dz * az0, dx * ax1 + dy * ay1 + dz * az1, dx * ax2 + dy * ay2 + dz * az2];
-    const halfExts = [hx, hy, hz];
+    const qx = obb.orientationX, qy = obb.orientationY, qz = obb.orientationZ, qw = obb.orientationW;
+    const xx = qx * qx, yy = qy * qy, zz = qz * qz, xy = qx * qy, xz = qx * qz, yz = qy * qz, wx = qw * qx, wy = qw * qy, wz = qw * qz;
+    const ax0 = 1 - 2 * (yy + zz), ay0 = 2 * (xy + wz), az0 = 2 * (xz - wy), ax1 = 2 * (xy - wz), ay1 = 1 - 2 * (xx + zz), az1 = 2 * (yz + wx), ax2 = 2 * (xz + wy), ay2 = 2 * (yz - wx), az2 = 1 - 2 * (xx + yy);
+    const origin0 = ox * ax0 + oy * ay0 + oz * az0, origin1 = ox * ax1 + oy * ay1 + oz * az1, origin2 = ox * ax2 + oy * ay2 + oz * az2;
+    const direction0 = dx * ax0 + dy * ay0 + dz * az0, direction1 = dx * ax1 + dy * ay1 + dz * az1, direction2 = dx * ax2 + dy * ay2 + dz * az2;
     let tMin = 0;
     let tMax = Number.POSITIVE_INFINITY;
-    for (let i = 0; i < 3; i++) {
-        const o = origins[i];
-        const d = dirs[i];
-        const h = halfExts[i];
-        if (Math.abs(d) > 1e-10) {
-            const invD = 1 / d;
-            let t1 = (-h - o) * invD;
-            let t2 = (h - o) * invD;
-            if (t1 > t2) {
-                const tmp = t1;
-                t1 = t2;
-                t2 = tmp;
-            }
-            tMin = Math.max(tMin, t1);
-            tMax = Math.min(tMax, t2);
-            if (tMin > tMax)
-                return -1;
+    if (direction0 !== 0) {
+        const invD = 1 / direction0;
+        let t1 = (-hx - origin0) * invD;
+        let t2 = (hx - origin0) * invD;
+        if (t1 > t2) {
+            const swap = t1;
+            t1 = t2;
+            t2 = swap;
         }
-        else if (o < -h || o > h) {
+        tMin = Math.max(tMin, t1);
+        tMax = Math.min(tMax, t2);
+        if (tMin > tMax)
             return -1;
+    }
+    else if (origin0 < -hx || origin0 > hx) {
+        return -1;
+    }
+    if (direction1 !== 0) {
+        const invD = 1 / direction1;
+        let t1 = (-hy - origin1) * invD;
+        let t2 = (hy - origin1) * invD;
+        if (t1 > t2) {
+            const swap = t1;
+            t1 = t2;
+            t2 = swap;
         }
+        tMin = Math.max(tMin, t1);
+        tMax = Math.min(tMax, t2);
+        if (tMin > tMax)
+            return -1;
+    }
+    else if (origin1 < -hy || origin1 > hy) {
+        return -1;
+    }
+    if (direction2 !== 0) {
+        const invD = 1 / direction2;
+        let t1 = (-hz - origin2) * invD;
+        let t2 = (hz - origin2) * invD;
+        if (t1 > t2) {
+            const swap = t1;
+            t1 = t2;
+            t2 = swap;
+        }
+        tMin = Math.max(tMin, t1);
+        tMax = Math.min(tMax, t2);
+        if (tMin > tMax)
+            return -1;
+    }
+    else if (origin2 < -hz || origin2 > hz) {
+        return -1;
     }
     return tMin;
 }
 /**
  * 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 function isObbIntersectingAabb(obb, aabb) {
+    if (aabb.min.x > aabb.max.x || aabb.min.y > aabb.max.y || aabb.min.z > aabb.max.z)
+        return false;
     const acx = (aabb.min.x + aabb.max.x) * 0.5, acy = (aabb.min.y + aabb.max.y) * 0.5, acz = (aabb.min.z + aabb.max.z) * 0.5;
     const ahx = (aabb.max.x - aabb.min.x) * 0.5, ahy = (aabb.max.y - aabb.min.y) * 0.5, ahz = (aabb.max.z - aabb.min.z) * 0.5;
-    const [ax0, ay0, az0, ax1, ay1, az1, ax2, ay2, az2] = obbLocalAxes(obb);
+    const qx = obb.orientationX, qy = obb.orientationY, qz = obb.orientationZ, qw = obb.orientationW;
+    const xx = qx * qx, yy = qy * qy, zz = qz * qz, xy = qx * qy, xz = qx * qz, yz = qy * qz, wx = qw * qx, wy = qw * qy, wz = qw * qz;
+    const ax0 = 1 - 2 * (yy + zz), ay0 = 2 * (xy + wz), az0 = 2 * (xz - wy), ax1 = 2 * (xy - wz), ay1 = 1 - 2 * (xx + zz), az1 = 2 * (yz + wx), ax2 = 2 * (xz + wy), ay2 = 2 * (yz - wx), az2 = 1 - 2 * (xx + yy);
     const tx = acx - obb.centerX, ty = acy - obb.centerY, tz = acz - obb.centerZ;
     return !obbSatSeparated(tx, ty, tz, ax0, ay0, az0, ax1, ay1, az1, ax2, ay2, az2, obb.halfExtentX, obb.halfExtentY, obb.halfExtentZ, 1, 0, 0, 0, 1, 0, 0, 0, 1, ahx, ahy, ahz);
 }
@@ -93,8 +133,12 @@ export function isObbIntersectingAabb(obb, aabb) {
  * 15 candidate axes (3 face normals per box plus 9 edge cross-products).
  */
 export function isObbIntersectingObb(a, b) {
-    const [ax0, ay0, az0, ax1, ay1, az1, ax2, ay2, az2] = obbLocalAxes(a);
-    const [bx0, by0, bz0, bx1, by1, bz1, bx2, by2, bz2] = obbLocalAxes(b);
+    const aqx = a.orientationX, aqy = a.orientationY, aqz = a.orientationZ, aqw = a.orientationW;
+    const axx = aqx * aqx, ayy = aqy * aqy, azz = aqz * aqz, axy = aqx * aqy, axz = aqx * aqz, ayz = aqy * aqz, awx = aqw * aqx, awy = aqw * aqy, awz = aqw * aqz;
+    const ax0 = 1 - 2 * (ayy + azz), ay0 = 2 * (axy + awz), az0 = 2 * (axz - awy), ax1 = 2 * (axy - awz), ay1 = 1 - 2 * (axx + azz), az1 = 2 * (ayz + awx), ax2 = 2 * (axz + awy), ay2 = 2 * (ayz - awx), az2 = 1 - 2 * (axx + ayy);
+    const bqx = b.orientationX, bqy = b.orientationY, bqz = b.orientationZ, bqw = b.orientationW;
+    const bxx = bqx * bqx, byy = bqy * bqy, bzz = bqz * bqz, bxy = bqx * bqy, bxz = bqx * bqz, byz = bqy * bqz, bwx = bqw * bqx, bwy = bqw * bqy, bwz = bqw * bqz;
+    const bx0 = 1 - 2 * (byy + bzz), by0 = 2 * (bxy + bwz), bz0 = 2 * (bxz - bwy), bx1 = 2 * (bxy - bwz), by1 = 1 - 2 * (bxx + bzz), bz1 = 2 * (byz + bwx), bx2 = 2 * (bxz + bwy), by2 = 2 * (byz - bwx), bz2 = 1 - 2 * (bxx + byy);
     const tx = b.centerX - a.centerX, ty = b.centerY - a.centerY, tz = b.centerZ - a.centerZ;
     return !obbSatSeparated(tx, ty, tz, ax0, ay0, az0, ax1, ay1, az1, ax2, ay2, az2, a.halfExtentX, a.halfExtentY, a.halfExtentZ, bx0, by0, bz0, bx1, by1, bz1, bx2, by2, bz2, b.halfExtentX, b.halfExtentY, b.halfExtentZ);
 }
@@ -135,33 +179,35 @@ export function transformObbByMatrix4(out, obb, m) {
     const r00 = sx > 0 ? _m[0] / sx : 1, r10 = sx > 0 ? _m[1] / sx : 0, r20 = sx > 0 ? _m[2] / sx : 0;
     const r01 = sy > 0 ? _m[4] / sy : 0, r11 = sy > 0 ? _m[5] / sy : 1, r21 = sy > 0 ? _m[6] / sy : 0;
     const r02 = sz > 0 ? _m[8] / sz : 0, r12 = sz > 0 ? _m[9] / sz : 0, r22 = sz > 0 ? _m[10] / sz : 1;
-    // Quaternion from rotation matrix (Shepperd method).
+    // Quaternion from rotation matrix (Shepperd method). The antisymmetric pairs follow the same
+    // handedness as the local-axis rotation map, whose inverse uses x = (r21 - r12), not (r12 - r21).
+    // Flipping either one silently yields the conjugate — a rotation by -angle about the same axis.
     let mqw, mqx, mqy, mqz;
     const trace = r00 + r11 + r22;
     if (trace > 0) {
         const s = 0.5 / Math.sqrt(trace + 1);
         mqw = 0.25 / s;
-        mqx = (r12 - r21) * s;
-        mqy = (r20 - r02) * s;
-        mqz = (r01 - r10) * s;
+        mqx = (r21 - r12) * s;
+        mqy = (r02 - r20) * s;
+        mqz = (r10 - r01) * s;
     }
     else if (r00 > r11 && r00 > r22) {
         const s = 2 * Math.sqrt(1 + r00 - r11 - r22);
-        mqw = (r12 - r21) / s;
+        mqw = (r21 - r12) / s;
         mqx = 0.25 * s;
         mqy = (r10 + r01) / s;
         mqz = (r20 + r02) / s;
     }
     else if (r11 > r22) {
         const s = 2 * Math.sqrt(1 + r11 - r00 - r22);
-        mqw = (r20 - r02) / s;
+        mqw = (r02 - r20) / s;
         mqx = (r10 + r01) / s;
         mqy = 0.25 * s;
         mqz = (r21 + r12) / s;
     }
     else {
         const s = 2 * Math.sqrt(1 + r22 - r00 - r11);
-        mqw = (r01 - r10) / s;
+        mqw = (r10 - r01) / s;
         mqx = (r20 + r02) / s;
         mqy = (r21 + r12) / s;
         mqz = 0.25 * s;
@@ -178,32 +224,91 @@ export function transformObbByMatrix4(out, obb, m) {
     out.orientationZ = mqw * oqz + mqx * oqy - mqy * oqx + mqz * oqw;
     out.orientationW = mqw * oqw - mqx * oqx - mqy * oqy - mqz * oqz;
 }
-// Returns [axisX.x, axisX.y, axisX.z, axisY.x, axisY.y, axisY.z, axisZ.x, axisZ.y, axisZ.z]
-// where each triple is an OBB local axis expressed in world space (column of the rotation matrix).
-function obbLocalAxes(obb) {
-    const qx = obb.orientationX, qy = obb.orientationY, qz = obb.orientationZ, qw = obb.orientationW;
-    const xx = qx * qx, yy = qy * qy, zz = qz * qz;
-    const xy = qx * qy, xz = qx * qz, yz = qy * qz;
-    const wx = qw * qx, wy = qw * qy, wz = qw * qz;
-    return [
-        1 - 2 * (yy + zz),
-        2 * (xy + wz),
-        2 * (xz - wy),
-        2 * (xy - wz),
-        1 - 2 * (xx + zz),
-        2 * (yz + wx),
-        2 * (xz + wy),
-        2 * (yz - wx),
-        1 - 2 * (xx + yy),
-    ];
-}
 // Returns true if the two OBBs (given by their center offset, local axes, and half-extents) are
 // separated on any of the 15 SAT candidate axes. True = separated = no intersection.
 function obbSatSeparated(tx, ty, tz, ax0, ay0, az0, ax1, ay1, az1, ax2, ay2, az2, hax, hay, haz, bx0, by0, bz0, bx1, by1, bz1, bx2, by2, bz2, hbx, hby, hbz) {
-    const onAxis = (lx, ly, lz) => {
+    for (let axis = 0; axis < 15; axis++) {
+        let lx, ly, lz;
+        switch (axis) {
+            case 0:
+                lx = ax0;
+                ly = ay0;
+                lz = az0;
+                break;
+            case 1:
+                lx = ax1;
+                ly = ay1;
+                lz = az1;
+                break;
+            case 2:
+                lx = ax2;
+                ly = ay2;
+                lz = az2;
+                break;
+            case 3:
+                lx = bx0;
+                ly = by0;
+                lz = bz0;
+                break;
+            case 4:
+                lx = bx1;
+                ly = by1;
+                lz = bz1;
+                break;
+            case 5:
+                lx = bx2;
+                ly = by2;
+                lz = bz2;
+                break;
+            case 6:
+                lx = ay0 * bz0 - az0 * by0;
+                ly = az0 * bx0 - ax0 * bz0;
+                lz = ax0 * by0 - ay0 * bx0;
+                break;
+            case 7:
+                lx = ay0 * bz1 - az0 * by1;
+                ly = az0 * bx1 - ax0 * bz1;
+                lz = ax0 * by1 - ay0 * bx1;
+                break;
+            case 8:
+                lx = ay0 * bz2 - az0 * by2;
+                ly = az0 * bx2 - ax0 * bz2;
+                lz = ax0 * by2 - ay0 * bx2;
+                break;
+            case 9:
+                lx = ay1 * bz0 - az1 * by0;
+                ly = az1 * bx0 - ax1 * bz0;
+                lz = ax1 * by0 - ay1 * bx0;
+                break;
+            case 10:
+                lx = ay1 * bz1 - az1 * by1;
+                ly = az1 * bx1 - ax1 * bz1;
+                lz = ax1 * by1 - ay1 * bx1;
+                break;
+            case 11:
+                lx = ay1 * bz2 - az1 * by2;
+                ly = az1 * bx2 - ax1 * bz2;
+                lz = ax1 * by2 - ay1 * bx2;
+                break;
+            case 12:
+                lx = ay2 * bz0 - az2 * by0;
+                ly = az2 * bx0 - ax2 * bz0;
+                lz = ax2 * by0 - ay2 * bx0;
+                break;
+            case 13:
+                lx = ay2 * bz1 - az2 * by1;
+                ly = az2 * bx1 - ax2 * bz1;
+                lz = ax2 * by1 - ay2 * bx1;
+                break;
+            default:
+                lx = ay2 * bz2 - az2 * by2;
+                ly = az2 * bx2 - ax2 * bz2;
+                lz = ax2 * by2 - ay2 * bx2;
+                break;
+        }
         const lenSq = lx * lx + ly * ly + lz * lz;
         if (lenSq < 1e-10)
-            return false;
+            continue;
         const d = Math.abs(tx * lx + ty * ly + tz * lz);
         const pA = Math.abs(ax0 * lx + ay0 * ly + az0 * lz) * hax +
             Math.abs(ax1 * lx + ay1 * ly + az1 * lz) * hay +
@@ -211,38 +316,9 @@ function obbSatSeparated(tx, ty, tz, ax0, ay0, az0, ax1, ay1, az1, ax2, ay2, az2
         const pB = Math.abs(bx0 * lx + by0 * ly + bz0 * lz) * hbx +
             Math.abs(bx1 * lx + by1 * ly + bz1 * lz) * hby +
             Math.abs(bx2 * lx + by2 * ly + bz2 * lz) * hbz;
-        return d > pA + pB;
-    };
-    if (onAxis(ax0, ay0, az0))
-        return true;
-    if (onAxis(ax1, ay1, az1))
-        return true;
-    if (onAxis(ax2, ay2, az2))
-        return true;
-    if (onAxis(bx0, by0, bz0))
-        return true;
-    if (onAxis(bx1, by1, bz1))
-        return true;
-    if (onAxis(bx2, by2, bz2))
-        return true;
-    if (onAxis(ay0 * bz0 - az0 * by0, az0 * bx0 - ax0 * bz0, ax0 * by0 - ay0 * bx0))
-        return true;
-    if (onAxis(ay0 * bz1 - az0 * by1, az0 * bx1 - ax0 * bz1, ax0 * by1 - ay0 * bx1))
-        return true;
-    if (onAxis(ay0 * bz2 - az0 * by2, az0 * bx2 - ax0 * bz2, ax0 * by2 - ay0 * bx2))
-        return true;
-    if (onAxis(ay1 * bz0 - az1 * by0, az1 * bx0 - ax1 * bz0, ax1 * by0 - ay1 * bx0))
-        return true;
-    if (onAxis(ay1 * bz1 - az1 * by1, az1 * bx1 - ax1 * bz1, ax1 * by1 - ay1 * bx1))
-        return true;
-    if (onAxis(ay1 * bz2 - az1 * by2, az1 * bx2 - ax1 * bz2, ax1 * by2 - ay1 * bx2))
-        return true;
-    if (onAxis(ay2 * bz0 - az2 * by0, az2 * bx0 - ax2 * bz0, ax2 * by0 - ay2 * bx0))
-        return true;
-    if (onAxis(ay2 * bz1 - az2 * by1, az2 * bx1 - ax2 * bz1, ax2 * by1 - ay2 * bx1))
-        return true;
-    if (onAxis(ay2 * bz2 - az2 * by2, az2 * bx2 - ax2 * bz2, ax2 * by2 - ay2 * bx2))
-        return true;
+        if (d > pA + pB)
+            return true;
+    }
     return false;
 }
 //# sourceMappingURL=obb.js.map

package/dist/obb.js.map

@@ -1 +1 @@
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package/dist/quaternion.d.ts

@@ -70,13 +70,16 @@ export declare function normalizeQuaternion(out: QuaternionLike, source: Readonl
  * Safe when `out` aliases `vector` (all inputs are read into locals first).
  */
 export declare function rotateVector3ByQuaternion(out: Vector3Like, vector: Readonly<Vector3Like>, q: Readonly<QuaternionLike>): void;
+/**
+ * Sets the quaternion components directly without normalization.
+ */
+export declare function setQuaternion(out: QuaternionLike, x: number, y: number, z: number, w: number): void;
 /**
  * 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 declare function setQuaternion(out: QuaternionLike, x: number, y: number, z: number, w: number): void;
 export declare function setQuaternionFromAxisAngle(out: QuaternionLike, axis: Readonly<Vector3Like>, angle: number): void;
 /**
  * Builds a quaternion from Euler angles (in radians) applied in the given `order`.
@@ -112,10 +115,10 @@ export declare function setQuaternionIdentity(out: QuaternionLike): void;
  * 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.
+ * If `up` is parallel to `forward`, an arbitrary perpendicular up direction is chosen so the
+ * requested forward direction is preserved. A zero-length `forward` writes the identity.
  *
- * Safe when `out` has no aliasing concerns.
+ * Safe when `out` aliases `forward` or `up`.
  */
 export declare function setQuaternionLookRotation(out: QuaternionLike, forward: Readonly<Vector3Like>, up: Readonly<Vector3Like>): void;
 /**

package/dist/quaternion.d.ts.map

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

@@ -233,19 +233,20 @@ export function rotateVector3ByQuaternion(out, vector, q) {
     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`.
+ * Sets the quaternion components directly without normalization.
  */
-// Sets the quaternion components directly. The reference-completeness counterpart to `setVector3` — no
-// normalization; the caller supplies a unit quaternion (or normalizes after).
 export function setQuaternion(out, x, y, z, w) {
     out.x = x;
     out.y = y;
     out.z = z;
     out.w = w;
 }
+/**
+ * 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);
@@ -389,16 +390,14 @@ export function setQuaternionFromUnitVectors(out, from, to) {
     out.x = cx;
     out.y = cy;
     out.z = cz;
+    // The antiparallel guard above bounds dot below at -0.999999, so w is at least 1e-6 and the
+    // length can never be zero here.
     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;
-    }
+    const inv = 1 / Math.sqrt(out.x * out.x + out.y * out.y + out.z * out.z + out.w * out.w);
+    out.x *= inv;
+    out.y *= inv;
+    out.z *= inv;
+    out.w *= inv;
 }
 /**
  * Resets a quaternion to the identity rotation (0, 0, 0, 1).
@@ -417,22 +416,37 @@ export function setQuaternionIdentity(out) {
  * 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.
+ * If `up` is parallel to `forward`, an arbitrary perpendicular up direction is chosen so the
+ * requested forward direction is preserved. A zero-length `forward` writes the identity.
  *
- * Safe when `out` has no aliasing concerns.
+ * Safe when `out` aliases `forward` or `up`.
  */
 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;
+    if (fx === 0 && fy === 0 && fz === 0) {
+        setQuaternionIdentity(out);
+        return;
+    }
     // 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);
+    let rLen = Math.sqrt(rx * rx + ry * ry + rz * rz);
     if (rLen === 0) {
-        setQuaternionIdentity(out);
-        return;
+        // Roll is underdetermined when up is parallel to forward. Choose the world axis least aligned
+        // with forward, matching the fallback principle used by setMatrix4LookAt.
+        if (Math.abs(fz) < 0.9) {
+            rx = -fy;
+            ry = fx;
+            rz = 0;
+        }
+        else {
+            rx = 0;
+            ry = -fz;
+            rz = fy;
+        }
+        rLen = Math.sqrt(rx * rx + ry * ry + rz * rz);
     }
     const rInv = 1 / rLen;
     rx *= rInv;
@@ -442,10 +456,11 @@ export function setQuaternionLookRotation(out, forward, up) {
     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;
+    // Rotation matrix columns: col0 = right, col1 = correctedUp, col2 = forward. Match the
+    // column-major element naming used by setQuaternionFromMatrix4.
+    const m00 = rx, m10 = cux, m20 = fx;
+    const m01 = ry, m11 = cuy, m21 = fy;
+    const m02 = rz, m12 = cuz, m22 = fz;
     const trace = m00 + m11 + m22;
     if (trace > 0) {
         const s = 0.5 / Math.sqrt(trace + 1);