@flighthq/geometry 0.3.1-next.780.12e6944 → 0.3.1-next.836.609b031

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@flighthq/geometry",
-  "version": "0.3.1-next.780.12e6944",
+  "version": "0.3.1-next.836.609b031",
   "author": "Joshua Granick and other contributors",
   "license": "MIT",
   "repository": {
@@ -38,9 +38,9 @@
     "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
   },
   "dependencies": {
-    "@flighthq/entity": "0.3.1-next.780.12e6944",
-    "@flighthq/log": "0.3.1-next.780.12e6944",
-    "@flighthq/types": "0.3.1-next.780.12e6944"
+    "@flighthq/entity": "0.3.1-next.836.609b031",
+    "@flighthq/log": "0.3.1-next.836.609b031",
+    "@flighthq/types": "0.3.1-next.836.609b031"
   },
   "devDependencies": {
     "typescript": "^5.3.0"

package/src/quaternion.test.ts

@@ -13,6 +13,7 @@ import {
   matrix4TransformPoint,
   multiplyQuaternion,
   normalizeQuaternion,
+  normalizeVector3,
   rotateVector3ByQuaternion,
   setMatrix4FromQuaternion,
   setQuaternion,
@@ -654,6 +655,46 @@ describe('slerpQuaternion', () => {
     expectQuaternionClose(out, b.x, b.y, b.z, b.w);
   });
 
+  it('halfway interpolates about a tilted axis, exercising every component', () => {
+    // Every other slerp case rotates about (0,1,0), which leaves x and z zero in BOTH inputs — so the
+    // x and z arms of the shortest-path negation and of the final blend cannot be observed at all, and
+    // a sign error in either would pass. A tilted, normalized axis gives all four components distinct
+    // non-zero magnitudes. The oracle is independent of slerp: halfway between identity and R(axis, θ)
+    // is R(axis, θ/2) by definition of the axis-angle form.
+    const axis = createVector3(1, 2, 3);
+    normalizeVector3(axis, axis);
+    const a = createQuaternion();
+    const b = createQuaternion();
+    setQuaternionFromAxisAngle(b, axis, Math.PI / 2);
+
+    const out = createQuaternion();
+    slerpQuaternion(out, a, b, 0.5);
+
+    const expected = createQuaternion();
+    setQuaternionFromAxisAngle(expected, axis, Math.PI / 4);
+    expectQuaternionClose(out, expected.x, expected.y, expected.z, expected.w);
+  });
+
+  it('takes the shortest path when the inputs face opposite hemispheres', () => {
+    // A quaternion and its negation are the SAME rotation, so slerping toward either must give the same
+    // result — that is what the cosHalfTheta < 0 branch exists to guarantee. Without an input pair whose
+    // dot product is negative, that branch never runs and its per-component sign flips are unobservable;
+    // the tilted axis then keeps bx and bz non-zero so a dropped flip on either actually moves the answer.
+    const axis = createVector3(1, 2, 3);
+    normalizeVector3(axis, axis);
+    const a = createQuaternion();
+    const far = createQuaternion();
+    setQuaternionFromAxisAngle(far, axis, Math.PI / 2);
+    const negated = createQuaternion(-far.x, -far.y, -far.z, -far.w);
+
+    const out = createQuaternion();
+    slerpQuaternion(out, a, negated, 0.5);
+
+    const expected = createQuaternion();
+    setQuaternionFromAxisAngle(expected, axis, Math.PI / 4);
+    expectQuaternionClose(out, expected.x, expected.y, expected.z, expected.w);
+  });
+
   it('halfway interpolates the angle', () => {
     const a = createQuaternion();
     const b = createQuaternion();