@johnhenry/math 0.0.0

package/dist/RealMath.js

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+import { Vector } from "./Vector.js";
+import { VectorUtils } from "./VectorUtils.js";
+// -- constants ---------------------------------------------------------------
+export const Zero = 0;
+export const One = 1;
+export const E = Math.E;
+export const PI = Math.PI;
+export const PHI = 1.61803399;
+export const PositiveInfinity = Infinity;
+export const NegativeInfinity = -Infinity;
+// -- Chapter 1: utilities -----------------------------------------------------
+export function radiansToDegrees(r) {
+    return (180 / Math.PI) * r;
+}
+export function degreesToRadians(d) {
+    return (Math.PI / 180) * d;
+}
+// -- Chapter 2: comparison -----------------------------------------------------
+/** Equality within `distance` (bug fix: AS3 ignored the tolerance). */
+export function equal(a, b, distance = 0) {
+    return Math.abs(a - b) <= distance;
+}
+export function compare(a, b) {
+    if (a > b)
+        return 1;
+    if (a < b)
+        return -1;
+    return 0;
+}
+export function lessThan(a, b) {
+    return a < b;
+}
+export function greaterThan(a, b) {
+    return a > b;
+}
+// -- Chapter 3: unary -----------------------------------------------------------
+export function negative(a = 0) {
+    return -a;
+}
+/** `1/a` (matches `divide`'s directed-infinity convention rather than always returning NaN). */
+export function reciprocal(a = 1) {
+    return 1 / a;
+}
+/** Round away tiny floating-point noise (rounds to 10 decimal places). */
+export function identity(a = 1) {
+    return roundTo(a);
+}
+// -- Chapter 4: binary -----------------------------------------------------------
+export function add(a = 0, b = 0) {
+    return a + b;
+}
+/** Subtraction (bug fix: AS3 returned `a*b`). */
+export function subtract(a = 0, b = 0) {
+    return a - b;
+}
+export function multiply(a = 1, b = 1) {
+    return a * b;
+}
+export function divide(a = 1, b = 1) {
+    if (b === 0) {
+        if (a > 0)
+            return Infinity;
+        if (a < 0)
+            return -Infinity;
+        return NaN;
+    }
+    return a / b;
+}
+// -- Chapter 5: exponential / logarithmic -----------------------------------------
+export function power(a = 1, exponent = 1) {
+    return a ** exponent;
+}
+export function square(a = 1) {
+    return a ** 2;
+}
+export function squareRoot(a = 1) {
+    return Math.sqrt(a);
+}
+export function logarithm(a = 1, base = Math.E) {
+    return Math.log(a) / Math.log(base);
+}
+// -- Chapter 6: trigonometry -----------------------------------------------------
+export function sine(a = 0) {
+    return identity(Math.sin(a));
+}
+export function cosine(a = 0) {
+    return identity(Math.cos(a));
+}
+export function tangent(a = 0) {
+    return identity(Math.tan(a));
+}
+export function cosecant(a = 0) {
+    return identity(1 / Math.sin(a));
+}
+export function secant(a = 0) {
+    return identity(1 / Math.cos(a));
+}
+export function cotangent(a = 0) {
+    return identity(1 / Math.tan(a));
+}
+export function hyperbolicSine(a) {
+    return identity(0.5 * (Math.exp(a) - Math.exp(-a)));
+}
+export function hyperbolicCosine(a) {
+    return identity(0.5 * (Math.exp(a) + Math.exp(-a)));
+}
+export function hyperbolicTangent(a) {
+    return hyperbolicSine(a) / hyperbolicCosine(a);
+}
+export function hyperbolicCosecant(a) {
+    return 1 / hyperbolicSine(a);
+}
+export function hyperbolicSecant(a) {
+    return 1 / hyperbolicCosine(a);
+}
+export function hyperbolicCotangent(a) {
+    return hyperbolicCosine(a) / hyperbolicSine(a);
+}
+// -- Chapter 7: series, algebra, calculus -----------------------------------------
+export function sumSeries(unaryOperation, start = 0, end = 0) {
+    return VectorUtils.collapse(VectorUtils.transform(VectorUtils.arithmeticSequence(start, end), unaryOperation), (a, b) => a + b, 0);
+}
+export function productSeries(unaryOperation, start = 0, end = 0) {
+    return VectorUtils.collapse(VectorUtils.transform(VectorUtils.arithmeticSequence(start, end), unaryOperation), (a, b) => a * b, 1);
+}
+/**
+ * Newton–Raphson root finder for `unaryOperation(x) == target`.
+ *
+ * Bug fix: the AS3 version updated `guess -= (f(guess) - target)`, i.e. Newton
+ * with an assumed derivative of 1 — it diverges for almost any nonlinear
+ * function. Here the derivative is estimated numerically ({@link differentiateN})
+ * so the iteration actually converges, and unbounded recursion is replaced by a
+ * bounded loop.
+ */
+export function solveN(unaryOperation, target, desiredAccuracy = 0.01, guess = 0, maxIterations = 10000) {
+    let x = guess;
+    for (let i = 0; i < maxIterations; i++) {
+        const difference = unaryOperation(x) - target;
+        if (Math.abs(difference) <= desiredAccuracy)
+            return x;
+        const slope = differentiateN(unaryOperation, x, 1e-6);
+        if (slope === 0 || !Number.isFinite(slope))
+            break;
+        x = x - difference / slope;
+    }
+    return x;
+}
+/**
+ * Numeric integral via the midpoint rule (bug fix: the AS3 code sampled at
+ * `2*lowerLimit+interval` and had an unreachable return).
+ */
+export function integrateN(unaryOperation, lowerLimit, upperLimit, interval = 0.01) {
+    if (interval <= 0)
+        throw new RangeError(`RealMath.integrateN: interval must be positive, got ${interval}`);
+    let result = 0;
+    for (let x = lowerLimit; x < upperLimit; x += interval) {
+        result += unaryOperation(x + interval / 2);
+    }
+    return interval * result;
+}
+/**
+ * Numeric derivative via the symmetric difference quotient (bug fix: the AS3
+ * code was a forward difference despite the "symmetric" comment).
+ */
+export function differentiateN(unaryOperation, point, limit = 0.01) {
+    if (limit <= 0)
+        throw new RangeError(`RealMath.differentiateN: limit must be positive, got ${limit}`);
+    return (unaryOperation(point + limit) - unaryOperation(point - limit)) / (2 * limit);
+}
+// -- Chapter 9: probability -----------------------------------------------------
+export function normalDistribution(mean, sDev) {
+    return (x) => (1 / (sDev * Math.sqrt(2 * Math.PI))) * Math.E ** (-0.5 * ((x - mean) / sDev) ** 2);
+}
+export function standardNormalDistribution(x) {
+    return normalDistribution(0, 1)(x);
+}
+export function normalProbability(x, mean, sDev, negativeInfinityApproximation = -5, integrationInterval = 0.0001) {
+    return integrateN(normalDistribution(mean, sDev), negativeInfinityApproximation, x, integrationInterval);
+}
+export function standardNormalProbability(z, negativeInfinityApproximation = -5, interval = 0.0001) {
+    return integrateN(standardNormalDistribution, negativeInfinityApproximation, z, interval);
+}
+// -- Chapter 8: precision & randomness -----------------------------------------
+/** Round to `precision` decimal places (replaces the buggy Flex NumberFormatter). */
+export function roundTo(num, precision = 10) {
+    if (!Number.isFinite(num))
+        return num;
+    const factor = 10 ** precision;
+    return Math.round(num * factor) / factor;
+}
+/** Uniform random in `[min(r1,r2), max(r1,r2)]`. */
+export function random(r1 = 1, r2 = 0, _inclusive = true) {
+    const low = Math.min(r1, r2);
+    const high = Math.max(r1, r2);
+    return low + Math.random() * (high - low);
+}
+/** Placeholder for the random.org fetch; always falls back to {@link random}. */
+export function randomOrg(lower = 0, upper = 1, inclusive = true, fallback = true) {
+    if (fallback)
+        return random(lower, upper, inclusive);
+    return 0;
+}
+export function jitter(a, magnitude = 0.1) {
+    return a + (2 * Math.random() - 1) * magnitude;
+}
+// -- Part II Chapter 1: vectors -----------------------------------------------
+export function addVector(alpha, beta) {
+    return VectorUtils.combine(alpha, beta, add);
+}
+export function scaleVector(alpha, scalar) {
+    return VectorUtils.transform(alpha, (x) => multiply(scalar, x));
+}
+export function negativeVector(alpha) {
+    return scaleVector(alpha, -1);
+}
+export function subtractVector(alpha, beta) {
+    return addVector(alpha, negativeVector(beta));
+}
+export function dotProduct(alpha, beta) {
+    const collapsable = VectorUtils.combine(alpha, beta, multiply, 0);
+    return VectorUtils.collapse(collapsable, add);
+}
+/**
+ * 3D cross product (bug fix: the AS3 code read index 3 for the z-component
+ * and used truthiness tests that dropped legitimate zero components).
+ */
+export function crossProduct(alpha, beta) {
+    const a = [0, 0, 0];
+    const b = [0, 0, 0];
+    for (let i = 0; i < 3; i++) {
+        if (i < alpha.length && alpha[i] != null)
+            a[i] = alpha[i];
+        if (i < beta.length && beta[i] != null)
+            b[i] = beta[i];
+    }
+    const i = a[1] * b[2] - a[2] * b[1];
+    const j = a[2] * b[0] - a[0] * b[2];
+    const k = a[0] * b[1] - a[1] * b[0];
+    return Vector.fromArray([i, j, k]);
+}
+export function kroneckerProduct(A, B) {
+    let kronecker = VectorUtils.constantVector(A.length, null);
+    kronecker = VectorUtils.fillByIndex(kronecker, (i) => scaleVector(B, A[i]));
+    return VectorUtils.flattenSDLevels(kronecker, 2);
+}
+export function distanceVector(alpha, beta, norm = 2) {
+    return pNorm(subtractVector(alpha, beta), norm);
+}
+export function pNorm(alpha, norm = 2) {
+    if (norm === 0)
+        return Math.max(...VectorUtils.transform(alpha, Math.abs));
+    const summable = VectorUtils.transform(alpha, (x) => Math.abs(x) ** norm);
+    const sum = VectorUtils.collapse(summable, (a, b) => a + b, 0);
+    return sum ** (1 / norm);
+}
+export function magnitudeVector(alpha) {
+    return pNorm(alpha, 2);
+}
+export function angleBetween(alpha, beta) {
+    return Math.acos(dotProduct(alpha, beta) / (magnitudeVector(alpha) * magnitudeVector(beta)));
+}
+//# sourceMappingURL=RealMath.js.map

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package/dist/Rotor4.d.ts

@@ -0,0 +1,180 @@
+/**
+ * Rotor4 — a rotation operator in 4D space: `scalar + bivector (6) + pseudoscalar (1)`,
+ * 8 components total. This is the 4D generalization of {@link Quaternion}
+ * (which is really the 3D rotor, `scalar + bivector (3)`, that happens to
+ * have the same component count as a 3D vector — a coincidence unique to 3D
+ * that doesn't hold in 4D or any other dimension).
+ *
+ * **Double rotations.** A general 3D rotor always describes rotation in a
+ * single 2-plane. A general 4D rotor can describe a *double rotation*:
+ * simultaneous, independent rotation in two mutually orthogonal 2-planes at
+ * once — this is the origin of the nonzero pseudoscalar component, and it
+ * has no 3D analogue. See {@link Rotor4.multiply} composing two
+ * single-plane rotors in orthogonal planes for how a double rotation arises.
+ *
+ * **Normalization caveat.** {@link Rotor4.normalize} performs the naive
+ * quaternion-style renormalization (divide by magnitude). This is only
+ * exactly correct for *simple* rotors (single rotation plane) — for a
+ * genuine double rotation it does not lie on the same manifold as a simple
+ * rotor, so naive renormalization after numerical drift can silently produce
+ * an invalid rotor. {@link Rotor4.factor} and {@link Rotor4.renormalize} are
+ * the proper fix (Perwass-style rotor factorization): decompose into two
+ * simple rotors in orthogonal planes, each renormalizable exactly, then
+ * recompose — see the `N-Dimensional Rigid Body Dynamics` (SIGGRAPH 2020)
+ * paper §3.3 for why this matters for repeated physics integration.
+ */
+import { Bivector4 } from "./Bivector4.ts";
+import { Vec4 } from "./Vec4.ts";
+export declare class Rotor4 {
+    readonly scalar: number;
+    readonly bivector: Bivector4;
+    readonly pseudoscalar: number;
+    static readonly Identity: Rotor4;
+    constructor(scalar?: number, bivector?: Bivector4, pseudoscalar?: number);
+    private toMV;
+    private static fromMV;
+    add(r: Rotor4): Rotor4;
+    subtract(r: Rotor4): Rotor4;
+    negate(): Rotor4;
+    scale(s: number): Rotor4;
+    /** Component-wise inner product over all 8 components (scalar, 6 bivector, pseudoscalar) -- treats a Rotor4 as an 8-vector, exactly {@link Quaternion.dot}'s role in that class's own `slerp`. */
+    dot(r: Rotor4): number;
+    /** The geometric product `this * r` — composes two rotations (apply `r` first, then `this`). */
+    multiply(r: Rotor4): Rotor4;
+    /**
+     * The reverse `R~`: reverses the order of vector factors, which negates the
+     * bivector (grade 2, picks up (-1)^1) but leaves the scalar (grade 0) and
+     * pseudoscalar (grade 4, picks up (-1)^6 = +1) unchanged. For a unit rotor,
+     * this is also the inverse — the 4D analogue of a quaternion's conjugate
+     * ({@link Quaternion.conjugate}). **Not** the inverse for a non-unit rotor
+     * (see {@link inverse}): a rotor that has drifted off the unit manifold
+     * during repeated composition (e.g. per-timestep physics integration,
+     * before renormalization runs) will silently produce a wrong,
+     * `|R|²`-scaled result from `reverse()` where an inverse was intended.
+     */
+    reverse(): Rotor4;
+    /**
+     * Multiplicative inverse `R⁻¹ = R~ / |R|²`, distinct from {@link reverse}
+     * for a non-unit rotor — the 4D analogue of {@link Quaternion.inverse}.
+     * `this.multiply(this.inverse())` is `Identity` regardless of `this`'s
+     * magnitude; `this.multiply(this.reverse())` only is when `this` is
+     * already a unit rotor.
+     */
+    inverse(): Rotor4;
+    get magnitudeSquared(): number;
+    get magnitude(): number;
+    /**
+     * Naive renormalization (divide by magnitude). Exact for simple rotors;
+     * see the class-level doc comment for why this is *not* generally correct
+     * for double rotations, and where the real fix belongs.
+     */
+    normalize(): Rotor4;
+    /** Apply this rotor to a vector via the sandwich product `R v R~`. Rotates `v`. */
+    apply(v: Vec4): Vec4;
+    /** Apply this rotor to a bivector via the sandwich product `R B R~`. Rotates the 2-plane `B`. */
+    applyToBivector(b: Bivector4): Bivector4;
+    /**
+     * Perwass-style rotor factorization: decompose this rotor into two simple
+     * rotors `[R1, R2]` in mutually orthogonal planes such that `R2.multiply(R1)`
+     * has the same *action* as this rotor (equal up to the usual rotor
+     * double-cover sign, like any rotor comparison) — the proper fix for
+     * {@link normalize}'s documented limitation on double rotations. Works
+     * even when this rotor has drifted away from being a valid unit rotor
+     * (the intended use case: repeated physics integration).
+     *
+     * Method: find this rotor's two invariant 2-planes as eigenspaces of the
+     * *symmetric* part `S = M + Mᵀ` of its 4x4 matrix representation `M`
+     * (restricted to an invariant plane with rotation angle `θ`, `M + Mᵀ` is
+     * `2cos(θ)` times the identity on that plane — so same-angle-magnitude
+     * planes share an eigenvalue, and a repeated eigenvalue of `S` signals an
+     * isoclinic-type degeneracy where *any* orthonormal basis of that
+     * eigenspace is a genuinely valid invariant-plane choice, not just an
+     * approximation). `eigenSymmetric`'s eigenvector order isn't guaranteed to
+     * group same-plane pairs together when eigenvalues coincide (or are
+     * numerically indistinguishable), so the 3 possible pairings of the 4
+     * eigenvectors into 2 pairs are explicitly checked for genuine
+     * `M`-invariance (zero "leakage" into the other pair) before use, rather
+     * than assumed from sort order. Once a valid pair `(u, v)` spanning an
+     * invariant plane is known, the angle and correctly-oriented plane come
+     * directly from how `M` actually acts on `u` within that plane —
+     * `atan2(v·(Mu), u·(Mu))` — not from this rotor's own (possibly drifted)
+     * scalar/bivector/pseudoscalar components.
+     */
+    factor(): [Rotor4, Rotor4];
+    /**
+     * The proper (Perwass-style) fix for numerical drift: {@link factor} this
+     * rotor into two simple rotors — each exactly renormalizable, unlike a
+     * compound rotor — and recompose. Prefer this over {@link normalize} once
+     * a rotor may have accumulated drift through repeated integration and
+     * could be a genuine double rotation; `normalize` remains correct (and
+     * cheaper) for rotors known to be simple.
+     */
+    renormalize(): Rotor4;
+    /**
+     * Build the rotor for a rotation of `angle` radians in the 2-plane `plane`
+     * (analogous to {@link Quaternion.fromAxisAngle}, but a *plane* rather than
+     * an *axis* — axes only work as rotation generators in 3D). `plane` must be
+     * simple (see {@link Bivector4.isSimple}); to build a double rotation,
+     * construct two simple rotors in orthogonal planes and {@link multiply}
+     * them together.
+     */
+    static fromBivectorAngle(plane: Bivector4, angle: number): Rotor4;
+    /**
+     * `exp(B)`: the rotor generated by the bivector `B` -- for a *simple* `B`,
+     * this is a rotation of `|B|` radians in `B`'s plane, matching
+     * {@link fromBivectorAngle}'s convention for the common physics case of an
+     * already-scaled generator (e.g. `angularVelocity * dt`, where the
+     * bivector's magnitude *is* the rotation angle and its direction *is* the
+     * plane). For a *compound* `B` (e.g. an angular velocity spinning
+     * simultaneously in two independent planes, entirely possible physically),
+     * the naive `cos|B| + sin|B|·B̂` formula this reduces to for simple `B` is
+     * wrong: `B² ≠ -|B|²` in general (it has a nonzero pseudoscalar term too),
+     * so this instead decomposes `B` into its two orthogonal simple
+     * components `m1·Π1 + m2·Π2` and returns `exp(m2·Π2)·exp(m1·Π1)` (valid
+     * since orthogonal-plane generators commute). Decomposition method:
+     * `B`'s invariant planes are the eigenspaces of `-A²`, where `A` is `B`'s
+     * contraction-action matrix (`A(v) = v⌋B`, antisymmetric, so `A²` is
+     * symmetric negative-semidefinite) -- the bivector analogue of how
+     * {@link factor} finds a *rotor's* invariant planes via `M + Mᵀ`, right
+     * down to needing the same explicit pairing-invariance check (eigenvalue
+     * sort order isn't reliable when eigenvalues coincide). Returns
+     * {@link Identity} for the zero bivector.
+     */
+    static exp(bivector: Bivector4): Rotor4;
+    /**
+     * `log()`: the bivector `B` such that `exp(B) = this`, for a *simple*
+     * rotor -- the inverse of {@link exp}. Throws for a compound
+     * (double-rotation) rotor, same as {@link toBivectorAngle} (which this is
+     * built on): decomposing a general rotor's log is the Perwass-factorization
+     * work deferred to the physics layer.
+     */
+    log(epsilon?: number): Bivector4;
+    /**
+     * Recover `(plane, angle)` for a *simple* rotor (pseudoscalar ≈ 0). Throws
+     * for a compound (double-rotation) rotor — see the class-level doc comment;
+     * decomposing a general rotor's log is the Perwass-factorization work
+     * deferred to the physics layer.
+     */
+    toBivectorAngle(epsilon?: number): {
+        plane: Bivector4;
+        angle: number;
+    };
+    /**
+     * Spherical linear interpolation between two rotors, `t` in `[0, 1]` --
+     * the 4D analogue of {@link Quaternion.slerp}, same component-wise
+     * treatment (an 8-vector of scalar/bivector(6)/pseudoscalar, via
+     * {@link dot}) and the same near-parallel fallback to a normalized
+     * linear interpolation to avoid dividing by a near-zero `sin(theta0)`.
+     *
+     * **Same manifold caveat as {@link normalize}**: this is only exactly
+     * correct for interpolating between *simple* rotors (single rotation
+     * plane) — a compound double rotation doesn't lie on the sphere this
+     * construction assumes, so slerping one is an approximation, not a
+     * geodesic. For a double rotation, {@link factor} each endpoint into its
+     * two orthogonal simple rotors and slerp each pair independently instead.
+     */
+    static slerp(a: Rotor4, b: Rotor4, t: number): Rotor4;
+    equals(r: Rotor4, epsilon?: number): boolean;
+    toString(): string;
+}
+//# sourceMappingURL=Rotor4.d.ts.map

package/dist/Rotor4.d.ts.map

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