@lakuna/umath 1.3.3 → 1.3.5

package/dist/linalg/DualQuaternion.js

@@ -1,8 +1,8 @@
-import { getRotation as getMatrix4Rotation, getTranslation as getMatrix4Translation } from "#Matrix4";
-import Quaternion, { rotateX as quaternionRotateX, rotateY as quaternionRotateY, rotateZ as quaternionRotateZ } from "#Quaternion";
-import Vector3, {} from "#Vector3";
-import { copy as xetReal, dot, getMagnitude, getSquaredMagnitude } from "#Vector4";
-import epsilon from "#epsilon";
+import { getRotation as getMatrix4Rotation, getTranslation as getMatrix4Translation } from "./Matrix4.js";
+import Quaternion, { createQuaternionLike, rotateX as quaternionRotateX, rotateY as quaternionRotateY, rotateZ as quaternionRotateZ } from "./Quaternion.js";
+import Vector3, { createVector3Like } from "./Vector3.js";
+import { dot, getMagnitude, getSquaredMagnitude, copy as xetReal } from "./Vector4.js";
+import epsilon from "../utility/epsilon.js";
 export function createDualQuaternionLike() {
     return new Float32Array(8);
 }
@@ -68,8 +68,8 @@ export function fromRotation(quaternion, out) {
     out[7] = 0;
     return out;
 }
-const rotation = new Float32Array(4);
-const translation = new Float32Array(4);
+const rotation = createQuaternionLike();
+const translation = createVector3Like();
 export function fromMatrix4(matrix, out) {
     return fromRotationTranslation(getMatrix4Rotation(matrix, rotation), getMatrix4Translation(matrix, translation), out);
 }
@@ -364,17 +364,15 @@ export function scale(dualQuaternion, scalar, out) {
 }
 export function lerp(a, b, t, out) {
     const mt = 1 - t;
-    if (dot(a, b) < epsilon) {
-        t = -t;
-    }
-    out[0] = a[0] * mt + b[0] * t;
-    out[1] = a[1] * mt + b[1] * t;
-    out[2] = a[2] * mt + b[2] * t;
-    out[3] = a[3] * mt + b[3] * t;
-    out[4] = a[4] * mt + b[4] * t;
-    out[5] = a[5] * mt + b[5] * t;
-    out[6] = a[6] * mt + b[6] * t;
-    out[7] = a[7] * mt + b[7] * t;
+    const it = dot(a, b) < epsilon ? -t : t;
+    out[0] = a[0] * mt + b[0] * it;
+    out[1] = a[1] * mt + b[1] * it;
+    out[2] = a[2] * mt + b[2] * it;
+    out[3] = a[3] * mt + b[3] * it;
+    out[4] = a[4] * mt + b[4] * it;
+    out[5] = a[5] * mt + b[5] * it;
+    out[6] = a[6] * mt + b[6] * it;
+    out[7] = a[7] * mt + b[7] * it;
     return out;
 }
 export function invert(dualQuaternion, out) {
@@ -412,15 +410,15 @@ export function normalize(dualQuaternion, out) {
         const b1 = dualQuaternion[5];
         const b2 = dualQuaternion[6];
         const b3 = dualQuaternion[7];
-        const a_dot_b = a0 * b0 + a1 * b1 + a2 * b2 + a3 * b3;
+        const aDotB = a0 * b0 + a1 * b1 + a2 * b2 + a3 * b3;
         out[0] = a0;
         out[1] = a1;
         out[2] = a2;
         out[3] = a3;
-        out[4] = (b0 - a0 * a_dot_b) / magnitude;
-        out[5] = (b1 - a1 * a_dot_b) / magnitude;
-        out[6] = (b2 - a2 * a_dot_b) / magnitude;
-        out[7] = (b3 - a3 * a_dot_b) / magnitude;
+        out[4] = (b0 - a0 * aDotB) / magnitude;
+        out[5] = (b1 - a1 * aDotB) / magnitude;
+        out[6] = (b2 - a2 * aDotB) / magnitude;
+        out[7] = (b3 - a3 * aDotB) / magnitude;
     }
     return out;
 }
@@ -464,14 +462,14 @@ export default class DualQuaternion extends Float32Array {
     static fromValues(x1, y1, z1, w1, x2, y2, z2, w2, out = new DualQuaternion()) {
         return fromValues(x1, y1, z1, w1, x2, y2, z2, w2, out);
     }
-    static fromRotationTranslation(quaternion, translation, out = new DualQuaternion()) {
-        return fromRotationTranslation(quaternion, translation, out);
+    static fromRotationTranslation(q, t, out = new DualQuaternion()) {
+        return fromRotationTranslation(q, t, out);
     }
-    static fromTranslation(translation, out = new DualQuaternion()) {
-        return fromTranslation(translation, out);
+    static fromTranslation(t, out = new DualQuaternion()) {
+        return fromTranslation(t, out);
     }
-    static fromRotation(quaternion, out = new DualQuaternion()) {
-        return fromRotation(quaternion, out);
+    static fromRotation(q, out = new DualQuaternion()) {
+        return fromRotation(q, out);
     }
     static fromMatrix4(matrix, out = new DualQuaternion()) {
         return fromMatrix4(matrix, out);
@@ -480,6 +478,14 @@ export default class DualQuaternion extends Float32Array {
         super(8);
         this[3] = 1;
     }
+    0;
+    1;
+    2;
+    3;
+    4;
+    5;
+    6;
+    7;
     copy(dualQuaternion) {
         return copy(dualQuaternion, this);
     }
@@ -492,53 +498,53 @@ export default class DualQuaternion extends Float32Array {
     getReal(out = new Quaternion()) {
         return xetReal(this, out);
     }
-    setReal(quaternion) {
-        xetReal(quaternion, this);
+    setReal(q) {
+        xetReal(q, this);
     }
     getDual(out = new Quaternion()) {
         return getDual(this, out);
     }
-    setDual(quaternion) {
-        setDual(quaternion, this);
+    setDual(q) {
+        setDual(q, this);
     }
     getTranslation(out = new Vector3()) {
         return getTranslation(this, out);
     }
-    translate(vector, out = new DualQuaternion()) {
-        return translate(this, vector, out);
+    translate(v, out = new DualQuaternion()) {
+        return translate(this, v, out);
     }
-    rotateX(radians, out = new DualQuaternion()) {
-        return rotateX(this, radians, out);
+    rotateX(r, out = new DualQuaternion()) {
+        return rotateX(this, r, out);
     }
-    rotateY(radians, out = new DualQuaternion()) {
-        return rotateY(this, radians, out);
+    rotateY(r, out = new DualQuaternion()) {
+        return rotateY(this, r, out);
     }
-    rotateZ(radians, out = new DualQuaternion()) {
-        return rotateZ(this, radians, out);
+    rotateZ(r, out = new DualQuaternion()) {
+        return rotateZ(this, r, out);
     }
-    rotateByQuaternionAppend(quaternion, out = new DualQuaternion()) {
-        return rotateByQuaternionAppend(this, quaternion, out);
+    rotateByQuaternionAppend(q, out = new DualQuaternion()) {
+        return rotateByQuaternionAppend(this, q, out);
     }
-    rotateByQuaternionPrepend(quaternion, out = new DualQuaternion()) {
-        return rotateByQuaternionPrepend(quaternion, this, out);
+    rotateByQuaternionPrepend(q, out = new DualQuaternion()) {
+        return rotateByQuaternionPrepend(q, this, out);
     }
-    rotateAroundAxis(axis, radians, out = new DualQuaternion()) {
-        return rotateAroundAxis(this, axis, radians, out);
+    rotateAroundAxis(axis, r, out = new DualQuaternion()) {
+        return rotateAroundAxis(this, axis, r, out);
     }
-    add(dualQuaternion, out = new DualQuaternion()) {
-        return add(this, dualQuaternion, out);
+    add(dq, out = new DualQuaternion()) {
+        return add(this, dq, out);
     }
-    multiply(dualQuaternion, out = new DualQuaternion()) {
-        return multiply(this, dualQuaternion, out);
+    multiply(dq, out = new DualQuaternion()) {
+        return multiply(this, dq, out);
     }
-    scale(scalar, out = new DualQuaternion()) {
-        return scale(this, scalar, out);
+    scale(s, out = new DualQuaternion()) {
+        return scale(this, s, out);
     }
-    dot(dualQuaternion) {
-        return dot(this, dualQuaternion);
+    dot(dq) {
+        return dot(this, dq);
     }
-    lerp(dualQuaternion, t, out = new DualQuaternion()) {
-        return lerp(this, dualQuaternion, t, out);
+    lerp(dq, t, out = new DualQuaternion()) {
+        return lerp(this, dq, t, out);
     }
     invert(out = new DualQuaternion()) {
         return invert(this, out);
@@ -555,11 +561,11 @@ export default class DualQuaternion extends Float32Array {
     normalize(out = new DualQuaternion()) {
         return normalize(this, out);
     }
-    exactEquals(dualQuaternion) {
-        return exactEquals(this, dualQuaternion);
+    exactEquals(dq) {
+        return exactEquals(this, dq);
     }
-    equals(dualQuaternion) {
-        return equals(this, dualQuaternion);
+    equals(dq) {
+        return equals(this, dq);
     }
 }
 //# sourceMappingURL=DualQuaternion.js.map

package/dist/linalg/DualQuaternion.js.map

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package/dist/linalg/Matrix.d.ts

@@ -1,17 +1,18 @@
-export type MatrixLike = Matrix | ArrayLike<number>;
-export default interface Matrix extends ArrayLike<number> {
+import type { Matrix4Like } from "./Matrix4.js";
+export type MatrixLike = Record<number, number>;
+export default interface Matrix extends MatrixLike {
     height: number;
     width: number;
     get frob(): number;
-    add(matrix: MatrixLike): Matrix;
-    clone(): Matrix;
-    copy(matrix: MatrixLike): this;
-    equals(matrix: MatrixLike): boolean;
-    exactEquals(matrix: MatrixLike): boolean;
-    multiply(matrix: MatrixLike): Matrix;
-    multiplyScalar(scalar: number): Matrix;
-    multiplyScalarAndAdd(matrix: MatrixLike, scalar: number): Matrix;
-    subtract(matrix: MatrixLike): Matrix;
-    transpose(): Matrix;
+    add(matrix: Matrix4Like): MatrixLike;
+    clone(): MatrixLike;
+    copy(matrix: Matrix4Like): this;
+    equals(matrix: Matrix4Like): boolean;
+    exactEquals(matrix: Matrix4Like): boolean;
+    multiply(matrix: Matrix4Like): MatrixLike;
+    multiplyScalar(scalar: number): MatrixLike;
+    multiplyScalarAndAdd(matrix: Matrix4Like, scalar: number): MatrixLike;
+    subtract(matrix: Matrix4Like): MatrixLike;
+    transpose(): MatrixLike;
 }
 //# sourceMappingURL=Matrix.d.ts.map

package/dist/linalg/Matrix.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"Matrix.d.ts","sourceRoot":"","sources":["../../src/linalg/Matrix.ts"],"names":[],"mappings":"AAIA,MAAM,MAAM,UAAU,GAAG,MAAM,GAAG,SAAS,CAAC,MAAM,CAAC,CAAC;AAMpD,MAAM,CAAC,OAAO,WAAW,MAAO,SAAQ,SAAS,CAAC,MAAM,CAAC;IAExD,MAAM,EAAE,MAAM,CAAC;IAGf,KAAK,EAAE,MAAM,CAAC;IAMd,IAAI,IAAI,IAAI,MAAM,CAAC;IAQnB,GAAG,CAAC,MAAM,EAAE,UAAU,GAAG,MAAM,CAAC;IAMhC,KAAK,IAAI,MAAM,CAAC;IAOhB,IAAI,CAAC,MAAM,EAAE,UAAU,GAAG,IAAI,CAAC;IAO/B,MAAM,CAAC,MAAM,EAAE,UAAU,GAAG,OAAO,CAAC;IAOpC,WAAW,CAAC,MAAM,EAAE,UAAU,GAAG,OAAO,CAAC;IAQzC,QAAQ,CAAC,MAAM,EAAE,UAAU,GAAG,MAAM,CAAC;IAQrC,cAAc,CAAC,MAAM,EAAE,MAAM,GAAG,MAAM,CAAC;IAUvC,oBAAoB,CAAC,MAAM,EAAE,UAAU,EAAE,MAAM,EAAE,MAAM,GAAG,MAAM,CAAC;IAQjE,QAAQ,CAAC,MAAM,EAAE,UAAU,GAAG,MAAM,CAAC;IAOrC,SAAS,IAAI,MAAM,CAAC;CACpB"}
+{"version":3,"file":"Matrix.d.ts","sourceRoot":"","sources":["../../src/linalg/Matrix.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,cAAc,CAAC;AAGhD,MAAM,MAAM,UAAU,GAAG,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;AAMhD,MAAM,CAAC,OAAO,WAAW,MAAO,SAAQ,UAAU;IAEjD,MAAM,EAAE,MAAM,CAAC;IAGf,KAAK,EAAE,MAAM,CAAC;IAMd,IAAI,IAAI,IAAI,MAAM,CAAC;IAQnB,GAAG,CAAC,MAAM,EAAE,WAAW,GAAG,UAAU,CAAC;IAMrC,KAAK,IAAI,UAAU,CAAC;IAOpB,IAAI,CAAC,MAAM,EAAE,WAAW,GAAG,IAAI,CAAC;IAOhC,MAAM,CAAC,MAAM,EAAE,WAAW,GAAG,OAAO,CAAC;IAOrC,WAAW,CAAC,MAAM,EAAE,WAAW,GAAG,OAAO,CAAC;IAQ1C,QAAQ,CAAC,MAAM,EAAE,WAAW,GAAG,UAAU,CAAC;IAQ1C,cAAc,CAAC,MAAM,EAAE,MAAM,GAAG,UAAU,CAAC;IAU3C,oBAAoB,CAAC,MAAM,EAAE,WAAW,EAAE,MAAM,EAAE,MAAM,GAAG,UAAU,CAAC;IAQtE,QAAQ,CAAC,MAAM,EAAE,WAAW,GAAG,UAAU,CAAC;IAO1C,SAAS,IAAI,UAAU,CAAC;CACxB"}

package/dist/linalg/Matrix2.d.ts

@@ -1,8 +1,14 @@
-import type SquareMatrix from "#SquareMatrix";
-import type { Vector2Like } from "#Vector2";
-export type Matrix2Like = Matrix2 | [number, number, number, number];
+import type { MatrixLike } from "./Matrix.js";
+import type SquareMatrix from "./SquareMatrix.js";
+import type { Vector2Like } from "./Vector2.js";
+export interface Matrix2Like extends MatrixLike {
+    0: number;
+    1: number;
+    2: number;
+    3: number;
+}
 export declare function createMatrix2Like(): Matrix2Like;
-export declare function fromRotation<T extends Matrix2Like>(radians: number, out: T): T;
+export declare function fromRotation<T extends Matrix2Like>(r: number, out: T): T;
 export declare function fromScaling<T extends Matrix2Like>(vector: Vector2Like, out: T): T;
 export declare function fromValues<T extends Matrix2Like>(c0r0: number, c0r1: number, c1r0: number, c1r1: number, out: T): T;
 export declare function equals(a: Matrix2Like, b: Matrix2Like): boolean;
@@ -19,45 +25,35 @@ export declare function transpose<T extends Matrix2Like>(matrix: Matrix2Like, ou
 export declare function determinant(matrix: Matrix2Like): number;
 export declare function identity<T extends Matrix2Like>(out: T): T;
 export declare function invert<T extends Matrix2Like>(matrix: Matrix2Like, out: T): T;
-export declare function rotate<T extends Matrix2Like>(matrix: Matrix2Like, radians: number, out: T): T;
+export declare function rotate<T extends Matrix2Like>(matrix: Matrix2Like, r: number, out: T): T;
 export declare function scale<T extends Matrix2Like>(matrix: Matrix2Like, vector: Vector2Like, out: T): T;
-export default class Matrix2 extends Float32Array implements SquareMatrix {
-    static fromRotation(radians: number): Matrix2;
-    static fromRotation<T extends Matrix2Like>(radians: number, out: T): T;
-    static fromScaling(vector: Vector2Like): Matrix2;
-    static fromScaling<T extends Matrix2Like>(vector: Vector2Like, out: T): T;
-    static fromValues(c0r0: number, c0r1: number, c1r0: number, c1r1: number): Matrix2;
-    static fromValues<T extends Matrix2Like>(c0r0: number, c0r1: number, c1r0: number, c1r1: number, out: T): T;
+export default class Matrix2 extends Float32Array implements SquareMatrix, Matrix2Like {
+    static fromRotation<T extends Matrix2Like>(r: number, out?: T): T;
+    static fromScaling<T extends Matrix2Like>(vector: Vector2Like, out?: T): T;
+    static fromValues<T extends Matrix2Like>(c0r0: number, c0r1: number, c1r0: number, c1r1: number, out?: T): T;
     constructor();
+    0: number;
+    1: number;
+    2: number;
+    3: number;
     readonly width: 2;
     readonly height: 2;
     equals(matrix: Matrix2Like): boolean;
     exactEquals(matrix: Matrix2Like): boolean;
-    add(matrix: Matrix2Like): Matrix2;
-    add<T extends Matrix2Like>(matrix: Matrix2Like, out: T): T;
-    adjoint(): Matrix2;
-    adjoint<T extends Matrix2Like>(out: T): T;
-    clone(): Matrix2;
-    clone<T extends Matrix2Like>(out: T): T;
+    add<T extends Matrix2Like>(matrix: Matrix2Like, out?: T): T;
+    adjoint<T extends Matrix2Like>(out?: T): T;
+    clone<T extends Matrix2Like>(out?: T): T;
     copy(matrix: Matrix2Like): this;
     get frob(): number;
-    multiply(matrix: Matrix2Like): Matrix2;
-    multiply<T extends Matrix2Like>(matrix: Matrix2Like, out: T): T;
-    multiplyScalar(scalar: number): Matrix2;
-    multiplyScalar<T extends Matrix2Like>(scalar: number, out: T): T;
-    multiplyScalarAndAdd(matrix: Matrix2Like, scalar: number): Matrix2;
-    multiplyScalarAndAdd<T extends Matrix2Like>(matrix: Matrix2Like, scalar: number, out: T): T;
-    subtract(matrix: Matrix2Like): Matrix2;
-    subtract<T extends Matrix2Like>(matrix: Matrix2Like, out: T): T;
-    transpose(): Matrix2;
-    transpose<T extends Matrix2Like>(out: T): T;
+    multiply<T extends Matrix2Like>(matrix: Matrix2Like, out?: T): T;
+    multiplyScalar<T extends Matrix2Like>(scalar: number, out?: T): T;
+    multiplyScalarAndAdd<T extends Matrix2Like>(matrix: Matrix2Like, scalar: number, out?: T): T;
+    subtract<T extends Matrix2Like>(matrix: Matrix2Like, out?: T): T;
+    transpose<T extends Matrix2Like>(out?: T): T;
     get determinant(): number;
     identity(): this;
-    invert(): Matrix2;
-    invert<T extends Matrix2Like>(out: T): T;
-    rotate(radians: number): Matrix2;
-    rotate<T extends Matrix2Like>(radians: number, out: T): T;
-    scale(v: Vector2Like): Matrix2;
-    scale<T extends Matrix2Like>(vector: Vector2Like, out: T): T;
+    invert<T extends Matrix2Like>(out?: T): T;
+    rotate<T extends Matrix2Like>(r: number, out?: T): T;
+    scale<T extends Matrix2Like>(vector: Vector2Like, out?: T): T;
 }
 //# sourceMappingURL=Matrix2.d.ts.map

package/dist/linalg/Matrix2.d.ts.map

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package/dist/linalg/Matrix2.js

@@ -1,11 +1,11 @@
-import epsilon from "#epsilon";
-import SingularMatrixError from "#SingularMatrixError";
+import SingularMatrixError from "../utility/SingularMatrixError.js";
+import epsilon from "../utility/epsilon.js";
 export function createMatrix2Like() {
     return new Float32Array(4);
 }
-export function fromRotation(radians, out) {
-    const s = Math.sin(radians);
-    const c = Math.cos(radians);
+export function fromRotation(r, out) {
+    const s = Math.sin(r);
+    const c = Math.cos(r);
     out[0] = c;
     out[1] = s;
     out[2] = -s;
@@ -41,7 +41,7 @@ export function equals(a, b) {
         Math.abs(a3 - b3) <= epsilon * Math.max(1, Math.abs(a3), Math.abs(b3)));
 }
 export function exactEquals(a, b) {
-    return a[0] == b[0] && a[1] == b[1] && a[2] == b[2] && a[3] == b[3];
+    return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];
 }
 export function add(a, b, out) {
     out[0] = a[0] + b[0];
@@ -105,7 +105,7 @@ export function subtract(a, b, out) {
     return out;
 }
 export function transpose(matrix, out) {
-    if (out == matrix) {
+    if (out === matrix) {
         const a1 = matrix[1];
         out[1] = matrix[2];
         out[2] = a1;
@@ -119,8 +119,7 @@ export function transpose(matrix, out) {
     return out;
 }
 export function determinant(matrix) {
-    return (matrix[0] * matrix[3] -
-        matrix[2] * matrix[1]);
+    return matrix[0] * matrix[3] - matrix[2] * matrix[1];
 }
 export function identity(out) {
     out[0] = 1;
@@ -134,24 +133,24 @@ export function invert(matrix, out) {
     const a1 = matrix[1];
     const a2 = matrix[2];
     const a3 = matrix[3];
-    let determinant = a0 * a3 - a2 * a1;
-    if (!determinant) {
+    let det = a0 * a3 - a2 * a1;
+    if (!det) {
         throw new SingularMatrixError();
     }
-    determinant = 1 / determinant;
-    out[0] = a3 * determinant;
-    out[1] = -a1 * determinant;
-    out[2] = -a2 * determinant;
-    out[3] = a0 * determinant;
+    det = 1 / det;
+    out[0] = a3 * det;
+    out[1] = -a1 * det;
+    out[2] = -a2 * det;
+    out[3] = a0 * det;
     return out;
 }
-export function rotate(matrix, radians, out) {
+export function rotate(matrix, r, out) {
     const a0 = matrix[0];
     const a1 = matrix[1];
     const a2 = matrix[2];
     const a3 = matrix[3];
-    const s = Math.sin(radians);
-    const c = Math.cos(radians);
+    const s = Math.sin(r);
+    const c = Math.cos(r);
     out[0] = a0 * c + a2 * s;
     out[1] = a1 * c + a3 * s;
     out[2] = a0 * -s + a2 * c;
@@ -168,8 +167,8 @@ export function scale(matrix, vector, out) {
     return out;
 }
 export default class Matrix2 extends Float32Array {
-    static fromRotation(radians, out = new Matrix2()) {
-        return fromRotation(radians, out);
+    static fromRotation(r, out = new Matrix2()) {
+        return fromRotation(r, out);
     }
     static fromScaling(vector, out = new Matrix2()) {
         return fromScaling(vector, out);
@@ -184,6 +183,10 @@ export default class Matrix2 extends Float32Array {
         this.width = 2;
         this.height = 2;
     }
+    0;
+    1;
+    2;
+    3;
     width;
     height;
     equals(matrix) {
@@ -231,8 +234,8 @@ export default class Matrix2 extends Float32Array {
     invert(out = new Matrix2()) {
         return invert(this, out);
     }
-    rotate(radians, out = new Matrix2()) {
-        return rotate(this, radians, out);
+    rotate(r, out = new Matrix2()) {
+        return rotate(this, r, out);
     }
     scale(vector, out = new Matrix2()) {
         return scale(this, vector, out);