@lakuna/umath 1.3.4 → 1.3.6

package/dist/index.js

@@ -1,28 +1,28 @@
-export { default as combinations } from "#combinations";
-export { default as degreesToRadians } from "#degreesToRadians";
-export { default as factorial } from "#factorial";
-export { default as fibonacci } from "#fibonacci";
-export { default as greatestCommonDivisor } from "#greatestCommonDivisor";
-export { default as hypergeometricPmf } from "#hypergeometricPmf";
-export { default as isPrime } from "#isPrime";
-export { default as permutations } from "#permutations";
-export { default as primeFactorization } from "#primeFactorization";
-export { default as radiansToDegrees } from "#radiansToDegrees";
-export { default as summation } from "#summation";
-export { default as DualQuaternion } from "#DualQuaternion";
-export { default as Matrix2 } from "#Matrix2";
-export { default as Matrix3 } from "#Matrix3";
-export { default as Matrix4 } from "#Matrix4";
-export { default as Quaternion } from "#Quaternion";
-export { default as SlowMatrix } from "#SlowMatrix";
-export { default as SlowSquareMatrix } from "#SlowSquareMatrix";
-export { default as Vector2 } from "#Vector2";
-export { default as Vector3 } from "#Vector3";
-export { default as Vector4 } from "#Vector4";
-export { default as BigNumber } from "#BigNumber";
-export { default as epsilon } from "#epsilon";
-export { default as MagnitudeError } from "#MagnitudeError";
-export { default as MatrixSizeError } from "#MatrixSizeError";
-export { default as PartialMatrixError } from "#PartialMatrixError";
-export { default as SingularMatrixError } from "#SingularMatrixError";
+export { default as combinations } from "./algorithms/combinations.js";
+export { default as degreesToRadians } from "./algorithms/degreesToRadians.js";
+export { default as factorial } from "./algorithms/factorial.js";
+export { default as fibonacci } from "./algorithms/fibonacci.js";
+export { default as greatestCommonDivisor } from "./algorithms/greatestCommonDivisor.js";
+export { default as hypergeometricPmf } from "./algorithms/hypergeometricPmf.js";
+export { default as isPrime } from "./algorithms/isPrime.js";
+export { default as permutations } from "./algorithms/permutations.js";
+export { default as primeFactorization } from "./algorithms/primeFactorization.js";
+export { default as radiansToDegrees } from "./algorithms/radiansToDegrees.js";
+export { default as summation } from "./algorithms/summation.js";
+export { default as DualQuaternion } from "./linalg/DualQuaternion.js";
+export { default as Matrix2 } from "./linalg/Matrix2.js";
+export { default as Matrix3 } from "./linalg/Matrix3.js";
+export { default as Matrix4 } from "./linalg/Matrix4.js";
+export { default as Quaternion } from "./linalg/Quaternion.js";
+export { default as SlowMatrix } from "./linalg/SlowMatrix.js";
+export { default as SlowSquareMatrix } from "./linalg/SlowSquareMatrix.js";
+export { default as Vector2 } from "./linalg/Vector2.js";
+export { default as Vector3 } from "./linalg/Vector3.js";
+export { default as Vector4 } from "./linalg/Vector4.js";
+export { default as BigNumber } from "./utility/BigNumber.js";
+export { default as epsilon } from "./utility/epsilon.js";
+export { default as MagnitudeError } from "./utility/MagnitudeError.js";
+export { default as MatrixSizeError } from "./utility/MatrixSizeError.js";
+export { default as PartialMatrixError } from "./utility/PartialMatrixError.js";
+export { default as SingularMatrixError } from "./utility/SingularMatrixError.js";
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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package/dist/linalg/DualQuaternion.d.ts

@@ -1,90 +1,467 @@
-import { type Matrix4Like } from "#Matrix4";
-import Quaternion, { type QuaternionLike } from "#Quaternion";
-import Vector3, { type Vector3Like } from "#Vector3";
-export type DualQuaternionLike = DualQuaternion | [number, number, number, number, number, number, number, number];
-export declare function createDualQuaternionLike(): DualQuaternionLike;
-export declare function fromValues<T extends DualQuaternionLike>(x1: number, y1: number, z1: number, w1: number, x2: number, y2: number, z2: number, w2: number, out: T): T;
-export declare function copy<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T): T;
-export declare function fromRotationTranslation<T extends DualQuaternionLike>(quaternion: QuaternionLike, translation: Vector3Like, out: T): T;
-export declare function fromTranslation<T extends DualQuaternionLike>(translation: Vector3Like, out: T): T;
-export declare function fromRotation<T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T): T;
-export declare function fromMatrix4<T extends DualQuaternionLike>(matrix: Matrix4Like, out: T): T;
-export declare function identity<T extends DualQuaternionLike>(out: T): T;
-export declare function getDual<T extends QuaternionLike>(dualQuaternion: DualQuaternionLike, out: T): T;
-export declare function setDual<T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T): T;
-export declare function getTranslation<T extends Vector3Like>(dualQuaternion: DualQuaternionLike, out: T): T;
-export declare function translate<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, vector: Vector3Like, out: T): T;
-export declare function rotateX<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T): T;
-export declare function rotateY<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T): T;
-export declare function rotateZ<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T): T;
-export declare function rotateByQuaternionAppend<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, quaternion: QuaternionLike, out: T): T;
-export declare function rotateByQuaternionPrepend<T extends DualQuaternionLike>(quaternion: QuaternionLike, dualQuaternion: DualQuaternionLike, out: T): T;
-export declare function rotateAroundAxis<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, axis: Vector3Like, radians: number, out: T): T;
-export declare function add<T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, out: T): T;
-export declare function multiply<T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, out: T): T;
-export declare function scale<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, scalar: number, out: T): T;
-export declare function lerp<T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, t: number, out: T): T;
-export declare function invert<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T): T;
-export declare function conjugate<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T): T;
-export declare function normalize<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T): T;
-export declare function exactEquals(a: DualQuaternionLike, b: DualQuaternionLike): boolean;
-export declare function equals(a: DualQuaternionLike, b: DualQuaternionLike): boolean;
-export default class DualQuaternion extends Float32Array {
-    static fromValues(x1: number, y1: number, z1: number, w1: number, x2: number, y2: number, z2: number, w2: number): DualQuaternion;
-    static fromValues<T extends DualQuaternionLike>(x1: number, y1: number, z1: number, w1: number, x2: number, y2: number, z2: number, w2: number, out: T): T;
-    static fromRotationTranslation(quaternion: QuaternionLike, translation: Vector3Like): DualQuaternion;
-    static fromRotationTranslation<T extends DualQuaternionLike>(quaternion: QuaternionLike, translation: Vector3Like, out: T): T;
-    static fromTranslation(translation: Vector3Like): DualQuaternion;
-    static fromTranslation<T extends DualQuaternionLike>(translation: Vector3Like, out: T): T;
-    static fromRotation(quaternion: QuaternionLike): DualQuaternion;
-    static fromRotation<T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T): T;
-    static fromMatrix4(matrix: Matrix4Like): DualQuaternion;
-    static fromMatrix4<T extends DualQuaternionLike>(matrix: Matrix4Like, out: T): T;
+import { type Matrix4Like } from "./Matrix4.js";
+import { type QuaternionLike } from "./Quaternion.js";
+import { type Vector3Like } from "./Vector3.js";
+/** A complex number that is commonly used to describe transformations. */
+export interface DualQuaternionLike extends Record<number, number> {
+    /** The first real component of this dual quaternion. */
+    0: number;
+    /** The second real component of this dual quaternion. */
+    1: number;
+    /** The third real component of this dual quaternion. */
+    2: number;
+    /** The fourth real component of this dual quaternion. */
+    3: number;
+    /** The first dual component of this dual quaternion. */
+    4: number;
+    /** The second dual component of this dual quaternion. */
+    5: number;
+    /** The third dual component of this dual quaternion. */
+    6: number;
+    /** The fourth dual component of this dual quaternion. */
+    7: number;
+}
+/**
+ * Create a dual quaternion-like object.
+ * @returns A dual quaternion-like object.
+ */
+export declare const createDualQuaternionLike: () => DualQuaternionLike;
+/**
+ * Create a dual quaternion with the given values.
+ * @param x1 - The first real component.
+ * @param y1 - The second real component.
+ * @param z1 - The third real component.
+ * @param w1 - The fourth real component.
+ * @param x2 - The first dual component.
+ * @param y2 - The second dual component.
+ * @param z2 - The third dual component.
+ * @param w2 - The fourth dual component.
+ * @param out - The dual quaternion to store the result in.
+ * @returns A new dual quaternion.
+ */
+export declare const fromValues: <T extends DualQuaternionLike>(x1: number, y1: number, z1: number, w1: number, x2: number, y2: number, z2: number, w2: number, out: T) => T;
+/**
+ * Copy the values from one dual quaternion to another.
+ * @param dualQuaternion - The dual quaternion to copy.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The copy.
+ */
+export declare const copy: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+/**
+ * Create a dual quaternion from the given quaternion and translation.
+ * @param quaternion - The quaternion.
+ * @param translation - The translation.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The dual quaternion.
+ */
+export declare const fromRotationTranslation: <T extends DualQuaternionLike>(quaternion: QuaternionLike, translation: Vector3Like, out: T) => T;
+/**
+ * Create a dual quaternion from the given translation.
+ * @param translation - The translation.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The dual quaternion.
+ */
+export declare const fromTranslation: <T extends DualQuaternionLike>(translation: Vector3Like, out: T) => T;
+/**
+ * Create a dual quaternion from the given quaternion.
+ * @param quaternion - The quaternion.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The dual quaternion.
+ */
+export declare const fromRotation: <T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+/**
+ * Create a dual quaternion from the given four-by-four matrix.
+ * @param matrix - The matrix.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The dual quaternion.
+ */
+export declare const fromMatrix4: <T extends DualQuaternionLike>(matrix: Matrix4Like, out: T) => T;
+/**
+ * Set a dual quaternion to the identity dual quaternion.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The identity dual quaternion.
+ */
+export declare const identity: <T extends DualQuaternionLike>(out: T) => T;
+/**
+ * Get the dual part of a dual quaternion.
+ * @param dualQuaternion - The dual quaternion.
+ * @param out - The quaternion to store the result in.
+ * @returns The dual part.
+ */
+export declare const getDual: <T extends QuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+/**
+ * Set the dual part of a dual quaternion.
+ * @param quaternion - The quaternion to set as the dual part.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The dual quaternion.
+ */
+export declare const setDual: <T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+/**
+ * Get the translation of a normalized dual quaternion.
+ * @param dualQuaternion - The dual quaternion.
+ * @param out - The vector to store the result in.
+ * @returns The translation.
+ */
+export declare const getTranslation: <T extends Vector3Like>(dualQuaternion: DualQuaternionLike, out: T) => T;
+/**
+ * Translate a dual quaternion by the given vector.
+ * @param dualQuaternion - The dual quaternion.
+ * @param vector - The vector.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The translated dual quaternion.
+ */
+export declare const translate: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, vector: Vector3Like, out: T) => T;
+/**
+ * Rotate a dual quaternion around the X-axis.
+ * @param dualQuaternion - The dual quaternion.
+ * @param radians - The angle to rotate by in radians.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The rotated dual quaternion.
+ */
+export declare const rotateX: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T) => T;
+/**
+ * Rotate a dual quaternion around the Y-axis.
+ * @param dualQuaternion - The dual quaternion.
+ * @param radians - The angle to rotate by in radians.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The rotated dual quaternion.
+ */
+export declare const rotateY: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T) => T;
+/**
+ * Rotate a dual quaternion around the Z-axis.
+ * @param dualQuaternion - The dual quaternion.
+ * @param radians - The angle to rotate by in radians.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The rotated dual quaternion.
+ */
+export declare const rotateZ: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T) => T;
+/**
+ * Multiply a dual quaternion by a quaternion.
+ * @param dualQuaternion - The dual quaternion.
+ * @param quaternion - The quaternion.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The rotated dual quaternion.
+ */
+export declare const rotateByQuaternionAppend: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, quaternion: QuaternionLike, out: T) => T;
+/**
+ * Multiply a quaternion by a dual quaternion.
+ * @param quaternion - The quaternion.
+ * @param dualQuaternion - The dual quaternion.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The rotated dual quaternion.
+ */
+export declare const rotateByQuaternionPrepend: <T extends DualQuaternionLike>(quaternion: QuaternionLike, dualQuaternion: DualQuaternionLike, out: T) => T;
+/**
+ * Rotate a dual quaternion around an axis.
+ * @param dualQuaternion - The dual quaternion.
+ * @param axis - The axis.
+ * @param radians - The angle of the rotation in radians.
+ * @param out - The dual quaternion to store the result in.
+ * @returns A normalized dual quaternion.
+ */
+export declare const rotateAroundAxis: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, axis: Vector3Like, radians: number, out: T) => T;
+/**
+ * Add two dual quaternions.
+ * @param a - The augend.
+ * @param b - The addend.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The sum.
+ */
+export declare const add: <T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, out: T) => T;
+/**
+ * Multiply two dual quaternions.
+ * @param a - The multiplier.
+ * @param b - The multiplicand.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The product.
+ */
+export declare const multiply: <T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, out: T) => T;
+/**
+ * Multiply a dual quaternion by a scalar.
+ * @param dualQuaternion - The multiplicand.
+ * @param scalar - The multiplier.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The sum.
+ */
+export declare const scale: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, scalar: number, out: T) => T;
+/**
+ * Perform a linear interpolation between two dual quaternions.
+ * @param a - The first dual quaternion.
+ * @param b - The second dual quaternion.
+ * @param t - The interpolation amount in `[0,1]`.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The interpolated value.
+ */
+export declare const lerp: <T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, t: number, out: T) => T;
+/**
+ * Calculate the inverse of a dual quaternion. If the dual quaternion is normalized, the conjugate is equivalent and faster to calculate.
+ * @param dualQuaternion - The dual quaternion.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The inverse.
+ */
+export declare const invert: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+/**
+ * Calculate the conjugate of a dual quaternion. If the dual quaternion is normalized, this is equivalent to its inverse and faster to calculate.
+ * @param dualQuaternion - The dual quaternion.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The conjugate.
+ */
+export declare const conjugate: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+/**
+ * Normalize a dual quaternion.
+ * @param dualQuaternion - The dual quaternion.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The normalized dual quaternion.
+ */
+export declare const normalize: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+/**
+ * Determine whether or not two dual quaternions are exactly equivalent.
+ * @param a - The first dual quaternion.
+ * @param b - The second dual quaternion.
+ * @returns Whether or not the dual quaternions are equivalent.
+ */
+export declare const exactEquals: (a: DualQuaternionLike, b: DualQuaternionLike) => boolean;
+/**
+ * Determine whether or not two dual quaternions are roughly equivalent.
+ * @param a - The first dual quaternion.
+ * @param b - The second dual quaternion.
+ * @returns Whether or not the dual quaternions are equivalent.
+ */
+export declare const equals: (a: DualQuaternionLike, b: DualQuaternionLike) => boolean;
+/**
+ * A complex number that is commonly used to describe transformations.
+ * @see [Dual quaternion](https://en.wikipedia.org/wiki/Dual_quaternion)
+ */
+export default class DualQuaternion extends Float32Array implements DualQuaternionLike {
+    /**
+     * Create a dual quaternion with the given values.
+     * @param x1 - The first real component.
+     * @param y1 - The second real component.
+     * @param z1 - The third real component.
+     * @param w1 - The fourth real component.
+     * @param x2 - The first dual component.
+     * @param y2 - The second dual component.
+     * @param z2 - The third dual component.
+     * @param w2 - The fourth dual component.
+     * @param out - The dual quaternion to store the result in.
+     * @returns A new dual quaternion.
+     */
+    static fromValues<T extends DualQuaternionLike>(x1: number, y1: number, z1: number, w1: number, x2: number, y2: number, z2: number, w2: number, out?: T): T;
+    /**
+     * Create a dual quaternion from the given quaternion and translation.
+     * @param q - The quaternion.
+     * @param t - The translation.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The dual quaternion.
+     */
+    static fromRotationTranslation<T extends DualQuaternionLike>(q: QuaternionLike, t: Vector3Like, out?: T): T;
+    /**
+     * Create a dual quaternion from the given translation.
+     * @param t - The translation.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The dual quaternion.
+     */
+    static fromTranslation<T extends DualQuaternionLike>(t: Vector3Like, out?: T): T;
+    /**
+     * Create a dual quaternion from the given quaternion.
+     * @param q - The quaternion.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The dual quaternion.
+     */
+    static fromRotation<T extends DualQuaternionLike>(q: QuaternionLike, out?: T): T;
+    /**
+     * Create a dual quaternion from the given four-by-four matrix.
+     * @param matrix - The matrix.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The dual quaternion.
+     */
+    static fromMatrix4<T extends DualQuaternionLike>(matrix: Matrix4Like, out?: T): T;
+    /**
+     * Create an identity dual quaternion.
+     * @see [Dual quaternion](https://en.wikipedia.org/wiki/Dual_quaternion)
+     */
     constructor();
+    /** The first real component of this dual quaternion. */
+    0: number;
+    /** The second real component of this dual quaternion. */
+    1: number;
+    /** The third real component of this dual quaternion. */
+    2: number;
+    /** The fourth real component of this dual quaternion. */
+    3: number;
+    /** The first dual component of this dual quaternion. */
+    4: number;
+    /** The second dual component of this dual quaternion. */
+    5: number;
+    /** The third dual component of this dual quaternion. */
+    6: number;
+    /** The fourth dual component of this dual quaternion. */
+    7: number;
+    /**
+     * Copy the values from another dual quaternion to this one.
+     * @param dualQuaternion - The dual quaternion to copy.
+     * @returns This dual quaternion.
+     */
     copy(dualQuaternion: DualQuaternionLike): this;
-    clone(): DualQuaternion;
-    clone<T extends DualQuaternionLike>(out: T): T;
+    /**
+     * Copy the values from this dual quaternion to another one.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The copy.
+     */
+    clone<T extends DualQuaternionLike>(out?: T): T;
+    /**
+     * Set this dual quaternion to the identity dual quaternion.
+     * @returns The identity dual quaternion.
+     */
     identity(): this;
-    getReal(): Quaternion;
-    getReal<T extends QuaternionLike>(out: T): T;
-    setReal(quaternion: QuaternionLike): void;
-    getDual(): Quaternion;
-    getDual<T extends QuaternionLike>(out: T): T;
-    setDual(quaternion: QuaternionLike): void;
-    getTranslation(): Vector3;
-    getTranslation<T extends Vector3Like>(out: T): T;
-    translate(vector: Vector3Like): DualQuaternion;
-    translate<T extends DualQuaternionLike>(vector: Vector3Like, out: T): T;
-    rotateX(radians: number): DualQuaternion;
-    rotateX<T extends DualQuaternionLike>(radians: number, out: T): T;
-    rotateY(radians: number): DualQuaternion;
-    rotateY<T extends DualQuaternionLike>(radians: number, out: T): T;
-    rotateZ(radians: number): DualQuaternion;
-    rotateZ<T extends DualQuaternionLike>(radians: number, out: T): T;
-    rotateByQuaternionAppend(quaternion: QuaternionLike): DualQuaternion;
-    rotateByQuaternionAppend<T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T): T;
-    rotateByQuaternionPrepend(quaternion: QuaternionLike): DualQuaternion;
-    rotateByQuaternionPrepend<T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T): T;
-    rotateAroundAxis(axis: Vector3Like, radians: number): DualQuaternion;
-    rotateAroundAxis<T extends DualQuaternionLike>(axis: Vector3Like, radians: number, out: T): T;
-    add(dualQuaternion: DualQuaternionLike): DualQuaternion;
-    add<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T): T;
-    multiply(dualQuaternion: DualQuaternionLike): DualQuaternion;
-    multiply<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T): T;
-    scale(scalar: number): DualQuaternion;
-    scale<T extends DualQuaternionLike>(scalar: number, out: T): T;
-    dot(dualQuaternion: DualQuaternionLike): number;
-    lerp(dualQuaternion: DualQuaternionLike, t: number): DualQuaternion;
-    lerp<T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, t: number, out: T): T;
-    invert(): DualQuaternion;
-    invert<T extends DualQuaternionLike>(out: T): T;
-    conjugate(): DualQuaternion;
-    conjugate<T extends DualQuaternionLike>(out: T): T;
+    /**
+     * Get the real part of this dual quaternion.
+     * @param out - The quaternion to store the result in.
+     * @returns The real part.
+     */
+    getReal<T extends QuaternionLike>(out?: T): T;
+    /**
+     * Set the real part of this dual quaternion.
+     * @param q - The quaternion.
+     */
+    setReal(q: QuaternionLike): void;
+    /**
+     * Get the dual part of this dual quaternion.
+     * @param out - The quaternion to store the result in.
+     * @returns The dual part.
+     */
+    getDual<T extends QuaternionLike>(out?: T): T;
+    /**
+     * Set the real part of this dual quaternion.
+     * @param q - The quaternion.
+     */
+    setDual(q: QuaternionLike): void;
+    /**
+     * Get the translation of this normalized dual quaternion.
+     * @param out - The vector to store the result in.
+     * @returns The translation.
+     */
+    getTranslation<T extends Vector3Like>(out?: T): T;
+    /**
+     * Translate this dual quaternion by the given vector.
+     * @param v - The vector.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The translated dual quaternion.
+     */
+    translate<T extends DualQuaternionLike>(v: Vector3Like, out?: T): T;
+    /**
+     * Rotate this dual quaternion around the X-axis.
+     * @param r - The angle to rotate by in radians.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The rotated dual quaternion.
+     */
+    rotateX<T extends DualQuaternionLike>(r: number, out?: T): T;
+    /**
+     * Rotate this dual quaternion around the Y-axis.
+     * @param r - The angle to rotate by in radians.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The rotated dual quaternion.
+     */
+    rotateY<T extends DualQuaternionLike>(r: number, out?: T): T;
+    /**
+     * Rotate this dual quaternion around the Z-axis.
+     * @param r - The angle to rotate by in radians.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The rotated dual quaternion.
+     */
+    rotateZ<T extends DualQuaternionLike>(r: number, out?: T): T;
+    /**
+     * Multiply this dual quaternion by a quaternion.
+     * @param q - The quaternion.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The rotated dual quaternion.
+     * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
+     */
+    rotateByQuaternionAppend<T extends DualQuaternionLike>(q: QuaternionLike, out?: T): T;
+    /**
+     * Multiply a quaternion by this dual quaternion.
+     * @param q - The quaternion.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The rotated dual quaternion.
+     * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
+     */
+    rotateByQuaternionPrepend<T extends DualQuaternionLike>(q: QuaternionLike, out?: T): T;
+    /**
+     * Rotate this dual quaternion around an axis.
+     * @param axis - The axis.
+     * @param r - The angle of the rotation in radians.
+     * @param out - The dual quaternion to store the result in.
+     * @returns A normalized dual quaternion.
+     */
+    rotateAroundAxis<T extends DualQuaternionLike>(axis: Vector3Like, r: number, out?: T): T;
+    /**
+     * Add another dual quaternion to this one.
+     * @param dq - The other dual quaternion.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The sum.
+     */
+    add<T extends DualQuaternionLike>(dq: DualQuaternionLike, out?: T): T;
+    /**
+     * Multiply this dual quaternion by another one.
+     * @param dq - The other dual quaternion.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The product.
+     */
+    multiply<T extends DualQuaternionLike>(dq: DualQuaternionLike, out?: T): T;
+    /**
+     * Multiply this dual quaternion by a scalar.
+     * @param s - The scalar.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The product.
+     */
+    scale<T extends DualQuaternionLike>(s: number, out?: T): T;
+    /**
+     * Calculate the dot product of this and another dual quaternion.
+     * @param dq - The other dual quaternion.
+     * @returns The dot product.
+     * @see [Dot product](https://en.wikipedia.org/wiki/Dot_product)
+     */
+    dot(dq: DualQuaternionLike): number;
+    /**
+     * Perform a linear interpolation between this and another dual quaternion.
+     * @param dq - The other dual quaternion.
+     * @param t - The interpolation amount in `[0,1]`.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The interpolated value.
+     */
+    lerp<T extends DualQuaternionLike>(dq: DualQuaternionLike, t: number, out?: T): T;
+    /**
+     * Calculate the inverse of this dual quaternion. If this dual quaternion is normalized, the conjugate is equivalent and faster to calculate.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The inverse.
+     */
+    invert<T extends DualQuaternionLike>(out?: T): T;
+    /**
+     * Calculate the conjugate of this dual quaternion. If this dual quaternion is normalized, this is equivalent to its inverse and faster to calculate.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The conjugate.
+     */
+    conjugate<T extends DualQuaternionLike>(out?: T): T;
+    /** Get the magnitude (length) of this dual quaternion. */
     get magnitude(): number;
+    /** Get the squared magnitude (length) of this dual quaternion. */
     get squaredMagnitude(): number;
-    normalize(): DualQuaternion;
-    normalize<T extends DualQuaternionLike>(out: T): T;
-    exactEquals(dualQuaternion: DualQuaternionLike): boolean;
-    equals(dualQuaternion: DualQuaternionLike): boolean;
+    /**
+     * Normalize this dual quaternion.
+     * @param out - The dual quaternion to store the result in.
+     * @returns The normalized dual quaternion.
+     */
+    normalize<T extends DualQuaternionLike>(out?: T): T;
+    /**
+     * Determine whether or not this dual quaternion is exactly equivalent to another.
+     * @param dq - The other dual quaternion.
+     * @returns Whether or not the dual quaternions are equivalent.
+     */
+    exactEquals(dq: DualQuaternionLike): boolean;
+    /**
+     * Determine whether or not this dual quaternion is roughly equivalent to another.
+     * @param dq - The other dual quaternion.
+     * @returns Whether or not the dual quaternions are equivalent.
+     */
+    equals(dq: DualQuaternionLike): boolean;
 }
 //# sourceMappingURL=DualQuaternion.d.ts.map