@lakuna/umath 1.3.5 → 1.3.7

package/dist/linalg/DualQuaternion.d.ts

@@ -1,84 +1,467 @@
 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;
 }
-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;
+/**
+ * Create a dual quaternion-like object.
+ * @returns A dual quaternion-like object.
+ */
+export declare const createDualQuaternionLike: () => Float32Array & 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;
+    /**
+     * 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;
+    /**
+     * 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 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

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

@@ -1 +1 @@
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