@lakuna/umath 1.3.7 → 1.3.9

package/src/linalg/DualQuaternion.ts

@@ -537,14 +537,17 @@ export const rotateAroundAxis = <T extends DualQuaternionLike>(
 		return copy(dualQuaternion, out);
 	}
 
-	const axisLength = Math.hypot(axis[0], axis[1], axis[2]);
+	const ax = axis[0];
+	const ay = axis[1];
+	const az = axis[2];
+	const axisLength = Math.sqrt(ax * ax + ay * ay + az * az);
 
 	const r = radians * 0.5;
 
 	const s = Math.sin(r);
-	const bx = (s * axis[0]) / axisLength;
-	const by = (s * axis[1]) / axisLength;
-	const bz = (s * axis[2]) / axisLength;
+	const bx = (s * ax) / axisLength;
+	const by = (s * ay) / axisLength;
+	const bz = (s * az) / axisLength;
 	const bw = Math.cos(r);
 
 	let x = dualQuaternion[0];
@@ -882,7 +885,7 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns A new dual quaternion.
 	 */
-	public static fromValues<T extends DualQuaternionLike>(
+	public static fromValues<T extends DualQuaternionLike = DualQuaternion>(
 		x1: number,
 		y1: number,
 		z1: number,
@@ -891,7 +894,7 @@ export default class DualQuaternion
 		y2: number,
 		z2: number,
 		w2: number,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return fromValues(x1, y1, z1, w1, x2, y2, z2, w2, out);
 	}
@@ -903,10 +906,12 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The dual quaternion.
 	 */
-	public static fromRotationTranslation<T extends DualQuaternionLike>(
+	public static fromRotationTranslation<
+		T extends DualQuaternionLike = DualQuaternion
+	>(
 		q: QuaternionLike,
 		t: Vector3Like,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return fromRotationTranslation(q, t, out);
 	}
@@ -917,9 +922,9 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The dual quaternion.
 	 */
-	public static fromTranslation<T extends DualQuaternionLike>(
+	public static fromTranslation<T extends DualQuaternionLike = DualQuaternion>(
 		t: Vector3Like,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return fromTranslation(t, out);
 	}
@@ -930,9 +935,9 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The dual quaternion.
 	 */
-	public static fromRotation<T extends DualQuaternionLike>(
+	public static fromRotation<T extends DualQuaternionLike = DualQuaternion>(
 		q: QuaternionLike,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return fromRotation(q, out);
 	}
@@ -943,9 +948,9 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The dual quaternion.
 	 */
-	public static fromMatrix4<T extends DualQuaternionLike>(
+	public static fromMatrix4<T extends DualQuaternionLike = DualQuaternion>(
 		matrix: Matrix4Like,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return fromMatrix4(matrix, out);
 	}
@@ -997,8 +1002,8 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The copy.
 	 */
-	public clone<T extends DualQuaternionLike>(
-		out = new DualQuaternion() as unknown as T
+	public clone<T extends DualQuaternionLike = DualQuaternion>(
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return copy(this, out);
 	}
@@ -1016,8 +1021,8 @@ export default class DualQuaternion
 	 * @param out - The quaternion to store the result in.
 	 * @returns The real part.
 	 */
-	public getReal<T extends QuaternionLike>(
-		out = new Quaternion() as unknown as T
+	public getReal<T extends QuaternionLike = Quaternion>(
+		out: T = new Quaternion() as Quaternion & T
 	): T {
 		return xetReal(this, out);
 	}
@@ -1035,8 +1040,8 @@ export default class DualQuaternion
 	 * @param out - The quaternion to store the result in.
 	 * @returns The dual part.
 	 */
-	public getDual<T extends QuaternionLike>(
-		out = new Quaternion() as unknown as T
+	public getDual<T extends QuaternionLike = Quaternion>(
+		out: T = new Quaternion() as Quaternion & T
 	): T {
 		return getDual(this, out);
 	}
@@ -1054,8 +1059,8 @@ export default class DualQuaternion
 	 * @param out - The vector to store the result in.
 	 * @returns The translation.
 	 */
-	public getTranslation<T extends Vector3Like>(
-		out = new Vector3() as unknown as T
+	public getTranslation<T extends Vector3Like = Vector3>(
+		out: T = new Vector3() as Vector3 & T
 	): T {
 		return getTranslation(this, out);
 	}
@@ -1066,9 +1071,9 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The translated dual quaternion.
 	 */
-	public translate<T extends DualQuaternionLike>(
+	public translate<T extends DualQuaternionLike = DualQuaternion>(
 		v: Vector3Like,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return translate(this, v, out);
 	}
@@ -1079,9 +1084,9 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The rotated dual quaternion.
 	 */
-	public rotateX<T extends DualQuaternionLike>(
+	public rotateX<T extends DualQuaternionLike = DualQuaternion>(
 		r: number,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return rotateX(this, r, out);
 	}
@@ -1092,9 +1097,9 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The rotated dual quaternion.
 	 */
-	public rotateY<T extends DualQuaternionLike>(
+	public rotateY<T extends DualQuaternionLike = DualQuaternion>(
 		r: number,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return rotateY(this, r, out);
 	}
@@ -1105,9 +1110,9 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The rotated dual quaternion.
 	 */
-	public rotateZ<T extends DualQuaternionLike>(
+	public rotateZ<T extends DualQuaternionLike = DualQuaternion>(
 		r: number,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return rotateZ(this, r, out);
 	}
@@ -1119,10 +1124,9 @@ export default class DualQuaternion
 	 * @returns The rotated dual quaternion.
 	 * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
 	 */
-	public rotateByQuaternionAppend<T extends DualQuaternionLike>(
-		q: QuaternionLike,
-		out = new DualQuaternion() as unknown as T
-	): T {
+	public rotateByQuaternionAppend<
+		T extends DualQuaternionLike = DualQuaternion
+	>(q: QuaternionLike, out: T = new DualQuaternion() as DualQuaternion & T): T {
 		return rotateByQuaternionAppend(this, q, out);
 	}
 
@@ -1133,10 +1137,9 @@ export default class DualQuaternion
 	 * @returns The rotated dual quaternion.
 	 * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
 	 */
-	public rotateByQuaternionPrepend<T extends DualQuaternionLike>(
-		q: QuaternionLike,
-		out = new DualQuaternion() as unknown as T
-	): T {
+	public rotateByQuaternionPrepend<
+		T extends DualQuaternionLike = DualQuaternion
+	>(q: QuaternionLike, out: T = new DualQuaternion() as DualQuaternion & T): T {
 		return rotateByQuaternionPrepend(q, this, out);
 	}
 
@@ -1147,10 +1150,10 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns A normalized dual quaternion.
 	 */
-	public rotateAroundAxis<T extends DualQuaternionLike>(
+	public rotateAroundAxis<T extends DualQuaternionLike = DualQuaternion>(
 		axis: Vector3Like,
 		r: number,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return rotateAroundAxis(this, axis, r, out);
 	}
@@ -1161,9 +1164,9 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The sum.
 	 */
-	public add<T extends DualQuaternionLike>(
+	public add<T extends DualQuaternionLike = DualQuaternion>(
 		dq: DualQuaternionLike,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return add(this, dq, out);
 	}
@@ -1174,9 +1177,9 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The product.
 	 */
-	public multiply<T extends DualQuaternionLike>(
+	public multiply<T extends DualQuaternionLike = DualQuaternion>(
 		dq: DualQuaternionLike,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return multiply(this, dq, out);
 	}
@@ -1187,9 +1190,9 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The product.
 	 */
-	public scale<T extends DualQuaternionLike>(
+	public scale<T extends DualQuaternionLike = DualQuaternion>(
 		s: number,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return scale(this, s, out);
 	}
@@ -1211,10 +1214,10 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The interpolated value.
 	 */
-	public lerp<T extends DualQuaternionLike>(
+	public lerp<T extends DualQuaternionLike = DualQuaternion>(
 		dq: DualQuaternionLike,
 		t: number,
-		out = new DualQuaternion() as unknown as T
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return lerp(this, dq, t, out);
 	}
@@ -1224,8 +1227,8 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The inverse.
 	 */
-	public invert<T extends DualQuaternionLike>(
-		out = new DualQuaternion() as unknown as T
+	public invert<T extends DualQuaternionLike = DualQuaternion>(
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return invert(this, out);
 	}
@@ -1235,8 +1238,8 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The conjugate.
 	 */
-	public conjugate<T extends DualQuaternionLike>(
-		out = new DualQuaternion() as unknown as T
+	public conjugate<T extends DualQuaternionLike = DualQuaternion>(
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return conjugate(this, out);
 	}
@@ -1256,8 +1259,8 @@ export default class DualQuaternion
 	 * @param out - The dual quaternion to store the result in.
 	 * @returns The normalized dual quaternion.
 	 */
-	public normalize<T extends DualQuaternionLike>(
-		out = new DualQuaternion() as unknown as T
+	public normalize<T extends DualQuaternionLike = DualQuaternion>(
+		out: T = new DualQuaternion() as DualQuaternion & T
 	): T {
 		return normalize(this, out);
 	}

package/src/linalg/Matrix2.ts

@@ -184,7 +184,11 @@ export const copy = <T extends Matrix2Like>(matrix: Matrix2Like, out: T): T => {
  * @see [Matrix norm](https://en.wikipedia.org/wiki/Matrix_norm)
  */
 export const frob = (matrix: Matrix2Like): number => {
-	return Math.hypot(matrix[0], matrix[1], matrix[2], matrix[3]);
+	const a0 = matrix[0];
+	const a1 = matrix[1];
+	const a2 = matrix[2];
+	const a3 = matrix[3];
+	return Math.sqrt(a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3);
 };
 
 /**
@@ -295,12 +299,13 @@ export const transpose = <T extends Matrix2Like>(
 		const a1 = matrix[1];
 		out[1] = matrix[2];
 		out[2] = a1;
-	} else {
-		out[0] = matrix[0];
-		out[1] = matrix[2];
-		out[2] = matrix[1];
-		out[3] = matrix[3];
+		return out;
 	}
+
+	out[0] = matrix[0];
+	out[1] = matrix[2];
+	out[2] = matrix[1];
+	out[3] = matrix[3];
 	return out;
 };
 
@@ -423,9 +428,9 @@ export default class Matrix2
 	 * @returns The transformation matrix.
 	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
 	 */
-	public static fromRotation<T extends Matrix2Like>(
+	public static fromRotation<T extends Matrix2Like = Matrix2>(
 		r: number,
-		out = new Matrix2() as unknown as T
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return fromRotation(r, out);
 	}
@@ -437,9 +442,9 @@ export default class Matrix2
 	 * @returns The transformation matrix.
 	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
 	 */
-	public static fromScaling<T extends Matrix2Like>(
+	public static fromScaling<T extends Matrix2Like = Matrix2>(
 		vector: Vector2Like,
-		out = new Matrix2() as unknown as T
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return fromScaling(vector, out);
 	}
@@ -453,12 +458,12 @@ export default class Matrix2
 	 * @param out - The matrix to store the result in.
 	 * @returns The matrix.
 	 */
-	public static fromValues<T extends Matrix2Like>(
+	public static fromValues<T extends Matrix2Like = Matrix2>(
 		c0r0: number,
 		c0r1: number,
 		c1r0: number,
 		c1r1: number,
-		out = new Matrix2() as unknown as T
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return fromValues(c0r0, c0r1, c1r0, c1r1, out);
 	}
@@ -520,9 +525,9 @@ export default class Matrix2
 	 * @returns The sum of the matrices.
 	 * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
 	 */
-	public add<T extends Matrix2Like>(
+	public add<T extends Matrix2Like = Matrix2>(
 		matrix: Matrix2Like,
-		out = new Matrix2() as unknown as T
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return add(this, matrix, out);
 	}
@@ -533,8 +538,8 @@ export default class Matrix2
 	 * @returns The adjugate of this matrix.
 	 * @see [Adjugate matrix](https://en.wikipedia.org/wiki/Adjugate_matrix)
 	 */
-	public adjoint<T extends Matrix2Like>(
-		out = new Matrix2() as unknown as T
+	public adjoint<T extends Matrix2Like = Matrix2>(
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return adjoint(this, out);
 	}
@@ -544,7 +549,9 @@ export default class Matrix2
 	 * @param out - The matrix to store the result in.
 	 * @returns The copy.
 	 */
-	public clone<T extends Matrix2Like>(out = new Matrix2() as unknown as T): T {
+	public clone<T extends Matrix2Like = Matrix2>(
+		out: T = new Matrix2() as Matrix2 & T
+	): T {
 		return copy(this, out);
 	}
 
@@ -572,9 +579,9 @@ export default class Matrix2
 	 * @returns The product of the matrices.
 	 * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
 	 */
-	public multiply<T extends Matrix2Like>(
+	public multiply<T extends Matrix2Like = Matrix2>(
 		matrix: Matrix2Like,
-		out = new Matrix2() as unknown as T
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return multiply(this, matrix, out);
 	}
@@ -586,9 +593,9 @@ export default class Matrix2
 	 * @returns The product of the matrix and the scalar value.
 	 * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
 	 */
-	public multiplyScalar<T extends Matrix2Like>(
+	public multiplyScalar<T extends Matrix2Like = Matrix2>(
 		scalar: number,
-		out = new Matrix2() as unknown as T
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return multiplyScalar(this, scalar, out);
 	}
@@ -602,10 +609,10 @@ export default class Matrix2
 	 * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
 	 * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
 	 */
-	public multiplyScalarAndAdd<T extends Matrix2Like>(
+	public multiplyScalarAndAdd<T extends Matrix2Like = Matrix2>(
 		matrix: Matrix2Like,
 		scalar: number,
-		out = new Matrix2() as unknown as T
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return multiplyScalarAndAdd(this, matrix, scalar, out);
 	}
@@ -617,9 +624,9 @@ export default class Matrix2
 	 * @returns The difference between the matrices.
 	 * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
 	 */
-	public subtract<T extends Matrix2Like>(
+	public subtract<T extends Matrix2Like = Matrix2>(
 		matrix: Matrix2Like,
-		out = new Matrix2() as unknown as T
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return subtract(this, matrix, out);
 	}
@@ -630,8 +637,8 @@ export default class Matrix2
 	 * @returns The transpose of this matrix.
 	 * @see [Transpose](https://en.wikipedia.org/wiki/Transpose)
 	 */
-	public transpose<T extends Matrix2Like>(
-		out = new Matrix2() as unknown as T
+	public transpose<T extends Matrix2Like = Matrix2>(
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return transpose(this, out);
 	}
@@ -659,7 +666,9 @@ export default class Matrix2
 	 * @returns The inverted matrix.
 	 * @see [Invertible matrix](https://en.wikipedia.org/wiki/Invertible_matrix)
 	 */
-	public invert<T extends Matrix2Like>(out = new Matrix2() as unknown as T): T {
+	public invert<T extends Matrix2Like = Matrix2>(
+		out: T = new Matrix2() as Matrix2 & T
+	): T {
 		return invert(this, out);
 	}
 
@@ -670,9 +679,9 @@ export default class Matrix2
 	 * @returns The rotated matrix.
 	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
 	 */
-	public rotate<T extends Matrix2Like>(
+	public rotate<T extends Matrix2Like = Matrix2>(
 		r: number,
-		out = new Matrix2() as unknown as T
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return rotate(this, r, out);
 	}
@@ -684,9 +693,9 @@ export default class Matrix2
 	 * @returns The scaled matrix.
 	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
 	 */
-	public scale<T extends Matrix2Like>(
+	public scale<T extends Matrix2Like = Matrix2>(
 		vector: Vector2Like,
-		out = new Matrix2() as unknown as T
+		out: T = new Matrix2() as Matrix2 & T
 	): T {
 		return scale(this, vector, out);
 	}