@lakuna/umath 1.3.8 → 1.4.0

package/dist/linalg/Vector3.js

@@ -1,9 +1,8 @@
-import Quaternion, {} from "./Quaternion.js";
-import epsilon from "../utility/epsilon.js";
-import { normalize as normalizeVector4 } from "./Vector4.js";
+import approxRelative from "../algorithms/approxRelative.js";
 /**
  * Creates a 3x1 vector-like object.
  * @returns A 3x1 vector-like object.
+ * @public
  */
 export const createVector3Like = () => {
     return new Float32Array(3);
@@ -15,6 +14,7 @@ export const createVector3Like = () => {
  * @param z - The third component.
  * @param out - The vector to store the result in.
  * @returns A new vector.
+ * @public
  */
 export const fromValues = (x, y, z, out) => {
     out[0] = x;
@@ -27,166 +27,122 @@ export const fromValues = (x, y, z, out) => {
  * @param a - The first vector.
  * @param b - The second vector.
  * @returns Whether or not the vectors are equivalent.
+ * @public
  */
-export const equals = (a, b) => {
-    const a0 = a[0];
-    const a1 = a[1];
-    const a2 = a[2];
-    const b0 = b[0];
-    const b1 = b[1];
-    const b2 = b[2];
-    return (Math.abs(a0 - b0) <= epsilon * Math.max(1, Math.abs(a0), Math.abs(b0)) &&
-        Math.abs(a1 - b1) <= epsilon * Math.max(1, Math.abs(a1), Math.abs(b1)) &&
-        Math.abs(a2 - b2) <= epsilon * Math.max(1, Math.abs(a2), Math.abs(b2)));
-};
+export const equals = (a, b) => approxRelative(a[0], b[0]) &&
+    approxRelative(a[1], b[1]) &&
+    approxRelative(a[2], b[2]);
 /**
  * Determine whether two vectors are exactly equivalent.
  * @param a - The first vector.
  * @param b - The second vector.
  * @returns Whether the vectors are equivalent.
+ * @public
  */
-export const exactEquals = (a, b) => {
-    return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];
-};
+export const exactEquals = (a, b) => a[0] === b[0] && a[1] === b[1] && a[2] === b[2];
 /**
  * Add two vectors.
  * @param a - The augend.
  * @param b - The addend.
  * @param out - The vector to store the result in.
  * @returns The sum.
+ * @public
  */
-export const add = (a, b, out) => {
-    out[0] = a[0] + b[0];
-    out[1] = a[1] + b[1];
-    out[2] = a[2] + b[2];
-    return out;
-};
+export const add = (a, b, out) => fromValues(a[0] + b[0], a[1] + b[1], a[2] + b[2], out);
 /**
  * Copy the values from one vector to another.
  * @param vector - The vector to copy.
  * @param out - The vector to store the result in.
  * @returns The copy.
+ * @public
  */
-export const copy = (vector, out) => {
-    out[0] = vector[0];
-    out[1] = vector[1];
-    out[2] = vector[2];
-    return out;
-};
+export const copy = (vector, out) => fromValues(vector[0], vector[1], vector[2], out);
 /**
  * Multiply two vectors.
  * @param a - The multiplier.
  * @param b - The multiplicand.
  * @param out - The vector to store the result in.
  * @returns The product.
+ * @public
  */
-export const multiply = (a, b, out) => {
-    out[0] = a[0] * b[0];
-    out[1] = a[1] * b[1];
-    out[2] = a[2] * b[2];
-    return out;
-};
+export const multiply = (a, b, out) => fromValues(a[0] * b[0], a[1] * b[1], a[2] * b[2], out);
 /**
  * Divide two vectors.
  * @param a - The dividend.
  * @param b - The divisor.
  * @param out - The vector to store the result in.
  * @returns The quotient.
+ * @public
  */
-export const divide = (a, b, out) => {
-    out[0] = a[0] / b[0];
-    out[1] = a[1] / b[1];
-    out[2] = a[2] / b[2];
-    return out;
-};
+export const divide = (a, b, out) => fromValues(a[0] / b[0], a[1] / b[1], a[2] / b[2], out);
 /**
  * Subtract two vectors.
  * @param a - The minuend.
  * @param b - The subtrahend.
  * @param out - The vector to store the result in.
  * @returns The difference.
+ * @public
  */
-export const subtract = (a, b, out) => {
-    out[0] = a[0] - b[0];
-    out[1] = a[1] - b[1];
-    out[2] = a[2] - b[2];
-    return out;
-};
+export const subtract = (a, b, out) => fromValues(a[0] - b[0], a[1] - b[1], a[2] - b[2], out);
+/**
+ * Absolutize the components of a vector.
+ * @param vector - The vector.
+ * @param out - The vector to store the result in.
+ * @returns The absolutized vector.
+ * @public
+ */
+export const abs = (vector, out) => fromValues(Math.abs(vector[0]), Math.abs(vector[1]), Math.abs(vector[2]), out);
 /**
  * Round up the components of a vector.
  * @param vector - The vector.
  * @param out - The vector to store the result in.
  * @returns The rounded vector.
+ * @public
  */
-export const ceil = (vector, out) => {
-    out[0] = Math.ceil(vector[0]);
-    out[1] = Math.ceil(vector[1]);
-    out[2] = Math.ceil(vector[2]);
-    return out;
-};
+export const ceil = (vector, out) => fromValues(Math.ceil(vector[0]), Math.ceil(vector[1]), Math.ceil(vector[2]), out);
 /**
  * Round down the components of a vector.
  * @param vector - The vector.
  * @param out - The vector to store the result in.
  * @returns The rounded vector.
+ * @public
  */
-export const floor = (vector, out) => {
-    out[0] = Math.floor(vector[0]);
-    out[1] = Math.floor(vector[1]);
-    out[2] = Math.floor(vector[2]);
-    return out;
-};
+export const floor = (vector, out) => fromValues(Math.floor(vector[0]), Math.floor(vector[1]), Math.floor(vector[2]), out);
 /**
  * Round the components of a vector.
  * @param vector - The vector.
  * @param out - The vector to store the result in.
  * @returns The rounded vector.
+ * @public
  */
-export const round = (vector, out) => {
-    out[0] = Math.round(vector[0]);
-    out[1] = Math.round(vector[1]);
-    out[2] = Math.round(vector[2]);
-    return out;
-};
+export const round = (vector, out) => fromValues(Math.round(vector[0]), Math.round(vector[1]), Math.round(vector[2]), out);
 /**
  * Return the minimum of two vectors.
  * @param a - The first vector.
  * @param b - The second vector.
  * @param out - The vector to store the result in.
  * @returns The minimum.
+ * @public
  */
-export const min = (a, b, out) => {
-    out[0] = Math.min(a[0], b[0]);
-    out[1] = Math.min(a[1], b[1]);
-    out[2] = Math.min(a[2], b[2]);
-    return out;
-};
+export const min = (a, b, out) => fromValues(Math.min(a[0], b[0]), Math.min(a[1], b[1]), Math.min(a[2], b[2]), out);
 /**
  * Return the maximum of two vectors.
  * @param a - The first vector.
  * @param b - The second vector.
  * @param out - The vector to store the result in.
  * @returns The maximum.
+ * @public
  */
-export const max = (a, b, out) => {
-    out[0] = Math.max(a[0], b[0]);
-    out[1] = Math.max(a[1], b[1]);
-    out[2] = Math.max(a[2], b[2]);
-    return out;
-};
+export const max = (a, b, out) => fromValues(Math.max(a[0], b[0]), Math.max(a[1], b[1]), Math.max(a[2], b[2]), out);
 /**
  * Scale a vector by a scalar.
  * @param vector - The multiplier.
  * @param scalar - The multiplicand.
  * @param out - The vector to store the result in.
  * @returns The product.
+ * @public
  */
-export const scale = (vector, scalar, out) => {
-    out[0] = vector[0] * scalar;
-    out[1] = vector[1] * scalar;
-    out[2] = vector[2] * scalar;
-    return out;
-};
+export const scale = (vector, scalar, out) => fromValues(vector[0] * scalar, vector[1] * scalar, vector[2] * scalar, out);
 /**
  * Add two vectors after scaling the second by a scalar.
  * @param a - The augend.
@@ -194,32 +150,30 @@ export const scale = (vector, scalar, out) => {
  * @param scalar - The multiplicand.
  * @param out - The vector to store the result in.
  * @returns The sum.
+ * @public
  */
-export const scaleAndAdd = (a, b, scalar, out) => {
-    out[0] = a[0] + b[0] * scalar;
-    out[1] = a[1] + b[1] * scalar;
-    out[2] = a[2] + b[2] * scalar;
-    return out;
-};
+export const scaleAndAdd = (a, b, scalar, out) => fromValues(a[0] + b[0] * scalar, a[1] + b[1] * scalar, a[2] + b[2] * scalar, out);
 /**
  * Calculate the Euclidean distance between two vectors.
  * @param a - The first vector.
  * @param b - The second vector.
  * @returns The distance.
- * @see [Euclidean distance](https://en.wikipedia.org/wiki/Euclidean_distance)
+ * @see {@link https://en.wikipedia.org/wiki/Euclidean_distance | Euclidean distance}
+ * @public
  */
 export const distance = (a, b) => {
     const x = b[0] - a[0];
     const y = b[1] - a[1];
     const z = b[2] - a[2];
-    return Math.hypot(x, y, z);
+    return Math.sqrt(x * x + y * y + z * z); // `Math.hypot` is slower.
 };
 /**
  * Calculate the squared Euclidean distance between this vector and another.
  * @param a - The first vector.
  * @param b - The second vector.
  * @returns The squared distance.
- * @see [Euclidean distance](https://en.wikipedia.org/wiki/Euclidean_distance)
+ * @see {@link https://en.wikipedia.org/wiki/Euclidean_distance | Euclidean distance}
+ * @public
  */
 export const squaredDistance = (a, b) => {
     const x = b[0] - a[0];
@@ -231,17 +185,19 @@ export const squaredDistance = (a, b) => {
  * Calculate the magnitude (length) of a vector.
  * @param vector - The vector.
  * @returns The magnitude.
+ * @public
  */
 export const getMagnitude = (vector) => {
     const x = vector[0];
     const y = vector[1];
     const z = vector[2];
-    return Math.hypot(x, y, z);
+    return Math.sqrt(x * x + y * y + z * z); // `Math.hypot` is slower.
 };
 /**
  * Calculate the squared magnitude (length) of a vector.
  * @param vector - The vector.
  * @returns The squared magnitude.
+ * @public
  */
 export const getSquaredMagnitude = (vector) => {
     const x = vector[0];
@@ -254,31 +210,24 @@ export const getSquaredMagnitude = (vector) => {
  * @param vector - The vector.
  * @param out - The vector to store the result in.
  * @returns The negated vector.
+ * @public
  */
-export const negate = (vector, out) => {
-    out[0] = -vector[0];
-    out[1] = -vector[1];
-    out[2] = -vector[2];
-    return out;
-};
+export const negate = (vector, out) => fromValues(-vector[0], -vector[1], -vector[2], out);
 /**
  * Calculate the multiplicative inverse of the components of a vector.
  * @param vector - The vector.
  * @param out - The vector to store the result in.
  * @returns The inverted vector.
+ * @public
  */
-export const invert = (vector, out) => {
-    out[0] = 1 / vector[0];
-    out[1] = 1 / vector[1];
-    out[2] = 1 / vector[2];
-    return out;
-};
+export const invert = (vector, out) => fromValues(1 / vector[0], 1 / vector[1], 1 / vector[2], out);
 /**
  * Normalize a vector.
  * @param vector - The vector.
  * @param out - The vector to store the result in.
  * @returns The normalized vector.
- * @see [Unit vector](https://en.wikipedia.org/wiki/Unit_vector)
+ * @see {@link https://en.wikipedia.org/wiki/Unit_vector | Unit vector}
+ * @public
  */
 export const normalize = (vector, out) => {
     const x = vector[0];
@@ -288,28 +237,25 @@ export const normalize = (vector, out) => {
     if (len > 0) {
         len = 1 / Math.sqrt(len);
     }
-    out[0] = x * len;
-    out[1] = y * len;
-    out[2] = z * len;
-    return out;
+    return fromValues(x * len, y * len, z * len, out);
 };
 /**
  * Calculate the dot product of two vectors.
  * @param a - The multiplier.
  * @param b - The multiplicand.
  * @returns The dot product.
- * @see [Dot product](https://en.wikipedia.org/wiki/Dot_product)
+ * @see {@link https://en.wikipedia.org/wiki/Dot_product | Dot product}
+ * @public
  */
-export const dot = (a, b) => {
-    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
-};
+export const dot = (a, b) => a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
 /**
  * Calculate the cross product of two vectors.
  * @param a - The multiplier.
  * @param b - The mutliplicand.
  * @param out - The vector to store the result in.
  * @returns The cross product.
- * @see [Cross product](https://en.wikipedia.org/wiki/Cross_product)
+ * @see {@link https://en.wikipedia.org/wiki/Cross_product | Cross product}
+ * @public
  */
 export const cross = (a, b, out) => {
     const ax = a[0];
@@ -318,10 +264,7 @@ export const cross = (a, b, out) => {
     const bx = b[0];
     const by = b[1];
     const bz = b[2];
-    out[0] = ay * bz - az * by;
-    out[1] = az * bx - ax * bz;
-    out[2] = ax * by - ay * bx;
-    return out;
+    return fromValues(ay * bz - az * by, az * bx - ax * bz, ax * by - ay * bx, out);
 };
 /**
  * Perform a linear interpolation between two vectors.
@@ -330,31 +273,44 @@ export const cross = (a, b, out) => {
  * @param t - The interpolation amount (in `[0,1]`).
  * @param out - The vector to store the result in.
  * @returns The interpolated vector.
- * @see [Linear interpolation](https://en.wikipedia.org/wiki/Linear_interpolation)
+ * @see {@link https://en.wikipedia.org/wiki/Linear_interpolation | Linear interpolation}
+ * @public
  */
 export const lerp = (a, b, t, out) => {
     const ax = a[0];
     const ay = a[1];
     const az = a[2];
-    out[0] = ax + t * (b[0] - ax);
-    out[1] = ay + t * (b[1] - ay);
-    out[2] = az + t * (b[2] - az);
-    return out;
+    return fromValues(ax + t * (b[0] - ax), ay + t * (b[1] - ay), az + t * (b[2] - az), out);
+};
+/**
+ * Perform a spherical linear interpolation between two vectors.
+ * @param a - The first vector.
+ * @param b - The second vector.
+ * @param t - The interpolation amount (in `[0,1]`).
+ * @param out - The vector to store the result in.
+ * @returns The interpolated vector.
+ * @see {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
+ * @public
+ */
+export const slerp = (a, b, t, out) => {
+    const angle = Math.acos(Math.min(Math.max(dot(a, b), -1), 1));
+    const s = Math.sin(angle);
+    const ratioA = Math.sin((1 - t) * angle) / s;
+    const ratioB = Math.sin(t * angle) / s;
+    return fromValues(ratioA * a[0] + ratioB * b[0], ratioA * a[1] + ratioB * b[1], ratioA * a[2] + ratioB * b[2], out);
 };
 /**
  * Set a vector to a random value with the given magnitude.
  * @param magnitude - The magnitude.
  * @param out - The vector to store the result in.
  * @returns This vector.
+ * @public
  */
 export const random = (magnitude, out) => {
     const r = Math.random() * 2 * Math.PI;
     const z = Math.random() * 2 - 1;
     const zScale = Math.sqrt(1 - z * z) * magnitude;
-    out[0] = Math.cos(r) * zScale;
-    out[1] = Math.sin(r) * zScale;
-    out[2] = z * magnitude;
-    return out;
+    return fromValues(Math.cos(r) * zScale, Math.sin(r) * zScale, z * magnitude, out);
 };
 /**
  * Transform a vector by a three-by-three matrix.
@@ -362,16 +318,14 @@ export const random = (magnitude, out) => {
  * @param matrix - The matrix (multiplicand).
  * @param out - The vector to store the result in.
  * @returns The transformed vector.
- * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
 export const transformMatrix3 = (vector, matrix, out) => {
     const x = vector[0];
     const y = vector[1];
     const z = vector[2];
-    out[0] = x * matrix[0] + y * matrix[3] + z * matrix[6];
-    out[1] = x * matrix[1] + y * matrix[4] + z * matrix[7];
-    out[2] = x * matrix[2] + y * matrix[5] + z * matrix[8];
-    return out;
+    return fromValues(x * matrix[0] + y * matrix[3] + z * matrix[6], x * matrix[1] + y * matrix[4] + z * matrix[7], x * matrix[2] + y * matrix[5] + z * matrix[8], out);
 };
 /**
  * Transform a vector by a four-by-four matrix.
@@ -379,17 +333,15 @@ export const transformMatrix3 = (vector, matrix, out) => {
  * @param matrix - The matrix (multiplicand).
  * @param out - The vector to store the result in.
  * @returns The transformed vector.
- * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
 export const transformMatrix4 = (vector, matrix, out) => {
     const x = vector[0];
     const y = vector[1];
     const z = vector[2];
     const w = matrix[3] * x + matrix[7] * y + matrix[11] * z + matrix[15] || 1;
-    out[0] = (matrix[0] * x + matrix[4] * y + matrix[8] * z + matrix[12]) / w;
-    out[1] = (matrix[1] * x + matrix[5] * y + matrix[9] * z + matrix[13]) / w;
-    out[2] = (matrix[2] * x + matrix[6] * y + matrix[10] * z + matrix[14]) / w;
-    return out;
+    return fromValues((matrix[0] * x + matrix[4] * y + matrix[8] * z + matrix[12]) / w, (matrix[1] * x + matrix[5] * y + matrix[9] * z + matrix[13]) / w, (matrix[2] * x + matrix[6] * y + matrix[10] * z + matrix[14]) / w, out);
 };
 /**
  * Rotate a vector around the X-axis.
@@ -398,17 +350,16 @@ export const transformMatrix4 = (vector, matrix, out) => {
  * @param r - The angle of rotation in radians.
  * @param out - The vector to store the result in.
  * @returns The rotated vector.
+ * @public
  */
 export const rotateX = (vector, origin, r, out) => {
-    const p0 = vector[0] - origin[0];
-    const p1 = vector[1] - origin[1];
-    const p2 = vector[2] - origin[2];
-    const r1 = p1 * Math.cos(r) - p2 * Math.sin(r);
-    const r2 = p1 * Math.sin(r) + p2 * Math.cos(r);
-    out[0] = p0 + origin[0];
-    out[1] = r1 + origin[1];
-    out[2] = r2 + origin[2];
-    return out;
+    const o1 = origin[1];
+    const o2 = origin[2];
+    const p1 = vector[1] - o1;
+    const p2 = vector[2] - o2;
+    const c = Math.cos(r);
+    const s = Math.sin(r);
+    return fromValues(vector[0], p1 * c - p2 * s + o1, p1 * s + p2 * c + o2, out);
 };
 /**
  * Rotate a vector around the Y-axis.
@@ -417,17 +368,16 @@ export const rotateX = (vector, origin, r, out) => {
  * @param r - The angle of rotation in radians.
  * @param out - The vector to store the result in.
  * @returns The rotated vector.
+ * @public
  */
 export const rotateY = (vector, origin, r, out) => {
-    const p0 = vector[0] - origin[0];
-    const p1 = vector[1] - origin[1];
-    const p2 = vector[2] - origin[2];
-    const r0 = p2 * Math.sin(r) + p0 * Math.cos(r);
-    const r2 = p2 * Math.cos(r) - p0 * Math.sin(r);
-    out[0] = r0 + origin[0];
-    out[1] = p1 + origin[1];
-    out[2] = r2 + origin[2];
-    return out;
+    const o0 = origin[0];
+    const o2 = origin[2];
+    const p0 = vector[0] - o0;
+    const p2 = vector[2] - o2;
+    const c = Math.cos(r);
+    const s = Math.sin(r);
+    return fromValues(p2 * s + p0 * c + o0, vector[1], p2 * c - p0 * s + o2, out);
 };
 /**
  * Rotate a vector around the Z-axis.
@@ -436,23 +386,23 @@ export const rotateY = (vector, origin, r, out) => {
  * @param r - The angle of rotation in radians.
  * @param out - The vector to store the result in.
  * @returns The rotated vector.
+ * @public
  */
 export const rotateZ = (vector, origin, r, out) => {
-    const p0 = vector[0] - origin[0];
-    const p1 = vector[1] - origin[1];
-    const p2 = vector[2] - origin[2];
-    const r0 = p0 * Math.cos(r) - p1 * Math.sin(r);
-    const r1 = p0 * Math.sin(r) + p1 * Math.cos(r);
-    out[0] = r0 + origin[0];
-    out[1] = r1 + origin[1];
-    out[2] = p2 + origin[2];
-    return out;
+    const o0 = origin[0];
+    const o1 = origin[1];
+    const p0 = vector[0] - o0;
+    const p1 = vector[1] - o1;
+    const c = Math.cos(r);
+    const s = Math.sin(r);
+    return fromValues(p0 * c - p1 * s + o0, p0 * s + p1 * c + o1, vector[2], out);
 };
 /**
  * Get the angle between two vectors in radians.
  * @param a - The first vector.
  * @param b - The second vector.
  * @returns The angular distance from the first vector to the second.
+ * @public
  */
 export const angle = (a, b) => {
     const ax = a[0];
@@ -461,23 +411,18 @@ export const angle = (a, b) => {
     const bx = b[0];
     const by = b[1];
     const bz = b[2];
-    const mag1 = Math.sqrt(ax * ax + ay * ay + az * az);
-    const mag2 = Math.sqrt(bx * bx + by * by + bz * bz);
-    const mag = mag1 * mag2;
-    const cosine = mag && dot(a, b) / mag;
-    return Math.acos(Math.min(Math.max(cosine, -1), 1));
+    // `Math.hypot` is slower.
+    const mag = Math.sqrt(ax * ax + ay * ay + az * az) *
+        Math.sqrt(bx * bx + by * by + bz * bz);
+    return Math.acos(Math.min(Math.max(mag && dot(a, b) / mag, -1), 1));
 };
 /**
  * Set a vector to the zero vector.
  * @param out - The vector to store the result in.
  * @returns This vector.
+ * @public
  */
-export const zero = (out) => {
-    out[0] = 0;
-    out[1] = 0;
-    out[2] = 0;
-    return out;
-};
+export const zero = (out) => fromValues(0, 0, 0, out);
 /**
  * Perform a Hermite interpolation with two control points between two vectors.
  * @param a - The first vector.
@@ -487,18 +432,16 @@ export const zero = (out) => {
  * @param t - The interpolation amount in the range `[0,1]`.
  * @param out - The vector to store the result in.
  * @returns The interpolated vector.
- * @see [Hermite interpolation](https://en.wikipedia.org/wiki/Hermite_interpolation)
+ * @see {@link https://en.wikipedia.org/wiki/Hermite_interpolation | Hermite interpolation}
+ * @public
  */
 export const hermite = (a, b, c, d, t, out) => {
-    const factorTimes2 = t * t;
-    const factor1 = factorTimes2 * (2 * t - 3) + 1;
-    const factor2 = factorTimes2 * (t - 2) + t;
-    const factor3 = factorTimes2 * (t - 1);
-    const factor4 = factorTimes2 * (3 - 2 * t);
-    out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;
-    out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;
-    out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;
-    return out;
+    const t2 = t * t;
+    const f1 = t2 * (2 * t - 3) + 1;
+    const f2 = t2 * (t - 2) + t;
+    const f3 = t2 * (t - 1);
+    const f4 = t2 * (3 - 2 * t);
+    return fromValues(a[0] * f1 + b[0] * f2 + c[0] * f3 + d[0] * f4, a[1] * f1 + b[1] * f2 + c[1] * f3 + d[1] * f4, a[2] * f1 + b[2] * f2 + c[2] * f3 + d[2] * f4, out);
 };
 /**
  * Perform a Bézier interpolation with two control points between two vectors.
@@ -509,99 +452,46 @@ export const hermite = (a, b, c, d, t, out) => {
  * @param t - The interpolation amount in the range `[0,1]`.
  * @param out - The vector to store the result in.
  * @returns The interpolated vector.
- * @see [Bézier curve](https://en.wikipedia.org/wiki/B%C3%A9zier_curve)
+ * @see {@link https://en.wikipedia.org/wiki/B%C3%A9zier_curve | Bézier curve}
+ * @public
  */
 export const bezier = (a, b, c, d, t, out) => {
-    const inverseFactor = 1 - t;
-    const inverseFactorTimesTwo = inverseFactor * inverseFactor;
-    const factorSq = t * t;
-    const factor1 = inverseFactorTimesTwo * inverseFactor;
-    const factor2 = 3 * t * inverseFactorTimesTwo;
-    const factor3 = 3 * factorSq * inverseFactor;
-    const factor4 = factorSq * t;
-    out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;
-    out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;
-    out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;
-    return out;
+    const invf = 1 - t;
+    const invf2 = invf * invf;
+    const sqf = t * t;
+    const f1 = invf2 * invf;
+    const f2 = 3 * t * invf2;
+    const f3 = 3 * sqf * invf;
+    const f4 = sqf * t;
+    return fromValues(a[0] * f1 + b[0] * f2 + c[0] * f3 + d[0] * f4, a[1] * f1 + b[1] * f2 + c[1] * f3 + d[1] * f4, a[2] * f1 + b[2] * f2 + c[2] * f3 + d[2] * f4, out);
 };
 /**
- * Transform a vector by a quaternion.
+ * Transform a vector by a unit quaternion.
  * @param vector - The vector.
- * @param quaternion - The quaternion.
+ * @param quaternion - The unit quaternion.
  * @param out - The vector to store the result in.
  * @returns The transformed vector.
- * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
+ * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
+ * @see {@link https://raw.org/proof/vector-rotation-using-quaternions/ | Fast Vector Rotation using Quaternions}
+ * @public
  */
 export const transformQuaternion = (vector, quaternion, out) => {
+    const x = vector[0];
+    const y = vector[1];
+    const z = vector[2];
     const qx = quaternion[0];
     const qy = quaternion[1];
     const qz = quaternion[2];
     const qw = quaternion[3];
-    const x = vector[0];
-    const y = vector[1];
-    const z = vector[2];
-    let uvx = qy * z - qz * y;
-    let uvy = qz * x - qx * z;
-    let uvz = qx * y - qy * x;
-    let uuvx = qy * uvz - qz * uvy;
-    let uuvy = qz * uvx - qx * uvz;
-    let uuvz = qx * uvy - qy * uvx;
-    const w2 = qw * 2;
-    uvx *= w2;
-    uvy *= w2;
-    uvz *= w2;
-    uuvx *= 2;
-    uuvy *= 2;
-    uuvz *= 2;
-    out[0] = x + uvx + uuvx;
-    out[1] = y + uvy + uuvy;
-    out[2] = z + uvz + uuvz;
-    return out;
-};
-// The unit three-dimensional vector that represents the X-axis.
-const xAxis = fromValues(1, 0, 0, createVector3Like());
-// The unit three-dimensional vector that represents the Y-axis.
-const yAxis = fromValues(0, 1, 0, createVector3Like());
-// Used to store intermediary values for some functions.
-const intermediary = createVector3Like();
-/**
- * Create a quaternion that represents the shortest rotation from one unit vector to another.
- * @param a - The first vector.
- * @param b - The second vector.
- * @param out - The quaternion to store the result in.
- * @returns The quaternion.
- */
-export const rotationTo = (a, b, out) => {
-    const dp = dot(a, b);
-    if (dp < epsilon - 1) {
-        cross(xAxis, a, intermediary);
-        if (getMagnitude(intermediary) < epsilon) {
-            cross(yAxis, a, intermediary);
-        }
-        normalize(intermediary, intermediary);
-        out[0] = intermediary[0];
-        out[1] = intermediary[1];
-        out[2] = intermediary[2];
-        out[3] = 0;
-        return out;
-    }
-    if (dp > 1 - epsilon) {
-        out[0] = 0;
-        out[1] = 0;
-        out[2] = 0;
-        out[3] = 1;
-        return out;
-    }
-    cross(a, b, intermediary);
-    out[0] = intermediary[0];
-    out[1] = intermediary[1];
-    out[2] = intermediary[2];
-    out[3] = 1 + dp;
-    return normalizeVector4(out, out);
+    const tx = (qy * z - qz * y) * 2;
+    const ty = (qz * x - qx * z) * 2;
+    const tz = (qx * y - qy * x) * 2;
+    return fromValues(x + qw * tx + qy * tz - qz * ty, y + qw * ty + qz * tx - qx * tz, z + qw * tz + qx * ty - qy * tx, out);
 };
 /**
  * A quantity with magnitude and direction in three dimensions.
- * @see [Euclidean vector](https://en.wikipedia.org/wiki/Euclidean_vector)
+ * @see {@link https://en.wikipedia.org/wiki/Euclidean_vector | Euclidean vector}
+ * @public
  */
 export default class Vector3 extends Float32Array {
     /**
@@ -617,7 +507,7 @@ export default class Vector3 extends Float32Array {
     }
     /**
      * Create a three-dimensional zero vector.
-     * @see [Euclidean vector](https://en.wikipedia.org/wiki/Euclidean_vector)
+     * @see {@link https://en.wikipedia.org/wiki/Euclidean_vector | Euclidean vector}
      */
     constructor() {
         super(3);
@@ -696,6 +586,14 @@ export default class Vector3 extends Float32Array {
     subtract(vector, out = new Vector3()) {
         return subtract(this, vector, out);
     }
+    /**
+     * Absolutize the components of this vector.
+     * @param out - The vector to store the result in.
+     * @returns The absolutized vector.
+     */
+    abs(out = new Vector3()) {
+        return abs(this, out);
+    }
     /**
      * Round up the components of this vector.
      * @param out - The vector to store the result in.
@@ -761,7 +659,7 @@ export default class Vector3 extends Float32Array {
      * Calculate the Euclidean distance between this vector and another.
      * @param vector - The other vector.
      * @returns The distance.
-     * @see [Euclidean distance](https://en.wikipedia.org/wiki/Euclidean_distance)
+     * @see {@link https://en.wikipedia.org/wiki/Euclidean_distance | Euclidean distance}
      */
     distance(vector) {
         return distance(this, vector);
@@ -770,7 +668,7 @@ export default class Vector3 extends Float32Array {
      * Calculate the squared Euclidean distance between this vector and another.
      * @param vector - The other vector.
      * @returns The squared distance.
-     * @see [Euclidean distance](https://en.wikipedia.org/wiki/Euclidean_distance)
+     * @see {@link https://en.wikipedia.org/wiki/Euclidean_distance | Euclidean distance}
      */
     squaredDistance(vector) {
         return squaredDistance(this, vector);
@@ -803,7 +701,7 @@ export default class Vector3 extends Float32Array {
      * Normalize this vector.
      * @param out - The vector to store the result in.
      * @returns The normalized vector.
-     * @see [Unit vector](https://en.wikipedia.org/wiki/Unit_vector)
+     * @see {@link https://en.wikipedia.org/wiki/Unit_vector | Unit vector}
      */
     normalize(out = new Vector3()) {
         return normalize(this, out);
@@ -812,7 +710,7 @@ export default class Vector3 extends Float32Array {
      * Calculate the dot product of this and another vector.
      * @param vector - The other vector.
      * @returns The dot product.
-     * @see [Dot product](https://en.wikipedia.org/wiki/Dot_product)
+     * @see {@link https://en.wikipedia.org/wiki/Dot_product | Dot product}
      */
     dot(vector) {
         return dot(this, vector);
@@ -822,7 +720,7 @@ export default class Vector3 extends Float32Array {
      * @param vector - The other vector.
      * @param out - The vector to store the result in.
      * @returns The cross product.
-     * @see [Cross product](https://en.wikipedia.org/wiki/Cross_product)
+     * @see {@link https://en.wikipedia.org/wiki/Cross_product | Cross product}
      */
     cross(vector, out = new Vector3()) {
         return cross(this, vector, out);
@@ -833,7 +731,7 @@ export default class Vector3 extends Float32Array {
      * @param t - The interpolation amount (in `[0,1]`).
      * @param out - The vector to store the result in.
      * @returns The interpolated vector.
-     * @see [Linear interpolation](https://en.wikipedia.org/wiki/Linear_interpolation)
+     * @see {@link https://en.wikipedia.org/wiki/Linear_interpolation | Linear interpolation}
      */
     lerp(vector, t, out = new Vector3()) {
         return lerp(this, vector, t, out);
@@ -917,7 +815,7 @@ export default class Vector3 extends Float32Array {
      * @param t - The interpolation amount in the range `[0,1]`.
      * @param out - The vector to store the result in.
      * @returns The interpolated vector.
-     * @see [Hermite interpolation](https://en.wikipedia.org/wiki/Hermite_interpolation)
+     * @see {@link https://en.wikipedia.org/wiki/Hermite_interpolation | Hermite interpolation}
      */
     hermite(a, b, end, t, out = new Vector3()) {
         return hermite(this, a, b, end, t, out);
@@ -930,7 +828,7 @@ export default class Vector3 extends Float32Array {
      * @param t - The interpolation amount in the range `[0,1]`.
      * @param out - The vector to store the result in.
      * @returns The interpolated vector.
-     * @see [Bézier curve](https://en.wikipedia.org/wiki/B%C3%A9zier_curve)
+     * @see {@link https://en.wikipedia.org/wiki/B%C3%A9zier_curve | Bézier curve}
      */
     bezier(a, b, end, t, out = new Vector3()) {
         return bezier(this, a, b, end, t, out);
@@ -940,19 +838,10 @@ export default class Vector3 extends Float32Array {
      * @param quaternion - The quaternion.
      * @param out - The vector to store the result in.
      * @returns The transformed vector.
-     * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
+     * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
      */
     transformQuaternion(quaternion, out = new Vector3()) {
         return transformQuaternion(this, quaternion, out);
     }
-    /**
-     * Create a quaternion that represents the shortest rotation from this unit vector to another.
-     * @param vector - The other vector.
-     * @param out - The quaternion to store the result in.
-     * @returns The quaternion.
-     */
-    rotationTo(vector, out = new Quaternion()) {
-        return rotationTo(this, vector, out);
-    }
 }
 //# sourceMappingURL=Vector3.js.map