@lakuna/umath 1.3.9 → 1.4.2

package/dist/linalg/DualQuaternion.d.ts

@@ -1,7 +1,10 @@
 import { type Matrix4Like } from "./Matrix4.js";
 import Quaternion, { type QuaternionLike } from "./Quaternion.js";
 import Vector3, { type Vector3Like } from "./Vector3.js";
-/** A complex number that is commonly used to describe transformations. */
+/**
+ * A complex number that is commonly used to describe transformations.
+ * @public
+ */
 export interface DualQuaternionLike extends Record<number, number> {
     /** The first real component of this dual quaternion. */
     0: number;
@@ -23,6 +26,7 @@ export interface DualQuaternionLike extends Record<number, number> {
 /**
  * Create a dual quaternion-like object.
  * @returns A dual quaternion-like object.
+ * @public
  */
 export declare const createDualQuaternionLike: () => Float32Array & DualQuaternionLike;
 /**
@@ -37,6 +41,7 @@ export declare const createDualQuaternionLike: () => Float32Array & DualQuaterni
  * @param w2 - The fourth dual component.
  * @param out - The dual quaternion to store the result in.
  * @returns A new dual quaternion.
+ * @public
  */
 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;
 /**
@@ -44,62 +49,87 @@ export declare const fromValues: <T extends DualQuaternionLike>(x1: number, y1:
  * @param dualQuaternion - The dual quaternion to copy.
  * @param out - The dual quaternion to store the result in.
  * @returns The copy.
+ * @public
  */
 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.
+ * Create a dual quaternion from the given rotation and translation.
+ * @param quaternion - The rotation quaternion.
+ * @param translation - The translation vector.
  * @param out - The dual quaternion to store the result in.
  * @returns The dual quaternion.
+ * @public
  */
 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 translation - The translation vector.
  * @param out - The dual quaternion to store the result in.
  * @returns The dual quaternion.
+ * @public
  */
 export declare const fromTranslation: <T extends DualQuaternionLike>(translation: Vector3Like, out: T) => T;
 /**
- * Create a dual quaternion from the given quaternion.
- * @param quaternion - The quaternion.
+ * Create a dual quaternion from the given rotation.
+ * @param quaternion - The rotation quaternion.
  * @param out - The dual quaternion to store the result in.
  * @returns The dual quaternion.
+ * @public
  */
 export declare const fromRotation: <T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T) => T;
 /**
- * Create a dual quaternion from the given four-by-four matrix.
+ * Create a dual quaternion from the given four-by-four matrix. Equivalent to (but faster than) `fromRotationTranslation(getRotation(matrix, createQuaternionLike()), getTranslation(matrix, createVector3Like()), out)`.
  * @param matrix - The matrix.
  * @param out - The dual quaternion to store the result in.
  * @returns The dual quaternion.
+ * @public
  */
 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.
+ * @public
  */
 export declare const identity: <T extends DualQuaternionLike>(out: T) => T;
+/**
+ * Get the real part of a dual quaternion.
+ * @param dualQuaternion - The dual quaternion.
+ * @param out - The quaternion to store the result in.
+ * @returns The real part.
+ * @public
+ */
+export declare const getReal: <T extends QuaternionLike>(dualQuaternion: 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.
+ * @public
  */
 export declare const getDual: <T extends QuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+/**
+ * Set the real part of a dual quaternion.
+ * @param quaternion - The quaternion to set as the real part.
+ * @param out - The dual quaternion to store the result in.
+ * @returns The dual quaternion.
+ * @public
+ */
+export declare const setReal: <T extends DualQuaternionLike>(quaternion: QuaternionLike, 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.
+ * @public
  */
 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.
+ * @returns The translation vector.
+ * @public
  */
 export declare const getTranslation: <T extends Vector3Like>(dualQuaternion: DualQuaternionLike, out: T) => T;
 /**
@@ -108,6 +138,7 @@ export declare const getTranslation: <T extends Vector3Like>(dualQuaternion: Dua
  * @param vector - The vector.
  * @param out - The dual quaternion to store the result in.
  * @returns The translated dual quaternion.
+ * @public
  */
 export declare const translate: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, vector: Vector3Like, out: T) => T;
 /**
@@ -116,6 +147,7 @@ export declare const translate: <T extends DualQuaternionLike>(dualQuaternion: D
  * @param radians - The angle to rotate by in radians.
  * @param out - The dual quaternion to store the result in.
  * @returns The rotated dual quaternion.
+ * @public
  */
 export declare const rotateX: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T) => T;
 /**
@@ -124,6 +156,7 @@ export declare const rotateX: <T extends DualQuaternionLike>(dualQuaternion: Dua
  * @param radians - The angle to rotate by in radians.
  * @param out - The dual quaternion to store the result in.
  * @returns The rotated dual quaternion.
+ * @public
  */
 export declare const rotateY: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T) => T;
 /**
@@ -132,22 +165,25 @@ export declare const rotateY: <T extends DualQuaternionLike>(dualQuaternion: Dua
  * @param radians - The angle to rotate by in radians.
  * @param out - The dual quaternion to store the result in.
  * @returns The rotated dual quaternion.
+ * @public
  */
 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.
+ * Rotate a dual quaternion by a quaternion (using the quaternion as the multiplicand).
+ * @param dualQuaternion - The dual quaternion to rotate.
+ * @param quaternion - The quaternion to rotate by.
  * @param out - The dual quaternion to store the result in.
  * @returns The rotated dual quaternion.
+ * @public
  */
 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.
+ * Rotate a dual quaternion by a quaternion (using the quaternion as the multiplier).
+ * @param quaternion - The quaternion to rotate by.
+ * @param dualQuaternion - The dual quaternion to rotate.
  * @param out - The dual quaternion to store the result in.
  * @returns The rotated dual quaternion.
+ * @public
  */
 export declare const rotateByQuaternionPrepend: <T extends DualQuaternionLike>(quaternion: QuaternionLike, dualQuaternion: DualQuaternionLike, out: T) => T;
 /**
@@ -157,6 +193,7 @@ export declare const rotateByQuaternionPrepend: <T extends DualQuaternionLike>(q
  * @param radians - The angle of the rotation in radians.
  * @param out - The dual quaternion to store the result in.
  * @returns A normalized dual quaternion.
+ * @public
  */
 export declare const rotateAroundAxis: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, axis: Vector3Like, radians: number, out: T) => T;
 /**
@@ -165,6 +202,7 @@ export declare const rotateAroundAxis: <T extends DualQuaternionLike>(dualQuater
  * @param b - The addend.
  * @param out - The dual quaternion to store the result in.
  * @returns The sum.
+ * @public
  */
 export declare const add: <T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, out: T) => T;
 /**
@@ -173,30 +211,57 @@ export declare const add: <T extends DualQuaternionLike>(a: DualQuaternionLike,
  * @param b - The multiplicand.
  * @param out - The dual quaternion to store the result in.
  * @returns The product.
+ * @public
  */
 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 dualQuaternion - The multiplicand (dual quaternion).
+ * @param scalar - The multiplier (scalar) to scale the dual quaternion by.
  * @param out - The dual quaternion to store the result in.
- * @returns The sum.
+ * @returns The product.
+ * @public
  */
 export declare const scale: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, scalar: number, out: T) => T;
+/**
+ * Calculate the dot product of two dual quaternions.
+ * @param a - The multiplier.
+ * @param b - The multiplicand.
+ * @returns The dot product.
+ * @see {@link https://en.wikipedia.org/wiki/Dot_product | Dot product}
+ * @public
+ */
+export declare const dot: (a: DualQuaternionLike, b: DualQuaternionLike) => number;
 /**
  * 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.
+ * @param out - The dual quaternion to store the result in. Will not always be normalized (most noticeable when `t === 0.5`).
  * @returns The interpolated value.
+ * @public
  */
 export declare const lerp: <T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, t: number, out: T) => T;
+/**
+ * Calculate the magnitude (length) of a dual quaternion.
+ * @param dualQuaternion - The dual quaternion.
+ * @returns The magnitude.
+ * @public
+ */
+export declare const getMagnitude: (dualQuaternion: DualQuaternionLike) => number;
+/**
+ * Calculate the squared magnitude (length) of a dual quaternion.
+ * @param dualQuaternion - The dual quaternion.
+ * @returns The squared magnitude.
+ * @public
+ */
+export declare const getSquaredMagnitude: (dualQuaternion: DualQuaternionLike) => number;
 /**
  * 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.
+ * @public
  */
 export declare const invert: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
 /**
@@ -204,6 +269,7 @@ export declare const invert: <T extends DualQuaternionLike>(dualQuaternion: Dual
  * @param dualQuaternion - The dual quaternion.
  * @param out - The dual quaternion to store the result in.
  * @returns The conjugate.
+ * @public
  */
 export declare const conjugate: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
 /**
@@ -211,6 +277,7 @@ export declare const conjugate: <T extends DualQuaternionLike>(dualQuaternion: D
  * @param dualQuaternion - The dual quaternion.
  * @param out - The dual quaternion to store the result in.
  * @returns The normalized dual quaternion.
+ * @public
  */
 export declare const normalize: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
 /**
@@ -218,6 +285,7 @@ export declare const normalize: <T extends DualQuaternionLike>(dualQuaternion: D
  * @param a - The first dual quaternion.
  * @param b - The second dual quaternion.
  * @returns Whether or not the dual quaternions are equivalent.
+ * @public
  */
 export declare const exactEquals: (a: DualQuaternionLike, b: DualQuaternionLike) => boolean;
 /**
@@ -225,11 +293,13 @@ export declare const exactEquals: (a: DualQuaternionLike, b: DualQuaternionLike)
  * @param a - The first dual quaternion.
  * @param b - The second dual quaternion.
  * @returns Whether or not the dual quaternions are equivalent.
+ * @public
  */
 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)
+ * @see {@link https://en.wikipedia.org/wiki/Dual_quaternion | Dual quaternion}
+ * @public
  */
 export default class DualQuaternion extends Float32Array implements DualQuaternionLike {
     /**
@@ -247,23 +317,23 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
      */
     static fromValues<T extends DualQuaternionLike = DualQuaternion>(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.
+     * Create a dual quaternion from the given rotation and translation.
+     * @param q - The rotation quaternion.
+     * @param t - The translation vector.
      * @param out - The dual quaternion to store the result in.
      * @returns The dual quaternion.
      */
     static fromRotationTranslation<T extends DualQuaternionLike = DualQuaternion>(q: QuaternionLike, t: Vector3Like, out?: T): T;
     /**
      * Create a dual quaternion from the given translation.
-     * @param t - The translation.
+     * @param t - The translation vector.
      * @param out - The dual quaternion to store the result in.
      * @returns The dual quaternion.
      */
     static fromTranslation<T extends DualQuaternionLike = DualQuaternion>(t: Vector3Like, out?: T): T;
     /**
-     * Create a dual quaternion from the given quaternion.
-     * @param q - The quaternion.
+     * Create a dual quaternion from the given rotation.
+     * @param q - The rotation quaternion.
      * @param out - The dual quaternion to store the result in.
      * @returns The dual quaternion.
      */
@@ -277,7 +347,7 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
     static fromMatrix4<T extends DualQuaternionLike = DualQuaternion>(matrix: Matrix4Like, out?: T): T;
     /**
      * Create an identity dual quaternion.
-     * @see [Dual quaternion](https://en.wikipedia.org/wiki/Dual_quaternion)
+     * @see {@link https://en.wikipedia.org/wiki/Dual_quaternion | Dual quaternion}
      */
     constructor();
     /** The first real component of this dual quaternion. */
@@ -370,19 +440,19 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
      */
     rotateZ<T extends DualQuaternionLike = DualQuaternion>(r: number, out?: T): T;
     /**
-     * Multiply this dual quaternion by a quaternion.
+     * Rotate this dual quaternion by a quaternion (using the quaternion as the multiplicand).
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
      */
     rotateByQuaternionAppend<T extends DualQuaternionLike = DualQuaternion>(q: QuaternionLike, out?: T): T;
     /**
-     * Multiply a quaternion by this dual quaternion.
+     * Rotate this dual quaternion by a quaternion (using the quaternion as the multiplier).
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
      */
     rotateByQuaternionPrepend<T extends DualQuaternionLike = DualQuaternion>(q: QuaternionLike, out?: T): T;
     /**
@@ -418,7 +488,7 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
      * 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)
+     * @see {@link https://en.wikipedia.org/wiki/Dot_product | Dot product}
      */
     dot(dq: DualQuaternionLike): number;
     /**

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

@@ -1 +1 @@
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