@lakuna/umath 1.5.0 → 2.0.0

package/dist/index.d.ts

@@ -1,3 +1,4 @@
+/** @module . */
 export { default as approx } from "./algorithms/approx.js";
 export { default as approxRelative } from "./algorithms/approxRelative.js";
 export { default as combinations } from "./algorithms/combinations.js";
@@ -19,6 +20,7 @@ export { type Matrix4Like, default as Matrix4 } from "./linalg/Matrix4.js";
 export { type QuaternionLike, 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 SlowVector } from "./linalg/SlowVector.js";
 export type { default as SquareMatrix } from "./linalg/SquareMatrix.js";
 export type { VectorLike, default as Vector } from "./linalg/Vector.js";
 export { type Vector2Like, default as Vector2 } from "./linalg/Vector2.js";
@@ -27,9 +29,11 @@ export { type Vector4Like, default as Vector4 } from "./linalg/Vector4.js";
 export type { default as AxisAngle } from "./types/AxisAngle.js";
 export type { default as FieldOfView } from "./types/FieldOfView.js";
 export { default as BigNumber } from "./utility/BigNumber.js";
+export { default as createAxisAngleLike } from "./utility/createAxisAngleLike.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";
+export { default as VectorSizeError } from "./utility/VectorSizeError.js";
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAEA,gBAAgB;AAGhB,OAAO,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,wBAAwB,CAAC;AAC3D,OAAO,EAAE,OAAO,IAAI,cAAc,EAAE,MAAM,gCAAgC,CAAC;AAC3E,OAAO,EAAE,OAAO,IAAI,YAAY,EAAE,MAAM,8BAA8B,CAAC;AACvE,OAAO,EAAE,OAAO,IAAI,gBAAgB,EAAE,MAAM,kCAAkC,CAAC;AAC/E,OAAO,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,2BAA2B,CAAC;AACjE,OAAO,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,2BAA2B,CAAC;AACjE,OAAO,EAAE,OAAO,IAAI,qBAAqB,EAAE,MAAM,uCAAuC,CAAC;AACzF,OAAO,EAAE,OAAO,IAAI,iBAAiB,EAAE,MAAM,mCAAmC,CAAC;AACjF,OAAO,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,yBAAyB,CAAC;AAC7D,OAAO,EAAE,OAAO,IAAI,YAAY,EAAE,MAAM,8BAA8B,CAAC;AACvE,OAAO,EAAE,OAAO,IAAI,kBAAkB,EAAE,MAAM,oCAAoC,CAAC;AACnF,OAAO,EAAE,OAAO,IAAI,gBAAgB,EAAE,MAAM,kCAAkC,CAAC;AAC/E,OAAO,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,2BAA2B,CAAC;AAGjE,OAAO,EACN,KAAK,kBAAkB,EACvB,OAAO,IAAI,cAAc,EACzB,MAAM,4BAA4B,CAAC;AACpC,YAAY,EAAE,UAAU,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,oBAAoB,CAAC;AACxE,OAAO,EAAE,KAAK,WAAW,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAC3E,OAAO,EAAE,KAAK,WAAW,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAC3E,OAAO,EAAE,KAAK,WAAW,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAC3E,OAAO,EACN,KAAK,cAAc,EACnB,OAAO,IAAI,UAAU,EACrB,MAAM,wBAAwB,CAAC;AAChC,OAAO,EAAE,OAAO,IAAI,UAAU,EAAE,MAAM,wBAAwB,CAAC;AAC/D,OAAO,EAAE,OAAO,IAAI,gBAAgB,EAAE,MAAM,8BAA8B,CAAC;AAC3E,OAAO,EAAE,OAAO,IAAI,UAAU,EAAE,MAAM,wBAAwB,CAAC;AAC/D,YAAY,EAAE,OAAO,IAAI,YAAY,EAAE,MAAM,0BAA0B,CAAC;AACxE,YAAY,EAAE,UAAU,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,oBAAoB,CAAC;AACxE,OAAO,EAAE,KAAK,WAAW,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAC3E,OAAO,EAAE,KAAK,WAAW,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAC3E,OAAO,EAAE,KAAK,WAAW,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAG3E,YAAY,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,sBAAsB,CAAC;AACjE,YAAY,EAAE,OAAO,IAAI,WAAW,EAAE,MAAM,wBAAwB,CAAC;AAGrE,OAAO,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,wBAAwB,CAAC;AAC9D,OAAO,EAAE,OAAO,IAAI,mBAAmB,EAAE,MAAM,kCAAkC,CAAC;AAClF,OAAO,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,sBAAsB,CAAC;AAC1D,OAAO,EAAE,OAAO,IAAI,cAAc,EAAE,MAAM,6BAA6B,CAAC;AACxE,OAAO,EAAE,OAAO,IAAI,eAAe,EAAE,MAAM,8BAA8B,CAAC;AAC1E,OAAO,EAAE,OAAO,IAAI,kBAAkB,EAAE,MAAM,iCAAiC,CAAC;AAChF,OAAO,EAAE,OAAO,IAAI,mBAAmB,EAAE,MAAM,kCAAkC,CAAC;AAClF,OAAO,EAAE,OAAO,IAAI,eAAe,EAAE,MAAM,8BAA8B,CAAC"}

package/dist/index.js

@@ -1,3 +1,6 @@
+// TypeDoc-specific tag that gives a name to this module.
+// eslint-disable-next-line tsdoc/syntax
+/** @module . */
 // Algorithms
 export { default as approx } from "./algorithms/approx.js";
 export { default as approxRelative } from "./algorithms/approxRelative.js";
@@ -20,14 +23,17 @@ 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 SlowVector } from "./linalg/SlowVector.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";
 // Utility
 export { default as BigNumber } from "./utility/BigNumber.js";
+export { default as createAxisAngleLike } from "./utility/createAxisAngleLike.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";
+export { default as VectorSizeError } from "./utility/VectorSizeError.js";
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,yDAAyD;AACzD,wCAAwC;AACxC,gBAAgB;AAEhB,aAAa;AACb,OAAO,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,wBAAwB,CAAC;AAC3D,OAAO,EAAE,OAAO,IAAI,cAAc,EAAE,MAAM,gCAAgC,CAAC;AAC3E,OAAO,EAAE,OAAO,IAAI,YAAY,EAAE,MAAM,8BAA8B,CAAC;AACvE,OAAO,EAAE,OAAO,IAAI,gBAAgB,EAAE,MAAM,kCAAkC,CAAC;AAC/E,OAAO,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,2BAA2B,CAAC;AACjE,OAAO,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,2BAA2B,CAAC;AACjE,OAAO,EAAE,OAAO,IAAI,qBAAqB,EAAE,MAAM,uCAAuC,CAAC;AACzF,OAAO,EAAE,OAAO,IAAI,iBAAiB,EAAE,MAAM,mCAAmC,CAAC;AACjF,OAAO,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,yBAAyB,CAAC;AAC7D,OAAO,EAAE,OAAO,IAAI,YAAY,EAAE,MAAM,8BAA8B,CAAC;AACvE,OAAO,EAAE,OAAO,IAAI,kBAAkB,EAAE,MAAM,oCAAoC,CAAC;AACnF,OAAO,EAAE,OAAO,IAAI,gBAAgB,EAAE,MAAM,kCAAkC,CAAC;AAC/E,OAAO,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,2BAA2B,CAAC;AAEjE,iBAAiB;AACjB,OAAO,EAEN,OAAO,IAAI,cAAc,EACzB,MAAM,4BAA4B,CAAC;AAEpC,OAAO,EAAoB,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAC3E,OAAO,EAAoB,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAC3E,OAAO,EAAoB,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAC3E,OAAO,EAEN,OAAO,IAAI,UAAU,EACrB,MAAM,wBAAwB,CAAC;AAChC,OAAO,EAAE,OAAO,IAAI,UAAU,EAAE,MAAM,wBAAwB,CAAC;AAC/D,OAAO,EAAE,OAAO,IAAI,gBAAgB,EAAE,MAAM,8BAA8B,CAAC;AAC3E,OAAO,EAAE,OAAO,IAAI,UAAU,EAAE,MAAM,wBAAwB,CAAC;AAG/D,OAAO,EAAoB,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAC3E,OAAO,EAAoB,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAC3E,OAAO,EAAoB,OAAO,IAAI,OAAO,EAAE,MAAM,qBAAqB,CAAC;AAM3E,UAAU;AACV,OAAO,EAAE,OAAO,IAAI,SAAS,EAAE,MAAM,wBAAwB,CAAC;AAC9D,OAAO,EAAE,OAAO,IAAI,mBAAmB,EAAE,MAAM,kCAAkC,CAAC;AAClF,OAAO,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,sBAAsB,CAAC;AAC1D,OAAO,EAAE,OAAO,IAAI,cAAc,EAAE,MAAM,6BAA6B,CAAC;AACxE,OAAO,EAAE,OAAO,IAAI,eAAe,EAAE,MAAM,8BAA8B,CAAC;AAC1E,OAAO,EAAE,OAAO,IAAI,kBAAkB,EAAE,MAAM,iCAAiC,CAAC;AAChF,OAAO,EAAE,OAAO,IAAI,mBAAmB,EAAE,MAAM,kCAAkC,CAAC;AAClF,OAAO,EAAE,OAAO,IAAI,eAAe,EAAE,MAAM,8BAA8B,CAAC"}

package/dist/linalg/DualQuaternion.d.ts

@@ -312,39 +312,34 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
      * @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 = DualQuaternion>(x1: number, y1: number, z1: number, w1: number, x2: number, y2: number, z2: number, w2: number, out?: T): T;
+    static fromValues(x1: number, y1: number, z1: number, w1: number, x2: number, y2: number, z2: number, w2: number): DualQuaternion;
     /**
      * 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;
+    static fromRotationTranslation(q: QuaternionLike, t: Vector3Like): DualQuaternion;
     /**
      * Create a dual quaternion from the given 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;
+    static fromTranslation(t: Vector3Like): DualQuaternion;
     /**
      * 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.
      */
-    static fromRotation<T extends DualQuaternionLike = DualQuaternion>(q: QuaternionLike, out?: T): T;
+    static fromRotation(q: QuaternionLike): DualQuaternion;
     /**
      * 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 = DualQuaternion>(matrix: Matrix4Like, out?: T): T;
+    static fromMatrix4(matrix: Matrix4Like): DualQuaternion;
     /**
      * Create an identity dual quaternion.
      * @see {@link https://en.wikipedia.org/wiki/Dual_quaternion | Dual quaternion}
@@ -374,10 +369,9 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
     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 = DualQuaternion>(out?: T): T;
+    clone(): DualQuaternion;
     /**
      * Set this dual quaternion to the identity dual quaternion.
      * @returns The identity dual quaternion.
@@ -385,10 +379,9 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
     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 = Quaternion>(out?: T): T;
+    getReal(): Quaternion;
     /**
      * Set the real part of this dual quaternion.
      * @param q - The quaternion.
@@ -396,10 +389,9 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
     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 = Quaternion>(out?: T): T;
+    getDual(): Quaternion;
     /**
      * Set the real part of this dual quaternion.
      * @param q - The quaternion.
@@ -407,83 +399,72 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
     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 = Vector3>(out?: T): T;
+    getTranslation(): Vector3;
     /**
      * 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 = DualQuaternion>(v: Vector3Like, out?: T): T;
+    translate(v: Vector3Like): DualQuaternion;
     /**
      * 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 = DualQuaternion>(r: number, out?: T): T;
+    rotateX(r: number): DualQuaternion;
     /**
      * 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 = DualQuaternion>(r: number, out?: T): T;
+    rotateY(r: number): DualQuaternion;
     /**
      * 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 = DualQuaternion>(r: number, out?: T): T;
+    rotateZ(r: number): DualQuaternion;
     /**
      * 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 {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
      */
-    rotateByQuaternionAppend<T extends DualQuaternionLike = DualQuaternion>(q: QuaternionLike, out?: T): T;
+    rotateByQuaternionAppend(q: QuaternionLike): DualQuaternion;
     /**
      * 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 {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
      */
-    rotateByQuaternionPrepend<T extends DualQuaternionLike = DualQuaternion>(q: QuaternionLike, out?: T): T;
+    rotateByQuaternionPrepend(q: QuaternionLike): DualQuaternion;
     /**
      * 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 = DualQuaternion>(axis: Vector3Like, r: number, out?: T): T;
+    rotateAroundAxis(axis: Vector3Like, r: number): DualQuaternion;
     /**
      * 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 = DualQuaternion>(dq: DualQuaternionLike, out?: T): T;
+    add(dq: DualQuaternionLike): DualQuaternion;
     /**
      * 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 = DualQuaternion>(dq: DualQuaternionLike, out?: T): T;
+    multiply(dq: DualQuaternionLike): DualQuaternion;
     /**
      * 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 = DualQuaternion>(s: number, out?: T): T;
+    scale(s: number): DualQuaternion;
     /**
      * Calculate the dot product of this and another dual quaternion.
      * @param dq - The other dual quaternion.
@@ -495,32 +476,28 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
      * 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 = DualQuaternion>(dq: DualQuaternionLike, t: number, out?: T): T;
+    lerp(dq: DualQuaternionLike, t: number): DualQuaternion;
     /**
      * 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 = DualQuaternion>(out?: T): T;
+    invert(): DualQuaternion;
     /**
      * 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 = DualQuaternion>(out?: T): T;
+    conjugate(): DualQuaternion;
     /** 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 = DualQuaternion>(out?: T): T;
+    normalize(): DualQuaternion;
     /**
      * Determine whether or not this dual quaternion is exactly equivalent to another.
      * @param dq - The other dual quaternion.

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

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package/dist/linalg/DualQuaternion.js

@@ -404,7 +404,7 @@ export const rotateAroundAxis = (dualQuaternion, axis, radians, out) => {
     const ax = axis[0];
     const ay = axis[1];
     const az = axis[2];
-    const axisLength = Math.sqrt(ax * ax + ay * ay + az * az); // `Math.hypot` is slower.
+    const axisLength = Math.hypot(ax, ay, az);
     const r = radians / 2;
     const s = Math.sin(r);
     const bx = (s * ax) / axisLength;
@@ -628,48 +628,43 @@ export default class DualQuaternion extends Float32Array {
      * @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(x1, y1, z1, w1, x2, y2, z2, w2, out = new DualQuaternion()) {
-        return fromValues(x1, y1, z1, w1, x2, y2, z2, w2, out);
+    static fromValues(x1, y1, z1, w1, x2, y2, z2, w2) {
+        return fromValues(x1, y1, z1, w1, x2, y2, z2, w2, new DualQuaternion());
     }
     /**
      * 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(q, t, out = new DualQuaternion()) {
-        return fromRotationTranslation(q, t, out);
+    static fromRotationTranslation(q, t) {
+        return fromRotationTranslation(q, t, new DualQuaternion());
     }
     /**
      * Create a dual quaternion from the given translation.
      * @param t - The translation vector.
-     * @param out - The dual quaternion to store the result in.
      * @returns The dual quaternion.
      */
-    static fromTranslation(t, out = new DualQuaternion()) {
-        return fromTranslation(t, out);
+    static fromTranslation(t) {
+        return fromTranslation(t, new DualQuaternion());
     }
     /**
      * 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.
      */
-    static fromRotation(q, out = new DualQuaternion()) {
-        return fromRotation(q, out);
+    static fromRotation(q) {
+        return fromRotation(q, new DualQuaternion());
     }
     /**
      * 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(matrix, out = new DualQuaternion()) {
-        return fromMatrix4(matrix, out);
+    static fromMatrix4(matrix) {
+        return fromMatrix4(matrix, new DualQuaternion());
     }
     /**
      * Create an identity dual quaternion.
@@ -705,11 +700,10 @@ export default class DualQuaternion extends Float32Array {
     }
     /**
      * Copy the values from this dual quaternion to another one.
-     * @param out - The dual quaternion to store the result in.
      * @returns The copy.
      */
-    clone(out = new DualQuaternion()) {
-        return copy(this, out);
+    clone() {
+        return copy(this, new DualQuaternion());
     }
     /**
      * Set this dual quaternion to the identity dual quaternion.
@@ -720,11 +714,10 @@ export default class DualQuaternion extends Float32Array {
     }
     /**
      * Get the real part of this dual quaternion.
-     * @param out - The quaternion to store the result in.
      * @returns The real part.
      */
-    getReal(out = new Quaternion()) {
-        return getReal(this, out);
+    getReal() {
+        return getReal(this, new Quaternion());
     }
     /**
      * Set the real part of this dual quaternion.
@@ -735,11 +728,10 @@ export default class DualQuaternion extends Float32Array {
     }
     /**
      * Get the dual part of this dual quaternion.
-     * @param out - The quaternion to store the result in.
      * @returns The dual part.
      */
-    getDual(out = new Quaternion()) {
-        return getDual(this, out);
+    getDual() {
+        return getDual(this, new Quaternion());
     }
     /**
      * Set the real part of this dual quaternion.
@@ -750,104 +742,93 @@ export default class DualQuaternion extends Float32Array {
     }
     /**
      * Get the translation of this normalized dual quaternion.
-     * @param out - The vector to store the result in.
      * @returns The translation.
      */
-    getTranslation(out = new Vector3()) {
-        return getTranslation(this, out);
+    getTranslation() {
+        return getTranslation(this, new Vector3());
     }
     /**
      * 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(v, out = new DualQuaternion()) {
-        return translate(this, v, out);
+    translate(v) {
+        return translate(this, v, new DualQuaternion());
     }
     /**
      * 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(r, out = new DualQuaternion()) {
-        return rotateX(this, r, out);
+    rotateX(r) {
+        return rotateX(this, r, new DualQuaternion());
     }
     /**
      * 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(r, out = new DualQuaternion()) {
-        return rotateY(this, r, out);
+    rotateY(r) {
+        return rotateY(this, r, new DualQuaternion());
     }
     /**
      * 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(r, out = new DualQuaternion()) {
-        return rotateZ(this, r, out);
+    rotateZ(r) {
+        return rotateZ(this, r, new DualQuaternion());
     }
     /**
      * 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 {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
      */
-    rotateByQuaternionAppend(q, out = new DualQuaternion()) {
-        return rotateByQuaternionAppend(this, q, out);
+    rotateByQuaternionAppend(q) {
+        return rotateByQuaternionAppend(this, q, new DualQuaternion());
     }
     /**
      * 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 {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
      */
-    rotateByQuaternionPrepend(q, out = new DualQuaternion()) {
-        return rotateByQuaternionPrepend(q, this, out);
+    rotateByQuaternionPrepend(q) {
+        return rotateByQuaternionPrepend(q, this, new DualQuaternion());
     }
     /**
      * 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(axis, r, out = new DualQuaternion()) {
-        return rotateAroundAxis(this, axis, r, out);
+    rotateAroundAxis(axis, r) {
+        return rotateAroundAxis(this, axis, r, new DualQuaternion());
     }
     /**
      * 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(dq, out = new DualQuaternion()) {
-        return add(this, dq, out);
+    add(dq) {
+        return add(this, dq, new DualQuaternion());
     }
     /**
      * 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(dq, out = new DualQuaternion()) {
-        return multiply(this, dq, out);
+    multiply(dq) {
+        return multiply(this, dq, new DualQuaternion());
     }
     /**
      * 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(s, out = new DualQuaternion()) {
-        return scale(this, s, out);
+    scale(s) {
+        return scale(this, s, new DualQuaternion());
     }
     /**
      * Calculate the dot product of this and another dual quaternion.
@@ -862,27 +843,24 @@ export default class DualQuaternion extends Float32Array {
      * 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(dq, t, out = new DualQuaternion()) {
-        return lerp(this, dq, t, out);
+    lerp(dq, t) {
+        return lerp(this, dq, t, new DualQuaternion());
     }
     /**
      * 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(out = new DualQuaternion()) {
-        return invert(this, out);
+    invert() {
+        return invert(this, new DualQuaternion());
     }
     /**
      * 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(out = new DualQuaternion()) {
-        return conjugate(this, out);
+    conjugate() {
+        return conjugate(this, new DualQuaternion());
     }
     /** Get the magnitude (length) of this dual quaternion. */
     get magnitude() {
@@ -894,11 +872,10 @@ export default class DualQuaternion extends Float32Array {
     }
     /**
      * Normalize this dual quaternion.
-     * @param out - The dual quaternion to store the result in.
      * @returns The normalized dual quaternion.
      */
-    normalize(out = new DualQuaternion()) {
-        return normalize(this, out);
+    normalize() {
+        return normalize(this, new DualQuaternion());
     }
     /**
      * Determine whether or not this dual quaternion is exactly equivalent to another.