@lakuna/umath 2.0.0 → 3.0.1

package/dist/linalg/DualQuaternion.d.ts

@@ -28,7 +28,7 @@ export interface DualQuaternionLike extends Record<number, number> {
  * @returns A dual quaternion-like object.
  * @public
  */
-export declare const createDualQuaternionLike: () => Float32Array & DualQuaternionLike;
+export declare const createDualQuaternionLike: () => DualQuaternionLike & Float32Array;
 /**
  * Create a dual quaternion with the given values.
  * @param x1 - The first real component.
@@ -51,7 +51,7 @@ export declare const fromValues: <T extends DualQuaternionLike>(x1: number, y1:
  * @returns The copy.
  * @public
  */
-export declare const copy: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+export declare const copy: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, out: T) => T;
 /**
  * Create a dual quaternion from the given rotation and translation.
  * @param quaternion - The rotation quaternion.
@@ -60,7 +60,7 @@ export declare const copy: <T extends DualQuaternionLike>(dualQuaternion: DualQu
  * @returns The dual quaternion.
  * @public
  */
-export declare const fromRotationTranslation: <T extends DualQuaternionLike>(quaternion: QuaternionLike, translation: Vector3Like, out: T) => T;
+export declare const fromRotationTranslation: <T extends DualQuaternionLike>(quaternion: Readonly<QuaternionLike>, translation: Readonly<Vector3Like>, out: T) => T;
 /**
  * Create a dual quaternion from the given translation.
  * @param translation - The translation vector.
@@ -68,7 +68,7 @@ export declare const fromRotationTranslation: <T extends DualQuaternionLike>(qua
  * @returns The dual quaternion.
  * @public
  */
-export declare const fromTranslation: <T extends DualQuaternionLike>(translation: Vector3Like, out: T) => T;
+export declare const fromTranslation: <T extends DualQuaternionLike>(translation: Readonly<Vector3Like>, out: T) => T;
 /**
  * Create a dual quaternion from the given rotation.
  * @param quaternion - The rotation quaternion.
@@ -76,7 +76,7 @@ export declare const fromTranslation: <T extends DualQuaternionLike>(translation
  * @returns The dual quaternion.
  * @public
  */
-export declare const fromRotation: <T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+export declare const fromRotation: <T extends DualQuaternionLike>(quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * 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.
@@ -84,7 +84,7 @@ export declare const fromRotation: <T extends DualQuaternionLike>(quaternion: Qu
  * @returns The dual quaternion.
  * @public
  */
-export declare const fromMatrix4: <T extends DualQuaternionLike>(matrix: Matrix4Like, out: T) => T;
+export declare const fromMatrix4: <T extends DualQuaternionLike>(matrix: Readonly<Matrix4Like>, out: T) => T;
 /**
  * Set a dual quaternion to the identity dual quaternion.
  * @param out - The dual quaternion to store the result in.
@@ -99,7 +99,7 @@ export declare const identity: <T extends DualQuaternionLike>(out: T) => T;
  * @returns The real part.
  * @public
  */
-export declare const getReal: <T extends QuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+export declare const getReal: <T extends QuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, out: T) => T;
 /**
  * Get the dual part of a dual quaternion.
  * @param dualQuaternion - The dual quaternion.
@@ -107,7 +107,7 @@ export declare const getReal: <T extends QuaternionLike>(dualQuaternion: DualQua
  * @returns The dual part.
  * @public
  */
-export declare const getDual: <T extends QuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+export declare const getDual: <T extends QuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, out: T) => T;
 /**
  * Set the real part of a dual quaternion.
  * @param quaternion - The quaternion to set as the real part.
@@ -115,7 +115,7 @@ export declare const getDual: <T extends QuaternionLike>(dualQuaternion: DualQua
  * @returns The dual quaternion.
  * @public
  */
-export declare const setReal: <T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+export declare const setReal: <T extends DualQuaternionLike>(quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Set the dual part of a dual quaternion.
  * @param quaternion - The quaternion to set as the dual part.
@@ -123,7 +123,7 @@ export declare const setReal: <T extends DualQuaternionLike>(quaternion: Quatern
  * @returns The dual quaternion.
  * @public
  */
-export declare const setDual: <T extends DualQuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+export declare const setDual: <T extends DualQuaternionLike>(quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Get the translation of a normalized dual quaternion.
  * @param dualQuaternion - The dual quaternion.
@@ -131,7 +131,7 @@ export declare const setDual: <T extends DualQuaternionLike>(quaternion: Quatern
  * @returns The translation vector.
  * @public
  */
-export declare const getTranslation: <T extends Vector3Like>(dualQuaternion: DualQuaternionLike, out: T) => T;
+export declare const getTranslation: <T extends Vector3Like>(dualQuaternion: Readonly<DualQuaternionLike>, out: T) => T;
 /**
  * Translate a dual quaternion by the given vector.
  * @param dualQuaternion - The dual quaternion.
@@ -140,7 +140,7 @@ export declare const getTranslation: <T extends Vector3Like>(dualQuaternion: Dua
  * @returns The translated dual quaternion.
  * @public
  */
-export declare const translate: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, vector: Vector3Like, out: T) => T;
+export declare const translate: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, vector: Readonly<Vector3Like>, out: T) => T;
 /**
  * Rotate a dual quaternion around the X-axis.
  * @param dualQuaternion - The dual quaternion.
@@ -149,7 +149,7 @@ export declare const translate: <T extends DualQuaternionLike>(dualQuaternion: D
  * @returns The rotated dual quaternion.
  * @public
  */
-export declare const rotateX: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T) => T;
+export declare const rotateX: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, radians: number, out: T) => T;
 /**
  * Rotate a dual quaternion around the Y-axis.
  * @param dualQuaternion - The dual quaternion.
@@ -158,7 +158,7 @@ export declare const rotateX: <T extends DualQuaternionLike>(dualQuaternion: Dua
  * @returns The rotated dual quaternion.
  * @public
  */
-export declare const rotateY: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T) => T;
+export declare const rotateY: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, radians: number, out: T) => T;
 /**
  * Rotate a dual quaternion around the Z-axis.
  * @param dualQuaternion - The dual quaternion.
@@ -167,7 +167,7 @@ export declare const rotateY: <T extends DualQuaternionLike>(dualQuaternion: Dua
  * @returns The rotated dual quaternion.
  * @public
  */
-export declare const rotateZ: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, radians: number, out: T) => T;
+export declare const rotateZ: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, radians: number, out: T) => T;
 /**
  * Rotate a dual quaternion by a quaternion (using the quaternion as the multiplicand).
  * @param dualQuaternion - The dual quaternion to rotate.
@@ -176,7 +176,7 @@ export declare const rotateZ: <T extends DualQuaternionLike>(dualQuaternion: Dua
  * @returns The rotated dual quaternion.
  * @public
  */
-export declare const rotateByQuaternionAppend: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, quaternion: QuaternionLike, out: T) => T;
+export declare const rotateByQuaternionAppend: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Rotate a dual quaternion by a quaternion (using the quaternion as the multiplier).
  * @param quaternion - The quaternion to rotate by.
@@ -185,7 +185,7 @@ export declare const rotateByQuaternionAppend: <T extends DualQuaternionLike>(du
  * @returns The rotated dual quaternion.
  * @public
  */
-export declare const rotateByQuaternionPrepend: <T extends DualQuaternionLike>(quaternion: QuaternionLike, dualQuaternion: DualQuaternionLike, out: T) => T;
+export declare const rotateByQuaternionPrepend: <T extends DualQuaternionLike>(quaternion: Readonly<QuaternionLike>, dualQuaternion: Readonly<DualQuaternionLike>, out: T) => T;
 /**
  * Rotate a dual quaternion around an axis.
  * @param dualQuaternion - The dual quaternion.
@@ -195,7 +195,7 @@ export declare const rotateByQuaternionPrepend: <T extends DualQuaternionLike>(q
  * @returns A normalized dual quaternion.
  * @public
  */
-export declare const rotateAroundAxis: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, axis: Vector3Like, radians: number, out: T) => T;
+export declare const rotateAroundAxis: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, axis: Readonly<Vector3Like>, radians: number, out: T) => T;
 /**
  * Add two dual quaternions.
  * @param a - The augend.
@@ -204,7 +204,7 @@ export declare const rotateAroundAxis: <T extends DualQuaternionLike>(dualQuater
  * @returns The sum.
  * @public
  */
-export declare const add: <T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, out: T) => T;
+export declare const add: <T extends DualQuaternionLike>(a: Readonly<DualQuaternionLike>, b: Readonly<DualQuaternionLike>, out: T) => T;
 /**
  * Multiply two dual quaternions.
  * @param a - The multiplier.
@@ -213,7 +213,7 @@ export declare const add: <T extends DualQuaternionLike>(a: DualQuaternionLike,
  * @returns The product.
  * @public
  */
-export declare const multiply: <T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, out: T) => T;
+export declare const multiply: <T extends DualQuaternionLike>(a: Readonly<DualQuaternionLike>, b: Readonly<DualQuaternionLike>, out: T) => T;
 /**
  * Multiply a dual quaternion by a scalar.
  * @param dualQuaternion - The multiplicand (dual quaternion).
@@ -222,7 +222,7 @@ export declare const multiply: <T extends DualQuaternionLike>(a: DualQuaternionL
  * @returns The product.
  * @public
  */
-export declare const scale: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, scalar: number, out: T) => T;
+export declare const scale: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, scalar: number, out: T) => T;
 /**
  * Calculate the dot product of two dual quaternions.
  * @param a - The multiplier.
@@ -231,7 +231,7 @@ export declare const scale: <T extends DualQuaternionLike>(dualQuaternion: DualQ
  * @see {@link https://en.wikipedia.org/wiki/Dot_product | Dot product}
  * @public
  */
-export declare const dot: (a: DualQuaternionLike, b: DualQuaternionLike) => number;
+export declare const dot: (a: Readonly<DualQuaternionLike>, b: Readonly<DualQuaternionLike>) => number;
 /**
  * Perform a linear interpolation between two dual quaternions.
  * @param a - The first dual quaternion.
@@ -241,21 +241,21 @@ export declare const dot: (a: DualQuaternionLike, b: DualQuaternionLike) => numb
  * @returns The interpolated value.
  * @public
  */
-export declare const lerp: <T extends DualQuaternionLike>(a: DualQuaternionLike, b: DualQuaternionLike, t: number, out: T) => T;
+export declare const lerp: <T extends DualQuaternionLike>(a: Readonly<DualQuaternionLike>, b: Readonly<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;
+export declare const getMagnitude: (dualQuaternion: Readonly<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;
+export declare const getSquaredMagnitude: (dualQuaternion: Readonly<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.
@@ -263,7 +263,7 @@ export declare const getSquaredMagnitude: (dualQuaternion: DualQuaternionLike) =
  * @returns The inverse.
  * @public
  */
-export declare const invert: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+export declare const invert: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, out: T) => T;
 /**
  * Calculate the conjugate of a dual quaternion. If the dual quaternion is normalized, this is equivalent to its inverse and faster to calculate.
  * @param dualQuaternion - The dual quaternion.
@@ -271,7 +271,7 @@ export declare const invert: <T extends DualQuaternionLike>(dualQuaternion: Dual
  * @returns The conjugate.
  * @public
  */
-export declare const conjugate: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+export declare const conjugate: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, out: T) => T;
 /**
  * Normalize a dual quaternion.
  * @param dualQuaternion - The dual quaternion.
@@ -279,7 +279,7 @@ export declare const conjugate: <T extends DualQuaternionLike>(dualQuaternion: D
  * @returns The normalized dual quaternion.
  * @public
  */
-export declare const normalize: <T extends DualQuaternionLike>(dualQuaternion: DualQuaternionLike, out: T) => T;
+export declare const normalize: <T extends DualQuaternionLike>(dualQuaternion: Readonly<DualQuaternionLike>, out: T) => T;
 /**
  * Determine whether or not two dual quaternions are exactly equivalent.
  * @param a - The first dual quaternion.
@@ -287,7 +287,7 @@ export declare const normalize: <T extends DualQuaternionLike>(dualQuaternion: D
  * @returns Whether or not the dual quaternions are equivalent.
  * @public
  */
-export declare const exactEquals: (a: DualQuaternionLike, b: DualQuaternionLike) => boolean;
+export declare const exactEquals: (a: Readonly<DualQuaternionLike>, b: Readonly<DualQuaternionLike>) => boolean;
 /**
  * Determine whether or not two dual quaternions are roughly equivalent.
  * @param a - The first dual quaternion.
@@ -295,170 +295,199 @@ export declare const exactEquals: (a: DualQuaternionLike, b: DualQuaternionLike)
  * @returns Whether or not the dual quaternions are equivalent.
  * @public
  */
-export declare const equals: (a: DualQuaternionLike, b: DualQuaternionLike) => boolean;
+export declare const equals: (a: Readonly<DualQuaternionLike>, b: Readonly<DualQuaternionLike>) => boolean;
 /**
  * A complex number that is commonly used to describe transformations.
  * @see {@link https://en.wikipedia.org/wiki/Dual_quaternion | Dual quaternion}
  * @public
  */
 export default class DualQuaternion extends Float32Array implements DualQuaternionLike {
+    /** The first real component of this dual quaternion. */
+    0: number;
+    /** The second real component of this dual quaternion. */
+    1: number;
+    /** The third real component of this dual quaternion. */
+    2: number;
+    /** The fourth real component of this dual quaternion. */
+    3: number;
+    /** The first dual component of this dual quaternion. */
+    4: number;
+    /** The second dual component of this dual quaternion. */
+    5: number;
+    /** The third dual component of this dual quaternion. */
+    6: number;
+    /** The fourth dual component of this dual quaternion. */
+    7: number;
+    /** Get the magnitude (length) of this dual quaternion. */
+    get magnitude(): number;
+    /** Get the squared magnitude (length) of this dual quaternion. */
+    get squaredMagnitude(): number;
     /**
-     * Create a dual quaternion with the given values.
-     * @param x1 - The first real component.
-     * @param y1 - The second real component.
-     * @param z1 - The third real component.
-     * @param w1 - The fourth real component.
-     * @param x2 - The first dual component.
-     * @param y2 - The second dual component.
-     * @param z2 - The third dual component.
-     * @param w2 - The fourth dual component.
-     * @returns A new dual quaternion.
+     * Create an identity dual quaternion.
+     * @see {@link https://en.wikipedia.org/wiki/Dual_quaternion | Dual quaternion}
      */
-    static fromValues(x1: number, y1: number, z1: number, w1: number, x2: number, y2: number, z2: number, w2: number): DualQuaternion;
+    constructor();
     /**
-     * Create a dual quaternion from the given rotation and translation.
-     * @param q - The rotation quaternion.
-     * @param t - The translation vector.
+     * Create a dual quaternion from the given four-by-four matrix.
+     * @param matrix - The matrix.
      * @returns The dual quaternion.
      */
-    static fromRotationTranslation(q: QuaternionLike, t: Vector3Like): DualQuaternion;
+    static fromMatrix4(matrix: Readonly<Matrix4Like>): DualQuaternion;
     /**
-     * Create a dual quaternion from the given translation.
-     * @param t - The translation vector.
+     * Create a dual quaternion from the given rotation.
+     * @param q - The rotation quaternion.
      * @returns The dual quaternion.
      */
-    static fromTranslation(t: Vector3Like): DualQuaternion;
+    static fromRotation(q: Readonly<QuaternionLike>): DualQuaternion;
     /**
-     * Create a dual quaternion from the given rotation.
+     * Create a dual quaternion from the given rotation and translation.
      * @param q - The rotation quaternion.
+     * @param t - The translation vector.
      * @returns The dual quaternion.
      */
-    static fromRotation(q: QuaternionLike): DualQuaternion;
+    static fromRotationTranslation(q: Readonly<QuaternionLike>, t: Readonly<Vector3Like>): DualQuaternion;
     /**
-     * Create a dual quaternion from the given four-by-four matrix.
-     * @param matrix - The matrix.
+     * Create a dual quaternion from the given translation.
+     * @param t - The translation vector.
      * @returns The dual quaternion.
      */
-    static fromMatrix4(matrix: Matrix4Like): DualQuaternion;
+    static fromTranslation(t: Readonly<Vector3Like>): DualQuaternion;
     /**
-     * Create an identity dual quaternion.
-     * @see {@link https://en.wikipedia.org/wiki/Dual_quaternion | Dual quaternion}
+     * Create a dual quaternion with the given values.
+     * @param x1 - The first real component.
+     * @param y1 - The second real component.
+     * @param z1 - The third real component.
+     * @param w1 - The fourth real component.
+     * @param x2 - The first dual component.
+     * @param y2 - The second dual component.
+     * @param z2 - The third dual component.
+     * @param w2 - The fourth dual component.
+     * @returns A new dual quaternion.
      */
-    constructor();
-    /** The first real component of this dual quaternion. */
-    0: number;
-    /** The second real component of this dual quaternion. */
-    1: number;
-    /** The third real component of this dual quaternion. */
-    2: number;
-    /** The fourth real component of this dual quaternion. */
-    3: number;
-    /** The first dual component of this dual quaternion. */
-    4: number;
-    /** The second dual component of this dual quaternion. */
-    5: number;
-    /** The third dual component of this dual quaternion. */
-    6: number;
-    /** The fourth dual component of this dual quaternion. */
-    7: number;
+    static fromValues(x1: number, y1: number, z1: number, w1: number, x2: number, y2: number, z2: number, w2: number): DualQuaternion;
     /**
-     * Copy the values from another dual quaternion to this one.
-     * @param dualQuaternion - The dual quaternion to copy.
-     * @returns This dual quaternion.
+     * Add another dual quaternion to this one.
+     * @param dq - The other dual quaternion.
+     * @returns The sum.
      */
-    copy(dualQuaternion: DualQuaternionLike): this;
+    add(dq: Readonly<DualQuaternionLike>): DualQuaternion;
     /**
      * Copy the values from this dual quaternion to another one.
      * @returns The copy.
      */
     clone(): DualQuaternion;
     /**
-     * Set this dual quaternion to the identity dual quaternion.
-     * @returns The identity dual quaternion.
+     * Calculate the conjugate of this dual quaternion. If this dual quaternion is normalized, this is equivalent to its inverse and faster to calculate.
+     * @returns The conjugate.
      */
-    identity(): this;
+    conjugate(): DualQuaternion;
     /**
-     * Get the real part of this dual quaternion.
-     * @returns The real part.
+     * Copy the values from another dual quaternion to this one.
+     * @param dualQuaternion - The dual quaternion to copy.
+     * @returns This dual quaternion.
      */
-    getReal(): Quaternion;
+    copy(dualQuaternion: Readonly<DualQuaternionLike>): this;
     /**
-     * Set the real part of this dual quaternion.
-     * @param q - The quaternion.
+     * Calculate the dot product of this and another dual quaternion.
+     * @param dq - The other dual quaternion.
+     * @returns The dot product.
+     * @see {@link https://en.wikipedia.org/wiki/Dot_product | Dot product}
+     */
+    dot(dq: Readonly<DualQuaternionLike>): number;
+    /**
+     * Determine whether or not this dual quaternion is roughly equivalent to another.
+     * @param dq - The other dual quaternion.
+     * @returns Whether or not the dual quaternions are equivalent.
+     */
+    equals(dq: Readonly<DualQuaternionLike>): boolean;
+    /**
+     * Determine whether or not this dual quaternion is exactly equivalent to another.
+     * @param dq - The other dual quaternion.
+     * @returns Whether or not the dual quaternions are equivalent.
      */
-    setReal(q: QuaternionLike): void;
+    exactEquals(dq: Readonly<DualQuaternionLike>): boolean;
     /**
      * Get the dual part of this dual quaternion.
      * @returns The dual part.
      */
     getDual(): Quaternion;
     /**
-     * Set the real part of this dual quaternion.
-     * @param q - The quaternion.
+     * Get the real part of this dual quaternion.
+     * @returns The real part.
      */
-    setDual(q: QuaternionLike): void;
+    getReal(): Quaternion;
     /**
      * Get the translation of this normalized dual quaternion.
      * @returns The translation.
      */
     getTranslation(): Vector3;
     /**
-     * Translate this dual quaternion by the given vector.
-     * @param v - The vector.
-     * @returns The translated dual quaternion.
+     * Set this dual quaternion to the identity dual quaternion.
+     * @returns The identity dual quaternion.
      */
-    translate(v: Vector3Like): DualQuaternion;
+    identity(): this;
     /**
-     * Rotate this dual quaternion around the X-axis.
-     * @param r - The angle to rotate by in radians.
-     * @returns The rotated dual quaternion.
+     * Calculate the inverse of this dual quaternion. If this dual quaternion is normalized, the conjugate is equivalent and faster to calculate.
+     * @returns The inverse.
      */
-    rotateX(r: number): DualQuaternion;
+    invert(): DualQuaternion;
     /**
-     * Rotate this dual quaternion around the Y-axis.
-     * @param r - The angle to rotate by in radians.
-     * @returns The rotated dual quaternion.
+     * Perform a linear interpolation between this and another dual quaternion.
+     * @param dq - The other dual quaternion.
+     * @param t - The interpolation amount in `[0,1]`.
+     * @returns The interpolated value.
      */
-    rotateY(r: number): DualQuaternion;
+    lerp(dq: Readonly<DualQuaternionLike>, t: number): DualQuaternion;
     /**
-     * Rotate this dual quaternion around the Z-axis.
-     * @param r - The angle to rotate by in radians.
-     * @returns The rotated dual quaternion.
+     * Multiply this dual quaternion by another one.
+     * @param dq - The other dual quaternion.
+     * @returns The product.
      */
-    rotateZ(r: number): DualQuaternion;
+    multiply(dq: Readonly<DualQuaternionLike>): DualQuaternion;
+    /**
+     * Normalize this dual quaternion.
+     * @returns The normalized dual quaternion.
+     */
+    normalize(): DualQuaternion;
+    /**
+     * Rotate this dual quaternion around an axis.
+     * @param axis - The axis.
+     * @param r - The angle of the rotation in radians.
+     * @returns A normalized dual quaternion.
+     */
+    rotateAroundAxis(axis: Readonly<Vector3Like>, r: number): DualQuaternion;
     /**
      * Rotate this dual quaternion by a quaternion (using the quaternion as the multiplicand).
      * @param q - The quaternion.
      * @returns The rotated dual quaternion.
      * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
      */
-    rotateByQuaternionAppend(q: QuaternionLike): DualQuaternion;
+    rotateByQuaternionAppend(q: Readonly<QuaternionLike>): DualQuaternion;
     /**
      * Rotate this dual quaternion by a quaternion (using the quaternion as the multiplier).
      * @param q - The quaternion.
      * @returns The rotated dual quaternion.
      * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
      */
-    rotateByQuaternionPrepend(q: QuaternionLike): DualQuaternion;
+    rotateByQuaternionPrepend(q: Readonly<QuaternionLike>): DualQuaternion;
     /**
-     * Rotate this dual quaternion around an axis.
-     * @param axis - The axis.
-     * @param r - The angle of the rotation in radians.
-     * @returns A normalized dual quaternion.
+     * Rotate this dual quaternion around the X-axis.
+     * @param r - The angle to rotate by in radians.
+     * @returns The rotated dual quaternion.
      */
-    rotateAroundAxis(axis: Vector3Like, r: number): DualQuaternion;
+    rotateX(r: number): DualQuaternion;
     /**
-     * Add another dual quaternion to this one.
-     * @param dq - The other dual quaternion.
-     * @returns The sum.
+     * Rotate this dual quaternion around the Y-axis.
+     * @param r - The angle to rotate by in radians.
+     * @returns The rotated dual quaternion.
      */
-    add(dq: DualQuaternionLike): DualQuaternion;
+    rotateY(r: number): DualQuaternion;
     /**
-     * Multiply this dual quaternion by another one.
-     * @param dq - The other dual quaternion.
-     * @returns The product.
+     * Rotate this dual quaternion around the Z-axis.
+     * @param r - The angle to rotate by in radians.
+     * @returns The rotated dual quaternion.
      */
-    multiply(dq: DualQuaternionLike): DualQuaternion;
+    rotateZ(r: number): DualQuaternion;
     /**
      * Multiply this dual quaternion by a scalar.
      * @param s - The scalar.
@@ -466,49 +495,20 @@ export default class DualQuaternion extends Float32Array implements DualQuaterni
      */
     scale(s: number): DualQuaternion;
     /**
-     * Calculate the dot product of this and another dual quaternion.
-     * @param dq - The other dual quaternion.
-     * @returns The dot product.
-     * @see {@link https://en.wikipedia.org/wiki/Dot_product | Dot product}
-     */
-    dot(dq: DualQuaternionLike): number;
-    /**
-     * Perform a linear interpolation between this and another dual quaternion.
-     * @param dq - The other dual quaternion.
-     * @param t - The interpolation amount in `[0,1]`.
-     * @returns The interpolated value.
-     */
-    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.
-     * @returns The inverse.
-     */
-    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.
-     * @returns The conjugate.
-     */
-    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.
-     * @returns The normalized dual quaternion.
+     * Set the real part of this dual quaternion.
+     * @param q - The quaternion.
      */
-    normalize(): DualQuaternion;
+    setDual(q: Readonly<QuaternionLike>): void;
     /**
-     * Determine whether or not this dual quaternion is exactly equivalent to another.
-     * @param dq - The other dual quaternion.
-     * @returns Whether or not the dual quaternions are equivalent.
+     * Set the real part of this dual quaternion.
+     * @param q - The quaternion.
      */
-    exactEquals(dq: DualQuaternionLike): boolean;
+    setReal(q: Readonly<QuaternionLike>): void;
     /**
-     * Determine whether or not this dual quaternion is roughly equivalent to another.
-     * @param dq - The other dual quaternion.
-     * @returns Whether or not the dual quaternions are equivalent.
+     * Translate this dual quaternion by the given vector.
+     * @param v - The vector.
+     * @returns The translated dual quaternion.
      */
-    equals(dq: DualQuaternionLike): boolean;
+    translate(v: Readonly<Vector3Like>): DualQuaternion;
 }
 //# sourceMappingURL=DualQuaternion.d.ts.map

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

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