@pawells/math-extended 1.0.1 → 1.0.2

package/build/quaternions/core.spec.js

@@ -1,294 +0,0 @@
-import { QuaternionIdentity, QuaternionClone, QuaternionEquals, QuaternionMagnitude, QuaternionNormalize, QuaternionConjugate, QuaternionInverse, QuaternionMultiply, QuaternionFromAxisAngle, QuaternionFromAxisAngleVector, QuaternionToAxisAngle, QuaternionFromEuler, QuaternionToEuler, QuaternionRotateVector, QuaternionSLERP } from './core.js';
-import { QuaternionError } from './asserts.js';
-describe('Quaternion Core Functions', () => {
-    describe('QuaternionIdentity', () => {
-        test('should return identity quaternion', () => {
-            const identity = QuaternionIdentity();
-            expect(identity).toEqual([0, 0, 0, 1]);
-        });
-    });
-    describe('QuaternionClone', () => {
-        test('should create a deep copy of quaternion', () => {
-            const original = [1, 2, 3, 4];
-            const cloned = QuaternionClone(original);
-            expect(cloned).toEqual(original);
-            expect(cloned).not.toBe(original);
-            // Verify independence
-            cloned[0] = 999;
-            expect(original[0]).toBe(1);
-        });
-        test('should throw for invalid quaternion', () => {
-            expect(() => QuaternionClone([1, 2, 3])).toThrow(QuaternionError);
-        });
-    });
-    describe('QuaternionEquals', () => {
-        test('should return true for identical quaternions', () => {
-            const q1 = [0, 0, 0, 1];
-            const q2 = [0, 0, 0, 1];
-            expect(QuaternionEquals(q1, q2)).toBe(true);
-        });
-        test('should return false for different quaternions', () => {
-            const q1 = [0, 0, 0, 1];
-            const q2 = [1, 0, 0, 0];
-            expect(QuaternionEquals(q1, q2)).toBe(false);
-        });
-        test('should handle tolerance', () => {
-            const q1 = [0.000001, 0, 0, 1];
-            const q2 = [0, 0, 0, 1];
-            expect(QuaternionEquals(q1, q2, 1e-7)).toBe(false);
-            expect(QuaternionEquals(q1, q2, 1e-5)).toBe(true);
-        });
-        test('should detect equivalent rotations when checkEquivalence is true', () => {
-            const q1 = [0, 0, 0, 1];
-            const q2 = [0, 0, 0, -1]; // Same rotation, opposite quaternion
-            expect(QuaternionEquals(q1, q2, 1e-6, false)).toBe(false);
-            expect(QuaternionEquals(q1, q2, 1e-6, true)).toBe(true);
-        });
-    });
-    describe('QuaternionMagnitude', () => {
-        test('should calculate magnitude correctly', () => {
-            const q = [1, 2, 2, 0];
-            const magnitude = QuaternionMagnitude(q);
-            expect(magnitude).toBeCloseTo(3, 6);
-        });
-        test('should return 1 for unit quaternions', () => {
-            const q = [0, 0, 0, 1];
-            expect(QuaternionMagnitude(q)).toBeCloseTo(1, 6);
-        });
-    });
-    describe('QuaternionNormalize', () => {
-        test('should normalize quaternion to unit length', () => {
-            const q = [1, 1, 1, 1];
-            const normalized = QuaternionNormalize(q);
-            expect(QuaternionMagnitude(normalized)).toBeCloseTo(1, 6);
-        });
-        test('should preserve identity quaternion', () => {
-            const identity = QuaternionIdentity();
-            const normalized = QuaternionNormalize(identity);
-            expect(normalized).toEqual(identity);
-        });
-    });
-    describe('QuaternionConjugate', () => {
-        test('should negate x, y, z components', () => {
-            const q = [1, 2, 3, 4];
-            const conjugate = QuaternionConjugate(q);
-            expect(conjugate).toEqual([-1, -2, -3, 4]);
-        });
-        test('should preserve identity quaternion', () => {
-            const identity = QuaternionIdentity();
-            const conjugate = QuaternionConjugate(identity);
-            // Check values are effectively zero (handles -0 vs 0)
-            expect(Math.abs(conjugate[0])).toBeCloseTo(0, 6);
-            expect(Math.abs(conjugate[1])).toBeCloseTo(0, 6);
-            expect(Math.abs(conjugate[2])).toBeCloseTo(0, 6);
-            expect(conjugate[3]).toBe(1);
-        });
-    });
-    describe('QuaternionInverse', () => {
-        test('should calculate inverse correctly for unit quaternion', () => {
-            const q = [0, 0, 0.7071067811865476, 0.7071067811865476]; // 90° around Z (properly normalized)
-            const inverse = QuaternionInverse(q);
-            const conjugate = QuaternionConjugate(q);
-            // For unit quaternions, inverse equals conjugate
-            expect(inverse[0]).toBeCloseTo(conjugate[0], 6);
-            expect(inverse[1]).toBeCloseTo(conjugate[1], 6);
-            expect(inverse[2]).toBeCloseTo(conjugate[2], 6);
-            expect(inverse[3]).toBeCloseTo(conjugate[3], 6);
-        });
-        test('should satisfy q * q^-1 = identity', () => {
-            const q = [0.5, 0.5, 0.5, 0.5];
-            const inverse = QuaternionInverse(q);
-            const product = QuaternionMultiply(q, inverse);
-            const identity = QuaternionIdentity();
-            expect(product[0]).toBeCloseTo(identity[0], 6);
-            expect(product[1]).toBeCloseTo(identity[1], 6);
-            expect(product[2]).toBeCloseTo(identity[2], 6);
-            expect(product[3]).toBeCloseTo(identity[3], 6);
-        });
-        test('should throw for zero quaternion', () => {
-            const zero = [0, 0, 0, 0];
-            expect(() => QuaternionInverse(zero)).toThrow();
-        });
-    });
-    describe('QuaternionMultiply', () => {
-        test('should multiply quaternions correctly', () => {
-            const q1 = [0, 0, 0, 1]; // Identity
-            const q2 = [1, 0, 0, 0]; // 180° around X
-            const product = QuaternionMultiply(q1, q2);
-            expect(product).toEqual([1, 0, 0, 0]);
-        });
-        test('should be non-commutative', () => {
-            const q1 = [0.7071067811865476, 0, 0, 0.7071067811865476]; // 90° around X
-            const q2 = [0, 0.7071067811865476, 0, 0.7071067811865476]; // 90° around Y
-            const product1 = QuaternionMultiply(q1, q2);
-            const product2 = QuaternionMultiply(q2, q1);
-            expect(QuaternionEquals(product1, product2)).toBe(false);
-        });
-        test('should preserve magnitude for unit quaternions', () => {
-            const q1 = QuaternionNormalize([1, 1, 0, 1]);
-            const q2 = QuaternionNormalize([0, 1, 1, 1]);
-            const product = QuaternionMultiply(q1, q2);
-            expect(QuaternionMagnitude(product)).toBeCloseTo(1, 6);
-        });
-    });
-    describe('QuaternionFromAxisAngle', () => {
-        test('should create quaternion from axis-angle', () => {
-            const axis = [0, 0, 1]; // Z-axis
-            const angle = Math.PI / 2; // 90 degrees
-            const q = QuaternionFromAxisAngle(axis, angle);
-            expect(q[0]).toBeCloseTo(0, 6);
-            expect(q[1]).toBeCloseTo(0, 6);
-            expect(q[2]).toBeCloseTo(0.7071067811865476, 6);
-            expect(q[3]).toBeCloseTo(0.7071067811865476, 6);
-        });
-        test('should handle zero angle', () => {
-            const axis = [1, 0, 0];
-            const angle = 0;
-            const q = QuaternionFromAxisAngle(axis, angle);
-            expect(q).toEqual([0, 0, 0, 1]); // Identity
-        });
-        test('should normalize axis automatically', () => {
-            const unnormalizedAxis = [2, 0, 0]; // Will be normalized to [1, 0, 0]
-            const angle = Math.PI;
-            const q = QuaternionFromAxisAngle(unnormalizedAxis, angle);
-            expect(q[0]).toBeCloseTo(1, 6);
-            expect(q[1]).toBeCloseTo(0, 6);
-            expect(q[2]).toBeCloseTo(0, 6);
-            expect(q[3]).toBeCloseTo(0, 6);
-        });
-    });
-    describe('QuaternionFromAxisAngleVector', () => {
-        test('should create quaternion from 4-component axis-angle', () => {
-            const axisAngle = [0, 0, 1, Math.PI / 2]; // 90° around Z
-            const q = QuaternionFromAxisAngleVector(axisAngle);
-            expect(q[0]).toBeCloseTo(0, 6);
-            expect(q[1]).toBeCloseTo(0, 6);
-            expect(q[2]).toBeCloseTo(0.7071067811865476, 6);
-            expect(q[3]).toBeCloseTo(0.7071067811865476, 6);
-        });
-    });
-    describe('QuaternionToAxisAngle', () => {
-        test('should convert quaternion to axis-angle', () => {
-            const q = [0, 0, 0.7071067811865476, 0.7071067811865476]; // 90° around Z (properly normalized)
-            const axisAngle = QuaternionToAxisAngle(q);
-            expect(axisAngle[0]).toBeCloseTo(0, 6);
-            expect(axisAngle[1]).toBeCloseTo(0, 6);
-            expect(axisAngle[2]).toBeCloseTo(1, 6);
-            expect(axisAngle[3]).toBeCloseTo(Math.PI / 2, 6);
-        });
-        test('should handle identity quaternion', () => {
-            const identity = QuaternionIdentity();
-            const axisAngle = QuaternionToAxisAngle(identity);
-            expect(axisAngle[3]).toBeCloseTo(0, 6); // Zero angle
-        });
-    });
-    describe('QuaternionFromEuler', () => {
-        test('should create quaternion from Euler angles', () => {
-            const euler = [0, Math.PI / 2, 0]; // 90° pitch
-            const q = QuaternionFromEuler(euler);
-            // Should be roughly [0, sin(45°), 0, cos(45°)]
-            expect(q[0]).toBeCloseTo(0, 6);
-            expect(q[1]).toBeCloseTo(0.7071067811865476, 6);
-            expect(q[2]).toBeCloseTo(0, 6);
-            expect(q[3]).toBeCloseTo(0.7071067811865476, 6);
-        });
-        test('should handle zero angles', () => {
-            const euler = [0, 0, 0];
-            const q = QuaternionFromEuler(euler);
-            expect(q).toEqual([0, 0, 0, 1]); // Identity
-        });
-    });
-    describe('QuaternionToEuler', () => {
-        test('should convert quaternion to Euler angles', () => {
-            const q = [0, 0.7071067811865476, 0, 0.7071067811865476]; // 90° around Y (properly normalized)
-            const euler = QuaternionToEuler(q);
-            // Note: Due to Euler angle ambiguity, multiple representations are valid
-            // The key is that converting back should give the same rotation
-            const backToQuaternion = QuaternionFromEuler(euler);
-            // Test that rotating a vector gives the same result
-            const testVector = [1, 0, 0];
-            const rotated1 = QuaternionRotateVector(q, testVector);
-            const rotated2 = QuaternionRotateVector(backToQuaternion, testVector);
-            expect(rotated1[0]).toBeCloseTo(rotated2[0], 6);
-            expect(rotated1[1]).toBeCloseTo(rotated2[1], 6);
-            expect(rotated1[2]).toBeCloseTo(rotated2[2], 6);
-        });
-        test('should handle identity quaternion', () => {
-            const identity = QuaternionIdentity();
-            const euler = QuaternionToEuler(identity);
-            expect(euler).toEqual([0, 0, 0]);
-        });
-    });
-    describe('QuaternionRotateVector', () => {
-        test('should rotate vector correctly', () => {
-            const q = QuaternionFromAxisAngle([0, 0, 1], Math.PI / 2); // 90° around Z
-            const vector = [1, 0, 0]; // Point along X-axis
-            const rotated = QuaternionRotateVector(q, vector);
-            // Should point along Y-axis after 90° Z rotation
-            expect(rotated[0]).toBeCloseTo(0, 6);
-            expect(rotated[1]).toBeCloseTo(1, 6);
-            expect(rotated[2]).toBeCloseTo(0, 6);
-        });
-        test('should preserve vector length', () => {
-            const q = QuaternionFromAxisAngle([1, 1, 1], Math.PI / 3); // 60° around diagonal
-            const vector = [3, 4, 5];
-            const rotated = QuaternionRotateVector(q, vector);
-            const originalLength = Math.sqrt((3 * 3) + (4 * 4) + (5 * 5));
-            const rotatedLength = Math.sqrt((rotated[0] * rotated[0]) + (rotated[1] * rotated[1]) + (rotated[2] * rotated[2]));
-            expect(rotatedLength).toBeCloseTo(originalLength, 6);
-        });
-        test('should not change vector with identity quaternion', () => {
-            const identity = QuaternionIdentity();
-            const vector = [1, 2, 3];
-            const rotated = QuaternionRotateVector(identity, vector);
-            expect(rotated).toEqual(vector);
-        });
-    });
-    describe('QuaternionSLERP', () => {
-        test('should interpolate between quaternions', () => {
-            const q1 = QuaternionIdentity();
-            const q2 = QuaternionFromAxisAngle([0, 0, 1], Math.PI / 2); // 90° around Z
-            const halfway = QuaternionSLERP(q1, q2, 0.5);
-            // Should be roughly 45° rotation
-            expect(QuaternionMagnitude(halfway)).toBeCloseTo(1, 6);
-            expect(halfway[2]).toBeCloseTo(Math.sin(Math.PI / 8), 6); // sin(45°/2)
-            expect(halfway[3]).toBeCloseTo(Math.cos(Math.PI / 8), 6); // cos(45°/2)
-        });
-        test('should return start quaternion at t=0', () => {
-            const q1 = [1, 0, 0, 0];
-            const q2 = [0, 1, 0, 0];
-            const result = QuaternionSLERP(q1, q2, 0);
-            expect(result[0]).toBeCloseTo(q1[0], 6);
-            expect(result[1]).toBeCloseTo(q1[1], 6);
-            expect(result[2]).toBeCloseTo(q1[2], 6);
-            expect(result[3]).toBeCloseTo(q1[3], 6);
-        });
-        test('should return end quaternion at t=1', () => {
-            const q1 = [1, 0, 0, 0];
-            const q2 = [0, 1, 0, 0];
-            const result = QuaternionSLERP(q1, q2, 1);
-            expect(result[0]).toBeCloseTo(q2[0], 6);
-            expect(result[1]).toBeCloseTo(q2[1], 6);
-            expect(result[2]).toBeCloseTo(q2[2], 6);
-            expect(result[3]).toBeCloseTo(q2[3], 6);
-        });
-        test('should handle very close quaternions', () => {
-            const q1 = [0, 0, 0, 1];
-            const q2 = [0.0001, 0, 0, 0.99999999];
-            const normalized = QuaternionNormalize(q2);
-            const result = QuaternionSLERP(q1, normalized, 0.5);
-            expect(QuaternionMagnitude(result)).toBeCloseTo(1, 6);
-        });
-        test('should clamp t to [0, 1] range', () => {
-            const q1 = QuaternionIdentity();
-            const q2 = QuaternionFromAxisAngle([0, 0, 1], Math.PI / 2);
-            const resultBelow = QuaternionSLERP(q1, q2, -0.5);
-            const resultAt0 = QuaternionSLERP(q1, q2, 0);
-            expect(QuaternionEquals(resultBelow, resultAt0)).toBe(true);
-            const resultAbove = QuaternionSLERP(q1, q2, 1.5);
-            const resultAt1 = QuaternionSLERP(q1, q2, 1);
-            expect(QuaternionEquals(resultAbove, resultAt1)).toBe(true);
-        });
-    });
-});
-//# sourceMappingURL=core.spec.js.map

package/build/quaternions/core.spec.js.map

@@ -1 +0,0 @@
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package/build/quaternions/interpolation.spec.d.ts

@@ -1,2 +0,0 @@
-export {};
-//# sourceMappingURL=interpolation.spec.d.ts.map

package/build/quaternions/interpolation.spec.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"interpolation.spec.d.ts","sourceRoot":"","sources":["../../src/quaternions/interpolation.spec.ts"],"names":[],"mappings":""}

package/build/quaternions/interpolation.spec.js

@@ -1,64 +0,0 @@
-import { QuaternionNLERP, QuaternionSQUAD, QuaternionCreatePath } from './interpolation.js';
-import { QuaternionIdentity, QuaternionFromAxisAngle, QuaternionEquals } from './core.js';
-const TOLERANCE = 1e-6;
-describe('Quaternion Interpolation', () => {
-    test('QuaternionNLERP: returns start and end for t=0 and t=1', () => {
-        const a = QuaternionIdentity();
-        const b = QuaternionFromAxisAngle([0, 0, 1], Math.PI / 2);
-        expect(QuaternionEquals(QuaternionNLERP(a, b, 0), a, TOLERANCE, true)).toBe(true);
-        expect(QuaternionEquals(QuaternionNLERP(a, b, 1), b, TOLERANCE, true)).toBe(true);
-    });
-    test('QuaternionNLERP: interpolates halfway', () => {
-        const a = QuaternionIdentity();
-        const b = QuaternionFromAxisAngle([0, 0, 1], Math.PI / 2);
-        const result = QuaternionNLERP(a, b, 0.5);
-        // Should be normalized and between a and b
-        expect(Math.abs(result[3])).toBeLessThan(1);
-        expect(Math.abs(result[3])).toBeGreaterThan(0.7);
-    });
-    test('QuaternionNLERP: handles double-cover (q and -q)', () => {
-        const a = QuaternionIdentity();
-        const b = [0, 0, 0, -1];
-        const result = QuaternionNLERP(a, b, 0.5);
-        // Should interpolate along the shortest path (equivalent to a)
-        expect(QuaternionEquals(result, a, TOLERANCE, true)).toBe(true);
-    });
-    test('QuaternionSQUAD: smooth interpolation between four quaternions', () => {
-        const q0 = QuaternionFromAxisAngle([1, 0, 0], 0);
-        const q1 = QuaternionFromAxisAngle([1, 0, 0], Math.PI / 4);
-        const q2 = QuaternionFromAxisAngle([1, 0, 0], Math.PI / 2);
-        const q3 = QuaternionFromAxisAngle([1, 0, 0], (3 * Math.PI) / 4);
-        const result = QuaternionSQUAD(q0, q1, q2, q3, 0.5);
-        // Should be between q1 and q2
-        expect(result[3]).toBeLessThan(q1[3]);
-        expect(result[3]).toBeGreaterThan(q2[3]);
-    });
-    test('QuaternionCreatePath: slerp path returns endpoints for t=0 and t=1', () => {
-        const q1 = QuaternionIdentity();
-        const q2 = QuaternionFromAxisAngle([0, 1, 0], Math.PI / 2);
-        const path = [q1, q2];
-        const interp = QuaternionCreatePath(path, 'slerp');
-        expect(QuaternionEquals(interp(0), q1, TOLERANCE, true)).toBe(true);
-        expect(QuaternionEquals(interp(1), q2, TOLERANCE, true)).toBe(true);
-    });
-    test('QuaternionCreatePath: nlerp and squad produce valid quaternions', () => {
-        const q1 = QuaternionIdentity();
-        const q2 = QuaternionFromAxisAngle([0, 1, 0], Math.PI / 2);
-        const q3 = QuaternionFromAxisAngle([0, 1, 0], Math.PI);
-        const path = [q1, q2, q3];
-        const nlerpInterp = QuaternionCreatePath(path, 'nlerp');
-        const squadInterp = QuaternionCreatePath(path, 'squad');
-        const nlerpResult = nlerpInterp(0.5);
-        const squadResult = squadInterp(0.5);
-        // Should be normalized
-        const nlerpMag = Math.sqrt(nlerpResult.reduce((s, v) => s + (v * v), 0));
-        const squadMag = Math.sqrt(squadResult.reduce((s, v) => s + (v * v), 0));
-        expect(Math.abs(nlerpMag - 1)).toBeLessThan(TOLERANCE);
-        expect(Math.abs(squadMag - 1)).toBeLessThan(TOLERANCE);
-    });
-    test('QuaternionCreatePath: throws for <2 quaternions', () => {
-        expect(() => QuaternionCreatePath([], 'slerp')).toThrow();
-        expect(() => QuaternionCreatePath([[0, 0, 0, 1]], 'slerp')).toThrow();
-    });
-});
-//# sourceMappingURL=interpolation.spec.js.map

package/build/quaternions/interpolation.spec.js.map

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package/build/quaternions/predefined.spec.d.ts

@@ -1,2 +0,0 @@
-export {};
-//# sourceMappingURL=predefined.spec.d.ts.map

package/build/quaternions/predefined.spec.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"predefined.spec.d.ts","sourceRoot":"","sources":["../../src/quaternions/predefined.spec.ts"],"names":[],"mappings":""}

package/build/quaternions/predefined.spec.js

@@ -1,35 +0,0 @@
-import { QuaternionRotationX, QuaternionRotationY, QuaternionRotationZ, } from './predefined.js';
-import { QuaternionIdentity, QuaternionEquals, QuaternionFromAxisAngle } from './core.js';
-const TOLERANCE = 1e-6;
-describe('Predefined Quaternions', () => {
-    test('QuaternionIdentity returns [0,0,0,1]', () => {
-        expect(QuaternionIdentity()).toEqual([0, 0, 0, 1]);
-        expect(QuaternionEquals(QuaternionIdentity(), QuaternionIdentity(), TOLERANCE, true)).toBe(true);
-    });
-    test('QuaternionRotationX returns correct quaternion for 90°', () => {
-        const angle = Math.PI / 2;
-        const expected = QuaternionFromAxisAngle([1, 0, 0], angle);
-        expect(QuaternionEquals(QuaternionRotationX(angle), expected, TOLERANCE, true)).toBe(true);
-    });
-    test('QuaternionRotationY returns correct quaternion for 90°', () => {
-        const angle = Math.PI / 2;
-        const expected = QuaternionFromAxisAngle([0, 1, 0], angle);
-        expect(QuaternionEquals(QuaternionRotationY(angle), expected, TOLERANCE, true)).toBe(true);
-    });
-    test('QuaternionRotationZ returns correct quaternion for 90°', () => {
-        const angle = Math.PI / 2;
-        const expected = QuaternionFromAxisAngle([0, 0, 1], angle);
-        expect(QuaternionEquals(QuaternionRotationZ(angle), expected, TOLERANCE, true)).toBe(true);
-    });
-    test('QuaternionRotationX/Y/Z are normalized', () => {
-        const angle = Math.PI / 3;
-        const qx = QuaternionRotationX(angle);
-        const qy = QuaternionRotationY(angle);
-        const qz = QuaternionRotationZ(angle);
-        const mag = (q) => Math.sqrt(q.reduce((s, v) => s + (v * v), 0));
-        expect(Math.abs(mag(qx) - 1)).toBeLessThan(TOLERANCE);
-        expect(Math.abs(mag(qy) - 1)).toBeLessThan(TOLERANCE);
-        expect(Math.abs(mag(qz) - 1)).toBeLessThan(TOLERANCE);
-    });
-});
-//# sourceMappingURL=predefined.spec.js.map

package/build/quaternions/predefined.spec.js.map

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package/build/random.spec.d.ts

@@ -1,2 +0,0 @@
-export {};
-//# sourceMappingURL=random.spec.d.ts.map

package/build/random.spec.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"random.spec.d.ts","sourceRoot":"","sources":["../src/random.spec.ts"],"names":[],"mappings":""}