@pawells/math-extended 1.0.1

package/build/matrices/transformations.js

@@ -0,0 +1,592 @@
+/**
+ * @fileoverview Matrix transformation functions for 2D and 3D operations.
+ *
+ * This module provides comprehensive transformation matrix creation and application functions
+ * for computer graphics, game development, and mathematical applications. It includes:
+ *
+ * - Rotation matrices (2D and 3D with Euler angles)
+ * - Scale transformation matrices (uniform and non-uniform)
+ * - Translation matrices for positional transformations
+ * - Vector transformation utilities with homogeneous coordinate support
+ * - View and projection matrices for 3D rendering pipelines
+ *
+ * All matrices use homogeneous coordinates for consistent transformation composition.
+ * 2D transformations use 3x3 matrices, 3D transformations use 4x4 matrices.
+ *
+ * @author JTV Development Team
+ * @since 1.0.0
+ */
+import { AssertNumber, AssertNotEquals } from '@pawells/typescript-common';
+import { MatrixCreate } from './core.js';
+import { MatrixMultiply } from './arithmetic.js';
+import { AssertMatrix3, AssertMatrix4 } from './asserts.js';
+import { AssertVector2, AssertVector3, AssertVector4 } from '../vectors/asserts.js';
+import { VectorSubtract, VectorNormalize, Vector3Cross } from '../vectors/core.js';
+const DEGREES_PER_HALF_REVOLUTION = 180;
+// ============================================================================
+// 2D ROTATION TRANSFORMATIONS
+// ============================================================================
+/**
+ * Creates a 2D rotation matrix for rotating points around the origin.
+ *
+ * The matrix rotates points counterclockwise for positive angles in a standard
+ * right-handed coordinate system. Uses homogeneous coordinates for composition
+ * with other 2D transformations.
+ *
+ * Matrix structure:
+ * ```
+ * [cos(θ)  -sin(θ)   0]
+ * [sin(θ)   cos(θ)   0]
+ * [  0        0      1]
+ * ```
+ *
+ * @param radians - Rotation angle in radians (positive = counterclockwise)
+ * @returns {IMatrix3} A 3x3 rotation matrix for 2D transformations
+ *
+ * @throws {Error} If radians is not a finite number
+ *
+ * @example
+ * ```typescript
+ * // 90-degree counterclockwise rotation
+ * const matrix = MatrixRotation2D(Math.PI / 2);
+ *
+ * // 45-degree clockwise rotation
+ * const clockwise = MatrixRotation2D(-Math.PI / 4);
+ * ```
+ */
+export function MatrixRotation2D(radians) {
+    AssertNumber(radians, { finite: true }, { message: 'Rotation angle must be a number' });
+    const cos = Math.cos(radians);
+    const sin = Math.sin(radians);
+    return [
+        [cos, -sin, 0], // [cos(θ), -sin(θ), 0]
+        [sin, cos, 0], // [sin(θ),  cos(θ), 0]
+        [0, 0, 1], // [   0,      0,     1]
+    ];
+}
+// ============================================================================
+// 3D ROTATION TRANSFORMATIONS
+// ============================================================================
+/**
+ * Creates a 3D roll rotation matrix (rotation around the X-axis).
+ *
+ * Roll represents banking motion in aviation terminology. Positive angles
+ * follow the right-hand rule: curl fingers from Y toward Z, thumb points
+ * in positive X direction.
+ *
+ * Matrix structure:
+ * ```
+ * [1    0       0    0]
+ * [0  cos(θ) -sin(θ) 0]
+ * [0  sin(θ)  cos(θ) 0]
+ * [0    0       0    1]
+ * ```
+ *
+ * @param radians - Roll angle in radians (positive = right-hand rule around X-axis)
+ * @returns {IMatrix4} A 4x4 roll rotation matrix
+ *
+ * @throws {Error} If radians is not a finite number
+ *
+ * @example
+ * ```typescript
+ * // 45-degree roll (banking left in aviation)
+ * const rollMatrix = MatrixRotation3DRoll(Math.PI / 4);
+ * ```
+ */
+export function MatrixRotation3DRoll(radians) {
+    AssertNumber(radians, { finite: true }, { message: 'Rotation angle must be a number' });
+    const cos = Math.cos(radians);
+    const sin = Math.sin(radians);
+    return [
+        [1, 0, 0, 0], // [1,    0,       0,    0]
+        [0, cos, -sin, 0], // [0, cos(θ), -sin(θ), 0]
+        [0, sin, cos, 0], // [0, sin(θ),  cos(θ), 0]
+        [0, 0, 0, 1], // [0,    0,       0,    1]
+    ];
+}
+/**
+ * Creates a 3D pitch rotation matrix (rotation around the Y-axis).
+ *
+ * Pitch represents elevation motion in aviation terminology. Positive angles
+ * follow the right-hand rule: curl fingers from Z toward X, thumb points
+ * in positive Y direction.
+ *
+ * Matrix structure:
+ * ```
+ * [ cos(θ)  0  sin(θ)  0]
+ * [   0     1    0     0]
+ * [-sin(θ)  0  cos(θ)  0]
+ * [   0     0    0     1]
+ * ```
+ *
+ * @param radians - Pitch angle in radians (positive = nose up in aviation)
+ * @returns {IMatrix4} A 4x4 pitch rotation matrix
+ *
+ * @throws {Error} If radians is not a finite number
+ *
+ * @example
+ * ```typescript
+ * // 30-degree pitch up
+ * const pitchMatrix = MatrixRotation3DPitch(Math.PI / 6);
+ * ```
+ */
+export function MatrixRotation3DPitch(radians) {
+    AssertNumber(radians, { finite: true }, { message: 'Rotation angle must be a number' });
+    const cos = Math.cos(radians);
+    const sin = Math.sin(radians);
+    return [
+        [cos, 0, sin, 0], // [ cos(θ), 0,  sin(θ), 0]
+        [0, 1, 0, 0], // [   0,    1,    0,    0]
+        [-sin, 0, cos, 0], // [-sin(θ), 0,  cos(θ), 0]
+        [0, 0, 0, 1], // [   0,    0,    0,    1]
+    ];
+}
+/**
+ * Creates a 3D yaw rotation matrix (rotation around the Z-axis).
+ *
+ * Yaw represents heading motion in aviation terminology. Positive angles
+ * follow the right-hand rule: curl fingers from X toward Y, thumb points
+ * in positive Z direction.
+ *
+ * Matrix structure:
+ * ```
+ * [cos(θ) -sin(θ)  0  0]
+ * [sin(θ)  cos(θ)  0  0]
+ * [  0       0     1  0]
+ * [  0       0     0  1]
+ * ```
+ *
+ * @param radians - Yaw angle in radians (positive = turn left in aviation)
+ * @returns {IMatrix4} A 4x4 yaw rotation matrix
+ *
+ * @throws {Error} If radians is not a finite number
+ *
+ * @example
+ * ```typescript
+ * // 60-degree yaw left
+ * const yawMatrix = MatrixRotation3DYaw(Math.PI / 3);
+ * ```
+ */
+export function MatrixRotation3DYaw(radians) {
+    AssertNumber(radians, { finite: true }, { message: 'Rotation angle must be a number' });
+    const cos = Math.cos(radians);
+    const sin = Math.sin(radians);
+    return [
+        [cos, -sin, 0, 0], // [cos(θ), -sin(θ), 0, 0]
+        [sin, cos, 0, 0], // [sin(θ),  cos(θ), 0, 0]
+        [0, 0, 1, 0], // [  0,       0,     1, 0]
+        [0, 0, 0, 1], // [  0,       0,     0, 1]
+    ];
+}
+export function MatrixRotation3D(rollOrVector, pitch, yaw) {
+    if (typeof rollOrVector === 'number') {
+        // Called with individual parameters
+        AssertNumber(rollOrVector, { finite: true }, { message: 'Roll angle must be a number' });
+        AssertNumber(pitch, { finite: true }, { message: 'Pitch angle must be a number' });
+        AssertNumber(yaw, { finite: true }, { message: 'Yaw angle must be a number' });
+        const rollMatrix = MatrixRotation3DRoll(rollOrVector);
+        const pitchMatrix = MatrixRotation3DPitch(pitch);
+        const yawMatrix = MatrixRotation3DYaw(yaw);
+        // Apply rotations in order: Roll → Pitch → Yaw
+        // Note: Matrix multiplication is applied right to left
+        const pitchRoll = MatrixMultiply(pitchMatrix, rollMatrix);
+        const result = MatrixMultiply(yawMatrix, pitchRoll);
+        AssertMatrix4(result);
+        return result;
+    }
+    // Called with vector parameter
+    AssertVector3(rollOrVector);
+    return MatrixRotation3D(rollOrVector[0], rollOrVector[1], rollOrVector[2]);
+}
+export function MatrixRotation3DEulerAngles(rollOrVector, pitch, yaw) {
+    if (typeof rollOrVector === 'number') {
+        AssertNumber(rollOrVector, { finite: true }, { message: 'Roll angle must be a number' });
+        AssertNumber(pitch, { finite: true }, { message: 'Pitch angle must be a number' });
+        AssertNumber(yaw, { finite: true }, { message: 'Yaw angle must be a number' });
+        // Convert degrees to radians
+        const rollRad = (rollOrVector * Math.PI) / DEGREES_PER_HALF_REVOLUTION;
+        const pitchRad = (pitch * Math.PI) / DEGREES_PER_HALF_REVOLUTION;
+        const yawRad = (yaw * Math.PI) / DEGREES_PER_HALF_REVOLUTION;
+        return MatrixRotation3D(rollRad, pitchRad, yawRad);
+    }
+    AssertVector3(rollOrVector);
+    return MatrixRotation3D((rollOrVector[0] * Math.PI) / DEGREES_PER_HALF_REVOLUTION, (rollOrVector[1] * Math.PI) / DEGREES_PER_HALF_REVOLUTION, (rollOrVector[2] * Math.PI) / DEGREES_PER_HALF_REVOLUTION);
+}
+export function MatrixScale2D(scaleOrX, y) {
+    if (typeof scaleOrX === 'number') {
+        if (y === undefined) {
+            // Uniform scaling - single scale factor for both axes
+            AssertNumber(scaleOrX, { finite: true }, { message: 'Scale factor must be a finite number' });
+            return [
+                [scaleOrX, 0, 0],
+                [0, scaleOrX, 0],
+                [0, 0, 1],
+            ];
+        }
+        // Independent scaling - separate scale factors for X and Y axes
+        AssertNumber(scaleOrX, { finite: true }, { message: 'X scale factor must be a finite number' });
+        AssertNumber(y, { finite: true }, { message: 'Y scale factor must be a finite number' });
+        return [
+            [scaleOrX, 0, 0],
+            [0, y, 0],
+            [0, 0, 1],
+        ];
+    }
+    // Vector scaling - scale factors provided as a 2D vector
+    AssertVector2(scaleOrX);
+    return [
+        [scaleOrX[0], 0, 0],
+        [0, scaleOrX[1], 0],
+        [0, 0, 1],
+    ];
+}
+export function MatrixScale3D(scaleOrX, y, z) {
+    if (typeof scaleOrX === 'number') {
+        if (y === undefined && z === undefined) {
+            // Uniform scaling - single scale factor for all axes
+            AssertNumber(scaleOrX, { finite: true }, { message: 'Scale factor must be a finite number' });
+            return [
+                [scaleOrX, 0, 0, 0],
+                [0, scaleOrX, 0, 0],
+                [0, 0, scaleOrX, 0],
+                [0, 0, 0, 1],
+            ];
+        }
+        // Independent scaling - separate scale factors for X, Y, and Z axes
+        AssertNumber(scaleOrX, { finite: true }, { message: 'X scale factor must be a finite number' });
+        AssertNumber(y, { finite: true }, { message: 'Y scale factor must be a finite number' });
+        AssertNumber(z, { finite: true }, { message: 'Z scale factor must be a finite number' });
+        return [
+            [scaleOrX, 0, 0, 0],
+            [0, y, 0, 0],
+            [0, 0, z, 0],
+            [0, 0, 0, 1],
+        ];
+    }
+    // Vector scaling - scale factors provided as a 3D vector
+    AssertVector3(scaleOrX);
+    return [
+        [scaleOrX[0], 0, 0, 0],
+        [0, scaleOrX[1], 0, 0],
+        [0, 0, scaleOrX[2], 0],
+        [0, 0, 0, 1],
+    ];
+}
+// ============================================================================
+// TRANSLATION TRANSFORMATIONS
+// ============================================================================
+/**
+ * Creates a 2D translation transformation matrix.
+ *
+ * Moves 2D points by the specified offset distances. Uses homogeneous
+ * coordinates to enable composition with other 2D transformations.
+ *
+ * Matrix structure:
+ * ```
+ * [1  0  tx]
+ * [0  1  ty]
+ * [0  0   1]
+ * ```
+ *
+ * @param v - Translation vector [x, y] containing offset distances
+ * @returns {IMatrix3} A 3x3 translation transformation matrix
+ *
+ * @throws {Error} If the input is not a valid 2D vector
+ *
+ * @example
+ * ```typescript
+ * // Move 10 units right, 5 units up
+ * const translation = MatrixTranslation2D(10, 5);
+ *
+ * // Using vector input
+ * const offset: TVector2 = [10, 5];
+ * const translation2 = MatrixTranslation2D(...offset);
+ * ```
+ */
+export function MatrixTranslation2D(...v) {
+    // Called with vector parameter using spread syntax
+    AssertVector2(v);
+    return [
+        [1, 0, v[0]], // [1, 0, tx]
+        [0, 1, v[1]], // [0, 1, ty]
+        [0, 0, 1], // [0, 0,  1]
+    ];
+}
+export function MatrixTranslation3D(translationOrX, y, z) {
+    if (typeof translationOrX === 'number') {
+        if (y === undefined && z === undefined) {
+            // Uniform translation - same distance along all axes
+            AssertNumber(translationOrX, { finite: true }, { message: 'Translation distance must be a finite number' });
+            return [
+                [1, 0, 0, translationOrX],
+                [0, 1, 0, translationOrX],
+                [0, 0, 1, translationOrX],
+                [0, 0, 0, 1],
+            ];
+        }
+        // Independent translation - separate distances for X, Y, and Z axes
+        AssertNumber(translationOrX, { finite: true }, { message: 'X translation distance must be a finite number' });
+        AssertNumber(y, { finite: true }, { message: 'Y translation distance must be a finite number' });
+        AssertNumber(z, { finite: true }, { message: 'Z translation distance must be a finite number' });
+        return [
+            [1, 0, 0, translationOrX], // [1, 0, 0, tx]
+            [0, 1, 0, y], // [0, 1, 0, ty]
+            [0, 0, 1, z], // [0, 0, 1, tz]
+            [0, 0, 0, 1], // [0, 0, 0,  1]
+        ];
+    }
+    // Vector translation - translation distances provided as a 3D vector
+    AssertVector3(translationOrX);
+    return [
+        [1, 0, 0, translationOrX[0]], // [1, 0, 0, tx]
+        [0, 1, 0, translationOrX[1]], // [0, 1, 0, ty]
+        [0, 0, 1, translationOrX[2]], // [0, 0, 1, tz]
+        [0, 0, 0, 1], // [0, 0, 0,  1]
+    ];
+}
+// ============================================================================
+// VECTOR TRANSFORMATION FUNCTIONS
+// ============================================================================
+/**
+ * Transforms a 2D vector using a 3x3 transformation matrix with homogeneous coordinates.
+ *
+ * This function applies a transformation matrix to a 2D vector by:
+ * 1. Converting the 2D vector to homogeneous coordinates (adding w=1)
+ * 2. Performing matrix-vector multiplication
+ * 3. Converting back to 2D by dividing by the homogeneous w component
+ *
+ * This approach enables composition of multiple transformations and supports
+ * affine transformations including translation, rotation, scaling, and shearing.
+ *
+ * @param vector - The 2D vector to transform [x, y]
+ * @param matrix - A 3x3 transformation matrix to apply
+ * @returns {TVector2} The transformed 2D vector
+ *
+ * @throws {Error} If the homogeneous w component is near zero (degenerate transformation)
+ * @throws {Error} If inputs are not valid vector/matrix types
+ *
+ * @example
+ * ```typescript
+ * // Rotate a point 90 degrees counterclockwise
+ * const rotationMatrix = MatrixRotation2D(Math.PI / 2);
+ * const point: TVector2 = [1, 0];
+ * const rotatedPoint = MatrixTransform2D(point, rotationMatrix);
+ * // Result: approximately [0, 1]
+ *
+ * // Chain multiple transformations
+ * const scale = MatrixScale2D(2, 2);
+ * const translate = MatrixTranslation2D(5, 3);
+ * const combined = MatrixMultiply(translate, scale);
+ * const transformedPoint = MatrixTransform2D(point, combined);
+ * ```
+ */
+export function MatrixTransform2D(vector, matrix) {
+    AssertVector2(vector);
+    AssertMatrix3(matrix);
+    // Convert to homogeneous coordinates (add w=1)
+    const homogeneous = [vector[0], vector[1], 1];
+    // Perform matrix-vector multiplication: result = matrix × homogeneous
+    const result = [
+        (matrix[0][0] * homogeneous[0]) + (matrix[0][1] * homogeneous[1]) + (matrix[0][2] * homogeneous[2]), // x'
+        (matrix[1][0] * homogeneous[0]) + (matrix[1][1] * homogeneous[1]) + (matrix[1][2] * homogeneous[2]), // y'
+        (matrix[2][0] * homogeneous[0]) + (matrix[2][1] * homogeneous[1]) + (matrix[2][2] * homogeneous[2]), // w'
+    ];
+    // Ensure w component is not near zero (would indicate degenerate transformation)
+    AssertNumber(Math.abs(result[2]), { gte: 1e-10 }, { message: '2D transformation w component near zero' });
+    // Convert back from homogeneous coordinates by dividing by w
+    return [result[0] / result[2], result[1] / result[2]];
+}
+/**
+ * Transforms a 3D vector using a 4x4 transformation matrix with homogeneous coordinates.
+ * Converts to homogeneous coordinates, applies transformation, then converts back to 3D.
+ *
+ * @param transform - A 4x4 transformation matrix.
+ * @param vector - The 3D vector to transform.
+ * @returns {TVector3} The transformed 3D vector.
+ *
+ * @throws {Error} If the w component is near zero (degenerate transformation).
+ *
+ * @example
+ * ```typescript
+ * const rotationMatrix = Matrix_Transformation_Rotation3D_Yaw(Math.PI / 4);
+ * const point = [1, 0, 0];
+ * const rotatedPoint = Matrix_Transformation3D(rotationMatrix, point);
+ * ```
+ */
+export function MatrixTransform3D(vector, transform) {
+    AssertMatrix4(transform);
+    AssertVector3(vector);
+    // Convert to homogeneous coordinates (add w=1)
+    const homogeneous = [vector[0], vector[1], vector[2], 1];
+    AssertVector4(homogeneous);
+    // Perform matrix-vector multiplication
+    const result = [
+        (transform[0][0] * homogeneous[0]) + (transform[0][1] * homogeneous[1]) + (transform[0][2] * homogeneous[2]) + (transform[0][3] * homogeneous[3]),
+        (transform[1][0] * homogeneous[0]) + (transform[1][1] * homogeneous[1]) + (transform[1][2] * homogeneous[2]) + (transform[1][3] * homogeneous[3]),
+        (transform[2][0] * homogeneous[0]) + (transform[2][1] * homogeneous[1]) + (transform[2][2] * homogeneous[2]) + (transform[2][3] * homogeneous[3]),
+        (transform[3][0] * homogeneous[0]) + (transform[3][1] * homogeneous[1]) + (transform[3][2] * homogeneous[2]) + (transform[3][3] * homogeneous[3]),
+    ];
+    // Ensure w component is not near zero (would indicate degenerate transformation)
+    AssertNumber(Math.abs(result[3]), { gte: 1e-10 }, { message: '3D transformation w component near zero' });
+    // Convert back from homogeneous coordinates by dividing by w
+    return [result[0] / result[3], result[1] / result[3], result[2] / result[3]];
+}
+/**
+ * Transforms a 3D direction vector using a 3x3 matrix, ignoring translation components.
+ * Designed for direction vectors (normals, velocities) where translation should not apply.
+ *
+ * @param matrix - A 3x3 transformation matrix (rotation and/or scale only).
+ * @param direction - The 3D direction vector to transform.
+ * @returns {TVector3} The transformed direction vector.
+ *
+ * @example
+ * ```typescript
+ * const rotationMatrix = Matrix_Transformation_Rotation3D_Yaw(Math.PI / 4);
+ * const normal = [0, 0, 1];
+ * const rotatedNormal = Matrix_Transformation_Direction3D(rotationMatrix, normal);
+ * ```
+ */
+export function MatrixDirection3D(direction, matrix) {
+    AssertMatrix3(matrix);
+    AssertVector3(direction);
+    // Direct 3x3 matrix multiplication (no homogeneous coordinates needed)
+    return [
+        (matrix[0][0] * direction[0]) + (matrix[0][1] * direction[1]) + (matrix[0][2] * direction[2]),
+        (matrix[1][0] * direction[0]) + (matrix[1][1] * direction[1]) + (matrix[1][2] * direction[2]),
+        (matrix[2][0] * direction[0]) + (matrix[2][1] * direction[1]) + (matrix[2][2] * direction[2]),
+    ];
+}
+/**
+ * Creates a view matrix for positioning and orienting a 3D camera.
+ * Transforms world coordinates to camera coordinates using the "look-at" approach.
+ *
+ * @param eye - Camera position in world coordinates.
+ * @param target - Point the camera is looking at.
+ * @param up - Up direction vector (usually [0, 1, 0]).
+ * @returns {IMatrix4} A 4x4 view transformation matrix.
+ *
+ * @example
+ * ```typescript
+ * const viewMatrix = Matrix_Transformation_View(
+ *   [10, 5, 10],  // Camera position
+ *   [0, 0, 0],    // Looking at origin
+ *   [0, 1, 0]     // Y-axis is up
+ * );
+ * ```
+ */
+export function MatrixView(eye, target, up) {
+    AssertVector3(eye);
+    AssertVector3(target);
+    AssertVector3(up);
+    // Calculate the forward vector (direction from eye to target)
+    const forward = VectorSubtract(target, eye);
+    const normalizedForward = VectorNormalize(forward);
+    // Calculate orthogonal right and up vectors using cross products
+    const normalizedUp = VectorNormalize(up);
+    const right = Vector3Cross(normalizedForward, normalizedUp);
+    const normalizedRight = VectorNormalize(right);
+    // Recalculate up vector to ensure perfect orthogonality
+    const orthogonalUp = Vector3Cross(normalizedRight, normalizedForward);
+    // Create rotation part of view matrix (camera orientation)
+    // Note: forward is negated because we want to look down negative Z in view space
+    const rotation = [
+        [normalizedRight[0], normalizedRight[1], normalizedRight[2], 0],
+        [orthogonalUp[0], orthogonalUp[1], orthogonalUp[2], 0],
+        [-normalizedForward[0], -normalizedForward[1], -normalizedForward[2], 0],
+        [0, 0, 0, 1],
+    ];
+    // Create translation part (move camera to origin)
+    const translation = MatrixTranslation3D(-eye[0], -eye[1], -eye[2]);
+    // Combine transformations: View = Rotation * Translation
+    const result = MatrixMultiply(rotation, translation);
+    AssertMatrix4(result);
+    return result;
+}
+/**
+ * Creates a perspective projection matrix for 3D rendering.
+ * Transforms 3D view coordinates to normalized device coordinates with perspective effect.
+ *
+ * @param fovY - Vertical field of view angle in radians.
+ * @param aspect - Aspect ratio of the viewport (width/height).
+ * @param near - Distance to near clipping plane (must be positive).
+ * @param far - Distance to far clipping plane (must be > near).
+ * @returns {IMatrix4} A 4x4 perspective projection matrix.
+ *
+ * @throws {Error} If parameters are invalid.
+ *
+ * @example
+ * ```typescript
+ * const perspectiveMatrix = Matrix_Transformation_Perspective(
+ *   Math.PI / 4,  // 45-degree field of view
+ *   16 / 9,       // Widescreen aspect ratio
+ *   0.1,          // Near plane
+ *   1000          // Far plane
+ * );
+ * ```
+ */
+export function MatrixPerspective(fovY, aspect, near, far) {
+    AssertNumber(near, { gt: 0 }, { message: 'Near clipping plane must be greater than 0' });
+    AssertNumber(far, { gt: 0 }, { message: 'Far clipping plane must be greater than 0' });
+    AssertNumber(near, { lt: far }, { message: 'Near clipping plane must be less than far clipping plane' });
+    AssertNumber(aspect, { gt: 0 }, { message: 'Aspect ratio must be greater than 0' });
+    const tanHalfFovY = Math.tan(fovY / 2);
+    const result = MatrixCreate(4, 4);
+    AssertMatrix4(result);
+    // Initialize perspective projection matrix
+    // The matrix maps view space to clip space with perspective division
+    if (result[0] && result[1] && result[2] && result[3]) {
+        result[0][0] = 1 / (aspect * tanHalfFovY); // X scaling based on aspect ratio and FOV
+        result[1][1] = 1 / tanHalfFovY; // Y scaling based on FOV
+        result[2][2] = -(far + near) / (far - near); // Z mapping for depth buffer
+        result[2][3] = -(2 * far * near) / (far - near); // Z translation for depth buffer
+        result[3][2] = -1; // Perspective division trigger
+        result[3][3] = 0; // Clear diagonal element
+    }
+    return result;
+}
+/**
+ * Creates an orthographic projection matrix for 3D rendering.
+ * Maps a rectangular box to the unit cube [-1, 1]³ without perspective distortion.
+ *
+ * @param left - Left boundary of the orthographic volume.
+ * @param right - Right boundary of the orthographic volume.
+ * @param bottom - Bottom boundary of the orthographic volume.
+ * @param top - Top boundary of the orthographic volume.
+ * @param near - Near clipping plane distance.
+ * @param far - Far clipping plane distance.
+ * @returns {IMatrix4} A 4x4 orthographic projection matrix.
+ *
+ * @throws {Error} If any opposing boundaries are equal.
+ *
+ * @example
+ * ```typescript
+ * const orthoMatrix = Matrix_Transformation_Orthographic(
+ *   -10, 10,   // Left/Right: 20 units wide
+ *   -7.5, 7.5, // Bottom/Top: 15 units tall
+ *   -100, 100  // Near/Far: 200 units deep
+ * );
+ * ```
+ */
+export function MatrixOrthographic(left, right, bottom, top, near, far) {
+    AssertNotEquals(left, right, { message: 'Left and right bounds must not be equal' });
+    AssertNotEquals(bottom, top, { message: 'Bottom and top bounds must not be equal' });
+    AssertNotEquals(near, far, { message: 'Near and far clipping planes must not be equal' });
+    const result = MatrixCreate(4, 4);
+    AssertMatrix4(result);
+    // Initialize orthographic projection matrix
+    // The matrix performs scaling and translation to map the orthographic volume to [-1, 1]³
+    if (result[0] && result[1] && result[2] && result[3]) {
+        // Scale factors to normalize each axis to [-1, 1] range
+        result[0][0] = 2 / (right - left); // X scaling
+        result[1][1] = 2 / (top - bottom); // Y scaling
+        result[2][2] = -2 / (far - near); // Z scaling (negated for right-handed system)
+        // Translation to center the projection volume at origin
+        result[0][3] = -(right + left) / (right - left); // X translation
+        result[1][3] = -(top + bottom) / (top - bottom); // Y translation
+        result[2][3] = -(far + near) / (far - near); // Z translation
+        // Homogeneous coordinate (no perspective division needed)
+        result[3][3] = 1;
+    }
+    return result;
+}
+//# sourceMappingURL=transformations.js.map

package/build/matrices/transformations.js.map

@@ -0,0 +1 @@
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package/build/matrices/transformations.spec.d.ts

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

package/build/matrices/transformations.spec.d.ts.map

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