@pawells/math-extended 1.0.1

package/build/quaternions/asserts.spec.js

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+import { QuaternionError, AssertQuaternion, AssertNormalizedQuaternion, AssertEulerAngles, AssertAxisAngle, AssertRotationMatrix, AssertQuaternions, } from './asserts.js';
+describe('Quaternions Assertions', () => {
+    describe('QuaternionError', () => {
+        test('should create a QuaternionError with message', () => {
+            const error = new QuaternionError('test message');
+            expect(error).toBeInstanceOf(Error);
+            expect(error).toBeInstanceOf(QuaternionError);
+            expect(error.name).toBe('QuaternionError');
+            expect(error.message).toBe('test message');
+        });
+        test('should create a QuaternionError without message', () => {
+            const error = new QuaternionError();
+            expect(error).toBeInstanceOf(Error);
+            expect(error).toBeInstanceOf(QuaternionError);
+            expect(error.name).toBe('QuaternionError');
+            expect(error.message).toBe('');
+        });
+    });
+    describe('AssertQuaternion', () => {
+        test('should pass for valid quaternions', () => {
+            expect(() => AssertQuaternion([0, 0, 0, 1])).not.toThrow();
+            expect(() => AssertQuaternion([1, 0, 0, 0])).not.toThrow();
+            expect(() => AssertQuaternion([0.5, 0.5, 0.5, 0.5])).not.toThrow();
+            expect(() => AssertQuaternion([-1, -2, -3, -4])).not.toThrow();
+            expect(() => AssertQuaternion([0, 0, 0, 0])).not.toThrow();
+        });
+        test('should throw for non-arrays', () => {
+            expect(() => AssertQuaternion(null)).toThrow(QuaternionError);
+            expect(() => AssertQuaternion(undefined)).toThrow(QuaternionError);
+            expect(() => AssertQuaternion(123)).toThrow(QuaternionError);
+            expect(() => AssertQuaternion('string')).toThrow(QuaternionError);
+            expect(() => AssertQuaternion({})).toThrow(QuaternionError);
+        });
+        test('should throw for arrays with wrong length', () => {
+            expect(() => AssertQuaternion([])).toThrow(QuaternionError);
+            expect(() => AssertQuaternion([1])).toThrow(QuaternionError);
+            expect(() => AssertQuaternion([1, 2])).toThrow(QuaternionError);
+            expect(() => AssertQuaternion([1, 2, 3])).toThrow(QuaternionError);
+            expect(() => AssertQuaternion([1, 2, 3, 4, 5])).toThrow(QuaternionError);
+        });
+        test('should throw for arrays with non-number elements', () => {
+            expect(() => AssertQuaternion([1, 2, 3, 'string'])).toThrow(QuaternionError);
+            expect(() => AssertQuaternion([1, null, 3, 4])).toThrow(QuaternionError);
+            expect(() => AssertQuaternion([1, undefined, 3, 4])).toThrow(QuaternionError);
+            expect(() => AssertQuaternion([1, {}, 3, 4])).toThrow(QuaternionError);
+            expect(() => AssertQuaternion([NaN, 0, 0, 1])).toThrow(QuaternionError);
+            // Note: Infinity is allowed by vector validation (finite constraint not set by default)
+            expect(() => AssertQuaternion([0, 0, 0, Infinity])).not.toThrow();
+        });
+        test('should throw with specific error messages', () => {
+            expect(() => AssertQuaternion('not an array')).toThrow('Quaternion must be an array');
+            expect(() => AssertQuaternion([1, 2, 3])).toThrow('Quaternion must have exactly 4 components, got 3');
+            expect(() => AssertQuaternion([1, 2, 3, 4, 5])).toThrow('Quaternion must have exactly 4 components, got 5');
+        });
+    });
+    describe('AssertNormalizedQuaternion', () => {
+        test('should pass for normalized quaternions', () => {
+            expect(() => AssertNormalizedQuaternion([0, 0, 0, 1])).not.toThrow();
+            expect(() => AssertNormalizedQuaternion([1, 0, 0, 0])).not.toThrow();
+            expect(() => AssertNormalizedQuaternion([0, 1, 0, 0])).not.toThrow();
+            expect(() => AssertNormalizedQuaternion([0, 0, 1, 0])).not.toThrow();
+            expect(() => AssertNormalizedQuaternion([0.5, 0.5, 0.5, 0.5])).not.toThrow();
+            expect(() => AssertNormalizedQuaternion([0.707107, 0, 0, 0.707107])).not.toThrow();
+        });
+        test('should throw for non-normalized quaternions', () => {
+            expect(() => AssertNormalizedQuaternion([1, 1, 1, 1])).toThrow(QuaternionError);
+            expect(() => AssertNormalizedQuaternion([2, 0, 0, 0])).toThrow(QuaternionError);
+            expect(() => AssertNormalizedQuaternion([0, 0, 0, 2])).toThrow(QuaternionError);
+            expect(() => AssertNormalizedQuaternion([0.1, 0.1, 0.1, 0.1])).toThrow(QuaternionError);
+        });
+        test('should respect tolerance parameter', () => {
+            const almostNormalized = [0.99999, 0, 0, 0];
+            expect(() => AssertNormalizedQuaternion(almostNormalized, 1e-4)).not.toThrow();
+            expect(() => AssertNormalizedQuaternion(almostNormalized, 1e-6)).toThrow(QuaternionError);
+        });
+        test('should use default tolerance', () => {
+            // A quaternion [1.000001, 0, 0, 0] has magnitude ≈ 1.000001
+            // Difference from 1 is ≈ 0.000001 = 1e-6, which equals the default tolerance
+            // Since the difference equals tolerance, it should pass (not greater than tolerance)
+            const slightlyOff = [1.000001, 0, 0, 0];
+            expect(() => AssertNormalizedQuaternion(slightlyOff)).not.toThrow();
+            // Test with a value that clearly exceeds default tolerance
+            const clearlyOff = [1.00001, 0, 0, 0]; // difference ≈ 1e-5, much larger than 1e-6
+            expect(() => AssertNormalizedQuaternion(clearlyOff)).toThrow(QuaternionError);
+        });
+        test('should throw with magnitude information', () => {
+            const magnitude2 = [2, 0, 0, 0];
+            expect(() => AssertNormalizedQuaternion(magnitude2)).toThrow(/magnitude = 2/);
+        });
+        test('should validate quaternion first', () => {
+            expect(() => AssertNormalizedQuaternion([1, 2, 3])).toThrow(QuaternionError);
+            expect(() => AssertNormalizedQuaternion('invalid')).toThrow(QuaternionError);
+        });
+    });
+    describe('AssertEulerAngles', () => {
+        test('should pass for valid Euler angles', () => {
+            expect(() => AssertEulerAngles([0, 0, 0])).not.toThrow();
+            expect(() => AssertEulerAngles([Math.PI, 0, 0])).not.toThrow();
+            expect(() => AssertEulerAngles([0, Math.PI / 2, 0])).not.toThrow();
+            expect(() => AssertEulerAngles([Math.PI / 4, Math.PI / 3, Math.PI / 6])).not.toThrow();
+            expect(() => AssertEulerAngles([-Math.PI, -Math.PI / 2, -Math.PI / 4])).not.toThrow();
+        });
+        test('should throw for non-arrays', () => {
+            expect(() => AssertEulerAngles(null)).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles(undefined)).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles(123)).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles('string')).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles({})).toThrow(QuaternionError);
+        });
+        test('should throw for arrays with wrong length', () => {
+            expect(() => AssertEulerAngles([])).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles([1])).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles([1, 2])).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles([1, 2, 3, 4])).toThrow(QuaternionError);
+        });
+        test('should throw for arrays with non-number elements', () => {
+            expect(() => AssertEulerAngles([1, 2, 'string'])).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles([1, null, 3])).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles([1, undefined, 3])).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles([NaN, 0, 0])).toThrow(QuaternionError);
+            // Note: Infinity is allowed by vector validation (finite constraint not set by default)
+            expect(() => AssertEulerAngles([0, Infinity, 0])).not.toThrow();
+        });
+        test('should throw with specific error messages', () => {
+            expect(() => AssertEulerAngles('not an array')).toThrow('Euler angles must be an array');
+            expect(() => AssertEulerAngles([1, 2])).toThrow('Euler angles must have exactly 3 components, got 2');
+        });
+        test('should wrap VectorError in QuaternionError', () => {
+            expect(() => AssertEulerAngles([1, 2, NaN])).toThrow(QuaternionError);
+            expect(() => AssertEulerAngles([1, 2, NaN])).toThrow(/Invalid Euler angles:/);
+        });
+    });
+    describe('AssertAxisAngle', () => {
+        test('should pass for valid axis-angle representations', () => {
+            expect(() => AssertAxisAngle([1, 0, 0, 0])).not.toThrow();
+            expect(() => AssertAxisAngle([0, 1, 0, Math.PI / 2])).not.toThrow();
+            expect(() => AssertAxisAngle([0, 0, 1, Math.PI])).not.toThrow();
+            expect(() => AssertAxisAngle([0.707, 0.707, 0, Math.PI / 4])).not.toThrow();
+            expect(() => AssertAxisAngle([0, 0, 0, 0])).not.toThrow();
+        });
+        test('should throw for non-arrays', () => {
+            expect(() => AssertAxisAngle(null)).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle(undefined)).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle(123)).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle('string')).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle({})).toThrow(QuaternionError);
+        });
+        test('should throw for arrays with wrong length', () => {
+            expect(() => AssertAxisAngle([])).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle([1])).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle([1, 2])).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle([1, 2, 3])).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle([1, 2, 3, 4, 5])).toThrow(QuaternionError);
+        });
+        test('should throw for arrays with non-number elements', () => {
+            expect(() => AssertAxisAngle([1, 2, 3, 'string'])).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle([1, null, 3, 4])).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle([1, undefined, 3, 4])).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle([NaN, 0, 0, 1])).toThrow(QuaternionError);
+            // Note: Infinity is allowed by vector validation (finite constraint not set by default)
+            expect(() => AssertAxisAngle([0, 0, 0, Infinity])).not.toThrow();
+        });
+        test('should throw with specific error messages', () => {
+            expect(() => AssertAxisAngle('not an array')).toThrow('Axis-angle must be an array');
+            expect(() => AssertAxisAngle([1, 2, 3])).toThrow('Axis-angle must have exactly 4 components, got 3');
+        });
+        test('should wrap VectorError in QuaternionError', () => {
+            expect(() => AssertAxisAngle([1, 2, 3, NaN])).toThrow(QuaternionError);
+            expect(() => AssertAxisAngle([1, 2, 3, NaN])).toThrow(/Invalid axis-angle:/);
+        });
+    });
+    describe('AssertRotationMatrix', () => {
+        test('should pass for valid rotation matrices', () => {
+            // Identity matrix
+            expect(() => AssertRotationMatrix([
+                [1, 0, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+            ])).not.toThrow();
+            // 90-degree rotation around Z-axis
+            expect(() => AssertRotationMatrix([
+                [0, -1, 0],
+                [1, 0, 0],
+                [0, 0, 1],
+            ])).not.toThrow();
+            // Generic valid matrix
+            expect(() => AssertRotationMatrix([
+                [0.5, 0.5, 0.707],
+                [-0.5, 0.866, 0],
+                [-0.612, -0.354, 0.707],
+            ])).not.toThrow();
+        });
+        test('should throw for non-arrays', () => {
+            expect(() => AssertRotationMatrix(null)).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix(undefined)).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix(123)).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix('string')).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix({})).toThrow(QuaternionError);
+        });
+        test('should throw for arrays with wrong row count', () => {
+            expect(() => AssertRotationMatrix([])).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix([[1, 0, 0]])).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix([[1, 0, 0], [0, 1, 0]])).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix([
+                [1, 0, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+                [0, 0, 0],
+            ])).toThrow(QuaternionError);
+        });
+        test('should throw for non-array rows', () => {
+            expect(() => AssertRotationMatrix([
+                [1, 0, 0],
+                'not an array',
+                [0, 0, 1],
+            ])).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix([
+                [1, 0, 0],
+                null,
+                [0, 0, 1],
+            ])).toThrow(QuaternionError);
+        });
+        test('should throw for rows with wrong column count', () => {
+            expect(() => AssertRotationMatrix([
+                [1, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+            ])).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix([
+                [1, 0, 0, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+            ])).toThrow(QuaternionError);
+        });
+        test('should throw for rows with non-number elements', () => {
+            expect(() => AssertRotationMatrix([
+                [1, 0, 0],
+                [0, 'string', 0],
+                [0, 0, 1],
+            ])).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix([
+                [1, 0, 0],
+                [0, 1, 0],
+                [NaN, 0, 1],
+            ])).toThrow(QuaternionError);
+        });
+        test('should throw with specific error messages', () => {
+            expect(() => AssertRotationMatrix('not an array')).toThrow('Rotation matrix must be an array');
+            expect(() => AssertRotationMatrix([[1, 0, 0]])).toThrow('Rotation matrix must have exactly 3 rows, got 1');
+            expect(() => AssertRotationMatrix([
+                [1, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+            ])).toThrow('Rotation matrix row 0 must have exactly 3 elements, got 2');
+        });
+        test('should wrap VectorError in QuaternionError', () => {
+            expect(() => AssertRotationMatrix([
+                [1, 0, 0],
+                [0, 1, 0],
+                [0, 0, NaN],
+            ])).toThrow(QuaternionError);
+            expect(() => AssertRotationMatrix([
+                [1, 0, 0],
+                [0, 1, 0],
+                [0, 0, NaN],
+            ])).toThrow(/Invalid rotation matrix row 2:/);
+        });
+    });
+    describe('AssertQuaternions', () => {
+        test('should pass for valid quaternion arrays', () => {
+            expect(() => AssertQuaternions([])).not.toThrow();
+            expect(() => AssertQuaternions([[0, 0, 0, 1]])).not.toThrow();
+            expect(() => AssertQuaternions([
+                [0, 0, 0, 1],
+                [1, 0, 0, 0],
+                [0.5, 0.5, 0.5, 0.5],
+            ])).not.toThrow();
+        });
+        test('should throw for non-arrays', () => {
+            expect(() => AssertQuaternions(null)).toThrow(QuaternionError);
+            expect(() => AssertQuaternions(undefined)).toThrow(QuaternionError);
+            expect(() => AssertQuaternions(123)).toThrow(QuaternionError);
+            expect(() => AssertQuaternions('string')).toThrow(QuaternionError);
+            expect(() => AssertQuaternions({})).toThrow(QuaternionError);
+        });
+        test('should throw for arrays containing invalid quaternions', () => {
+            expect(() => AssertQuaternions([
+                [0, 0, 0, 1],
+                [1, 2, 3], // Invalid - wrong length
+                [0, 1, 0, 0],
+            ])).toThrow(QuaternionError);
+            expect(() => AssertQuaternions([
+                [0, 0, 0, 1],
+                [1, 2, 3, 'string'], // Invalid - non-number
+            ])).toThrow(QuaternionError);
+            expect(() => AssertQuaternions([
+                [0, 0, 0, 1],
+                'not a quaternion', // Invalid - not an array
+            ])).toThrow(QuaternionError);
+        });
+        test('should provide index information in error messages', () => {
+            expect(() => AssertQuaternions([
+                [0, 0, 0, 1],
+                [1, 2, 3], // Invalid at index 1
+            ])).toThrow(/Invalid quaternion at index 1:/);
+            expect(() => AssertQuaternions([
+                [0, 0, 0, 1],
+                [1, 0, 0, 0],
+                [1, 2, 3, NaN], // Invalid at index 2
+            ])).toThrow(/Invalid quaternion at index 2:/);
+        });
+        test('should pass options to individual quaternion validation', () => {
+            const options = { someOption: true };
+            // This test verifies that options are passed through,
+            // though the current implementation doesn't use them
+            expect(() => AssertQuaternions([[0, 0, 0, 1]], options)).not.toThrow();
+        });
+    });
+});
+//# sourceMappingURL=asserts.spec.js.map

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

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package/build/quaternions/conversions.d.ts

@@ -0,0 +1,73 @@
+/**
+ * Conversion utilities for quaternions and various rotation representations.
+ * Provides comprehensive conversion between different rotation formats.
+ */
+import { IMatrix4 } from '../matrices/types.js';
+import { TQuaternion, TRotationMatrix } from './types.js';
+/**
+ * Converts a quaternion to a 3x3 rotation matrix.
+ * The matrix is returned as a proper IMatrix3 type.
+ *
+ * @param quaternion - The normalized quaternion to convert
+ * @returns 3x3 rotation matrix as IMatrix3
+ *
+ * @example
+ * const q = [0, 0, 0.707, 0.707]; // 90° rotation around Z-axis
+ * const matrix = QuaternionToRotationMatrix(q);
+ * // matrix represents rotation that transforms +X to +Y
+ */
+export declare function QuaternionToRotationMatrix(quaternion: TQuaternion): TRotationMatrix;
+/**
+ * Converts a 3x3 rotation matrix to a quaternion.
+ * The matrix should be a proper IMatrix3 type.
+ *
+ * @param matrix - 3x3 rotation matrix as IMatrix3
+ * @returns Normalized quaternion representing the same rotation
+ *
+ * @example
+ * const identityMatrix = [[1, 0, 0], [0, 1, 0], [0, 0, 1]];
+ * const q = QuaternionFromRotationMatrix(identityMatrix);
+ * console.log(q); // [0, 0, 0, 1] (identity quaternion)
+ */
+export declare function QuaternionFromRotationMatrix(matrix: TRotationMatrix): TQuaternion;
+/**
+ * Converts a quaternion to a 4x4 transformation matrix.
+ * The resulting matrix can be used for 3D transformations in homogeneous coordinates.
+ * Translation component is zero (pure rotation matrix).
+ *
+ * @param quaternion - The normalized quaternion to convert
+ * @returns 4x4 transformation matrix as a flat array of 16 elements (row-major)
+ *
+ * @example
+ * const q = [0, 0, 0, 1]; // Identity quaternion
+ * const matrix4x4 = QuaternionToTransformationMatrix(q);
+ * // Returns identity 4x4 matrix
+ */
+export declare function QuaternionToTransformationMatrix(quaternion: TQuaternion): IMatrix4;
+/**
+ * Extracts the rotation quaternion from a 4x4 transformation matrix.
+ * Ignores translation and scaling components, extracting only the rotation.
+ *
+ * @param matrix4x4 - 4x4 transformation matrix as a flat array of 16 elements
+ * @returns Normalized quaternion representing the rotation component
+ *
+ * @example
+ * const transformMatrix = [1, 0, 0, 5, 0, 1, 0, 10, 0, 0, 1, 15, 0, 0, 0, 1];
+ * const q = QuaternionFromTransformationMatrix(transformMatrix);
+ * // Extracts rotation (identity in this case), ignores translation [5, 10, 15]
+ */
+export declare function QuaternionFromTransformationMatrix(matrix: IMatrix4): TQuaternion;
+/**
+ * Checks if a matrix is a valid rotation matrix.
+ * A valid rotation matrix should be orthogonal and have determinant +1.
+ *
+ * @param matrix - The matrix to validate
+ * @param tolerance - Tolerance for floating-point comparisons (default: 1e-6)
+ * @returns True if the matrix is a valid rotation matrix
+ *
+ * @example
+ * const matrix = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]; // Identity matrix
+ * console.log(IsValidRotationMatrix(matrix)); // true
+ */
+export declare function IsValidRotationMatrix(matrix: TRotationMatrix, tolerance?: number): boolean;
+//# sourceMappingURL=conversions.d.ts.map

package/build/quaternions/conversions.d.ts.map

@@ -0,0 +1 @@
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package/build/quaternions/conversions.js

@@ -0,0 +1,179 @@
+/**
+ * Conversion utilities for quaternions and various rotation representations.
+ * Provides comprehensive conversion between different rotation formats.
+ */
+import { AssertNormalizedQuaternion, AssertRotationMatrix } from './asserts.js';
+const SHEPPERD_QUARTER = 0.25;
+/**
+ * Converts a quaternion to a 3x3 rotation matrix.
+ * The matrix is returned as a proper IMatrix3 type.
+ *
+ * @param quaternion - The normalized quaternion to convert
+ * @returns 3x3 rotation matrix as IMatrix3
+ *
+ * @example
+ * const q = [0, 0, 0.707, 0.707]; // 90° rotation around Z-axis
+ * const matrix = QuaternionToRotationMatrix(q);
+ * // matrix represents rotation that transforms +X to +Y
+ */
+export function QuaternionToRotationMatrix(quaternion) {
+    AssertNormalizedQuaternion(quaternion);
+    const [x, y, z, w] = quaternion;
+    const xx = x * x;
+    const yy = y * y;
+    const zz = z * z;
+    const xy = x * y;
+    const xz = x * z;
+    const yz = y * z;
+    const wx = w * x;
+    const wy = w * y;
+    const wz = w * z;
+    return [
+        [1 - (2 * (yy + zz)), 2 * (xy - wz), 2 * (xz + wy)],
+        [2 * (xy + wz), 1 - (2 * (xx + zz)), 2 * (yz - wx)],
+        [2 * (xz - wy), 2 * (yz + wx), 1 - (2 * (xx + yy))],
+    ];
+}
+/**
+ * Converts a 3x3 rotation matrix to a quaternion.
+ * The matrix should be a proper IMatrix3 type.
+ *
+ * @param matrix - 3x3 rotation matrix as IMatrix3
+ * @returns Normalized quaternion representing the same rotation
+ *
+ * @example
+ * const identityMatrix = [[1, 0, 0], [0, 1, 0], [0, 0, 1]];
+ * const q = QuaternionFromRotationMatrix(identityMatrix);
+ * console.log(q); // [0, 0, 0, 1] (identity quaternion)
+ */
+export function QuaternionFromRotationMatrix(matrix) {
+    AssertRotationMatrix(matrix);
+    const [[m00, m01, m02], [m10, m11, m12], [m20, m21, m22]] = matrix;
+    // Trace of the matrix
+    const trace = m00 + m11 + m22;
+    if (trace > 0) {
+        // Standard case
+        const s = Math.sqrt(trace + 1) * 2; // s = 4 * qw
+        const w = SHEPPERD_QUARTER * s;
+        const x = (m21 - m12) / s;
+        const y = (m02 - m20) / s;
+        const z = (m10 - m01) / s;
+        return [x, y, z, w];
+    }
+    else if ((m00 > m11) && (m00 > m22)) {
+        // m00 is largest
+        const s = Math.sqrt(1 + m00 - m11 - m22) * 2; // s = 4 * qx
+        const w = (m21 - m12) / s;
+        const x = SHEPPERD_QUARTER * s;
+        const y = (m01 + m10) / s;
+        const z = (m02 + m20) / s;
+        return [x, y, z, w];
+    }
+    else if (m11 > m22) {
+        // m11 is largest
+        const s = Math.sqrt(1 + m11 - m00 - m22) * 2; // s = 4 * qy
+        const w = (m02 - m20) / s;
+        const x = (m01 + m10) / s;
+        const y = SHEPPERD_QUARTER * s;
+        const z = (m12 + m21) / s;
+        return [x, y, z, w];
+    }
+    else {
+        // m22 is largest
+        const s = Math.sqrt(1 + m22 - m00 - m11) * 2; // s = 4 * qz
+        const w = (m10 - m01) / s;
+        const x = (m02 + m20) / s;
+        const y = (m12 + m21) / s;
+        const z = SHEPPERD_QUARTER * s;
+        return [x, y, z, w];
+    }
+}
+/**
+ * Converts a quaternion to a 4x4 transformation matrix.
+ * The resulting matrix can be used for 3D transformations in homogeneous coordinates.
+ * Translation component is zero (pure rotation matrix).
+ *
+ * @param quaternion - The normalized quaternion to convert
+ * @returns 4x4 transformation matrix as a flat array of 16 elements (row-major)
+ *
+ * @example
+ * const q = [0, 0, 0, 1]; // Identity quaternion
+ * const matrix4x4 = QuaternionToTransformationMatrix(q);
+ * // Returns identity 4x4 matrix
+ */
+export function QuaternionToTransformationMatrix(quaternion) {
+    const rotationMatrix = QuaternionToRotationMatrix(quaternion);
+    // Fill 4x4 matrix in row-major order
+    return [
+        [rotationMatrix[0][0], rotationMatrix[0][1], rotationMatrix[0][2], 0],
+        [rotationMatrix[1][0], rotationMatrix[1][1], rotationMatrix[1][2], 0],
+        [rotationMatrix[2][0], rotationMatrix[2][1], rotationMatrix[2][2], 0],
+        [0, 0, 0, 1],
+    ];
+}
+/**
+ * Extracts the rotation quaternion from a 4x4 transformation matrix.
+ * Ignores translation and scaling components, extracting only the rotation.
+ *
+ * @param matrix4x4 - 4x4 transformation matrix as a flat array of 16 elements
+ * @returns Normalized quaternion representing the rotation component
+ *
+ * @example
+ * const transformMatrix = [1, 0, 0, 5, 0, 1, 0, 10, 0, 0, 1, 15, 0, 0, 0, 1];
+ * const q = QuaternionFromTransformationMatrix(transformMatrix);
+ * // Extracts rotation (identity in this case), ignores translation [5, 10, 15]
+ */
+export function QuaternionFromTransformationMatrix(matrix) {
+    // Extract 3x3 rotation matrix from 4x4 transformation matrix
+    const rotationMatrix = [
+        [matrix[0][0], matrix[0][1], matrix[0][2]],
+        [matrix[1][0], matrix[1][1], matrix[1][2]],
+        [matrix[2][0], matrix[2][1], matrix[2][2]],
+    ];
+    return QuaternionFromRotationMatrix(rotationMatrix);
+}
+/**
+ * Checks if a matrix is a valid rotation matrix.
+ * A valid rotation matrix should be orthogonal and have determinant +1.
+ *
+ * @param matrix - The matrix to validate
+ * @param tolerance - Tolerance for floating-point comparisons (default: 1e-6)
+ * @returns True if the matrix is a valid rotation matrix
+ *
+ * @example
+ * const matrix = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]; // Identity matrix
+ * console.log(IsValidRotationMatrix(matrix)); // true
+ */
+export function IsValidRotationMatrix(matrix, tolerance = 1e-6) {
+    AssertRotationMatrix(matrix);
+    const [[m00, m01, m02], [m10, m11, m12], [m20, m21, m22]] = matrix;
+    // Check if matrix is orthogonal (columns are unit vectors and orthogonal)
+    // Column 1: [m00, m10, m20]
+    const col1LengthSq = (m00 * m00) + (m10 * m10) + (m20 * m20);
+    if (Math.abs(col1LengthSq - 1) > tolerance)
+        return false;
+    // Column 2: [m01, m11, m21]
+    const col2LengthSq = (m01 * m01) + (m11 * m11) + (m21 * m21);
+    if (Math.abs(col2LengthSq - 1) > tolerance)
+        return false;
+    // Column 3: [m02, m12, m22]
+    const col3LengthSq = (m02 * m02) + (m12 * m12) + (m22 * m22);
+    if (Math.abs(col3LengthSq - 1) > tolerance)
+        return false;
+    // Check orthogonality between columns
+    const dot12 = (m00 * m01) + (m10 * m11) + (m20 * m21);
+    if (Math.abs(dot12) > tolerance)
+        return false;
+    const dot13 = (m00 * m02) + (m10 * m12) + (m20 * m22);
+    if (Math.abs(dot13) > tolerance)
+        return false;
+    const dot23 = (m01 * m02) + (m11 * m12) + (m21 * m22);
+    if (Math.abs(dot23) > tolerance)
+        return false;
+    // Check determinant is +1 (not -1, which would be a reflection)
+    const det = (m00 * ((m11 * m22) - (m12 * m21))) - (m01 * ((m10 * m22) - (m12 * m20))) + (m02 * ((m10 * m21) - (m11 * m20)));
+    if (Math.abs(det - 1) > tolerance)
+        return false;
+    return true;
+}
+//# sourceMappingURL=conversions.js.map

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

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+export {};
+//# sourceMappingURL=conversions.spec.d.ts.map

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

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