@pawells/math-extended 1.0.1

package/build/quaternions/conversions.spec.js

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+import { QuaternionIdentity, QuaternionEquals, QuaternionNormalize } from './core.js';
+import { QuaternionRotationX, QuaternionRotationY, QuaternionRotationZ } from './predefined.js';
+import { QuaternionError } from './asserts.js';
+import { DegreesToRadians } from '../angles.ts';
+import { IsValidRotationMatrix, QuaternionFromRotationMatrix, QuaternionFromTransformationMatrix, QuaternionToRotationMatrix, QuaternionToTransformationMatrix } from './conversions.js';
+import { AssertMatrixRow, AssertMatrixValue } from '../matrices/asserts.ts';
+describe('Quaternion Conversions', () => {
+    const TOLERANCE = 1e-6;
+    describe('QuaternionToRotationMatrix', () => {
+        test('should convert identity quaternion to identity matrix', () => {
+            const quaternion = QuaternionIdentity();
+            const matrix = QuaternionToRotationMatrix(quaternion);
+            const expectedMatrix = [
+                [1, 0, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+            ];
+            expect(matrix).toEqual(expectedMatrix);
+        });
+        test('should convert 90-degree rotation around X-axis', () => {
+            const quaternion = QuaternionRotationX(DegreesToRadians(90));
+            const matrix = QuaternionToRotationMatrix(quaternion);
+            // 90° rotation around X should transform Y to Z and Z to -Y
+            expect(matrix[0][0]).toBeCloseTo(1, 5);
+            expect(matrix[0][1]).toBeCloseTo(0, 5);
+            expect(matrix[0][2]).toBeCloseTo(0, 5);
+            expect(matrix[1][0]).toBeCloseTo(0, 5);
+            expect(matrix[1][1]).toBeCloseTo(0, 5);
+            expect(matrix[1][2]).toBeCloseTo(-1, 5);
+            expect(matrix[2][0]).toBeCloseTo(0, 5);
+            expect(matrix[2][1]).toBeCloseTo(1, 5);
+            expect(matrix[2][2]).toBeCloseTo(0, 5);
+        });
+        test('should convert 90-degree rotation around Y-axis', () => {
+            const quaternion = QuaternionRotationY(DegreesToRadians(90));
+            const matrix = QuaternionToRotationMatrix(quaternion);
+            // 90° rotation around Y should transform X to -Z and Z to X
+            expect(matrix[0][0]).toBeCloseTo(0, 5);
+            expect(matrix[0][1]).toBeCloseTo(0, 5);
+            expect(matrix[0][2]).toBeCloseTo(1, 5);
+            expect(matrix[1][0]).toBeCloseTo(0, 5);
+            expect(matrix[1][1]).toBeCloseTo(1, 5);
+            expect(matrix[1][2]).toBeCloseTo(0, 5);
+            expect(matrix[2][0]).toBeCloseTo(-1, 5);
+            expect(matrix[2][1]).toBeCloseTo(0, 5);
+            expect(matrix[2][2]).toBeCloseTo(0, 5);
+        });
+        test('should convert 90-degree rotation around Z-axis', () => {
+            const quaternion = QuaternionRotationZ(DegreesToRadians(90));
+            const matrix = QuaternionToRotationMatrix(quaternion);
+            // 90° rotation around Z should transform X to Y and Y to -X
+            expect(matrix[0][0]).toBeCloseTo(0, 5);
+            expect(matrix[0][1]).toBeCloseTo(-1, 5);
+            expect(matrix[0][2]).toBeCloseTo(0, 5);
+            expect(matrix[1][0]).toBeCloseTo(1, 5);
+            expect(matrix[1][1]).toBeCloseTo(0, 5);
+            expect(matrix[1][2]).toBeCloseTo(0, 5);
+            expect(matrix[2][0]).toBeCloseTo(0, 5);
+            expect(matrix[2][1]).toBeCloseTo(0, 5);
+            expect(matrix[2][2]).toBeCloseTo(1, 5);
+        });
+        test('should throw for non-normalized quaternion', () => {
+            const nonNormalized = [1, 1, 1, 1];
+            expect(() => QuaternionToRotationMatrix(nonNormalized)).toThrow(QuaternionError);
+        });
+    });
+    describe('QuaternionFromRotationMatrix', () => {
+        test('should convert identity matrix to identity quaternion', () => {
+            const identityMatrix = [
+                [1, 0, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+            ];
+            const quaternion = QuaternionFromRotationMatrix(identityMatrix);
+            const expected = QuaternionIdentity();
+            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
+        });
+        test('should convert 90-degree X rotation matrix', () => {
+            const matrix = [
+                [1, 0, 0],
+                [0, 0, -1],
+                [0, 1, 0],
+            ];
+            const quaternion = QuaternionFromRotationMatrix(matrix);
+            const expected = QuaternionRotationX(DegreesToRadians(90));
+            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
+        });
+        test('should convert 90-degree Y rotation matrix', () => {
+            const matrix = [
+                [0, 0, 1],
+                [0, 1, 0],
+                [-1, 0, 0],
+            ];
+            const quaternion = QuaternionFromRotationMatrix(matrix);
+            const expected = QuaternionRotationY(DegreesToRadians(90));
+            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
+        });
+        test('should convert 90-degree Z rotation matrix', () => {
+            const matrix = [
+                [0, -1, 0],
+                [1, 0, 0],
+                [0, 0, 1],
+            ];
+            const quaternion = QuaternionFromRotationMatrix(matrix);
+            const expected = QuaternionRotationZ(DegreesToRadians(90));
+            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
+        });
+        test('should handle matrix with largest diagonal element in different positions', () => {
+            // Test case where m11 is largest
+            const matrix = [
+                [0, 0, 1],
+                [0, 1, 0],
+                [-1, 0, 0],
+            ];
+            const quaternion = QuaternionFromRotationMatrix(matrix);
+            expect(quaternion).toHaveLength(4);
+            expect(Math.abs(Math.sqrt((quaternion[0] ** 2) + (quaternion[1] ** 2) + (quaternion[2] ** 2) + (quaternion[3] ** 2)) - 1)).toBeLessThan(TOLERANCE);
+        });
+        test('should handle matrix with largest diagonal element m22', () => {
+            // Test case where m22 is largest
+            const matrix = [
+                [0, 1, 0],
+                [-1, 0, 0],
+                [0, 0, 1],
+            ];
+            const quaternion = QuaternionFromRotationMatrix(matrix);
+            expect(quaternion).toHaveLength(4);
+            expect(Math.abs(Math.sqrt((quaternion[0] ** 2) + (quaternion[1] ** 2) + (quaternion[2] ** 2) + (quaternion[3] ** 2)) - 1)).toBeLessThan(TOLERANCE);
+        });
+        test('should throw for invalid matrix dimensions', () => {
+            const invalidMatrix = [[1, 0], [0, 1]];
+            expect(() => QuaternionFromRotationMatrix(invalidMatrix)).toThrow();
+        });
+    });
+    describe('QuaternionToTransformationMatrix', () => {
+        test('should convert identity quaternion to 4x4 identity matrix', () => {
+            const quaternion = QuaternionIdentity();
+            const matrix4x4 = QuaternionToTransformationMatrix(quaternion);
+            const expected = [
+                [1, 0, 0, 0],
+                [0, 1, 0, 0],
+                [0, 0, 1, 0],
+                [0, 0, 0, 1],
+            ];
+            expect(matrix4x4).toEqual(expected);
+        });
+        test('should convert rotation quaternion to 4x4 transformation matrix', () => {
+            const quaternion = QuaternionRotationZ(DegreesToRadians(90));
+            const matrix4x4 = QuaternionToTransformationMatrix(quaternion);
+            // Should be a 4x4 matrix
+            expect(matrix4x4).toHaveLength(4);
+            expect(matrix4x4[0]).toHaveLength(4);
+            // Last row should be [0, 0, 0, 1]
+            expect(matrix4x4[3][0]).toBeCloseTo(0, 5);
+            expect(matrix4x4[3][1]).toBeCloseTo(0, 5);
+            expect(matrix4x4[3][2]).toBeCloseTo(0, 5);
+            expect(matrix4x4[3][3]).toBeCloseTo(1, 5);
+            // Translation elements should be 0
+            expect(matrix4x4[0][3]).toBeCloseTo(0, 5);
+            expect(matrix4x4[1][3]).toBeCloseTo(0, 5);
+            expect(matrix4x4[2][3]).toBeCloseTo(0, 5);
+        });
+        test('should maintain rotation properties in 4x4 matrix', () => {
+            const quaternion = QuaternionRotationX(DegreesToRadians(45));
+            const matrix4x4 = QuaternionToTransformationMatrix(quaternion);
+            // Extract 3x3 rotation part
+            const rotationMatrix = [
+                [matrix4x4[0][0], matrix4x4[0][1], matrix4x4[0][2]],
+                [matrix4x4[1][0], matrix4x4[1][1], matrix4x4[1][2]],
+                [matrix4x4[2][0], matrix4x4[2][1], matrix4x4[2][2]],
+            ];
+            expect(IsValidRotationMatrix(rotationMatrix)).toBe(true);
+        });
+    });
+    describe('QuaternionFromTransformationMatrix', () => {
+        test('should extract rotation from 4x4 identity matrix', () => {
+            const matrix4x4 = [
+                [1, 0, 0, 0],
+                [0, 1, 0, 0],
+                [0, 0, 1, 0],
+                [0, 0, 0, 1],
+            ];
+            const quaternion = QuaternionFromTransformationMatrix(matrix4x4);
+            const expected = QuaternionIdentity();
+            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
+        });
+        test('should extract rotation ignoring translation', () => {
+            const matrix4x4 = [
+                [1, 0, 0, 5], // Translation in X
+                [0, 1, 0, 10], // Translation in Y
+                [0, 0, 1, 15], // Translation in Z
+                [0, 0, 0, 1],
+            ];
+            const quaternion = QuaternionFromTransformationMatrix(matrix4x4);
+            const expected = QuaternionIdentity();
+            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
+        });
+        test('should extract rotation with translation present', () => {
+            // Create a Z-rotation matrix with translation
+            const cos90 = Math.cos(DegreesToRadians(90));
+            const sin90 = Math.sin(DegreesToRadians(90));
+            const matrix4x4 = [
+                [cos90, -sin90, 0, 100],
+                [sin90, cos90, 0, 200],
+                [0, 0, 1, 300],
+                [0, 0, 0, 1],
+            ];
+            const quaternion = QuaternionFromTransformationMatrix(matrix4x4);
+            const expected = QuaternionRotationZ(DegreesToRadians(90));
+            expect(QuaternionEquals(quaternion, expected, TOLERANCE, true)).toBe(true);
+        });
+        test('should throw for invalid matrix structure', () => {
+            const invalidMatrix = [[1, 0], [0, 1]];
+            expect(() => QuaternionFromTransformationMatrix(invalidMatrix)).toThrow();
+        });
+    });
+    describe('IsValidRotationMatrix', () => {
+        test('should validate identity matrix', () => {
+            const identityMatrix = [
+                [1, 0, 0],
+                [0, 1, 0],
+                [0, 0, 1],
+            ];
+            expect(IsValidRotationMatrix(identityMatrix)).toBe(true);
+        });
+        test('should validate proper rotation matrices', () => {
+            // 90-degree rotation around Z-axis
+            const rotationZ = [
+                [0, -1, 0],
+                [1, 0, 0],
+                [0, 0, 1],
+            ];
+            expect(IsValidRotationMatrix(rotationZ)).toBe(true);
+        });
+        test('should reject non-orthogonal matrix', () => {
+            const nonOrthogonal = [
+                [1, 1, 0], // Not orthogonal
+                [0, 1, 0],
+                [0, 0, 1],
+            ];
+            expect(IsValidRotationMatrix(nonOrthogonal)).toBe(false);
+        });
+        test('should reject matrix with non-unit column vectors', () => {
+            const nonUnit = [
+                [2, 0, 0], // Column 1 has length 2, not 1
+                [0, 1, 0],
+                [0, 0, 1],
+            ];
+            expect(IsValidRotationMatrix(nonUnit)).toBe(false);
+        });
+        test('should reject matrix with determinant -1 (reflection)', () => {
+            const reflection = [
+                [-1, 0, 0], // Reflection, det = -1
+                [0, 1, 0],
+                [0, 0, 1],
+            ];
+            expect(IsValidRotationMatrix(reflection)).toBe(false);
+        });
+        test('should respect custom tolerance', () => {
+            const almostValid = [
+                [1.0001, 0, 0], // Slightly off from 1
+                [0, 1, 0],
+                [0, 0, 1],
+            ];
+            expect(IsValidRotationMatrix(almostValid, 1e-6)).toBe(false);
+            expect(IsValidRotationMatrix(almostValid, 1e-3)).toBe(true);
+        });
+        test('should validate complex rotation matrix', () => {
+            // 45-degree rotation around Y-axis
+            const cos45 = Math.cos(DegreesToRadians(45));
+            const sin45 = Math.sin(DegreesToRadians(45));
+            const rotationY = [
+                [cos45, 0, sin45],
+                [0, 1, 0],
+                [-sin45, 0, cos45],
+            ];
+            expect(IsValidRotationMatrix(rotationY)).toBe(true);
+        });
+    });
+    describe('Round-trip conversions', () => {
+        test('quaternion -> matrix -> quaternion should preserve rotation', () => {
+            const originalQuaternion = QuaternionRotationX(DegreesToRadians(45));
+            const matrix = QuaternionToRotationMatrix(originalQuaternion);
+            const convertedQuaternion = QuaternionFromRotationMatrix(matrix);
+            expect(QuaternionEquals(originalQuaternion, convertedQuaternion, TOLERANCE, true)).toBe(true);
+        });
+        test('matrix -> quaternion -> matrix should preserve matrix', () => {
+            const originalMatrix = [
+                [0, -1, 0],
+                [1, 0, 0],
+                [0, 0, 1],
+            ];
+            const quaternion = QuaternionFromRotationMatrix(originalMatrix);
+            const convertedMatrix = QuaternionToRotationMatrix(quaternion);
+            // Compare each element
+            for (let i = 0; i < 3; i++) {
+                const originalRow = originalMatrix[i];
+                AssertMatrixRow(originalRow);
+                const convertedRow = convertedMatrix[i];
+                AssertMatrixRow(convertedRow);
+                for (let j = 0; j < 3; j++) {
+                    const originalValue = originalRow[j];
+                    AssertMatrixValue(originalValue);
+                    const convertedValue = convertedRow[j];
+                    AssertMatrixValue(convertedValue);
+                    expect(convertedValue).toBeCloseTo(originalValue, 5);
+                }
+            }
+        });
+        test('quaternion -> 4x4 matrix -> quaternion should preserve rotation', () => {
+            const originalQuaternion = QuaternionRotationY(DegreesToRadians(60));
+            const matrix4x4 = QuaternionToTransformationMatrix(originalQuaternion);
+            const convertedQuaternion = QuaternionFromTransformationMatrix(matrix4x4);
+            expect(QuaternionEquals(originalQuaternion, convertedQuaternion, TOLERANCE, true)).toBe(true);
+        });
+    });
+    describe('Edge cases and error conditions', () => {
+        test('should handle zero quaternion input for conversion functions', () => {
+            const zeroQuaternion = [0, 0, 0, 0];
+            expect(() => QuaternionToRotationMatrix(zeroQuaternion)).toThrow(QuaternionError);
+        });
+        test('should handle very small quaternion components', () => {
+            const smallQuaternion = QuaternionNormalize([1e-10, 1e-10, 1e-10, 1e-10]);
+            const matrix = QuaternionToRotationMatrix(smallQuaternion);
+            const convertedBack = QuaternionFromRotationMatrix(matrix);
+            expect(QuaternionEquals(smallQuaternion, convertedBack, TOLERANCE, true)).toBe(true);
+        });
+        test('should handle matrices from known quaternion conversions', () => {
+            // Test all the branch conditions in QuaternionFromRotationMatrix
+            const testQuaternions = [
+                QuaternionRotationX(DegreesToRadians(30)),
+                QuaternionRotationY(DegreesToRadians(60)),
+                QuaternionRotationZ(DegreesToRadians(120)),
+                QuaternionNormalize([0.5, 0.5, 0.5, 0.5]),
+            ];
+            for (const quaternion of testQuaternions) {
+                const matrix = QuaternionToRotationMatrix(quaternion);
+                const convertedBack = QuaternionFromRotationMatrix(matrix);
+                expect(QuaternionEquals(quaternion, convertedBack, TOLERANCE, true)).toBe(true);
+            }
+        });
+    });
+});
+//# sourceMappingURL=conversions.spec.js.map

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

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package/build/quaternions/core.d.ts

@@ -0,0 +1,203 @@
+/**
+ * Core quaternion mathematics operations for rotation and orientation calculations.
+ * Provides comprehensive quaternion operations with conversion utilities and interpolation.
+ */
+import { TVector3 } from '../vectors/types.js';
+import { TQuaternion, TEulerAngles, TAxisAngle } from './types.js';
+/**
+ * Creates an identity quaternion representing no rotation.
+ * The identity quaternion is [0, 0, 0, 1] (x, y, z, w).
+ *
+ * @returns Identity quaternion [0, 0, 0, 1]
+ *
+ * @example
+ * const identity = QuaternionIdentity();
+ * console.log(identity); // [0, 0, 0, 1]
+ */
+export declare function QuaternionIdentity(): TQuaternion;
+/**
+ * Creates a deep copy of a quaternion.
+ * Essential for avoiding mutations during operations.
+ *
+ * @param quaternion - The quaternion to clone
+ * @returns A new quaternion with identical components
+ *
+ * @example
+ * const original = [0, 0, 0.707, 0.707];
+ * const copy = QuaternionClone(original);
+ * copy[0] = 1; // original remains unchanged
+ */
+export declare function QuaternionClone(quaternion: TQuaternion): TQuaternion;
+/**
+ * Compares two quaternions for equality with optional tolerance.
+ * Note: Quaternions q and -q represent the same rotation, but this function
+ * checks for exact component equality unless checkEquivalence is true.
+ *
+ * @param a - First quaternion to compare
+ * @param b - Second quaternion to compare
+ * @param tolerance - Maximum allowed difference between components (default: 1e-6)
+ * @param checkEquivalence - If true, also check if quaternions represent the same rotation (default: false)
+ * @returns True if quaternions are equal within tolerance
+ *
+ * @example
+ * const q1 = [0, 0, 0, 1];
+ * const q2 = [0, 0, 0, -1];
+ * console.log(QuaternionEquals(q1, q2)); // false (different components)
+ * console.log(QuaternionEquals(q1, q2, 1e-6, true)); // true (same rotation)
+ */
+export declare function QuaternionEquals(a: TQuaternion, b: TQuaternion, tolerance?: number, checkEquivalence?: boolean): boolean;
+/**
+ * Calculates the magnitude (length) of a quaternion.
+ * For unit quaternions (valid rotations), this should be 1.
+ *
+ * @param quaternion - The quaternion to measure
+ * @returns The magnitude of the quaternion
+ *
+ * @example
+ * const q = [0, 0, 0, 1];
+ * console.log(QuaternionMagnitude(q)); // 1
+ */
+export declare function QuaternionMagnitude(quaternion: TQuaternion): number;
+/**
+ * Normalizes a quaternion to unit length.
+ * Essential for ensuring quaternions represent valid rotations.
+ *
+ * @param quaternion - The quaternion to normalize
+ * @returns A normalized quaternion with magnitude 1
+ *
+ * @example
+ * const q = [1, 1, 1, 1];
+ * const normalized = QuaternionNormalize(q);
+ * console.log(QuaternionMagnitude(normalized)); // 1
+ */
+export declare function QuaternionNormalize(quaternion: TQuaternion): TQuaternion;
+/**
+ * Calculates the conjugate of a quaternion.
+ * The conjugate of [x, y, z, w] is [-x, -y, -z, w].
+ * For unit quaternions, the conjugate represents the inverse rotation.
+ *
+ * @param quaternion - The quaternion to conjugate
+ * @returns The conjugate quaternion
+ *
+ * @example
+ * const q = [0.5, 0.5, 0.5, 0.5];
+ * const conjugate = QuaternionConjugate(q);
+ * console.log(conjugate); // [-0.5, -0.5, -0.5, 0.5]
+ */
+export declare function QuaternionConjugate(quaternion: TQuaternion): TQuaternion;
+/**
+ * Calculates the inverse of a quaternion.
+ * For unit quaternions, the inverse equals the conjugate.
+ * For non-unit quaternions, the inverse is conjugate divided by magnitude squared.
+ *
+ * @param quaternion - The quaternion to invert
+ * @returns The inverse quaternion
+ *
+ * @example
+ * const q = [0, 0, 0.707, 0.707]; // 90° rotation around Z
+ * const inverse = QuaternionInverse(q); // -90° rotation around Z
+ */
+export declare function QuaternionInverse(quaternion: TQuaternion): TQuaternion;
+/**
+ * Multiplies two quaternions.
+ * Quaternion multiplication represents composition of rotations.
+ * Note: Quaternion multiplication is not commutative (order matters).
+ *
+ * @param a - First quaternion (applied second in rotation order)
+ * @param b - Second quaternion (applied first in rotation order)
+ * @returns The product quaternion representing the combined rotation
+ *
+ * @example
+ * const rotX = QuaternionFromAxisAngle([1, 0, 0], Math.PI/2); // 90° around X
+ * const rotY = QuaternionFromAxisAngle([0, 1, 0], Math.PI/2); // 90° around Y
+ * const combined = QuaternionMultiply(rotX, rotY); // Y rotation then X rotation
+ */
+export declare function QuaternionMultiply(a: TQuaternion, b: TQuaternion): TQuaternion;
+/**
+ * Creates a quaternion from an axis-angle representation.
+ * The axis should be normalized, and the angle is in radians.
+ *
+ * @param axis - The rotation axis as a normalized 3D vector
+ * @param angle - The rotation angle in radians
+ * @returns A quaternion representing the rotation
+ *
+ * @example
+ * const axis = [0, 1, 0]; // Y-axis
+ * const angle = Math.PI / 2; // 90 degrees
+ * const q = QuaternionFromAxisAngle(axis, angle);
+ */
+export declare function QuaternionFromAxisAngle(axis: TVector3, angle: number): TQuaternion;
+/**
+ * Creates a quaternion from an axis-angle representation (4-component version).
+ *
+ * @param axisAngle - The axis-angle as [x, y, z, angle] where xyz is the axis and angle is in radians
+ * @returns A quaternion representing the rotation
+ */
+export declare function QuaternionFromAxisAngleVector(axisAngle: TAxisAngle): TQuaternion;
+/**
+ * Converts a quaternion to axis-angle representation.
+ *
+ * @param quaternion - The quaternion to convert
+ * @returns The axis-angle representation as [x, y, z, angle]
+ *
+ * @example
+ * const q = [0, 0.707, 0, 0.707]; // 90° around Y-axis
+ * const axisAngle = QuaternionToAxisAngle(q);
+ * console.log(axisAngle); // [0, 1, 0, π/2]
+ */
+export declare function QuaternionToAxisAngle(quaternion: TQuaternion): TAxisAngle;
+/**
+ * Creates a quaternion from Euler angles (in radians).
+ * Uses the ZYX rotation order (yaw-pitch-roll).
+ *
+ * @param euler - Euler angles as [x, y, z] in radians
+ * @returns A quaternion representing the rotation
+ *
+ * @example
+ * const euler = [0, Math.PI/4, 0]; // 45° pitch
+ * const q = QuaternionFromEuler(euler);
+ */
+export declare function QuaternionFromEuler(euler: TEulerAngles): TQuaternion;
+/**
+ * Converts a quaternion to Euler angles (in radians).
+ * Uses the ZYX rotation order (yaw-pitch-roll).
+ *
+ * @param quaternion - The quaternion to convert
+ * @returns Euler angles as [x, y, z] in radians
+ *
+ * @example
+ * const q = [0, 0.383, 0, 0.924]; // ~45° around Y-axis
+ * const euler = QuaternionToEuler(q);
+ * console.log(euler); // [0, π/4, 0]
+ */
+export declare function QuaternionToEuler(quaternion: TQuaternion): TEulerAngles;
+/**
+ * Rotates a 3D vector by a quaternion.
+ * This is equivalent to converting the quaternion to a rotation matrix and multiplying.
+ *
+ * @param quaternion - The rotation quaternion (must be normalized)
+ * @param vector - The 3D vector to rotate
+ * @returns The rotated vector
+ *
+ * @example
+ * const q = QuaternionFromAxisAngle([0, 0, 1], Math.PI/2); // 90° around Z
+ * const v = [1, 0, 0]; // Point along X-axis
+ * const rotated = QuaternionRotateVector(q, v); // Should point along Y-axis
+ */
+export declare function QuaternionRotateVector(quaternion: TQuaternion, vector: TVector3): TVector3;
+/**
+ * Performs spherical linear interpolation (SLERP) between two quaternions.
+ * SLERP provides smooth rotation interpolation with constant angular velocity.
+ *
+ * @param a - Start quaternion
+ * @param b - End quaternion
+ * @param t - Interpolation parameter (0 = a, 1 = b)
+ * @returns Interpolated quaternion
+ *
+ * @example
+ * const q1 = QuaternionIdentity();
+ * const q2 = QuaternionFromAxisAngle([0, 1, 0], Math.PI/2);
+ * const halfway = QuaternionSLERP(q1, q2, 0.5); // 45° rotation
+ */
+export declare function QuaternionSLERP(a: TQuaternion, b: TQuaternion, t: number): TQuaternion;
+//# sourceMappingURL=core.d.ts.map

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

@@ -0,0 +1 @@
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