@pawells/math-extended 1.0.1

package/build/quaternions/core.js

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+/**
+ * Core quaternion mathematics operations for rotation and orientation calculations.
+ * Provides comprehensive quaternion operations with conversion utilities and interpolation.
+ */
+import { VectorClone, VectorDot, VectorMagnitude, VectorNormalize, VectorEquals, Vector3Cross } from '../vectors/core.js';
+import { AssertQuaternion, AssertNormalizedQuaternion, AssertEulerAngles, AssertAxisAngle } from './asserts.js';
+const QUATERNION_MAGNITUDE_TOLERANCE = 1e-10;
+const QUATERNION_ANGLE_TOLERANCE = 1e-6;
+const SLERP_DOT_THRESHOLD = 0.9995;
+/**
+ * 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 function QuaternionIdentity() {
+    return [0, 0, 0, 1];
+}
+/**
+ * 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 function QuaternionClone(quaternion) {
+    AssertQuaternion(quaternion);
+    return VectorClone(quaternion);
+}
+/**
+ * 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 function QuaternionEquals(a, b, tolerance = 1e-6, checkEquivalence = false) {
+    AssertQuaternion(a);
+    AssertQuaternion(b);
+    // Check direct equality using vector comparison
+    const directEqual = VectorEquals(a, b, tolerance);
+    if (directEqual || !checkEquivalence) {
+        return directEqual;
+    }
+    // Check if they represent the same rotation (q and -q are equivalent)
+    const negated = [-a[0], -a[1], -a[2], -a[3]];
+    return VectorEquals(negated, b, tolerance);
+}
+/**
+ * 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 function QuaternionMagnitude(quaternion) {
+    AssertQuaternion(quaternion);
+    return VectorMagnitude(quaternion);
+}
+/**
+ * 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 function QuaternionNormalize(quaternion) {
+    AssertQuaternion(quaternion);
+    return VectorNormalize(quaternion);
+}
+/**
+ * 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 function QuaternionConjugate(quaternion) {
+    AssertQuaternion(quaternion);
+    const [x, y, z, w] = quaternion;
+    return [-x, -y, -z, w];
+}
+/**
+ * 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 function QuaternionInverse(quaternion) {
+    AssertQuaternion(quaternion);
+    const conjugate = QuaternionConjugate(quaternion);
+    const magnitudeSquared = VectorDot(quaternion, quaternion);
+    if (Math.abs(magnitudeSquared) < QUATERNION_MAGNITUDE_TOLERANCE) {
+        throw new Error('Cannot invert quaternion with zero magnitude');
+    }
+    // For unit quaternions, magnitude squared is 1, so this is just the conjugate
+    return [
+        conjugate[0] / magnitudeSquared,
+        conjugate[1] / magnitudeSquared,
+        conjugate[2] / magnitudeSquared,
+        conjugate[3] / magnitudeSquared,
+    ];
+}
+/**
+ * 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 function QuaternionMultiply(a, b) {
+    AssertQuaternion(a);
+    AssertQuaternion(b);
+    const [ax, ay, az, aw] = a;
+    const [bx, by, bz, bw] = b;
+    return [
+        (aw * bx) + (ax * bw) + (ay * bz) - (az * by),
+        (aw * by) - (ax * bz) + (ay * bw) + (az * bx),
+        (aw * bz) + (ax * by) - (ay * bx) + (az * bw),
+        (aw * bw) - (ax * bx) - (ay * by) - (az * bz),
+    ];
+}
+/**
+ * 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 function QuaternionFromAxisAngle(axis, angle) {
+    const normalizedAxis = VectorNormalize(axis);
+    const halfAngle = angle * 0.5;
+    const sinHalf = Math.sin(halfAngle);
+    const cosHalf = Math.cos(halfAngle);
+    return [
+        normalizedAxis[0] * sinHalf,
+        normalizedAxis[1] * sinHalf,
+        normalizedAxis[2] * sinHalf,
+        cosHalf,
+    ];
+}
+/**
+ * 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 function QuaternionFromAxisAngleVector(axisAngle) {
+    AssertAxisAngle(axisAngle);
+    const [x, y, z, angle] = axisAngle;
+    return QuaternionFromAxisAngle([x, y, z], angle);
+}
+/**
+ * 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 function QuaternionToAxisAngle(quaternion) {
+    AssertNormalizedQuaternion(quaternion);
+    const [x, y, z, w] = quaternion;
+    // Handle identity quaternion
+    if (Math.abs(w) >= 1) {
+        return [1, 0, 0, 0]; // Arbitrary axis, zero angle
+    }
+    const angle = 2 * Math.acos(Math.min(1, Math.abs(w)));
+    const sinHalfAngle = Math.sqrt(1 - (w * w));
+    if (sinHalfAngle < QUATERNION_ANGLE_TOLERANCE) {
+        // Avoid division by zero for small angles
+        return [1, 0, 0, 0];
+    }
+    return [
+        x / sinHalfAngle,
+        y / sinHalfAngle,
+        z / sinHalfAngle,
+        angle,
+    ];
+}
+/**
+ * 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 function QuaternionFromEuler(euler) {
+    AssertEulerAngles(euler);
+    const [x, y, z] = euler;
+    const cx = Math.cos(x * 0.5);
+    const sx = Math.sin(x * 0.5);
+    const cy = Math.cos(y * 0.5);
+    const sy = Math.sin(y * 0.5);
+    const cz = Math.cos(z * 0.5);
+    const sz = Math.sin(z * 0.5);
+    return [
+        (sx * cy * cz) - (cx * sy * sz),
+        (cx * sy * cz) + (sx * cy * sz),
+        (cx * cy * sz) - (sx * sy * cz),
+        (cx * cy * cz) + (sx * sy * sz),
+    ];
+}
+/**
+ * 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 function QuaternionToEuler(quaternion) {
+    AssertNormalizedQuaternion(quaternion);
+    const [x, y, z, w] = quaternion;
+    // Roll (x-axis rotation)
+    const sinRoll = 2 * ((w * x) + (y * z));
+    const cosRoll = 1 - (2 * ((x * x) + (y * y)));
+    const roll = Math.atan2(sinRoll, cosRoll);
+    // Pitch (y-axis rotation)
+    const sinPitch = 2 * ((w * y) - (z * x));
+    const pitch = Math.abs(sinPitch) >= 1 ? Math.sign(sinPitch) * (Math.PI / 2) : Math.asin(sinPitch);
+    // Yaw (z-axis rotation)
+    const sinYaw = 2 * ((w * z) + (x * y));
+    const cosYaw = 1 - (2 * ((y * y) + (z * z)));
+    const yaw = Math.atan2(sinYaw, cosYaw);
+    return [roll, pitch, yaw];
+}
+/**
+ * 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 function QuaternionRotateVector(quaternion, vector) {
+    AssertNormalizedQuaternion(quaternion);
+    const [qx, qy, qz, qw] = quaternion;
+    const qVector = [qx, qy, qz];
+    // Optimized quaternion-vector rotation using vector cross product
+    // v' = v + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * v)
+    const qCrossV = Vector3Cross(qVector, vector);
+    const qwTimesV = [qw * vector[0], qw * vector[1], qw * vector[2]];
+    const qCrossVPlusQwV = [
+        qCrossV[0] + qwTimesV[0],
+        qCrossV[1] + qwTimesV[1],
+        qCrossV[2] + qwTimesV[2],
+    ];
+    const finalCross = Vector3Cross(qVector, qCrossVPlusQwV);
+    return [
+        vector[0] + (2 * finalCross[0]),
+        vector[1] + (2 * finalCross[1]),
+        vector[2] + (2 * finalCross[2]),
+    ];
+}
+/**
+ * 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 function QuaternionSLERP(a, b, t) {
+    AssertNormalizedQuaternion(a);
+    AssertNormalizedQuaternion(b);
+    // Clamp t to [0, 1]
+    const clampedT = Math.max(0, Math.min(1, t));
+    // Compute dot product
+    let dot = VectorDot(a, b);
+    // If dot product is negative, use -b to take the shorter path
+    let bToUse = b;
+    if (dot < 0) {
+        bToUse = [-b[0], -b[1], -b[2], -b[3]];
+        dot = -dot;
+    }
+    // If quaternions are very close, use linear interpolation to avoid numerical issues
+    if (dot > SLERP_DOT_THRESHOLD) {
+        const result = [
+            a[0] + (clampedT * (bToUse[0] - a[0])),
+            a[1] + (clampedT * (bToUse[1] - a[1])),
+            a[2] + (clampedT * (bToUse[2] - a[2])),
+            a[3] + (clampedT * (bToUse[3] - a[3])),
+        ];
+        return QuaternionNormalize(result);
+    }
+    // Calculate interpolation factors
+    const theta = Math.acos(Math.abs(dot));
+    const sinTheta = Math.sin(theta);
+    const factor1 = Math.sin((1 - clampedT) * theta) / sinTheta;
+    const factor2 = Math.sin(clampedT * theta) / sinTheta;
+    return [
+        (factor1 * a[0]) + (factor2 * bToUse[0]),
+        (factor1 * a[1]) + (factor2 * bToUse[1]),
+        (factor1 * a[2]) + (factor2 * bToUse[2]),
+        (factor1 * a[3]) + (factor2 * bToUse[3]),
+    ];
+}
+//# sourceMappingURL=core.js.map

package/build/quaternions/core.js.map

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

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

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

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