@pawells/math-extended 1.0.1

package/build/quaternions/core.spec.js

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

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

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package/build/quaternions/index.d.ts

@@ -0,0 +1,7 @@
+export * from './asserts.js';
+export * from './conversions.js';
+export * from './core.js';
+export * from './interpolation.js';
+export * from './predefined.js';
+export * from './types.js';
+//# sourceMappingURL=index.d.ts.map

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

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

@@ -0,0 +1,7 @@
+export * from './asserts.js';
+export * from './conversions.js';
+export * from './core.js';
+export * from './interpolation.js';
+export * from './predefined.js';
+export * from './types.js';
+//# sourceMappingURL=index.js.map

package/build/quaternions/index.js.map

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package/build/quaternions/interpolation.d.ts

@@ -0,0 +1,54 @@
+/**
+ * Advanced interpolation utilities for quaternions.
+ * Provides specialized interpolation methods for smooth rotation animations.
+ */
+import { TQuaternion } from './types.js';
+/**
+ * Performs normalized linear interpolation (NLERP) between two quaternions.
+ * NLERP is faster than SLERP but doesn't maintain constant angular velocity.
+ * Good for cases where performance is more important than perfect interpolation.
+ *
+ * @param a - Start quaternion
+ * @param b - End quaternion
+ * @param t - Interpolation parameter (0 = a, 1 = b)
+ * @returns Interpolated and normalized quaternion
+ *
+ * @example
+ * const q1 = [0, 0, 0, 1];
+ * const q2 = [0, 0, 0.707, 0.707];
+ * const interpolated = QuaternionNLERP(q1, q2, 0.5);
+ */
+export declare function QuaternionNLERP(a: TQuaternion, b: TQuaternion, t: number): TQuaternion;
+/**
+ * Performs spherical quadrangle interpolation (SQUAD) for smooth interpolation
+ * through multiple quaternions. This is useful for creating smooth animation paths.
+ *
+ * @param q0 - Previous quaternion (for tangent calculation)
+ * @param q1 - Start quaternion
+ * @param q2 - End quaternion
+ * @param q3 - Next quaternion (for tangent calculation)
+ * @param t - Interpolation parameter (0 = q1, 1 = q2)
+ * @returns Smoothly interpolated quaternion
+ *
+ * @example
+ * // Create a smooth path through multiple rotations
+ * const path = [q0, q1, q2, q3]; // Array of quaternions
+ * const smooth = QuaternionSQUAD(path[0], path[1], path[2], path[3], 0.5);
+ */
+export declare function QuaternionSQUAD(q0: TQuaternion, q1: TQuaternion, q2: TQuaternion, q3: TQuaternion, t: number): TQuaternion;
+/**
+ * Creates a smooth interpolation path through multiple quaternions.
+ * Returns a function that can be called with a parameter t ∈ [0, 1] to get
+ * interpolated quaternions along the path.
+ *
+ * @param quaternions - Array of quaternions defining the path
+ * @param method - Interpolation method ('slerp' | 'nlerp' | 'squad')
+ * @returns Function that takes t ∈ [0, 1] and returns interpolated quaternion
+ *
+ * @example
+ * const path = [q1, q2, q3, q4];
+ * const interpolator = QuaternionCreatePath(path, 'slerp');
+ * const halfway = interpolator(0.5); // Interpolated quaternion at 50% along path
+ */
+export declare function QuaternionCreatePath(quaternions: TQuaternion[], method?: 'slerp' | 'nlerp' | 'squad'): (t: number) => TQuaternion;
+//# sourceMappingURL=interpolation.d.ts.map

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

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package/build/quaternions/interpolation.js

@@ -0,0 +1,201 @@
+/**
+ * Advanced interpolation utilities for quaternions.
+ * Provides specialized interpolation methods for smooth rotation animations.
+ */
+import { AssertArray, AssertNumber } from '@pawells/typescript-common';
+import { AssertNormalizedQuaternion } from './asserts.js';
+import { QuaternionSLERP, QuaternionNormalize, QuaternionMultiply, QuaternionInverse } from './core.js';
+import { Clamp } from '../clamp.js';
+const QUATERNION_LOG_TOLERANCE = 1e-6;
+/**
+ * Performs normalized linear interpolation (NLERP) between two quaternions.
+ * NLERP is faster than SLERP but doesn't maintain constant angular velocity.
+ * Good for cases where performance is more important than perfect interpolation.
+ *
+ * @param a - Start quaternion
+ * @param b - End quaternion
+ * @param t - Interpolation parameter (0 = a, 1 = b)
+ * @returns Interpolated and normalized quaternion
+ *
+ * @example
+ * const q1 = [0, 0, 0, 1];
+ * const q2 = [0, 0, 0.707, 0.707];
+ * const interpolated = QuaternionNLERP(q1, q2, 0.5);
+ */
+export function QuaternionNLERP(a, b, t) {
+    AssertNormalizedQuaternion(a);
+    AssertNormalizedQuaternion(b);
+    const clampedT = Clamp(t, 0, 1); // Ensure t is within [0, 1]
+    // Choose the shorter path (handle double-cover property)
+    let bToUse = b;
+    const dot = (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]) + (a[3] * b[3]);
+    if (dot < 0)
+        bToUse = [-b[0], -b[1], -b[2], -b[3]];
+    // Linear interpolation
+    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);
+}
+/**
+ * Performs spherical quadrangle interpolation (SQUAD) for smooth interpolation
+ * through multiple quaternions. This is useful for creating smooth animation paths.
+ *
+ * @param q0 - Previous quaternion (for tangent calculation)
+ * @param q1 - Start quaternion
+ * @param q2 - End quaternion
+ * @param q3 - Next quaternion (for tangent calculation)
+ * @param t - Interpolation parameter (0 = q1, 1 = q2)
+ * @returns Smoothly interpolated quaternion
+ *
+ * @example
+ * // Create a smooth path through multiple rotations
+ * const path = [q0, q1, q2, q3]; // Array of quaternions
+ * const smooth = QuaternionSQUAD(path[0], path[1], path[2], path[3], 0.5);
+ */
+export function QuaternionSQUAD(q0, q1, q2, q3, t) {
+    AssertNormalizedQuaternion(q0);
+    AssertNormalizedQuaternion(q1);
+    AssertNormalizedQuaternion(q2);
+    AssertNormalizedQuaternion(q3);
+    AssertNumber(t, { gte: 0, lte: 1 });
+    // Calculate intermediate control points
+    const s1 = quaternionSquadControlPoint(q0, q1, q2);
+    const s2 = quaternionSquadControlPoint(q1, q2, q3);
+    // Interpolate using two SLERP operations
+    const slerp1 = QuaternionSLERP(q1, q2, t);
+    const slerp2 = QuaternionSLERP(s1, s2, t);
+    // Final SLERP between the two results
+    return QuaternionSLERP(slerp1, slerp2, 2 * t * (1 - t));
+}
+/**
+ * Calculates a control point for SQUAD interpolation.
+ * This is an internal helper function for smooth quaternion interpolation.
+ *
+ * @param q0 - Previous quaternion
+ * @param q1 - Current quaternion
+ * @param q2 - Next quaternion
+ * @returns Control point quaternion for smooth interpolation
+ */
+function quaternionSquadControlPoint(q0, q1, q2) {
+    // Calculate logarithms for smooth interpolation
+    const q1Inv = QuaternionInverse(q1);
+    const log1 = quaternionLog(QuaternionMultiply(q1Inv, q0));
+    const log2 = quaternionLog(QuaternionMultiply(q1Inv, q2));
+    // Calculate the control point
+    const logSum = [
+        log1[0] + log2[0],
+        log1[1] + log2[1],
+        log1[2] + log2[2],
+        log1[3] + log2[3],
+    ];
+    const scaledLog = [
+        logSum[0] * -0.25,
+        logSum[1] * -0.25,
+        logSum[2] * -0.25,
+        logSum[3] * -0.25,
+    ];
+    return QuaternionMultiply(q1, quaternionExp(scaledLog));
+}
+/**
+ * Calculates the natural logarithm of a quaternion.
+ * Used internally for advanced interpolation methods.
+ *
+ * @param quaternion - The quaternion to calculate logarithm for
+ * @returns The logarithmic quaternion
+ */
+function quaternionLog(quaternion) {
+    AssertNormalizedQuaternion(quaternion);
+    const [x, y, z, w] = quaternion;
+    const vectorLength = Math.sqrt((x * x) + (y * y) + (z * z));
+    if (vectorLength < QUATERNION_LOG_TOLERANCE)
+        return [0, 0, 0, 0];
+    const angle = Math.atan2(vectorLength, w);
+    const scale = angle / vectorLength;
+    return [x * scale, y * scale, z * scale, 0];
+}
+/**
+ * Calculates the exponential of a quaternion.
+ * Used internally for advanced interpolation methods.
+ *
+ * @param quaternion - The quaternion to exponentiate
+ * @returns The exponential quaternion
+ */
+function quaternionExp(quaternion) {
+    const [x, y, z, w] = quaternion;
+    const vectorLength = Math.sqrt((x * x) + (y * y) + (z * z));
+    if (vectorLength < QUATERNION_LOG_TOLERANCE)
+        return [0, 0, 0, 1];
+    const expW = Math.exp(w);
+    const cosV = Math.cos(vectorLength);
+    const sinV = Math.sin(vectorLength);
+    const scale = expW * sinV / vectorLength;
+    return [
+        x * scale,
+        y * scale,
+        z * scale,
+        expW * cosV,
+    ];
+}
+/**
+ * Creates a smooth interpolation path through multiple quaternions.
+ * Returns a function that can be called with a parameter t ∈ [0, 1] to get
+ * interpolated quaternions along the path.
+ *
+ * @param quaternions - Array of quaternions defining the path
+ * @param method - Interpolation method ('slerp' | 'nlerp' | 'squad')
+ * @returns Function that takes t ∈ [0, 1] and returns interpolated quaternion
+ *
+ * @example
+ * const path = [q1, q2, q3, q4];
+ * const interpolator = QuaternionCreatePath(path, 'slerp');
+ * const halfway = interpolator(0.5); // Interpolated quaternion at 50% along path
+ */
+export function QuaternionCreatePath(quaternions, method = 'slerp') {
+    AssertArray(quaternions, { minSize: 2 });
+    // Validate all quaternions
+    for (const q of quaternions) {
+        AssertNormalizedQuaternion(q);
+    }
+    return (t) => {
+        AssertNumber(t, { gte: 0, lte: 1 });
+        const [firstQuaternion] = quaternions;
+        const lastQuaternion = quaternions[quaternions.length - 1];
+        if (t === 0 && firstQuaternion)
+            return firstQuaternion;
+        if (t === 1 && lastQuaternion)
+            return lastQuaternion;
+        // Calculate which segment we're in
+        const segments = quaternions.length - 1;
+        const segmentLength = 1 / segments;
+        const segmentIndex = Math.floor(t / segmentLength);
+        const segmentT = (t - (segmentIndex * segmentLength)) / segmentLength;
+        const currentIndex = Math.min(segmentIndex, segments - 1);
+        const nextIndex = Math.min(currentIndex + 1, quaternions.length - 1);
+        const q1 = quaternions[currentIndex];
+        const q2 = quaternions[nextIndex];
+        // Ensure we have valid quaternions
+        if (!q1 || !q2)
+            throw new Error('Invalid quaternion path calculation');
+        switch (method) {
+            case 'nlerp':
+                return QuaternionNLERP(q1, q2, segmentT);
+            case 'squad': {
+                // For SQUAD, we need additional quaternions for tangent calculation
+                const q0 = quaternions[Math.max(0, currentIndex - 1)];
+                const q3 = quaternions[Math.min(quaternions.length - 1, nextIndex + 1)];
+                // Ensure we have valid quaternions
+                if (!q0 || !q3)
+                    throw new Error('Invalid quaternion path calculation for SQUAD');
+                return QuaternionSQUAD(q0, q1, q2, q3, segmentT);
+            }
+            case 'slerp':
+            default:
+                return QuaternionSLERP(q1, q2, segmentT);
+        }
+    };
+}
+//# sourceMappingURL=interpolation.js.map

package/build/quaternions/interpolation.js.map

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

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

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

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