@pawells/math-extended 1.0.1

package/build/quaternions/interpolation.spec.js

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+import { QuaternionNLERP, QuaternionSQUAD, QuaternionCreatePath } from './interpolation.js';
+import { QuaternionIdentity, QuaternionFromAxisAngle, QuaternionEquals } from './core.js';
+const TOLERANCE = 1e-6;
+describe('Quaternion Interpolation', () => {
+    test('QuaternionNLERP: returns start and end for t=0 and t=1', () => {
+        const a = QuaternionIdentity();
+        const b = QuaternionFromAxisAngle([0, 0, 1], Math.PI / 2);
+        expect(QuaternionEquals(QuaternionNLERP(a, b, 0), a, TOLERANCE, true)).toBe(true);
+        expect(QuaternionEquals(QuaternionNLERP(a, b, 1), b, TOLERANCE, true)).toBe(true);
+    });
+    test('QuaternionNLERP: interpolates halfway', () => {
+        const a = QuaternionIdentity();
+        const b = QuaternionFromAxisAngle([0, 0, 1], Math.PI / 2);
+        const result = QuaternionNLERP(a, b, 0.5);
+        // Should be normalized and between a and b
+        expect(Math.abs(result[3])).toBeLessThan(1);
+        expect(Math.abs(result[3])).toBeGreaterThan(0.7);
+    });
+    test('QuaternionNLERP: handles double-cover (q and -q)', () => {
+        const a = QuaternionIdentity();
+        const b = [0, 0, 0, -1];
+        const result = QuaternionNLERP(a, b, 0.5);
+        // Should interpolate along the shortest path (equivalent to a)
+        expect(QuaternionEquals(result, a, TOLERANCE, true)).toBe(true);
+    });
+    test('QuaternionSQUAD: smooth interpolation between four quaternions', () => {
+        const q0 = QuaternionFromAxisAngle([1, 0, 0], 0);
+        const q1 = QuaternionFromAxisAngle([1, 0, 0], Math.PI / 4);
+        const q2 = QuaternionFromAxisAngle([1, 0, 0], Math.PI / 2);
+        const q3 = QuaternionFromAxisAngle([1, 0, 0], (3 * Math.PI) / 4);
+        const result = QuaternionSQUAD(q0, q1, q2, q3, 0.5);
+        // Should be between q1 and q2
+        expect(result[3]).toBeLessThan(q1[3]);
+        expect(result[3]).toBeGreaterThan(q2[3]);
+    });
+    test('QuaternionCreatePath: slerp path returns endpoints for t=0 and t=1', () => {
+        const q1 = QuaternionIdentity();
+        const q2 = QuaternionFromAxisAngle([0, 1, 0], Math.PI / 2);
+        const path = [q1, q2];
+        const interp = QuaternionCreatePath(path, 'slerp');
+        expect(QuaternionEquals(interp(0), q1, TOLERANCE, true)).toBe(true);
+        expect(QuaternionEquals(interp(1), q2, TOLERANCE, true)).toBe(true);
+    });
+    test('QuaternionCreatePath: nlerp and squad produce valid quaternions', () => {
+        const q1 = QuaternionIdentity();
+        const q2 = QuaternionFromAxisAngle([0, 1, 0], Math.PI / 2);
+        const q3 = QuaternionFromAxisAngle([0, 1, 0], Math.PI);
+        const path = [q1, q2, q3];
+        const nlerpInterp = QuaternionCreatePath(path, 'nlerp');
+        const squadInterp = QuaternionCreatePath(path, 'squad');
+        const nlerpResult = nlerpInterp(0.5);
+        const squadResult = squadInterp(0.5);
+        // Should be normalized
+        const nlerpMag = Math.sqrt(nlerpResult.reduce((s, v) => s + (v * v), 0));
+        const squadMag = Math.sqrt(squadResult.reduce((s, v) => s + (v * v), 0));
+        expect(Math.abs(nlerpMag - 1)).toBeLessThan(TOLERANCE);
+        expect(Math.abs(squadMag - 1)).toBeLessThan(TOLERANCE);
+    });
+    test('QuaternionCreatePath: throws for <2 quaternions', () => {
+        expect(() => QuaternionCreatePath([], 'slerp')).toThrow();
+        expect(() => QuaternionCreatePath([[0, 0, 0, 1]], 'slerp')).toThrow();
+    });
+});
+//# sourceMappingURL=interpolation.spec.js.map

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

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package/build/quaternions/predefined.d.ts

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+/**
+ * Predefined quaternions for common rotations and orientations.
+ * Provides convenient constants for frequently used quaternion values.
+ */
+import { TQuaternion } from './types.js';
+/**
+ * Creates a quaternion representing rotation around the X-axis.
+ *
+ * @param angle - Rotation angle in radians
+ * @returns Quaternion representing rotation around X-axis
+ *
+ * @example
+ * const q = QuaternionRotationX(Math.PI / 2); // 90° rotation around X-axis
+ */
+export declare function QuaternionRotationX(angle: number): TQuaternion;
+/**
+ * Creates a quaternion representing rotation around the Y-axis.
+ *
+ * @param angle - Rotation angle in radians
+ * @returns Quaternion representing rotation around Y-axis
+ *
+ * @example
+ * const q = QuaternionRotationY(Math.PI / 4); // 45° rotation around Y-axis
+ */
+export declare function QuaternionRotationY(angle: number): TQuaternion;
+/**
+ * Creates a quaternion representing rotation around the Z-axis.
+ *
+ * @param angle - Rotation angle in radians
+ * @returns Quaternion representing rotation around Z-axis
+ *
+ * @example
+ * const q = QuaternionRotationZ(Math.PI); // 180° rotation around Z-axis
+ */
+export declare function QuaternionRotationZ(angle: number): TQuaternion;
+//# sourceMappingURL=predefined.d.ts.map

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

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

@@ -0,0 +1,42 @@
+/**
+ * Predefined quaternions for common rotations and orientations.
+ * Provides convenient constants for frequently used quaternion values.
+ */
+import { QuaternionFromAxisAngle } from './core.js';
+/**
+ * Creates a quaternion representing rotation around the X-axis.
+ *
+ * @param angle - Rotation angle in radians
+ * @returns Quaternion representing rotation around X-axis
+ *
+ * @example
+ * const q = QuaternionRotationX(Math.PI / 2); // 90° rotation around X-axis
+ */
+export function QuaternionRotationX(angle) {
+    return QuaternionFromAxisAngle([1, 0, 0], angle);
+}
+/**
+ * Creates a quaternion representing rotation around the Y-axis.
+ *
+ * @param angle - Rotation angle in radians
+ * @returns Quaternion representing rotation around Y-axis
+ *
+ * @example
+ * const q = QuaternionRotationY(Math.PI / 4); // 45° rotation around Y-axis
+ */
+export function QuaternionRotationY(angle) {
+    return QuaternionFromAxisAngle([0, 1, 0], angle);
+}
+/**
+ * Creates a quaternion representing rotation around the Z-axis.
+ *
+ * @param angle - Rotation angle in radians
+ * @returns Quaternion representing rotation around Z-axis
+ *
+ * @example
+ * const q = QuaternionRotationZ(Math.PI); // 180° rotation around Z-axis
+ */
+export function QuaternionRotationZ(angle) {
+    return QuaternionFromAxisAngle([0, 0, 1], angle);
+}
+//# sourceMappingURL=predefined.js.map

package/build/quaternions/predefined.js.map

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

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

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

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

package/build/quaternions/predefined.spec.js

@@ -0,0 +1,35 @@
+import { QuaternionRotationX, QuaternionRotationY, QuaternionRotationZ, } from './predefined.js';
+import { QuaternionIdentity, QuaternionEquals, QuaternionFromAxisAngle } from './core.js';
+const TOLERANCE = 1e-6;
+describe('Predefined Quaternions', () => {
+    test('QuaternionIdentity returns [0,0,0,1]', () => {
+        expect(QuaternionIdentity()).toEqual([0, 0, 0, 1]);
+        expect(QuaternionEquals(QuaternionIdentity(), QuaternionIdentity(), TOLERANCE, true)).toBe(true);
+    });
+    test('QuaternionRotationX returns correct quaternion for 90°', () => {
+        const angle = Math.PI / 2;
+        const expected = QuaternionFromAxisAngle([1, 0, 0], angle);
+        expect(QuaternionEquals(QuaternionRotationX(angle), expected, TOLERANCE, true)).toBe(true);
+    });
+    test('QuaternionRotationY returns correct quaternion for 90°', () => {
+        const angle = Math.PI / 2;
+        const expected = QuaternionFromAxisAngle([0, 1, 0], angle);
+        expect(QuaternionEquals(QuaternionRotationY(angle), expected, TOLERANCE, true)).toBe(true);
+    });
+    test('QuaternionRotationZ returns correct quaternion for 90°', () => {
+        const angle = Math.PI / 2;
+        const expected = QuaternionFromAxisAngle([0, 0, 1], angle);
+        expect(QuaternionEquals(QuaternionRotationZ(angle), expected, TOLERANCE, true)).toBe(true);
+    });
+    test('QuaternionRotationX/Y/Z are normalized', () => {
+        const angle = Math.PI / 3;
+        const qx = QuaternionRotationX(angle);
+        const qy = QuaternionRotationY(angle);
+        const qz = QuaternionRotationZ(angle);
+        const mag = (q) => Math.sqrt(q.reduce((s, v) => s + (v * v), 0));
+        expect(Math.abs(mag(qx) - 1)).toBeLessThan(TOLERANCE);
+        expect(Math.abs(mag(qy) - 1)).toBeLessThan(TOLERANCE);
+        expect(Math.abs(mag(qz) - 1)).toBeLessThan(TOLERANCE);
+    });
+});
+//# sourceMappingURL=predefined.spec.js.map

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

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

@@ -0,0 +1,55 @@
+/**
+ * Quaternion type definitions for rotation and orientation calculations.
+ * Quaternions provide a mathematically robust way to represent rotations in 3D space,
+ * avoiding gimbal lock and providing smooth interpolation capabilities.
+ */
+import { TVector3, TVector4 } from '../vectors/types.js';
+import { IMatrix3 } from '../matrices/types.js';
+/**
+ * Quaternion type representing a rotation in 3D space as [x, y, z, w].
+ * The first three components (x, y, z) represent the vector part (rotation axis scaled by sin(θ/2)),
+ * and the fourth component (w) represents the scalar part (cos(θ/2)).
+ *
+ * Quaternions extend IVector4 to leverage vector operations while maintaining semantic meaning.
+ *
+ * @example
+ * const identity: IQuaternion = [0, 0, 0, 1];     // No rotation
+ * const rotationX: IQuaternion = [1, 0, 0, 0];    // 180° rotation around X-axis
+ * const rotation90Y: IQuaternion = [0, 0.707, 0, 0.707]; // 90° rotation around Y-axis
+ */
+export type TQuaternion = TVector4;
+/**
+ * Euler angles representation as [x, y, z] rotations in radians.
+ * Order of rotation is typically Z-Y-X (yaw-pitch-roll) unless specified otherwise.
+ *
+ * @example
+ * const euler: IEulerAngles = [0, Math.PI/4, 0]; // 45° pitch rotation
+ */
+export type TEulerAngles = TVector3;
+/**
+ * Axis-angle representation as [axis_x, axis_y, axis_z, angle].
+ * The first three components define a normalized rotation axis,
+ * and the fourth component is the rotation angle in radians.
+ *
+ * @example
+ * const axisAngle: IAxisAngle = [0, 1, 0, Math.PI/2]; // 90° rotation around Y-axis
+ */
+export type TAxisAngle = TVector4;
+/**
+ * Rotation matrix representation as a 3x3 matrix.
+ * Uses the standard IMatrix3 type for better integration with matrix operations.
+ *
+ * @example
+ * const identity: IRotationMatrix = [
+ *   [1, 0, 0],  // First row
+ *   [0, 1, 0],  // Second row
+ *   [0, 0, 1]   // Third row
+ * ];
+ */
+export type TRotationMatrix = IMatrix3;
+/**
+ * Union type representing any supported rotation representation.
+ * Useful for functions that can accept multiple rotation formats.
+ */
+export type TRotation = TQuaternion | TEulerAngles | TAxisAngle | TRotationMatrix;
+//# sourceMappingURL=types.d.ts.map

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

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package/build/quaternions/types.js

@@ -0,0 +1,7 @@
+/**
+ * Quaternion type definitions for rotation and orientation calculations.
+ * Quaternions provide a mathematically robust way to represent rotations in 3D space,
+ * avoiding gimbal lock and providing smooth interpolation capabilities.
+ */
+export {};
+//# sourceMappingURL=types.js.map

package/build/quaternions/types.js.map

@@ -0,0 +1 @@
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package/build/random.d.ts

@@ -0,0 +1,66 @@
+/**
+ * Generates a random integer within the specified range (inclusive).
+ * @param min - Minimum value (inclusive)
+ * @param max - Maximum value (inclusive)
+ * @returns Random integer between min and max, or NaN if min > max
+ * @example RandomInt(1, 6) // Returns 1, 2, 3, 4, 5, or 6 (dice roll)
+ * @example RandomInt(-5, 5) // Returns any integer from -5 to 5
+ */
+export declare function RandomInt(min: number, max: number): number;
+/**
+ * Generates a random floating-point number within the specified range.
+ * @param min - Minimum value (inclusive)
+ * @param max - Maximum value (exclusive)
+ * @returns Random float between min (inclusive) and max (exclusive), or NaN if min >= max
+ * @example RandomFloat(0, 1) // Returns 0.0 to 0.999...
+ * @example RandomFloat(-1.5, 1.5) // Returns any float from -1.5 to 1.499...
+ */
+export declare function RandomFloat(min: number, max: number): number;
+/**
+ * Randomly selects one element from an array.
+ * @template T - The type of elements in the array
+ * @param array - Array to choose from
+ * @returns Random element from the array, or undefined if array is empty
+ * @example RandomChoice([1, 2, 3, 4, 5]) // Returns one of the numbers
+ * @example RandomChoice(['red', 'green', 'blue']) // Returns one of the colors
+ */
+export declare function RandomChoice<T>(array: T[]): T | undefined;
+/**
+ * Randomly selects multiple elements from an array without replacement.
+ * @template T - The type of elements in the array
+ * @param array - Array to choose from
+ * @param count - Number of elements to select
+ * @returns Array of randomly selected elements, or empty array if invalid inputs
+ * @example RandomSample([1, 2, 3, 4, 5], 3) // Returns 3 unique numbers
+ * @example RandomSample(['a', 'b', 'c'], 2) // Returns 2 unique letters
+ */
+export declare function RandomSample<T>(array: T[], count: number): T[];
+/**
+ * Shuffles an array using the Fisher-Yates algorithm.
+ * @template T - The type of elements in the array
+ * @param array - Array to shuffle
+ * @param clone - If true, returns a shuffled copy; if false/undefined, modifies original array
+ * @returns Shuffled array (original reference if clone=false, new array if clone=true)
+ * @example RandomShuffle([1, 2, 3, 4, 5]) // Modifies and returns original array
+ * @example RandomShuffle([1, 2, 3, 4, 5], true) // Returns new shuffled array, original unchanged
+ */
+export declare function RandomShuffle<T>(array: T[], clone?: boolean): T[];
+/**
+ * Generates a random boolean value.
+ * @param probability - Probability of returning true (0.0 to 1.0, default: 0.5)
+ * @returns Random boolean based on probability
+ * @example RandomBool() // 50% chance of true
+ * @example RandomBool(0.8) // 80% chance of true
+ */
+export declare function RandomBool(probability?: number): boolean;
+/**
+ * Generates a random number following a normal (Gaussian) distribution.
+ * Uses the Box-Muller transform for generating normally distributed values.
+ * @param mean - Mean of the distribution (default: 0)
+ * @param standardDeviation - Standard deviation of the distribution (default: 1)
+ * @returns Random number from normal distribution
+ * @example RandomNormal() // Standard normal distribution (mean=0, std=1)
+ * @example RandomNormal(100, 15) // IQ-like distribution (mean=100, std=15)
+ */
+export declare function RandomNormal(mean?: number, standardDeviation?: number): number;
+//# sourceMappingURL=random.d.ts.map

package/build/random.d.ts.map

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package/build/random.js

@@ -0,0 +1,115 @@
+const BOX_MULLER_COEFFICIENT = -2;
+/**
+ * Generates a random integer within the specified range (inclusive).
+ * @param min - Minimum value (inclusive)
+ * @param max - Maximum value (inclusive)
+ * @returns Random integer between min and max, or NaN if min > max
+ * @example RandomInt(1, 6) // Returns 1, 2, 3, 4, 5, or 6 (dice roll)
+ * @example RandomInt(-5, 5) // Returns any integer from -5 to 5
+ */
+export function RandomInt(min, max) {
+    if (min > max)
+        return Number.NaN;
+    return Math.floor((Math.random() * (max - min + 1)) + min);
+}
+/**
+ * Generates a random floating-point number within the specified range.
+ * @param min - Minimum value (inclusive)
+ * @param max - Maximum value (exclusive)
+ * @returns Random float between min (inclusive) and max (exclusive), or NaN if min >= max
+ * @example RandomFloat(0, 1) // Returns 0.0 to 0.999...
+ * @example RandomFloat(-1.5, 1.5) // Returns any float from -1.5 to 1.499...
+ */
+export function RandomFloat(min, max) {
+    if (min >= max)
+        return Number.NaN;
+    return (Math.random() * (max - min)) + min;
+}
+/**
+ * Randomly selects one element from an array.
+ * @template T - The type of elements in the array
+ * @param array - Array to choose from
+ * @returns Random element from the array, or undefined if array is empty
+ * @example RandomChoice([1, 2, 3, 4, 5]) // Returns one of the numbers
+ * @example RandomChoice(['red', 'green', 'blue']) // Returns one of the colors
+ */
+export function RandomChoice(array) {
+    if (array.length === 0)
+        return undefined;
+    const index = RandomInt(0, array.length - 1);
+    return array[index];
+}
+/**
+ * Randomly selects multiple elements from an array without replacement.
+ * @template T - The type of elements in the array
+ * @param array - Array to choose from
+ * @param count - Number of elements to select
+ * @returns Array of randomly selected elements, or empty array if invalid inputs
+ * @example RandomSample([1, 2, 3, 4, 5], 3) // Returns 3 unique numbers
+ * @example RandomSample(['a', 'b', 'c'], 2) // Returns 2 unique letters
+ */
+export function RandomSample(array, count) {
+    if (array.length === 0 || count <= 0 || count > array.length)
+        return [];
+    const result = [];
+    const indices = new Set();
+    while (result.length < count) {
+        const index = RandomInt(0, array.length - 1);
+        if (!indices.has(index)) {
+            indices.add(index);
+            const element = array[index];
+            if (element !== undefined) {
+                result.push(element);
+            }
+        }
+    }
+    return result;
+}
+/**
+ * Shuffles an array using the Fisher-Yates algorithm.
+ * @template T - The type of elements in the array
+ * @param array - Array to shuffle
+ * @param clone - If true, returns a shuffled copy; if false/undefined, modifies original array
+ * @returns Shuffled array (original reference if clone=false, new array if clone=true)
+ * @example RandomShuffle([1, 2, 3, 4, 5]) // Modifies and returns original array
+ * @example RandomShuffle([1, 2, 3, 4, 5], true) // Returns new shuffled array, original unchanged
+ */
+export function RandomShuffle(array, clone) {
+    const targetArray = clone ? [...array] : array;
+    for (let i = targetArray.length - 1; i > 0; i--) {
+        const j = RandomInt(0, i);
+        const temp = targetArray[i];
+        targetArray[i] = targetArray[j];
+        targetArray[j] = temp;
+    }
+    return targetArray;
+}
+/**
+ * Generates a random boolean value.
+ * @param probability - Probability of returning true (0.0 to 1.0, default: 0.5)
+ * @returns Random boolean based on probability
+ * @example RandomBool() // 50% chance of true
+ * @example RandomBool(0.8) // 80% chance of true
+ */
+export function RandomBool(probability = 0.5) {
+    if (probability < 0 || probability > 1)
+        return false;
+    return Math.random() < probability;
+}
+/**
+ * Generates a random number following a normal (Gaussian) distribution.
+ * Uses the Box-Muller transform for generating normally distributed values.
+ * @param mean - Mean of the distribution (default: 0)
+ * @param standardDeviation - Standard deviation of the distribution (default: 1)
+ * @returns Random number from normal distribution
+ * @example RandomNormal() // Standard normal distribution (mean=0, std=1)
+ * @example RandomNormal(100, 15) // IQ-like distribution (mean=100, std=15)
+ */
+export function RandomNormal(mean = 0, standardDeviation = 1) {
+    // Box-Muller transform
+    const u1 = Math.random();
+    const u2 = Math.random();
+    const z0 = Math.sqrt(BOX_MULLER_COEFFICIENT * Math.log(u1)) * Math.cos(2 * Math.PI * u2);
+    return (z0 * standardDeviation) + mean;
+}
+//# sourceMappingURL=random.js.map

package/build/random.js.map

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package/build/random.spec.d.ts

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

package/build/random.spec.d.ts.map

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