@pawells/math-extended 1.1.1 → 3.0.0

package/build/quaternions/asserts.js

@@ -2,17 +2,6 @@
  * Assertion utilities for quaternion validation and error handling.
  * Provides runtime type checking and validation for quaternion operations.
  */
-import { AssertVector, VectorError } from '../vectors/asserts.js';
-/**
- * Custom error class for quaternion-specific validation errors.
- * Extends the base VectorError to maintain consistency with vector operations.
- */
-export class QuaternionError extends VectorError {
-    constructor(message = '') {
-        super(message);
-        this.name = 'QuaternionError';
-    }
-}
 /**
  * Validates that a value is a proper quaternion.
  * A valid quaternion must be an array of exactly 4 finite numbers.
@@ -22,26 +11,36 @@ export class QuaternionError extends VectorError {
  * @throws {QuaternionError} If the quaternion is invalid
  *
  * @example
+ * ```typescript
  * AssertQuaternion([0, 0, 0, 1]); // Valid - passes silently
  * AssertQuaternion([1, 2, 3]);    // Throws QuaternionError - wrong length
  * AssertQuaternion([1, 2, 3, NaN]); // Throws QuaternionError - contains NaN
+ * ```
  */
-export function AssertQuaternion(quaternion, options = {}) {
+/**
+ * Error thrown when quaternion validation fails.
+ */
+export class QuaternionError extends Error {
+    code = 'QUATERNION_ERROR';
+    constructor(message, options) {
+        super(message);
+        this.name = 'QuaternionError';
+        if (options?.cause) {
+            this.cause = options.cause;
+        }
+    }
+}
+export function AssertQuaternion(quaternion) {
     if (!Array.isArray(quaternion)) {
         throw new QuaternionError('Quaternion must be an array');
     }
     if (quaternion.length !== 4) {
         throw new QuaternionError(`Quaternion must have exactly 4 components, got ${quaternion.length}`);
     }
-    // Use existing vector validation for number checking
-    try {
-        AssertVector(quaternion, options);
-    }
-    catch (error) {
-        if (error instanceof VectorError) {
-            throw new QuaternionError(error.message);
+    for (let i = 0; i < 4; i++) {
+        if (typeof quaternion[i] !== 'number' || Number.isNaN(quaternion[i])) {
+            throw new QuaternionError(`Quaternion component ${i} must be a number (not ${typeof quaternion[i]})`);
         }
-        throw error;
     }
 }
 /**
@@ -53,11 +52,17 @@ export function AssertQuaternion(quaternion, options = {}) {
  * @throws {QuaternionError} If the quaternion is not normalized
  *
  * @example
+ * ```typescript
  * AssertNormalizedQuaternion([0, 0, 0, 1]); // Valid unit quaternion
  * AssertNormalizedQuaternion([1, 1, 1, 1]); // Throws - not normalized
+ * ```
  */
 export function AssertNormalizedQuaternion(quaternion, tolerance = 1e-6) {
     AssertQuaternion(quaternion);
+    // Type guard to establish type narrowing for TypeScript
+    if (!Array.isArray(quaternion) || quaternion.length !== 4) {
+        throw new QuaternionError('Quaternion must be an array of 4 numbers');
+    }
     const [x, y, z, w] = quaternion;
     const magnitude = Math.sqrt((x * x) + (y * y) + (z * z) + (w * w));
     if (Math.abs(magnitude - 1) > tolerance) {
@@ -72,21 +77,18 @@ export function AssertNormalizedQuaternion(quaternion, tolerance = 1e-6) {
  * @param options - Validation options
  * @throws {QuaternionError} If the Euler angles are invalid
  */
-export function AssertEulerAngles(euler, options = {}) {
+export function AssertEulerAngles(euler) {
     if (!Array.isArray(euler)) {
         throw new QuaternionError('Euler angles must be an array');
     }
     if (euler.length !== 3) {
         throw new QuaternionError(`Euler angles must have exactly 3 components, got ${euler.length}`);
     }
-    try {
-        AssertVector(euler, options);
-    }
-    catch (error) {
-        if (error instanceof VectorError) {
-            throw new QuaternionError(`Invalid Euler angles: ${error.message}`);
+    // Validate each element is a number (NaN is rejected, but Infinity is allowed)
+    for (let i = 0; i < 3; i++) {
+        if (typeof euler[i] !== 'number' || Number.isNaN(euler[i])) {
+            throw new QuaternionError(`Invalid Euler angles: component ${i} must be a number (not ${typeof euler[i]})`);
         }
-        throw error;
     }
 }
 /**
@@ -97,32 +99,29 @@ export function AssertEulerAngles(euler, options = {}) {
  * @param options - Validation options
  * @throws {QuaternionError} If the axis-angle is invalid
  */
-export function AssertAxisAngle(axisAngle, options = {}) {
+export function AssertAxisAngle(axisAngle) {
     if (!Array.isArray(axisAngle)) {
         throw new QuaternionError('Axis-angle must be an array');
     }
     if (axisAngle.length !== 4) {
         throw new QuaternionError(`Axis-angle must have exactly 4 components, got ${axisAngle.length}`);
     }
-    try {
-        AssertVector(axisAngle, options);
-    }
-    catch (error) {
-        if (error instanceof VectorError) {
-            throw new QuaternionError(`Invalid axis-angle: ${error.message}`);
+    // Validate each element is a number (NaN is rejected, but Infinity is allowed)
+    for (let i = 0; i < 4; i++) {
+        if (typeof axisAngle[i] !== 'number' || Number.isNaN(axisAngle[i])) {
+            throw new QuaternionError(`Invalid axis-angle: component ${i} must be a number (not ${typeof axisAngle[i]})`);
         }
-        throw error;
     }
 }
 /**
  * Validates that a value is a proper rotation matrix.
- * Rotation matrix must be a 3x3 matrix (IMatrix3).
+ * Rotation matrix must be a 3x3 matrix (TMatrix3).
  *
  * @param matrix - The value to validate as a rotation matrix
  * @param options - Validation options
  * @throws {QuaternionError} If the rotation matrix is invalid
  */
-export function AssertRotationMatrix(matrix, options = {}) {
+export function AssertRotationMatrix(matrix) {
     if (!Array.isArray(matrix)) {
         throw new QuaternionError('Rotation matrix must be an array');
     }
@@ -137,14 +136,11 @@ export function AssertRotationMatrix(matrix, options = {}) {
         if (matrix[i].length !== 3) {
             throw new QuaternionError(`Rotation matrix row ${i} must have exactly 3 elements, got ${matrix[i].length}`);
         }
-        try {
-            AssertVector(matrix[i], options);
-        }
-        catch (error) {
-            if (error instanceof VectorError) {
-                throw new QuaternionError(`Invalid rotation matrix row ${i}: ${error.message}`);
+        // Validate each element is a number (NaN is rejected, but Infinity is allowed)
+        for (let j = 0; j < 3; j++) {
+            if (typeof matrix[i][j] !== 'number' || Number.isNaN(matrix[i][j])) {
+                throw new QuaternionError(`Invalid rotation matrix row ${i}: component ${j} must be a number (not ${typeof matrix[i][j]})`);
             }
-            throw error;
         }
     }
 }
@@ -156,20 +152,162 @@ export function AssertRotationMatrix(matrix, options = {}) {
  * @param options - Validation options
  * @throws {QuaternionError} If any quaternion is invalid
  */
-export function AssertQuaternions(quaternions, options = {}) {
+export function AssertQuaternions(quaternions) {
     if (!Array.isArray(quaternions)) {
         throw new QuaternionError('Quaternions must be an array');
     }
     for (let i = 0; i < quaternions.length; i++) {
         try {
-            AssertQuaternion(quaternions[i], options);
+            AssertQuaternion(quaternions[i]);
         }
         catch (error) {
-            if (error instanceof QuaternionError) {
-                throw new QuaternionError(`Invalid quaternion at index ${i}: ${error.message}`);
-            }
-            throw error;
+            const message = error instanceof Error ? error.message : String(error);
+            throw new QuaternionError(`Invalid quaternion at index ${i}: ${message}`, {
+                cause: error instanceof Error ? error : undefined,
+            });
         }
     }
 }
+/**
+ * Validates that an unknown value is a valid quaternion without throwing an error.
+ *
+ * This function performs the same validation as AssertQuaternion but returns
+ * a boolean instead of throwing an exception, making it suitable for
+ * conditional logic where exceptions are not desired.
+ *
+ * @param quaternion - The value to validate as a quaternion
+ * @param options - Validation options
+ * @returns true if the quaternion is valid, false otherwise
+ *
+ * @example
+ * ```typescript
+ * if (ValidateQuaternion(someValue)) {
+ *   // Process the valid quaternion
+ * }
+ * ```
+ */
+export function ValidateQuaternion(quaternion) {
+    try {
+        AssertQuaternion(quaternion);
+        return true;
+    }
+    catch {
+        return false;
+    }
+}
+/**
+ * Validates that a quaternion is normalized (magnitude = 1) without throwing an error.
+ *
+ * @param quaternion - The quaternion to validate as normalized
+ * @param tolerance - Maximum allowed deviation from unit magnitude (default: 1e-6)
+ * @returns true if the quaternion is normalized, false otherwise
+ *
+ * @example
+ * ```typescript
+ * if (ValidateNormalizedQuaternion([1, 0, 0, 0])) {
+ *   // Process the normalized quaternion
+ * }
+ * ```
+ */
+export function ValidateNormalizedQuaternion(quaternion, tolerance = 1e-6) {
+    try {
+        AssertNormalizedQuaternion(quaternion, tolerance);
+        return true;
+    }
+    catch {
+        return false;
+    }
+}
+/**
+ * Validates that an unknown value is valid Euler angles without throwing an error.
+ *
+ * @param euler - The value to validate as Euler angles
+ * @param options - Validation options
+ * @returns true if the Euler angles are valid, false otherwise
+ *
+ * @example
+ * ```typescript
+ * if (ValidateEulerAngles([0.5, 1.0, 1.5])) {
+ *   // Process the valid Euler angles
+ * }
+ * ```
+ */
+export function ValidateEulerAngles(euler) {
+    try {
+        AssertEulerAngles(euler);
+        return true;
+    }
+    catch {
+        return false;
+    }
+}
+/**
+ * Validates that an unknown value is a valid axis-angle representation without throwing an error.
+ *
+ * @param axisAngle - The value to validate as axis-angle
+ * @param options - Validation options
+ * @returns true if the axis-angle is valid, false otherwise
+ *
+ * @example
+ * ```typescript
+ * if (ValidateAxisAngle({ axis: [0, 0, 1], angle: Math.PI / 2 })) {
+ *   // Process the valid axis-angle
+ * }
+ * ```
+ */
+export function ValidateAxisAngle(axisAngle) {
+    try {
+        AssertAxisAngle(axisAngle);
+        return true;
+    }
+    catch {
+        return false;
+    }
+}
+/**
+ * Validates that an unknown value is a valid rotation matrix without throwing an error.
+ *
+ * @param matrix - The value to validate as a rotation matrix
+ * @param options - Validation options
+ * @returns true if the matrix is a valid rotation matrix, false otherwise
+ *
+ * @example
+ * ```typescript
+ * if (ValidateRotationMatrix(someValue)) {
+ *   // Process the valid rotation matrix
+ * }
+ * ```
+ */
+export function ValidateRotationMatrix(matrix) {
+    try {
+        AssertRotationMatrix(matrix);
+        return true;
+    }
+    catch {
+        return false;
+    }
+}
+/**
+ * Validates that an unknown value is an array of valid quaternions without throwing an error.
+ *
+ * @param quaternions - The value to validate as an array of quaternions
+ * @param options - Validation options
+ * @returns true if all quaternions are valid, false otherwise
+ *
+ * @example
+ * ```typescript
+ * if (ValidateQuaternions([q1, q2, q3])) {
+ *   // Process the valid quaternion array
+ * }
+ * ```
+ */
+export function ValidateQuaternions(quaternions) {
+    try {
+        AssertQuaternions(quaternions);
+        return true;
+    }
+    catch {
+        return false;
+    }
+}
 //# sourceMappingURL=asserts.js.map

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package/build/quaternions/conversions.d.ts

@@ -2,32 +2,36 @@
  * 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';
+import type { TMatrix4 } from '../matrices/types.js';
+import type { TQuaternion, TRotationMatrix } from './types.js';
 /**
  * Converts a quaternion to a 3x3 rotation matrix.
- * The matrix is returned as a proper IMatrix3 type.
+ * The matrix is returned as a proper TMatrix3 type.
  *
  * @param quaternion - The normalized quaternion to convert
- * @returns 3x3 rotation matrix as IMatrix3
+ * @returns 3x3 rotation matrix as TMatrix3
  *
  * @example
+ * ```typescript
  * 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.
+ * The matrix should be a proper TMatrix3 type.
  *
- * @param matrix - 3x3 rotation matrix as IMatrix3
+ * @param matrix - 3x3 rotation matrix as TMatrix3
  * @returns Normalized quaternion representing the same rotation
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -39,11 +43,13 @@ export declare function QuaternionFromRotationMatrix(matrix: TRotationMatrix): T
  * @returns 4x4 transformation matrix as a flat array of 16 elements (row-major)
  *
  * @example
+ * ```typescript
  * const q = [0, 0, 0, 1]; // Identity quaternion
  * const matrix4x4 = QuaternionToTransformationMatrix(q);
  * // Returns identity 4x4 matrix
+ * ```
  */
-export declare function QuaternionToTransformationMatrix(quaternion: TQuaternion): IMatrix4;
+export declare function QuaternionToTransformationMatrix(quaternion: TQuaternion): TMatrix4;
 /**
  * Extracts the rotation quaternion from a 4x4 transformation matrix.
  * Ignores translation and scaling components, extracting only the rotation.
@@ -52,11 +58,13 @@ export declare function QuaternionToTransformationMatrix(quaternion: TQuaternion
  * @returns Normalized quaternion representing the rotation component
  *
  * @example
+ * ```typescript
  * 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;
+export declare function QuaternionFromTransformationMatrix(matrix: TMatrix4): TQuaternion;
 /**
  * Checks if a matrix is a valid rotation matrix.
  * A valid rotation matrix should be orthogonal and have determinant +1.
@@ -66,8 +74,10 @@ export declare function QuaternionFromTransformationMatrix(matrix: IMatrix4): TQ
  * @returns True if the matrix is a valid rotation matrix
  *
  * @example
+ * ```typescript
  * 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

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package/build/quaternions/conversions.js

@@ -6,15 +6,17 @@ 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.
+ * The matrix is returned as a proper TMatrix3 type.
  *
  * @param quaternion - The normalized quaternion to convert
- * @returns 3x3 rotation matrix as IMatrix3
+ * @returns 3x3 rotation matrix as TMatrix3
  *
  * @example
+ * ```typescript
  * 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);
@@ -36,15 +38,17 @@ export function QuaternionToRotationMatrix(quaternion) {
 }
 /**
  * Converts a 3x3 rotation matrix to a quaternion.
- * The matrix should be a proper IMatrix3 type.
+ * The matrix should be a proper TMatrix3 type.
  *
- * @param matrix - 3x3 rotation matrix as IMatrix3
+ * @param matrix - 3x3 rotation matrix as TMatrix3
  * @returns Normalized quaternion representing the same rotation
  *
  * @example
+ * ```typescript
  * 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);
@@ -97,9 +101,11 @@ export function QuaternionFromRotationMatrix(matrix) {
  * @returns 4x4 transformation matrix as a flat array of 16 elements (row-major)
  *
  * @example
+ * ```typescript
  * const q = [0, 0, 0, 1]; // Identity quaternion
  * const matrix4x4 = QuaternionToTransformationMatrix(q);
  * // Returns identity 4x4 matrix
+ * ```
  */
 export function QuaternionToTransformationMatrix(quaternion) {
     const rotationMatrix = QuaternionToRotationMatrix(quaternion);
@@ -119,9 +125,11 @@ export function QuaternionToTransformationMatrix(quaternion) {
  * @returns Normalized quaternion representing the rotation component
  *
  * @example
+ * ```typescript
  * 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
@@ -141,8 +149,10 @@ export function QuaternionFromTransformationMatrix(matrix) {
  * @returns True if the matrix is a valid rotation matrix
  *
  * @example
+ * ```typescript
  * 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);

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