@pawells/math-extended 1.1.1 → 3.0.0

package/build/quaternions/core.d.ts

@@ -2,8 +2,9 @@
  * 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';
+import type { TVector3 } from '../vectors/types.js';
+import type { TQuaternion, TEulerAngles, TAxisAngle } from './types.js';
+export declare const QUATERNION_TOLERANCE = 0.000001;
 /**
  * Creates an identity quaternion representing no rotation.
  * The identity quaternion is [0, 0, 0, 1] (x, y, z, w).
@@ -11,8 +12,10 @@ import { TQuaternion, TEulerAngles, TAxisAngle } from './types.js';
  * @returns Identity quaternion [0, 0, 0, 1]
  *
  * @example
+ * ```typescript
  * const identity = QuaternionIdentity();
  * console.log(identity); // [0, 0, 0, 1]
+ * ```
  */
 export declare function QuaternionIdentity(): TQuaternion;
 /**
@@ -23,9 +26,11 @@ export declare function QuaternionIdentity(): TQuaternion;
  * @returns A new quaternion with identical components
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -40,10 +45,12 @@ export declare function QuaternionClone(quaternion: TQuaternion): TQuaternion;
  * @returns True if quaternions are equal within tolerance
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -54,8 +61,10 @@ export declare function QuaternionEquals(a: TQuaternion, b: TQuaternion, toleran
  * @returns The magnitude of the quaternion
  *
  * @example
+ * ```typescript
  * const q = [0, 0, 0, 1];
  * console.log(QuaternionMagnitude(q)); // 1
+ * ```
  */
 export declare function QuaternionMagnitude(quaternion: TQuaternion): number;
 /**
@@ -66,9 +75,11 @@ export declare function QuaternionMagnitude(quaternion: TQuaternion): number;
  * @returns A normalized quaternion with magnitude 1
  *
  * @example
+ * ```typescript
  * const q = [1, 1, 1, 1];
  * const normalized = QuaternionNormalize(q);
  * console.log(QuaternionMagnitude(normalized)); // 1
+ * ```
  */
 export declare function QuaternionNormalize(quaternion: TQuaternion): TQuaternion;
 /**
@@ -80,9 +91,11 @@ export declare function QuaternionNormalize(quaternion: TQuaternion): TQuaternio
  * @returns The conjugate quaternion
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -94,8 +107,10 @@ export declare function QuaternionConjugate(quaternion: TQuaternion): TQuaternio
  * @returns The inverse quaternion
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -108,9 +123,11 @@ export declare function QuaternionInverse(quaternion: TQuaternion): TQuaternion;
  * @returns The product quaternion representing the combined rotation
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -122,9 +139,11 @@ export declare function QuaternionMultiply(a: TQuaternion, b: TQuaternion): TQua
  * @returns A quaternion representing the rotation
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -145,9 +164,11 @@ export declare function QuaternionFromAxisAngleVector(axisAngle: TAxisAngle): TQ
  * @throws {Error} If the quaternion is not normalized
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -158,8 +179,10 @@ export declare function QuaternionToAxisAngle(quaternion: TQuaternion): TAxisAng
  * @returns A quaternion representing the rotation
  *
  * @example
+ * ```typescript
  * const euler = [0, Math.PI/4, 0]; // 45° pitch
  * const q = QuaternionFromEuler(euler);
+ * ```
  */
 export declare function QuaternionFromEuler(euler: TEulerAngles): TQuaternion;
 /**
@@ -170,9 +193,11 @@ export declare function QuaternionFromEuler(euler: TEulerAngles): TQuaternion;
  * @returns Euler angles as [x, y, z] in radians
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -184,9 +209,11 @@ export declare function QuaternionToEuler(quaternion: TQuaternion): TEulerAngles
  * @returns The rotated vector
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -199,9 +226,11 @@ export declare function QuaternionRotateVector(quaternion: TQuaternion, vector:
  * @returns Interpolated quaternion
  *
  * @example
+ * ```typescript
  * 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

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package/build/quaternions/core.js

@@ -3,9 +3,9 @@
  * 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';
+import { AssertQuaternion, AssertNormalizedQuaternion, AssertEulerAngles, AssertAxisAngle, QuaternionError } from './asserts.js';
 const QUATERNION_MAGNITUDE_TOLERANCE = 1e-10;
-const QUATERNION_ANGLE_TOLERANCE = 1e-6;
+export const QUATERNION_TOLERANCE = 1e-6;
 const SLERP_DOT_THRESHOLD = 0.9995;
 /**
  * Creates an identity quaternion representing no rotation.
@@ -14,8 +14,10 @@ const SLERP_DOT_THRESHOLD = 0.9995;
  * @returns Identity quaternion [0, 0, 0, 1]
  *
  * @example
+ * ```typescript
  * const identity = QuaternionIdentity();
  * console.log(identity); // [0, 0, 0, 1]
+ * ```
  */
 export function QuaternionIdentity() {
     return [0, 0, 0, 1];
@@ -28,9 +30,11 @@ export function QuaternionIdentity() {
  * @returns A new quaternion with identical components
  *
  * @example
+ * ```typescript
  * const original = [0, 0, 0.707, 0.707];
  * const copy = QuaternionClone(original);
  * copy[0] = 1; // original remains unchanged
+ * ```
  */
 export function QuaternionClone(quaternion) {
     AssertQuaternion(quaternion);
@@ -48,10 +52,12 @@ export function QuaternionClone(quaternion) {
  * @returns True if quaternions are equal within tolerance
  *
  * @example
+ * ```typescript
  * 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);
@@ -73,8 +79,10 @@ export function QuaternionEquals(a, b, tolerance = 1e-6, checkEquivalence = fals
  * @returns The magnitude of the quaternion
  *
  * @example
+ * ```typescript
  * const q = [0, 0, 0, 1];
  * console.log(QuaternionMagnitude(q)); // 1
+ * ```
  */
 export function QuaternionMagnitude(quaternion) {
     AssertQuaternion(quaternion);
@@ -88,9 +96,11 @@ export function QuaternionMagnitude(quaternion) {
  * @returns A normalized quaternion with magnitude 1
  *
  * @example
+ * ```typescript
  * const q = [1, 1, 1, 1];
  * const normalized = QuaternionNormalize(q);
  * console.log(QuaternionMagnitude(normalized)); // 1
+ * ```
  */
 export function QuaternionNormalize(quaternion) {
     AssertQuaternion(quaternion);
@@ -105,9 +115,11 @@ export function QuaternionNormalize(quaternion) {
  * @returns The conjugate quaternion
  *
  * @example
+ * ```typescript
  * 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);
@@ -123,15 +135,17 @@ export function QuaternionConjugate(quaternion) {
  * @returns The inverse quaternion
  *
  * @example
+ * ```typescript
  * 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');
+        throw new QuaternionError('Cannot invert quaternion with zero magnitude');
     }
     // For unit quaternions, magnitude squared is 1, so this is just the conjugate
     return [
@@ -151,9 +165,11 @@ export function QuaternionInverse(quaternion) {
  * @returns The product quaternion representing the combined rotation
  *
  * @example
+ * ```typescript
  * 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);
@@ -176,9 +192,11 @@ export function QuaternionMultiply(a, b) {
  * @returns A quaternion representing the rotation
  *
  * @example
+ * ```typescript
  * 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);
@@ -214,9 +232,11 @@ export function QuaternionFromAxisAngleVector(axisAngle) {
  * @throws {Error} If the quaternion is not normalized
  *
  * @example
+ * ```typescript
  * 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);
@@ -230,7 +250,7 @@ export function QuaternionToAxisAngle(quaternion) {
     }
     const angle = 2 * Math.acos(Math.min(1, qw));
     const sinHalfAngle = Math.sqrt(1 - (qw * qw));
-    if (sinHalfAngle < QUATERNION_ANGLE_TOLERANCE) {
+    if (sinHalfAngle < QUATERNION_TOLERANCE) {
         // Avoid division by zero for small angles
         return [1, 0, 0, 0];
     }
@@ -249,8 +269,10 @@ export function QuaternionToAxisAngle(quaternion) {
  * @returns A quaternion representing the rotation
  *
  * @example
+ * ```typescript
  * const euler = [0, Math.PI/4, 0]; // 45° pitch
  * const q = QuaternionFromEuler(euler);
+ * ```
  */
 export function QuaternionFromEuler(euler) {
     AssertEulerAngles(euler);
@@ -276,9 +298,11 @@ export function QuaternionFromEuler(euler) {
  * @returns Euler angles as [x, y, z] in radians
  *
  * @example
+ * ```typescript
  * 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);
@@ -305,9 +329,11 @@ export function QuaternionToEuler(quaternion) {
  * @returns The rotated vector
  *
  * @example
+ * ```typescript
  * 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);
@@ -339,9 +365,11 @@ export function QuaternionRotateVector(quaternion, vector) {
  * @returns Interpolated quaternion
  *
  * @example
+ * ```typescript
  * 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);

package/build/quaternions/core.js.map

@@ -1 +1 @@
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package/build/quaternions/index.d.ts

@@ -1,7 +1,7 @@
+export * from './types.js';
+export * from './core.js';
 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

@@ -1 +1 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/quaternions/index.ts"],"names":[],"mappings":"AAAA,cAAc,cAAc,CAAC;AAC7B,cAAc,kBAAkB,CAAC;AACjC,cAAc,WAAW,CAAC;AAC1B,cAAc,oBAAoB,CAAC;AACnC,cAAc,iBAAiB,CAAC;AAChC,cAAc,YAAY,CAAC"}
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/quaternions/index.ts"],"names":[],"mappings":"AACA,cAAc,YAAY,CAAC;AAC3B,cAAc,WAAW,CAAC;AAC1B,cAAc,cAAc,CAAC;AAC7B,cAAc,kBAAkB,CAAC;AACjC,cAAc,oBAAoB,CAAC;AACnC,cAAc,iBAAiB,CAAC"}

package/build/quaternions/index.js

@@ -1,7 +1,8 @@
+// Named re-exports for direct access
+export * from './types.js';
+export * from './core.js';
 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

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/quaternions/index.ts"],"names":[],"mappings":"AAAA,cAAc,cAAc,CAAC;AAC7B,cAAc,kBAAkB,CAAC;AACjC,cAAc,WAAW,CAAC;AAC1B,cAAc,oBAAoB,CAAC;AACnC,cAAc,iBAAiB,CAAC;AAChC,cAAc,YAAY,CAAC"}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../src/quaternions/index.ts"],"names":[],"mappings":"AAAA,qCAAqC;AACrC,cAAc,YAAY,CAAC;AAC3B,cAAc,WAAW,CAAC;AAC1B,cAAc,cAAc,CAAC;AAC7B,cAAc,kBAAkB,CAAC;AACjC,cAAc,oBAAoB,CAAC;AACnC,cAAc,iBAAiB,CAAC"}

package/build/quaternions/interpolation.d.ts

@@ -2,7 +2,7 @@
  * Advanced interpolation utilities for quaternions.
  * Provides specialized interpolation methods for smooth rotation animations.
  */
-import { TQuaternion } from './types.js';
+import type { TQuaternion } from './types.js';
 /**
  * Performs normalized linear interpolation (NLERP) between two quaternions.
  * NLERP is faster than SLERP but doesn't maintain constant angular velocity.
@@ -14,9 +14,11 @@ import { TQuaternion } from './types.js';
  * @returns Interpolated and normalized quaternion
  *
  * @example
+ * ```typescript
  * 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;
 /**
@@ -31,9 +33,11 @@ export declare function QuaternionNLERP(a: TQuaternion, b: TQuaternion, t: numbe
  * @returns Smoothly interpolated quaternion
  *
  * @example
+ * ```typescript
  * // 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;
 /**
@@ -46,9 +50,11 @@ export declare function QuaternionSQUAD(q0: TQuaternion, q1: TQuaternion, q2: TQ
  * @returns Function that takes t ∈ [0, 1] and returns interpolated quaternion
  *
  * @example
+ * ```typescript
  * 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

@@ -1 +1 @@
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+{"version":3,"file":"interpolation.d.ts","sourceRoot":"","sources":["../../src/quaternions/interpolation.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAIH,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,YAAY,CAAC;AAK9C;;;;;;;;;;;;;;;;GAgBG;AACH,wBAAgB,eAAe,CAAC,CAAC,EAAE,WAAW,EAAE,CAAC,EAAE,WAAW,EAAE,CAAC,EAAE,MAAM,GAAG,WAAW,CAoBtF;AAED;;;;;;;;;;;;;;;;;GAiBG;AACH,wBAAgB,eAAe,CAAC,EAAE,EAAE,WAAW,EAAE,EAAE,EAAE,WAAW,EAAE,EAAE,EAAE,WAAW,EAAE,EAAE,EAAE,WAAW,EAAE,CAAC,EAAE,MAAM,GAAG,WAAW,CAiB1H;AAkFD;;;;;;;;;;;;;;;GAeG;AACH,wBAAgB,oBAAoB,CACnC,WAAW,EAAE,WAAW,EAAE,EAC1B,MAAM,GAAE,OAAO,GAAG,OAAO,GAAG,OAAiB,GAC3C,CAAC,CAAC,EAAE,MAAM,KAAK,WAAW,CAkD5B"}

package/build/quaternions/interpolation.js

@@ -4,9 +4,9 @@
  */
 import { AssertArray, AssertNumber } from '@pawells/typescript-common';
 import { AssertNormalizedQuaternion } from './asserts.js';
-import { QuaternionSLERP, QuaternionNormalize, QuaternionMultiply, QuaternionInverse } from './core.js';
+import { QuaternionSLERP, QuaternionNormalize, QuaternionMultiply, QuaternionInverse, QUATERNION_TOLERANCE } from './core.js';
+import { VectorMagnitude } from '../vectors/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.
@@ -18,9 +18,11 @@ const QUATERNION_LOG_TOLERANCE = 1e-6;
  * @returns Interpolated and normalized quaternion
  *
  * @example
+ * ```typescript
  * 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);
@@ -52,9 +54,11 @@ export function QuaternionNLERP(a, b, t) {
  * @returns Smoothly interpolated quaternion
  *
  * @example
+ * ```typescript
  * // 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);
@@ -110,8 +114,8 @@ function quaternionSquadControlPoint(q0, q1, q2) {
 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)
+    const vectorLength = VectorMagnitude([x, y, z]);
+    if (vectorLength < QUATERNION_TOLERANCE)
         return [0, 0, 0, 0];
     const angle = Math.atan2(vectorLength, w);
     const scale = angle / vectorLength;
@@ -126,8 +130,8 @@ function quaternionLog(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)
+    const vectorLength = VectorMagnitude([x, y, z]);
+    if (vectorLength < QUATERNION_TOLERANCE)
         return [0, 0, 0, 1];
     const expW = Math.exp(w);
     const cosV = Math.cos(vectorLength);
@@ -150,9 +154,11 @@ function quaternionExp(quaternion) {
  * @returns Function that takes t ∈ [0, 1] and returns interpolated quaternion
  *
  * @example
+ * ```typescript
  * 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 });

package/build/quaternions/interpolation.js.map

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package/build/quaternions/predefined.d.ts

@@ -2,7 +2,7 @@
  * Predefined quaternions for common rotations and orientations.
  * Provides convenient constants for frequently used quaternion values.
  */
-import { TQuaternion } from './types.js';
+import type { TQuaternion } from './types.js';
 /**
  * Creates a quaternion representing rotation around the X-axis.
  *
@@ -10,7 +10,9 @@ import { TQuaternion } from './types.js';
  * @returns Quaternion representing rotation around X-axis
  *
  * @example
+ * ```typescript
  * const q = QuaternionRotationX(Math.PI / 2); // 90° rotation around X-axis
+ * ```
  */
 export declare function QuaternionRotationX(angle: number): TQuaternion;
 /**
@@ -20,7 +22,9 @@ export declare function QuaternionRotationX(angle: number): TQuaternion;
  * @returns Quaternion representing rotation around Y-axis
  *
  * @example
+ * ```typescript
  * const q = QuaternionRotationY(Math.PI / 4); // 45° rotation around Y-axis
+ * ```
  */
 export declare function QuaternionRotationY(angle: number): TQuaternion;
 /**
@@ -30,7 +34,9 @@ export declare function QuaternionRotationY(angle: number): TQuaternion;
  * @returns Quaternion representing rotation around Z-axis
  *
  * @example
+ * ```typescript
  * 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

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