@pawells/math-extended 2.0.0 → 3.0.0

package/build/quaternions/asserts.d.ts

@@ -2,25 +2,7 @@
  * Assertion utilities for quaternion validation and error handling.
  * Provides runtime type checking and validation for quaternion operations.
  */
-import { VectorError } from '../vectors/asserts.js';
-import { TQuaternion, TEulerAngles, TAxisAngle, TRotationMatrix } from './types.js';
-/**
- * Custom error class for quaternion-specific validation errors.
- * Extends the base VectorError to maintain consistency with vector operations.
- */
-export declare class QuaternionError extends VectorError {
-    readonly code: string;
-    /**
-     * Creates a new QuaternionError instance.
-     *
-     * @param message - Error message describing the validation failure
-     * @param options - Optional error context
-     * @param options.cause - Original error that caused this error
-     */
-    constructor(message: string, options?: {
-        cause?: unknown;
-    });
-}
+import { type TQuaternion, type TEulerAngles, type TAxisAngle, type TRotationMatrix } from './types.js';
 /**
  * Validates that a value is a proper quaternion.
  * A valid quaternion must be an array of exactly 4 finite numbers.
@@ -30,13 +12,22 @@ export declare 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
-     * ```
+ * ```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 declare function AssertQuaternion(quaternion: unknown, options?: Record<string, unknown>): asserts quaternion is TQuaternion;
+/**
+ * Error thrown when quaternion validation fails.
+ */
+export declare class QuaternionError extends Error {
+    readonly code: string;
+    constructor(message: string, options?: {
+        cause?: unknown;
+    });
+}
+export declare function AssertQuaternion(quaternion: unknown): asserts quaternion is TQuaternion;
 /**
  * Validates that a quaternion is normalized (unit quaternion).
  * A unit quaternion has a magnitude of 1 and represents a valid rotation.
@@ -46,10 +37,10 @@ export declare function AssertQuaternion(quaternion: unknown, options?: Record<s
  * @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
-     * ```
+ * ```typescript
+ * AssertNormalizedQuaternion([0, 0, 0, 1]); // Valid unit quaternion
+ * AssertNormalizedQuaternion([1, 1, 1, 1]); // Throws - not normalized
+ * ```
  */
 export declare function AssertNormalizedQuaternion(quaternion: TQuaternion, tolerance?: number): void;
 /**
@@ -60,7 +51,7 @@ export declare function AssertNormalizedQuaternion(quaternion: TQuaternion, tole
  * @param options - Validation options
  * @throws {QuaternionError} If the Euler angles are invalid
  */
-export declare function AssertEulerAngles(euler: unknown, options?: Record<string, unknown>): asserts euler is TEulerAngles;
+export declare function AssertEulerAngles(euler: unknown): asserts euler is TEulerAngles;
 /**
  * Validates that a value is proper axis-angle representation.
  * Axis-angle must be an array of exactly 4 finite numbers.
@@ -69,7 +60,7 @@ export declare function AssertEulerAngles(euler: unknown, options?: Record<strin
  * @param options - Validation options
  * @throws {QuaternionError} If the axis-angle is invalid
  */
-export declare function AssertAxisAngle(axisAngle: unknown, options?: Record<string, unknown>): asserts axisAngle is TAxisAngle;
+export declare function AssertAxisAngle(axisAngle: unknown): asserts axisAngle is TAxisAngle;
 /**
  * Validates that a value is a proper rotation matrix.
  * Rotation matrix must be a 3x3 matrix (TMatrix3).
@@ -78,7 +69,7 @@ export declare function AssertAxisAngle(axisAngle: unknown, options?: Record<str
  * @param options - Validation options
  * @throws {QuaternionError} If the rotation matrix is invalid
  */
-export declare function AssertRotationMatrix(matrix: unknown, options?: Record<string, unknown>): asserts matrix is TRotationMatrix;
+export declare function AssertRotationMatrix(matrix: unknown): asserts matrix is TRotationMatrix;
 /**
  * Validates that multiple quaternions are all valid.
  * Convenience function for batch validation.
@@ -87,7 +78,7 @@ export declare function AssertRotationMatrix(matrix: unknown, options?: Record<s
  * @param options - Validation options
  * @throws {QuaternionError} If any quaternion is invalid
  */
-export declare function AssertQuaternions(quaternions: unknown[], options?: Record<string, unknown>): asserts quaternions is TQuaternion[];
+export declare function AssertQuaternions(quaternions: unknown[]): asserts quaternions is TQuaternion[];
 /**
  * Validates that an unknown value is a valid quaternion without throwing an error.
  *
@@ -106,7 +97,7 @@ export declare function AssertQuaternions(quaternions: unknown[], options?: Reco
  * }
  * ```
  */
-export declare function ValidateQuaternion(quaternion: unknown, options?: Record<string, unknown>): quaternion is TQuaternion;
+export declare function ValidateQuaternion(quaternion: unknown): quaternion is TQuaternion;
 /**
  * Validates that a quaternion is normalized (magnitude = 1) without throwing an error.
  *
@@ -136,7 +127,7 @@ export declare function ValidateNormalizedQuaternion(quaternion: TQuaternion, to
  * }
  * ```
  */
-export declare function ValidateEulerAngles(euler: unknown, options?: Record<string, unknown>): euler is TEulerAngles;
+export declare function ValidateEulerAngles(euler: unknown): euler is TEulerAngles;
 /**
  * Validates that an unknown value is a valid axis-angle representation without throwing an error.
  *
@@ -151,7 +142,7 @@ export declare function ValidateEulerAngles(euler: unknown, options?: Record<str
  * }
  * ```
  */
-export declare function ValidateAxisAngle(axisAngle: unknown, options?: Record<string, unknown>): axisAngle is TAxisAngle;
+export declare function ValidateAxisAngle(axisAngle: unknown): axisAngle is TAxisAngle;
 /**
  * Validates that an unknown value is a valid rotation matrix without throwing an error.
  *
@@ -166,7 +157,7 @@ export declare function ValidateAxisAngle(axisAngle: unknown, options?: Record<s
  * }
  * ```
  */
-export declare function ValidateRotationMatrix(matrix: unknown, options?: Record<string, unknown>): matrix is TRotationMatrix;
+export declare function ValidateRotationMatrix(matrix: unknown): matrix is TRotationMatrix;
 /**
  * Validates that an unknown value is an array of valid quaternions without throwing an error.
  *
@@ -181,5 +172,5 @@ export declare function ValidateRotationMatrix(matrix: unknown, options?: Record
  * }
  * ```
  */
-export declare function ValidateQuaternions(quaternions: unknown[], options?: Record<string, unknown>): quaternions is TQuaternion[];
+export declare function ValidateQuaternions(quaternions: unknown[]): quaternions is TQuaternion[];
 //# sourceMappingURL=asserts.d.ts.map

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

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package/build/quaternions/asserts.js

@@ -2,25 +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 {
-    code = 'QUATERNION_ERROR';
-    /**
-     * Creates a new QuaternionError instance.
-     *
-     * @param message - Error message describing the validation failure
-     * @param options - Optional error context
-     * @param options.cause - Original error that caused this error
-     */
-    constructor(message, options) {
-        super(message, options);
-        this.name = 'QuaternionError';
-    }
-}
 /**
  * Validates that a value is a proper quaternion.
  * A valid quaternion must be an array of exactly 4 finite numbers.
@@ -30,28 +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
-     * ```
+ * ```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
+ * ```
+ */
+/**
+ * Error thrown when quaternion validation fails.
  */
-export function AssertQuaternion(quaternion, options = {}) {
+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;
     }
 }
 /**
@@ -63,13 +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
-     * ```
+ * ```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) {
@@ -84,21 +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;
     }
 }
 /**
@@ -109,21 +99,18 @@ 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;
     }
 }
 /**
@@ -134,7 +121,7 @@ export function AssertAxisAngle(axisAngle, options = {}) {
  * @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');
     }
@@ -149,14 +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;
         }
     }
 }
@@ -168,19 +152,19 @@ 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,
+            });
         }
     }
 }
@@ -202,9 +186,9 @@ export function AssertQuaternions(quaternions, options = {}) {
  * }
  * ```
  */
-export function ValidateQuaternion(quaternion, options = {}) {
+export function ValidateQuaternion(quaternion) {
     try {
-        AssertQuaternion(quaternion, options);
+        AssertQuaternion(quaternion);
         return true;
     }
     catch {
@@ -248,9 +232,9 @@ export function ValidateNormalizedQuaternion(quaternion, tolerance = 1e-6) {
  * }
  * ```
  */
-export function ValidateEulerAngles(euler, options = {}) {
+export function ValidateEulerAngles(euler) {
     try {
-        AssertEulerAngles(euler, options);
+        AssertEulerAngles(euler);
         return true;
     }
     catch {
@@ -271,9 +255,9 @@ export function ValidateEulerAngles(euler, options = {}) {
  * }
  * ```
  */
-export function ValidateAxisAngle(axisAngle, options = {}) {
+export function ValidateAxisAngle(axisAngle) {
     try {
-        AssertAxisAngle(axisAngle, options);
+        AssertAxisAngle(axisAngle);
         return true;
     }
     catch {
@@ -294,9 +278,9 @@ export function ValidateAxisAngle(axisAngle, options = {}) {
  * }
  * ```
  */
-export function ValidateRotationMatrix(matrix, options = {}) {
+export function ValidateRotationMatrix(matrix) {
     try {
-        AssertRotationMatrix(matrix, options);
+        AssertRotationMatrix(matrix);
         return true;
     }
     catch {
@@ -317,9 +301,9 @@ export function ValidateRotationMatrix(matrix, options = {}) {
  * }
  * ```
  */
-export function ValidateQuaternions(quaternions, options = {}) {
+export function ValidateQuaternions(quaternions) {
     try {
-        AssertQuaternions(quaternions, options);
+        AssertQuaternions(quaternions);
         return true;
     }
     catch {

package/build/quaternions/asserts.js.map

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

@@ -2,8 +2,8 @@
  * Conversion utilities for quaternions and various rotation representations.
  * Provides comprehensive conversion between different rotation formats.
  */
-import { TMatrix4 } 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 TMatrix3 type.
@@ -12,11 +12,11 @@ import { TQuaternion, TRotationMatrix } from './types.js';
  * @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
-     * ```
+ * ```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;
 /**
@@ -27,11 +27,11 @@ export declare function QuaternionToRotationMatrix(quaternion: TQuaternion): TRo
  * @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)
-     * ```
+ * ```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;
 /**
@@ -43,11 +43,11 @@ 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
-     * ```
+ * ```typescript
+ * const q = [0, 0, 0, 1]; // Identity quaternion
+ * const matrix4x4 = QuaternionToTransformationMatrix(q);
+ * // Returns identity 4x4 matrix
+ * ```
  */
 export declare function QuaternionToTransformationMatrix(quaternion: TQuaternion): TMatrix4;
 /**
@@ -58,11 +58,11 @@ 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]
-     * ```
+ * ```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: TMatrix4): TQuaternion;
 /**
@@ -74,10 +74,10 @@ export declare function QuaternionFromTransformationMatrix(matrix: TMatrix4): 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
-     * ```
+ * ```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

@@ -12,11 +12,11 @@ const SHEPPERD_QUARTER = 0.25;
  * @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
-     * ```
+ * ```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);
@@ -44,11 +44,11 @@ export function QuaternionToRotationMatrix(quaternion) {
  * @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)
-     * ```
+ * ```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);
@@ -101,11 +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
-     * ```
+ * ```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);
@@ -125,11 +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]
-     * ```
+ * ```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
@@ -149,10 +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
-     * ```
+ * ```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);