@phalanx-engine/math 0.1.0 → 0.1.1

package/dist/FixedMath.d.ts

@@ -137,6 +137,12 @@ export declare const FP: {
      * Returns angle in radians
      */
     Atan2: (y: FixedPoint, x: FixedPoint) => FixedPoint;
+    /**
+     * Arccosine via the atan2 identity: acos(x) = atan2(sqrt(1 - x*x), x).
+     * Input is clamped to [-1, 1] to avoid NaN from rounding error.
+     * Returns angle in radians within [0, PI].
+     */
+    Acos: (x: FixedPoint) => FixedPoint;
 };
 /**
  * Fixed-point 2D vector interface
@@ -243,4 +249,77 @@ export declare const FPVector3: {
         z: number;
     };
 };
+/**
+ * Fixed-point quaternion interface.
+ * Stored in (x, y, z, w) order where w is the scalar component.
+ */
+export interface FPQuaternion {
+    x: FixedPoint;
+    y: FixedPoint;
+    z: FixedPoint;
+    w: FixedPoint;
+}
+/**
+ * FPQuaternion - Deterministic fixed-point quaternion utilities (Unity/Quantum style).
+ *
+ * All rotations are represented as unit quaternions. Conversions use the XYZ
+ * Euler order (matching Unity's Transform), with all intermediate math kept in
+ * FixedPoint for lockstep determinism.
+ */
+export declare const FPQuaternion: {
+    /** Identity rotation (no rotation): { 0, 0, 0, 1 } */
+    Identity: () => FPQuaternion;
+    /** Create a quaternion from FixedPoint components */
+    Create: (x: FixedPoint, y: FixedPoint, z: FixedPoint, w: FixedPoint) => FPQuaternion;
+    /** Create a quaternion from float components */
+    FromFloat: (x: number, y: number, z: number, w: number) => FPQuaternion;
+    /**
+     * Build a rotation of `angle` radians around `axis`.
+     * `axis` is assumed to be unit length (caller's responsibility).
+     */
+    FromAxisAngle: (axis: FPVector3, angle: FixedPoint) => FPQuaternion;
+    /**
+     * Build a rotation that aligns the +Z axis with `forwardDir`, using `upDir`
+     * (default FPVector3.Up) as the reference up direction.
+     */
+    LookRotation: (forwardDir: FPVector3, upDir?: FPVector3) => FPQuaternion;
+    /**
+     * Build a quaternion from Euler angles (radians) applied in XYZ order.
+     */
+    FromEulerXYZ: (euler: FPVector3) => FPQuaternion;
+    /**
+     * Extract Euler angles (radians, XYZ order) from a quaternion.
+     * The pitch sine is clamped to [-1, 1] to avoid NaN at the gimbal poles.
+     */
+    ToEulerXYZ: (q: FPQuaternion) => FPVector3;
+    /** Hamilton product a * b (applies rotation b first, then a). */
+    Mul: (a: FPQuaternion, b: FPQuaternion) => FPQuaternion;
+    /** Dot product of two quaternions. */
+    Dot: (a: FPQuaternion, b: FPQuaternion) => FixedPoint;
+    /** Magnitude (length) of a quaternion. */
+    Magnitude: (q: FPQuaternion) => FixedPoint;
+    /** Squared magnitude of a quaternion (faster than Magnitude). */
+    SqrMagnitude: (q: FPQuaternion) => FixedPoint;
+    /** Normalize a quaternion. Returns Identity() if magnitude is zero. */
+    Normalize: (q: FPQuaternion) => FPQuaternion;
+    /** Conjugate of a quaternion: { -x, -y, -z, w }. */
+    Conjugate: (q: FPQuaternion) => FPQuaternion;
+    /** Inverse of a quaternion: Conjugate(q) / sqrMagnitude. */
+    Inverse: (q: FPQuaternion) => FPQuaternion;
+    /**
+     * Spherical linear interpolation between two rotations.
+     * Takes the shortest arc and falls back to normalized LERP for near-parallel
+     * inputs to avoid division by a near-zero sine.
+     */
+    Slerp: (a: FPQuaternion, b: FPQuaternion, t: FixedPoint) => FPQuaternion;
+    /** Rotate a vector by a quaternion: q * [v, 0] * Conjugate(q). */
+    RotateVector: (q: FPQuaternion, v: FPVector3) => FPVector3;
+    /** Convert to a plain object with float values (for display/serialization). */
+    ToFloat: (q: FPQuaternion) => {
+        x: number;
+        y: number;
+        z: number;
+        w: number;
+    };
+};
 //# sourceMappingURL=FixedMath.d.ts.map

package/dist/FixedMath.d.ts.map

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package/dist/FixedMath.js

@@ -227,6 +227,16 @@ export const FP = {
         }
         return angle;
     },
+    /**
+     * Arccosine via the atan2 identity: acos(x) = atan2(sqrt(1 - x*x), x).
+     * Input is clamped to [-1, 1] to avoid NaN from rounding error.
+     * Returns angle in radians within [0, PI].
+     */
+    Acos: (x) => {
+        const clamped = FP.Clamp(x, FP.FromFloat(-1), FP._1);
+        const sinVal = FP.Sqrt(FP.Sub(FP._1, FP.Mul(clamped, clamped)));
+        return FP.Atan2(sinVal, clamped);
+    },
 };
 /**
  * FPVector2 - Fixed-point 2D vector utilities (Unity/Quantum style)
@@ -417,4 +427,268 @@ export const FPVector3 = {
         z: v.z.toDecimal(),
     }),
 };
+/**
+ * FPQuaternion - Deterministic fixed-point quaternion utilities (Unity/Quantum style).
+ *
+ * All rotations are represented as unit quaternions. Conversions use the XYZ
+ * Euler order (matching Unity's Transform), with all intermediate math kept in
+ * FixedPoint for lockstep determinism.
+ */
+export const FPQuaternion = {
+    // ============ Creation ============
+    /** Identity rotation (no rotation): { 0, 0, 0, 1 } */
+    Identity: () => ({ x: FP._0, y: FP._0, z: FP._0, w: FP._1 }),
+    /** Create a quaternion from FixedPoint components */
+    Create: (x, y, z, w) => ({ x, y, z, w }),
+    /** Create a quaternion from float components */
+    FromFloat: (x, y, z, w) => ({
+        x: FP.FromFloat(x),
+        y: FP.FromFloat(y),
+        z: FP.FromFloat(z),
+        w: FP.FromFloat(w),
+    }),
+    // ============ Rotation constructors ============
+    /**
+     * Build a rotation of `angle` radians around `axis`.
+     * `axis` is assumed to be unit length (caller's responsibility).
+     */
+    FromAxisAngle: (axis, angle) => {
+        const half = FP.Mul(angle, FP.FromFloat(0.5));
+        const s = FP.Sin(half);
+        const c = FP.Cos(half);
+        return {
+            x: FP.Mul(axis.x, s),
+            y: FP.Mul(axis.y, s),
+            z: FP.Mul(axis.z, s),
+            w: c,
+        };
+    },
+    /**
+     * Build a rotation that aligns the +Z axis with `forwardDir`, using `upDir`
+     * (default FPVector3.Up) as the reference up direction.
+     */
+    LookRotation: (forwardDir, upDir = FPVector3.Up) => {
+        const forward = FPVector3.Normalize(forwardDir);
+        // Degenerate forward (zero-length): Normalize yields the zero vector, so no
+        // orthonormal basis exists. Fall back to a well-defined unit quaternion.
+        if (FP.Eq(FPVector3.SqrMagnitude(forward), FP._0)) {
+            return FPQuaternion.Identity();
+        }
+        let rightRaw = FPVector3.Cross(upDir, forward);
+        // up parallel to forward => cross product is ~zero. Retry with an alternate
+        // reference up axis guaranteed not to be parallel to a unit forward.
+        if (FP.Eq(FPVector3.SqrMagnitude(rightRaw), FP._0)) {
+            rightRaw = FPVector3.Cross(FPVector3.Forward, forward);
+            if (FP.Eq(FPVector3.SqrMagnitude(rightRaw), FP._0)) {
+                rightRaw = FPVector3.Cross(FPVector3.Right, forward);
+            }
+            if (FP.Eq(FPVector3.SqrMagnitude(rightRaw), FP._0)) {
+                return FPQuaternion.Identity();
+            }
+        }
+        const right = FPVector3.Normalize(rightRaw);
+        const up = FPVector3.Cross(forward, right);
+        // Rotation matrix columns: right (m*0), up (m*1), forward (m*2)
+        const m00 = right.x;
+        const m10 = right.y;
+        const m20 = right.z;
+        const m01 = up.x;
+        const m11 = up.y;
+        const m21 = up.z;
+        const m02 = forward.x;
+        const m12 = forward.y;
+        const m22 = forward.z;
+        const quarter = FP.FromFloat(0.25);
+        const trace = FP.Add(FP.Add(m00, m11), m22);
+        if (FP.Gt(trace, FP._0)) {
+            const s = FP.Mul(FP.Sqrt(FP.Add(trace, FP._1)), FP.FromInt(2));
+            return {
+                w: FP.Mul(quarter, s),
+                x: FP.Div(FP.Sub(m21, m12), s),
+                y: FP.Div(FP.Sub(m02, m20), s),
+                z: FP.Div(FP.Sub(m10, m01), s),
+            };
+        }
+        if (FP.Gt(m00, m11) && FP.Gt(m00, m22)) {
+            const s = FP.Mul(FP.Sqrt(FP.Add(FP.Sub(FP.Sub(FP._1, m11), m22), m00)), FP.FromInt(2));
+            return {
+                w: FP.Div(FP.Sub(m21, m12), s),
+                x: FP.Mul(quarter, s),
+                y: FP.Div(FP.Add(m01, m10), s),
+                z: FP.Div(FP.Add(m02, m20), s),
+            };
+        }
+        if (FP.Gt(m11, m22)) {
+            const s = FP.Mul(FP.Sqrt(FP.Add(FP.Sub(FP.Sub(FP._1, m00), m22), m11)), FP.FromInt(2));
+            return {
+                w: FP.Div(FP.Sub(m02, m20), s),
+                x: FP.Div(FP.Add(m01, m10), s),
+                y: FP.Mul(quarter, s),
+                z: FP.Div(FP.Add(m12, m21), s),
+            };
+        }
+        const s = FP.Mul(FP.Sqrt(FP.Add(FP.Sub(FP.Sub(FP._1, m00), m11), m22)), FP.FromInt(2));
+        return {
+            w: FP.Div(FP.Sub(m10, m01), s),
+            x: FP.Div(FP.Add(m02, m20), s),
+            y: FP.Div(FP.Add(m12, m21), s),
+            z: FP.Mul(quarter, s),
+        };
+    },
+    /**
+     * Build a quaternion from Euler angles (radians) applied in XYZ order.
+     */
+    FromEulerXYZ: (euler) => {
+        const half = FP.FromFloat(0.5);
+        const c1 = FP.Cos(FP.Mul(euler.x, half));
+        const s1 = FP.Sin(FP.Mul(euler.x, half));
+        const c2 = FP.Cos(FP.Mul(euler.y, half));
+        const s2 = FP.Sin(FP.Mul(euler.y, half));
+        const c3 = FP.Cos(FP.Mul(euler.z, half));
+        const s3 = FP.Sin(FP.Mul(euler.z, half));
+        return {
+            x: FP.Add(FP.Mul(FP.Mul(s1, c2), c3), FP.Mul(FP.Mul(c1, s2), s3)),
+            y: FP.Sub(FP.Mul(FP.Mul(c1, s2), c3), FP.Mul(FP.Mul(s1, c2), s3)),
+            z: FP.Add(FP.Mul(FP.Mul(c1, c2), s3), FP.Mul(FP.Mul(s1, s2), c3)),
+            w: FP.Sub(FP.Mul(FP.Mul(c1, c2), c3), FP.Mul(FP.Mul(s1, s2), s3)),
+        };
+    },
+    /**
+     * Extract Euler angles (radians, XYZ order) from a quaternion.
+     * The pitch sine is clamped to [-1, 1] to avoid NaN at the gimbal poles.
+     */
+    ToEulerXYZ: (q) => {
+        const two = FP.FromInt(2);
+        // The matrix-extraction formulas below assume a unit quaternion.
+        const { x, y, z, w } = FPQuaternion.Normalize(q);
+        const m13 = FP.Mul(two, FP.Add(FP.Mul(x, z), FP.Mul(w, y)));
+        const sinY = FP.Clamp(m13, FP.FromFloat(-1), FP._1);
+        const cosY = FP.Sqrt(FP.Sub(FP._1, FP.Mul(sinY, sinY)));
+        const yAngle = FP.Atan2(sinY, cosY);
+        // Gimbal-lock epsilon: when cos(pitch) is this small the X/Z extraction
+        // denominators collapse to ~0, so fall back to the stable lock branch.
+        const threshold = FP.FromFloat(0.01);
+        let xAngle;
+        let zAngle;
+        if (FP.Gt(cosY, threshold)) {
+            const m23 = FP.Mul(two, FP.Sub(FP.Mul(y, z), FP.Mul(w, x)));
+            const m33 = FP.Sub(FP._1, FP.Mul(two, FP.Add(FP.Mul(x, x), FP.Mul(y, y))));
+            const m12 = FP.Mul(two, FP.Sub(FP.Mul(x, y), FP.Mul(w, z)));
+            const m11 = FP.Sub(FP._1, FP.Mul(two, FP.Add(FP.Mul(y, y), FP.Mul(z, z))));
+            xAngle = FP.Atan2(FP.Neg(m23), m33);
+            zAngle = FP.Atan2(FP.Neg(m12), m11);
+        }
+        else {
+            // Gimbal lock: fix roll at zero and derive pitch from the remaining terms.
+            const m32 = FP.Mul(two, FP.Add(FP.Mul(y, z), FP.Mul(w, x)));
+            const m22 = FP.Sub(FP._1, FP.Mul(two, FP.Add(FP.Mul(x, x), FP.Mul(z, z))));
+            xAngle = FP.Atan2(m32, m22);
+            zAngle = FP._0;
+        }
+        return { x: xAngle, y: yAngle, z: zAngle };
+    },
+    // ============ Operations ============
+    /** Hamilton product a * b (applies rotation b first, then a). */
+    Mul: (a, b) => ({
+        x: FP.Add(FP.Add(FP.Mul(a.w, b.x), FP.Mul(a.x, b.w)), FP.Sub(FP.Mul(a.y, b.z), FP.Mul(a.z, b.y))),
+        y: FP.Add(FP.Sub(FP.Mul(a.w, b.y), FP.Mul(a.x, b.z)), FP.Add(FP.Mul(a.y, b.w), FP.Mul(a.z, b.x))),
+        z: FP.Add(FP.Add(FP.Mul(a.w, b.z), FP.Mul(a.x, b.y)), FP.Sub(FP.Mul(a.z, b.w), FP.Mul(a.y, b.x))),
+        w: FP.Sub(FP.Sub(FP.Mul(a.w, b.w), FP.Mul(a.x, b.x)), FP.Add(FP.Mul(a.y, b.y), FP.Mul(a.z, b.z))),
+    }),
+    /** Dot product of two quaternions. */
+    Dot: (a, b) => FP.Add(FP.Add(FP.Mul(a.x, b.x), FP.Mul(a.y, b.y)), FP.Add(FP.Mul(a.z, b.z), FP.Mul(a.w, b.w))),
+    /** Magnitude (length) of a quaternion. */
+    Magnitude: (q) => FP.Sqrt(FPQuaternion.SqrMagnitude(q)),
+    /** Squared magnitude of a quaternion (faster than Magnitude). */
+    SqrMagnitude: (q) => FP.Add(FP.Add(FP.Mul(q.x, q.x), FP.Mul(q.y, q.y)), FP.Add(FP.Mul(q.z, q.z), FP.Mul(q.w, q.w))),
+    /** Normalize a quaternion. Returns Identity() if magnitude is zero. */
+    Normalize: (q) => {
+        const mag = FPQuaternion.Magnitude(q);
+        if (mag.isZero()) {
+            return FPQuaternion.Identity();
+        }
+        return {
+            x: FP.Div(q.x, mag),
+            y: FP.Div(q.y, mag),
+            z: FP.Div(q.z, mag),
+            w: FP.Div(q.w, mag),
+        };
+    },
+    /** Conjugate of a quaternion: { -x, -y, -z, w }. */
+    Conjugate: (q) => ({
+        x: FP.Neg(q.x),
+        y: FP.Neg(q.y),
+        z: FP.Neg(q.z),
+        w: q.w,
+    }),
+    /** Inverse of a quaternion: Conjugate(q) / sqrMagnitude. */
+    Inverse: (q) => {
+        const sqrMag = FPQuaternion.SqrMagnitude(q);
+        if (sqrMag.isZero()) {
+            return FPQuaternion.Identity();
+        }
+        const conj = FPQuaternion.Conjugate(q);
+        return {
+            x: FP.Div(conj.x, sqrMag),
+            y: FP.Div(conj.y, sqrMag),
+            z: FP.Div(conj.z, sqrMag),
+            w: FP.Div(conj.w, sqrMag),
+        };
+    },
+    // ============ Interpolation ============
+    /**
+     * Spherical linear interpolation between two rotations.
+     * Takes the shortest arc and falls back to normalized LERP for near-parallel
+     * inputs to avoid division by a near-zero sine.
+     */
+    Slerp: (a, b, t) => {
+        let dot = FPQuaternion.Dot(a, b);
+        let bx = b.x;
+        let by = b.y;
+        let bz = b.z;
+        let bw = b.w;
+        // Take the shortest path by flipping b when the dot product is negative.
+        if (FP.Lt(dot, FP._0)) {
+            bx = FP.Neg(bx);
+            by = FP.Neg(by);
+            bz = FP.Neg(bz);
+            bw = FP.Neg(bw);
+            dot = FP.Neg(dot);
+        }
+        // Near-parallel: normalized LERP avoids precision loss near sin(0).
+        if (FP.Gte(dot, FP.FromFloat(0.9995))) {
+            return FPQuaternion.Normalize({
+                x: FP.Add(a.x, FP.Mul(t, FP.Sub(bx, a.x))),
+                y: FP.Add(a.y, FP.Mul(t, FP.Sub(by, a.y))),
+                z: FP.Add(a.z, FP.Mul(t, FP.Sub(bz, a.z))),
+                w: FP.Add(a.w, FP.Mul(t, FP.Sub(bw, a.w))),
+            });
+        }
+        const theta0 = FP.Acos(dot);
+        const theta = FP.Mul(theta0, t);
+        const sinTheta0 = FP.Sin(theta0);
+        const s0 = FP.Div(FP.Sin(FP.Sub(theta0, theta)), sinTheta0);
+        const s1 = FP.Div(FP.Sin(theta), sinTheta0);
+        return {
+            x: FP.Add(FP.Mul(s0, a.x), FP.Mul(s1, bx)),
+            y: FP.Add(FP.Mul(s0, a.y), FP.Mul(s1, by)),
+            z: FP.Add(FP.Mul(s0, a.z), FP.Mul(s1, bz)),
+            w: FP.Add(FP.Mul(s0, a.w), FP.Mul(s1, bw)),
+        };
+    },
+    /** Rotate a vector by a quaternion: q * [v, 0] * Conjugate(q). */
+    RotateVector: (q, v) => {
+        const vQuat = { x: v.x, y: v.y, z: v.z, w: FP._0 };
+        const result = FPQuaternion.Mul(FPQuaternion.Mul(q, vQuat), FPQuaternion.Conjugate(q));
+        return { x: result.x, y: result.y, z: result.z };
+    },
+    // ============ Conversion ============
+    /** Convert to a plain object with float values (for display/serialization). */
+    ToFloat: (q) => ({
+        x: q.x.toDecimal(),
+        y: q.y.toDecimal(),
+        z: q.z.toDecimal(),
+        w: q.w.toDecimal(),
+    }),
+};
 //# sourceMappingURL=FixedMath.js.map

package/dist/FixedMath.js.map

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package/dist/index.d.ts

@@ -6,6 +6,6 @@
  *
  * @packageDocumentation
  */
-export { FixedPoint, FP, FPVector2, FPVector3, } from './FixedMath.js';
-export type { FPVector2 as FPVector2Interface, FPVector3 as FPVector3Interface, } from './FixedMath.js';
+export { FixedPoint, FP, FPVector2, FPVector3, FPQuaternion, } from './FixedMath.js';
+export type { FPVector2 as FPVector2Interface, FPVector3 as FPVector3Interface, FPQuaternion as FPQuaternionInterface, } from './FixedMath.js';
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,OAAO,EAEL,UAAU,EAEV,EAAE,EACF,SAAS,EACT,SAAS,GACV,MAAM,gBAAgB,CAAC;AAExB,YAAY,EAEV,SAAS,IAAI,kBAAkB,EAE/B,SAAS,IAAI,kBAAkB,GAChC,MAAM,gBAAgB,CAAC"}
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,OAAO,EAEL,UAAU,EAEV,EAAE,EACF,SAAS,EACT,SAAS,EACT,YAAY,GACb,MAAM,gBAAgB,CAAC;AAExB,YAAY,EAEV,SAAS,IAAI,kBAAkB,EAE/B,SAAS,IAAI,kBAAkB,EAE/B,YAAY,IAAI,qBAAqB,GACtC,MAAM,gBAAgB,CAAC"}

package/dist/index.js

@@ -10,5 +10,5 @@ export {
 // Core types
 FixedPoint, 
 // Unified API (Unity/Quantum style)
-FP, FPVector2, FPVector3, } from './FixedMath.js';
+FP, FPVector2, FPVector3, FPQuaternion, } from './FixedMath.js';
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,OAAO;AACL,aAAa;AACb,UAAU;AACV,oCAAoC;AACpC,EAAE,EACF,SAAS,EACT,SAAS,GACV,MAAM,gBAAgB,CAAC"}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,OAAO;AACL,aAAa;AACb,UAAU;AACV,oCAAoC;AACpC,EAAE,EACF,SAAS,EACT,SAAS,EACT,YAAY,GACb,MAAM,gBAAgB,CAAC"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@phalanx-engine/math",
-  "version": "0.1.0",
+  "version": "0.1.1",
   "description": "Deterministic fixed-point math library for Phalanx Engine - ensures identical calculations across all platforms",
   "main": "./dist/index.js",
   "types": "./dist/index.d.ts",