npm - @phalanx-engine/math - Versions diffs - 0.1.1 → 0.1.2 - Mend

@phalanx-engine/math 0.1.1 → 0.1.2

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (6) hide show

package/README.md CHANGED Viewed

@@ -15,7 +15,7 @@ pnpm add @phalanx-engine/math
 ## Usage
 ```typescript
-import { FP, FPVector2, FPVector3 } from '@phalanx-engine/math';
+import { FP, FPVector2, FPVector3, FPQuaternion } from '@phalanx-engine/math';
 // Create fixed-point numbers
 const speed = FP.FromFloat(5.5);
@@ -33,8 +33,14 @@ const position = FPVector3.FromFloat(10, 0, 20);
 const target = FPVector3.FromFloat(15, 0, 25);
 const dist = FPVector3.Distance(position, target);
+// Quaternion rotations (deterministic, XYZ Euler order)
+const yaw = FPQuaternion.FromAxisAngle(FPVector3.Up, FP.PiOver2); // 90° around +Y
+const facing = FPQuaternion.RotateVector(yaw, FPVector3.Forward); // rotate a direction
+const blended = FPQuaternion.Slerp(FPQuaternion.Identity(), yaw, FP.FromFloat(0.5));
 // Convert back to numbers for rendering
 console.log(FP.ToFloat(dist));
+console.log(FPQuaternion.ToFloat(blended)); // { x, y, z, w }
 ```
 ## API
@@ -67,6 +73,7 @@ Unified namespace for fixed-point operations (Unity/Quantum style):
 #### Trigonometry
 - `FP.Sin`, `FP.Cos`, `FP.Atan2` - Deterministic approximations
+- `FP.Acos` - Arccosine via the `atan2` identity; input clamped to `[-1, 1]`, returns radians in `[0, PI]`
 ### FPVector2
@@ -108,6 +115,36 @@ Unified namespace for fixed-point operations (Unity/Quantum style):
 - `FPVector3.Lerp` - Interpolation
 - `FPVector3.ToFloat` - Convert for rendering
+### FPQuaternion
+Deterministic fixed-point quaternion for entity rotations. Stored in `(x, y, z, w)` order where `w` is the scalar component. All conversions use the XYZ Euler order (matching Unity's `Transform`), with intermediate math kept in `FixedPoint` for lockstep determinism. The `FPQuaternion` type/interface is also exported as `FPQuaternionInterface`.
+#### Creation
+- `FPQuaternion.Identity()` - Identity rotation `{ 0, 0, 0, 1 }`
+- `FPQuaternion.Create(x, y, z, w)` - Create from FixedPoint components
+- `FPQuaternion.FromFloat(x, y, z, w)` - Create from numbers
+#### Rotation constructors
+- `FPQuaternion.FromAxisAngle(axis: FPVector3, angle: FixedPoint)` - Rotation of `angle` radians around `axis`. The `axis` is assumed to be unit length (the caller's responsibility).
+- `FPQuaternion.LookRotation(forwardDir: FPVector3, upDir?: FPVector3)` - Rotation aligning +Z with `forwardDir`, using `upDir` (default `FPVector3.Up`) as the reference up. Falls back to `Identity()` for degenerate inputs (zero-length forward, or up parallel to forward).
+- `FPQuaternion.FromEulerXYZ(euler: FPVector3)` - Build from Euler angles (radians) applied in XYZ order
+- `FPQuaternion.ToEulerXYZ(q: FPQuaternion)` - Extract Euler angles (radians, XYZ order); pitch sine is clamped to `[-1, 1]` to avoid NaN at the gimbal poles
+#### Base operations
+- `FPQuaternion.Mul(a, b)` - Hamilton product `a * b` (applies rotation `b` first, then `a`)
+- `FPQuaternion.Dot(a, b)` - Dot product
+- `FPQuaternion.Magnitude`, `FPQuaternion.SqrMagnitude` - Length (Unity naming)
+- `FPQuaternion.Normalize(q)` - Normalize; returns `Identity()` if magnitude is zero
+- `FPQuaternion.Conjugate(q)` - Conjugate `{ -x, -y, -z, w }`
+- `FPQuaternion.Inverse(q)` - Inverse `Conjugate(q) / sqrMagnitude`; returns `Identity()` if magnitude is zero
+#### Interpolation
+- `FPQuaternion.Slerp(a, b, t: FixedPoint)` - Spherical linear interpolation along the shortest arc; falls back to normalized LERP for near-parallel inputs
+- `FPQuaternion.RotateVector(q, v: FPVector3)` - Rotate a vector by a quaternion (`q * [v, 0] * Conjugate(q)`)
+#### Conversion
+- `FPQuaternion.ToFloat(q)` - Convert to `{ x, y, z, w }` floats for display/serialization
 ## Why Fixed-Point?
 JavaScript's `Number` type uses IEEE 754 floating-point, which can produce slightly different results on different platforms/hardware. In lockstep multiplayer, even tiny differences compound over time, causing desync.

package/dist/FixedMath.d.ts CHANGED Viewed

@@ -273,6 +273,12 @@ export declare const FPQuaternion: {
     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 yaw-only rotation (rotation about the Y axis).
+     * Cardinal angles use exact quaternion components; other angles use half-angle
+     * Sin/Cos (with exact trig at PI/2 half-angle for 180° yaw).
+     */
+    FromYaw: (yaw: FixedPoint) => FPQuaternion;
     /**
      * Build a rotation of `angle` radians around `axis`.
      * `axis` is assumed to be unit length (caller's responsibility).

package/dist/FixedMath.d.ts.map CHANGED Viewed

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package/dist/FixedMath.js CHANGED Viewed

@@ -156,16 +156,15 @@ export const FP = {
      * Note: Input should be in radians
      */
     Sin: (x) => {
-        // Normalize to [-PI, PI] range
-        const twoPi = FP.Pi2;
-        const pi = FP.Pi;
-        // Simple modulo approximation
-        let normalized = x;
-        while (normalized.gt(pi)) {
-            normalized = normalized.sub(twoPi);
-        }
-        while (normalized.lt(pi.neg())) {
-            normalized = normalized.add(twoPi);
+        const normalized = normalizeAngleRad(x);
+        if (FP.Eq(normalized, FP._0))
+            return FP._0;
+        if (FP.Eq(normalized, FP.PiOver2))
+            return FP._1;
+        if (FP.Eq(normalized, FP.Neg(FP.PiOver2)))
+            return FP.Neg(FP._1);
+        if (FP.Eq(normalized, FP.Pi) || FP.Eq(normalized, FP.Neg(FP.Pi))) {
+            return FP._0;
         }
         // Taylor series: sin(x) ≈ x - x³/3! + x⁵/5! - x⁷/7!
         const x2 = normalized.mul(normalized);
@@ -182,8 +181,17 @@ export const FP = {
      * Note: Input should be in radians
      */
     Cos: (x) => {
+        const normalized = normalizeAngleRad(x);
+        if (FP.Eq(normalized, FP._0))
+            return FP._1;
+        if (FP.Eq(normalized, FP.PiOver2) || FP.Eq(normalized, FP.Neg(FP.PiOver2))) {
+            return FP._0;
+        }
+        if (FP.Eq(normalized, FP.Pi) || FP.Eq(normalized, FP.Neg(FP.Pi))) {
+            return FP.Neg(FP._1);
+        }
         // cos(x) = sin(x + PI/2)
-        return FP.Sin(x.add(FP.PiOver2));
+        return FP.Sin(normalized.add(FP.PiOver2));
     },
     /**
      * Approximate atan2 (deterministic)
@@ -238,6 +246,36 @@ export const FP = {
         return FP.Atan2(sinVal, clamped);
     },
 };
+/** Normalize radians to [-PI, PI] for deterministic trig. */
+function normalizeAngleRad(x) {
+    const twoPi = FP.Pi2;
+    const pi = FP.Pi;
+    let normalized = x;
+    while (normalized.gt(pi)) {
+        normalized = normalized.sub(twoPi);
+    }
+    while (normalized.lt(pi.neg())) {
+        normalized = normalized.add(twoPi);
+    }
+    return normalized;
+}
+/** Snap yaw values that are within epsilon of a cardinal angle. */
+function snapYawToCardinal(yaw) {
+    const eps = FP.FromFloat(0.002);
+    const cardinals = [
+        FP._0,
+        FP.PiOver2,
+        FP.Neg(FP.PiOver2),
+        FP.Pi,
+        FP.Neg(FP.Pi),
+    ];
+    for (const cardinal of cardinals) {
+        if (FP.Lte(yaw.sub(cardinal).abs(), eps)) {
+            return cardinal;
+        }
+    }
+    return yaw;
+}
 /**
  * FPVector2 - Fixed-point 2D vector utilities (Unity/Quantum style)
  */
@@ -448,11 +486,44 @@ export const FPQuaternion = {
         w: FP.FromFloat(w),
     }),
     // ============ Rotation constructors ============
+    /**
+     * Build a yaw-only rotation (rotation about the Y axis).
+     * Cardinal angles use exact quaternion components; other angles use half-angle
+     * Sin/Cos (with exact trig at PI/2 half-angle for 180° yaw).
+     */
+    FromYaw: (yaw) => {
+        const snapped = snapYawToCardinal(normalizeAngleRad(yaw));
+        if (FP.Eq(snapped, FP._0)) {
+            return FPQuaternion.Identity();
+        }
+        if (FP.Eq(snapped, FP.PiOver2)) {
+            return FPQuaternion.LookRotation(FPVector3.Right);
+        }
+        if (FP.Eq(snapped, FP.Neg(FP.PiOver2))) {
+            return FPQuaternion.LookRotation(FPVector3.Create(FP.Neg(FP._1), FP._0, FP._0));
+        }
+        if (FP.Eq(snapped, FP.Pi) || FP.Eq(snapped, FP.Neg(FP.Pi))) {
+            return { x: FP._0, y: FP._1, z: FP._0, w: FP._0 };
+        }
+        const half = FP.Mul(snapped, FP.FromFloat(0.5));
+        return {
+            x: FP._0,
+            y: FP.Sin(half),
+            z: FP._0,
+            w: FP.Cos(half),
+        };
+    },
     /**
      * Build a rotation of `angle` radians around `axis`.
      * `axis` is assumed to be unit length (caller's responsibility).
      */
     FromAxisAngle: (axis, angle) => {
+        if (FP.Eq(axis.x, FP._0) &&
+            FP.Eq(axis.z, FP._0) &&
+            !FP.Eq(axis.y, FP._0)) {
+            const yaw = FP.Gt(axis.y, FP._0) ? angle : FP.Neg(angle);
+            return FPQuaternion.FromYaw(yaw);
+        }
         const half = FP.Mul(angle, FP.FromFloat(0.5));
         const s = FP.Sin(half);
         const c = FP.Cos(half);
@@ -539,6 +610,9 @@ export const FPQuaternion = {
      * Build a quaternion from Euler angles (radians) applied in XYZ order.
      */
     FromEulerXYZ: (euler) => {
+        if (FP.Eq(euler.x, FP._0) && FP.Eq(euler.z, FP._0)) {
+            return FPQuaternion.FromYaw(euler.y);
+        }
         const half = FP.FromFloat(0.5);
         const c1 = FP.Cos(FP.Mul(euler.x, half));
         const s1 = FP.Sin(FP.Mul(euler.x, half));

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	@@ -1 +1 @@
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package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@phalanx-engine/math",
-  "version": "0.1.1",
+  "version": "0.1.2",
   "description": "Deterministic fixed-point math library for Phalanx Engine - ensures identical calculations across all platforms",
   "main": "./dist/index.js",
   "types": "./dist/index.d.ts",