@sachitv/safe-math-ts 0.1.0 → 0.2.0

package/esm/src/geometry3d/quaternion.d.ts

@@ -1,5 +1,8 @@
 import { type NoInfer, type UnitExpr } from '../units.js';
-import type { Delta3, Dir3, FrameTag, Quaternion } from './types.js';
+import type { Delta3, Dir3, FrameTag, LinearMat4, Mat4, Quaternion } from './types.js';
+type DistinctFramePair<ToFrame extends string, FromFrame extends string> = [
+    ToFrame
+] extends [FromFrame] ? ([FromFrame] extends [ToFrame] ? never : unknown) : unknown;
 /** Axis composition order for Euler rotations. */
 export type EulerOrder = 'XYZ' | 'XZY' | 'YXZ' | 'YZX' | 'ZXY' | 'ZYX';
 /**
@@ -15,7 +18,15 @@ export type EulerOrder = 'XYZ' | 'XZY' | 'YXZ' | 'YZX' | 'ZXY' | 'ZYX';
  * @param w Quaternion w component.
  * @returns Quaternion in `<ToFrame, FromFrame>` order.
  */
-export declare const quat: <ToFrame extends string, FromFrame extends string>(toFrameTag: FrameTag<ToFrame>, fromFrameTag: FrameTag<FromFrame>, x: number, y: number, z: number, w: number) => Quaternion<ToFrame, FromFrame>;
+export declare const quat: <ToFrame extends string, FromFrame extends string>(toFrameTag: FrameTag<ToFrame>, fromFrameTag: FrameTag<FromFrame> & DistinctFramePair<ToFrame, FromFrame>, x: number, y: number, z: number, w: number) => Quaternion<ToFrame, FromFrame>;
+/** Returns the x component of a quaternion. */
+export declare const quatX: <ToFrame extends string, FromFrame extends string>(value: Quaternion<ToFrame, FromFrame>) => number;
+/** Returns the y component of a quaternion. */
+export declare const quatY: <ToFrame extends string, FromFrame extends string>(value: Quaternion<ToFrame, FromFrame>) => number;
+/** Returns the z component of a quaternion. */
+export declare const quatZ: <ToFrame extends string, FromFrame extends string>(value: Quaternion<ToFrame, FromFrame>) => number;
+/** Returns the w component of a quaternion. */
+export declare const quatW: <ToFrame extends string, FromFrame extends string>(value: Quaternion<ToFrame, FromFrame>) => number;
 /**
  * Returns identity quaternion for a frame.
  *
@@ -127,6 +138,35 @@ export declare function rotateVec3ByQuat<Unit extends UnitExpr, ToFrame extends
  * @returns Rotated direction in `ToFrame`.
  */
 export declare function rotateVec3ByQuat<ToFrame extends string, FromFrame extends string>(rotation: Quaternion<ToFrame, FromFrame>, value: Dir3<NoInfer<FromFrame>>): Dir3<ToFrame>;
+/**
+ * Builds quaternion from a matrix rotation basis.
+ *
+ * Accepts either a linear matrix or the linear part of an affine matrix.
+ * Unsafe variant performs no orthonormality validation.
+ *
+ * @param toFrameTag Destination frame token.
+ * @param fromFrameTag Source frame token.
+ * @param matrix Rotation matrix in `<ToFrame, FromFrame>` order.
+ * @returns Quaternion in `<ToFrame, FromFrame>` order.
+ */
+export declare function quatFromRotationMatrixUnsafe<ToFrame extends string, FromFrame extends string>(toFrameTag: FrameTag<ToFrame>, fromFrameTag: FrameTag<FromFrame>, matrix: LinearMat4<NoInfer<ToFrame>, NoInfer<FromFrame>>): Quaternion<ToFrame, FromFrame>;
+/** Overload accepting an affine matrix and using its upper-left 3x3 basis. */
+export declare function quatFromRotationMatrixUnsafe<ToFrame extends string, FromFrame extends string, TranslationUnit extends UnitExpr>(toFrameTag: FrameTag<ToFrame>, fromFrameTag: FrameTag<FromFrame>, matrix: Mat4<NoInfer<ToFrame>, NoInfer<FromFrame>, TranslationUnit>): Quaternion<ToFrame, FromFrame>;
+/**
+ * Builds quaternion from a matrix rotation basis.
+ *
+ * Accepts either a linear matrix or the linear part of an affine matrix.
+ * Throws when the matrix basis is not orthonormal right-handed rotation.
+ *
+ * @param toFrameTag Destination frame token.
+ * @param fromFrameTag Source frame token.
+ * @param matrix Rotation matrix in `<ToFrame, FromFrame>` order.
+ * @returns Quaternion in `<ToFrame, FromFrame>` order.
+ * @throws {Error} When matrix is not a valid finite rotation matrix.
+ */
+export declare function quatFromRotationMatrix<ToFrame extends string, FromFrame extends string>(toFrameTag: FrameTag<ToFrame>, fromFrameTag: FrameTag<FromFrame>, matrix: LinearMat4<NoInfer<ToFrame>, NoInfer<FromFrame>>): Quaternion<ToFrame, FromFrame>;
+/** Overload accepting an affine matrix and validating its upper-left 3x3 basis. */
+export declare function quatFromRotationMatrix<ToFrame extends string, FromFrame extends string, TranslationUnit extends UnitExpr>(toFrameTag: FrameTag<ToFrame>, fromFrameTag: FrameTag<FromFrame>, matrix: Mat4<NoInfer<ToFrame>, NoInfer<FromFrame>, TranslationUnit>): Quaternion<ToFrame, FromFrame>;
 /**
  * Creates a quaternion from axis-angle representation.
  *
@@ -218,4 +258,5 @@ export declare const quatSlerpUnsafe: <ToFrame extends string, FromFrame extends
  * @returns Interpolated normalized quaternion.
  */
 export declare const quatSlerp: <ToFrame extends string, FromFrame extends string>(start: Quaternion<ToFrame, FromFrame>, end: Quaternion<NoInfer<ToFrame>, NoInfer<FromFrame>>, t: number) => Quaternion<ToFrame, FromFrame>;
+export {};
 //# sourceMappingURL=quaternion.d.ts.map

package/esm/src/geometry3d/quaternion.d.ts.map

@@ -1 +1 @@
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package/esm/src/geometry3d/quaternion.js

@@ -1,5 +1,11 @@
 import { normalizeVec3, normalizeVec3Unsafe } from './vector3.js';
 const NEAR_ZERO = 1e-14;
+const ROTATION_MATRIX_TOLERANCE = 1e-8;
+const assertDistinctFrames = (toFrame, fromFrame) => {
+    if (toFrame === fromFrame) {
+        throw new Error('toFrameTag and fromFrameTag must be different');
+    }
+};
 /**
  * Casts a raw number into a branded quantity.
  *
@@ -16,7 +22,24 @@ const asQuantity = (value) => value;
  * @param w Quaternion w component.
  * @returns Branded quaternion.
  */
-const asQuaternion = (x, y, z, w) => [x, y, z, w];
+const asQuaternion = (x, y, z, w) => {
+    const value = [x, y, z, w];
+    Object.defineProperties(value, {
+        x: {
+            get: () => value[0],
+        },
+        y: {
+            get: () => value[1],
+        },
+        z: {
+            get: () => value[2],
+        },
+        w: {
+            get: () => value[3],
+        },
+    });
+    return value;
+};
 /**
  * Constructs a frame-aware quaternion.
  *
@@ -31,10 +54,19 @@ const asQuaternion = (x, y, z, w) => [x, y, z, w];
  * @returns Quaternion in `<ToFrame, FromFrame>` order.
  */
 export const quat = (toFrameTag, fromFrameTag, x, y, z, w) => {
+    assertDistinctFrames(toFrameTag, fromFrameTag);
     void toFrameTag;
     void fromFrameTag;
     return asQuaternion(x, y, z, w);
 };
+/** Returns the x component of a quaternion. */
+export const quatX = (value) => value[0];
+/** Returns the y component of a quaternion. */
+export const quatY = (value) => value[1];
+/** Returns the z component of a quaternion. */
+export const quatZ = (value) => value[2];
+/** Returns the w component of a quaternion. */
+export const quatW = (value) => value[3];
 /**
  * Returns identity quaternion for a frame.
  *
@@ -189,6 +221,94 @@ export function rotateVec3ByQuat(rotation, value) {
     quatNormalize(rotation);
     return rotateVec3ByQuatUnsafe(rotation, value);
 }
+const isNear = (a, b, tolerance) => Math.abs(a - b) <= tolerance;
+const dot3 = (ax, ay, az, bx, by, bz) => ax * bx + ay * by + az * bz;
+const lengthSquared3 = (x, y, z) => dot3(x, y, z, x, y, z);
+const det3 = (m00, m01, m02, m10, m11, m12, m20, m21, m22) => m00 * (m11 * m22 - m12 * m21) -
+    m01 * (m10 * m22 - m12 * m20) +
+    m02 * (m10 * m21 - m11 * m20);
+const assertValidRotationBasis = (m00, m01, m02, m10, m11, m12, m20, m21, m22) => {
+    const entries = [m00, m01, m02, m10, m11, m12, m20, m21, m22];
+    if (!entries.every(Number.isFinite)) {
+        throw new Error('Rotation matrix contains non-finite values');
+    }
+    const col0LengthSquared = lengthSquared3(m00, m10, m20);
+    const col1LengthSquared = lengthSquared3(m01, m11, m21);
+    const col2LengthSquared = lengthSquared3(m02, m12, m22);
+    const col01Dot = dot3(m00, m10, m20, m01, m11, m21);
+    const col02Dot = dot3(m00, m10, m20, m02, m12, m22);
+    const col12Dot = dot3(m01, m11, m21, m02, m12, m22);
+    const determinant = det3(m00, m01, m02, m10, m11, m12, m20, m21, m22);
+    if (!isNear(col0LengthSquared, 1, ROTATION_MATRIX_TOLERANCE) ||
+        !isNear(col1LengthSquared, 1, ROTATION_MATRIX_TOLERANCE) ||
+        !isNear(col2LengthSquared, 1, ROTATION_MATRIX_TOLERANCE) ||
+        Math.abs(col01Dot) > ROTATION_MATRIX_TOLERANCE ||
+        Math.abs(col02Dot) > ROTATION_MATRIX_TOLERANCE ||
+        Math.abs(col12Dot) > ROTATION_MATRIX_TOLERANCE ||
+        !isNear(determinant, 1, ROTATION_MATRIX_TOLERANCE)) {
+        throw new Error('Input matrix is not a valid rotation matrix');
+    }
+};
+export function quatFromRotationMatrixUnsafe(toFrameTag, fromFrameTag, matrix) {
+    void toFrameTag;
+    void fromFrameTag;
+    const m00 = matrix[0];
+    const m10 = matrix[1];
+    const m20 = matrix[2];
+    const m01 = matrix[4];
+    const m11 = matrix[5];
+    const m21 = matrix[6];
+    const m02 = matrix[8];
+    const m12 = matrix[9];
+    const m22 = matrix[10];
+    const trace = m00 + m11 + m22;
+    let x = 0;
+    let y = 0;
+    let z = 0;
+    let w = 1;
+    if (trace > 0) {
+        const s = Math.sqrt(trace + 1) * 2;
+        w = 0.25 * s;
+        x = (m21 - m12) / s;
+        y = (m02 - m20) / s;
+        z = (m10 - m01) / s;
+    }
+    else if (m00 > m11 && m00 > m22) {
+        const s = Math.sqrt(1 + m00 - m11 - m22) * 2;
+        w = (m21 - m12) / s;
+        x = 0.25 * s;
+        y = (m01 + m10) / s;
+        z = (m02 + m20) / s;
+    }
+    else if (m11 > m22) {
+        const s = Math.sqrt(1 + m11 - m00 - m22) * 2;
+        w = (m02 - m20) / s;
+        x = (m01 + m10) / s;
+        y = 0.25 * s;
+        z = (m12 + m21) / s;
+    }
+    else {
+        const s = Math.sqrt(1 + m22 - m00 - m11) * 2;
+        w = (m10 - m01) / s;
+        x = (m02 + m20) / s;
+        y = (m12 + m21) / s;
+        z = 0.25 * s;
+    }
+    return quatNormalizeUnsafe(asQuaternion(x, y, z, w));
+}
+export function quatFromRotationMatrix(toFrameTag, fromFrameTag, matrix) {
+    const m00 = matrix[0];
+    const m10 = matrix[1];
+    const m20 = matrix[2];
+    const m01 = matrix[4];
+    const m11 = matrix[5];
+    const m21 = matrix[6];
+    const m02 = matrix[8];
+    const m12 = matrix[9];
+    const m22 = matrix[10];
+    assertValidRotationBasis(m00, m01, m02, m10, m11, m12, m20, m21, m22);
+    return quatFromRotationMatrixUnsafe(toFrameTag, fromFrameTag, matrix);
+}
 /**
  * Creates a quaternion from axis-angle representation.
  *

package/esm/src/geometry3d/types.d.ts

@@ -1,13 +1,22 @@
 import type { Dimensionless, Quantity, UnitExpr } from '../units.js';
-declare const frameTagBrand: unique symbol;
-declare const vecBrand: unique symbol;
-declare const pointBrand: unique symbol;
-declare const dirBrand: unique symbol;
-declare const deltaBrand: unique symbol;
-declare const quatBrand: unique symbol;
-declare const matBrand: unique symbol;
-declare const linearMatBrand: unique symbol;
-declare const projectionMatBrand: unique symbol;
+/** Internal nominal brand symbol for `FrameTag`. */
+export declare const frameTagBrand: unique symbol;
+/** Internal nominal brand symbol for shared vector tuples. */
+export declare const vecBrand: unique symbol;
+/** Internal nominal brand symbol for `Point3`. */
+export declare const pointBrand: unique symbol;
+/** Internal nominal brand symbol for `Dir3`. */
+export declare const dirBrand: unique symbol;
+/** Internal nominal brand symbol for `Delta3`. */
+export declare const deltaBrand: unique symbol;
+/** Internal nominal brand symbol for `Quaternion`. */
+export declare const quatBrand: unique symbol;
+/** Internal nominal brand symbol for `Mat4`. */
+export declare const matBrand: unique symbol;
+/** Internal nominal brand symbol for `LinearMat4`. */
+export declare const linearMatBrand: unique symbol;
+/** Internal nominal brand symbol for `ProjectionMat4`. */
+export declare const projectionMatBrand: unique symbol;
 /** Compile-time token for explicitly declaring frames. */
 export type FrameTag<Frame extends string> = string & {
     readonly [frameTagBrand]: Frame;
@@ -20,7 +29,7 @@ export type FrameTag<Frame extends string> = string & {
  */
 export declare const frame: <Frame extends string>(name: Frame) => FrameTag<Frame>;
 /** Shared raw 3D tuple used by point/direction/displacement variants. */
-type Vec3Base<Unit extends UnitExpr, Frame extends string> = readonly [
+export type Vec3Base<Unit extends UnitExpr, Frame extends string> = readonly [
     Quantity<Unit>,
     Quantity<Unit>,
     Quantity<Unit>
@@ -71,6 +80,11 @@ export type Quaternion<ToFrame extends string, FromFrame extends string> = reado
     number,
     number
 ] & {
+    readonly x: number;
+    readonly y: number;
+    readonly z: number;
+    readonly w: number;
+} & {
     readonly [quatBrand]: {
         readonly toFrame: ToFrame;
         readonly fromFrame: FromFrame;
@@ -84,6 +98,14 @@ export type Quaternion<ToFrame extends string, FromFrame extends string> = reado
  * `[m00,m10,m20,m30, m01,m11,m21,m31, m02,m12,m22,m32, m03,m13,m23,m33]`.
  * The transform APIs multiply points/directions as column vectors on the right,
  * so `m03/m13/m23` live at indices 12/13/14.
+ *
+ * Instance helpers:
+ * - `translation()` returns the translation column as `Delta3<TranslationUnit, ToFrame>`.
+ * - `quat()` extracts orientation from the upper-left 3x3 block and validates that
+ *   block is a finite orthonormal right-handed rotation basis.
+ *
+ * `quat()` throws when called on non-rigid/non-rotation linear parts (for example,
+ * non-uniform scale or shear matrices).
  */
 export type Mat4<ToFrame extends string, FromFrame extends string, TranslationUnit extends UnitExpr> = readonly [
     number,
@@ -103,6 +125,9 @@ export type Mat4<ToFrame extends string, FromFrame extends string, TranslationUn
     number,
     number
 ] & {
+    readonly translation: () => Delta3<TranslationUnit, ToFrame>;
+    readonly quat: () => Quaternion<ToFrame, FromFrame>;
+} & {
     readonly [matBrand]: {
         readonly translationUnit: TranslationUnit;
         readonly toFrame: ToFrame;
@@ -147,5 +172,4 @@ export type ProjectionMat4<ToFrame extends string, FromFrame extends string, Dep
         readonly fromFrame: FromFrame;
     };
 };
-export {};
 //# sourceMappingURL=types.d.ts.map

package/esm/src/geometry3d/types.d.ts.map

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package/esm/src/units.d.ts

@@ -1,15 +1,22 @@
-declare const quantityBrand: unique symbol;
-declare const unitTagBrand: unique symbol;
-declare const unitExprBrand: unique symbol;
-type Count = readonly unknown[];
-type UnitExponent<Numerator extends Count = Count, Denominator extends Count = Count> = {
+/** Internal nominal brand symbol for `Quantity`. */
+export declare const quantityBrand: unique symbol;
+/** Internal nominal brand symbol for `UnitTag`. */
+export declare const unitTagBrand: unique symbol;
+/** Internal nominal brand symbol for `UnitExpr` factor maps. */
+export declare const unitExprBrand: unique symbol;
+/** Type-level tuple counter used for exponent arithmetic. */
+export type Count = readonly unknown[];
+/** Rational exponent represented as numerator/denominator tuple lengths. */
+export type UnitExponent<Numerator extends Count = Count, Denominator extends Count = Count> = {
     readonly num: readonly [...Numerator];
     readonly den: readonly [...Denominator];
 };
-type UnitMap = {
+/** Map of unit token to its rational exponent. */
+export type UnitMap = {
     readonly [Token: string]: UnitExponent;
 };
-type EmptyUnitMap = Record<never, UnitExponent>;
+/** Empty unit-factor map used by `none`. */
+export type EmptyUnitMap = Record<never, UnitExponent>;
 /**
  * Internal normalized unit representation used only at the type level.
  *
@@ -17,7 +24,7 @@ type EmptyUnitMap = Record<never, UnitExponent>;
  * - `m/s^2` => `{ factors: { m: { num: [..1], den: [] }, s: { num: [], den: [..2] } } }`
  * - `none` => `{ factors: {} }`
  */
-type UnitParts<Factors extends UnitMap = EmptyUnitMap> = {
+export type UnitParts<Factors extends UnitMap = EmptyUnitMap> = {
     readonly factors: Factors;
     readonly [unitExprBrand]: Extract<keyof Factors, string>;
 };
@@ -29,7 +36,7 @@ type UnitParts<Factors extends UnitMap = EmptyUnitMap> = {
  * loses type distinctiveness. Avoid passing non-literal or malformed strings
  * to `unit()`.
  */
-type UnknownUnit = UnitParts<UnitMap>;
+export type UnknownUnit = UnitParts<UnitMap>;
 /** Normalized compile-time unit representation. */
 export type UnitExpr = UnknownUnit;
 /** Canonical dimensionless unit representation. */
@@ -38,33 +45,40 @@ export type Dimensionless = UnitFromString<'none'>;
 export type NoInfer<ValueType> = [
     ValueType
 ][ValueType extends unknown ? 0 : never];
-type ZeroExponent = UnitExponent<[], []>;
-type IsUnknownMap<Factors extends UnitMap> = string extends keyof Factors ? true : false;
-type CancelCounts<Numerator extends Count, Denominator extends Count> = Numerator extends readonly [unknown, ...infer NumTail extends unknown[]] ? Denominator extends readonly [unknown, ...infer DenTail extends unknown[]] ? CancelCounts<NumTail, DenTail> : [Numerator, Denominator] : [Numerator, Denominator];
-type ExponentFor<Factors extends UnitMap, Token extends string> = Token extends keyof Factors ? Factors[Token] : ZeroExponent;
-type IsZeroExponent<Exponent extends UnitExponent> = Exponent['num'] extends readonly [] ? Exponent['den'] extends readonly [] ? true : false : false;
-type NormalizeMap<Factors extends UnitMap> = {
+/** Zero exponent helper (`x^0`). */
+export type ZeroExponent = UnitExponent<[], []>;
+/** Detects unresolved unit maps that lost token specificity. */
+export type IsUnknownMap<Factors extends UnitMap> = string extends keyof Factors ? true : false;
+/** Cancels numerator/denominator tuple counts elementwise. */
+export type CancelCounts<Numerator extends Count, Denominator extends Count> = Numerator extends readonly [unknown, ...infer NumTail extends unknown[]] ? Denominator extends readonly [unknown, ...infer DenTail extends unknown[]] ? CancelCounts<NumTail, DenTail> : [Numerator, Denominator] : [Numerator, Denominator];
+/** Returns exponent for a token or zero when missing. */
+export type ExponentFor<Factors extends UnitMap, Token extends string> = Token extends keyof Factors ? Factors[Token] : ZeroExponent;
+/** Predicate for zero exponent. */
+export type IsZeroExponent<Exponent extends UnitExponent> = Exponent['num'] extends readonly [] ? Exponent['den'] extends readonly [] ? true : false : false;
+/** Removes zero-exponent entries from a factor map. */
+export type NormalizeMap<Factors extends UnitMap> = {
     readonly [Token in keyof Factors as Token extends string ? IsZeroExponent<Factors[Token]> extends true ? never : Token : never]: Factors[Token];
 };
 /** Normalizes a full `UnitExpr` object. */
-type NormalizeUnit<Unit extends UnitExpr> = IsUnknownMap<Unit['factors']> extends true ? UnknownUnit : UnitParts<NormalizeMap<Unit['factors']>>;
-type IsNaturalNumberText<Value extends string> = Value extends '' ? false : Value extends `-${string}` ? false : Value extends `${string}.${string}` ? false : Value extends `${string}e${string}` | `${string}E${string}` ? false : true;
+export type NormalizeUnit<Unit extends UnitExpr> = IsUnknownMap<Unit['factors']> extends true ? UnknownUnit : UnitParts<NormalizeMap<Unit['factors']>>;
+/** Checks whether a string literal is an unsigned integer text form. */
+export type IsNaturalNumberText<Value extends string> = Value extends '' ? false : Value extends `-${string}` ? false : Value extends `${string}.${string}` ? false : Value extends `${string}e${string}` | `${string}E${string}` ? false : true;
 /**
  * Parses a natural-number literal string (`'2'`) into its number literal (`2`).
  *
  * Returns `null` for negative/decimal/exponential forms so callers can
  * safely fall back to opaque token handling for invalid exponents.
  */
-type ParseNat<Value extends string> = IsNaturalNumberText<Value> extends true ? Value extends `${infer Parsed extends number}` ? `${Parsed}` extends Value ? Parsed : null : null : null;
+export type ParseNat<Value extends string> = IsNaturalNumberText<Value> extends true ? Value extends `${infer Parsed extends number}` ? `${Parsed}` extends Value ? Parsed : null : null : null;
 /** Builds `Count` tuple entries (`s^2` -> [unknown, unknown]). */
-type RepeatCount<Count extends number, Output extends unknown[] = []> = Output['length'] extends Count ? Output : RepeatCount<Count, [...Output, unknown]>;
+export type RepeatCount<Count extends number, Output extends unknown[] = []> = Output['length'] extends Count ? Output : RepeatCount<Count, [...Output, unknown]>;
 /**
  * Parses one factor token:
  * - `none` => dimensionless
  * - `m` => m^1
  * - `s^2` => s^2
  */
-type ParseFactor<Factor extends string> = string extends Factor ? UnknownUnit : Factor extends '' ? UnknownUnit : Factor extends 'none' ? UnitParts<EmptyUnitMap> : Factor extends `${infer Base}^${infer ExponentText}` ? Base extends '' ? UnknownUnit : ParseNat<ExponentText> extends infer Exponent extends number ? UnitParts<{
+export type ParseFactor<Factor extends string> = string extends Factor ? UnknownUnit : Factor extends '' ? UnknownUnit : Factor extends 'none' ? UnitParts<EmptyUnitMap> : Factor extends `${infer Base}^${infer ExponentText}` ? Base extends '' ? UnknownUnit : ParseNat<ExponentText> extends infer Exponent extends number ? UnitParts<{
     readonly [Token in Base]: UnitExponent<RepeatCount<Exponent>, []>;
 }> : UnitParts<{
     readonly [Token in Factor]: UnitExponent<[unknown], []>;
@@ -77,7 +91,7 @@ type ParseFactor<Factor extends string> = string extends Factor ? UnknownUnit :
  * Example:
  * - `m/s^2` -> ['m', '/', 's^2']
  */
-type TakeTerm<Source extends string, Current extends string = ''> = string extends Source ? [Source, '', ''] : Source extends `${infer Character}${infer Rest}` ? Character extends '*' | '/' ? [Current, Character, Rest] : TakeTerm<Rest, `${Current}${Character}`> : [Current, '', ''];
+export type TakeTerm<Source extends string, Current extends string = ''> = string extends Source ? [Source, '', ''] : Source extends `${infer Character}${infer Rest}` ? Character extends '*' | '/' ? [Current, Character, Rest] : TakeTerm<Rest, `${Current}${Character}`> : [Current, '', ''];
 /** Type-level unit multiplication helper. */
 export type MulUnit<LeftUnit extends UnitExpr, RightUnit extends UnitExpr> = IsUnknownMap<LeftUnit['factors']> extends true ? UnknownUnit : IsUnknownMap<RightUnit['factors']> extends true ? UnknownUnit : UnitParts<NormalizeMap<{
     readonly [Token in keyof LeftUnit['factors'] | keyof RightUnit['factors'] as Token extends string ? Token : never]: CancelCounts<[
@@ -104,9 +118,12 @@ export type DivUnit<LeftUnit extends UnitExpr, RightUnit extends UnitExpr> = IsU
         infer Denominator extends Count
     ] ? UnitExponent<Numerator, Denominator> : never;
 }>>;
-type HalfCount<Source extends Count, Output extends unknown[] = []> = Source extends readonly [unknown, unknown, ...infer Tail extends unknown[]] ? HalfCount<Tail, [...Output, unknown]> : Source extends readonly [] ? Output : never;
-type HalfFactor<Factor extends UnitExponent> = UnitExponent<HalfCount<Factor['num']>, HalfCount<Factor['den']>>;
-type HasInvalidHalf<Factors extends UnitMap> = true extends {
+/** Halves a tuple length; returns `never` for odd lengths. */
+export type HalfCount<Source extends Count, Output extends unknown[] = []> = Source extends readonly [unknown, unknown, ...infer Tail extends unknown[]] ? HalfCount<Tail, [...Output, unknown]> : Source extends readonly [] ? Output : never;
+/** Halves both exponent numerator and denominator tuple counts. */
+export type HalfFactor<Factor extends UnitExponent> = UnitExponent<HalfCount<Factor['num']>, HalfCount<Factor['den']>>;
+/** Detects whether any factor has an odd exponent component. */
+export type HasInvalidHalf<Factors extends UnitMap> = true extends {
     [Token in keyof Factors]: HalfCount<Factors[Token]['num']> extends never ? true : HalfCount<Factors[Token]['den']> extends never ? true : false;
 }[keyof Factors] ? true : false;
 /** Type-level square-root helper for normalized unit expressions. */
@@ -119,13 +136,13 @@ export type SqrtUnit<Unit extends UnitExpr> = NormalizeUnit<Unit> extends infer
  * 2. Apply pending operator to accumulated unit
  * 3. Continue until no operator remains
  */
-type ParseUnitTail<Accumulated extends UnitExpr, Operator extends string, Rest extends string> = Operator extends '' ? NormalizeUnit<Accumulated> : TakeTerm<Rest> extends [
+export type ParseUnitTail<Accumulated extends UnitExpr, Operator extends string, Rest extends string> = Operator extends '' ? NormalizeUnit<Accumulated> : TakeTerm<Rest> extends [
     infer NextFactor extends string,
     infer NextOperator extends string,
     infer NextRest extends string
 ] ? ParseFactor<NextFactor> extends infer NextUnit extends UnitExpr ? ParseUnitTail<Operator extends '*' ? MulUnit<Accumulated, NextUnit> : Operator extends '/' ? DivUnit<Accumulated, NextUnit> : Accumulated, NextOperator, NextRest> : never : never;
 /** Parses the first factor, then delegates to `ParseUnitTail`. */
-type ParseUnitExpr<Expr extends string> = TakeTerm<Expr> extends [
+export type ParseUnitExpr<Expr extends string> = TakeTerm<Expr> extends [
     infer FirstFactor extends string,
     infer FirstOperator extends string,
     infer Rest extends string
@@ -346,5 +363,4 @@ export declare const sum: <Unit extends UnitExpr>(values: readonly Quantity<Unit
  * @returns Arithmetic mean in the same unit.
  */
 export declare const average: <Unit extends UnitExpr>(values: readonly [Quantity<Unit>, ...Quantity<Unit>[]]) => Quantity<Unit>;
-export {};
 //# sourceMappingURL=units.d.ts.map

package/esm/src/units.d.ts.map

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package/esm/tests/assert.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"assert.d.ts","sourceRoot":"","sources":["../../src/tests/assert.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,QAAQ,EAAE,QAAQ,EAAE,MAAM,WAAW,CAAC;AAEpD,0CAA0C;AAC1C,eAAO,MAAM,MAAM,GACjB,WAAW,OAAO,EAClB,gBAA4B,KAC3B,IAIF,CAAC;AAgDF,gDAAgD;AAChD,eAAO,MAAM,YAAY,GAAI,UAAU,EAAE,YAAY,EACnD,QAAQ,UAAU,EAClB,UAAU,YAAY,EACtB,gBAAuC,KACtC,IAQF,CAAC;AAEF,oEAAoE;AACpE,eAAO,MAAM,kBAAkB,GAC7B,QAAQ,MAAM,EACd,UAAU,MAAM,EAChB,kBAAiB,EACjB,gBAAqD,KACpD,IAMF,CAAC;AAEF,eAAO,MAAM,QAAQ,OAAO,CAAC;AAE7B,eAAO,MAAM,aAAa,GACxB,QAAQ,MAAM,EACd,KAAK,MAAM,EACX,KAAK,MAAM,EACX,kBAAa,EACb,gBAAyC,KACxC,IAMF,CAAC;AAEF,eAAO,MAAM,sBAAsB,GACjC,QAAQ,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,EACzC,UAAU,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,EAC3C,kBAAoB,KACnB,IAIF,CAAC;AAEF,eAAO,MAAM,sBAAsB,GACjC,QAAQ,SAAS,MAAM,EAAE,EACzB,UAAU,SAAS,MAAM,EAAE,EAC3B,kBAAoB,KACnB,IAmBF,CAAC;AAEF,kFAAkF;AAClF,eAAO,MAAM,YAAY,GACvB,IAAI,MAAM,OAAO,EACjB,YAAY,KAAK,GAAG,IAAI,EAAE,KAAK,EAAE,KAAK,KAAK,EAC3C,kBAAkB,MAAM,KACvB,IA2BF,CAAC;AAEF,gFAAgF;AAChF,eAAO,MAAM,kBAAkB,GAAI,IAAI,SAAS,QAAQ,EACtD,OAAO,QAAQ,CAAC,IAAI,CAAC,EACrB,QAAQ,QAAQ,CAAC,IAAI,CAAC,KACrB,IAEF,CAAC"}

package/esm/tests/matrix4.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"matrix4.test.d.ts","sourceRoot":"","sources":["../../src/tests/matrix4.test.ts"],"names":[],"mappings":""}

package/esm/tests/quaternion.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"quaternion.test.d.ts","sourceRoot":"","sources":["../../src/tests/quaternion.test.ts"],"names":[],"mappings":""}

package/esm/tests/type_safety.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"type_safety.test.d.ts","sourceRoot":"","sources":["../../src/tests/type_safety.test.ts"],"names":[],"mappings":""}

package/esm/tests/units.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"units.test.d.ts","sourceRoot":"","sources":["../../src/tests/units.test.ts"],"names":[],"mappings":""}

package/esm/tests/vector3.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"vector3.test.d.ts","sourceRoot":"","sources":["../../src/tests/vector3.test.ts"],"names":[],"mappings":""}

package/esm/vitest-deno-shim.mjs

@@ -0,0 +1,3 @@
+import { test } from 'vitest';
+export const Deno = { test };
+export const dntGlobalThis = globalThis;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@sachitv/safe-math-ts",
-  "version": "0.1.0",
+  "version": "0.2.0",
   "description": "A zero-dependency Deno/TypeScript 3D math library with strict compile-time safety.",
   "homepage": "https://github.com/sachitv/safe-math-ts",
   "repository": {
@@ -18,7 +18,9 @@
       "types": "./esm/mod.d.ts"
     }
   },
-  "scripts": {},
+  "scripts": {
+    "test": "node test_runner.cjs"
+  },
   "engines": {
     "node": ">=22"
   },
@@ -26,9 +28,16 @@
   "publishConfig": {
     "access": "public"
   },
-  "type": "module",
   "devDependencies": {
-    "@types/node": "^20.9.0"
+    "@types/node": "^20.9.0",
+    "picocolors": "^1.0.0",
+    "@deno/shim-deno": "~0.18.0",
+    "vitest": "^3.0.0",
+    "@vitest/browser": "^3.0.0",
+    "playwright": "^1.50.0",
+    "@cloudflare/vitest-pool-workers": "^0.12.18",
+    "wrangler": "^3.101.0"
   },
-  "_generatedBy": "dnt@dev"
-}
+  "_generatedBy": "dnt@dev",
+  "type": "module"
+}