@spacexr/geodesy 0.1.0

package/CHANGELOG.md

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+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on Keep a Changelog and this project follows Semantic Versioning.
+
+## [Unreleased]
+
+## [0.1.0] - 2026-10-05
+
+### Added
+
+- Initial `@spacexr/geodesy` package.
+- Immutable reference ellipsoids, including WGS84, GRS80, GRS67, ANS, WGS72 and Clarke presets.
+- Geodetic, ECEF, ENU and NED coordinate conversions.
+- Canonical `ILocalTangentBasis` with symmetric ENU and NED transformation matrices.
+- JSDoc-compatible TSDoc API documentation and TypeDoc generation.
+- Continuous integration and npm trusted publishing release workflow with provenance.

package/LICENSE

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package/README.md

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+<p align="center">
+  <img src="https://raw.githubusercontent.com/pandaGaume/geodesy_ts/main/assets/brand/geodesy-logo.png" alt="SpaceXR Geodesy" width="900">
+</p>
+
+# @spacexr/geodesy
+
+Renderer-neutral TypeScript primitives for ellipsoids, geodetic coordinates, Earth-centred Earth-fixed coordinates and local tangent frames.
+
+The package is extracted from the geodesy work originally developed in SpaceXR Core. It removes dependencies on Babylon.js, SpaceXR geometry classes, observables, tile metrics and application state. The result is a small reusable numerical foundation for 3D Tiles, terrain, mining models, globe navigation and planetary visualization.
+
+## Design goals
+
+- one immutable `Ellipsoid` as the source of every planetary dimension;
+- one immutable `GeodeticSystem` for geodetic and ECEF conversions;
+- explicit degree and radian APIs, without ambiguous boolean unit arguments;
+- standard ECEF, ENU and NED axis conventions;
+- optional output targets for allocation-free hot paths;
+- no renderer, DOM, 3D Tiles or application dependency;
+- JSDoc-compatible TSDoc on every public API;
+- generated TypeDoc documentation;
+- support for Earth and arbitrary oblate planetary bodies.
+
+## Installation
+
+```bash
+npm install @spacexr/geodesy
+```
+
+The package is ESM and requires Node.js 20.11 or later when used directly in Node.js. Its runtime code has no external dependency.
+
+## Coordinate conventions
+
+| System   | X                       | Y                                     | Z                  | Angular unit                |
+| -------- | ----------------------- | ------------------------------------- | ------------------ | --------------------------- |
+| ECEF     | latitude 0, longitude 0 | latitude 0, longitude 90 degrees east | north pole         | none                        |
+| ENU      | east                    | north                                 | up                 | none                        |
+| NED      | north                   | east                                  | down               | none                        |
+| Geodetic | longitude               | latitude                              | ellipsoidal height | explicit degrees or radians |
+
+Cartesian values and ellipsoidal heights are expressed in metres. `GeodeticSystem` follows the EPSG:4978 ECEF orientation. Geographic values correspond to ellipsoidal longitude, geodetic latitude and ellipsoidal height as used by EPSG:4979, with an explicit API method defining whether angles are degrees or radians.
+
+Matrices are column-major and multiply column vectors. This matches glTF and 3D Tiles transform storage.
+
+## Ellipsoids
+
+```ts
+import { Ellipsoid } from "@spacexr/geodesy";
+
+const earth = Ellipsoid.WGS84;
+
+console.log(earth.semiMajorAxis); // 6378137 metres
+console.log(earth.semiMinorAxis); // 6356752.314245179 metres
+console.log(earth.inverseFlattening); // 298.257223563
+
+const mars = Ellipsoid.fromAxes("Mars", 3396190, 3376200);
+const moon = Ellipsoid.sphere("Moon", 1737400);
+```
+
+Included reference ellipsoids are WGS84, GRS80, GRS67, ANS, WGS72, Clarke 1858 and Clarke 1880. Applications can create additional oblate ellipsoids from axes, flattening or inverse flattening.
+
+## Geodetic to ECEF
+
+```ts
+import { GeodeticSystem } from "@spacexr/geodesy";
+
+const system = GeodeticSystem.WGS84;
+
+const ecef = system.geodeticDegreesToEcef(
+    48.8566, // latitude
+    2.3522, // longitude
+    35, // ellipsoidal height
+);
+
+const geodetic = system.ecefToGeodeticDegrees(ecef);
+```
+
+Equivalent `geodeticRadiansToEcef` and `ecefToGeodeticRadians` methods are provided for formats such as 3D Tiles regions, whose longitudes and latitudes are serialized in radians.
+
+Every conversion accepts an optional mutable target:
+
+```ts
+const target = { x: 0, y: 0, z: 0 };
+
+system.geodeticRadiansToEcef(latitude, longitude, height, target);
+```
+
+This avoids temporary allocations during traversal, camera updates and terrain generation.
+
+## Local ENU and NED frames
+
+```ts
+const localFrame = system.createLocalTangentPlaneDegrees(48.8566, 2.3522, 35);
+
+const localEnu = localFrame.ecefToEnu(ecefPoint);
+const worldEcef = localFrame.enuToEcef(localEnu);
+
+const localNed = localFrame.ecefToNed(ecefPoint);
+```
+
+The local frame is immutable. Its `basis` is the canonical east, north, up tangent basis expressed as ECEF unit vectors. ENU and NED are two coordinate conventions derived from that single basis, so they cannot drift apart.
+
+It exposes defensive copies of its basis and transform matrices:
+
+```ts
+const basis = localFrame.basis;
+const ecefToEnu = localFrame.ecefToEnuMatrix;
+const enuToEcef = localFrame.enuToEcefMatrix;
+const ecefToNed = localFrame.ecefToNedMatrix;
+const nedToEcef = localFrame.nedToEcefMatrix;
+```
+
+The conventions are:
+
+```text
+ENU = [east, north, up]
+NED = [north, east, -up]
+```
+
+NED is the local navigation convention commonly used in aviation and inertial navigation. An aircraft body frame such as FRD, forward, right, down, is a separate orientation layer derived from NED through heading, pitch and roll. It is deliberately not embedded in the geodetic tangent basis.
+
+This model replaces the mutable ENU state and event dependency that existed in the original SpaceXR implementation. Applications can create a new local frame when their floating origin changes without mutating the planetary reference system.
+
+## Migration from SpaceXR Core
+
+The package preserves the useful concepts while making units and state explicit:
+
+| SpaceXR Core API                                      | `@spacexr/geodesy` API                                                 |
+| ----------------------------------------------------- | ---------------------------------------------------------------------- |
+| `Ellipsoid.FromAAndInverseF(...)`                     | `Ellipsoid.fromSemiMajorAxisAndInverseFlattening(...)`                 |
+| `Ellipsoid.FromAAndF(...)`                            | `Ellipsoid.fromSemiMajorAxisAndFlattening(...)`                        |
+| `GeodeticSystem.Default`                              | `GeodeticSystem.WGS84`                                                 |
+| `geodeticFloatToCartesianToRef(..., deg)`             | `geodeticDegreesToEcef(...)` or `geodeticRadiansToEcef(...)`           |
+| `cartesianToGeodetic(...)`                            | `ecefToGeodeticDegrees(...)` or `ecefToGeodeticRadians(...)`           |
+| mutable `ENUReference`, transform and observable      | immutable `LocalTangentPlane` returned by `createLocalTangentPlane...` |
+| public underscore-prefixed ellipsoid calculation data | documented immutable properties and curvature methods                  |
+
+The old `MapScale` utility is not part of this numerical kernel because it depends on tile metrics, display resolution and level-of-detail policy. Those concerns belong to the tiling or presentation layer. The legacy flat-Earth and spherical route calculators are also outside version 0.1. Their distance approximations can be introduced later as an independent geodesic module with explicit angular units and dedicated accuracy tests.
+
+## 3D Tiles integration
+
+`@spacexr/3d-tiles-runtime` consumes this package through its ECEF spatial adapter:
+
+```ts
+import { Ellipsoid, GeodeticSystem } from "@spacexr/geodesy";
+import { EcefSpatialMetric } from "@spacexr/3d-tiles-runtime";
+
+const mars = Ellipsoid.fromAxes("Mars", 3396190, 3376200);
+const metric = new EcefSpatialMetric({
+    geodeticSystem: new GeodeticSystem(mars),
+});
+```
+
+The geodesy package owns ellipsoid and coordinate mathematics. The 3D Tiles runtime remains responsible for tile transforms, bounding volumes, visibility, horizon culling and screen-space error.
+
+## API documentation
+
+Every exported class, interface, constant and method carries JSDoc-compatible TSDoc, including parameter units, return units, coordinate axes and numerical edge cases.
+
+Generate the browsable API site with:
+
+```bash
+npm run docs
+```
+
+The generated site is written to `docs/api/`.
+
+## Development
+
+```bash
+npm install
+npm run check
+```
+
+`npm run check` verifies formatting, lint rules, TypeScript types, numerical tests, the production package and the generated API documentation.
+
+The package can also be inspected before publishing:
+
+```bash
+npm pack --dry-run
+```
+
+## Release
+
+Publication is performed by the GitHub Actions `release` workflow with npm trusted publishing and provenance. See [RELEASING.md](https://github.com/pandaGaume/geodesy_ts/blob/main/RELEASING.md).
+
+## Brand assets
+
+The pixel-art globe represents an oblate reference ellipsoid, its geodetic grid and a local tangent frame.
+
+<p align="center">
+  <img src="https://raw.githubusercontent.com/pandaGaume/geodesy_ts/main/assets/brand/geodesy-icon.png" alt="SpaceXR Geodesy icon" width="220">
+</p>
+
+- [Horizontal logo](https://github.com/pandaGaume/geodesy_ts/blob/main/assets/brand/geodesy-logo.png)
+- [Square icon](https://github.com/pandaGaume/geodesy_ts/blob/main/assets/brand/geodesy-icon.png)
+
+## License
+
+Apache-2.0. See [LICENSE](LICENSE).

package/dist/chunk-RJFTT4KI.js

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+// src/ellipsoid.ts
+var Ellipsoid = class _Ellipsoid {
+  constructor(identifier, major, minor) {
+    this.identifier = identifier;
+    this.major = major;
+    this.minor = minor;
+    if (identifier.trim().length === 0) throw new RangeError("Ellipsoid name must not be empty.");
+    if (!Number.isFinite(major) || major <= 0) throw new RangeError("Semi-major axis must be a positive finite number.");
+    if (!Number.isFinite(minor) || minor <= 0) throw new RangeError("Semi-minor axis must be a positive finite number.");
+    if (minor > major)
+      throw new RangeError("An oblate ellipsoid requires the semi-minor axis to be no greater than the semi-major axis.");
+  }
+  identifier;
+  major;
+  minor;
+  /** WGS 84 reference ellipsoid used by EPSG:4978 and EPSG:4979. */
+  static WGS84 = _Ellipsoid.fromSemiMajorAxisAndInverseFlattening("WGS84", 6378137, 298.257223563);
+  /** Geodetic Reference System 1980 ellipsoid. */
+  static GRS80 = _Ellipsoid.fromSemiMajorAxisAndInverseFlattening("GRS80", 6378137, 298.257222101);
+  /** Geodetic Reference System 1967 ellipsoid. */
+  static GRS67 = _Ellipsoid.fromSemiMajorAxisAndInverseFlattening("GRS67", 6378160, 298.25);
+  /** Australian National Spheroid. */
+  static ANS = _Ellipsoid.fromSemiMajorAxisAndInverseFlattening("ANS", 6378160, 298.25);
+  /** World Geodetic System 1972 ellipsoid. */
+  static WGS72 = _Ellipsoid.fromSemiMajorAxisAndInverseFlattening("WGS72", 6378135, 298.26);
+  /** Clarke 1858 ellipsoid. */
+  static Clarke1858 = _Ellipsoid.fromSemiMajorAxisAndInverseFlattening("Clarke1858", 6378293645e-3, 294.26);
+  /** Clarke 1880 ellipsoid. */
+  static Clarke1880 = _Ellipsoid.fromSemiMajorAxisAndInverseFlattening("Clarke1880", 6378249145e-3, 293.465);
+  /**
+   * Creates an ellipsoid from its semi-major axis and inverse flattening.
+   *
+   * `Infinity` represents a sphere.
+   *
+   * @param name - Stable human-readable ellipsoid name.
+   * @param semiMajorAxis - Equatorial semi-major axis in metres.
+   * @param inverseFlattening - Reciprocal flattening, or `Infinity` for a sphere.
+   * @returns A validated immutable ellipsoid.
+   */
+  static fromSemiMajorAxisAndInverseFlattening(name, semiMajorAxis, inverseFlattening) {
+    if (inverseFlattening !== Number.POSITIVE_INFINITY && (!Number.isFinite(inverseFlattening) || inverseFlattening <= 1)) {
+      throw new RangeError("Inverse flattening must be greater than one, or Infinity for a sphere.");
+    }
+    const flattening = inverseFlattening === Number.POSITIVE_INFINITY ? 0 : 1 / inverseFlattening;
+    return new _Ellipsoid(name, semiMajorAxis, semiMajorAxis * (1 - flattening));
+  }
+  /**
+   * Creates an ellipsoid from its semi-major axis and flattening.
+   *
+   * @param name - Stable human-readable ellipsoid name.
+   * @param semiMajorAxis - Equatorial semi-major axis in metres.
+   * @param flattening - Flattening in the interval `[0, 1)`.
+   * @returns A validated immutable ellipsoid.
+   */
+  static fromSemiMajorAxisAndFlattening(name, semiMajorAxis, flattening) {
+    if (!Number.isFinite(flattening) || flattening < 0 || flattening >= 1) {
+      throw new RangeError("Flattening must be a finite number in the interval [0, 1).");
+    }
+    return new _Ellipsoid(name, semiMajorAxis, semiMajorAxis * (1 - flattening));
+  }
+  /**
+   * Creates an ellipsoid from its semi-major and semi-minor axes.
+   *
+   * @param name - Stable human-readable ellipsoid name.
+   * @param semiMajorAxis - Equatorial semi-major axis in metres.
+   * @param semiMinorAxis - Polar semi-minor axis in metres.
+   * @returns A validated immutable ellipsoid.
+   */
+  static fromAxes(name, semiMajorAxis, semiMinorAxis) {
+    return new _Ellipsoid(name, semiMajorAxis, semiMinorAxis);
+  }
+  /**
+   * Creates a spherical reference surface.
+   *
+   * @param name - Stable human-readable sphere name.
+   * @param radius - Radius in metres.
+   * @returns An ellipsoid with zero flattening.
+   */
+  static sphere(name, radius) {
+    return new _Ellipsoid(name, radius, radius);
+  }
+  /** Stable human-readable identifier. */
+  get name() {
+    return this.identifier;
+  }
+  /** Equatorial semi-major axis in metres. */
+  get semiMajorAxis() {
+    return this.major;
+  }
+  /** Polar semi-minor axis in metres. */
+  get semiMinorAxis() {
+    return this.minor;
+  }
+  /** Largest ellipsoid radius in metres. */
+  get maximumRadius() {
+    return this.major;
+  }
+  /** Smallest ellipsoid radius in metres. */
+  get minimumRadius() {
+    return this.minor;
+  }
+  /** Ellipsoid flattening `(a - b) / a`. */
+  get flattening() {
+    return (this.major - this.minor) / this.major;
+  }
+  /** Reciprocal flattening, or `Infinity` for a sphere. */
+  get inverseFlattening() {
+    const flattening = this.flattening;
+    return flattening === 0 ? Number.POSITIVE_INFINITY : 1 / flattening;
+  }
+  /** First eccentricity squared `e^2`. */
+  get squaredEccentricity() {
+    return 1 - this.minor * this.minor / (this.major * this.major);
+  }
+  /** Compatibility alias for {@link squaredEccentricity}. */
+  get sqrEccentricity() {
+    return this.squaredEccentricity;
+  }
+  /** First eccentricity `e`. */
+  get eccentricity() {
+    return Math.sqrt(this.squaredEccentricity);
+  }
+  /** Second eccentricity squared `e'^2`. */
+  get secondSquaredEccentricity() {
+    return (this.major * this.major - this.minor * this.minor) / (this.minor * this.minor);
+  }
+  /** Linear eccentricity in metres. */
+  get linearEccentricity() {
+    return Math.sqrt(this.major * this.major - this.minor * this.minor);
+  }
+  /** Precomputed coefficient `1 - e^2`. */
+  get oneMinusSquaredEccentricity() {
+    return 1 - this.squaredEccentricity;
+  }
+  /** Compatibility alias for {@link oneMinusSquaredEccentricity}. */
+  get oneMinusSqrEccentricity() {
+    return this.oneMinusSquaredEccentricity;
+  }
+  /** Semi-latus rectum in metres. */
+  get semiLatusRectum() {
+    return this.major * this.oneMinusSquaredEccentricity;
+  }
+  /**
+   * Returns the prime-vertical radius of curvature at a geodetic latitude.
+   *
+   * @param latitudeRadians - Geodetic latitude in radians.
+   * @returns Prime-vertical radius in metres.
+   */
+  primeVerticalRadius(latitudeRadians) {
+    const sine = Math.sin(latitudeRadians);
+    return this.major / Math.sqrt(1 - this.squaredEccentricity * sine * sine);
+  }
+  /**
+   * Returns the meridional radius of curvature at a geodetic latitude.
+   *
+   * @param latitudeRadians - Geodetic latitude in radians.
+   * @returns Meridional radius in metres.
+   */
+  meridionalRadius(latitudeRadians) {
+    const sine = Math.sin(latitudeRadians);
+    const denominator = 1 - this.squaredEccentricity * sine * sine;
+    return this.major * this.oneMinusSquaredEccentricity / Math.pow(denominator, 1.5);
+  }
+  /**
+   * Returns the geocentric surface radius at a latitude.
+   *
+   * @param latitudeRadians - Geocentric latitude in radians.
+   * @returns Distance from the ellipsoid centre to its surface in metres.
+   */
+  radiusAtLatitude(latitudeRadians) {
+    const cosine = Math.cos(latitudeRadians);
+    const sine = Math.sin(latitudeRadians);
+    const majorSquared = this.major * this.major;
+    const minorSquared = this.minor * this.minor;
+    return Math.sqrt(
+      ((majorSquared * cosine) ** 2 + (minorSquared * sine) ** 2) / ((this.major * cosine) ** 2 + (this.minor * sine) ** 2)
+    );
+  }
+  /**
+   * Intersects a normalized geocentric direction with the ellipsoid surface.
+   *
+   * @param x - ECEF X component of a normalized direction.
+   * @param y - ECEF Y component of a normalized direction.
+   * @param z - ECEF Z component of a normalized direction.
+   * @returns Distance from the centre to the surface in metres.
+   */
+  radiusAtPosition(x, y, z) {
+    const norm = Math.hypot(x, y, z);
+    if (Math.abs(norm - 1) > 1e-12) throw new RangeError("Direction passed to radiusAtPosition must be normalized.");
+    const denominator = (x * x + y * y) / (this.major * this.major) + z * z / (this.minor * this.minor);
+    return 1 / Math.sqrt(denominator);
+  }
+  /**
+   * Tests geometric equality independently from the ellipsoid name.
+   *
+   * @param other - Ellipsoid to compare.
+   * @returns `true` when both axes are exactly equal.
+   */
+  equals(other) {
+    return other.major === this.major && other.minor === this.minor;
+  }
+  /**
+   * Creates a uniformly scaled ellipsoid.
+   *
+   * @param scale - Positive uniform scale applied to both axes.
+   * @param name - Name assigned to the scaled instance.
+   * @returns A new ellipsoid with unchanged flattening.
+   */
+  scaled(scale, name = `${this.name} x ${scale}`) {
+    if (!Number.isFinite(scale) || scale <= 0) throw new RangeError("Ellipsoid scale must be a positive finite number.");
+    return new _Ellipsoid(name, this.major * scale, this.minor * scale);
+  }
+  /**
+   * Compatibility alias for {@link scaled}.
+   *
+   * @param name - Name assigned to the cloned instance.
+   * @param scale - Positive uniform scale applied to both axes.
+   * @returns A new ellipsoid.
+   */
+  clone(name, scale = 1) {
+    return this.scaled(scale, name);
+  }
+};
+
+export { Ellipsoid };
+//# sourceMappingURL=chunk-RJFTT4KI.js.map
+//# sourceMappingURL=chunk-RJFTT4KI.js.map