@vib3code/sdk 2.0.3-canary.45332e3 → 2.0.3-canary.4e0dace

package/src/geometry/warp/HypersphereCore.js

@@ -16,13 +16,14 @@ import { Vec4 } from '../../math/Vec4.js';
  * @param {number} radius - Hypersphere radius
  * @returns {Vec4} Point on hypersphere
  */
-export function projectToHypersphere(point, radius = 1) {
+export function projectToHypersphere(point, radius = 1, target = null) {
     const len = point.length();
     if (len < 0.0001) {
         // Handle origin - project to north pole
+        if (target) return target.set(0, 0, 0, radius);
         return new Vec4(0, 0, 0, radius);
     }
-    return point.scale(radius / len);
+    return point.scale(radius / len, target);
 }
 
 /**
@@ -30,9 +31,10 @@ export function projectToHypersphere(point, radius = 1) {
  * Maps all of 3D space onto the 4D hypersphere
  * @param {Vec4} point - Input point (uses x, y, z)
  * @param {number} radius - Hypersphere radius
+ * @param {Vec4} [target=null] - Optional target vector
  * @returns {Vec4} Point on hypersphere
  */
-export function stereographicToHypersphere(point, radius = 1) {
+export function stereographicToHypersphere(point, radius = 1, target = null) {
     const x = point.x;
     const y = point.y;
     const z = point.z;
@@ -40,6 +42,15 @@ export function stereographicToHypersphere(point, radius = 1) {
     const sumSq = x * x + y * y + z * z;
     const denom = sumSq + 1;
 
+    if (target) {
+        return target.set(
+            (2 * x) / denom * radius,
+            (2 * y) / denom * radius,
+            (2 * z) / denom * radius,
+            (sumSq - 1) / denom * radius
+        );
+    }
+
     return new Vec4(
         (2 * x) / denom * radius,
         (2 * y) / denom * radius,
@@ -56,12 +67,22 @@ export function stereographicToHypersphere(point, radius = 1) {
  * @param {number} phi - Azimuth on base S² (0 to 2π)
  * @param {number} psi - Fiber angle (0 to 2π)
  * @param {number} radius - Hypersphere radius
+ * @param {Vec4} [target=null] - Optional target vector
  * @returns {Vec4} Point on hypersphere
  */
-export function hopfFibration(theta, phi, psi, radius = 1) {
+export function hopfFibration(theta, phi, psi, radius = 1, target = null) {
     const cosTheta2 = Math.cos(theta / 2);
     const sinTheta2 = Math.sin(theta / 2);
 
+    if (target) {
+        return target.set(
+            cosTheta2 * Math.cos((phi + psi) / 2) * radius,
+            cosTheta2 * Math.sin((phi + psi) / 2) * radius,
+            sinTheta2 * Math.cos((phi - psi) / 2) * radius,
+            sinTheta2 * Math.sin((phi - psi) / 2) * radius
+        );
+    }
+
     return new Vec4(
         cosTheta2 * Math.cos((phi + psi) / 2) * radius,
         cosTheta2 * Math.sin((phi + psi) / 2) * radius,
@@ -78,8 +99,9 @@ export function hopfFibration(theta, phi, psi, radius = 1) {
  * @returns {Vec4[]} Warped vertices
  */
 export function warpRadial(vertices, radius = 1, blendFactor = 1) {
+    const onSphere = new Vec4();
     return vertices.map(v => {
-        const onSphere = projectToHypersphere(v, radius);
+        projectToHypersphere(v, radius, onSphere);
         return v.lerp(onSphere, blendFactor);
     });
 }
@@ -93,8 +115,9 @@ export function warpRadial(vertices, radius = 1, blendFactor = 1) {
  * @returns {Vec4[]} Warped vertices
  */
 export function warpStereographic(vertices, radius = 1, scale = 1) {
+    const scaled = new Vec4();
     return vertices.map(v => {
-        const scaled = v.scale(scale);
+        v.scale(scale, scaled);
         return stereographicToHypersphere(scaled, radius);
     });
 }
@@ -146,25 +169,31 @@ export function warpHypersphereCore(geometry, options = {}) {
         twist = 1
     } = options;
 
-    let warpedVertices;
-
-    // Pre-scale vertices
-    const scaledVertices = geometry.vertices.map(v => v.scale(scale));
-
-    switch (method) {
-        case 'stereographic':
-            warpedVertices = warpStereographic(scaledVertices, radius, 1);
-            break;
-
-        case 'hopf':
-            warpedVertices = warpHopf(scaledVertices, radius, twist);
-            break;
+    const temp = new Vec4();
+    const warpedVertices = geometry.vertices.map(v => {
+        // Combined scaling and warping to minimize allocations
+        const result = v.scale(scale);
+
+        if (method === 'stereographic') {
+            stereographicToHypersphere(result, radius, result);
+        } else if (method === 'hopf') {
+            const r = result.length();
+            if (r < 0.0001) {
+                result.set(0, 0, 0, radius);
+            } else {
+                const theta = Math.acos(result.z / r);
+                const phi = Math.atan2(result.y, result.x);
+                const psi = result.w * twist + phi * 0.5;
+                hopfFibration(theta, phi, psi, radius, result);
+            }
+        } else {
+            // Radial (default)
+            projectToHypersphere(result, radius, temp);
+            result.lerp(temp, blend, result);
+        }
 
-        case 'radial':
-        default:
-            warpedVertices = warpRadial(scaledVertices, radius, blend);
-            break;
-    }
+        return result;
+    });
 
     return {
         ...geometry,

package/src/math/Mat4x4.js

@@ -18,6 +18,12 @@
 import { Vec4 } from './Vec4.js';
 
 export class Mat4x4 {
+    /**
+     * Internal token to skip initialization during construction
+     * @private
+     */
+    static UNINITIALIZED = {};
+
     /**
      * Create a new 4x4 matrix
      * Default is identity matrix
@@ -26,6 +32,8 @@ export class Mat4x4 {
     constructor(elements = null) {
         this.data = new Float32Array(16);
 
+        if (elements === Mat4x4.UNINITIALIZED) return;
+
         if (elements) {
             if (elements.length !== 16) {
                 throw new Error('Mat4x4 requires exactly 16 elements');
@@ -45,12 +53,7 @@ export class Mat4x4 {
      * @returns {Mat4x4}
      */
     static identity() {
-        return new Mat4x4([
-            1, 0, 0, 0,
-            0, 1, 0, 0,
-            0, 0, 1, 0,
-            0, 0, 0, 1
-        ]);
+        return new Mat4x4();
     }
 
     /**
@@ -58,7 +61,7 @@ export class Mat4x4 {
      * @returns {Mat4x4}
      */
     static zero() {
-        return new Mat4x4(new Float32Array(16));
+        return new Mat4x4(Mat4x4.UNINITIALIZED);
     }
 
     /**
@@ -157,10 +160,11 @@ export class Mat4x4 {
     /**
      * Multiply two matrices
      * @param {Mat4x4} m - Right operand
+     * @param {Mat4x4} [target=null] - Optional target matrix to store result
      * @returns {Mat4x4} New matrix = this * m
      */
-    multiply(m) {
-        const out = new Mat4x4();
+    multiply(m, target = null) {
+        const out = target || new Mat4x4(Mat4x4.UNINITIALIZED);
         const r = out.data;
         const a = this.data;
         const b = m.data;
@@ -259,16 +263,22 @@ export class Mat4x4 {
     /**
      * Transform a Vec4 by this matrix
      * @param {Vec4} v
+     * @param {Vec4} [target=null] - Optional target vector to store result
      * @returns {Vec4} Transformed vector
      */
-    multiplyVec4(v) {
+    multiplyVec4(v, target = null) {
         const m = this.data;
-        return new Vec4(
-            m[0] * v.x + m[4] * v.y + m[8] * v.z + m[12] * v.w,
-            m[1] * v.x + m[5] * v.y + m[9] * v.z + m[13] * v.w,
-            m[2] * v.x + m[6] * v.y + m[10] * v.z + m[14] * v.w,
-            m[3] * v.x + m[7] * v.y + m[11] * v.z + m[15] * v.w
-        );
+        const out = target || new Vec4();
+
+        // Cache components to support aliasing (target === v)
+        const x = v.x, y = v.y, z = v.z, w = v.w;
+
+        out.x = m[0] * x + m[4] * y + m[8] * z + m[12] * w;
+        out.y = m[1] * x + m[5] * y + m[9] * z + m[13] * w;
+        out.z = m[2] * x + m[6] * y + m[10] * z + m[14] * w;
+        out.w = m[3] * x + m[7] * y + m[11] * z + m[15] * w;
+
+        return out;
     }
 
     /**
@@ -310,27 +320,36 @@ export class Mat4x4 {
     /**
      * Add another matrix
      * @param {Mat4x4} m
+     * @param {Mat4x4} [target=null] - Optional target matrix
      * @returns {Mat4x4} New matrix
      */
-    add(m) {
-        const result = new Float32Array(16);
+    add(m, target = null) {
+        const out = target || new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        const a = this.data;
+        const b = m.data;
+
         for (let i = 0; i < 16; i++) {
-            result[i] = this.data[i] + m.data[i];
+            r[i] = a[i] + b[i];
         }
-        return new Mat4x4(result);
+        return out;
     }
 
     /**
      * Multiply by scalar
      * @param {number} s
+     * @param {Mat4x4} [target=null] - Optional target matrix
      * @returns {Mat4x4} New matrix
      */
-    scale(s) {
-        const result = new Float32Array(16);
+    scale(s, target = null) {
+        const out = target || new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        const a = this.data;
+
         for (let i = 0; i < 16; i++) {
-            result[i] = this.data[i] * s;
+            r[i] = a[i] * s;
         }
-        return new Mat4x4(result);
+        return out;
     }
 
     /**
@@ -339,12 +358,13 @@ export class Mat4x4 {
      */
     transpose() {
         const m = this.data;
-        return new Mat4x4([
-            m[0], m[4], m[8], m[12],
-            m[1], m[5], m[9], m[13],
-            m[2], m[6], m[10], m[14],
-            m[3], m[7], m[11], m[15]
-        ]);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        r[0] = m[0]; r[4] = m[1]; r[8] = m[2]; r[12] = m[3];
+        r[1] = m[4]; r[5] = m[5]; r[9] = m[6]; r[13] = m[7];
+        r[2] = m[8]; r[6] = m[9]; r[10] = m[10]; r[14] = m[11];
+        r[3] = m[12]; r[7] = m[13]; r[11] = m[14]; r[15] = m[15];
+        return out;
     }
 
     /**
@@ -399,7 +419,8 @@ export class Mat4x4 {
      */
     inverse() {
         const m = this.data;
-        const inv = new Float32Array(16);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const inv = out.data;
 
         inv[0] = m[5] * m[10] * m[15] - m[5] * m[11] * m[14] - m[9] * m[6] * m[15] +
             m[9] * m[7] * m[14] + m[13] * m[6] * m[11] - m[13] * m[7] * m[10];
@@ -460,7 +481,7 @@ export class Mat4x4 {
             inv[i] *= invDet;
         }
 
-        return new Mat4x4(inv);
+        return out;
     }
 
     /**
@@ -547,6 +568,122 @@ export class Mat4x4 {
         return new Mat4x4(json.data);
     }
 
+    // ========== IN-PLACE ROTATIONS ==========
+
+    /**
+     * Rotate in XY plane in place
+     * @param {number} angle
+     * @returns {Mat4x4} this
+     */
+    rotateXY(angle) {
+        const c = Math.cos(angle);
+        const s = Math.sin(angle);
+        const m = this.data;
+
+        for (let i = 0; i < 4; i++) {
+            const a0 = m[i];      // Col 0
+            const a1 = m[i + 4];  // Col 1
+            m[i]     = a0 * c + a1 * s;
+            m[i + 4] = -a0 * s + a1 * c;
+        }
+        return this;
+    }
+
+    /**
+     * Rotate in XZ plane in place
+     * @param {number} angle
+     * @returns {Mat4x4} this
+     */
+    rotateXZ(angle) {
+        const c = Math.cos(angle);
+        const s = Math.sin(angle);
+        const m = this.data;
+
+        for (let i = 0; i < 4; i++) {
+            const a0 = m[i];      // Col 0
+            const a2 = m[i + 8];  // Col 2
+            m[i]     = a0 * c - a2 * s;
+            m[i + 8] = a0 * s + a2 * c;
+        }
+        return this;
+    }
+
+    /**
+     * Rotate in YZ plane in place
+     * @param {number} angle
+     * @returns {Mat4x4} this
+     */
+    rotateYZ(angle) {
+        const c = Math.cos(angle);
+        const s = Math.sin(angle);
+        const m = this.data;
+
+        for (let i = 0; i < 4; i++) {
+            const a1 = m[i + 4];  // Col 1
+            const a2 = m[i + 8];  // Col 2
+            m[i + 4] = a1 * c + a2 * s;
+            m[i + 8] = -a1 * s + a2 * c;
+        }
+        return this;
+    }
+
+    /**
+     * Rotate in XW plane in place
+     * @param {number} angle
+     * @returns {Mat4x4} this
+     */
+    rotateXW(angle) {
+        const c = Math.cos(angle);
+        const s = Math.sin(angle);
+        const m = this.data;
+
+        for (let i = 0; i < 4; i++) {
+            const a0 = m[i];       // Col 0
+            const a3 = m[i + 12];  // Col 3
+            m[i]      = a0 * c + a3 * s;
+            m[i + 12] = -a0 * s + a3 * c;
+        }
+        return this;
+    }
+
+    /**
+     * Rotate in YW plane in place
+     * @param {number} angle
+     * @returns {Mat4x4} this
+     */
+    rotateYW(angle) {
+        const c = Math.cos(angle);
+        const s = Math.sin(angle);
+        const m = this.data;
+
+        for (let i = 0; i < 4; i++) {
+            const a1 = m[i + 4];   // Col 1
+            const a3 = m[i + 12];  // Col 3
+            m[i + 4]  = a1 * c + a3 * s;
+            m[i + 12] = -a1 * s + a3 * c;
+        }
+        return this;
+    }
+
+    /**
+     * Rotate in ZW plane in place
+     * @param {number} angle
+     * @returns {Mat4x4} this
+     */
+    rotateZW(angle) {
+        const c = Math.cos(angle);
+        const s = Math.sin(angle);
+        const m = this.data;
+
+        for (let i = 0; i < 4; i++) {
+            const a2 = m[i + 8];   // Col 2
+            const a3 = m[i + 12];  // Col 3
+            m[i + 8]  = a2 * c + a3 * s;
+            m[i + 12] = -a2 * s + a3 * c;
+        }
+        return this;
+    }
+
     // ========== ROTATION MATRICES FOR ALL 6 PLANES ==========
 
     /**
@@ -557,12 +694,13 @@ export class Mat4x4 {
     static rotationXY(angle) {
         const c = Math.cos(angle);
         const s = Math.sin(angle);
-        return new Mat4x4([
-            c, s, 0, 0,
-            -s, c, 0, 0,
-            0, 0, 1, 0,
-            0, 0, 0, 1
-        ]);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        r[0] = c; r[1] = s;
+        r[4] = -s; r[5] = c;
+        r[10] = 1;
+        r[15] = 1;
+        return out;
     }
 
     /**
@@ -573,12 +711,13 @@ export class Mat4x4 {
     static rotationXZ(angle) {
         const c = Math.cos(angle);
         const s = Math.sin(angle);
-        return new Mat4x4([
-            c, 0, -s, 0,
-            0, 1, 0, 0,
-            s, 0, c, 0,
-            0, 0, 0, 1
-        ]);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        r[0] = c; r[2] = -s;
+        r[5] = 1;
+        r[8] = s; r[10] = c;
+        r[15] = 1;
+        return out;
     }
 
     /**
@@ -589,12 +728,13 @@ export class Mat4x4 {
     static rotationYZ(angle) {
         const c = Math.cos(angle);
         const s = Math.sin(angle);
-        return new Mat4x4([
-            1, 0, 0, 0,
-            0, c, s, 0,
-            0, -s, c, 0,
-            0, 0, 0, 1
-        ]);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        r[0] = 1;
+        r[5] = c; r[6] = s;
+        r[9] = -s; r[10] = c;
+        r[15] = 1;
+        return out;
     }
 
     /**
@@ -606,12 +746,13 @@ export class Mat4x4 {
     static rotationXW(angle) {
         const c = Math.cos(angle);
         const s = Math.sin(angle);
-        return new Mat4x4([
-            c, 0, 0, s,
-            0, 1, 0, 0,
-            0, 0, 1, 0,
-            -s, 0, 0, c
-        ]);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        r[0] = c; r[3] = s;
+        r[5] = 1;
+        r[10] = 1;
+        r[12] = -s; r[15] = c;
+        return out;
     }
 
     /**
@@ -622,12 +763,13 @@ export class Mat4x4 {
     static rotationYW(angle) {
         const c = Math.cos(angle);
         const s = Math.sin(angle);
-        return new Mat4x4([
-            1, 0, 0, 0,
-            0, c, 0, s,
-            0, 0, 1, 0,
-            0, -s, 0, c
-        ]);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        r[0] = 1;
+        r[5] = c; r[7] = s;
+        r[10] = 1;
+        r[13] = -s; r[15] = c;
+        return out;
     }
 
     /**
@@ -638,12 +780,13 @@ export class Mat4x4 {
     static rotationZW(angle) {
         const c = Math.cos(angle);
         const s = Math.sin(angle);
-        return new Mat4x4([
-            1, 0, 0, 0,
-            0, 1, 0, 0,
-            0, 0, c, s,
-            0, 0, -s, c
-        ]);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        r[0] = 1;
+        r[5] = 1;
+        r[10] = c; r[11] = s;
+        r[14] = -s; r[15] = c;
+        return out;
     }
 
     /**
@@ -681,12 +824,12 @@ export class Mat4x4 {
     static rotationFromAngles(angles) {
         let result = Mat4x4.identity();
 
-        if (angles.xy) result = result.multiply(Mat4x4.rotationXY(angles.xy));
-        if (angles.xz) result = result.multiply(Mat4x4.rotationXZ(angles.xz));
-        if (angles.yz) result = result.multiply(Mat4x4.rotationYZ(angles.yz));
-        if (angles.xw) result = result.multiply(Mat4x4.rotationXW(angles.xw));
-        if (angles.yw) result = result.multiply(Mat4x4.rotationYW(angles.yw));
-        if (angles.zw) result = result.multiply(Mat4x4.rotationZW(angles.zw));
+        if (angles.xy) result.rotateXY(angles.xy);
+        if (angles.xz) result.rotateXZ(angles.xz);
+        if (angles.yz) result.rotateYZ(angles.yz);
+        if (angles.xw) result.rotateXW(angles.xw);
+        if (angles.yw) result.rotateYW(angles.yw);
+        if (angles.zw) result.rotateZW(angles.zw);
 
         return result;
     }
@@ -715,12 +858,13 @@ export class Mat4x4 {
      * @returns {Mat4x4}
      */
     static uniformScale(s) {
-        return new Mat4x4([
-            s, 0, 0, 0,
-            0, s, 0, 0,
-            0, 0, s, 0,
-            0, 0, 0, s
-        ]);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        r[0] = s;
+        r[5] = s;
+        r[10] = s;
+        r[15] = s;
+        return out;
     }
 
     /**
@@ -732,12 +876,13 @@ export class Mat4x4 {
      * @returns {Mat4x4}
      */
     static scale(sx, sy, sz, sw = 1) {
-        return new Mat4x4([
-            sx, 0, 0, 0,
-            0, sy, 0, 0,
-            0, 0, sz, 0,
-            0, 0, 0, sw
-        ]);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        r[0] = sx;
+        r[5] = sy;
+        r[10] = sz;
+        r[15] = sw;
+        return out;
     }
 
     /**
@@ -753,12 +898,13 @@ export class Mat4x4 {
     static translation(tx, ty, tz, tw = 0) {
         // For true 4D translation, you need 5D homogeneous coordinates
         // This is a placeholder that adds the translation to the W column
-        return new Mat4x4([
-            1, 0, 0, 0,
-            0, 1, 0, 0,
-            0, 0, 1, 0,
-            tx, ty, tz, 1 + tw
-        ]);
+        const out = new Mat4x4(Mat4x4.UNINITIALIZED);
+        const r = out.data;
+        r[0] = 1;
+        r[5] = 1;
+        r[10] = 1;
+        r[12] = tx; r[13] = ty; r[14] = tz; r[15] = 1 + tw;
+        return out;
     }
 }