@vib3code/sdk 2.0.3-canary.6f35b4c → 2.0.3-canary.74aebb4

package/src/math/Mat4x4.js

@@ -160,21 +160,42 @@ export class Mat4x4 {
      * @returns {Mat4x4} New matrix = this * m
      */
     multiply(m) {
+        const out = new Mat4x4();
+        const r = out.data;
         const a = this.data;
         const b = m.data;
-        const result = new Float32Array(16);
 
-        for (let col = 0; col < 4; col++) {
-            for (let row = 0; row < 4; row++) {
-                let sum = 0;
-                for (let k = 0; k < 4; k++) {
-                    sum += a[k * 4 + row] * b[col * 4 + k];
-                }
-                result[col * 4 + row] = sum;
-            }
-        }
+        const a00 = a[0], a01 = a[4], a02 = a[8], a03 = a[12];
+        const a10 = a[1], a11 = a[5], a12 = a[9], a13 = a[13];
+        const a20 = a[2], a21 = a[6], a22 = a[10], a23 = a[14];
+        const a30 = a[3], a31 = a[7], a32 = a[11], a33 = a[15];
 
-        return new Mat4x4(result);
+        const b00 = b[0], b01 = b[4], b02 = b[8], b03 = b[12];
+        const b10 = b[1], b11 = b[5], b12 = b[9], b13 = b[13];
+        const b20 = b[2], b21 = b[6], b22 = b[10], b23 = b[14];
+        const b30 = b[3], b31 = b[7], b32 = b[11], b33 = b[15];
+
+        r[0] = a00 * b00 + a01 * b10 + a02 * b20 + a03 * b30;
+        r[1] = a10 * b00 + a11 * b10 + a12 * b20 + a13 * b30;
+        r[2] = a20 * b00 + a21 * b10 + a22 * b20 + a23 * b30;
+        r[3] = a30 * b00 + a31 * b10 + a32 * b20 + a33 * b30;
+
+        r[4] = a00 * b01 + a01 * b11 + a02 * b21 + a03 * b31;
+        r[5] = a10 * b01 + a11 * b11 + a12 * b21 + a13 * b31;
+        r[6] = a20 * b01 + a21 * b11 + a22 * b21 + a23 * b31;
+        r[7] = a30 * b01 + a31 * b11 + a32 * b21 + a33 * b31;
+
+        r[8] = a00 * b02 + a01 * b12 + a02 * b22 + a03 * b32;
+        r[9] = a10 * b02 + a11 * b12 + a12 * b22 + a13 * b32;
+        r[10] = a20 * b02 + a21 * b12 + a22 * b22 + a23 * b32;
+        r[11] = a30 * b02 + a31 * b12 + a32 * b22 + a33 * b32;
+
+        r[12] = a00 * b03 + a01 * b13 + a02 * b23 + a03 * b33;
+        r[13] = a10 * b03 + a11 * b13 + a12 * b23 + a13 * b33;
+        r[14] = a20 * b03 + a21 * b13 + a22 * b23 + a23 * b33;
+        r[15] = a30 * b03 + a31 * b13 + a32 * b23 + a33 * b33;
+
+        return out;
     }
 
     /**
@@ -183,8 +204,44 @@ export class Mat4x4 {
      * @returns {Mat4x4} this
      */
     multiplyInPlace(m) {
-        const result = this.multiply(m);
-        this.data.set(result.data);
+        const a = this.data;
+        const b = m.data;
+
+        // Cache values to avoid aliasing issues and repeated array access
+        const a00 = a[0], a01 = a[4], a02 = a[8], a03 = a[12];
+        const a10 = a[1], a11 = a[5], a12 = a[9], a13 = a[13];
+        const a20 = a[2], a21 = a[6], a22 = a[10], a23 = a[14];
+        const a30 = a[3], a31 = a[7], a32 = a[11], a33 = a[15];
+
+        const b00 = b[0], b01 = b[4], b02 = b[8], b03 = b[12];
+        const b10 = b[1], b11 = b[5], b12 = b[9], b13 = b[13];
+        const b20 = b[2], b21 = b[6], b22 = b[10], b23 = b[14];
+        const b30 = b[3], b31 = b[7], b32 = b[11], b33 = b[15];
+
+        // Column 0
+        a[0] = a00 * b00 + a01 * b10 + a02 * b20 + a03 * b30;
+        a[1] = a10 * b00 + a11 * b10 + a12 * b20 + a13 * b30;
+        a[2] = a20 * b00 + a21 * b10 + a22 * b20 + a23 * b30;
+        a[3] = a30 * b00 + a31 * b10 + a32 * b20 + a33 * b30;
+
+        // Column 1
+        a[4] = a00 * b01 + a01 * b11 + a02 * b21 + a03 * b31;
+        a[5] = a10 * b01 + a11 * b11 + a12 * b21 + a13 * b31;
+        a[6] = a20 * b01 + a21 * b11 + a22 * b21 + a23 * b31;
+        a[7] = a30 * b01 + a31 * b11 + a32 * b21 + a33 * b31;
+
+        // Column 2
+        a[8] = a00 * b02 + a01 * b12 + a02 * b22 + a03 * b32;
+        a[9] = a10 * b02 + a11 * b12 + a12 * b22 + a13 * b32;
+        a[10] = a20 * b02 + a21 * b12 + a22 * b22 + a23 * b32;
+        a[11] = a30 * b02 + a31 * b12 + a32 * b22 + a33 * b32;
+
+        // Column 3
+        a[12] = a00 * b03 + a01 * b13 + a02 * b23 + a03 * b33;
+        a[13] = a10 * b03 + a11 * b13 + a12 * b23 + a13 * b33;
+        a[14] = a20 * b03 + a21 * b13 + a22 * b23 + a23 * b33;
+        a[15] = a30 * b03 + a31 * b13 + a32 * b23 + a33 * b33;
+
         return this;
     }
 
@@ -490,6 +547,122 @@ 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 ==========
 
     /**
@@ -624,12 +797,12 @@ 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;
     }

package/src/math/Rotor4D.js

@@ -323,54 +323,108 @@ export class Rotor4D {
     /**
      * Rotate a 4D vector using sandwich product: v' = R v R†
      *
+     * Matrix math is inlined to avoid allocating a temporary Float32Array(16).
+     * Pass an optional target Vec4 to eliminate all allocations.
+     *
      * @param {Vec4} v - Vector to rotate
-     * @returns {Vec4} Rotated vector
+     * @param {Vec4} [target] - Optional pre-allocated Vec4 to write result into
+     * @returns {Vec4} Rotated vector (target if provided, otherwise new Vec4)
      */
-    rotate(v) {
-        // For efficiency, we expand the sandwich product directly
-        // rather than doing two rotor multiplications
-
+    rotate(v, target) {
         const x = v.x, y = v.y, z = v.z, w = v.w;
 
-        // Compute R v (rotor times vector)
-        // Vector in GA is: x*e1 + y*e2 + z*e3 + w*e4
-        // This produces a mixed multivector
-
-        // Then multiply by R† (reverse of rotor)
-        // Extract the vector part of the result
+        // Normalize for numerical stability (same as toMatrix)
+        const n = this.norm();
+        const invN = n > 1e-10 ? 1 / n : 1;
 
-        // Pre-compute some common terms
-        const s = this.s;
-        const xy = this.xy, xz = this.xz, yz = this.yz;
-        const xw = this.xw, yw = this.yw, zw = this.zw;
-        const xyzw = this.xyzw;
+        const s = this.s * invN;
+        const xy = this.xy * invN;
+        const xz = this.xz * invN;
+        const yz = this.yz * invN;
+        const xw = this.xw * invN;
+        const yw = this.yw * invN;
+        const zw = this.zw * invN;
+        const xyzw = this.xyzw * invN;
 
-        // Squared terms for the rotation formula
+        // Squared terms
         const s2 = s * s;
-        const xy2 = xy * xy, xz2 = xz * xz, yz2 = yz * yz;
-        const xw2 = xw * xw, yw2 = yw * yw, zw2 = zw * zw;
+        const xy2 = xy * xy;
+        const xz2 = xz * xz;
+        const yz2 = yz * yz;
+        const xw2 = xw * xw;
+        const yw2 = yw * yw;
+        const zw2 = zw * zw;
         const xyzw2 = xyzw * xyzw;
 
-        // The full rotation formula derived from R v R†
-        const newX =
-            x * (s2 + xy2 + xz2 - yz2 + xw2 - yw2 - zw2 - xyzw2) +
-            2 * y * (s * xy + xz * yz + xw * yw - s * xyzw * zw + xy * s - xyzw * zw) +
-            2 * z * (s * xz - xy * yz + xw * zw + xyzw * yw) +
-            2 * w * (s * xw - xy * yw - xz * zw - xyzw * yz);
-
-        // Simplified rotation using matrix form
-        // This is equivalent but clearer
-
-        // Actually, let's use the direct matrix multiplication approach
-        // which is more numerically stable
-
-        const m = this.toMatrix();
-        return new Vec4(
-            m[0] * x + m[4] * y + m[8] * z + m[12] * w,
-            m[1] * x + m[5] * y + m[9] * z + m[13] * w,
-            m[2] * x + m[6] * y + m[10] * z + m[14] * w,
-            m[3] * x + m[7] * y + m[11] * z + m[15] * w
-        );
+        // Cross terms (pre-multiplied by 2)
+        const sxy = 2 * s * xy;
+        const sxz = 2 * s * xz;
+        const syz = 2 * s * yz;
+        const sxw = 2 * s * xw;
+        const syw = 2 * s * yw;
+        const szw = 2 * s * zw;
+
+        const xzyz = 2 * xz * yz;
+        const xyyz = 2 * xy * yz;
+        const xyxz = 2 * xy * xz;
+        const xyxw = 2 * xy * xw;
+        const xyyw = 2 * xy * yw;
+
+        const xzxw = 2 * xz * xw;
+        const xzyw = 2 * xz * yw;
+        const xzzw = 2 * xz * zw;
+
+        const yzxw = 2 * yz * xw;
+        const yzyw = 2 * yz * yw;
+        const yzzw = 2 * yz * zw;
+
+        const xwyw = 2 * xw * yw;
+        const xwzw = 2 * xw * zw;
+        const ywzw = 2 * yw * zw;
+
+        const xyxyzw = 2 * xy * xyzw;
+        const xzxyzw = 2 * xz * xyzw;
+        const yzxyzw = 2 * yz * xyzw;
+        const xwxyzw = 2 * xw * xyzw;
+        const ywxyzw = 2 * yw * xyzw;
+        const zwxyzw = 2 * zw * xyzw;
+
+        // Column-major 4x4 rotation matrix entries (inlined from toMatrix)
+        // Column 0
+        const m0  = s2 - xy2 - xz2 + yz2 - xw2 + yw2 + zw2 - xyzw2;
+        const m1  = sxy + xzyz + xwyw - zwxyzw;
+        const m2  = sxz - xyyz + xwzw + ywxyzw;
+        const m3  = sxw - xyyw - xzzw - yzxyzw;
+        // Column 1
+        const m4  = -sxy + xzyz + xwyw + zwxyzw;
+        const m5  = s2 - xy2 + xz2 - yz2 + xw2 - yw2 + zw2 - xyzw2;
+        const m6  = syz + xyxz + ywzw - xwxyzw;
+        const m7  = syw + xyxw - yzzw + xzxyzw;
+        // Column 2
+        const m8  = -sxz - xyyz + xwzw - ywxyzw;
+        const m9  = -syz + xyxz + ywzw + xwxyzw;
+        const m10 = s2 + xy2 - xz2 - yz2 + xw2 + yw2 - zw2 - xyzw2;
+        const m11 = szw + xzxw + yzyw - xyxyzw;
+        // Column 3
+        const m12 = -sxw - xyyw - xzzw + yzxyzw;
+        const m13 = -syw + xyxw - yzzw - xzxyzw;
+        const m14 = -szw + xzxw + yzyw + xyxyzw;
+        const m15 = s2 + xy2 + xz2 + yz2 - xw2 - yw2 - zw2 - xyzw2;
+
+        // Matrix-vector multiply
+        const rx = m0 * x + m4 * y + m8  * z + m12 * w;
+        const ry = m1 * x + m5 * y + m9  * z + m13 * w;
+        const rz = m2 * x + m6 * y + m10 * z + m14 * w;
+        const rw = m3 * x + m7 * y + m11 * z + m15 * w;
+
+        if (target) {
+            target.x = rx;
+            target.y = ry;
+            target.z = rz;
+            target.w = rw;
+            return target;
+        }
+        return new Vec4(rx, ry, rz, rw);
     }
 
     /**