@vib3code/sdk 2.0.3-canary.b52c293 → 2.0.3-canary.c544441

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@vib3code/sdk",
-  "version": "2.0.3-canary.b52c293",
+  "version": "2.0.3-canary.c544441",
   "description": "VIB3+ 4D Visualization SDK - Unified engine with 6D rotation, MCP agentic integration, and cross-platform support",
   "type": "module",
   "main": "src/core/VIB3Engine.js",
@@ -9,9 +9,7 @@
     "vib3": "./src/cli/index.js",
     "vib3-mcp": "./src/agent/mcp/stdio-server.js"
   },
-  "sideEffects": [
-    "./src/geometry/builders/*.js"
-  ],
+  "sideEffects": false,
   "exports": {
     ".": {
       "types": "./types/adaptive-sdk.d.ts",

package/src/cli/index.js

@@ -5,9 +5,34 @@
  */
 
 import { performance } from 'node:perf_hooks';
+import path from 'node:path';
 import { mcpServer, toolDefinitions } from '../agent/index.js';
 import { schemaRegistry } from '../schemas/index.js';
 
+/**
+ * Resolves a file path and ensures it is within the current working directory.
+ * @param {string} filePath The path to validate
+ * @returns {string} The resolved absolute path
+ * @throws {Error} If the path is outside the allowed directory
+ */
+function getSafePath(filePath) {
+    if (!filePath) return filePath;
+
+    const cwd = process.cwd();
+    const resolvedPath = path.resolve(cwd, filePath);
+    const relative = path.relative(cwd, resolvedPath);
+
+    const isOutside = relative.startsWith('..') || path.isAbsolute(relative);
+
+    if (isOutside) {
+        const error = new Error('Security Error: Path traversal detected. Access denied.');
+        error.code = 'EACCES';
+        throw error;
+    }
+
+    return resolvedPath;
+}
+
 /**
  * CLI Configuration
  */
@@ -446,7 +471,7 @@ async function handleTools(parsed, startTime) {
  */
 async function handleValidate(parsed, startTime) {
     const subcommand = parsed.subcommand || 'pack';
-    const filePath = parsed.options.file || parsed.options.f || parsed.positional[0];
+    let filePath = parsed.options.file || parsed.options.f || parsed.positional[0];
 
     if (!filePath && subcommand !== 'schema') {
         return wrapResponse('validate', {
@@ -460,6 +485,10 @@ async function handleValidate(parsed, startTime) {
     }
 
     try {
+        if (filePath) {
+            filePath = getSafePath(filePath);
+        }
+
         switch (subcommand) {
             case 'pack': {
                 // Validate a .vib3 scene pack file
@@ -533,6 +562,17 @@ async function handleValidate(parsed, startTime) {
                 }, false, performance.now() - startTime);
         }
     } catch (error) {
+        if (error.code === 'EACCES') {
+            return wrapResponse('validate', {
+                error: {
+                    type: 'SecurityError',
+                    code: 'ACCESS_DENIED',
+                    message: error.message,
+                    suggestion: 'Ensure the file path is within the project directory'
+                }
+            }, false, performance.now() - startTime);
+        }
+
         if (error.code === 'ENOENT') {
             return wrapResponse('validate', {
                 error: {
@@ -659,7 +699,6 @@ async function main() {
  */
 async function handleInit(parsed, startTime) {
     const { writeFileSync, mkdirSync, existsSync } = await import('node:fs');
-    const { join } = await import('node:path');
 
     const projectName = parsed.subcommand || parsed.positional[0] || 'my-vib3-app';
     const template = parsed.options.template || parsed.options.t || 'vanilla';
@@ -677,7 +716,22 @@ async function handleInit(parsed, startTime) {
         }, false, performance.now() - startTime);
     }
 
-    const projectDir = join(process.cwd(), projectName);
+    let projectDir;
+    try {
+        projectDir = getSafePath(projectName);
+    } catch (error) {
+        if (error.code === 'EACCES') {
+            return wrapResponse('init', {
+                error: {
+                    type: 'SecurityError',
+                    code: 'ACCESS_DENIED',
+                    message: error.message,
+                    suggestion: 'Choose a project name that results in a valid subdirectory'
+                }
+            }, false, performance.now() - startTime);
+        }
+        throw error;
+    }
 
     if (existsSync(projectDir)) {
         return wrapResponse('init', {
@@ -695,8 +749,8 @@ async function handleInit(parsed, startTime) {
     const files = getTemplateFiles(template, projectName);
 
     for (const [filename, content] of Object.entries(files)) {
-        const filepath = join(projectDir, filename);
-        const dir = join(projectDir, filename.split('/').slice(0, -1).join('/'));
+        const filepath = path.join(projectDir, filename);
+        const dir = path.join(projectDir, filename.split('/').slice(0, -1).join('/'));
         if (dir !== projectDir) {
             mkdirSync(dir, { recursive: true });
         }

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);
     }
 
     /**
@@ -161,7 +164,7 @@ export class Mat4x4 {
      * @returns {Mat4x4} New matrix = this * m
      */
     multiply(m, target = null) {
-        const out = target || new Mat4x4();
+        const out = target || new Mat4x4(Mat4x4.UNINITIALIZED);
         const r = out.data;
         const a = this.data;
         const b = m.data;
@@ -321,7 +324,7 @@ export class Mat4x4 {
      * @returns {Mat4x4} New matrix
      */
     add(m, target = null) {
-        const out = target || new Mat4x4();
+        const out = target || new Mat4x4(Mat4x4.UNINITIALIZED);
         const r = out.data;
         const a = this.data;
         const b = m.data;
@@ -339,7 +342,7 @@ export class Mat4x4 {
      * @returns {Mat4x4} New matrix
      */
     scale(s, target = null) {
-        const out = target || new Mat4x4();
+        const out = target || new Mat4x4(Mat4x4.UNINITIALIZED);
         const r = out.data;
         const a = this.data;
 
@@ -355,12 +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;
     }
 
     /**
@@ -415,7 +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];
@@ -476,7 +481,7 @@ export class Mat4x4 {
             inv[i] *= invDet;
         }
 
-        return new Mat4x4(inv);
+        return out;
     }
 
     /**
@@ -689,12 +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;
     }
 
     /**
@@ -705,12 +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;
     }
 
     /**
@@ -721,12 +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;
     }
 
     /**
@@ -738,12 +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;
     }
 
     /**
@@ -754,12 +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;
     }
 
     /**
@@ -770,12 +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;
     }
 
     /**
@@ -847,12 +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;
     }
 
     /**
@@ -864,12 +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;
     }
 
     /**
@@ -885,12 +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;
     }
 }
 

package/src/math/Projection.js

@@ -36,16 +36,28 @@ export class Projection {
      *
      * @param {Vec4} v - 4D point
      * @param {number} d - Distance parameter (typically 1.5-5)
+     * @param {object} [options] - Projection options
+     * @param {Vec4} [target] - Optional target vector to write result to
      * @returns {Vec4} Projected point (w=0)
      */
-    static perspective(v, d = 2, options = {}) {
+    static perspective(v, d = 2, options = {}, target = null) {
         if (typeof d === 'object') {
             options = d;
             d = options.d ?? 2;
         }
-        const epsilon = options.epsilon ?? DEFAULT_EPSILON;
+
+        // Handle options overload or direct target argument
+        if (!target && options && options.target) {
+            target = options.target;
+        }
+
+        const epsilon = (options && options.epsilon) ?? DEFAULT_EPSILON;
         const denom = clampDenominator(d - v.w, epsilon);
         const scale = 1 / denom;
+
+        if (target) {
+            return target.set(v.x * scale, v.y * scale, v.z * scale, 0);
+        }
         return new Vec4(v.x * scale, v.y * scale, v.z * scale, 0);
     }
 
@@ -126,10 +138,33 @@ export class Projection {
      * Project array of Vec4s using perspective projection
      * @param {Vec4[]} vectors
      * @param {number} d
+     * @param {object} [options]
+     * @param {Vec4[]} [target] - Optional target array to write results to
      * @returns {Vec4[]}
      */
-    static perspectiveArray(vectors, d = 2, options = {}) {
-        return vectors.map(v => Projection.perspective(v, d, options));
+    static perspectiveArray(vectors, d = 2, options = {}, target = null) {
+        // Handle options overload for 'd'
+        if (typeof d === 'object') {
+             options = d;
+             d = options.d ?? 2;
+        }
+
+        if (!target) {
+            return vectors.map(v => Projection.perspective(v, d, options));
+        }
+
+        const count = vectors.length;
+        // Iterate and reuse
+        for (let i = 0; i < count; i++) {
+            const out = target[i];
+            if (out) {
+                Projection.perspective(vectors[i], d, options, out);
+            } else {
+                target[i] = Projection.perspective(vectors[i], d, options);
+            }
+        }
+
+        return target;
     }
 
     /**

package/src/math/Rotor4D.js

@@ -429,9 +429,10 @@ export class Rotor4D {
 
     /**
      * Convert rotor to 4x4 rotation matrix (column-major for WebGL)
+     * @param {Float32Array|Array} [target] - Optional target array to write into
      * @returns {Float32Array} 16-element array in column-major order
      */
-    toMatrix() {
+    toMatrix(target = null) {
         // Normalize first for numerical stability
         const n = this.norm();
         const invN = n > 1e-10 ? 1 / n : 1;
@@ -495,6 +496,35 @@ export class Rotor4D {
         // Formula derived from sandwich product R v R†
         // Diagonal: s² minus bivectors containing that axis, plus others
         // Off-diagonal: 2*s*bivector terms for single-plane contributions
+
+        if (target) {
+            // Column 0 (transformed X axis)
+            target[0] = s2 - xy2 - xz2 + yz2 - xw2 + yw2 + zw2 - xyzw2;
+            target[1] = sxy + xzyz + xwyw - zwxyzw;
+            target[2] = sxz - xyyz + xwzw + ywxyzw;
+            target[3] = sxw - xyyw - xzzw - yzxyzw;
+
+            // Column 1 (transformed Y axis)
+            target[4] = -sxy + xzyz + xwyw + zwxyzw;
+            target[5] = s2 - xy2 + xz2 - yz2 + xw2 - yw2 + zw2 - xyzw2;
+            target[6] = syz + xyxz + ywzw - xwxyzw;
+            target[7] = syw + xyxw - yzzw + xzxyzw;
+
+            // Column 2 (transformed Z axis)
+            target[8] = -sxz - xyyz + xwzw - ywxyzw;
+            target[9] = -syz + xyxz + ywzw + xwxyzw;
+            target[10] = s2 + xy2 - xz2 - yz2 + xw2 + yw2 - zw2 - xyzw2;
+            target[11] = szw + xzxw + yzyw - xyxyzw;
+
+            // Column 3 (transformed W axis)
+            target[12] = -sxw - xyyw - xzzw + yzxyzw;
+            target[13] = -syw + xyxw - yzzw - xzxyzw;
+            target[14] = -szw + xzxw + yzyw + xyxyzw;
+            target[15] = s2 + xy2 + xz2 + yz2 - xw2 - yw2 - zw2 - xyzw2;
+
+            return target;
+        }
+
         return new Float32Array([
             // Column 0 (transformed X axis)
             s2 - xy2 - xz2 + yz2 - xw2 + yw2 + zw2 - xyzw2,

package/src/scene/Node4D.js

@@ -500,29 +500,74 @@ export class Node4D {
      * @private
      */
     _updateLocalMatrix() {
-        // Start with identity
-        this._localMatrix = Mat4x4.identity();
+        // Ensure matrix exists
+        if (!this._localMatrix) {
+            this._localMatrix = new Mat4x4();
+        }
+
+        const m = this._localMatrix.data;
+        const s = this._scale;
+        const p = this._position;
+
+        // 1. Write rotation directly to local matrix (No allocation)
+        this._rotation.toMatrix(m);
+
+        // 2. Apply scale (Diagonal matrix multiplication on the right)
+        // M = M * S
+        // Columns of M are scaled by s.x, s.y, s.z, s.w
+
+        // Col 0
+        m[0] *= s.x; m[1] *= s.x; m[2] *= s.x; m[3] *= s.x;
+        // Col 1
+        m[4] *= s.y; m[5] *= s.y; m[6] *= s.y; m[7] *= s.y;
+        // Col 2
+        m[8] *= s.z; m[9] *= s.z; m[10] *= s.z; m[11] *= s.z;
+        // Col 3
+        m[12] *= s.w; m[13] *= s.w; m[14] *= s.w; m[15] *= s.w;
+
+        // 3. Apply translation (Matrix multiplication on the left)
+        // M = T * M
+        // T is standard 3D translation:
+        // [ 1 0 0 px ]
+        // [ 0 1 0 py ]
+        // [ 0 0 1 pz ]
+        // [ 0 0 0 1  ]
+        //
+        // Row 0 += px * Row 3
+        // Row 1 += py * Row 3
+        // Row 2 += pz * Row 3
+
+        const px = p.x;
+        const py = p.y;
+        const pz = p.z;
+
+        // Row 3 elements of M (which are used in the calculation)
+        const m3 = m[3];
+        const m7 = m[7];
+        const m11 = m[11];
+        const m15 = m[15];
+
+        if (px !== 0) {
+            m[0] += px * m3;
+            m[4] += px * m7;
+            m[8] += px * m11;
+            m[12] += px * m15;
+        }
+
+        if (py !== 0) {
+            m[1] += py * m3;
+            m[5] += py * m7;
+            m[9] += py * m11;
+            m[13] += py * m15;
+        }
+
+        if (pz !== 0) {
+            m[2] += pz * m3;
+            m[6] += pz * m7;
+            m[10] += pz * m11;
+            m[14] += pz * m15;
+        }
 
-        // Apply scale
-        const scaleMatrix = Mat4x4.identity();
-        scaleMatrix.set(0, 0, this._scale.x);
-        scaleMatrix.set(1, 1, this._scale.y);
-        scaleMatrix.set(2, 2, this._scale.z);
-        scaleMatrix.set(3, 3, this._scale.w);
-
-        // Apply rotation (toMatrix returns Float32Array, wrap in Mat4x4)
-        const rotationMatrix = new Mat4x4(this._rotation.toMatrix());
-
-        // Apply translation (in 4D, translation is stored in last column, keep [3,3]=1)
-        const translationMatrix = Mat4x4.identity();
-        translationMatrix.set(0, 3, this._position.x);
-        translationMatrix.set(1, 3, this._position.y);
-        translationMatrix.set(2, 3, this._position.z);
-        // Note: position.w is the 4th spatial coordinate, handled separately
-        // Matrix[3,3] must remain 1 for proper transformation
-
-        // Compose: T * R * S
-        this._localMatrix = translationMatrix.multiply(rotationMatrix).multiply(scaleMatrix);
         this._localDirty = false;
     }
 
@@ -535,10 +580,15 @@ export class Node4D {
             this._updateLocalMatrix();
         }
 
+        // Ensure matrix exists
+        if (!this._worldMatrix) {
+            this._worldMatrix = new Mat4x4();
+        }
+
         if (this._parent) {
-            this._worldMatrix = this._parent.worldMatrix.multiply(this._localMatrix);
+            this._parent.worldMatrix.multiply(this._localMatrix, this._worldMatrix);
         } else {
-            this._worldMatrix = this._localMatrix.clone();
+            this._worldMatrix.copy(this._localMatrix);
         }
 
         this._worldDirty = false;

package/src/testing/ProjectionClass.test.js

@@ -0,0 +1,38 @@
+import { describe, expect, it } from 'vitest';
+import Projection from '../math/Projection.js';
+import Vec4 from '../math/Vec4.js';
+
+describe('Projection Class', () => {
+    it('should project using perspective', () => {
+        const v = new Vec4(1, 1, 1, 0);
+        const p = Projection.perspective(v, 2);
+        expect(p.x).toBeCloseTo(0.5);
+        expect(p.y).toBeCloseTo(0.5);
+        expect(p.z).toBeCloseTo(0.5);
+        expect(p.w).toBe(0);
+    });
+
+    it('should support target vector in perspective', () => {
+        const v = new Vec4(1, 1, 1, 0);
+        const target = new Vec4();
+        const result = Projection.perspective(v, 2, {}, target);
+        expect(result).toBe(target);
+        expect(target.x).toBeCloseTo(0.5);
+    });
+
+    it('should project array using perspectiveArray', () => {
+        const vectors = [new Vec4(1, 1, 1, 0), new Vec4(2, 2, 2, 0)];
+        const result = Projection.perspectiveArray(vectors, 2);
+        expect(result.length).toBe(2);
+        expect(result[0].x).toBeCloseTo(0.5);
+        expect(result[1].x).toBeCloseTo(1.0);
+    });
+
+    it('should reuse target array in perspectiveArray', () => {
+        const vectors = [new Vec4(1, 1, 1, 0)];
+        const targetArray = [new Vec4()];
+        const result = Projection.perspectiveArray(vectors, 2, {}, targetArray);
+        expect(result).toBe(targetArray);
+        expect(targetArray[0].x).toBeCloseTo(0.5);
+    });
+});

package/tools/update_projection.py

@@ -0,0 +1,109 @@
+import re
+
+file_path = 'src/math/Projection.js'
+
+with open(file_path, 'r') as f:
+    content = f.read()
+
+# Replace perspective JSDoc and Implementation
+perspective_old = r"""     * @param {Vec4} v - 4D point
+     * @param {number} d - Distance parameter (typically 1.5-5)
+     * @returns {Vec4} Projected point (w=0)
+     */
+    static perspective(v, d = 2, options = {}) {
+        if (typeof d === 'object') {
+            options = d;
+            d = options.d ?? 2;
+        }
+        const epsilon = options.epsilon ?? DEFAULT_EPSILON;
+        const denom = clampDenominator(d - v.w, epsilon);
+        const scale = 1 / denom;
+        return new Vec4(v.x * scale, v.y * scale, v.z * scale, 0);
+    }"""
+
+perspective_new = r"""     * @param {Vec4} v - 4D point
+     * @param {number} d - Distance parameter (typically 1.5-5)
+     * @param {object} [options] - Projection options
+     * @param {Vec4} [target] - Optional target vector to write result to
+     * @returns {Vec4} Projected point (w=0)
+     */
+    static perspective(v, d = 2, options = {}, target = null) {
+        if (typeof d === 'object') {
+            options = d;
+            d = options.d ?? 2;
+        }
+
+        // Handle options overload or direct target argument
+        if (!target && options && options.target) {
+            target = options.target;
+        }
+
+        const epsilon = (options && options.epsilon) ?? DEFAULT_EPSILON;
+        const denom = clampDenominator(d - v.w, epsilon);
+        const scale = 1 / denom;
+
+        if (target) {
+            return target.set(v.x * scale, v.y * scale, v.z * scale, 0);
+        }
+        return new Vec4(v.x * scale, v.y * scale, v.z * scale, 0);
+    }"""
+
+if perspective_old in content:
+    content = content.replace(perspective_old, perspective_new)
+else:
+    print("Could not find perspective implementation to replace.")
+    # Attempt more robust search if exact match fails? No, simpler is safer for now.
+
+# Replace perspectiveArray JSDoc and Implementation
+perspective_array_old = r"""    /**
+     * Project array of Vec4s using perspective projection
+     * @param {Vec4[]} vectors
+     * @param {number} d
+     * @returns {Vec4[]}
+     */
+    static perspectiveArray(vectors, d = 2, options = {}) {
+        return vectors.map(v => Projection.perspective(v, d, options));
+    }"""
+
+perspective_array_new = r"""    /**
+     * Project array of Vec4s using perspective projection
+     * @param {Vec4[]} vectors
+     * @param {number} d
+     * @param {object} [options]
+     * @param {Vec4[]} [target] - Optional target array to write results to
+     * @returns {Vec4[]}
+     */
+    static perspectiveArray(vectors, d = 2, options = {}, target = null) {
+        // Handle options overload for 'd'
+        if (typeof d === 'object') {
+             options = d;
+             d = options.d ?? 2;
+        }
+
+        if (!target) {
+            return vectors.map(v => Projection.perspective(v, d, options));
+        }
+
+        const count = vectors.length;
+        // Iterate and reuse
+        for (let i = 0; i < count; i++) {
+            const out = target[i];
+            if (out) {
+                Projection.perspective(vectors[i], d, options, out);
+            } else {
+                target[i] = Projection.perspective(vectors[i], d, options);
+            }
+        }
+
+        return target;
+    }"""
+
+if perspective_array_old in content:
+    content = content.replace(perspective_array_old, perspective_array_new)
+else:
+    print("Could not find perspectiveArray implementation to replace.")
+
+with open(file_path, 'w') as f:
+    f.write(content)
+
+print("Updated Projection.js")