@woosh/meep-engine 2.107.0 → 2.108.2

package/src/core/geom/3d/tetrahedra/delaunay/tetrahedral_mesh_build_from_grid.js

@@ -0,0 +1,135 @@
+/**
+ * Special case of tetrahedral mesh generation using a regular 3d grid, useful for generating light probe volumes
+ * This is a special case of tetrahedral tessellation, we can handle it much easier due to regular nature of the point distribution
+ * Note that if resolution in every dimension should be >= 2
+ * @param {TetrahedralMesh} mesh
+ * @param {number[]} points point data is written here
+ * @param {AABB3} bounds
+ * @param {number} resolution_x how many points to generate on the grid in X axis
+ * @param {number} resolution_y how many points to generate on the grid in Y axis
+ * @param {number} resolution_z how many points to generate on the grid in Y axis
+ */
+export function tetrahedral_mesh_build_from_grid(
+    mesh, points,
+    bounds,
+    resolution_x = 2, resolution_y = 2, resolution_z = 2,
+) {
+
+    console.error("Implementation is incomplete"); // FIXME
+
+    mesh.clear();
+
+    const tetrahedron_count = (resolution_x - 1) * (resolution_y - 1) * (resolution_z - 1) * 6;
+
+    // we know how many tetrahedrons will be created, so we can avoid some re-allocations by ensuring there's enough capacity
+    mesh.ensureCapacity(tetrahedron_count);
+
+    const bounds_extents_x = bounds.getExtentsX();
+    const bounds_extents_y = bounds.getExtentsY();
+    const bounds_extents_z = bounds.getExtentsZ();
+
+    /**
+     *
+     * @param {number} x
+     * @param {number} y
+     * @param {number} z
+     * @return {number}
+     */
+    function vertex_position_to_index(x, y, z) {
+
+        return z * resolution_y * resolution_x + y * resolution_x + x;
+    }
+
+    // generate points
+    for (let z = 0; z < resolution_z; z++) {
+        for (let y = 0; y < resolution_y; y++) {
+            for (let x = 0; x < resolution_x; x++) {
+
+                const index = vertex_position_to_index(x, y, z);
+
+                const index3 = index * 3;
+
+                const x_norm = x / (resolution_x - 1);
+                const y_norm = y / (resolution_y - 1);
+                const z_norm = z / (resolution_z - 1);
+
+                points[index3] = bounds.x0 + x_norm * bounds_extents_x;
+                points[index3 + 1] = bounds.y0 + y_norm * bounds_extents_y;
+                points[index3 + 2] = bounds.z0 + z_norm * bounds_extents_z;
+
+            }
+        }
+    }
+
+    /**
+     *
+     * @param {number} v0
+     * @param {number} v1
+     * @param {number} v2
+     * @param {number} v3
+     * @return {number}
+     */
+    function make_cell(v0, v1, v2, v3) {
+
+        const tet_0 = mesh.allocate();
+
+        mesh.setVertexIndex(tet_0, 0, v0);
+        mesh.setVertexIndex(tet_0, 1, v1);
+        mesh.setVertexIndex(tet_0, 2, v2);
+        mesh.setVertexIndex(tet_0, 3, v3);
+
+        return tet_0;
+    }
+
+    // NOTE: it's possible to tessellate each box into 5 tetrahedrons instead of 6, but orientation becomes inconsistent if we do that
+    // reference http://www.iue.tuwien.ac.at/phd/wessner/node32.html
+
+    for (let z = 1; z < resolution_z; z++) {
+        for (let y = 1; y < resolution_y; y++) {
+            for (let x = 1; x < resolution_x; x++) {
+                const p000 = vertex_position_to_index(x - 1, y - 1, z - 1);
+                const p001 = vertex_position_to_index(x - 1, y - 1, z);
+                const p010 = vertex_position_to_index(x - 1, y, z - 1);
+                const p011 = vertex_position_to_index(x - 1, y, z);
+                const p100 = vertex_position_to_index(x, y - 1, z - 1);
+                const p101 = vertex_position_to_index(x, y - 1, z);
+                const p110 = vertex_position_to_index(x, y, z - 1);
+                const p111 = vertex_position_to_index(x, y, z);
+
+
+                // Tessellate the grid volume into six tetrahedra per grid cell.
+
+                // prism 1
+                const tet_0 = make_cell(p111, p110, p010, p000);
+                const tet_1 = make_cell(p111, p101, p110, p000);
+                const tet_2 = make_cell(p110, p101, p100, p000);
+
+                // prism 2
+                const tet_3 = make_cell(p111, p011, p010, p000);
+                const tet_4 = make_cell(p111, p101, p011, p000);
+                const tet_5 = make_cell(p011, p101, p001, p000);
+
+                // link newly created tetrahedrons
+                // TODO implement
+
+                if (x > 1) {
+                    // link to previous voxel
+                    // TODO implement
+                }
+
+                if (y > 1) {
+                    // link to previous voxel
+                    // TODO implement
+                }
+
+                if (z > 1) {
+                    // link to previous voxel
+                    // TODO implement
+                }
+
+            }
+
+        }
+
+    }
+}

package/src/core/geom/3d/tetrahedra/prototypeTetrahedraBuilder.js

@@ -1,17 +1,19 @@
-import { EngineHarness } from "../../../../engine/EngineHarness.js";
-import { compute_delaunay_tetrahedral_mesh } from "./delaunay/compute_delaunay_tetrahedral_mesh.js";
 import { LineBasicMaterial } from "three";
-import { ShadedGeometry } from "../../../../engine/graphics/ecs/mesh-v2/ShadedGeometry.js";
-import { DrawMode } from "../../../../engine/graphics/ecs/mesh-v2/DrawMode.js";
 import Entity from "../../../../engine/ecs/Entity.js";
 import { Transform } from "../../../../engine/ecs/transform/Transform.js";
+import { EngineHarness } from "../../../../engine/EngineHarness.js";
+import { DrawMode } from "../../../../engine/graphics/ecs/mesh-v2/DrawMode.js";
+import { ShadedGeometry } from "../../../../engine/graphics/ecs/mesh-v2/ShadedGeometry.js";
 import { ShadedGeometrySystem } from "../../../../engine/graphics/ecs/mesh-v2/ShadedGeometrySystem.js";
-import { GizmoRenderingPlugin } from "../../../../engine/graphics/render/gizmo/GizmoRenderingPlugin.js";
 import { Gizmo } from "../../../../engine/graphics/render/gizmo/Gizmo.js";
-import { build_tetrahedral_mesh_buffer_geometry } from "./build_tetrahedral_mesh_buffer_geometry.js";
+import { GizmoRenderingPlugin } from "../../../../engine/graphics/render/gizmo/GizmoRenderingPlugin.js";
 import { seededRandom } from "../../../math/random/seededRandom.js";
-import { randomFloatBetween } from "../../../math/random/randomFloatBetween.js";
+import { number_pretty_print } from "../../../primitives/numbers/number_pretty_print.js";
 import { delay } from "../../../process/delay.js";
+import { AABB3 } from "../aabb/AABB3.js";
+import { make_justified_point_grid } from "../util/make_justified_point_grid.js";
+import { build_tetrahedral_mesh_buffer_geometry } from "./build_tetrahedral_mesh_buffer_geometry.js";
+import { compute_delaunay_tetrahedral_mesh } from "./delaunay/compute_delaunay_tetrahedral_mesh.js";
 import { TetrahedralMesh } from "./TetrahedralMesh.js";
 
 /**
@@ -44,26 +46,37 @@ async function main(engine) {
 
     const random = seededRandom();
 
-    for (let i = 0; i < 600; i++) {
-        points.push(
-            randomFloatBetween(random, -100, 100),
-            randomFloatBetween(random, 0, 150),
-            randomFloatBetween(random, -100, 100),
-        );
-    }
-
-    // make_justified_point_grid(new AABB3(-100, 0, -100, 100, 150, 100), 40, (x, y, z) => {
-    //     points.push(x, y, z);
-    // });
+    // for (let i = 0; i < 600; i++) {
+    //     points.push(
+    //         randomFloatBetween(random, -100, 100),
+    //         randomFloatBetween(random, 0, 150),
+    //         randomFloatBetween(random, -100, 100),
+    //     );
+    // }
+
+    make_justified_point_grid(
+        new AABB3(-100, 0, -100, 100, 150, 100),
+        20,
+        (x, y, z) => {
+            points.push(x, y, z);
+        }
+    );
 
     await delay(1000);
 
     const tetrahedra = new TetrahedralMesh();
-    // console.time('mesh build');
-    console.profile('mesh build');
+    console.time('mesh build');
+    // console.profile('mesh build');
     compute_delaunay_tetrahedral_mesh(tetrahedra, points, points.length / 3);
-    console.profileEnd('mesh build');
-    // console.timeEnd('mesh build');
+    // tetrahedral_mesh_build_from_grid(
+    //     tetrahedra,
+    //     points,
+    //     new AABB3(-100, 0, -100, 100, 100, 100),
+    //     64, 32, 64
+    // )
+    // console.profileEnd('mesh build');
+    console.timeEnd('mesh build');
+    console.log(`Mesh build for ${number_pretty_print(points.length / 3)} points`)
 
     console.log(tetrahedra);
 
@@ -75,7 +88,6 @@ async function main(engine) {
     const geometry = build_tetrahedral_mesh_buffer_geometry(tetrahedra, points);
 
 
-
     new Entity()
         .add(ShadedGeometry.from(geometry, new LineBasicMaterial({ color: 0xFF0000 }), DrawMode.LineSegments))
         .add(Transform.fromJSON({
@@ -88,7 +100,9 @@ async function main(engine) {
 
         Gizmo.color = [1, 1, 1, 1];
 
-        for (let i = 0; i < points.length; i += 3) {
+        const point_count = points.length;
+
+        for (let i = 0; i < point_count; i += 3) {
 
             Gizmo.draw_solid_sphere([
                 points[i] * scale[0] + offset[0],

package/src/core/geom/3d/tetrahedra/{compute_circumsphere.d.ts → tetrahedron_compute_circumsphere.d.ts}

@@ -1,7 +1,5 @@
 /**
- * Compute the circumcenter (center[3]) and radius squared (method
- * return value) of a tetrahedron defined by the four points x1, x2,
- * x3, and x4.
+ * Compute the circumcenter (center[3]) and radius squared (method return value) of a tetrahedron defined by the four points x1, x2, x3, and x4.
  *
  * @see https://github.com/Kitware/VTK/blob/ac3fd8005bce7b3da4423c305f61ffd9df9695ef/Common/DataModel/vtkTetra.cxx
  * @param {number[]} result [center_x, center_y, center_z, radius_squared]
@@ -11,5 +9,5 @@
  * @param {number} c
  * @param {number} d
  */
-export function compute_circumsphere(result: number[], points: number[], a: number, b: number, c: number, d: number): void;
-//# sourceMappingURL=compute_circumsphere.d.ts.map
+export function tetrahedron_compute_circumsphere(result: number[], points: number[], a: number, b: number, c: number, d: number): void;
+//# sourceMappingURL=tetrahedron_compute_circumsphere.d.ts.map

package/src/core/geom/3d/tetrahedra/tetrahedron_compute_circumsphere.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"tetrahedron_compute_circumsphere.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/tetrahedra/tetrahedron_compute_circumsphere.js"],"names":[],"mappings":"AAOA;;;;;;;;;;GAUG;AACH,yDAPW,MAAM,EAAE,UACR,MAAM,EAAE,KACR,MAAM,KACN,MAAM,KACN,MAAM,KACN,MAAM,QA+EhB"}

package/src/core/geom/3d/tetrahedra/{compute_circumsphere.js → tetrahedron_compute_circumsphere.js}

@@ -6,9 +6,7 @@ const SMALL_NUMBER = 1e-12;
 const VTK_MAX_WARNS = 3;
 
 /**
- * Compute the circumcenter (center[3]) and radius squared (method
- * return value) of a tetrahedron defined by the four points x1, x2,
- * x3, and x4.
+ * Compute the circumcenter (center[3]) and radius squared (method return value) of a tetrahedron defined by the four points x1, x2, x3, and x4.
  *
  * @see https://github.com/Kitware/VTK/blob/ac3fd8005bce7b3da4423c305f61ffd9df9695ef/Common/DataModel/vtkTetra.cxx
  * @param {number[]} result [center_x, center_y, center_z, radius_squared]
@@ -18,7 +16,7 @@ const VTK_MAX_WARNS = 3;
  * @param {number} c
  * @param {number} d
  */
-export function compute_circumsphere(
+export function tetrahedron_compute_circumsphere(
     result,
     points,
     a, b, c, d

package/src/core/geom/3d/tetrahedra/tetrahedron_compute_signed_volume.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"tetrahedron_compute_signed_volume.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/tetrahedra/tetrahedron_compute_signed_volume.js"],"names":[],"mappings":"AAgCA;;;;;;;;;GASG;AACH,0DAPW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,KACvC,MAAM,KACN,MAAM,KACN,MAAM,KACN,MAAM,GACJ,MAAM,CA0ClB"}
+{"version":3,"file":"tetrahedron_compute_signed_volume.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/tetrahedra/tetrahedron_compute_signed_volume.js"],"names":[],"mappings":"AAkCA;;;;;;;;;GASG;AACH,0DAPW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,KACvC,MAAM,KACN,MAAM,KACN,MAAM,KACN,MAAM,GACJ,MAAM,CA0ClB"}

package/src/core/geom/3d/tetrahedra/tetrahedron_compute_signed_volume.js

@@ -1,3 +1,5 @@
+const ONE_OVER_SIX = 1.0 / 6.0;
+
 /**
  * Compute signed volume of a tetrahedron with the last point at the origin
  * @see "EFFICIENT FEATURE EXTRACTION FOR 2D/3D OBJECTS IN MESH REPRESENTATION" by Cha Zhang and Tsuhan Chen
@@ -25,7 +27,7 @@ function triangle_compute_signed_volume(
     const v213 = bx * ay * cz;
     const v123 = ax * by * cz;
 
-    return (1.0 / 6.0) * (-v321 + v231 + v312 - v132 - v213 + v123);
+    return ONE_OVER_SIX * (-v321 + v231 + v312 - v132 - v213 + v123);
 
 }
 

package/src/core/geom/Vector3.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"Vector3.d.ts","sourceRoot":"","sources":["../../../../src/core/geom/Vector3.js"],"names":[],"mappings":";AAmBA;IAstBI;;;;;;;OAOG;IACH,iFAeC;IAyMD;;;;;OAKG;IACH,cAJW,OAAO,UAAQ,KACf,OAAO,UAAQ,GACb,MAAM,CAIlB;IAED;;;;;OAKG;IACH,mBAJW,OAAO,KACP,OAAO,GACL,MAAM,CAIlB;IAED;;;;;OAKG;IACH,wBAJW,MAAM,EAAE,WACR,MAAM,GACJ,OAAO,CAQnB;IAED;;;;OAIG;IACH,yBAHW,MAAM,GACJ,OAAO,CAInB;IA99BD;;;;;;OAMG;IACH,gBALW,MAAM,MACN,MAAM,MACN,MAAM,EAsBhB;IAlBG;;OAEG;IACH,GAFU,MAAM,CAEN;IACV;;OAEG;IACH,GAFU,MAAM,CAEN;IACV;;OAEG;IACH,GAFU,MAAM,CAEN;IAEV;;;OAGG;IACH,oBAFU,OAAO,MAAM,EAAC,MAAM,EAAC,MAAM,EAAC,MAAM,EAAC,MAAM,EAAC,MAAM,CAAC,CAE9B;IAGjC;;;;OAIG;IACH,qBAHW,MAAM,EAAE,GAAC,YAAY,WACrB,MAAM,QAQhB;IAED;;;;OAIG;IACH,oBAHW,MAAM,EAAE,GAAC,YAAY,WACrB,MAAM,QAMhB;IAED,iBAMC;IAED;;;;;;OAMG;IACH,sCAFa,OAAO,CA6BnB;IAED;;;OAGG;IACH,aAFW,MAAM,QAIhB;IAED;;;;OAIG;IACH,QAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;OAIG;IACH,QAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;OAIG;IACH,QAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,SAJW,MAAM,KACN,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,SAJW,MAAM,KACN,MAAM,GACJ,OAAO,CAInB;IAED;;;;;OAKG;IACH,SAJW,MAAM,KACN,MAAM,GACJ,OAAO,CAInB;IAED;;;;OAIG;IACH,cAHW,OAAO,KACP,OAAO,QAQjB;IAED;;;;OAIG;IACH,WAHW,OAAO,GACL,OAAO,CAInB;IAED;;;;;;OAMG;IACH,uCAFa,OAAO,CAInB;IAGD;;;;OAIG;IACH,cAHW,OAAO,KACP,OAAO,QAQjB;IAED;;;;OAIG;IACH,WAHW,OAAO,GACL,OAAO,CAInB;IAED;;;;;;OAMG;IACH,uCAFa,OAAO,CAQnB;IAED;;;;;;OAMG;IACH,4CAFa,OAAO,CAInB;IAED;;;;OAIG;IACH,gBAHW,OAAO,GACL,OAAO,CAInB;IAED;;;;OAIG;IACH,mBAHW,OAAO,KACP,OAAO,QAQjB;IAED;;;;OAIG;IACH,eAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;OAIG;IACH,eAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;OAGG;IACH,SAFa,OAAO,CAInB;IAED;;;;OAIG;IACH,oBAHW,MAAM,GACJ,OAAO,CAOnB;IAED;;;OAGG;IACH,UAFa,OAAO,CAInB;IAED;;;;OAIG;IACH,aAHW,OAAO,GACL,OAAO,CAMnB;IAED;;;;OAIG;IACH,oBAHW,OAAO,UACP,OAAO,QAWjB;IAED;;;;;;;;OAQG;IACH,kBAPW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,QAQhB;IAED;;;OAGG;IACH,OAFa,OAAO,CAInB;IAED;;;;OAIG;IACH,OAHW,OAAO,GACL,MAAM,CAIlB;IAED;;;OAGG;IACH,UAFa,MAAM,CAIlB;IAED;;;;OAIG;IACH,aAFa,MAAM,CAIlB;IAED;;OAEG;IACH,kBAWC;IAED;;;OAGG;IACH,4BAHW,MAAM,GACL,OAAO,CAMlB;IAED;;;;OAIG;IACH,YAHW,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,GAClC,OAAO,CAInB;IAGD;;;OAGG;IACH,UAFa,OAAO,CAInB;IAED;;;;OAIG;IACH,kBAHW,OAAO,GACL,MAAM,CAIlB;IAED;;;;OAIG;IACH,qBAHW,OAAO,UAKjB;IAED;;;;;;OAMG;IACH,kBALW,MAAM,KACN,MAAM,KACN,MAAM,GACL,MAAM,CAIjB;IAED,sCAEC;IAED;;;;OAIG;IACH,eAHW,OAAO,GACL,MAAM,CAIlB;IAED;;;OAGG;IACH,qCAoBC;IAED;;;;OAIG;IACH,QAFa,OAAO,CAInB;IAED;;;;;OAKG;IACH,YAJW,OAAO,qBAEL,OAAO,CAQnB;IAED;;;;;OAKG;IACH,eAJW,OAAO,KACP,OAAO,YACP,MAAM,QAIhB;IAED;;;;;OAKG;IACH,gBAJW,OAAO,KACP,OAAO,YACP,MAAM,QAIhB;IAED;;;;OAIG;IACH,4BAHW,MAAM,OAAO,QAKvB;IAED;;;OAGG;IACH,iBAFW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,QAcjD;IAED;;;OAGG;IACH,0BAFW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,QAoBjD;IAED;;;OAGG;IACH,4BAFW,MAAM,OAAO,QAUvB;IAED;;;;OAIG;IACH,sBAHW,MAAM,OAAO,GACX,OAAO,CAMnB;IAED;;;OAGG;IACH,kBAFW,MAAM,EAAE,GAAC,YAAY,QAY/B;IAED;;;OAGG;IACH,uCAFW,MAAM,OAAO,QAIvB;IAED;;;OAGG;IACH,+BAFW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,QASjD;IAED;;;;OAIG;IACH,cAHW,OAAO,GACL,OAAO,CAInB;IAED;;;;;;OAMG;IACH,WALW,MAAM,KACN,MAAM,KACN,MAAM,GACL,OAAO,CAIlB;IAED;;;;;OAKG;IACH,qBAJW,OAAO,cACP,MAAM,GACL,OAAO,CAIlB;IAED;;;;;;;OAOG;IACH,kBANW,MAAM,KACN,MAAM,KACN,MAAM,cACN,MAAM,GACL,OAAO,CAMlB;IAED,cAMC;IAED;;;OAGG;IACH,0BAFW,OAAO,QAYjB;IA2BD;;;;;;;;OAQG;IACH,oBAPW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,QAkBhB;IAED;;;;;OAKG;IACH,+BAJW,MAAM,OACN,MAAM,SACN,MAAM,QAuBhB;IAED;;;;;OAKG;IACH,6CAFa,OAAO,CASnB;IAED;;;;MAEC;IAED;;;OAGG;IACH,eAFW;QAAC,CAAC,EAAC,MAAM,CAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAC,CAAC,EAAC,MAAM,CAAA;KAAC,GAAC,MAAM,QAS/C;IAED,mBAEC;IAED;;;;OAIG;IACH,2CAIC;IAED;;;;OAIG;IACH,6CAMC;IAED;;;;OAIG;IACH,kDAIC;IAED;;;;OAIG;IACH,oDAMC;IAED;;;;OAIG;IACH,kEAEC;IAED;;;;OAIG;IACH,oEAEC;IAED,eAMC;IAeD,mBAEC;IAdD,gBAEC;IAcD,mBAEC;IAdD,gBAEC;IAcD,mBAEC;IAdD,gBAEC;IAoEL,gBApmBiB,MAAM,CAomBG;IAC1B,mBAt8Be,MAAM,EAAE,GAAC,YAAY,WACrB,MAAM,UAq8BM;IAC3B,iBA17Be,MAAM,EAAE,GAAC,YAAY,WACrB,MAAM,UAy7BI;IA2DzB;;;OAGG;IACH,oBAFU,OAAO,CAEU;IAvHvB,sDAMC;CA4CJ;;qBAWS,OAAO;oBAOP,OAAO;0BAOP,OAAO;mBAMP,OAAO;qBAMP,OAAO;qBAMP,OAAO;sBAMP,OAAO;wBAMP,OAAO;qBAMP,OAAO;yBAYP,MAAM;;;mBAtjCG,4BAA4B;uBAOxB,kBAAkB"}

package/src/core/geom/Vector3.js

@@ -598,6 +598,7 @@ class Vector3 {
         const y = this.y;
         const z = this.z;
 
+        // This is just 3x3 matrix multiplication
         const _x = m4[0] * x + m4[4] * y + m4[8] * z;
         const _y = m4[1] * x + m4[5] * y + m4[9] * z;
         const _z = m4[2] * x + m4[6] * y + m4[10] * z;
@@ -795,10 +796,10 @@ class Vector3 {
     }
 
     /**
-     *
+     * Convert spherical coordinates to cartesian
      * @param {number} radius
-     * @param {number} phi
-     * @param {number} theta
+     * @param {number} phi Also known as Azimuth
+     * @param {number} theta Also known as Elevation
      */
     setFromSphericalCoords(radius, phi, theta) {
         assert.isNumber(radius, 'radius');

package/src/core/geom/mat3/m3_multiply_vec3.d.ts

@@ -0,0 +1,8 @@
+/**
+ *
+ * @param {mat3} out
+ * @param {mat3} a
+ * @param {vec3} v
+ */
+export function m3_multiply_vec3(out: mat3, a: mat3, v: vec3): void;
+//# sourceMappingURL=m3_multiply_vec3.d.ts.map

package/src/core/geom/mat3/m3_multiply_vec3.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"m3_multiply_vec3.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/mat3/m3_multiply_vec3.js"],"names":[],"mappings":"AAAA;;;;;GAKG;AACH,oEAcC"}

package/src/core/geom/mat3/m3_multiply_vec3.js

@@ -0,0 +1,21 @@
+/**
+ *
+ * @param {mat3} out
+ * @param {mat3} a
+ * @param {vec3} v
+ */
+export function m3_multiply_vec3(out, a, v) {
+    const x = v[0];
+    const y = v[1];
+    const z = v[2];
+
+    out[0] = x * a[0];
+    out[1] = x * a[1];
+    out[2] = x * a[2];
+    out[3] = y * a[3];
+    out[4] = y * a[4];
+    out[5] = y * a[5];
+    out[6] = z * a[6];
+    out[7] = z * a[7];
+    out[8] = z * a[8];
+}

package/src/core/geom/random/randomPointInSphere.d.ts

@@ -1,5 +1,5 @@
 /**
- *
+ * Unit sphere with Radius = 1
  * @see based on python code suggested here: https://stackoverflow.com/questions/5408276/sampling-uniformly-distributed-random-points-inside-a-spherical-volume
  * @param {function} random
  * @param {number[]} result

package/src/core/geom/random/randomPointInSphere.js

@@ -1,7 +1,7 @@
 import { PI2 } from "../../math/PI2.js";
 
 /**
- *
+ * Unit sphere with Radius = 1
  * @see based on python code suggested here: https://stackoverflow.com/questions/5408276/sampling-uniformly-distributed-random-points-inside-a-spherical-volume
  * @param {function} random
  * @param {number[]} result
@@ -17,7 +17,7 @@ export function randomPointInSphere(random, result, result_offset) {
     const theta = Math.acos(cosTheta);
 
     // compute radius
-    const r = Math.cbrt(u) * 0.5;
+    const r = Math.cbrt(u);
 
     const sinTheta = Math.sin(theta);
 

package/src/core/geom/random/randomPointOnSphere.d.ts

@@ -1,9 +1,9 @@
 /**
- *
+ * Unit sphere sampling
  * @see based on python code suggested here: https://stackoverflow.com/questions/5408276/sampling-uniformly-distributed-random-points-inside-a-spherical-volume
  * @param {function} random
- * @param {number[]} result
+ * @param {number[]|Float32Array} result
  * @param {number} result_offset
  */
-export function randomPointOnSphere(random: Function, result: number[], result_offset: number): void;
+export function randomPointOnSphere(random: Function, result: number[] | Float32Array, result_offset: number): void;
 //# sourceMappingURL=randomPointOnSphere.d.ts.map

package/src/core/geom/random/randomPointOnSphere.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"randomPointOnSphere.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/random/randomPointOnSphere.js"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,8DAHW,MAAM,EAAE,iBACR,MAAM,QAwBhB"}
+{"version":3,"file":"randomPointOnSphere.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/random/randomPointOnSphere.js"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,8DAHW,MAAM,EAAE,GAAC,YAAY,iBACrB,MAAM,QAoBhB"}

package/src/core/geom/random/randomPointOnSphere.js

@@ -1,8 +1,8 @@
 /**
- *
+ * Unit sphere sampling
  * @see based on python code suggested here: https://stackoverflow.com/questions/5408276/sampling-uniformly-distributed-random-points-inside-a-spherical-volume
  * @param {function} random
- * @param {number[]} result
+ * @param {number[]|Float32Array} result
  * @param {number} result_offset
  */
 export function randomPointOnSphere(random, result, result_offset) {
@@ -14,14 +14,10 @@ export function randomPointOnSphere(random, result, result_offset) {
 
     const sinTheta = Math.sin(theta);
 
-    const r = 0.5;
-
     //compute coordinates
-    const rst = r * sinTheta;
-
-    const x = rst * Math.cos(phi);
-    const y = rst * Math.sin(phi);
-    const z = r * cosTheta;
+    const x = sinTheta * Math.cos(phi);
+    const y = sinTheta * Math.sin(phi);
+    const z = cosTheta;
 
     //write the result
     result[result_offset] = x;

package/src/core/geom/vec2/v2_cross_product.d.ts

@@ -0,0 +1,15 @@
+/**
+ * Not really a cross-product, since that doesn't exist in 2d.
+ * We imagine Z to be 0, and essentially do a 3d vector cross product
+ * Also known as "perpendicular dot product"
+ * Also known as "exterior product"
+ * Also known as "determinant"
+ * Also known as "wedge product"
+ * @param {number} x0
+ * @param {number} y0
+ * @param {number} x1
+ * @param {number} y1
+ * @return {number}
+ */
+export function v2_cross_product(x0: number, y0: number, x1: number, y1: number): number;
+//# sourceMappingURL=v2_cross_product.d.ts.map

package/src/core/geom/vec2/v2_cross_product.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"v2_cross_product.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/vec2/v2_cross_product.js"],"names":[],"mappings":"AAAA;;;;;;;;;;;;GAYG;AACH,qCANW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACL,MAAM,CASjB"}

package/src/core/geom/vec2/v2_cross_product.js

@@ -0,0 +1,21 @@
+/**
+ * Not really a cross-product, since that doesn't exist in 2d.
+ * We imagine Z to be 0, and essentially do a 3d vector cross product
+ * Also known as "perpendicular dot product"
+ * Also known as "exterior product"
+ * Also known as "determinant"
+ * Also known as "wedge product"
+ * @param {number} x0
+ * @param {number} y0
+ * @param {number} x1
+ * @param {number} y1
+ * @return {number}
+ */
+export function v2_cross_product(
+    x0, y0,
+    x1, y1
+) {
+
+    return x0 * y1 - y0 * x1;
+
+}

package/src/core/geom/vec3/v3_slerp.d.ts

@@ -1,5 +1,6 @@
 /**
  * Spherical linear interpolation
+ * NOTE: vectors are assumed to be normalized
  * @see https://en.wikipedia.org/wiki/Slerp
  * @param {Vector3} result
  * @param {number} a_x

package/src/core/geom/vec3/v3_slerp.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"v3_slerp.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/vec3/v3_slerp.js"],"names":[],"mappings":"AAGA;;;;;;;;;;;GAWG;AACH,+CARW,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,YACN,MAAM,QAkChB"}
+{"version":3,"file":"v3_slerp.d.ts","sourceRoot":"","sources":["../../../../../src/core/geom/vec3/v3_slerp.js"],"names":[],"mappings":"AAGA;;;;;;;;;;;;GAYG;AACH,+CARW,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,YACN,MAAM,QAkChB"}

package/src/core/geom/vec3/v3_slerp.js

@@ -3,6 +3,7 @@ import { v3_lerp } from "./v3_lerp.js";
 
 /**
  * Spherical linear interpolation
+ * NOTE: vectors are assumed to be normalized
  * @see https://en.wikipedia.org/wiki/Slerp
  * @param {Vector3} result
  * @param {number} a_x

package/src/core/graph/MultiNode.d.ts

@@ -15,7 +15,7 @@ export class MultiNode<T> {
      */
     source_nodes: T[];
     /**
-     *
+     * Absorb nodes from another node
      * @param {MultiNode<T>} other
      */
     add(other: MultiNode<T>): void;

package/src/core/graph/MultiNode.js

@@ -10,7 +10,7 @@ export class MultiNode {
     source_nodes = [];
 
     /**
-     *
+     * Absorb nodes from another node
      * @param {MultiNode<T>} other
      */
     add(other) {

package/src/core/graph/WeightedEdge.d.ts

@@ -1,17 +1,19 @@
-export class WeightedEdge extends Edge<any> {
+/**
+ * @template T
+ */
+export class WeightedEdge<T> extends Edge<any> {
     /**
      *
      * @param {WeightedEdge} e
      * @returns {number}
      */
-    static extractWeight(e: WeightedEdge): number;
+    static extractWeight(e: WeightedEdge<any>): number;
     /**
      *
      * @param {WeightedEdge} e
      * @returns {number}
      */
-    static extractNegativeWeight(e: WeightedEdge): number;
-    constructor(a: N, b: N);
+    static extractNegativeWeight(e: WeightedEdge<any>): number;
     /**
      *
      * @type {number}

package/src/core/graph/WeightedEdge.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"WeightedEdge.d.ts","sourceRoot":"","sources":["../../../../src/core/graph/WeightedEdge.js"],"names":[],"mappings":"AAEA;IAOI;;;;OAIG;IACH,wBAHW,YAAY,GACV,MAAM,CAIlB;IAED;;;;OAIG;IACH,gCAHW,YAAY,GACV,MAAM,CAIlB;IAbe,wBAeyO;IAxBzP;;;OAGG;IACH,QAFU,MAAM,CAEL;CAmBd;qBA1BoB,WAAW"}
+{"version":3,"file":"WeightedEdge.d.ts","sourceRoot":"","sources":["../../../../src/core/graph/WeightedEdge.js"],"names":[],"mappings":"AAEA;;GAEG;AACH;IAOI;;;;OAIG;IACH,4CAFa,MAAM,CAIlB;IAED;;;;OAIG;IACH,oDAFa,MAAM,CAIlB;IAtBD;;;OAGG;IACH,QAFU,MAAM,CAEL;CAmBd;qBA7BoB,WAAW"}

package/src/core/graph/WeightedEdge.js

@@ -1,5 +1,8 @@
 import { Edge } from "./Edge.js";
 
+/**
+ * @template T
+ */
 export class WeightedEdge extends Edge {
     /**
      *