@woosh/meep-engine 2.120.1 → 2.120.3

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

@@ -1 +1 @@
-{"version":3,"file":"Quaternion.d.ts","sourceRoot":"","sources":["../../../../src/core/geom/Quaternion.js"],"names":[],"mappings":";AAqBA;IAqOI;;;;;OAKG;IACH,2BAJW,OAAO,SACP,MAAM,GACJ,UAAU,CAQtB;IAylCD;;;;OAIG;IACH,kCAFa,UAAU,CAQtB;IAED;;;;;;OAMG;IACH,0BALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,UAAU,CAQtB;IAED;;;;;;OAMG;IACH,6BALW,UAAU,QACV,UAAU,MACV,UAAU,aACV,MAAM,QAkBhB;IA53CD;;;;;;;OAOG;IACH,gBANW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,EA+BhB;IA1BG;;;OAGG;IACH,GAFU,MAAM,CAEN;IACV;;;OAGG;IACH,GAFU,MAAM,CAEN;IACV;;;OAGG;IACH,GAFU,MAAM,CAEN;IACV;;;OAGG;IACH,GAFU,MAAM,CAEN;IAEV;;;OAGG;IACH,oBAFU,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAEnD;IAqBjC,iBAEC;IAlBD,gBAEC;IAkBD,iBAEC;IAlBD,gBAEC;IAkBD,iBAEC;IAlBD,gBAEC;IAkBD,iBAEC;IAlBD,gBAEC;IA+BD;;;;;;;;OAQG;IACH,kBAPW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,QAiDhB;IAED;;;;;OAKG;IACH,uBAJW,OAAO,QACP,OAAO,QAMjB;IAED;;;;OAIG;IACH,WAHW,UAAU,GACT,MAAM,CAQjB;IAED;;;OAGG;IACH,mBAFW,UAAU,QAKpB;IAED;;OAEG;IACH,eAqBC;IAED;;;;OAIG;IACH,eAHW,UAAU,GACT,MAAM,CAoBjB;IAiBD;;;;OAIG;IACH,oBAHW,OAAO,SACP,MAAM,QAIhB;IAED;;;;;;OAMG;IACH,mBALW,MAAM,MACN,MAAM,MACN,MAAM,SACN,MAAM,QA6BhB;IAED;;;;;OAKG;IACH,2BAJW,OAAO,SACP,UAAU,SACV,UAAU,QA+BpB;IAED;;;;OAIG;IACH,wBAHW,OAAO,GACL,MAAM,CAYlB;IAED;;;;OAIG;IACH,kBAHW,OAAO,GACL,MAAM,CAkBlB;IAED,kBAWC;IAED;;;;OAIG;IACH,oBAHW,MAAM,GACL,UAAU,CASrB;IAED;;OAEG;IACH,gBAFW,UAAU,QAIpB;IAED;;;;OAIG;IACH,2BAHW,UAAU,UACV,UAAU,QAcpB;IAED;;;;;;;;;;;OAWG;IACH,yBAVW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACL,UAAU,CAYrB;IAED;;;OAGG;IACH,UAFY,MAAM,CASjB;IAED;;;;OAIG;IACH,qBAHW,UAAU,aACV,MAAM,QAIhB;IAED;;;;;OAKG;IACH,eAJW,OAAO,UACP,OAAO,OACP,OAAO,QAUjB;IAED;;;OAGG;IACH,kBAFW,MAAW,MAAM,QAM3B;IAED;;;;;;;OAOG;IACH,kBANW,MAAM,KACN,MAAM,KACN,MAAM,mBAEJ,UAAU,CAmCtB;IAED;;;;OAIG;IACH,yBAFW,OAAO,QA4BjB;IAED;;;OAGG;IACH,yBAFW,OAAO,QA2BjB;IAED;;;OAGG;IACH,yBAFW,OAAO,QA0BjB;IAGD;;;;;;;;OAQG;IACH,sBAJW,MAAM,KACN,MAAM,KACN,MAAM,QAqBhB;IAED;;;;;;;;OAQG;IACH,sBAJW,MAAM,KACN,MAAM,KACN,MAAM,QAqBhB;IAED;;;;;;;;OAQG;IACH,sBAJW,MAAM,KACN,MAAM,KACN,MAAM,QAqBhB;IAED;;;;;;;;OAQG;IACH,sBAJW,MAAM,KACN,MAAM,KACN,MAAM,QAqBhB;IAED;;;;;;;;OAQG;IACH,sBAJW,MAAM,KACN,MAAM,KACN,MAAM,QAqBhB;IAED;;;;;;;;OAQG;IACH,sBAJW,MAAM,KACN,MAAM,KACN,MAAM,QAqBhB;IAED;;;;;OAKG;IACH,sBAHW,OAAO,MACP,OAAO,QAiEjB;IAED;;OAEG;IACH,4BAFW,MAAM,EAAE,QAYlB;IAED;;;;;;;;;;;;;;OAcG;IACH,6BAXW,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,GACJ,UAAU,CA4EtB;IAED;;;;OAIG;IACH,YAHW,UAAU,KACV,MAAM,QAMhB;IAED;;;;;OAKG;IACH,uBAJW,UAAU,UACV,UAAU,KACV,MAAM,QAgBhB;IAED;;;;;OAKG;IACH,uBAJW,UAAU,MACV,UAAU,KACV,MAAM,QAuDhB;IAGD;;;;OAIG;IACH,aAHW,UAAU,KACV,MAAM,QAIhB;IAED;;;OAGG;IACH,iCAIC;IAED;;;;OAIG;IACH,YAHW,UAAU,GACR,UAAU,CAItB;IAED;;;OAGG;IACH,SAFa,UAAU,CAQtB;IAED;;;;;;;OAOG;IACH,OANW,MAAM,KACN,MAAM,KACN,MAAM,KACN,MAAM,GACJ,UAAU,CA+BtB;IAED;;;OAGG;IACH,aAFa,UAAU,CAItB;IAED;;;;;MAOC;IAED,yBAEC;IAED;;;OAGG;IACH,uBAFW,YAAY,QAOtB;IAED;;;OAGG;IACH,yBAFW,YAAY,QAStB;IAED;;;OAGG;IACH,8BAFW,YAAY,QAOtB;IAED;;;OAGG;IACH,gCAFW,YAAY,QAStB;IAED;;;;OAIG;IACH,wBAFW,MAAM,QAIhB;IAED;;;;OAIG;IACH,kBAFa,MAAM,CAIlB;IAED;;;;OAIG;IACH,qBAHW,MAAM,EAAE,WACR,MAAM,QAShB;IAED;;;;;OAKG;IACH,qBAJW,MAAM,EAAE,WACR,MAAM,GACJ,MAAM,EAAE,CASpB;IAED;;;;OAIG;IACH,cAHW,UAAU,GACR,OAAO,CAQnB;IAED;;;OAGG;IACH,QAFa,MAAM,CAQlB;IAED;;;;;OAKG;IACH,qBAJW,UAAU,cACV,MAAM,GACL,OAAO,CAIlB;IAED;;;;;;;;;OASG;IACH,uBAKC;IAED;;;;OAIG;IACH,gBAHW,MAAW,MAAM,GAChB,UAAU,CAkBrB;IAED,mBAEC;IAwDL,mBAhKe,MAAM,EAAE,WACR,MAAM,UA+JS;IAC9B,kBAnJe,MAAM,EAAE,WACR,MAAM,KACJ,MAAM,EAAE,CAiJG;IAC5B,kBApJe,MAAM,EAAE,WACR,MAAM,KACJ,MAAM,EAAE,CAkJG;IAC5B,qBA1wBe,MAAM,KACN,MAAM,KACN,MAAM,UAwwBe;IA1zChC;;OAEG;IACH,sDAOC;CA2yCJ;;kBASS,UAAU;;mBA35CD,4BAA4B;oBAW3B,cAAc"}
+{"version":3,"file":"Quaternion.d.ts","sourceRoot":"","sources":["../../../../src/core/geom/Quaternion.js"],"names":[],"mappings":";AAqBA;;;GAGG;AACH;IAqOI;;;;;OAKG;IACH,2BAJW,OAAO,SACP,MAAM,GACJ,UAAU,CAQtB;IAunCD;;;;OAIG;IACH,kCAFa,UAAU,CAQtB;IAED;;;;;;OAMG;IACH,0BALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,UAAU,CAQtB;IAED;;;;;;OAMG;IACH,6BALW,UAAU,QACV,UAAU,MACV,UAAU,aACV,MAAM,QAkBhB;IA15CD;;;;;;;OAOG;IACH,gBANW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,EA+BhB;IA1BG;;;OAGG;IACH,GAFU,MAAM,CAEN;IACV;;;OAGG;IACH,GAFU,MAAM,CAEN;IACV;;;OAGG;IACH,GAFU,MAAM,CAEN;IACV;;;OAGG;IACH,GAFU,MAAM,CAEN;IAEV;;;OAGG;IACH,oBAFU,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAEnD;IAqBjC,iBAEC;IAlBD,gBAEC;IAkBD,iBAEC;IAlBD,gBAEC;IAkBD,iBAEC;IAlBD,gBAEC;IAkBD,iBAEC;IAlBD,gBAEC;IA+BD;;;;;;;;OAQG;IACH,kBAPW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,QAiDhB;IAED;;;;;OAKG;IACH,uBAJW,OAAO,QACP,OAAO,QAMjB;IAED;;;;OAIG;IACH,WAHW,UAAU,GACT,MAAM,CAQjB;IAED;;;OAGG;IACH,mBAFW,UAAU,QAKpB;IAED;;OAEG;IACH,eAqBC;IAED;;;;OAIG;IACH,eAHW,UAAU,GACT,MAAM,CAoBjB;IAiBD;;;;OAIG;IACH,oBAHW,OAAO,SACP,MAAM,QAMhB;IAED;;;;;;OAMG;IACH,mBALW,MAAM,MACN,MAAM,MACN,MAAM,SACN,MAAM,QA6BhB;IAED;;;;;OAKG;IACH,2BAJW,OAAO,SACP,UAAU,SACV,UAAU,QA+BpB;IAED;;;;OAIG;IACH,wBAHW,OAAO,GACL,MAAM,CAYlB;IAED;;;;OAIG;IACH,kBAHW,OAAO,GACL,MAAM,CAkBlB;IAED;;;OAGG;IACH,aAFa,IAAI,CAehB;IAED;;;;OAIG;IACH,oBAHW,MAAM,GACL,IAAI,CASf;IAED;;;OAGG;IACH,gBAHW,UAAU,GACR,IAAI,CAIhB;IAED;;;;;OAKG;IACH,2BAJW,UAAU,UACV,UAAU,GACR,IAAI,CAchB;IAED;;;;;;;;;;;OAWG;IACH,yBAVW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,IAAI,CAehB;IAED;;;OAGG;IACH,UAFY,MAAM,CASjB;IAED;;;;;OAKG;IACH,qBAJW,UAAU,aACV,MAAM,GACJ,IAAI,CAMhB;IAED;;;;;OAKG;IACH,eAJW,OAAO,UACP,OAAO,OACP,OAAO,QAUjB;IAED;;;OAGG;IACH,kBAFW,MAAW,MAAM,QAQ3B;IAED;;;;;;;OAOG;IACH,kBANW,MAAM,KACN,MAAM,KACN,MAAM,mBAEJ,UAAU,CAmCtB;IAED;;;;OAIG;IACH,yBAFW,OAAO,QA4BjB;IAED;;;OAGG;IACH,yBAFW,OAAO,QA2BjB;IAED;;;OAGG;IACH,yBAFW,OAAO,QA0BjB;IAGD;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;OAMG;IACH,sBAJW,OAAO,MACP,OAAO,GACL,IAAI,CAiEhB;IAED;;;OAGG;IACH,4BAHW,MAAM,EAAE,GACN,IAAI,CAYhB;IAED;;;;;;;;;;;;;;OAcG;IACH,6BAXW,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,GACJ,IAAI,CA4EhB;IAED;;;;;OAKG;IACH,YAJW,UAAU,KACV,MAAM,GACJ,IAAI,CAMhB;IAED;;;;;;;OAOG;IACH,uBALW,UAAU,UACV,UAAU,KACV,MAAM,GACJ,IAAI,CAgBhB;IAED;;;;;;OAMG;IACH,uBALW,UAAU,MACV,UAAU,KACV,MAAM,GACJ,IAAI,CAuDhB;IAGD;;;;OAIG;IACH,aAHW,UAAU,KACV,MAAM,QAIhB;IAED;;;OAGG;IACH,4BAIC;IAED;;;;OAIG;IACH,YAHW,UAAU,GACR,IAAI,CAIhB;IAED;;;OAGG;IACH,SAFa,UAAU,CAQtB;IAED;;;;;;;OAOG;IACH,OANW,MAAM,KACN,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CA+BhB;IAED;;;OAGG;IACH,aAFa,IAAI,CAIhB;IAED;;;;;MAOC;IAED,yBAEC;IAED;;;OAGG;IACH,uBAFW,YAAY,QAOtB;IAED;;;OAGG;IACH,yBAFW,YAAY,QAStB;IAED;;;OAGG;IACH,8BAFW,YAAY,QAOtB;IAED;;;OAGG;IACH,gCAFW,YAAY,QAStB;IAED;;;;OAIG;IACH,wBAFW,MAAM,QAIhB;IAED;;;;OAIG;IACH,kBAFa,MAAM,CAIlB;IAED;;;;OAIG;IACH,qBAHW,MAAM,EAAE,WACR,MAAM,QAShB;IAED;;;;;OAKG;IACH,qBAJW,MAAM,EAAE,WACR,MAAM,GACJ,MAAM,EAAE,CASpB;IAED;;;;OAIG;IACH,cAHW,UAAU,GACR,OAAO,CAQnB;IAED;;;OAGG;IACH,QAFa,MAAM,CAQlB;IAED;;;;;OAKG;IACH,qBAJW,UAAU,cACV,MAAM,GACL,OAAO,CAIlB;IAED;;;;;;;;;OASG;IACH,uBAKC;IAED;;;;OAIG;IACH,gBAHW,MAAW,MAAM,GAChB,UAAU,CAkBrB;IAED,mBAEC;IAwDL,mBAhKe,MAAM,EAAE,WACR,MAAM,UA+JS;IAC9B,kBAnJe,MAAM,EAAE,WACR,MAAM,KACJ,MAAM,EAAE,CAiJG;IAC5B,kBApJe,MAAM,EAAE,WACR,MAAM,KACJ,MAAM,EAAE,CAkJG;IAC5B,qBAtxBe,MAAM,KACN,MAAM,KACN,MAAM,gBAoxBe;IAx1ChC;;OAEG;IACH,sDAOC;CAy0CJ;;kBASS,UAAU;;mBA77CD,4BAA4B;oBAW3B,cAAc"}

package/src/core/geom/Quaternion.js

@@ -19,6 +19,10 @@ const scratch_v3_c = new Vector3();
 const sin = Math.sin;
 const cos = Math.cos;
 
+/**
+ * Rotation representation in 3d space
+ * @see https://en.wikipedia.org/wiki/Quaternion
+ */
 class Quaternion {
     /**
      *
@@ -268,6 +272,8 @@ class Quaternion {
      * @param {number} angle
      */
     fromAxisAngle(axis, angle) {
+        assert.defined(axis,'axis');
+
         this._fromAxisAngle(axis.x, axis.y, axis.z, angle);
     }
 
@@ -384,6 +390,10 @@ class Quaternion {
         return rad;
     }
 
+    /**
+     *
+     * @returns {this}
+     */
     normalize() {
         let l = this.length();
 
@@ -395,12 +405,14 @@ class Quaternion {
             const m = 1 / l;
             this.multiplyScalar(m);
         }
+
+        return this;
     }
 
     /**
      *
      * @param {number} val
-     * @return {Quaternion}
+     * @return {this}
      */
     multiplyScalar(val) {
         return this.set(
@@ -413,15 +425,17 @@ class Quaternion {
 
     /**
      * @param {Quaternion} other
+     * @returns {this}
      */
     multiply(other) {
-        this.multiplyQuaternions(this, other);
+        return this.multiplyQuaternions(this, other);
     }
 
     /**
      *
      * @param {Quaternion} first
      * @param {Quaternion} second
+     * @returns {this}
      */
     multiplyQuaternions(first, second) {
         const aX = first.x;
@@ -434,7 +448,7 @@ class Quaternion {
         const bZ = second.z;
         const bW = second.w;
 
-        this._multiplyQuaternions(aX, aY, aZ, aW, bX, bY, bZ, bW)
+        return this._multiplyQuaternions(aX, aY, aZ, aW, bX, bY, bZ, bW)
     }
 
     /**
@@ -447,9 +461,12 @@ class Quaternion {
      * @param {number} by
      * @param {number} bz
      * @param {number} bw
-     * @return {Quaternion}
+     * @returns {this}
      */
-    _multiplyQuaternions(ax, ay, az, aw, bx, by, bz, bw) {
+    _multiplyQuaternions(
+        ax, ay, az, aw,
+        bx, by, bz, bw
+    ) {
 
         // see http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
 
@@ -478,9 +495,12 @@ class Quaternion {
      *
      * @param {Quaternion} other
      * @param {number} max_delta in radians
+     * @returns {this}
      */
     rotateTowards(other, max_delta) {
         Quaternion.rotateTowards(this, this, other, max_delta);
+
+        return this;
     }
 
     /**
@@ -504,9 +524,11 @@ class Quaternion {
      * @param {function():number} random
      */
     setRandom(random) {
+        assert.isFunction(random,'random');
+
         this.set(random(), random(), random(), random());
 
-        this.normalize();
+        return this.normalize();
     }
 
     /**
@@ -655,6 +677,7 @@ class Quaternion {
      * @param {number} x angle in X axis in radians
      * @param {number} y angle in Y axis in radians
      * @param {number} z angle in Z axis in radians
+     * @returns {this}
      */
     fromEulerAnglesXYZ(x, y, z) {
         const half_x = x * 0.5;
@@ -674,7 +697,7 @@ class Quaternion {
         const _z = c1 * c2 * s3 + s1 * s2 * c3;
         const _w = c1 * c2 * c3 - s1 * s2 * s3;
 
-        this.set(_x, _y, _z, _w);
+        return this.set(_x, _y, _z, _w);
     }
 
     /**
@@ -685,6 +708,7 @@ class Quaternion {
      * @param {number} x angle in X axis in radians
      * @param {number} y angle in Y axis in radians
      * @param {number} z angle in Z axis in radians
+     * @returns {this}
      */
     fromEulerAnglesYXZ(x, y, z) {
         const scaled_x = x * 0.5;
@@ -704,7 +728,7 @@ class Quaternion {
         const _z = c1 * c2 * s3 - s1 * s2 * c3;
         const _w = c1 * c2 * c3 + s1 * s2 * s3;
 
-        this.set(_x, _y, _z, _w);
+        return this.set(_x, _y, _z, _w);
     }
 
     /**
@@ -715,6 +739,7 @@ class Quaternion {
      * @param {number} x angle in X axis in radians
      * @param {number} y angle in Y axis in radians
      * @param {number} z angle in Z axis in radians
+     * @returns {this}
      */
     fromEulerAnglesZXY(x, y, z) {
         const scaled_x = x * 0.5;
@@ -734,7 +759,7 @@ class Quaternion {
         const _z = c1 * c2 * s3 + s1 * s2 * c3;
         const _w = c1 * c2 * c3 - s1 * s2 * s3;
 
-        this.set(_x, _y, _z, _w);
+        return this.set(_x, _y, _z, _w);
     }
 
     /**
@@ -745,6 +770,7 @@ class Quaternion {
      * @param {number} x angle in X axis in radians
      * @param {number} y angle in Y axis in radians
      * @param {number} z angle in Z axis in radians
+     * @returns {this}
      */
     fromEulerAnglesZYX(x, y, z) {
         const scaled_x = x * 0.5;
@@ -764,7 +790,7 @@ class Quaternion {
         const _z = c1 * c2 * s3 - s1 * s2 * c3;
         const _w = c1 * c2 * c3 + s1 * s2 * s3;
 
-        this.set(_x, _y, _z, _w);
+        return this.set(_x, _y, _z, _w);
     }
 
     /**
@@ -775,6 +801,7 @@ class Quaternion {
      * @param {number} x angle in X axis in radians
      * @param {number} y angle in Y axis in radians
      * @param {number} z angle in Z axis in radians
+     * @returns {this}
      */
     fromEulerAnglesYZX(x, y, z) {
         const scaled_x = x * 0.5;
@@ -794,7 +821,7 @@ class Quaternion {
         const _z = c1 * c2 * s3 - s1 * s2 * c3;
         const _w = c1 * c2 * c3 - s1 * s2 * s3;
 
-        this.set(_x, _y, _z, _w);
+        return this.set(_x, _y, _z, _w);
     }
 
     /**
@@ -805,6 +832,7 @@ class Quaternion {
      * @param {number} x angle in X axis in radians
      * @param {number} y angle in Y axis in radians
      * @param {number} z angle in Z axis in radians
+     * @returns {this}
      */
     fromEulerAnglesXZY(x, y, z) {
         const scaled_x = x * 0.5;
@@ -824,7 +852,7 @@ class Quaternion {
         const _z = c1 * c2 * s3 + s1 * s2 * c3;
         const _w = c1 * c2 * c3 + s1 * s2 * s3;
 
-        this.set(_x, _y, _z, _w);
+        return this.set(_x, _y, _z, _w);
     }
 
     /**
@@ -832,6 +860,7 @@ class Quaternion {
      * Based on blog post: http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors
      * @param {Vector3} from
      * @param {Vector3} to
+     * @returns {this}
      */
     fromUnitVectors(from, to) {
         assert.ok(from.isNormalized(), `from vector is not normalized, length = ${from.length()}`);
@@ -890,7 +919,7 @@ class Quaternion {
         const wZ = inv_m * crossZ;
 
 
-        this.set(
+        return this.set(
             wX,
             wY,
             wZ,
@@ -900,12 +929,13 @@ class Quaternion {
 
     /**
      * @param {number[]} m4x4
+     * @returns {this}
      */
     setFromRotationMatrix(m4x4) {
         assert.defined(m4x4, 'm4x4');
         assert.isArrayLike(m4x4, 'm4x4');
 
-        this.__setFromRotationMatrix(
+        return this.__setFromRotationMatrix(
             m4x4[0], m4x4[4], m4x4[8],
             m4x4[1], m4x4[5], m4x4[9],
             m4x4[2], m4x4[6], m4x4[10]
@@ -926,7 +956,7 @@ class Quaternion {
      * @param {number} m31
      * @param {number} m32
      * @param {number} m33
-     * @returns {Quaternion}
+     * @returns {this}
      */
     __setFromRotationMatrix(
         m11, m12, m13,
@@ -1008,18 +1038,21 @@ class Quaternion {
      * Linear interpolation
      * @param {Quaternion} other
      * @param {number} t fractional value between 0 and 1
+     * @returns {this}
      */
     lerp(other, t) {
 
-        this.lerpQuaternions(this, other, t);
+        return this.lerpQuaternions(this, other, t);
 
     }
 
     /**
-     *
+     * Linear interpolation of two quaternions
+     * Pretty good, not as good as slerp, but close enough for most application
      * @param {Quaternion} first
      * @param {Quaternion} second
      * @param {number} t
+     * @returns {this}
      */
     lerpQuaternions(first, second, t) {
 
@@ -1034,7 +1067,7 @@ class Quaternion {
         const w = lerp(first.w, second.w, t);
 
 
-        this.set(x, y, z, w);
+       return this.set(x, y, z, w);
     }
 
     /**
@@ -1042,6 +1075,7 @@ class Quaternion {
      * @param {Quaternion} from
      * @param {Quaternion} to
      * @param {number} t coefficient, how much between the input quats?
+     * @returns {this}
      */
     slerpQuaternions(from, to, t) {
         assert.isNumber(t, 't');
@@ -1095,7 +1129,7 @@ class Quaternion {
         const _z = scale0 * az + scale1 * bz;
         const _w = scale0 * aw + scale1 * bw;
 
-        this.set(_x, _y, _z, _w);
+        return this.set(_x, _y, _z, _w);
     }
 
 
@@ -1110,7 +1144,7 @@ class Quaternion {
 
     /**
      *
-     * @param {function} handler
+     * @param {function(x:number,y:number,z:number,w:number)} handler
      */
     process(handler) {
         handler(this.x, this.y, this.z, this.w);
@@ -1121,7 +1155,7 @@ class Quaternion {
     /**
      *
      * @param {Quaternion} other
-     * @returns {Quaternion}
+     * @returns {this}
      */
     copy(other) {
         return this.set(other.x, other.y, other.z, other.w);
@@ -1145,7 +1179,7 @@ class Quaternion {
      * @param {number} y
      * @param {number} z
      * @param {number} w
-     * @returns {Quaternion}
+     * @returns {this}
      */
     set(x, y, z, w) {
         assert.isNumber(x, 'x');
@@ -1180,7 +1214,7 @@ class Quaternion {
 
     /**
      *
-     * @returns {Quaternion}
+     * @returns {this}
      */
     conjugate() {
         return this.set(-this.x, -this.y, -this.z, this.w);

package/src/core/geom/Vector4.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"Vector4.d.ts","sourceRoot":"","sources":["../../../../src/core/geom/Vector4.js"],"names":[],"mappings":";AAMA;IAiaI;;;;;;OAMG;IACH,gBALW,OAAO,MACP,OAAO,qBAEP,OAAO,QASjB;IA9aD;;;;;;;;OAQG;IACH,gBAPW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,EAiBhB;IANG,UAAU;IACV,UAAU;IACV,UAAU;IACV,UAAU;IAEV,eAA6B;IAWjC;;;OAGG;IACH,SAFW,MAAM,EAIhB;IAdD;;;OAGG;IACH,SAFa,MAAM,CAIlB;IAkBD;;;OAGG;IACH,SAFW,MAAM,EAIhB;IAdD;;;OAGG;IACH,SAFa,MAAM,CAIlB;IAkBD;;;OAGG;IACH,SAFW,MAAM,EAIhB;IAdD;;;OAGG;IACH,SAFa,MAAM,CAIlB;IAkBD;;;OAGG;IACH,SAFW,MAAM,EAIhB;IAdD;;;OAGG;IACH,SAFa,MAAM,CAIlB;IAUD;;;;OAIG;IACH,qBAHW,MAAM,EAAE,WACR,MAAM,QAShB;IAED;;;;OAIG;IACH,oBAHW,MAAM,EAAE,WACR,MAAM,QAOhB;IAED;;;;;;;OAOG;IACH,iDAFa,OAAO,CAkCnB;IAED;;;OAGG;IACH,oBAFW,OAAO,QAQjB;IAED;;;;OAIG;IACH,+BAFa,OAAO,CAOnB;IAED;;;;;;;;;;;;;;;;;;;OAmBG;IACH,kBAlBW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,OAAO,CAoBnB;IAED;;;;OAIG;IACH,WAHW,OAAO,GACL,MAAM,CAIlB;IAED;;;;OAIG;IACH,SAHW,OAAO,GAAC,OAAO,GACb,OAAO,CASnB;IAED;;;;OAIG;IACH,qBAHW,OAAO,GACL,OAAO,CAUnB;IAED;;;;OAIG;IACH,WAHW,OAAO,GACL,OAAO,CAInB;IAED;;;OAGG;IACH,SAFa,OAAO,CAQnB;IAED;;;OAGG;IACH,mBAFW,UAAU,QAyBpB;IAED;;;;OAIG;IACH,aAHW,OAAO,GACL,OAAO,CAInB;IAED;;;OAGG;IACH,QAFY,MAAM,CASjB;IAED;;;;OAIG;IACH,gBAJW,OAAO,MACP,OAAO,mBAKjB;IAED;;;OAGG;IACH,gBAFW,MAAM,EAAE,QAOlB;IAED;;OAEG;IACH,WAFa,MAAM,EAAE,CAQpB;IAED;;;;OAIG;IACH,mBAHW,MAAM,EAAE,UACR,MAAM,QAIhB;IAED;;;;;MAOC;IAED,0BAEC;IAED;;;OAGG;IACH,uBAFW,YAAY,QAOtB;IAED;;;OAGG;IACH,yBAFW,YAAY,QAStB;IAED,sDAOC;CAiBJ"}

package/src/core/geom/Vector4.js

@@ -7,14 +7,20 @@ import { computeHashFloat } from "../primitives/numbers/computeHashFloat.js";
 class Vector4 {
     /**
      *
-     * @param {Number} [x=0]
-     * @param {Number} [y=0]
-     * @param {Number} [z=0]
-     * @param {Number} [w=0]
+     * @param {number} [x=0]
+     * @param {number} [y=0]
+     * @param {number} [z=0]
+     * @param {number} [w=0]
      * @constructor
      * @class
      */
-    constructor(x = 0, y = 0, z = 0, w = 0) {
+    constructor(
+        x = 0,
+        y = 0,
+        z = 0,
+        w = 0
+    ) {
+
         this.x = x;
         this.y = y;
         this.z = z;
@@ -23,6 +29,10 @@ class Vector4 {
         this.onChanged = new Signal();
     }
 
+    /**
+     *
+     * @returns {number}
+     */
     get 0() {
         return this.x;
     }
@@ -35,6 +45,10 @@ class Vector4 {
         this.x = v;
     }
 
+    /**
+     *
+     * @returns {number}
+     */
     get 1() {
         return this.y;
     }
@@ -47,6 +61,10 @@ class Vector4 {
         this.y = v;
     }
 
+    /**
+     *
+     * @returns {number}
+     */
     get 2() {
         return this.z;
     }
@@ -59,6 +77,10 @@ class Vector4 {
         this.z = v;
     }
 
+    /**
+     *
+     * @returns {number}
+     */
     get 3() {
         return this.w;
     }

package/src/core/math/gaussian.d.ts

@@ -1,8 +1,9 @@
 /**
- *
- * @param {number} sigma distance from mean
- * @param {number} v Variance
- * @returns {number}
+ * This is not the standard gaussian.
+ * It lacks the normalization factor, standard gaussian would be weighted by `1 / √(2π * variance)`
+ * @param {number} sigma Standard deviation. Distance from mean. Represents the "width" of the Gaussian-like curve.  Note: The parameter is named `sigma`, but its placement in the formula means it scales inversely to the usual effect of sigma.
+ * @param {number} v Variance. Represents the "height" or "amplitude" of the curve, but at a distance from the mean.  Larger variance values result in larger function values further away from the mean (0).
+ * @returns {number} Ranges from 0 to 1 (exclusive of 0)
  */
 export function gaussian(sigma: number, v: number): number;
 //# sourceMappingURL=gaussian.d.ts.map

package/src/core/math/gaussian.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"gaussian.d.ts","sourceRoot":"","sources":["../../../../src/core/math/gaussian.js"],"names":[],"mappings":"AAAA;;;;;GAKG;AACH,gCAJW,MAAM,KACN,MAAM,GACJ,MAAM,CAOlB"}
+{"version":3,"file":"gaussian.d.ts","sourceRoot":"","sources":["../../../../src/core/math/gaussian.js"],"names":[],"mappings":"AAAA;;;;;;GAMG;AACH,gCAJW,MAAM,KACN,MAAM,GACJ,MAAM,CAOlB"}

package/src/core/math/gaussian.js

@@ -1,8 +1,9 @@
 /**
- *
- * @param {number} sigma distance from mean
- * @param {number} v Variance
- * @returns {number}
+ * This is not the standard gaussian.
+ * It lacks the normalization factor, standard gaussian would be weighted by `1 / √(2π * variance)`
+ * @param {number} sigma Standard deviation. Distance from mean. Represents the "width" of the Gaussian-like curve.  Note: The parameter is named `sigma`, but its placement in the formula means it scales inversely to the usual effect of sigma.
+ * @param {number} v Variance. Represents the "height" or "amplitude" of the curve, but at a distance from the mean.  Larger variance values result in larger function values further away from the mean (0).
+ * @returns {number} Ranges from 0 to 1 (exclusive of 0)
  */
 export function gaussian(sigma, v) {
     const v2 = v * v;

package/src/core/math/matrix/SquareMatrix.d.ts

@@ -1,93 +1,116 @@
+/**
+ * Represents a square matrix (number of rows equals number of columns).
+ * Data is stored in a typed array.
+ */
 export class SquareMatrix {
     /**
-     *
-     * @param {number} size
-     * @param {BinaryDataType|string} type
+     * @param {number} size  Side length of the matrix (e.g. '3' for a 3x3 matrix).
+     * @param {BinaryDataType|string} type Data type of the elements. Must be a valid BinaryDataType (e.g., "uint8", "float32").
+     * @throws {Error} If the provided type is not supported.
      */
     constructor(size: number, type: BinaryDataType | string);
     /**
-     *
+     * Side length of the matrix.
      * @type {number}
      */
     size: number;
     /**
-     *
+     * Data type of matrix elements.
      * @type {BinaryDataType}
      */
     type: BinaryDataType;
     /**
+     * Matrix data, stored as a typed array. Column-major order.
      * @type {number[]}
      */
     data: number[];
+    /**
+     * @returns {number} Side length of the matrix.
+     */
     get n(): number;
+    /**
+     * @returns {number} Total number of elements in the matrix (size * size).
+     */
     get length(): number;
+    /**
+     * Returns direct reference to underlying data, modifying it WILL affect the matrix.
+     * @returns {number[]}
+     */
     get val(): number[];
-    fill(v: any): void;
     /**
-     *
-     * @param {SquareMatrix} other
+     * Fills the entire matrix with the given value.
+     * @param {number} v Value to fill the matrix with.
+     * @returns {void}
+     */
+    fill(v: number): void;
+    /**
+     * Subtracts another matrix from this matrix (this = this - other).
+     * @param {SquareMatrix} other The matrix to subtract. Must be of the same size.
      */
     subtract(other: SquareMatrix): void;
     /**
-     * Component-size subtraction
-     * @param {SquareMatrix} a
-     * @param {SquareMatrix} b
+     * Subtracts matrix 'b' from matrix 'a', storing the result in this matrix (this = a - b).
+     * Component-wise operation.
+     * @param {SquareMatrix} a The first matrix.
+     * @param {SquareMatrix} b The second matrix.
      */
     subtractMatrices(a: SquareMatrix, b: SquareMatrix): void;
     /**
-     * Individually negate each value in the matrix
+     * Negates all elements of the matrix (multiplies each element by -1).
      */
     negate(): void;
     /**
-     * Set all cells to 0
+     * Sets all elements of the matrix to 0.
      */
     clear(): void;
     /**
      * Set diagonal to 1
+     * NOTE: if the other cells are 0s - it will produce identity matrix, but those cells will not be written explicitly
      */
     eye(): void;
     /**
-     *
-     * @param {SquareMatrix} other
+     * Copies the elements of another matrix into this matrix.
+     * @param {SquareMatrix} other The matrix to copy from.  Must be the same size.
      */
     copy(other: SquareMatrix): void;
     /**
-     *
-     * @return {SquareMatrix}
+     * Creates a new matrix that is a copy of this matrix.
+     * @returns {SquareMatrix} A new matrix with the same elements.
      */
     clone(): SquareMatrix;
     /**
-     * Transpose matrix
+     * Transposes the matrix in-place (swaps rows and columns).
      */
     transpose(): void;
     /**
-     *
-     * @param {number[]} arr
+     * Populates matrix from a 1D array.
+     * @param {number[]} arr Source array.  Must have at least size*size elements.
      */
     fromArray(arr: number[]): void;
     /**
-     *
-     * @param {number[]} [destination]
-     * @param {number} [offset]
+     * Copies matrix elements into a 1D array.
+     * @param {number[]} [destination] Array to store matrix into. Creates a new array if not provided.
+     * @param {number} [offset=0] Starting index in the destination array.
+     * @returns {number[]} The array containing the matrix data.
      */
     toArray(destination?: number[], offset?: number): number[];
     /**
-     *
-     * @param {number} row_index
-     * @param {number} column_index
-     * @param {number} value
+     * Sets the value of a cell in the matrix.
+     * @param {number} row_index Row index (0-based).
+     * @param {number} column_index Column index (0-based).
+     * @param {number} value The value to set.
      */
     setCellValue(row_index: number, column_index: number, value: number): void;
     /**
-     *
-     * @param {number} row_index
-     * @param {number} column_index
-     * @return {number}
+     * Retrieves the value of a cell in the matrix.
+     * @param {number} row_index Row index (0-based).
+     * @param {number} column_index Column index (0-based).
+     * @returns {number} The value of the cell.
      */
     getCellValue(row_index: number, column_index: number): number;
     /**
      * Read values at the diagonal, from left to right, top to bottom
-     * @param {number[]|Float32Array|Float64Array} result
+     * @param {number[]|Float32Array|Float64Array} result Array to store the diagonal.
      */
     readDiagonal(result: number[] | Float32Array | Float64Array): void;
 }

package/src/core/math/matrix/SquareMatrix.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"SquareMatrix.d.ts","sourceRoot":"","sources":["../../../../../src/core/math/matrix/SquareMatrix.js"],"names":[],"mappings":"AAIA;;;GAGG;AACH;IAEI;;;;OAIG;IACH,kBAJW,MAAM,QACN,cAAc,GAAC,MAAM,EA6B/B;IAjBG;;;OAGG;IACH,MAFU,MAAM,CAEA;IAEhB;;;OAGG;IACH,MAFU,cAAc,CAER;IAEhB;;;OAGG;IACH,MAFU,MAAM,EAAE,CAEqB;IAG3C;;OAEG;IACH,SAFa,MAAM,CAIlB;IAED;;OAEG;IACH,cAFa,MAAM,CAIlB;IAED;;;OAGG;IACH,WAFa,MAAM,EAAE,CAIpB;IAED;;;;OAIG;IACH,QAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;OAGG;IACH,gBAFW,YAAY,QAItB;IAED;;;;;OAKG;IACH,oBAHW,YAAY,KACZ,YAAY,QAiBtB;IAED;;OAEG;IACH,eAMC;IAED;;OAEG;IACH,cAEC;IAED;;;OAGG;IACH,YAMC;IAED;;;OAGG;IACH,YAFW,YAAY,QAMtB;IAED;;;OAGG;IACH,SAFa,YAAY,CAQxB;IAED;;OAEG;IACH,kBAcC;IAED;;;OAGG;IACH,eAFW,MAAM,EAAE,QAIlB;IAED;;;;;OAKG;IACH,sBAJW,MAAM,EAAE,WACR,MAAM,GACJ,MAAM,EAAE,CASpB;IAED;;;;;OAKG;IACH,wBAJW,MAAM,gBACN,MAAM,SACN,MAAM,QAYhB;IAED;;;;;OAKG;IACH,wBAJW,MAAM,gBACN,MAAM,GACJ,MAAM,CAUlB;IAED;;;OAGG;IACH,qBAFW,MAAM,EAAE,GAAC,YAAY,GAAC,YAAY,QAU5C;CACJ"}