@woosh/meep-engine 2.138.18 → 2.138.19

package/src/core/geom/3d/shape/TransformedShape3D.d.ts

@@ -1,12 +1,75 @@
-import {AbstractShape3D} from "./AbstractShape3D";
-
-export class TransformedShape3D extends AbstractShape3D {
-
-    static from_m4(subject: AbstractShape3D, matrix: ArrayLike<number>): TransformedShape3D
-
-    static from_translation_scale(subject: AbstractShape3D, translation: ArrayLike<number>, scale: ArrayLike<number>): TransformedShape3D
-
-    static from_scale(subject: AbstractShape3D, scale: ArrayLike<number>): TransformedShape3D
-
-    static from_translation(subject: AbstractShape3D, translation: ArrayLike<number>): TransformedShape3D
-}
+export class TransformedShape3D extends AbstractShape3D {
+    /**
+     *
+     * @param {number[]|Float32Array|mat4} m4
+     * @param {AbstractShape3D} subject
+     * @returns {TransformedShape3D}
+     */
+    static from_m4(subject: AbstractShape3D, m4: number[] | Float32Array | mat4): TransformedShape3D;
+    /**
+     *
+     * @param {AbstractShape3D} subject
+     * @param {number[]} translation
+     * @param {number[]} scale
+     */
+    static from_translation_scale(subject: AbstractShape3D, translation: number[], scale: number[]): TransformedShape3D;
+    /**
+     *
+     * @param {AbstractShape3D} subject
+     * @param {number[]} translation
+     */
+    static from_translation(subject: AbstractShape3D, translation: number[]): TransformedShape3D;
+    /**
+     *
+     * @returns {TransformedShape3D}
+     * @param {AbstractShape3D} subject
+     * @param {number[]|Float32Array|vec3} scale
+     */
+    static from_scale(subject: AbstractShape3D, scale: number[] | Float32Array | vec3): TransformedShape3D;
+    /**
+     *
+     * @type {number[]|Float32Array|mat4}
+     * @private
+     */
+    private __matrix;
+    /**
+     *
+     * @type {Float32Array|mat4}
+     * @private
+     */
+    private __inverse_matrix;
+    /**
+     *
+     * @type {AbstractShape3D|null}
+     * @private
+     */
+    private __subject;
+    /**
+     *
+     * @returns {AbstractShape3D|null}
+     */
+    get subject(): AbstractShape3D;
+    /**
+     *
+     * @param {number[]|Float32Array} m
+     */
+    set transform(arg: number[] | Float32Array);
+    get transform(): number[] | Float32Array;
+    compute_bounding_box(result: any): void;
+    signed_distance_gradient_at_point(result: any, point: any): number;
+    signed_distance_at_point(point: any): number;
+    contains_point(point: any): boolean;
+    sample_random_point_in_volume(result: any, result_offset: any, random: any): void;
+    support(result: any, result_offset: any, direction_x: any, direction_y: any, direction_z: any): void;
+    /**
+     *
+     * @param {TransformedShape3D} other
+     * @returns {boolean}
+     */
+    equals(other: TransformedShape3D): boolean;
+}
+export namespace TransformedShape3D {
+    let isTransformedShape3D: boolean;
+}
+import { AbstractShape3D } from "./AbstractShape3D.js";
+//# sourceMappingURL=TransformedShape3D.d.ts.map

package/src/core/geom/3d/shape/TransformedShape3D.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"TransformedShape3D.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/shape/TransformedShape3D.js"],"names":[],"mappings":"AAkBA;IAkCI;;;;;OAKG;IACH,wBAHW,eAAe,MADf,MAAM,EAAE,GAAC,YAAY,OAAK,GAExB,kBAAkB,CAS9B;IAED;;;;;OAKG;IACH,uCAJW,eAAe,eACf,MAAM,EAAE,SACR,MAAM,EAAE,sBAclB;IAED;;;;OAIG;IACH,iCAHW,eAAe,eACf,MAAM,EAAE,sBAIlB;IAED;;;;;OAKG;IACH,2BAHW,eAAe,SACf,MAAM,EAAE,GAAC,YAAY,OAAK,GAFxB,kBAAkB,CAW9B;IAvFG;;;;OAIG;IACH,iBAAoC;IAEpC;;;;OAIG;IACH,yBAA4C;IAE5C;;;;OAIG;IACH,kBAAqB;IAGzB;;;OAGG;IACH,+BAEC;IA6DD;;;OAGG;IACH,4CAIC;IAED,yCAEC;IAED,qBAMC;IAED,wCAKC;IAED,mEAgDC;IAED,6CAEC;IAED,gCAKC;IAED,kFAIC;IAED,qGAMC;IAED;;;;OAIG;IACH,cAHW,kBAAkB,GAChB,OAAO,CAOnB;IAED,eAGC;CACJ;;8BAIS,OAAO;;gCAjOe,sBAAsB"}
+{"version":3,"file":"TransformedShape3D.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/shape/TransformedShape3D.js"],"names":[],"mappings":"AAkBA;IAkCI;;;;;OAKG;IACH,wBAHW,eAAe,MADf,MAAM,EAAE,GAAC,YAAY,OAAK,GAExB,kBAAkB,CAS9B;IAED;;;;;OAKG;IACH,uCAJW,eAAe,eACf,MAAM,EAAE,SACR,MAAM,EAAE,sBAclB;IAED;;;;OAIG;IACH,iCAHW,eAAe,eACf,MAAM,EAAE,sBAIlB;IAED;;;;;OAKG;IACH,2BAHW,eAAe,SACf,MAAM,EAAE,GAAC,YAAY,OAAK,GAFxB,kBAAkB,CAW9B;IAvFG;;;;OAIG;IACH,iBAAoC;IAEpC;;;;OAIG;IACH,yBAA4C;IAE5C;;;;OAIG;IACH,kBAAqB;IAGzB;;;OAGG;IACH,+BAEC;IA6DD;;;OAGG;IACH,4CAIC;IAED,yCAEC;IAUD,wCAKC;IAED,mEAyDC;IAED,6CAEC;IAED,oCAKC;IAED,kFAIC;IAED,qGAMC;IAED;;;;OAIG;IACH,cAHW,kBAAkB,GAChB,OAAO,CAOnB;CAMJ;;8BAIS,OAAO;;gCA1Oe,sBAAsB"}

package/src/core/geom/3d/shape/TransformedShape3D.js

@@ -181,9 +181,18 @@ export class TransformedShape3D extends AbstractShape3D {
 
         const scaled_distance = result_sign * Math.sqrt(scaled_dx * scaled_dx + scaled_dy * scaled_dy + scaled_dz * scaled_dz);
 
-        result[0] = scaled_gx;
-        result[1] = scaled_gy;
-        result[2] = scaled_gz;
+        // normalize the world-space gradient to unit length before storing
+        const scaled_mag = v3_length(scaled_gx, scaled_gy, scaled_gz);
+
+        if (scaled_mag > 0) {
+            result[0] = scaled_gx / scaled_mag;
+            result[1] = scaled_gy / scaled_mag;
+            result[2] = scaled_gz / scaled_mag;
+        } else {
+            result[0] = 0;
+            result[1] = 0;
+            result[2] = 0;
+        }
 
         return scaled_distance;
     }

package/src/core/geom/3d/shape/UnionShape3D.d.ts

@@ -1,5 +1,47 @@
-import {AbstractShape3D} from "./AbstractShape3D";
-
-export class UnionShape3D extends AbstractShape3D {
-    static from(children: AbstractShape3D[]): UnionShape3D
-}
+export class UnionShape3D extends AbstractShape3D {
+    /**
+     *
+     * @param {AbstractShape3D[]} children
+     * @returns {UnionShape3D}
+     */
+    static from(children: AbstractShape3D[]): UnionShape3D;
+    /**
+     *
+     * @type {AbstractShape3D[]}
+     */
+    children: AbstractShape3D[];
+    /**
+     * Estimator of how much volume is in overlap,
+     * expressed as fraction of volume occupied by overlapping region of 2 shapes over the sum of volume occupied by each child
+     * @type {number}
+     * @private
+     */
+    private __volume_overlap_fraction;
+    __volume_sum: number;
+    __volume_sums: any[];
+    __child_volumes: any[];
+    compute_bounding_box(result: any): void;
+    /**
+     *
+     * @private
+     */
+    private __compute_volume_variables;
+    /**
+     * Monte-carlo-style volume overlap estimation
+     * @private
+     */
+    private __estimate_volume_overlap_fraction;
+    signed_distance_gradient_at_point(result: any, point: any): number;
+    signed_distance_at_point(point: any): number;
+    contains_point(point: any): boolean;
+    sample_random_point_in_volume(result: any, result_offset: any, random: any): void;
+    support(result: any, result_offset: any, direction_x: any, direction_y: any, direction_z: any): void;
+    /**
+     *
+     * @param {UnionShape3D} other
+     * @returns {boolean}
+     */
+    equals(other: UnionShape3D): boolean;
+}
+import { AbstractShape3D } from "./AbstractShape3D.js";
+//# sourceMappingURL=UnionShape3D.d.ts.map

package/src/core/geom/3d/shape/UnionShape3D.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"UnionShape3D.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/shape/UnionShape3D.js"],"names":[],"mappings":"AA2BA;IAqII;;;;OAIG;IACH,sBAHW,eAAe,EAAE,GACf,YAAY,CAYxB;IAhJG;;;OAGG;IACH,UAFU,eAAe,EAAE,CAET;IAElB;;;;;OAKG;IACH,kCAAmC;IAEnC,qBAAsB;IACtB,qBAAuB;IACvB,uBAAyB;IAG7B,wCAgCC;IAED;;;OAGG;IACH,mCAkBC;IAED;;;OAGG;IACH,2CA8CC;IAmBD,qBAuBC;IAED,2BAaC;IAED,mEAEC;IAED,6CAaC;IAED,oCAYC;IAED,kFAoDC;IAED,qGAyBC;IAED;;;;OAIG;IACH,cAHW,YAAY,GACV,OAAO,CAKnB;IAED,eAWC;CACJ;gCAxV+B,sBAAsB"}
+{"version":3,"file":"UnionShape3D.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/shape/UnionShape3D.js"],"names":[],"mappings":"AA2BA;IAqII;;;;OAIG;IACH,sBAHW,eAAe,EAAE,GACf,YAAY,CAYxB;IAhJG;;;OAGG;IACH,UAFU,eAAe,EAAE,CAET;IAElB;;;;;OAKG;IACH,kCAAmC;IAEnC,qBAAsB;IACtB,qBAAuB;IACvB,uBAAyB;IAG7B,wCAgCC;IAED;;;OAGG;IACH,mCAkBC;IAED;;;OAGG;IACH,2CA8CC;IA2DD,mEAEC;IAED,6CAaC;IAED,oCAYC;IAED,kFAoDC;IAED,qGAyBC;IAED;;;;OAIG;IACH,cAHW,YAAY,GACV,OAAO,CAKnB;CAcJ;gCAxV+B,sBAAsB"}

package/src/core/geom/3d/shape/UnitCubeShape3D.d.ts

@@ -1,5 +1,12 @@
-import {AbstractShape3D} from "./AbstractShape3D";
-
-export class UnitCubeShape3D extends AbstractShape3D {
-    static INSTANCE: UnitCubeShape3D
-}
+export class UnitCubeShape3D extends AbstractShape3D {
+    static INSTANCE: UnitCubeShape3D;
+    compute_bounding_box(result: any): void;
+    nearest_point_on_surface(result: any, reference: any): void;
+    support(result: any, result_offset: any, direction_x: any, direction_y: any, direction_z: any): void;
+    signed_distance_gradient_at_point(result: any, point: any): number;
+    signed_distance_at_point(point: any): number;
+    contains_point(point: any): boolean;
+    sample_random_point_in_volume(result: any, result_offset: any, random: any): void;
+}
+import { AbstractShape3D } from "./AbstractShape3D.js";
+//# sourceMappingURL=UnitCubeShape3D.d.ts.map

package/src/core/geom/3d/shape/UnitCubeShape3D.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"UnitCubeShape3D.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/shape/UnitCubeShape3D.js"],"names":[],"mappings":"AAUA;IAsFI,iCAAwC;IApFxC,qBAEC;IAED,2BAEC;IAED,wCAQC;IAED,4DAYC;IAED,qGAIC;IAED,mEAEC;IAED,6CAqBC;IAED,oCASC;IAED,kFAEC;IAED,eAEC;CAGJ;gCA1F+B,sBAAsB"}
+{"version":3,"file":"UnitCubeShape3D.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/shape/UnitCubeShape3D.js"],"names":[],"mappings":"AAUA;IAsFI,iCAAwC;IA5ExC,wCAQC;IAED,4DAYC;IAED,qGAIC;IAED,mEAEC;IAED,6CAqBC;IAED,oCASC;IAED,kFAEC;CAOJ;gCA1F+B,sBAAsB"}

package/src/core/geom/3d/shape/UnitSphereShape3D.d.ts

@@ -1,5 +1,17 @@
-import {AbstractShape3D} from "./AbstractShape3D";
-
-export class UnitSphereShape3D extends AbstractShape3D {
-    static INSTANCE: UnitSphereShape3D
-}
+/**
+ * Sphere with diameter of 2 (radius = 1)
+ */
+export class UnitSphereShape3D extends AbstractShape3D {
+    support(result: any, result_offset: any, direction_x: any, direction_y: any, direction_z: any): void;
+    compute_bounding_box(result: any): void;
+    nearest_point_on_surface(result: any, reference: any): void;
+    signed_distance_gradient_at_point(result: any, point: any): number;
+    signed_distance_at_point(point: any): number;
+    contains_point(point: any): boolean;
+    sample_random_point_in_volume(result: any, result_offset: any, random: any): void;
+}
+export namespace UnitSphereShape3D {
+    let INSTANCE: UnitSphereShape3D;
+}
+import { AbstractShape3D } from "./AbstractShape3D.js";
+//# sourceMappingURL=UnitSphereShape3D.d.ts.map

package/src/core/geom/3d/shape/UnitSphereShape3D.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"UnitSphereShape3D.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/shape/UnitSphereShape3D.js"],"names":[],"mappings":"AAKA;;GAEG;AACH;IACI,qBAEC;IAED,2BAEC;IAED,qGAQC;IAED,wCAQC;IAED,4DAYC;IAED,mEAEC;IAED,6CAMC;IAED,oCAMC;IAED,kFAEC;IAED,eAEC;CACJ;;;;gCA5E+B,sBAAsB"}
+{"version":3,"file":"UnitSphereShape3D.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/shape/UnitSphereShape3D.js"],"names":[],"mappings":"AAKA;;GAEG;AACH;IASI,qGAQC;IAED,wCAQC;IAED,4DAYC;IAED,mEAEC;IAED,6CAMC;IAED,oCAMC;IAED,kFAEC;CAKJ;;;;gCA5E+B,sBAAsB"}

package/src/core/geom/3d/shape/json/shape_to_type.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"shape_to_type.d.ts","sourceRoot":"","sources":["../../../../../../../src/core/geom/3d/shape/json/shape_to_type.js"],"names":[],"mappings":"AAKA;;;;GAIG;AACH,uDAFa,MAAM,CAclB"}
+{"version":3,"file":"shape_to_type.d.ts","sourceRoot":"","sources":["../../../../../../../src/core/geom/3d/shape/json/shape_to_type.js"],"names":[],"mappings":"AAMA;;;;GAIG;AACH,uDAFa,MAAM,CAgBlB"}

package/src/core/geom/3d/shape/json/shape_to_type.js

@@ -1,7 +1,8 @@
+import { CapsuleShape3D } from "../CapsuleShape3D.js";
+import { TransformedShape3D } from "../TransformedShape3D.js";
 import { UnionShape3D } from "../UnionShape3D.js";
 import { UnitCubeShape3D } from "../UnitCubeShape3D.js";
 import { UnitSphereShape3D } from "../UnitSphereShape3D.js";
-import { TransformedShape3D } from "../TransformedShape3D.js";
 
 /**
  *
@@ -17,6 +18,8 @@ export function shape_to_type(shape) {
         return 'sphere';
     } else if (shape instanceof TransformedShape3D) {
         return 'transform';
+    } else if (shape instanceof CapsuleShape3D) {
+        return 'capsule';
     } else {
         throw new Error('Unsupported shape');
     }

package/src/core/geom/3d/shape/json/type_adapters.d.ts

@@ -7,6 +7,20 @@ export namespace type_adapters {
         function read(): UnitSphereShape3D;
         function write(): {};
     }
+    namespace capsule {
+        function read({ radius, height }: {
+            radius: any;
+            height: any;
+        }): CapsuleShape3D;
+        /**
+         *
+         * @param {CapsuleShape3D} object
+         */
+        function write(object: CapsuleShape3D): {
+            radius: number;
+            height: number;
+        };
+    }
     namespace transform {
         function read({ transform, subject }: {
             transform: any;
@@ -18,7 +32,7 @@ export namespace type_adapters {
          */
         function write(object: TransformedShape3D): {
             subject: any;
-            transform: any[];
+            transform: number[];
         };
     }
     namespace union {
@@ -30,12 +44,13 @@ export namespace type_adapters {
          * @param {UnionShape3D} object
          */
         function write(object: UnionShape3D): {
-            members: any;
+            members: any[];
         };
     }
 }
 import { UnitCubeShape3D } from "../UnitCubeShape3D.js";
 import { UnitSphereShape3D } from "../UnitSphereShape3D.js";
+import { CapsuleShape3D } from "../CapsuleShape3D.js";
 import { TransformedShape3D } from "../TransformedShape3D.js";
 import { UnionShape3D } from "../UnionShape3D.js";
 //# sourceMappingURL=type_adapters.d.ts.map

package/src/core/geom/3d/shape/json/type_adapters.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"type_adapters.d.ts","sourceRoot":"","sources":["../../../../../../../src/core/geom/3d/shape/json/type_adapters.js"],"names":[],"mappings":";;QASQ,iCAEC;QACD,qBAEC;;;QAGD,mCAEC;QACD,qBAEC;;;QAGD;;;+BAIC;QACD;;;WAGG;QACH;;;UAKC;;;QAGD;;yBAIC;QACD;;;WAGG;QACH;;UAIC;;;gCAvDuB,uBAAuB;kCACrB,yBAAyB;mCACxB,0BAA0B;6BAChC,oBAAoB"}
+{"version":3,"file":"type_adapters.d.ts","sourceRoot":"","sources":["../../../../../../../src/core/geom/3d/shape/json/type_adapters.js"],"names":[],"mappings":";;QAUQ,iCAEC;QACD,qBAEC;;;QAGD,mCAEC;QACD,qBAEC;;;QAGD;;;2BAEC;QACD;;;WAGG;QACH;;;UAKC;;;QAGD;;;+BAIC;QACD;;;WAGG;QACH;;;UAKC;;;QAGD;;yBAIC;QACD;;;WAGG;QACH;;UAIC;;;gCApEuB,uBAAuB;kCACrB,yBAAyB;+BAJ5B,sBAAsB;mCAClB,0BAA0B;6BAChC,oBAAoB"}

package/src/core/geom/3d/shape/json/type_adapters.js

@@ -1,7 +1,8 @@
-import { UnitCubeShape3D } from "../UnitCubeShape3D.js";
-import { UnitSphereShape3D } from "../UnitSphereShape3D.js";
+import { CapsuleShape3D } from "../CapsuleShape3D.js";
 import { TransformedShape3D } from "../TransformedShape3D.js";
 import { UnionShape3D } from "../UnionShape3D.js";
+import { UnitCubeShape3D } from "../UnitCubeShape3D.js";
+import { UnitSphereShape3D } from "../UnitSphereShape3D.js";
 import { shape_from_json } from "./shape_from_json.js";
 import { shape_to_json } from "./shape_to_json.js";
 
@@ -22,6 +23,21 @@ export const type_adapters = {
             return {};
         }
     },
+    'capsule': {
+        read({ radius, height }) {
+            return CapsuleShape3D.from(radius, height);
+        },
+        /**
+         *
+         * @param {CapsuleShape3D} object
+         */
+        write(object) {
+            return {
+                radius: object.radius,
+                height: object.height
+            };
+        }
+    },
     'transform': {
         read({ transform, subject }) {
             const subject_shape = shape_from_json(subject);

package/src/core/geom/3d/shape/util/compute_signed_distance_gradient_by_sampling.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"compute_signed_distance_gradient_by_sampling.d.ts","sourceRoot":"","sources":["../../../../../../../src/core/geom/3d/shape/util/compute_signed_distance_gradient_by_sampling.js"],"names":[],"mappings":"AAEA;;;;;;GAMG;AACH,qEALW,MAAM,EAAE,iCAER,MAAM,EAAE,GACN,MAAM,CAwClB"}
+{"version":3,"file":"compute_signed_distance_gradient_by_sampling.d.ts","sourceRoot":"","sources":["../../../../../../../src/core/geom/3d/shape/util/compute_signed_distance_gradient_by_sampling.js"],"names":[],"mappings":"AAGA;;;;;;GAMG;AACH,qEALW,MAAM,EAAE,iCAER,MAAM,EAAE,GACN,MAAM,CA0ClB"}

package/src/core/geom/3d/shape/util/compute_signed_distance_gradient_by_sampling.js

@@ -1,48 +1,51 @@
-const scratch_v = [];
-
-/**
- *
- * @param {number[]} result
- * @param {AbstractShape3D} shape
- * @param {number[]} point
- * @returns {number}
- */
-export function compute_signed_distance_gradient_by_sampling(result, shape, point) {
-    const v0 = shape.signed_distance_at_point(point);
-
-    scratch_v[0] = point[0] + 1e-5;
-    scratch_v[1] = point[1];
-    scratch_v[2] = point[2];
-
-    const vx = shape.signed_distance_at_point(scratch_v);
-
-    scratch_v[0] = point[0];
-    scratch_v[1] = point[1] + 1e-5;
-    scratch_v[2] = point[2];
-
-    const vy = shape.signed_distance_at_point(point);
-
-    scratch_v[0] = point[0];
-    scratch_v[1] = point[1];
-    scratch_v[2] = point[2] + 1e-5;
-
-    const vz = shape.signed_distance_at_point(point);
-
-    // convert absolute sample values to relative
-    const rx = vx - v0;
-    const ry = vy - v0;
-    const rz = vz - v0;
-
-    // normalize by sampling distance
-    const d = 1e-5 / 1.73205080757;
-
-    const nx = rx * d;
-    const ny = ry * d;
-    const nz = rz * d;
-
-    result[0] = nx;
-    result[1] = ny;
-    result[2] = nz;
-
-    return v0;
-}
+const SAMPLE_STEP = 1e-5;
+const scratch_v = [0, 0, 0];
+
+/**
+ *
+ * @param {number[]} result
+ * @param {AbstractShape3D} shape
+ * @param {number[]} point
+ * @returns {number}
+ */
+export function compute_signed_distance_gradient_by_sampling(result, shape, point) {
+    const v0 = shape.signed_distance_at_point(point);
+
+    scratch_v[0] = point[0] + SAMPLE_STEP;
+    scratch_v[1] = point[1];
+    scratch_v[2] = point[2];
+
+    const vx = shape.signed_distance_at_point(scratch_v);
+
+    scratch_v[0] = point[0];
+    scratch_v[1] = point[1] + SAMPLE_STEP;
+    scratch_v[2] = point[2];
+
+    const vy = shape.signed_distance_at_point(scratch_v);
+
+    scratch_v[0] = point[0];
+    scratch_v[1] = point[1];
+    scratch_v[2] = point[2] + SAMPLE_STEP;
+
+    const vz = shape.signed_distance_at_point(scratch_v);
+
+    // finite-difference partial derivatives
+    const gx = (vx - v0) / SAMPLE_STEP;
+    const gy = (vy - v0) / SAMPLE_STEP;
+    const gz = (vz - v0) / SAMPLE_STEP;
+
+    // normalize gradient to unit length; for a true SDF this is already ~1, but numerical noise can throw it off
+    const mag = Math.sqrt(gx * gx + gy * gy + gz * gz);
+
+    if (mag > 0) {
+        result[0] = gx / mag;
+        result[1] = gy / mag;
+        result[2] = gz / mag;
+    } else {
+        result[0] = 0;
+        result[1] = 0;
+        result[2] = 0;
+    }
+
+    return v0;
+}

package/src/core/geom/3d/tetrahedra/compute_bounding_simplex_3d.d.ts

@@ -6,7 +6,7 @@
  * @see https://github.com/bryanmcnett/aabo/blob/master/aabo.cpp
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  *
  * @param {number[]|Float32Array|Float64Array} result
  * @param {number} result_offset

package/src/core/geom/3d/tetrahedra/compute_bounding_simplex_3d.js

@@ -25,7 +25,7 @@ const SIMPLEX_PROJECTION_AXES = new Float32Array([
  * @see https://github.com/bryanmcnett/aabo/blob/master/aabo.cpp
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  *
  * @param {number[]|Float32Array|Float64Array} result
  * @param {number} result_offset

package/src/core/geom/ConicRay.d.ts

@@ -3,7 +3,7 @@
  * Mainly used inside particle systems for pick a motion direction at spawn
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class ConicRay {
     /**

package/src/core/geom/ConicRay.js

@@ -12,7 +12,7 @@ import Vector3 from "./Vector3.js";
  * Mainly used inside particle systems for pick a motion direction at spawn
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class ConicRay {
 

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

@@ -11,7 +11,7 @@
  * @implements Iterable<number>
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class Quaternion extends Float64Array implements Iterable<number> {
     /**
@@ -206,7 +206,7 @@ export class Quaternion extends Float64Array implements Iterable<number> {
      */
     toAxisAngle(out_axis: Vector3): number;
     /**
-     *
+     * Normalize the quaternion in-place.
      * @returns {this}
      */
     normalize(): this;

package/src/core/geom/Quaternion.js

@@ -32,7 +32,7 @@ const cos = Math.cos;
  * @implements Iterable<number>
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class Quaternion extends Float64Array {
     /**
@@ -473,7 +473,7 @@ export class Quaternion extends Float64Array {
     }
 
     /**
-     *
+     * Normalize the quaternion in-place.
      * @returns {this}
      */
     normalize() {

package/src/core/geom/Vector1.d.ts

@@ -2,7 +2,7 @@
  * Wrapper around a scalar value, `Vector1` is used for consistence with {@link Vector2} and {@link Vector3}
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class Vector1 extends Number {
     /**

package/src/core/geom/Vector1.js

@@ -7,7 +7,7 @@ import { computeHashFloat } from "../primitives/numbers/computeHashFloat.js";
  * Wrapper around a scalar value, `Vector1` is used for consistence with {@link Vector2} and {@link Vector3}
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class Vector1 extends Number {
     /**

package/src/core/geom/Vector2.d.ts

@@ -13,7 +13,7 @@
  * @implements Iterable<number>
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class Vector2 extends Float64Array implements Iterable<number> {
     /**

package/src/core/geom/Vector2.js

@@ -27,7 +27,7 @@ import { v2_length_sqr } from "./vec2/v2_length_sqr.js";
  * @implements Iterable<number>
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class Vector2 extends Float64Array {
     /**

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

@@ -13,7 +13,7 @@
  * @implements Iterable<number>
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class Vector3 extends Float64Array implements Iterable<number> {
     /**

package/src/core/geom/Vector3.js

@@ -28,7 +28,7 @@ import { v3_slerp } from "./vec3/v3_slerp.js";
  * @implements Iterable<number>
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class Vector3 extends Float64Array {
     /**

package/src/core/geom/packing/miniball/Miniball.d.ts

@@ -2,7 +2,7 @@
  * Computes the miniball of the given point set.
  *
  * Based on paper "Fast Smallest-Enclosing-Ball Computation in High Dimensions" by "Kaspar Fischer" et. al.
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class Miniball {
     /**

package/src/core/geom/packing/miniball/Miniball.js

@@ -27,7 +27,7 @@ const MAX_ITERATIONS = 10000;
  * Computes the miniball of the given point set.
  *
  * Based on paper "Fast Smallest-Enclosing-Ball Computation in High Dimensions" by "Kaspar Fischer" et. al.
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export class Miniball {
 

package/src/core/geom/vec3/serialization/v3_binary_equality_decode.d.ts

@@ -5,7 +5,7 @@
  * @param {number} result_offset
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export function v3_binary_equality_decode(buffer: BinaryBuffer, result: number[], result_offset: number): void;
 //# sourceMappingURL=v3_binary_equality_decode.d.ts.map

package/src/core/geom/vec3/serialization/v3_binary_equality_decode.js

@@ -5,7 +5,7 @@
  * @param {number} result_offset
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export function v3_binary_equality_decode(buffer, result, result_offset) {
     const header = buffer.readUint8();

package/src/core/geom/vec3/serialization/v3_binary_equality_encode.d.ts

@@ -6,7 +6,7 @@
  * @param {number} z
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export function v3_binary_equality_encode(buffer: BinaryBuffer, x: number, y: number, z: number): void;
 //# sourceMappingURL=v3_binary_equality_encode.d.ts.map

package/src/core/geom/vec3/serialization/v3_binary_equality_encode.js

@@ -6,7 +6,7 @@
  * @param {number} z
  *
  * @author Alex Goldring
- * @copyright Company Named Limited (c) 2025
+ * @copyright Company Named Limited (c) 2026
  */
 export function v3_binary_equality_encode(buffer, x, y, z){