@yali-engine/math 0.0.0-stage → 0.4.0

package/dist/frustum.d.ts

@@ -0,0 +1,16 @@
+import type { In, Out } from './types.ts';
+/** `containsSphere` results (PlayCanvas's convention). */
+export declare const OUTSIDE = 0;
+/** The sphere crosses a plane. */
+export declare const INTERSECTS = 1;
+/** The sphere is inside all six planes. */
+export declare const INSIDE = 2;
+/**
+ * The six inward planes (left, right, bottom, top, near, far; `[nx, ny, nz, d]` each, 24
+ * floats) of a view-projection matrix with WebGPU's 0..1 depth, reverse-Z (Gribb–Hartmann).
+ * An infinite far plane comes out as `(0, 0, 0, 1)`, which everything passes. The layout
+ * the cull shader's `Camera.frustum` reads.
+ */
+export declare function setFromProjectionMatrix<T extends Out>(out: T, m: In, o?: number, mi?: number): T;
+/** Where a sphere is: `OUTSIDE`, `INTERSECTS` or `INSIDE` the planes. */
+export declare function containsSphere(planes: In, center: In, radius: number, pi?: number, ci?: number): number;

package/dist/frustum.js

@@ -0,0 +1,47 @@
+/** `containsSphere` results (PlayCanvas's convention). */
+export const OUTSIDE = 0;
+/** The sphere crosses a plane. */
+export const INTERSECTS = 1;
+/** The sphere is inside all six planes. */
+export const INSIDE = 2;
+/**
+ * The six inward planes (left, right, bottom, top, near, far; `[nx, ny, nz, d]` each, 24
+ * floats) of a view-projection matrix with WebGPU's 0..1 depth, reverse-Z (Gribb–Hartmann).
+ * An infinite far plane comes out as `(0, 0, 0, 1)`, which everything passes. The layout
+ * the cull shader's `Camera.frustum` reads.
+ */
+export function setFromProjectionMatrix(out, m, o = 0, mi = 0) {
+    for (let p = 0; p < 6; p++) {
+        // Row i of m is m[mi + i], m[mi + 4 + i], m[mi + 8 + i], m[mi + 12 + i].
+        const row = p < 4 ? p >> 1 : 2;
+        const sign = p < 4 ? (p & 1 ? -1 : 1) : -1;
+        const keep3 = p < 5 ? 1 : 0; // the far plane is row 2 alone
+        for (let k = 0; k < 4; k++)
+            out[o + p * 4 + k] = keep3 * m[mi + k * 4 + 3] + (p < 5 ? sign : 1) * m[mi + k * 4 + row];
+        const l = Math.hypot(out[o + p * 4], out[o + p * 4 + 1], out[o + p * 4 + 2]);
+        if (l > 1e-12)
+            for (let k = 0; k < 4; k++)
+                out[o + p * 4 + k] /= l;
+        else {
+            out[o + p * 4] = 0;
+            out[o + p * 4 + 1] = 0;
+            out[o + p * 4 + 2] = 0;
+            out[o + p * 4 + 3] = 1;
+        }
+    }
+    return out;
+}
+/** Where a sphere is: `OUTSIDE`, `INTERSECTS` or `INSIDE` the planes. */
+export function containsSphere(planes, center, radius, pi = 0, ci = 0) {
+    let inside = true;
+    for (let p = 0; p < 6; p++) {
+        const b = pi + p * 4;
+        const d = planes[b] * center[ci] + planes[b + 1] * center[ci + 1] + planes[b + 2] * center[ci + 2] + planes[b + 3];
+        if (d < -radius)
+            return OUTSIDE;
+        if (d < radius)
+            inside = false;
+    }
+    return inside ? INSIDE : INTERSECTS;
+}
+//# sourceMappingURL=frustum.js.map

package/dist/frustum.js.map

@@ -0,0 +1 @@
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package/dist/index.d.ts

@@ -0,0 +1,29 @@
+/**
+ * `@yali-engine/math`: the TS side of Yali's math (ADR-0054), for gameplay and engine code on the
+ * main thread or a worker. The same conventions as the Rust crate `yali-math` and
+ * `shaders/core/math.wesl`: right-handed, +Y up, −Z forward; quaternions `[x, y, z, w]`,
+ * `multiply(out, a, b)` applies `b` first; column-major matrices (16 floats); reverse-Z
+ * projections with WebGPU's 0..1 depth; radians.
+ *
+ * Every function writes into `out` and returns it; nothing allocates. Inputs and outputs
+ * are any indexable numbers (Float32Array, Float64Array, an ECS column, number[]), and the
+ * optional trailing offsets address an element inside a larger array, so the functions work
+ * in place on ECS columns. Names follow three.js where it has the operation.
+ *
+ * Heavy per-entity loops belong in Rust systems (DESIGN.md §22); these are for gameplay
+ * logic, cameras and tools.
+ *
+ * @example
+ * import { quat, vec3 } from '@yali-engine/math';
+ * const q = quat.setFromAxisAngle(new Float32Array(4), [0, 1, 0], Math.PI / 2);
+ * const v = vec3.applyQuaternion(new Float32Array(3), [1, 0, 0], q); // ≈ [0, 0, -1]
+ * // In place on a chunk's Transform.r column, entity i:
+ * quat.multiply(rot, rot, spin, i * 4, i * 4, 0);
+ */
+export * as frustum from './frustum.ts';
+export * as mat4 from './mat4.ts';
+export * as MathUtils from './scalar.ts';
+export * as quat from './quat.ts';
+export * as transform from './transform.ts';
+export type { In, Out } from './types.ts';
+export * as vec3 from './vec3.ts';

package/dist/index.js

@@ -0,0 +1,29 @@
+/**
+ * `@yali-engine/math`: the TS side of Yali's math (ADR-0054), for gameplay and engine code on the
+ * main thread or a worker. The same conventions as the Rust crate `yali-math` and
+ * `shaders/core/math.wesl`: right-handed, +Y up, −Z forward; quaternions `[x, y, z, w]`,
+ * `multiply(out, a, b)` applies `b` first; column-major matrices (16 floats); reverse-Z
+ * projections with WebGPU's 0..1 depth; radians.
+ *
+ * Every function writes into `out` and returns it; nothing allocates. Inputs and outputs
+ * are any indexable numbers (Float32Array, Float64Array, an ECS column, number[]), and the
+ * optional trailing offsets address an element inside a larger array, so the functions work
+ * in place on ECS columns. Names follow three.js where it has the operation.
+ *
+ * Heavy per-entity loops belong in Rust systems (DESIGN.md §22); these are for gameplay
+ * logic, cameras and tools.
+ *
+ * @example
+ * import { quat, vec3 } from '@yali-engine/math';
+ * const q = quat.setFromAxisAngle(new Float32Array(4), [0, 1, 0], Math.PI / 2);
+ * const v = vec3.applyQuaternion(new Float32Array(3), [1, 0, 0], q); // ≈ [0, 0, -1]
+ * // In place on a chunk's Transform.r column, entity i:
+ * quat.multiply(rot, rot, spin, i * 4, i * 4, 0);
+ */
+export * as frustum from "./frustum.js";
+export * as mat4 from "./mat4.js";
+export * as MathUtils from "./scalar.js";
+export * as quat from "./quat.js";
+export * as transform from "./transform.js";
+export * as vec3 from "./vec3.js";
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
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package/dist/mat4.d.ts

@@ -0,0 +1,35 @@
+import type { In, Out } from './types.ts';
+/** `out = I`. */
+export declare function identity<T extends Out>(out: T, o?: number): T;
+/** `out = a * b`: apply `b`, then `a`. Safe when `out` is `a` or `b`. */
+export declare function multiply<T extends Out>(out: T, a: In, b: In, o?: number, ai?: number, bi?: number): T;
+/** `out = aᵀ`. Safe when `out` is `a`. */
+export declare function transpose<T extends Out>(out: T, a: In, o?: number, ai?: number): T;
+/**
+ * `out = a⁻¹`, or `null` when `a` is singular (or not finite). The Laplace expansion over
+ * 2×2 sub-determinants, as `yali-math` computes it. Safe when `out` is `a`.
+ */
+export declare function invert<T extends Out>(out: T, a: In, o?: number, ai?: number): T | null;
+/** The determinant. */
+export declare function determinant(a: In, ai?: number): number;
+/** `out = m · (p, 1)`, without the perspective divide (affine matrices). Safe when `out` is `p`. */
+export declare function transformPoint<T extends Out>(out: T, m: In, p: In, o?: number, mi?: number, pi?: number): T;
+/** `out = m · (v, 0)`: rotation and scale, no translation. Safe when `out` is `v`. */
+export declare function transformVector<T extends Out>(out: T, m: In, v: In, o?: number, mi?: number, vi?: number): T;
+/** Scale `s`, then rotate `q`, then translate `t` (three.js `Matrix4.compose`). */
+export declare function compose<T extends Out>(out: T, t: In, q: In, s: In, o?: number, ti?: number, qi?: number, si?: number): T;
+/** A right-handed view matrix from `eye` looking along `dir` with `up`. */
+export declare function lookTo<T extends Out>(out: T, eye: In, dir: In, up: In, o?: number, ei?: number, di?: number, ui?: number): T;
+/**
+ * Yali's projection (ADR-0008): right-handed, reverse-Z, infinite far plane, WebGPU's 0..1
+ * depth (1 at `near`, towards 0 at infinity; clear depth to 0 and compare `greater`).
+ */
+export declare function perspectiveInfiniteReverse<T extends Out>(out: T, fovY: number, aspect: number, near: number, o?: number): T;
+/** A right-handed orthographic projection, reverse-Z, 0..1 depth (1 at `near`, 0 at `far`). */
+export declare function orthographicReverse<T extends Out>(out: T, left: number, right: number, bottom: number, top: number, near: number, far: number, o?: number): T;
+/**
+ * Splits an affine `m` into translation, rotation and scale (three.js
+ * `Matrix4.decompose`): scale is each basis column's length, a negative determinant is a
+ * mirror folded into x, and the rotation comes from the normalized columns.
+ */
+export declare function decompose(outT: Out, outQ: Out, outS: Out, m: In, ti?: number, qi?: number, si?: number, mi?: number): void;

package/dist/mat4.js

@@ -0,0 +1,210 @@
+import { setFromRotationMatrix } from "./quat.js";
+/** `out = I`. */
+export function identity(out, o = 0) {
+    for (let k = 0; k < 16; k++)
+        out[o + k] = k % 5 === 0 ? 1 : 0;
+    return out;
+}
+/** `out = a * b`: apply `b`, then `a`. Safe when `out` is `a` or `b`. */
+export function multiply(out, a, b, o = 0, ai = 0, bi = 0) {
+    const a00 = a[ai], a01 = a[ai + 1], a02 = a[ai + 2], a03 = a[ai + 3];
+    const a10 = a[ai + 4], a11 = a[ai + 5], a12 = a[ai + 6], a13 = a[ai + 7];
+    const a20 = a[ai + 8], a21 = a[ai + 9], a22 = a[ai + 10], a23 = a[ai + 11];
+    const a30 = a[ai + 12], a31 = a[ai + 13], a32 = a[ai + 14], a33 = a[ai + 15];
+    for (let c = 0; c < 4; c++) {
+        const b0 = b[bi + c * 4], b1 = b[bi + c * 4 + 1], b2 = b[bi + c * 4 + 2], b3 = b[bi + c * 4 + 3];
+        out[o + c * 4] = a00 * b0 + a10 * b1 + a20 * b2 + a30 * b3;
+        out[o + c * 4 + 1] = a01 * b0 + a11 * b1 + a21 * b2 + a31 * b3;
+        out[o + c * 4 + 2] = a02 * b0 + a12 * b1 + a22 * b2 + a32 * b3;
+        out[o + c * 4 + 3] = a03 * b0 + a13 * b1 + a23 * b2 + a33 * b3;
+    }
+    return out;
+}
+/** `out = aᵀ`. Safe when `out` is `a`. */
+export function transpose(out, a, o = 0, ai = 0) {
+    for (let c = 0; c < 4; c++) {
+        for (let r = c + 1; r < 4; r++) {
+            const x = a[ai + c * 4 + r], y = a[ai + r * 4 + c];
+            out[o + c * 4 + r] = y;
+            out[o + r * 4 + c] = x;
+        }
+        out[o + c * 5] = a[ai + c * 5];
+    }
+    return out;
+}
+/**
+ * `out = a⁻¹`, or `null` when `a` is singular (or not finite). The Laplace expansion over
+ * 2×2 sub-determinants, as `yali-math` computes it. Safe when `out` is `a`.
+ */
+export function invert(out, a, o = 0, ai = 0) {
+    // a[ai + i*4 + j] read as row i, column j: the expansion applied to the transpose yields
+    // the inverse column by column (see yali-math's Mat4::inverse).
+    const s0 = a[ai] * a[ai + 5] - a[ai + 4] * a[ai + 1], s1 = a[ai] * a[ai + 6] - a[ai + 4] * a[ai + 2], s2 = a[ai] * a[ai + 7] - a[ai + 4] * a[ai + 3];
+    const s3 = a[ai + 1] * a[ai + 6] - a[ai + 5] * a[ai + 2], s4 = a[ai + 1] * a[ai + 7] - a[ai + 5] * a[ai + 3], s5 = a[ai + 2] * a[ai + 7] - a[ai + 6] * a[ai + 3];
+    const c0 = a[ai + 8] * a[ai + 13] - a[ai + 12] * a[ai + 9], c1 = a[ai + 8] * a[ai + 14] - a[ai + 12] * a[ai + 10], c2 = a[ai + 8] * a[ai + 15] - a[ai + 12] * a[ai + 11];
+    const c3 = a[ai + 9] * a[ai + 14] - a[ai + 13] * a[ai + 10], c4 = a[ai + 9] * a[ai + 15] - a[ai + 13] * a[ai + 11], c5 = a[ai + 10] * a[ai + 15] - a[ai + 14] * a[ai + 11];
+    const det = s0 * c5 - s1 * c4 + s2 * c3 + s3 * c2 - s4 * c1 + s5 * c0;
+    if (det === 0 || !Number.isFinite(det))
+        return null;
+    const k = 1 / det;
+    // All sixteen computed before any write, so `out` may be `a`.
+    const i0 = a[ai + 5] * c5 - a[ai + 6] * c4 + a[ai + 7] * c3, i1 = -a[ai + 1] * c5 + a[ai + 2] * c4 - a[ai + 3] * c3;
+    const i2 = a[ai + 13] * s5 - a[ai + 14] * s4 + a[ai + 15] * s3, i3 = -a[ai + 9] * s5 + a[ai + 10] * s4 - a[ai + 11] * s3;
+    const i4 = -a[ai + 4] * c5 + a[ai + 6] * c2 - a[ai + 7] * c1, i5 = a[ai] * c5 - a[ai + 2] * c2 + a[ai + 3] * c1;
+    const i6 = -a[ai + 12] * s5 + a[ai + 14] * s2 - a[ai + 15] * s1, i7 = a[ai + 8] * s5 - a[ai + 10] * s2 + a[ai + 11] * s1;
+    const i8 = a[ai + 4] * c4 - a[ai + 5] * c2 + a[ai + 7] * c0, i9 = -a[ai] * c4 + a[ai + 1] * c2 - a[ai + 3] * c0;
+    const i10 = a[ai + 12] * s4 - a[ai + 13] * s2 + a[ai + 15] * s0, i11 = -a[ai + 8] * s4 + a[ai + 9] * s2 - a[ai + 11] * s0;
+    const i12 = -a[ai + 4] * c3 + a[ai + 5] * c1 - a[ai + 6] * c0, i13 = a[ai] * c3 - a[ai + 1] * c1 + a[ai + 2] * c0;
+    const i14 = -a[ai + 12] * s3 + a[ai + 13] * s1 - a[ai + 14] * s0, i15 = a[ai + 8] * s3 - a[ai + 9] * s1 + a[ai + 10] * s0;
+    out[o] = i0 * k;
+    out[o + 1] = i1 * k;
+    out[o + 2] = i2 * k;
+    out[o + 3] = i3 * k;
+    out[o + 4] = i4 * k;
+    out[o + 5] = i5 * k;
+    out[o + 6] = i6 * k;
+    out[o + 7] = i7 * k;
+    out[o + 8] = i8 * k;
+    out[o + 9] = i9 * k;
+    out[o + 10] = i10 * k;
+    out[o + 11] = i11 * k;
+    out[o + 12] = i12 * k;
+    out[o + 13] = i13 * k;
+    out[o + 14] = i14 * k;
+    out[o + 15] = i15 * k;
+    return out;
+}
+/** The determinant. */
+export function determinant(a, ai = 0) {
+    const s0 = a[ai] * a[ai + 5] - a[ai + 4] * a[ai + 1], s1 = a[ai] * a[ai + 6] - a[ai + 4] * a[ai + 2], s2 = a[ai] * a[ai + 7] - a[ai + 4] * a[ai + 3];
+    const s3 = a[ai + 1] * a[ai + 6] - a[ai + 5] * a[ai + 2], s4 = a[ai + 1] * a[ai + 7] - a[ai + 5] * a[ai + 3], s5 = a[ai + 2] * a[ai + 7] - a[ai + 6] * a[ai + 3];
+    const c0 = a[ai + 8] * a[ai + 13] - a[ai + 12] * a[ai + 9], c1 = a[ai + 8] * a[ai + 14] - a[ai + 12] * a[ai + 10], c2 = a[ai + 8] * a[ai + 15] - a[ai + 12] * a[ai + 11];
+    const c3 = a[ai + 9] * a[ai + 14] - a[ai + 13] * a[ai + 10], c4 = a[ai + 9] * a[ai + 15] - a[ai + 13] * a[ai + 11], c5 = a[ai + 10] * a[ai + 15] - a[ai + 14] * a[ai + 11];
+    return s0 * c5 - s1 * c4 + s2 * c3 + s3 * c2 - s4 * c1 + s5 * c0;
+}
+/** `out = m · (p, 1)`, without the perspective divide (affine matrices). Safe when `out` is `p`. */
+export function transformPoint(out, m, p, o = 0, mi = 0, pi = 0) {
+    const x = p[pi], y = p[pi + 1], z = p[pi + 2];
+    out[o] = m[mi] * x + m[mi + 4] * y + m[mi + 8] * z + m[mi + 12];
+    out[o + 1] = m[mi + 1] * x + m[mi + 5] * y + m[mi + 9] * z + m[mi + 13];
+    out[o + 2] = m[mi + 2] * x + m[mi + 6] * y + m[mi + 10] * z + m[mi + 14];
+    return out;
+}
+/** `out = m · (v, 0)`: rotation and scale, no translation. Safe when `out` is `v`. */
+export function transformVector(out, m, v, o = 0, mi = 0, vi = 0) {
+    const x = v[vi], y = v[vi + 1], z = v[vi + 2];
+    out[o] = m[mi] * x + m[mi + 4] * y + m[mi + 8] * z;
+    out[o + 1] = m[mi + 1] * x + m[mi + 5] * y + m[mi + 9] * z;
+    out[o + 2] = m[mi + 2] * x + m[mi + 6] * y + m[mi + 10] * z;
+    return out;
+}
+/** Scale `s`, then rotate `q`, then translate `t` (three.js `Matrix4.compose`). */
+export function compose(out, t, q, s, o = 0, ti = 0, qi = 0, si = 0) {
+    const x = q[qi], y = q[qi + 1], z = q[qi + 2], w = q[qi + 3];
+    const x2 = x + x, y2 = y + y, z2 = z + z;
+    const xx = x * x2, xy = x * y2, xz = x * z2, yy = y * y2, yz = y * z2, zz = z * z2;
+    const wx = w * x2, wy = w * y2, wz = w * z2;
+    const sx = s[si], sy = s[si + 1], sz = s[si + 2];
+    out[o] = (1 - (yy + zz)) * sx;
+    out[o + 1] = (xy + wz) * sx;
+    out[o + 2] = (xz - wy) * sx;
+    out[o + 3] = 0;
+    out[o + 4] = (xy - wz) * sy;
+    out[o + 5] = (1 - (xx + zz)) * sy;
+    out[o + 6] = (yz + wx) * sy;
+    out[o + 7] = 0;
+    out[o + 8] = (xz + wy) * sz;
+    out[o + 9] = (yz - wx) * sz;
+    out[o + 10] = (1 - (xx + yy)) * sz;
+    out[o + 11] = 0;
+    out[o + 12] = t[ti];
+    out[o + 13] = t[ti + 1];
+    out[o + 14] = t[ti + 2];
+    out[o + 15] = 1;
+    return out;
+}
+/** A right-handed view matrix from `eye` looking along `dir` with `up`. */
+export function lookTo(out, eye, dir, up, o = 0, ei = 0, di = 0, ui = 0) {
+    const dl = Math.hypot(dir[di], dir[di + 1], dir[di + 2]);
+    const dk = dl > 0 ? 1 / dl : 0;
+    const fx = dir[di] * dk, fy = dir[di + 1] * dk, fz = dir[di + 2] * dk;
+    const ux0 = up[ui], uy0 = up[ui + 1], uz0 = up[ui + 2];
+    const cx = fy * uz0 - fz * uy0, cy = fz * ux0 - fx * uz0, cz = fx * uy0 - fy * ux0;
+    const cl = Math.hypot(cx, cy, cz);
+    const ck = cl > 0 ? 1 / cl : 0;
+    const sx = cx * ck, sy = cy * ck, sz = cz * ck;
+    const ux = sy * fz - sz * fy, uy = sz * fx - sx * fz, uz = sx * fy - sy * fx;
+    const ex = eye[ei], ey = eye[ei + 1], ez = eye[ei + 2];
+    out[o] = sx;
+    out[o + 1] = ux;
+    out[o + 2] = -fx;
+    out[o + 3] = 0;
+    out[o + 4] = sy;
+    out[o + 5] = uy;
+    out[o + 6] = -fy;
+    out[o + 7] = 0;
+    out[o + 8] = sz;
+    out[o + 9] = uz;
+    out[o + 10] = -fz;
+    out[o + 11] = 0;
+    out[o + 12] = -(sx * ex + sy * ey + sz * ez);
+    out[o + 13] = -(ux * ex + uy * ey + uz * ez);
+    out[o + 14] = fx * ex + fy * ey + fz * ez;
+    out[o + 15] = 1;
+    return out;
+}
+/**
+ * Yali's projection (ADR-0008): right-handed, reverse-Z, infinite far plane, WebGPU's 0..1
+ * depth (1 at `near`, towards 0 at infinity; clear depth to 0 and compare `greater`).
+ */
+export function perspectiveInfiniteReverse(out, fovY, aspect, near, o = 0) {
+    const f = 1 / Math.tan(fovY / 2);
+    for (let k = 0; k < 16; k++)
+        out[o + k] = 0;
+    out[o] = f / aspect;
+    out[o + 5] = f;
+    out[o + 11] = -1;
+    out[o + 14] = near;
+    return out;
+}
+/** A right-handed orthographic projection, reverse-Z, 0..1 depth (1 at `near`, 0 at `far`). */
+export function orthographicReverse(out, left, right, bottom, top, near, far, o = 0) {
+    const rw = 1 / (right - left), rh = 1 / (top - bottom), rd = 1 / (far - near);
+    for (let k = 0; k < 16; k++)
+        out[o + k] = 0;
+    out[o] = 2 * rw;
+    out[o + 5] = 2 * rh;
+    out[o + 10] = rd;
+    out[o + 12] = -(left + right) * rw;
+    out[o + 13] = -(top + bottom) * rh;
+    out[o + 14] = far * rd;
+    out[o + 15] = 1;
+    return out;
+}
+/** Scratch for `decompose` (allocated once, never per call). */
+const rot = new Float64Array(16);
+/**
+ * Splits an affine `m` into translation, rotation and scale (three.js
+ * `Matrix4.decompose`): scale is each basis column's length, a negative determinant is a
+ * mirror folded into x, and the rotation comes from the normalized columns.
+ */
+export function decompose(outT, outQ, outS, m, ti = 0, qi = 0, si = 0, mi = 0) {
+    let sx = Math.hypot(m[mi], m[mi + 1], m[mi + 2]);
+    const sy = Math.hypot(m[mi + 4], m[mi + 5], m[mi + 6]);
+    const sz = Math.hypot(m[mi + 8], m[mi + 9], m[mi + 10]);
+    if (determinant(m, mi) < 0)
+        sx = -sx;
+    outT[ti] = m[mi + 12];
+    outT[ti + 1] = m[mi + 13];
+    outT[ti + 2] = m[mi + 14];
+    outS[si] = sx;
+    outS[si + 1] = sy;
+    outS[si + 2] = sz;
+    for (let k = 0; k < 3; k++) {
+        rot[k] = m[mi + k] / sx;
+        rot[4 + k] = m[mi + 4 + k] / sy;
+        rot[8 + k] = m[mi + 8 + k] / sz;
+    }
+    setFromRotationMatrix(outQ, rot, qi);
+}
+//# sourceMappingURL=mat4.js.map

package/dist/mat4.js.map

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package/dist/quat.d.ts

@@ -0,0 +1,24 @@
+import type { In, Out } from './types.ts';
+/** `out = (0, 0, 0, 1)`. */
+export declare function identity<T extends Out>(out: T, o?: number): T;
+/** `out = a * b`: apply `b`, then `a` (Hamilton product). Safe when `out` is `a` or `b`. */
+export declare function multiply<T extends Out>(out: T, a: In, b: In, o?: number, ai?: number, bi?: number): T;
+/** A rotation of `angle` radians about the unit `axis`. */
+export declare function setFromAxisAngle<T extends Out>(out: T, axis: In, angle: number, o?: number, ai?: number): T;
+/**
+ * The rotation of `m`'s upper 3×3 (orthonormal: no scale), Shepperd's method, as
+ * `yali-math`'s `Quat::from_basis` computes it.
+ */
+export declare function setFromRotationMatrix<T extends Out>(out: T, m: In, o?: number, mi?: number): T;
+/** `a · b`. */
+export declare function dot(a: In, b: In, ai?: number, bi?: number): number;
+/** Unit length; the identity for a zero (or non-finite) quaternion. */
+export declare function normalize<T extends Out>(out: T, a: In, o?: number, ai?: number): T;
+/** The opposite rotation of a unit quaternion. */
+export declare function conjugate<T extends Out>(out: T, a: In, o?: number, ai?: number): T;
+/** The inverse of any non-zero quaternion. */
+export declare function invert<T extends Out>(out: T, a: In, o?: number, ai?: number): T;
+/** Normalized lerp along the shorter arc (what transform interpolation uses). */
+export declare function nlerp<T extends Out>(out: T, a: In, b: In, t: number, o?: number, ai?: number, bi?: number): T;
+/** Spherical interpolation along the shorter arc; `nlerp` when nearly equal. Safe when `out` is `a` or `b`. */
+export declare function slerp<T extends Out>(out: T, a: In, b: In, t: number, o?: number, ai?: number, bi?: number): T;

package/dist/quat.js

@@ -0,0 +1,129 @@
+/** `out = (0, 0, 0, 1)`. */
+export function identity(out, o = 0) {
+    out[o] = 0;
+    out[o + 1] = 0;
+    out[o + 2] = 0;
+    out[o + 3] = 1;
+    return out;
+}
+/** `out = a * b`: apply `b`, then `a` (Hamilton product). Safe when `out` is `a` or `b`. */
+export function multiply(out, a, b, o = 0, ai = 0, bi = 0) {
+    const ax = a[ai], ay = a[ai + 1], az = a[ai + 2], aw = a[ai + 3];
+    const bx = b[bi], by = b[bi + 1], bz = b[bi + 2], bw = b[bi + 3];
+    out[o] = aw * bx + ax * bw + ay * bz - az * by;
+    out[o + 1] = aw * by - ax * bz + ay * bw + az * bx;
+    out[o + 2] = aw * bz + ax * by - ay * bx + az * bw;
+    out[o + 3] = aw * bw - ax * bx - ay * by - az * bz;
+    return out;
+}
+/** A rotation of `angle` radians about the unit `axis`. */
+export function setFromAxisAngle(out, axis, angle, o = 0, ai = 0) {
+    const s = Math.sin(angle / 2);
+    out[o] = axis[ai] * s;
+    out[o + 1] = axis[ai + 1] * s;
+    out[o + 2] = axis[ai + 2] * s;
+    out[o + 3] = Math.cos(angle / 2);
+    return out;
+}
+/**
+ * The rotation of `m`'s upper 3×3 (orthonormal: no scale), Shepperd's method, as
+ * `yali-math`'s `Quat::from_basis` computes it.
+ */
+export function setFromRotationMatrix(out, m, o = 0, mi = 0) {
+    const m00 = m[mi], m10 = m[mi + 1], m20 = m[mi + 2];
+    const m01 = m[mi + 4], m11 = m[mi + 5], m21 = m[mi + 6];
+    const m02 = m[mi + 8], m12 = m[mi + 9], m22 = m[mi + 10];
+    const tr = m00 + m11 + m22;
+    let x, y, z, w;
+    if (tr > 0) {
+        const s = Math.sqrt(tr + 1) * 2;
+        x = (m21 - m12) / s;
+        y = (m02 - m20) / s;
+        z = (m10 - m01) / s;
+        w = 0.25 * s;
+    }
+    else if (m00 > m11 && m00 > m22) {
+        const s = Math.sqrt(1 + m00 - m11 - m22) * 2;
+        x = 0.25 * s;
+        y = (m01 + m10) / s;
+        z = (m02 + m20) / s;
+        w = (m21 - m12) / s;
+    }
+    else if (m11 > m22) {
+        const s = Math.sqrt(1 + m11 - m00 - m22) * 2;
+        x = (m01 + m10) / s;
+        y = 0.25 * s;
+        z = (m12 + m21) / s;
+        w = (m02 - m20) / s;
+    }
+    else {
+        const s = Math.sqrt(1 + m22 - m00 - m11) * 2;
+        x = (m02 + m20) / s;
+        y = (m12 + m21) / s;
+        z = 0.25 * s;
+        w = (m10 - m01) / s;
+    }
+    out[o] = x;
+    out[o + 1] = y;
+    out[o + 2] = z;
+    out[o + 3] = w;
+    return out;
+}
+/** `a · b`. */
+export function dot(a, b, ai = 0, bi = 0) {
+    return a[ai] * b[bi] + a[ai + 1] * b[bi + 1] + a[ai + 2] * b[bi + 2] + a[ai + 3] * b[bi + 3];
+}
+/** Unit length; the identity for a zero (or non-finite) quaternion. */
+export function normalize(out, a, o = 0, ai = 0) {
+    const l = Math.sqrt(dot(a, a, ai, ai));
+    if (!(l > 0) || !Number.isFinite(l))
+        return identity(out, o);
+    out[o] = a[ai] / l;
+    out[o + 1] = a[ai + 1] / l;
+    out[o + 2] = a[ai + 2] / l;
+    out[o + 3] = a[ai + 3] / l;
+    return out;
+}
+/** The opposite rotation of a unit quaternion. */
+export function conjugate(out, a, o = 0, ai = 0) {
+    out[o] = -a[ai];
+    out[o + 1] = -a[ai + 1];
+    out[o + 2] = -a[ai + 2];
+    out[o + 3] = a[ai + 3];
+    return out;
+}
+/** The inverse of any non-zero quaternion. */
+export function invert(out, a, o = 0, ai = 0) {
+    const n = dot(a, a, ai, ai);
+    const k = n > 0 ? 1 / n : 0;
+    out[o] = -a[ai] * k;
+    out[o + 1] = -a[ai + 1] * k;
+    out[o + 2] = -a[ai + 2] * k;
+    out[o + 3] = a[ai + 3] * k;
+    return out;
+}
+/** Normalized lerp along the shorter arc (what transform interpolation uses). */
+export function nlerp(out, a, b, t, o = 0, ai = 0, bi = 0) {
+    const sign = dot(a, b, ai, bi) < 0 ? -1 : 1;
+    for (let k = 0; k < 4; k++)
+        out[o + k] = a[ai + k] + (sign * b[bi + k] - a[ai + k]) * t;
+    return normalize(out, out, o, o);
+}
+/** Spherical interpolation along the shorter arc; `nlerp` when nearly equal. Safe when `out` is `a` or `b`. */
+export function slerp(out, a, b, t, o = 0, ai = 0, bi = 0) {
+    let d = dot(a, b, ai, bi);
+    const sign = d < 0 ? -1 : 1;
+    d *= sign;
+    if (d > 0.9995)
+        return nlerp(out, a, b, t, o, ai, bi);
+    const theta = Math.acos(Math.min(d, 1));
+    const s = Math.sin(theta);
+    const wa = Math.sin((1 - t) * theta) / s, wb = (Math.sin(t * theta) / s) * sign;
+    const ax = a[ai], ay = a[ai + 1], az = a[ai + 2], aw = a[ai + 3];
+    out[o] = ax * wa + b[bi] * wb;
+    out[o + 1] = ay * wa + b[bi + 1] * wb;
+    out[o + 2] = az * wa + b[bi + 2] * wb;
+    out[o + 3] = aw * wa + b[bi + 3] * wb;
+    return out;
+}
+//# sourceMappingURL=quat.js.map

package/dist/quat.js.map

@@ -0,0 +1 @@
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package/dist/scalar.d.ts

@@ -0,0 +1,20 @@
+/** `v` limited to `[lo, hi]`. */
+export declare function clamp(v: number, lo: number, hi: number): number;
+/** `a + (b - a) * t`. */
+export declare function lerp(a: number, b: number, t: number): number;
+/** Where `v` sits between `a` and `b` (0 at `a`, 1 at `b`; 0 when `a === b`). */
+export declare function inverseLerp(a: number, b: number, v: number): number;
+/** Hermite step from 0 at `lo` to 1 at `hi`. */
+export declare function smoothstep(v: number, lo: number, hi: number): number;
+/**
+ * Frame-rate-independent approach of `a` towards `b` at rate `lambda` (1/s) over `dt` (s):
+ * the same total motion whether a second is one step or sixty.
+ *
+ * @example
+ * camera.distance = MathUtils.damp(camera.distance, target, 6, dt);
+ */
+export declare function damp(a: number, b: number, lambda: number, dt: number): number;
+/** Degrees to radians. */
+export declare function degToRad(d: number): number;
+/** Radians to degrees. */
+export declare function radToDeg(r: number): number;

package/dist/scalar.js

@@ -0,0 +1,36 @@
+/** `v` limited to `[lo, hi]`. */
+export function clamp(v, lo, hi) {
+    return Math.min(Math.max(v, lo), hi);
+}
+/** `a + (b - a) * t`. */
+export function lerp(a, b, t) {
+    return a + (b - a) * t;
+}
+/** Where `v` sits between `a` and `b` (0 at `a`, 1 at `b`; 0 when `a === b`). */
+export function inverseLerp(a, b, v) {
+    return a === b ? 0 : (v - a) / (b - a);
+}
+/** Hermite step from 0 at `lo` to 1 at `hi`. */
+export function smoothstep(v, lo, hi) {
+    const x = clamp(inverseLerp(lo, hi, v), 0, 1);
+    return x * x * (3 - 2 * x);
+}
+/**
+ * Frame-rate-independent approach of `a` towards `b` at rate `lambda` (1/s) over `dt` (s):
+ * the same total motion whether a second is one step or sixty.
+ *
+ * @example
+ * camera.distance = MathUtils.damp(camera.distance, target, 6, dt);
+ */
+export function damp(a, b, lambda, dt) {
+    return lerp(a, b, 1 - Math.exp(-lambda * dt));
+}
+/** Degrees to radians. */
+export function degToRad(d) {
+    return d * (Math.PI / 180);
+}
+/** Radians to degrees. */
+export function radToDeg(r) {
+    return r * (180 / Math.PI);
+}
+//# sourceMappingURL=scalar.js.map

package/dist/scalar.js.map

@@ -0,0 +1 @@
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package/dist/transform.d.ts

@@ -0,0 +1,10 @@
+import type { In, Out } from './types.ts';
+/**
+ * `out = parent ∘ local` for transforms laid out as 8 numbers, `[tx, ty, tz, rx, ry, rz,
+ * rw, s]` (translation, rotation, uniform scale: `core.Transform`'s fields). Keep them in a
+ * Float64Array: translations are world positions (ADR-0008). Safe when `out` is an input.
+ *
+ * @example
+ * const world = transform.compose(new Float64Array(8), parentWorld, childLocal);
+ */
+export declare function compose<T extends Out>(out: T, parent: In, local: In, o?: number, pi?: number, li?: number): T;

package/dist/transform.js

@@ -0,0 +1,26 @@
+/**
+ * `out = parent ∘ local` for transforms laid out as 8 numbers, `[tx, ty, tz, rx, ry, rz,
+ * rw, s]` (translation, rotation, uniform scale: `core.Transform`'s fields). Keep them in a
+ * Float64Array: translations are world positions (ADR-0008). Safe when `out` is an input.
+ *
+ * @example
+ * const world = transform.compose(new Float64Array(8), parentWorld, childLocal);
+ */
+export function compose(out, parent, local, o = 0, pi = 0, li = 0) {
+    const s = parent[pi + 7];
+    const vx = local[li] * s, vy = local[li + 1] * s, vz = local[li + 2] * s;
+    const x = parent[pi + 3], y = parent[pi + 4], z = parent[pi + 5], w = parent[pi + 6];
+    const tx = 2 * (y * vz - z * vy), ty = 2 * (z * vx - x * vz), tz = 2 * (x * vy - y * vx);
+    const bx = local[li + 3], by = local[li + 4], bz = local[li + 5], bw = local[li + 6];
+    const ls = local[li + 7];
+    out[o] = parent[pi] + vx + w * tx + (y * tz - z * ty);
+    out[o + 1] = parent[pi + 1] + vy + w * ty + (z * tx - x * tz);
+    out[o + 2] = parent[pi + 2] + vz + w * tz + (x * ty - y * tx);
+    out[o + 3] = w * bx + x * bw + y * bz - z * by;
+    out[o + 4] = w * by - x * bz + y * bw + z * bx;
+    out[o + 5] = w * bz + x * by - y * bx + z * bw;
+    out[o + 6] = w * bw - x * bx - y * by - z * bz;
+    out[o + 7] = s * ls;
+    return out;
+}
+//# sourceMappingURL=transform.js.map

package/dist/transform.js.map

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package/dist/types.d.ts

@@ -0,0 +1,7 @@
+/** Numbers to read: a typed array, an ECS column, a number[]. */
+export type In = ArrayLike<number>;
+/** Numbers to write: a typed array, an ECS column, a number[]. */
+export type Out = {
+    [i: number]: number;
+    readonly length: number;
+};

package/dist/types.js

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=types.js.map

package/dist/types.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"types.js","sourceRoot":"","sources":["../src/types.ts"],"names":[],"mappings":""}

package/dist/vec3.d.ts

@@ -0,0 +1,25 @@
+import type { In, Out } from './types.ts';
+/** `out = a + b`. */
+export declare function add<T extends Out>(out: T, a: In, b: In, o?: number, ai?: number, bi?: number): T;
+/** `out = a - b`. */
+export declare function sub<T extends Out>(out: T, a: In, b: In, o?: number, ai?: number, bi?: number): T;
+/** `out = a * s`. */
+export declare function multiplyScalar<T extends Out>(out: T, a: In, s: number, o?: number, ai?: number): T;
+/** `a · b`. */
+export declare function dot(a: In, b: In, ai?: number, bi?: number): number;
+/** `out = a × b` (right-handed). Safe when `out` is `a` or `b`. */
+export declare function cross<T extends Out>(out: T, a: In, b: In, o?: number, ai?: number, bi?: number): T;
+/** Squared length. */
+export declare function lengthSq(a: In, ai?: number): number;
+/** Length. */
+export declare function length(a: In, ai?: number): number;
+/** Distance between two points. */
+export declare function distanceTo(a: In, b: In, ai?: number, bi?: number): number;
+/** `out = a / |a|`, or zero for a zero (or non-finite) vector. */
+export declare function normalize<T extends Out>(out: T, a: In, o?: number, ai?: number): T;
+/** `out = a + (b - a) * t`. */
+export declare function lerp<T extends Out>(out: T, a: In, b: In, t: number, o?: number, ai?: number, bi?: number): T;
+/** `out = q` rotating `v` (`t = 2 q.xyz × v; v + w t + q.xyz × t`). Safe when `out` is `v`. */
+export declare function applyQuaternion<T extends Out>(out: T, v: In, q: In, o?: number, vi?: number, qi?: number): T;
+/** `out = m · (v, 1)` with the perspective divide (three.js `applyMatrix4`). Safe when `out` is `v`. */
+export declare function applyMatrix4<T extends Out>(out: T, v: In, m: In, o?: number, vi?: number, mi?: number): T;

package/dist/vec3.js

@@ -0,0 +1,80 @@
+/** `out = a + b`. */
+export function add(out, a, b, o = 0, ai = 0, bi = 0) {
+    out[o] = a[ai] + b[bi];
+    out[o + 1] = a[ai + 1] + b[bi + 1];
+    out[o + 2] = a[ai + 2] + b[bi + 2];
+    return out;
+}
+/** `out = a - b`. */
+export function sub(out, a, b, o = 0, ai = 0, bi = 0) {
+    out[o] = a[ai] - b[bi];
+    out[o + 1] = a[ai + 1] - b[bi + 1];
+    out[o + 2] = a[ai + 2] - b[bi + 2];
+    return out;
+}
+/** `out = a * s`. */
+export function multiplyScalar(out, a, s, o = 0, ai = 0) {
+    out[o] = a[ai] * s;
+    out[o + 1] = a[ai + 1] * s;
+    out[o + 2] = a[ai + 2] * s;
+    return out;
+}
+/** `a · b`. */
+export function dot(a, b, ai = 0, bi = 0) {
+    return a[ai] * b[bi] + a[ai + 1] * b[bi + 1] + a[ai + 2] * b[bi + 2];
+}
+/** `out = a × b` (right-handed). Safe when `out` is `a` or `b`. */
+export function cross(out, a, b, o = 0, ai = 0, bi = 0) {
+    const ax = a[ai], ay = a[ai + 1], az = a[ai + 2];
+    const bx = b[bi], by = b[bi + 1], bz = b[bi + 2];
+    out[o] = ay * bz - az * by;
+    out[o + 1] = az * bx - ax * bz;
+    out[o + 2] = ax * by - ay * bx;
+    return out;
+}
+/** Squared length. */
+export function lengthSq(a, ai = 0) {
+    return dot(a, a, ai, ai);
+}
+/** Length. */
+export function length(a, ai = 0) {
+    return Math.sqrt(dot(a, a, ai, ai));
+}
+/** Distance between two points. */
+export function distanceTo(a, b, ai = 0, bi = 0) {
+    const x = a[ai] - b[bi], y = a[ai + 1] - b[bi + 1], z = a[ai + 2] - b[bi + 2];
+    return Math.sqrt(x * x + y * y + z * z);
+}
+/** `out = a / |a|`, or zero for a zero (or non-finite) vector. */
+export function normalize(out, a, o = 0, ai = 0) {
+    const l = length(a, ai);
+    const k = l > 0 && Number.isFinite(l) ? 1 / l : 0;
+    return multiplyScalar(out, a, k, o, ai);
+}
+/** `out = a + (b - a) * t`. */
+export function lerp(out, a, b, t, o = 0, ai = 0, bi = 0) {
+    out[o] = a[ai] + (b[bi] - a[ai]) * t;
+    out[o + 1] = a[ai + 1] + (b[bi + 1] - a[ai + 1]) * t;
+    out[o + 2] = a[ai + 2] + (b[bi + 2] - a[ai + 2]) * t;
+    return out;
+}
+/** `out = q` rotating `v` (`t = 2 q.xyz × v; v + w t + q.xyz × t`). Safe when `out` is `v`. */
+export function applyQuaternion(out, v, q, o = 0, vi = 0, qi = 0) {
+    const x = q[qi], y = q[qi + 1], z = q[qi + 2], w = q[qi + 3];
+    const vx = v[vi], vy = v[vi + 1], vz = v[vi + 2];
+    const tx = 2 * (y * vz - z * vy), ty = 2 * (z * vx - x * vz), tz = 2 * (x * vy - y * vx);
+    out[o] = vx + w * tx + (y * tz - z * ty);
+    out[o + 1] = vy + w * ty + (z * tx - x * tz);
+    out[o + 2] = vz + w * tz + (x * ty - y * tx);
+    return out;
+}
+/** `out = m · (v, 1)` with the perspective divide (three.js `applyMatrix4`). Safe when `out` is `v`. */
+export function applyMatrix4(out, v, m, o = 0, vi = 0, mi = 0) {
+    const x = v[vi], y = v[vi + 1], z = v[vi + 2];
+    const w = 1 / (m[mi + 3] * x + m[mi + 7] * y + m[mi + 11] * z + m[mi + 15]);
+    out[o] = (m[mi] * x + m[mi + 4] * y + m[mi + 8] * z + m[mi + 12]) * w;
+    out[o + 1] = (m[mi + 1] * x + m[mi + 5] * y + m[mi + 9] * z + m[mi + 13]) * w;
+    out[o + 2] = (m[mi + 2] * x + m[mi + 6] * y + m[mi + 10] * z + m[mi + 14]) * w;
+    return out;
+}
+//# sourceMappingURL=vec3.js.map

package/dist/vec3.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -1,6 +1,24 @@
 {
   "name": "@yali-engine/math",
-  "version": "0.0.0-stage",
-  "stub": true,
-  "description": "Temporary package placeholder for staged publishing"
+  "version": "0.4.0",
+  "description": "Yali math for TS: vectors, quaternions, matrices, frustums and transforms as allocation-free functions over typed arrays (ADR-0054).",
+  "license": "MIT OR Apache-2.0",
+  "type": "module",
+  "sideEffects": false,
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "default": "./dist/index.js"
+    }
+  },
+  "publishConfig": {
+    "access": "public"
+  },
+  "files": [
+    "dist"
+  ],
+  "scripts": {
+    "typecheck": "tsc -p tsconfig.json",
+    "test": "node --experimental-strip-types --no-warnings --test \"test/*.test.ts\""
+  }
 }

package/README.md

@@ -1,3 +0,0 @@
-# Temporary Holding Version
-
-This version is a temporary placeholder for this package. An operational version to replace this has been submitted for review and is awaiting a staged release.