math 0.0.0 → 0.1.0

package/dist/shapes/obb3.js

@@ -0,0 +1,557 @@
+import { clone as clone$1, create as create$1, identity, fromQuat } from '../core/mat3.js';
+import { EPSILON } from '../core/scalar.js';
+
+function create() {
+    return { center: [0, 0, 0], halfExtents: [1, 1, 1], rotation: create$1() };
+}
+function clone(a) {
+    return {
+        center: [a.center[0], a.center[1], a.center[2]],
+        halfExtents: [a.halfExtents[0], a.halfExtents[1], a.halfExtents[2]],
+        rotation: clone$1(a.rotation),
+    };
+}
+function copy(out, a) {
+    out.center[0] = a.center[0];
+    out.center[1] = a.center[1];
+    out.center[2] = a.center[2];
+    out.halfExtents[0] = a.halfExtents[0];
+    out.halfExtents[1] = a.halfExtents[1];
+    out.halfExtents[2] = a.halfExtents[2];
+    out.rotation[0] = a.rotation[0];
+    out.rotation[1] = a.rotation[1];
+    out.rotation[2] = a.rotation[2];
+    out.rotation[3] = a.rotation[3];
+    out.rotation[4] = a.rotation[4];
+    out.rotation[5] = a.rotation[5];
+    out.rotation[6] = a.rotation[6];
+    out.rotation[7] = a.rotation[7];
+    out.rotation[8] = a.rotation[8];
+    return out;
+}
+/**
+ * Sets an OBB from center, half extents, and a rotation matrix.
+ * @param out the OBB to store the result
+ * @param center the center of the OBB
+ * @param halfExtents the half extents of the OBB
+ * @param rotation the Mat3 rotation matrix
+ * @returns the OBB with the given center, half extents, and rotation
+ */
+function set(out, center, halfExtents, rotation) {
+    out.center[0] = center[0];
+    out.center[1] = center[1];
+    out.center[2] = center[2];
+    out.halfExtents[0] = halfExtents[0];
+    out.halfExtents[1] = halfExtents[1];
+    out.halfExtents[2] = halfExtents[2];
+    out.rotation[0] = rotation[0];
+    out.rotation[1] = rotation[1];
+    out.rotation[2] = rotation[2];
+    out.rotation[3] = rotation[3];
+    out.rotation[4] = rotation[4];
+    out.rotation[5] = rotation[5];
+    out.rotation[6] = rotation[6];
+    out.rotation[7] = rotation[7];
+    out.rotation[8] = rotation[8];
+    return out;
+}
+/**
+ * Sets an OBB from center, half extents, and a quaternion.
+ * Convenience helper for users who store orientation as a quaternion.
+ *
+ * @param out - The OBB to store the result
+ * @param center - The center of the OBB
+ * @param halfExtents - The half extents of the OBB
+ * @param q - The quaternion representing the OBB's orientation
+ * @returns out
+ */
+function setFromCenterHalfExtentsQuaternion(out, center, halfExtents, q) {
+    out.center[0] = center[0];
+    out.center[1] = center[1];
+    out.center[2] = center[2];
+    out.halfExtents[0] = halfExtents[0];
+    out.halfExtents[1] = halfExtents[1];
+    out.halfExtents[2] = halfExtents[2];
+    fromQuat(out.rotation, q);
+    return out;
+}
+/**
+ * Creates an OBB from an axis-aligned bounding box (AABB).
+ * The resulting OBB will have the same center and extents as the AABB,
+ * with no rotation (identity orientation).
+ *
+ * @param out - The OBB to store the result
+ * @param aabb - The AABB (min and max corners)
+ * @returns out
+ */
+function setFromBox3(out, aabb) {
+    // Center = (min + max) / 2
+    out.center[0] = (aabb[0] + aabb[3]) * 0.5;
+    out.center[1] = (aabb[1] + aabb[4]) * 0.5;
+    out.center[2] = (aabb[2] + aabb[5]) * 0.5;
+    // Half extents = (max - min) / 2
+    out.halfExtents[0] = (aabb[3] - aabb[0]) * 0.5;
+    out.halfExtents[1] = (aabb[4] - aabb[1]) * 0.5;
+    out.halfExtents[2] = (aabb[5] - aabb[2]) * 0.5;
+    // Identity rotation
+    identity(out.rotation);
+    return out;
+}
+/**
+ * Tests whether a point is contained within an OBB.
+ *
+ * @param obb - The OBB to test
+ * @param point - The point to test
+ * @returns true if the point is inside the OBB
+ */
+function containsPoint(obb, point) {
+    // Vector from center to point
+    const dx = point[0] - obb.center[0];
+    const dy = point[1] - obb.center[1];
+    const dz = point[2] - obb.center[2];
+    // Project onto each OBB axis (columns of the rotation matrix) and compare against
+    // the half extents. The projections are used once, so keep them as scalars.
+    const r = obb.rotation;
+    const lx = dx * r[0] + dy * r[1] + dz * r[2];
+    const ly = dx * r[3] + dy * r[4] + dz * r[5];
+    const lz = dx * r[6] + dy * r[7] + dz * r[8];
+    return Math.abs(lx) <= obb.halfExtents[0] && Math.abs(ly) <= obb.halfExtents[1] && Math.abs(lz) <= obb.halfExtents[2];
+}
+/**
+ * Clamps a point to the surface or interior of an OBB.
+ * Reference: Closest Point on OBB to Point in Real-Time Collision Detection
+ * by Christer Ericson (chapter 5.1.4)
+ *
+ * @param out - The clamped point result
+ * @param obb - The OBB
+ * @param point - The point to clamp
+ * @returns out
+ */
+function clampPoint(out, obb, point) {
+    // OBB axes are the columns of the rotation matrix, read directly from r[].
+    const r = obb.rotation;
+    // Vector from center to point (captured before writing out, in case out === point)
+    const dx = point[0] - obb.center[0];
+    const dy = point[1] - obb.center[1];
+    const dz = point[2] - obb.center[2];
+    // Start at center, then walk along each axis by the clamped projection distance.
+    out[0] = obb.center[0];
+    out[1] = obb.center[1];
+    out[2] = obb.center[2];
+    // x axis = r[0..2]
+    let dist = dx * r[0] + dy * r[1] + dz * r[2];
+    dist = Math.max(-obb.halfExtents[0], Math.min(obb.halfExtents[0], dist));
+    out[0] += r[0] * dist;
+    out[1] += r[1] * dist;
+    out[2] += r[2] * dist;
+    // y axis = r[3..5]
+    dist = dx * r[3] + dy * r[4] + dz * r[5];
+    dist = Math.max(-obb.halfExtents[1], Math.min(obb.halfExtents[1], dist));
+    out[0] += r[3] * dist;
+    out[1] += r[4] * dist;
+    out[2] += r[5] * dist;
+    // z axis = r[6..8]
+    dist = dx * r[6] + dy * r[7] + dz * r[8];
+    dist = Math.max(-obb.halfExtents[2], Math.min(obb.halfExtents[2], dist));
+    out[0] += r[6] * dist;
+    out[1] += r[7] * dist;
+    out[2] += r[8] * dist;
+    return out;
+}
+/**
+ * Tests whether an OBB intersects with another OBB using the Separating Axis Theorem.
+ * Reference: OBB-OBB Intersection in Real-Time Collision Detection
+ * by Christer Ericson (chapter 4.4.1)
+ *
+ * A cross-product axis A_i x B_j degenerates to ~zero when those edges are near
+ * parallel, which makes its (un-normalised) separation test numerically unstable.
+ * Such an axis carries no separation information not already covered by the face
+ * axes, so it is skipped when `1 - R[i][j]^2` (its squared length, = sin^2 of the
+ * angle between the edges) falls below `epsilon`. This is scale-invariant — R is a
+ * matrix of cosines — unlike fudging the projected radii.
+ *
+ * @param a - The first OBB
+ * @param b - The second OBB
+ * @param epsilon - Squared-sine threshold below which near-parallel edge axes are skipped
+ * @returns true if the OBBs intersect
+ */
+function intersectsOBB3(a, b, epsilon = EPSILON) {
+    const rotA = a.rotation;
+    const rotB = b.rotation;
+    const a00 = rotA[0];
+    const a01 = rotA[1];
+    const a02 = rotA[2];
+    const a10 = rotA[3];
+    const a11 = rotA[4];
+    const a12 = rotA[5];
+    const a20 = rotA[6];
+    const a21 = rotA[7];
+    const a22 = rotA[8];
+    const b00 = rotB[0];
+    const b01 = rotB[1];
+    const b02 = rotB[2];
+    const b10 = rotB[3];
+    const b11 = rotB[4];
+    const b12 = rotB[5];
+    const b20 = rotB[6];
+    const b21 = rotB[7];
+    const b22 = rotB[8];
+    // R[i][j] = dot(A axis i, B axis j); OBB axes are the rows read above. Kept as
+    // flat scalar locals so every access stays in a register (no nested-array loads).
+    const r00 = a00 * b00 + a01 * b01 + a02 * b02;
+    const r01 = a00 * b10 + a01 * b11 + a02 * b12;
+    const r02 = a00 * b20 + a01 * b21 + a02 * b22;
+    const r10 = a10 * b00 + a11 * b01 + a12 * b02;
+    const r11 = a10 * b10 + a11 * b11 + a12 * b12;
+    const r12 = a10 * b20 + a11 * b21 + a12 * b22;
+    const r20 = a20 * b00 + a21 * b01 + a22 * b02;
+    const r21 = a20 * b10 + a21 * b11 + a22 * b12;
+    const r22 = a20 * b20 + a21 * b21 + a22 * b22;
+    // |R|, used to project box extents onto each candidate axis
+    const q00 = Math.abs(r00);
+    const q01 = Math.abs(r01);
+    const q02 = Math.abs(r02);
+    const q10 = Math.abs(r10);
+    const q11 = Math.abs(r11);
+    const q12 = Math.abs(r12);
+    const q20 = Math.abs(r20);
+    const q21 = Math.abs(r21);
+    const q22 = Math.abs(r22);
+    // Translation (b.center - a.center) brought into a's frame: t[i] = dot(t, A axis i)
+    const dx = b.center[0] - a.center[0];
+    const dy = b.center[1] - a.center[1];
+    const dz = b.center[2] - a.center[2];
+    const t0 = dx * a00 + dy * a01 + dz * a02;
+    const t1 = dx * a10 + dy * a11 + dz * a12;
+    const t2 = dx * a20 + dy * a21 + dz * a22;
+    const ae0 = a.halfExtents[0];
+    const ae1 = a.halfExtents[1];
+    const ae2 = a.halfExtents[2];
+    const be0 = b.halfExtents[0];
+    const be1 = b.halfExtents[1];
+    const be2 = b.halfExtents[2];
+    let ra;
+    let rb;
+    // Test axes L = A0, A1, A2
+    ra = ae0;
+    rb = be0 * q00 + be1 * q01 + be2 * q02;
+    if (Math.abs(t0) > ra + rb)
+        return false;
+    ra = ae1;
+    rb = be0 * q10 + be1 * q11 + be2 * q12;
+    if (Math.abs(t1) > ra + rb)
+        return false;
+    ra = ae2;
+    rb = be0 * q20 + be1 * q21 + be2 * q22;
+    if (Math.abs(t2) > ra + rb)
+        return false;
+    // Test axes L = B0, B1, B2
+    ra = ae0 * q00 + ae1 * q10 + ae2 * q20;
+    rb = be0;
+    if (Math.abs(t0 * r00 + t1 * r10 + t2 * r20) > ra + rb)
+        return false;
+    ra = ae0 * q01 + ae1 * q11 + ae2 * q21;
+    rb = be1;
+    if (Math.abs(t0 * r01 + t1 * r11 + t2 * r21) > ra + rb)
+        return false;
+    ra = ae0 * q02 + ae1 * q12 + ae2 * q22;
+    rb = be2;
+    if (Math.abs(t0 * r02 + t1 * r12 + t2 * r22) > ra + rb)
+        return false;
+    // Test axis L = A0 x B0 (skip when A0 ∥ B0)
+    if (1 - r00 * r00 >= epsilon) {
+        ra = ae1 * q20 + ae2 * q10;
+        rb = be1 * q02 + be2 * q01;
+        if (Math.abs(t2 * r10 - t1 * r20) > ra + rb)
+            return false;
+    }
+    // Test axis L = A0 x B1 (skip when A0 ∥ B1)
+    if (1 - r01 * r01 >= epsilon) {
+        ra = ae1 * q21 + ae2 * q11;
+        rb = be0 * q02 + be2 * q00;
+        if (Math.abs(t2 * r11 - t1 * r21) > ra + rb)
+            return false;
+    }
+    // Test axis L = A0 x B2 (skip when A0 ∥ B2)
+    if (1 - r02 * r02 >= epsilon) {
+        ra = ae1 * q22 + ae2 * q12;
+        rb = be0 * q01 + be1 * q00;
+        if (Math.abs(t2 * r12 - t1 * r22) > ra + rb)
+            return false;
+    }
+    // Test axis L = A1 x B0 (skip when A1 ∥ B0)
+    if (1 - r10 * r10 >= epsilon) {
+        ra = ae0 * q20 + ae2 * q00;
+        rb = be1 * q12 + be2 * q11;
+        if (Math.abs(t0 * r20 - t2 * r00) > ra + rb)
+            return false;
+    }
+    // Test axis L = A1 x B1 (skip when A1 ∥ B1)
+    if (1 - r11 * r11 >= epsilon) {
+        ra = ae0 * q21 + ae2 * q01;
+        rb = be0 * q12 + be2 * q10;
+        if (Math.abs(t0 * r21 - t2 * r01) > ra + rb)
+            return false;
+    }
+    // Test axis L = A1 x B2 (skip when A1 ∥ B2)
+    if (1 - r12 * r12 >= epsilon) {
+        ra = ae0 * q22 + ae2 * q02;
+        rb = be0 * q11 + be1 * q10;
+        if (Math.abs(t0 * r22 - t2 * r02) > ra + rb)
+            return false;
+    }
+    // Test axis L = A2 x B0 (skip when A2 ∥ B0)
+    if (1 - r20 * r20 >= epsilon) {
+        ra = ae0 * q10 + ae1 * q00;
+        rb = be1 * q22 + be2 * q21;
+        if (Math.abs(t1 * r00 - t0 * r10) > ra + rb)
+            return false;
+    }
+    // Test axis L = A2 x B1 (skip when A2 ∥ B1)
+    if (1 - r21 * r21 >= epsilon) {
+        ra = ae0 * q11 + ae1 * q01;
+        rb = be0 * q22 + be2 * q20;
+        if (Math.abs(t1 * r01 - t0 * r11) > ra + rb)
+            return false;
+    }
+    // Test axis L = A2 x B2 (skip when A2 ∥ B2)
+    if (1 - r22 * r22 >= epsilon) {
+        ra = ae0 * q12 + ae1 * q02;
+        rb = be0 * q21 + be1 * q20;
+        if (Math.abs(t1 * r02 - t0 * r12) > ra + rb)
+            return false;
+    }
+    // No separating axis found - OBBs must be intersecting
+    return true;
+}
+/**
+ * Tests whether an OBB intersects with an AABB.
+ *
+ * Specialised form of {@link intersectsOBB3}: the AABB's axes are the world axes, so
+ * the axis dot-product matrix R is just the OBB's rotation (no 9 dot-products), and the
+ * AABB's centre/half-extents come straight from its min/max. The near-parallel edge
+ * skip works identically — here it fires when an OBB axis aligns with a world axis.
+ *
+ * @param obb - The OBB
+ * @param aabb - The AABB (axis-aligned bounding box)
+ * @returns true if they intersect
+ */
+function intersectsBox3(obb, aabb) {
+    const rotA = obb.rotation;
+    const epsilon = EPSILON;
+    // R[i][j] = dot(A axis i, AABB axis j) = A axis i's j-th component = rotA itself
+    const r00 = rotA[0];
+    const r01 = rotA[1];
+    const r02 = rotA[2];
+    const r10 = rotA[3];
+    const r11 = rotA[4];
+    const r12 = rotA[5];
+    const r20 = rotA[6];
+    const r21 = rotA[7];
+    const r22 = rotA[8];
+    const q00 = Math.abs(r00);
+    const q01 = Math.abs(r01);
+    const q02 = Math.abs(r02);
+    const q10 = Math.abs(r10);
+    const q11 = Math.abs(r11);
+    const q12 = Math.abs(r12);
+    const q20 = Math.abs(r20);
+    const q21 = Math.abs(r21);
+    const q22 = Math.abs(r22);
+    // AABB centre and half-extents
+    const bcx = (aabb[0] + aabb[3]) * 0.5;
+    const bcy = (aabb[1] + aabb[4]) * 0.5;
+    const bcz = (aabb[2] + aabb[5]) * 0.5;
+    const be0 = (aabb[3] - aabb[0]) * 0.5;
+    const be1 = (aabb[4] - aabb[1]) * 0.5;
+    const be2 = (aabb[5] - aabb[2]) * 0.5;
+    // Translation (aabb.center - obb.center) brought into the OBB's frame
+    const dx = bcx - obb.center[0];
+    const dy = bcy - obb.center[1];
+    const dz = bcz - obb.center[2];
+    const t0 = dx * r00 + dy * r01 + dz * r02;
+    const t1 = dx * r10 + dy * r11 + dz * r12;
+    const t2 = dx * r20 + dy * r21 + dz * r22;
+    const ae0 = obb.halfExtents[0];
+    const ae1 = obb.halfExtents[1];
+    const ae2 = obb.halfExtents[2];
+    let ra;
+    let rb;
+    // Test axes L = A0, A1, A2
+    ra = ae0;
+    rb = be0 * q00 + be1 * q01 + be2 * q02;
+    if (Math.abs(t0) > ra + rb)
+        return false;
+    ra = ae1;
+    rb = be0 * q10 + be1 * q11 + be2 * q12;
+    if (Math.abs(t1) > ra + rb)
+        return false;
+    ra = ae2;
+    rb = be0 * q20 + be1 * q21 + be2 * q22;
+    if (Math.abs(t2) > ra + rb)
+        return false;
+    // Test axes L = B0, B1, B2
+    ra = ae0 * q00 + ae1 * q10 + ae2 * q20;
+    rb = be0;
+    if (Math.abs(t0 * r00 + t1 * r10 + t2 * r20) > ra + rb)
+        return false;
+    ra = ae0 * q01 + ae1 * q11 + ae2 * q21;
+    rb = be1;
+    if (Math.abs(t0 * r01 + t1 * r11 + t2 * r21) > ra + rb)
+        return false;
+    ra = ae0 * q02 + ae1 * q12 + ae2 * q22;
+    rb = be2;
+    if (Math.abs(t0 * r02 + t1 * r12 + t2 * r22) > ra + rb)
+        return false;
+    // Test axis L = A0 x B0 (skip when A0 aligns with world X)
+    if (1 - r00 * r00 >= epsilon) {
+        ra = ae1 * q20 + ae2 * q10;
+        rb = be1 * q02 + be2 * q01;
+        if (Math.abs(t2 * r10 - t1 * r20) > ra + rb)
+            return false;
+    }
+    // Test axis L = A0 x B1 (skip when A0 aligns with world Y)
+    if (1 - r01 * r01 >= epsilon) {
+        ra = ae1 * q21 + ae2 * q11;
+        rb = be0 * q02 + be2 * q00;
+        if (Math.abs(t2 * r11 - t1 * r21) > ra + rb)
+            return false;
+    }
+    // Test axis L = A0 x B2 (skip when A0 aligns with world Z)
+    if (1 - r02 * r02 >= epsilon) {
+        ra = ae1 * q22 + ae2 * q12;
+        rb = be0 * q01 + be1 * q00;
+        if (Math.abs(t2 * r12 - t1 * r22) > ra + rb)
+            return false;
+    }
+    // Test axis L = A1 x B0 (skip when A1 aligns with world X)
+    if (1 - r10 * r10 >= epsilon) {
+        ra = ae0 * q20 + ae2 * q00;
+        rb = be1 * q12 + be2 * q11;
+        if (Math.abs(t0 * r20 - t2 * r00) > ra + rb)
+            return false;
+    }
+    // Test axis L = A1 x B1 (skip when A1 aligns with world Y)
+    if (1 - r11 * r11 >= epsilon) {
+        ra = ae0 * q21 + ae2 * q01;
+        rb = be0 * q12 + be2 * q10;
+        if (Math.abs(t0 * r21 - t2 * r01) > ra + rb)
+            return false;
+    }
+    // Test axis L = A1 x B2 (skip when A1 aligns with world Z)
+    if (1 - r12 * r12 >= epsilon) {
+        ra = ae0 * q22 + ae2 * q02;
+        rb = be0 * q11 + be1 * q10;
+        if (Math.abs(t0 * r22 - t2 * r02) > ra + rb)
+            return false;
+    }
+    // Test axis L = A2 x B0 (skip when A2 aligns with world X)
+    if (1 - r20 * r20 >= epsilon) {
+        ra = ae0 * q10 + ae1 * q00;
+        rb = be1 * q22 + be2 * q21;
+        if (Math.abs(t1 * r00 - t0 * r10) > ra + rb)
+            return false;
+    }
+    // Test axis L = A2 x B1 (skip when A2 aligns with world Y)
+    if (1 - r21 * r21 >= epsilon) {
+        ra = ae0 * q11 + ae1 * q01;
+        rb = be0 * q22 + be2 * q20;
+        if (Math.abs(t1 * r01 - t0 * r11) > ra + rb)
+            return false;
+    }
+    // Test axis L = A2 x B2 (skip when A2 aligns with world Z)
+    if (1 - r22 * r22 >= epsilon) {
+        ra = ae0 * q12 + ae1 * q02;
+        rb = be0 * q21 + be1 * q20;
+        if (Math.abs(t1 * r02 - t0 * r12) > ra + rb)
+            return false;
+    }
+    return true;
+}
+/**
+ * Applies a 4x4 transformation matrix to an OBB.
+ * This can be used to transform the bounding volume with the world matrix
+ * of a 3D object to keep both entities in sync.
+ *
+ * @param out - The transformed OBB
+ * @param obb - The OBB to transform
+ * @param matrix - The 4x4 transformation matrix
+ * @returns out
+ */
+function applyMatrix4(out, obb, matrix) {
+    // read the upper-left 3x3 (the affine linear part) into locals once. Columns
+    // m0*, m1*, m2* correspond to mat4 columns 0, 1, 2.
+    const m00 = matrix[0];
+    const m01 = matrix[1];
+    const m02 = matrix[2];
+    const m10 = matrix[4];
+    const m11 = matrix[5];
+    const m12 = matrix[6];
+    const m20 = matrix[8];
+    const m21 = matrix[9];
+    const m22 = matrix[10];
+    // extract scale as the length of each column (always non-negative).
+    const sx = Math.sqrt(m00 * m00 + m01 * m01 + m02 * m02);
+    const sy = Math.sqrt(m10 * m10 + m11 * m11 + m12 * m12);
+    const sz = Math.sqrt(m20 * m20 + m21 * m21 + m22 * m22);
+    // handle negative scale (reflection).
+    // for an affine matrix the 4x4 determinant equals the upper-left 3x3 determinant, so we only need that (and only its sign).
+    // the reflection is folded into the first rotation column via invSX so that the extracted basis stays right-handed while the half extents remain positive.
+    const det = m00 * (m11 * m22 - m21 * m12) - m10 * (m01 * m22 - m21 * m02) + m20 * (m01 * m12 - m11 * m02);
+    const invSX = (det < 0 ? -1 : 1) / sx;
+    const invSY = 1 / sy;
+    const invSZ = 1 / sz;
+    // normalized rotation columns (scale removed).
+    const r00 = m00 * invSX;
+    const r01 = m01 * invSX;
+    const r02 = m02 * invSX;
+    const r10 = m10 * invSY;
+    const r11 = m11 * invSY;
+    const r12 = m12 * invSY;
+    const r20 = m20 * invSZ;
+    const r21 = m21 * invSZ;
+    const r22 = m22 * invSZ;
+    // cache the obb's rotation before writing to out.rotation (supports out === obb).
+    const q = obb.rotation;
+    const q0 = q[0];
+    const q1 = q[1];
+    const q2 = q[2];
+    const q3 = q[3];
+    const q4 = q[4];
+    const q5 = q[5];
+    const q6 = q[6];
+    const q7 = q[7];
+    const q8 = q[8];
+    // combine rotations: out.rotation = extractedRotation * obb.rotation (inlined mat3.multiply).
+    const outRotation = out.rotation;
+    outRotation[0] = q0 * r00 + q1 * r10 + q2 * r20;
+    outRotation[1] = q0 * r01 + q1 * r11 + q2 * r21;
+    outRotation[2] = q0 * r02 + q1 * r12 + q2 * r22;
+    outRotation[3] = q3 * r00 + q4 * r10 + q5 * r20;
+    outRotation[4] = q3 * r01 + q4 * r11 + q5 * r21;
+    outRotation[5] = q3 * r02 + q4 * r12 + q5 * r22;
+    outRotation[6] = q6 * r00 + q7 * r10 + q8 * r20;
+    outRotation[7] = q6 * r01 + q7 * r11 + q8 * r21;
+    outRotation[8] = q6 * r02 + q7 * r12 + q8 * r22;
+    // scale half extents (sx/sy/sz are already the positive scale magnitudes).
+    const he = obb.halfExtents;
+    const outHalfExtents = out.halfExtents;
+    outHalfExtents[0] = he[0] * sx;
+    outHalfExtents[1] = he[1] * sy;
+    outHalfExtents[2] = he[2] * sz;
+    // transform center through the full matrix (rotation + translation, inlined transformMat4).
+    const c = obb.center;
+    const cx = c[0];
+    const cy = c[1];
+    const cz = c[2];
+    let w = matrix[3] * cx + matrix[7] * cy + matrix[11] * cz + matrix[15];
+    w = w || 1.0;
+    const outCenter = out.center;
+    outCenter[0] = (m00 * cx + m10 * cy + m20 * cz + matrix[12]) / w;
+    outCenter[1] = (m01 * cx + m11 * cy + m21 * cz + matrix[13]) / w;
+    outCenter[2] = (m02 * cx + m12 * cy + m22 * cz + matrix[14]) / w;
+    return out;
+}
+
+export { applyMatrix4, clampPoint, clone, containsPoint, copy, create, intersectsBox3, intersectsOBB3, set, setFromBox3, setFromCenterHalfExtentsQuaternion };
+//# sourceMappingURL=obb3.js.map

package/dist/shapes/obb3.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"obb3.js","sources":["../../src/shapes/obb3.ts"],"sourcesContent":["import type { Mat3 } from '../core/mat3';\nimport * as mat3 from '../core/mat3';\nimport type { Mat4 } from '../core/mat4';\nimport type { Quat } from '../core/quat';\nimport { EPSILON } from '../core/scalar';\nimport type { Vec3 } from '../core/vec3';\nimport type { Box3 } from './box3';\n\n/** An oriented bounding box in 3D space */\nexport type OBB3 = { center: Vec3; halfExtents: Vec3; rotation: Mat3 };\n\nexport function create(): OBB3 {\n    return { center: [0, 0, 0], halfExtents: [1, 1, 1], rotation: mat3.create() };\n}\n\nexport function clone(a: OBB3): OBB3 {\n    return {\n        center: [a.center[0], a.center[1], a.center[2]],\n        halfExtents: [a.halfExtents[0], a.halfExtents[1], a.halfExtents[2]],\n        rotation: mat3.clone(a.rotation),\n    };\n}\n\nexport function copy(out: OBB3, a: OBB3): OBB3 {\n    out.center[0] = a.center[0];\n    out.center[1] = a.center[1];\n    out.center[2] = a.center[2];\n    out.halfExtents[0] = a.halfExtents[0];\n    out.halfExtents[1] = a.halfExtents[1];\n    out.halfExtents[2] = a.halfExtents[2];\n    out.rotation[0] = a.rotation[0];\n    out.rotation[1] = a.rotation[1];\n    out.rotation[2] = a.rotation[2];\n    out.rotation[3] = a.rotation[3];\n    out.rotation[4] = a.rotation[4];\n    out.rotation[5] = a.rotation[5];\n    out.rotation[6] = a.rotation[6];\n    out.rotation[7] = a.rotation[7];\n    out.rotation[8] = a.rotation[8];\n    return out;\n}\n\n/**\n * Sets an OBB from center, half extents, and a rotation matrix.\n * @param out the OBB to store the result\n * @param center the center of the OBB\n * @param halfExtents the half extents of the OBB\n * @param rotation the Mat3 rotation matrix\n * @returns the OBB with the given center, half extents, and rotation\n */\nexport function set(out: OBB3, center: Vec3, halfExtents: Vec3, rotation: Mat3): OBB3 {\n    out.center[0] = center[0];\n    out.center[1] = center[1];\n    out.center[2] = center[2];\n    out.halfExtents[0] = halfExtents[0];\n    out.halfExtents[1] = halfExtents[1];\n    out.halfExtents[2] = halfExtents[2];\n    out.rotation[0] = rotation[0];\n    out.rotation[1] = rotation[1];\n    out.rotation[2] = rotation[2];\n    out.rotation[3] = rotation[3];\n    out.rotation[4] = rotation[4];\n    out.rotation[5] = rotation[5];\n    out.rotation[6] = rotation[6];\n    out.rotation[7] = rotation[7];\n    out.rotation[8] = rotation[8];\n    return out;\n}\n\n/**\n * Sets an OBB from center, half extents, and a quaternion.\n * Convenience helper for users who store orientation as a quaternion.\n *\n * @param out - The OBB to store the result\n * @param center - The center of the OBB\n * @param halfExtents - The half extents of the OBB\n * @param q - The quaternion representing the OBB's orientation\n * @returns out\n */\nexport function setFromCenterHalfExtentsQuaternion(out: OBB3, center: Vec3, halfExtents: Vec3, q: Quat): OBB3 {\n    out.center[0] = center[0];\n    out.center[1] = center[1];\n    out.center[2] = center[2];\n    out.halfExtents[0] = halfExtents[0];\n    out.halfExtents[1] = halfExtents[1];\n    out.halfExtents[2] = halfExtents[2];\n    mat3.fromQuat(out.rotation, q);\n    return out;\n}\n\n/**\n * Creates an OBB from an axis-aligned bounding box (AABB).\n * The resulting OBB will have the same center and extents as the AABB,\n * with no rotation (identity orientation).\n *\n * @param out - The OBB to store the result\n * @param aabb - The AABB (min and max corners)\n * @returns out\n */\nexport function setFromBox3(out: OBB3, aabb: Box3): OBB3 {\n    // Center = (min + max) / 2\n    out.center[0] = (aabb[0] + aabb[3]) * 0.5;\n    out.center[1] = (aabb[1] + aabb[4]) * 0.5;\n    out.center[2] = (aabb[2] + aabb[5]) * 0.5;\n\n    // Half extents = (max - min) / 2\n    out.halfExtents[0] = (aabb[3] - aabb[0]) * 0.5;\n    out.halfExtents[1] = (aabb[4] - aabb[1]) * 0.5;\n    out.halfExtents[2] = (aabb[5] - aabb[2]) * 0.5;\n\n    // Identity rotation\n    mat3.identity(out.rotation);\n\n    return out;\n}\n\n/**\n * Tests whether a point is contained within an OBB.\n *\n * @param obb - The OBB to test\n * @param point - The point to test\n * @returns true if the point is inside the OBB\n */\nexport function containsPoint(obb: OBB3, point: Vec3): boolean {\n    // Vector from center to point\n    const dx = point[0] - obb.center[0];\n    const dy = point[1] - obb.center[1];\n    const dz = point[2] - obb.center[2];\n\n    // Project onto each OBB axis (columns of the rotation matrix) and compare against\n    // the half extents. The projections are used once, so keep them as scalars.\n    const r = obb.rotation;\n    const lx = dx * r[0] + dy * r[1] + dz * r[2];\n    const ly = dx * r[3] + dy * r[4] + dz * r[5];\n    const lz = dx * r[6] + dy * r[7] + dz * r[8];\n\n    return Math.abs(lx) <= obb.halfExtents[0] && Math.abs(ly) <= obb.halfExtents[1] && Math.abs(lz) <= obb.halfExtents[2];\n}\n\n/**\n * Clamps a point to the surface or interior of an OBB.\n * Reference: Closest Point on OBB to Point in Real-Time Collision Detection\n * by Christer Ericson (chapter 5.1.4)\n *\n * @param out - The clamped point result\n * @param obb - The OBB\n * @param point - The point to clamp\n * @returns out\n */\nexport function clampPoint(out: Vec3, obb: OBB3, point: Vec3): Vec3 {\n    // OBB axes are the columns of the rotation matrix, read directly from r[].\n    const r = obb.rotation;\n\n    // Vector from center to point (captured before writing out, in case out === point)\n    const dx = point[0] - obb.center[0];\n    const dy = point[1] - obb.center[1];\n    const dz = point[2] - obb.center[2];\n\n    // Start at center, then walk along each axis by the clamped projection distance.\n    out[0] = obb.center[0];\n    out[1] = obb.center[1];\n    out[2] = obb.center[2];\n\n    // x axis = r[0..2]\n    let dist = dx * r[0] + dy * r[1] + dz * r[2];\n    dist = Math.max(-obb.halfExtents[0], Math.min(obb.halfExtents[0], dist));\n    out[0] += r[0] * dist;\n    out[1] += r[1] * dist;\n    out[2] += r[2] * dist;\n\n    // y axis = r[3..5]\n    dist = dx * r[3] + dy * r[4] + dz * r[5];\n    dist = Math.max(-obb.halfExtents[1], Math.min(obb.halfExtents[1], dist));\n    out[0] += r[3] * dist;\n    out[1] += r[4] * dist;\n    out[2] += r[5] * dist;\n\n    // z axis = r[6..8]\n    dist = dx * r[6] + dy * r[7] + dz * r[8];\n    dist = Math.max(-obb.halfExtents[2], Math.min(obb.halfExtents[2], dist));\n    out[0] += r[6] * dist;\n    out[1] += r[7] * dist;\n    out[2] += r[8] * dist;\n\n    return out;\n}\n\n/**\n * Tests whether an OBB intersects with another OBB using the Separating Axis Theorem.\n * Reference: OBB-OBB Intersection in Real-Time Collision Detection\n * by Christer Ericson (chapter 4.4.1)\n *\n * A cross-product axis A_i x B_j degenerates to ~zero when those edges are near\n * parallel, which makes its (un-normalised) separation test numerically unstable.\n * Such an axis carries no separation information not already covered by the face\n * axes, so it is skipped when `1 - R[i][j]^2` (its squared length, = sin^2 of the\n * angle between the edges) falls below `epsilon`. This is scale-invariant — R is a\n * matrix of cosines — unlike fudging the projected radii.\n *\n * @param a - The first OBB\n * @param b - The second OBB\n * @param epsilon - Squared-sine threshold below which near-parallel edge axes are skipped\n * @returns true if the OBBs intersect\n */\nexport function intersectsOBB3(a: OBB3, b: OBB3, epsilon = EPSILON): boolean {\n    const rotA = a.rotation;\n    const rotB = b.rotation;\n\n    const a00 = rotA[0];\n    const a01 = rotA[1];\n    const a02 = rotA[2];\n    const a10 = rotA[3];\n    const a11 = rotA[4];\n    const a12 = rotA[5];\n    const a20 = rotA[6];\n    const a21 = rotA[7];\n    const a22 = rotA[8];\n\n    const b00 = rotB[0];\n    const b01 = rotB[1];\n    const b02 = rotB[2];\n    const b10 = rotB[3];\n    const b11 = rotB[4];\n    const b12 = rotB[5];\n    const b20 = rotB[6];\n    const b21 = rotB[7];\n    const b22 = rotB[8];\n\n    // R[i][j] = dot(A axis i, B axis j); OBB axes are the rows read above. Kept as\n    // flat scalar locals so every access stays in a register (no nested-array loads).\n    const r00 = a00 * b00 + a01 * b01 + a02 * b02;\n    const r01 = a00 * b10 + a01 * b11 + a02 * b12;\n    const r02 = a00 * b20 + a01 * b21 + a02 * b22;\n    const r10 = a10 * b00 + a11 * b01 + a12 * b02;\n    const r11 = a10 * b10 + a11 * b11 + a12 * b12;\n    const r12 = a10 * b20 + a11 * b21 + a12 * b22;\n    const r20 = a20 * b00 + a21 * b01 + a22 * b02;\n    const r21 = a20 * b10 + a21 * b11 + a22 * b12;\n    const r22 = a20 * b20 + a21 * b21 + a22 * b22;\n\n    // |R|, used to project box extents onto each candidate axis\n    const q00 = Math.abs(r00);\n    const q01 = Math.abs(r01);\n    const q02 = Math.abs(r02);\n    const q10 = Math.abs(r10);\n    const q11 = Math.abs(r11);\n    const q12 = Math.abs(r12);\n    const q20 = Math.abs(r20);\n    const q21 = Math.abs(r21);\n    const q22 = Math.abs(r22);\n\n    // Translation (b.center - a.center) brought into a's frame: t[i] = dot(t, A axis i)\n    const dx = b.center[0] - a.center[0];\n    const dy = b.center[1] - a.center[1];\n    const dz = b.center[2] - a.center[2];\n    const t0 = dx * a00 + dy * a01 + dz * a02;\n    const t1 = dx * a10 + dy * a11 + dz * a12;\n    const t2 = dx * a20 + dy * a21 + dz * a22;\n\n    const ae0 = a.halfExtents[0];\n    const ae1 = a.halfExtents[1];\n    const ae2 = a.halfExtents[2];\n    const be0 = b.halfExtents[0];\n    const be1 = b.halfExtents[1];\n    const be2 = b.halfExtents[2];\n\n    let ra: number;\n    let rb: number;\n\n    // Test axes L = A0, A1, A2\n    ra = ae0;\n    rb = be0 * q00 + be1 * q01 + be2 * q02;\n    if (Math.abs(t0) > ra + rb) return false;\n    ra = ae1;\n    rb = be0 * q10 + be1 * q11 + be2 * q12;\n    if (Math.abs(t1) > ra + rb) return false;\n    ra = ae2;\n    rb = be0 * q20 + be1 * q21 + be2 * q22;\n    if (Math.abs(t2) > ra + rb) return false;\n\n    // Test axes L = B0, B1, B2\n    ra = ae0 * q00 + ae1 * q10 + ae2 * q20;\n    rb = be0;\n    if (Math.abs(t0 * r00 + t1 * r10 + t2 * r20) > ra + rb) return false;\n    ra = ae0 * q01 + ae1 * q11 + ae2 * q21;\n    rb = be1;\n    if (Math.abs(t0 * r01 + t1 * r11 + t2 * r21) > ra + rb) return false;\n    ra = ae0 * q02 + ae1 * q12 + ae2 * q22;\n    rb = be2;\n    if (Math.abs(t0 * r02 + t1 * r12 + t2 * r22) > ra + rb) return false;\n\n    // Test axis L = A0 x B0 (skip when A0 ∥ B0)\n    if (1 - r00 * r00 >= epsilon) {\n        ra = ae1 * q20 + ae2 * q10;\n        rb = be1 * q02 + be2 * q01;\n        if (Math.abs(t2 * r10 - t1 * r20) > ra + rb) return false;\n    }\n\n    // Test axis L = A0 x B1 (skip when A0 ∥ B1)\n    if (1 - r01 * r01 >= epsilon) {\n        ra = ae1 * q21 + ae2 * q11;\n        rb = be0 * q02 + be2 * q00;\n        if (Math.abs(t2 * r11 - t1 * r21) > ra + rb) return false;\n    }\n\n    // Test axis L = A0 x B2 (skip when A0 ∥ B2)\n    if (1 - r02 * r02 >= epsilon) {\n        ra = ae1 * q22 + ae2 * q12;\n        rb = be0 * q01 + be1 * q00;\n        if (Math.abs(t2 * r12 - t1 * r22) > ra + rb) return false;\n    }\n\n    // Test axis L = A1 x B0 (skip when A1 ∥ B0)\n    if (1 - r10 * r10 >= epsilon) {\n        ra = ae0 * q20 + ae2 * q00;\n        rb = be1 * q12 + be2 * q11;\n        if (Math.abs(t0 * r20 - t2 * r00) > ra + rb) return false;\n    }\n\n    // Test axis L = A1 x B1 (skip when A1 ∥ B1)\n    if (1 - r11 * r11 >= epsilon) {\n        ra = ae0 * q21 + ae2 * q01;\n        rb = be0 * q12 + be2 * q10;\n        if (Math.abs(t0 * r21 - t2 * r01) > ra + rb) return false;\n    }\n\n    // Test axis L = A1 x B2 (skip when A1 ∥ B2)\n    if (1 - r12 * r12 >= epsilon) {\n        ra = ae0 * q22 + ae2 * q02;\n        rb = be0 * q11 + be1 * q10;\n        if (Math.abs(t0 * r22 - t2 * r02) > ra + rb) return false;\n    }\n\n    // Test axis L = A2 x B0 (skip when A2 ∥ B0)\n    if (1 - r20 * r20 >= epsilon) {\n        ra = ae0 * q10 + ae1 * q00;\n        rb = be1 * q22 + be2 * q21;\n        if (Math.abs(t1 * r00 - t0 * r10) > ra + rb) return false;\n    }\n\n    // Test axis L = A2 x B1 (skip when A2 ∥ B1)\n    if (1 - r21 * r21 >= epsilon) {\n        ra = ae0 * q11 + ae1 * q01;\n        rb = be0 * q22 + be2 * q20;\n        if (Math.abs(t1 * r01 - t0 * r11) > ra + rb) return false;\n    }\n\n    // Test axis L = A2 x B2 (skip when A2 ∥ B2)\n    if (1 - r22 * r22 >= epsilon) {\n        ra = ae0 * q12 + ae1 * q02;\n        rb = be0 * q21 + be1 * q20;\n        if (Math.abs(t1 * r02 - t0 * r12) > ra + rb) return false;\n    }\n\n    // No separating axis found - OBBs must be intersecting\n    return true;\n}\n\n/**\n * Tests whether an OBB intersects with an AABB.\n *\n * Specialised form of {@link intersectsOBB3}: the AABB's axes are the world axes, so\n * the axis dot-product matrix R is just the OBB's rotation (no 9 dot-products), and the\n * AABB's centre/half-extents come straight from its min/max. The near-parallel edge\n * skip works identically — here it fires when an OBB axis aligns with a world axis.\n *\n * @param obb - The OBB\n * @param aabb - The AABB (axis-aligned bounding box)\n * @returns true if they intersect\n */\nexport function intersectsBox3(obb: OBB3, aabb: Box3): boolean {\n    const rotA = obb.rotation;\n    const epsilon = EPSILON;\n\n    // R[i][j] = dot(A axis i, AABB axis j) = A axis i's j-th component = rotA itself\n    const r00 = rotA[0];\n    const r01 = rotA[1];\n    const r02 = rotA[2];\n    const r10 = rotA[3];\n    const r11 = rotA[4];\n    const r12 = rotA[5];\n    const r20 = rotA[6];\n    const r21 = rotA[7];\n    const r22 = rotA[8];\n\n    const q00 = Math.abs(r00);\n    const q01 = Math.abs(r01);\n    const q02 = Math.abs(r02);\n    const q10 = Math.abs(r10);\n    const q11 = Math.abs(r11);\n    const q12 = Math.abs(r12);\n    const q20 = Math.abs(r20);\n    const q21 = Math.abs(r21);\n    const q22 = Math.abs(r22);\n\n    // AABB centre and half-extents\n    const bcx = (aabb[0] + aabb[3]) * 0.5;\n    const bcy = (aabb[1] + aabb[4]) * 0.5;\n    const bcz = (aabb[2] + aabb[5]) * 0.5;\n    const be0 = (aabb[3] - aabb[0]) * 0.5;\n    const be1 = (aabb[4] - aabb[1]) * 0.5;\n    const be2 = (aabb[5] - aabb[2]) * 0.5;\n\n    // Translation (aabb.center - obb.center) brought into the OBB's frame\n    const dx = bcx - obb.center[0];\n    const dy = bcy - obb.center[1];\n    const dz = bcz - obb.center[2];\n    const t0 = dx * r00 + dy * r01 + dz * r02;\n    const t1 = dx * r10 + dy * r11 + dz * r12;\n    const t2 = dx * r20 + dy * r21 + dz * r22;\n\n    const ae0 = obb.halfExtents[0];\n    const ae1 = obb.halfExtents[1];\n    const ae2 = obb.halfExtents[2];\n\n    let ra: number;\n    let rb: number;\n\n    // Test axes L = A0, A1, A2\n    ra = ae0;\n    rb = be0 * q00 + be1 * q01 + be2 * q02;\n    if (Math.abs(t0) > ra + rb) return false;\n    ra = ae1;\n    rb = be0 * q10 + be1 * q11 + be2 * q12;\n    if (Math.abs(t1) > ra + rb) return false;\n    ra = ae2;\n    rb = be0 * q20 + be1 * q21 + be2 * q22;\n    if (Math.abs(t2) > ra + rb) return false;\n\n    // Test axes L = B0, B1, B2\n    ra = ae0 * q00 + ae1 * q10 + ae2 * q20;\n    rb = be0;\n    if (Math.abs(t0 * r00 + t1 * r10 + t2 * r20) > ra + rb) return false;\n    ra = ae0 * q01 + ae1 * q11 + ae2 * q21;\n    rb = be1;\n    if (Math.abs(t0 * r01 + t1 * r11 + t2 * r21) > ra + rb) return false;\n    ra = ae0 * q02 + ae1 * q12 + ae2 * q22;\n    rb = be2;\n    if (Math.abs(t0 * r02 + t1 * r12 + t2 * r22) > ra + rb) return false;\n\n    // Test axis L = A0 x B0 (skip when A0 aligns with world X)\n    if (1 - r00 * r00 >= epsilon) {\n        ra = ae1 * q20 + ae2 * q10;\n        rb = be1 * q02 + be2 * q01;\n        if (Math.abs(t2 * r10 - t1 * r20) > ra + rb) return false;\n    }\n\n    // Test axis L = A0 x B1 (skip when A0 aligns with world Y)\n    if (1 - r01 * r01 >= epsilon) {\n        ra = ae1 * q21 + ae2 * q11;\n        rb = be0 * q02 + be2 * q00;\n        if (Math.abs(t2 * r11 - t1 * r21) > ra + rb) return false;\n    }\n\n    // Test axis L = A0 x B2 (skip when A0 aligns with world Z)\n    if (1 - r02 * r02 >= epsilon) {\n        ra = ae1 * q22 + ae2 * q12;\n        rb = be0 * q01 + be1 * q00;\n        if (Math.abs(t2 * r12 - t1 * r22) > ra + rb) return false;\n    }\n\n    // Test axis L = A1 x B0 (skip when A1 aligns with world X)\n    if (1 - r10 * r10 >= epsilon) {\n        ra = ae0 * q20 + ae2 * q00;\n        rb = be1 * q12 + be2 * q11;\n        if (Math.abs(t0 * r20 - t2 * r00) > ra + rb) return false;\n    }\n\n    // Test axis L = A1 x B1 (skip when A1 aligns with world Y)\n    if (1 - r11 * r11 >= epsilon) {\n        ra = ae0 * q21 + ae2 * q01;\n        rb = be0 * q12 + be2 * q10;\n        if (Math.abs(t0 * r21 - t2 * r01) > ra + rb) return false;\n    }\n\n    // Test axis L = A1 x B2 (skip when A1 aligns with world Z)\n    if (1 - r12 * r12 >= epsilon) {\n        ra = ae0 * q22 + ae2 * q02;\n        rb = be0 * q11 + be1 * q10;\n        if (Math.abs(t0 * r22 - t2 * r02) > ra + rb) return false;\n    }\n\n    // Test axis L = A2 x B0 (skip when A2 aligns with world X)\n    if (1 - r20 * r20 >= epsilon) {\n        ra = ae0 * q10 + ae1 * q00;\n        rb = be1 * q22 + be2 * q21;\n        if (Math.abs(t1 * r00 - t0 * r10) > ra + rb) return false;\n    }\n\n    // Test axis L = A2 x B1 (skip when A2 aligns with world Y)\n    if (1 - r21 * r21 >= epsilon) {\n        ra = ae0 * q11 + ae1 * q01;\n        rb = be0 * q22 + be2 * q20;\n        if (Math.abs(t1 * r01 - t0 * r11) > ra + rb) return false;\n    }\n\n    // Test axis L = A2 x B2 (skip when A2 aligns with world Z)\n    if (1 - r22 * r22 >= epsilon) {\n        ra = ae0 * q12 + ae1 * q02;\n        rb = be0 * q21 + be1 * q20;\n        if (Math.abs(t1 * r02 - t0 * r12) > ra + rb) return false;\n    }\n\n    return true;\n}\n\n/**\n * Applies a 4x4 transformation matrix to an OBB.\n * This can be used to transform the bounding volume with the world matrix\n * of a 3D object to keep both entities in sync.\n *\n * @param out - The transformed OBB\n * @param obb - The OBB to transform\n * @param matrix - The 4x4 transformation matrix\n * @returns out\n */\nexport function applyMatrix4(out: OBB3, obb: OBB3, matrix: Mat4): OBB3 {\n    // read the upper-left 3x3 (the affine linear part) into locals once. Columns\n    // m0*, m1*, m2* correspond to mat4 columns 0, 1, 2.\n    const m00 = matrix[0];\n    const m01 = matrix[1];\n    const m02 = matrix[2];\n    const m10 = matrix[4];\n    const m11 = matrix[5];\n    const m12 = matrix[6];\n    const m20 = matrix[8];\n    const m21 = matrix[9];\n    const m22 = matrix[10];\n\n    // extract scale as the length of each column (always non-negative).\n    const sx = Math.sqrt(m00 * m00 + m01 * m01 + m02 * m02);\n    const sy = Math.sqrt(m10 * m10 + m11 * m11 + m12 * m12);\n    const sz = Math.sqrt(m20 * m20 + m21 * m21 + m22 * m22);\n\n    // handle negative scale (reflection).\n    // for an affine matrix the 4x4 determinant equals the upper-left 3x3 determinant, so we only need that (and only its sign).\n    // the reflection is folded into the first rotation column via invSX so that the extracted basis stays right-handed while the half extents remain positive.\n    const det = m00 * (m11 * m22 - m21 * m12) - m10 * (m01 * m22 - m21 * m02) + m20 * (m01 * m12 - m11 * m02);\n    const invSX = (det < 0 ? -1 : 1) / sx;\n    const invSY = 1 / sy;\n    const invSZ = 1 / sz;\n\n    // normalized rotation columns (scale removed).\n    const r00 = m00 * invSX;\n    const r01 = m01 * invSX;\n    const r02 = m02 * invSX;\n    const r10 = m10 * invSY;\n    const r11 = m11 * invSY;\n    const r12 = m12 * invSY;\n    const r20 = m20 * invSZ;\n    const r21 = m21 * invSZ;\n    const r22 = m22 * invSZ;\n\n    // cache the obb's rotation before writing to out.rotation (supports out === obb).\n    const q = obb.rotation;\n    const q0 = q[0];\n    const q1 = q[1];\n    const q2 = q[2];\n    const q3 = q[3];\n    const q4 = q[4];\n    const q5 = q[5];\n    const q6 = q[6];\n    const q7 = q[7];\n    const q8 = q[8];\n\n    // combine rotations: out.rotation = extractedRotation * obb.rotation (inlined mat3.multiply).\n    const outRotation = out.rotation;\n    outRotation[0] = q0 * r00 + q1 * r10 + q2 * r20;\n    outRotation[1] = q0 * r01 + q1 * r11 + q2 * r21;\n    outRotation[2] = q0 * r02 + q1 * r12 + q2 * r22;\n    outRotation[3] = q3 * r00 + q4 * r10 + q5 * r20;\n    outRotation[4] = q3 * r01 + q4 * r11 + q5 * r21;\n    outRotation[5] = q3 * r02 + q4 * r12 + q5 * r22;\n    outRotation[6] = q6 * r00 + q7 * r10 + q8 * r20;\n    outRotation[7] = q6 * r01 + q7 * r11 + q8 * r21;\n    outRotation[8] = q6 * r02 + q7 * r12 + q8 * r22;\n\n    // scale half extents (sx/sy/sz are already the positive scale magnitudes).\n    const he = obb.halfExtents;\n    const outHalfExtents = out.halfExtents;\n    outHalfExtents[0] = he[0] * sx;\n    outHalfExtents[1] = he[1] * sy;\n    outHalfExtents[2] = he[2] * sz;\n\n    // transform center through the full matrix (rotation + translation, inlined transformMat4).\n    const c = obb.center;\n    const cx = c[0];\n    const cy = c[1];\n    const cz = c[2];\n    let w = matrix[3] * cx + matrix[7] * cy + matrix[11] * cz + matrix[15];\n    w = w || 1.0;\n    const outCenter = out.center;\n    outCenter[0] = (m00 * cx + m10 * cy + m20 * cz + matrix[12]) / w;\n    outCenter[1] = (m01 * cx + m11 * cy + m21 * cz + matrix[13]) / w;\n    outCenter[2] = (m02 * cx + m12 * cy + m22 * cz + matrix[14]) / w;\n\n    return 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