math 0.0.3 → 0.1.0

package/dist/core/quat2.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"quat2.js","sources":["../../src/core/quat2.ts"],"sourcesContent":["import type { Mat4 } from './mat4';\nimport type { Quat } from './quat';\nimport { EPSILON } from './scalar';\nimport type { Vec3 } from './vec3';\n\n/** A dual quaternion that represents both rotation and translation */\nexport type Quat2 = [x: number, y: number, z: number, w: number, x2: number, y2: number, z2: number, w2: number];\n\n/**\n * Creates a new identity dual quat\n *\n * @returns a new dual quaternion [real -> rotation, dual -> translation]\n */\nexport function create(): Quat2 {\n    // biome-ignore format:skip\n    return [\n        0, 0, 0, 1, // real part\n        0, 0, 0, 0, // dual part\n    ];\n}\n\n/**\n * Creates a new quat initialized with values from an existing quaternion\n *\n * @param a dual quaternion to clone\n * @returns new dual quaternion\n * @function\n */\nexport function clone(a: Quat2): Quat2 {\n    return [a[0], a[1], a[2], a[3], a[4], a[5], a[6], a[7]];\n}\n\n/**\n * Creates a new dual quat initialized with the given values\n *\n * @param x1 X component\n * @param y1 Y component\n * @param z1 Z component\n * @param w1 W component\n * @param x2 X component\n * @param y2 Y component\n * @param z2 Z component\n * @param w2 W component\n * @returns new dual quaternion\n * @function\n */\nexport function fromValues(\n    x1: number,\n    y1: number,\n    z1: number,\n    w1: number,\n    x2: number,\n    y2: number,\n    z2: number,\n    w2: number,\n): Quat2 {\n    return [x1, y1, z1, w1, x2, y2, z2, w2];\n}\n\n/**\n * Creates a new dual quat from the given values (quat and translation)\n *\n * @param x1 X component\n * @param y1 Y component\n * @param z1 Z component\n * @param w1 W component\n * @param x2 X component (translation)\n * @param y2 Y component (translation)\n * @param z2 Z component (translation)\n * @returns new dual quaternion\n * @function\n */\nexport function fromRotationTranslationValues(\n    x1: number,\n    y1: number,\n    z1: number,\n    w1: number,\n    x2: number,\n    y2: number,\n    z2: number,\n): Quat2 {\n    const ax = x2 * 0.5;\n    const ay = y2 * 0.5;\n    const az = z2 * 0.5;\n    return [\n        x1,\n        y1,\n        z1,\n        w1,\n        ax * w1 + ay * z1 - az * y1,\n        ay * w1 + az * x1 - ax * z1,\n        az * w1 + ax * y1 - ay * x1,\n        -ax * x1 - ay * y1 - az * z1,\n    ];\n}\n\n/**\n * Creates a dual quat from a quaternion and a translation\n *\n * @param out dual quaternion receiving operation result\n * @param q a normalized quaternion\n * @param t translation vector\n * @returns dual quaternion receiving operation result\n * @function\n */\nexport function fromRotationTranslation(out: Quat2, q: Quat, t: Vec3): Quat2 {\n    const ax = t[0] * 0.5;\n    const ay = t[1] * 0.5;\n    const az = t[2] * 0.5;\n    const bx = q[0];\n    const by = q[1];\n    const bz = q[2];\n    const bw = q[3];\n    out[0] = bx;\n    out[1] = by;\n    out[2] = bz;\n    out[3] = bw;\n    out[4] = ax * bw + ay * bz - az * by;\n    out[5] = ay * bw + az * bx - ax * bz;\n    out[6] = az * bw + ax * by - ay * bx;\n    out[7] = -ax * bx - ay * by - az * bz;\n    return out;\n}\n\n/**\n * Creates a dual quat from a translation\n *\n * @param out dual quaternion receiving operation result\n * @param t translation vector\n * @returns dual quaternion receiving operation result\n * @function\n */\nexport function fromTranslation(out: Quat2, t: Vec3): Quat2 {\n    out[0] = 0;\n    out[1] = 0;\n    out[2] = 0;\n    out[3] = 1;\n    out[4] = t[0] * 0.5;\n    out[5] = t[1] * 0.5;\n    out[6] = t[2] * 0.5;\n    out[7] = 0;\n    return out;\n}\n\n/**\n * Creates a dual quat from a quaternion\n *\n * @param out dual quaternion receiving operation result\n * @param q the quaternion\n * @returns dual quaternion receiving operation result\n * @function\n */\nexport function fromRotation(out: Quat2, q: Quat): Quat2 {\n    out[0] = q[0];\n    out[1] = q[1];\n    out[2] = q[2];\n    out[3] = q[3];\n    out[4] = 0;\n    out[5] = 0;\n    out[6] = 0;\n    out[7] = 0;\n    return out;\n}\n\n/**\n * Creates a new dual quat from a matrix (4x4)\n *\n * @param out the dual quaternion\n * @param a the matrix\n * @returns dual quat receiving operation result\n */\nexport function fromMat4(out: Quat2, a: Mat4): Quat2 {\n    // Rotation: extract the quaternion from the (possibly scaled) upper-3x3.\n    // Inlined from mat4.getRotation/getScaling so no scratch quat or Vec3 is allocated.\n    const is1 = 1 / Math.sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);\n    const is2 = 1 / Math.sqrt(a[4] * a[4] + a[5] * a[5] + a[6] * a[6]);\n    const is3 = 1 / Math.sqrt(a[8] * a[8] + a[9] * a[9] + a[10] * a[10]);\n\n    const sm11 = a[0] * is1;\n    const sm12 = a[1] * is2;\n    const sm13 = a[2] * is3;\n    const sm21 = a[4] * is1;\n    const sm22 = a[5] * is2;\n    const sm23 = a[6] * is3;\n    const sm31 = a[8] * is1;\n    const sm32 = a[9] * is2;\n    const sm33 = a[10] * is3;\n\n    const trace = sm11 + sm22 + sm33;\n    let bx: number;\n    let by: number;\n    let bz: number;\n    let bw: number;\n\n    if (trace > 0) {\n        const S = Math.sqrt(trace + 1.0) * 2;\n        bw = 0.25 * S;\n        bx = (sm23 - sm32) / S;\n        by = (sm31 - sm13) / S;\n        bz = (sm12 - sm21) / S;\n    } else if (sm11 > sm22 && sm11 > sm33) {\n        const S = Math.sqrt(1.0 + sm11 - sm22 - sm33) * 2;\n        bw = (sm23 - sm32) / S;\n        bx = 0.25 * S;\n        by = (sm12 + sm21) / S;\n        bz = (sm31 + sm13) / S;\n    } else if (sm22 > sm33) {\n        const S = Math.sqrt(1.0 + sm22 - sm11 - sm33) * 2;\n        bw = (sm31 - sm13) / S;\n        bx = (sm12 + sm21) / S;\n        by = 0.25 * S;\n        bz = (sm23 + sm32) / S;\n    } else {\n        const S = Math.sqrt(1.0 + sm33 - sm11 - sm22) * 2;\n        bw = (sm12 - sm21) / S;\n        bx = (sm31 + sm13) / S;\n        by = (sm23 + sm32) / S;\n        bz = 0.25 * S;\n    }\n\n    out[0] = bx;\n    out[1] = by;\n    out[2] = bz;\n    out[3] = bw;\n\n    // Dual part from the translation (last column), inlined from fromRotationTranslation.\n    const ax = a[12] * 0.5;\n    const ay = a[13] * 0.5;\n    const az = a[14] * 0.5;\n    out[4] = ax * bw + ay * bz - az * by;\n    out[5] = ay * bw + az * bx - ax * bz;\n    out[6] = az * bw + ax * by - ay * bx;\n    out[7] = -ax * bx - ay * by - az * bz;\n    return out;\n}\n\n/**\n * Copy the values from one dual quat to another\n *\n * @param out the receiving dual quaternion\n * @param a the source dual quaternion\n * @returns out\n * @function\n */\nexport function copy(out: Quat2, a: Quat2): Quat2 {\n    out[0] = a[0];\n    out[1] = a[1];\n    out[2] = a[2];\n    out[3] = a[3];\n    out[4] = a[4];\n    out[5] = a[5];\n    out[6] = a[6];\n    out[7] = a[7];\n    return out;\n}\n\n/**\n * Set a dual quat to the identity dual quaternion\n *\n * @param out the receiving quaternion\n * @returns out\n */\nexport function identity(out: Quat2): Quat2 {\n    out[0] = 0;\n    out[1] = 0;\n    out[2] = 0;\n    out[3] = 1;\n    out[4] = 0;\n    out[5] = 0;\n    out[6] = 0;\n    out[7] = 0;\n    return out;\n}\n\n/**\n * Set the components of a dual quat to the given values\n *\n * @param out the receiving quaternion\n * @param x1 X component\n * @param y1 Y component\n * @param z1 Z component\n * @param w1 W component\n * @param x2 X component\n * @param y2 Y component\n * @param z2 Z component\n * @param w2 W component\n * @returns out\n * @function\n */\nexport function set(\n    out: Quat2,\n    x1: number,\n    y1: number,\n    z1: number,\n    w1: number,\n    x2: number,\n    y2: number,\n    z2: number,\n    w2: number,\n): Quat2 {\n    out[0] = x1;\n    out[1] = y1;\n    out[2] = z1;\n    out[3] = w1;\n\n    out[4] = x2;\n    out[5] = y2;\n    out[6] = z2;\n    out[7] = w2;\n    return out;\n}\n\n/**\n * Gets the real part of a dual quat\n * @param  out real part\n * @param  a Dual Quaternion\n * @return real part\n */\nexport function getReal(out: Quat, a: Quat2): Quat {\n    out[0] = a[0];\n    out[1] = a[1];\n    out[2] = a[2];\n    out[3] = a[3];\n    return out;\n}\n\n/**\n * Gets the dual part of a dual quat\n * @param  out dual part\n * @param  a Dual Quaternion\n * @return dual part\n */\nexport function getDual(out: Quat, a: Quat2): Quat {\n    out[0] = a[4];\n    out[1] = a[5];\n    out[2] = a[6];\n    out[3] = a[7];\n    return out;\n}\n\n/**\n * Set the real component of a dual quat to the given quaternion\n *\n * @param out the receiving dual quaternion\n * @param q a quaternion representing the real part\n * @returns out\n */\nexport function setReal(out: Quat2, q: Quat): Quat2 {\n    out[0] = q[0];\n    out[1] = q[1];\n    out[2] = q[2];\n    out[3] = q[3];\n    return out;\n}\n\n/**\n * Set the dual component of a dual quat to the given quaternion\n *\n * @param out the receiving quaternion\n * @param q a quaternion representing the dual part\n * @returns out\n * @function\n */\nexport function setDual(out: Quat2, q: Quat): Quat2 {\n    out[4] = q[0];\n    out[5] = q[1];\n    out[6] = q[2];\n    out[7] = q[3];\n    return out;\n}\n\n/**\n * Gets the translation of a normalized dual quat\n * @param  out translation\n * @param  a Dual Quaternion to be decomposed\n * @return translation\n */\nexport function getTranslation(out: Vec3, a: Quat2): Vec3 {\n    const ax = a[4];\n    const ay = a[5];\n    const az = a[6];\n    const aw = a[7];\n    const bx = -a[0];\n    const by = -a[1];\n    const bz = -a[2];\n    const bw = a[3];\n    out[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2;\n    out[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2;\n    out[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2;\n    return out;\n}\n\n/**\n * Translates a dual quat by the given vector\n *\n * @param out the receiving dual quaternion\n * @param a the dual quaternion to translate\n * @param v vector to translate by\n * @returns out\n */\nexport function translate(out: Quat2, a: Quat2, v: Vec3): Quat2 {\n    const ax1 = a[0];\n    const ay1 = a[1];\n    const az1 = a[2];\n    const aw1 = a[3];\n    const bx1 = v[0] * 0.5;\n    const by1 = v[1] * 0.5;\n    const bz1 = v[2] * 0.5;\n    const ax2 = a[4];\n    const ay2 = a[5];\n    const az2 = a[6];\n    const aw2 = a[7];\n    out[0] = ax1;\n    out[1] = ay1;\n    out[2] = az1;\n    out[3] = aw1;\n    out[4] = aw1 * bx1 + ay1 * bz1 - az1 * by1 + ax2;\n    out[5] = aw1 * by1 + az1 * bx1 - ax1 * bz1 + ay2;\n    out[6] = aw1 * bz1 + ax1 * by1 - ay1 * bx1 + az2;\n    out[7] = -ax1 * bx1 - ay1 * by1 - az1 * bz1 + aw2;\n    return out;\n}\n\n/**\n * Rotates a dual quat around the X axis\n *\n * @param out the receiving dual quaternion\n * @param a the dual quaternion to rotate\n * @param rad how far should the rotation be\n * @returns out\n */\nexport function rotateX(out: Quat2, a: Quat2, rad: number): Quat2 {\n    let bx = -a[0];\n    let by = -a[1];\n    let bz = -a[2];\n    let bw = a[3];\n    const ax = a[4];\n    const ay = a[5];\n    const az = a[6];\n    const aw = a[7];\n    const ax1 = ax * bw + aw * bx + ay * bz - az * by;\n    const ay1 = ay * bw + aw * by + az * bx - ax * bz;\n    const az1 = az * bw + aw * bz + ax * by - ay * bx;\n    const aw1 = aw * bw - ax * bx - ay * by - az * bz;\n    // rotate the real (rotation) part about X — inlined quat.rotateX on out[0..3]\n    const half = rad * 0.5;\n    const s = Math.sin(half);\n    const c = Math.cos(half);\n    const rx = a[0];\n    const ry = a[1];\n    const rz = a[2];\n    const rw = a[3];\n    out[0] = rx * c + rw * s;\n    out[1] = ry * c + rz * s;\n    out[2] = rz * c - ry * s;\n    out[3] = rw * c - rx * s;\n    bx = out[0];\n    by = out[1];\n    bz = out[2];\n    bw = out[3];\n    out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n    out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n    out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n    out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n    return out;\n}\n\n/**\n * Rotates a dual quat around the Y axis\n *\n * @param out the receiving dual quaternion\n * @param a the dual quaternion to rotate\n * @param rad how far should the rotation be\n * @returns out\n */\nexport function rotateY(out: Quat2, a: Quat2, rad: number): Quat2 {\n    let bx = -a[0];\n    let by = -a[1];\n    let bz = -a[2];\n    let bw = a[3];\n    const ax = a[4];\n    const ay = a[5];\n    const az = a[6];\n    const aw = a[7];\n    const ax1 = ax * bw + aw * bx + ay * bz - az * by;\n    const ay1 = ay * bw + aw * by + az * bx - ax * bz;\n    const az1 = az * bw + aw * bz + ax * by - ay * bx;\n    const aw1 = aw * bw - ax * bx - ay * by - az * bz;\n    // rotate the real (rotation) part about Y — inlined quat.rotateY on out[0..3]\n    const half = rad * 0.5;\n    const s = Math.sin(half);\n    const c = Math.cos(half);\n    const rx = a[0];\n    const ry = a[1];\n    const rz = a[2];\n    const rw = a[3];\n    out[0] = rx * c - rz * s;\n    out[1] = ry * c + rw * s;\n    out[2] = rz * c + rx * s;\n    out[3] = rw * c - ry * s;\n    bx = out[0];\n    by = out[1];\n    bz = out[2];\n    bw = out[3];\n    out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n    out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n    out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n    out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n    return out;\n}\n\n/**\n * Rotates a dual quat around the Z axis\n *\n * @param out the receiving dual quaternion\n * @param a the dual quaternion to rotate\n * @param rad how far should the rotation be\n * @returns out\n */\nexport function rotateZ(out: Quat2, a: Quat2, rad: number): Quat2 {\n    let bx = -a[0];\n    let by = -a[1];\n    let bz = -a[2];\n    let bw = a[3];\n    const ax = a[4];\n    const ay = a[5];\n    const az = a[6];\n    const aw = a[7];\n    const ax1 = ax * bw + aw * bx + ay * bz - az * by;\n    const ay1 = ay * bw + aw * by + az * bx - ax * bz;\n    const az1 = az * bw + aw * bz + ax * by - ay * bx;\n    const aw1 = aw * bw - ax * bx - ay * by - az * bz;\n    // rotate the real (rotation) part about Z — inlined quat.rotateZ on out[0..3]\n    const half = rad * 0.5;\n    const s = Math.sin(half);\n    const c = Math.cos(half);\n    const rx = a[0];\n    const ry = a[1];\n    const rz = a[2];\n    const rw = a[3];\n    out[0] = rx * c + ry * s;\n    out[1] = ry * c - rx * s;\n    out[2] = rz * c + rw * s;\n    out[3] = rw * c - rz * s;\n    bx = out[0];\n    by = out[1];\n    bz = out[2];\n    bw = out[3];\n    out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n    out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n    out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n    out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n    return out;\n}\n\n/**\n * Rotates a dual quat by a given quaternion (a * q)\n *\n * @param out the receiving dual quaternion\n * @param a the dual quaternion to rotate\n * @param q quaternion to rotate by\n * @returns out\n */\nexport function rotateByQuatAppend(out: Quat2, a: Quat2, q: Quat): Quat2 {\n    const qx = q[0];\n    const qy = q[1];\n    const qz = q[2];\n    const qw = q[3];\n    let ax = a[0];\n    let ay = a[1];\n    let az = a[2];\n    let aw = a[3];\n\n    out[0] = ax * qw + aw * qx + ay * qz - az * qy;\n    out[1] = ay * qw + aw * qy + az * qx - ax * qz;\n    out[2] = az * qw + aw * qz + ax * qy - ay * qx;\n    out[3] = aw * qw - ax * qx - ay * qy - az * qz;\n    ax = a[4];\n    ay = a[5];\n    az = a[6];\n    aw = a[7];\n    out[4] = ax * qw + aw * qx + ay * qz - az * qy;\n    out[5] = ay * qw + aw * qy + az * qx - ax * qz;\n    out[6] = az * qw + aw * qz + ax * qy - ay * qx;\n    out[7] = aw * qw - ax * qx - ay * qy - az * qz;\n    return out;\n}\n\n/**\n * Rotates a dual quat by a given quaternion (q * a)\n *\n * @param out the receiving dual quaternion\n * @param q quaternion to rotate by\n * @param a the dual quaternion to rotate\n * @returns out\n */\nexport function rotateByQuatPrepend(out: Quat2, q: Quat, a: Quat2): Quat2 {\n    const qx = q[0];\n    const qy = q[1];\n    const qz = q[2];\n    const qw = q[3];\n    let bx = a[0];\n    let by = a[1];\n    let bz = a[2];\n    let bw = a[3];\n\n    out[0] = qx * bw + qw * bx + qy * bz - qz * by;\n    out[1] = qy * bw + qw * by + qz * bx - qx * bz;\n    out[2] = qz * bw + qw * bz + qx * by - qy * bx;\n    out[3] = qw * bw - qx * bx - qy * by - qz * bz;\n    bx = a[4];\n    by = a[5];\n    bz = a[6];\n    bw = a[7];\n    out[4] = qx * bw + qw * bx + qy * bz - qz * by;\n    out[5] = qy * bw + qw * by + qz * bx - qx * bz;\n    out[6] = qz * bw + qw * bz + qx * by - qy * bx;\n    out[7] = qw * bw - qx * bx - qy * by - qz * bz;\n    return out;\n}\n\n/**\n * Rotates a dual quat around a given axis. Does the normalisation automatically\n *\n * @param out the receiving dual quaternion\n * @param a the dual quaternion to rotate\n * @param axis the axis to rotate around\n * @param rad how far the rotation should be\n * @returns out\n */\nexport function rotateAroundAxis(out: Quat2, a: Quat2, axis: Vec3, rad: number): Quat2 {\n    //Special case for rad = 0\n    if (Math.abs(rad) < EPSILON) {\n        return copy(out, a);\n    }\n    const axisLength = Math.sqrt(axis[0] * axis[0] + axis[1] * axis[1] + axis[2] * axis[2]);\n\n    rad = rad * 0.5;\n    const s = Math.sin(rad);\n    const bx = (s * axis[0]) / axisLength;\n    const by = (s * axis[1]) / axisLength;\n    const bz = (s * axis[2]) / axisLength;\n    const bw = Math.cos(rad);\n\n    const ax1 = a[0];\n    const ay1 = a[1];\n    const az1 = a[2];\n    const aw1 = a[3];\n    out[0] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n    out[1] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n    out[2] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n    out[3] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n\n    const ax = a[4];\n    const ay = a[5];\n    const az = a[6];\n    const aw = a[7];\n    out[4] = ax * bw + aw * bx + ay * bz - az * by;\n    out[5] = ay * bw + aw * by + az * bx - ax * bz;\n    out[6] = az * bw + aw * bz + ax * by - ay * bx;\n    out[7] = aw * bw - ax * bx - ay * by - az * bz;\n\n    return out;\n}\n\n/**\n * Adds two dual quat's\n *\n * @param out the receiving dual quaternion\n * @param a the first operand\n * @param b the second operand\n * @returns out\n * @function\n */\nexport function add(out: Quat2, a: Quat2, b: Quat2): Quat2 {\n    out[0] = a[0] + b[0];\n    out[1] = a[1] + b[1];\n    out[2] = a[2] + b[2];\n    out[3] = a[3] + b[3];\n    out[4] = a[4] + b[4];\n    out[5] = a[5] + b[5];\n    out[6] = a[6] + b[6];\n    out[7] = a[7] + b[7];\n    return out;\n}\n\n/**\n * Multiplies two dual quat's\n *\n * @param out the receiving dual quaternion\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function multiply(out: Quat2, a: Quat2, b: Quat2): Quat2 {\n    const ax0 = a[0];\n    const ay0 = a[1];\n    const az0 = a[2];\n    const aw0 = a[3];\n    const bx1 = b[4];\n    const by1 = b[5];\n    const bz1 = b[6];\n    const bw1 = b[7];\n    const ax1 = a[4];\n    const ay1 = a[5];\n    const az1 = a[6];\n    const aw1 = a[7];\n    const bx0 = b[0];\n    const by0 = b[1];\n    const bz0 = b[2];\n    const bw0 = b[3];\n    out[0] = ax0 * bw0 + aw0 * bx0 + ay0 * bz0 - az0 * by0;\n    out[1] = ay0 * bw0 + aw0 * by0 + az0 * bx0 - ax0 * bz0;\n    out[2] = az0 * bw0 + aw0 * bz0 + ax0 * by0 - ay0 * bx0;\n    out[3] = aw0 * bw0 - ax0 * bx0 - ay0 * by0 - az0 * bz0;\n    out[4] = ax0 * bw1 + aw0 * bx1 + ay0 * bz1 - az0 * by1 + ax1 * bw0 + aw1 * bx0 + ay1 * bz0 - az1 * by0;\n    out[5] = ay0 * bw1 + aw0 * by1 + az0 * bx1 - ax0 * bz1 + ay1 * bw0 + aw1 * by0 + az1 * bx0 - ax1 * bz0;\n    out[6] = az0 * bw1 + aw0 * bz1 + ax0 * by1 - ay0 * bx1 + az1 * bw0 + aw1 * bz0 + ax1 * by0 - ay1 * bx0;\n    out[7] = aw0 * bw1 - ax0 * bx1 - ay0 * by1 - az0 * bz1 + aw1 * bw0 - ax1 * bx0 - ay1 * by0 - az1 * bz0;\n    return out;\n}\n\n/**\n * Alias for {@link quat2.multiply}\n * @function\n */\nexport const mul = multiply;\n\n/**\n * Scales a dual quat by a scalar number\n *\n * @param out the receiving dual quat\n * @param a the dual quat to scale\n * @param b amount to scale the dual quat by\n * @returns out\n * @function\n */\nexport function scale(out: Quat2, a: Quat2, b: number): Quat2 {\n    out[0] = a[0] * b;\n    out[1] = a[1] * b;\n    out[2] = a[2] * b;\n    out[3] = a[3] * b;\n    out[4] = a[4] * b;\n    out[5] = a[5] * b;\n    out[6] = a[6] * b;\n    out[7] = a[7] * b;\n    return out;\n}\n\n/**\n * Calculates the dot product of two dual quat's (The dot product of the real parts)\n *\n * @param a the first operand\n * @param b the second operand\n * @returns dot product of a and b\n */\nexport function dot(a: Quat2, b: Quat2): number {\n    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];\n}\n\n/**\n * Performs a linear interpolation between two dual quats's\n * NOTE: The resulting dual quaternions won't always be normalized (The error is most noticeable when t = 0.5)\n *\n * @param out the receiving dual quat\n * @param a the first operand\n * @param b the second operand\n * @param t interpolation amount, in the range [0-1], between the two inputs\n * @returns out\n */\nexport function lerp(out: Quat2, a: Quat2, b: Quat2, t: number): Quat2 {\n    const mt = 1 - t;\n    // dot of the real (rotation) parts, matching quat2.dot\n    if (a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3] < 0) t = -t;\n\n    out[0] = a[0] * mt + b[0] * t;\n    out[1] = a[1] * mt + b[1] * t;\n    out[2] = a[2] * mt + b[2] * t;\n    out[3] = a[3] * mt + b[3] * t;\n    out[4] = a[4] * mt + b[4] * t;\n    out[5] = a[5] * mt + b[5] * t;\n    out[6] = a[6] * mt + b[6] * t;\n    out[7] = a[7] * mt + b[7] * t;\n\n    return out;\n}\n\n/**\n * Calculates the inverse of a dual quat. If they are normalized, conjugate is cheaper\n *\n * @param out the receiving dual quaternion\n * @param a dual quat to calculate inverse of\n * @returns out\n */\nexport function invert(out: Quat2, a: Quat2): Quat2 {\n    const sqlen = a[0] * a[0] + a[1] * a[1] + a[2] * a[2] + a[3] * a[3];\n    out[0] = -a[0] / sqlen;\n    out[1] = -a[1] / sqlen;\n    out[2] = -a[2] / sqlen;\n    out[3] = a[3] / sqlen;\n    out[4] = -a[4] / sqlen;\n    out[5] = -a[5] / sqlen;\n    out[6] = -a[6] / sqlen;\n    out[7] = a[7] / sqlen;\n    return out;\n}\n\n/**\n * Calculates the conjugate of a dual quat\n * If the dual quaternion is normalized, this function is faster than quat2.inverse and produces the same result.\n *\n * @param out the receiving quaternion\n * @param a quat to calculate conjugate of\n * @returns out\n */\nexport function conjugate(out: Quat2, a: Quat2): Quat2 {\n    out[0] = -a[0];\n    out[1] = -a[1];\n    out[2] = -a[2];\n    out[3] = a[3];\n    out[4] = -a[4];\n    out[5] = -a[5];\n    out[6] = -a[6];\n    out[7] = a[7];\n    return out;\n}\n\n/**\n * Calculates the length of a dual quat (the length of its real/rotation part)\n *\n * @param a dual quat to calculate length of\n * @returns length of a\n */\nexport function length(a: Quat2): number {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    const w = a[3];\n    return Math.sqrt(x * x + y * y + z * z + w * w);\n}\n\n/**\n * Alias for {@link quat2.length}\n * @function\n */\nexport const len = length;\n\n/**\n * Calculates the squared length of a dual quat (the squared length of its real/rotation part)\n *\n * @param a dual quat to calculate squared length of\n * @returns squared length of a\n */\nexport function squaredLength(a: Quat2): number {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    const w = a[3];\n    return x * x + y * y + z * z + w * w;\n}\n\n/**\n * Alias for {@link quat2.squaredLength}\n * @function\n */\nexport const sqrLen = squaredLength;\n\n/**\n * Normalize a dual quat\n *\n * @param out the receiving dual quaternion\n * @param a dual quaternion to normalize\n * @returns out\n * @function\n */\nexport function normalize(out: Quat2, a: Quat2): Quat2 {\n    let magnitude = a[0] * a[0] + a[1] * a[1] + a[2] * a[2] + a[3] * a[3];\n    if (magnitude > 0) {\n        magnitude = Math.sqrt(magnitude);\n\n        const a0 = a[0] / magnitude;\n        const a1 = a[1] / magnitude;\n        const a2 = a[2] / magnitude;\n        const a3 = a[3] / magnitude;\n\n        const b0 = a[4];\n        const b1 = a[5];\n        const b2 = a[6];\n        const b3 = a[7];\n\n        const a_dot_b = a0 * b0 + a1 * b1 + a2 * b2 + a3 * b3;\n\n        out[0] = a0;\n        out[1] = a1;\n        out[2] = a2;\n        out[3] = a3;\n\n        out[4] = (b0 - a0 * a_dot_b) / magnitude;\n        out[5] = (b1 - a1 * a_dot_b) / magnitude;\n        out[6] = (b2 - a2 * a_dot_b) / magnitude;\n        out[7] = (b3 - a3 * a_dot_b) / magnitude;\n    }\n    return out;\n}\n\n/**\n * Returns a string representation of a dual quaternion\n *\n * @param a dual quaternion to represent as a string\n * @returns string representation of the dual quat\n */\nexport function str(a: Quat2): string {\n    return `quat2(${a[0]}, ${a[1]}, ${a[2]}, ${a[3]}, ${a[4]}, ${a[5]}, ${a[6]}, ${a[7]})`;\n}\n\n/**\n * Returns whether or not the dual quaternions have exactly the same elements in the same position (when compared with ===)\n *\n * @param a the first dual quaternion.\n * @param b the second dual quaternion.\n * @returns true if the dual quaternions are equal, false otherwise.\n */\nexport function exactEquals(a: Quat2, b: Quat2): boolean {\n    return (\n        a[0] === b[0] &&\n        a[1] === b[1] &&\n        a[2] === b[2] &&\n        a[3] === b[3] &&\n        a[4] === b[4] &&\n        a[5] === b[5] &&\n        a[6] === b[6] &&\n        a[7] === b[7]\n    );\n}\n\n/**\n * Returns whether or not the dual quaternions have approximately the same elements in the same position.\n *\n * @param a the first dual quat.\n * @param b the second dual quat.\n * @returns true if the dual quats are equal, false otherwise.\n */\nexport function equals(a: Quat2, b: Quat2): boolean {\n    const a0 = a[0];\n    const a1 = a[1];\n    const a2 = a[2];\n    const a3 = a[3];\n    const a4 = a[4];\n    const a5 = a[5];\n    const a6 = a[6];\n    const a7 = a[7];\n    const b0 = b[0];\n    const b1 = b[1];\n    const b2 = b[2];\n    const b3 = b[3];\n    const b4 = b[4];\n    const b5 = b[5];\n    const b6 = b[6];\n    const b7 = b[7];\n    return (\n        Math.abs(a0 - b0) <= EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&\n        Math.abs(a1 - b1) <= EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&\n        Math.abs(a2 - b2) <= EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) &&\n        Math.abs(a3 - b3) <= EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3)) &&\n        Math.abs(a4 - b4) <= EPSILON * 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package/dist/core/scalar.js

@@ -0,0 +1,112 @@
+const EPSILON = 0.000001;
+/**
+ * Symmetric round
+ * see https://www.npmjs.com/package/round-half-up-symmetric#user-content-detailed-background
+ *
+ * @param a value to round
+ */
+function round(a) {
+    if (a >= 0)
+        return Math.round(a);
+    return a % 0.5 === 0 ? Math.floor(a) : Math.round(a);
+}
+/**
+ * Tests whether or not the arguments have approximately the same value, within an absolute
+ * or relative tolerance of glMatrix.EPSILON (an absolute tolerance is used for values less
+ * than or equal to 1.0, and a relative tolerance is used for larger values)
+ *
+ * @param a The first number to test.
+ * @param b The second number to test.
+ * @returns True if the numbers are approximately equal, false otherwise.
+ */
+function equals(a, b, epsilon = EPSILON) {
+    return Math.abs(a - b) <= epsilon * Math.max(1.0, Math.abs(a), Math.abs(b));
+}
+/**
+ * Ease-in-out, goes to -Infinite before 0 and Infinite after 1
+ *
+ * https://www.desmos.com/calculator/vsnmlaljdu
+ *
+ * @param t
+ * @returns
+ */
+function fade(t) {
+    return t * t * t * (t * (t * 6 - 15) + 10);
+}
+/**
+ *
+ * Returns the result of linearly interpolating between input A and input B by input T.
+ *
+ * @param v0
+ * @param v1
+ * @param t
+ * @returns
+ */
+function lerp(v0, v1, t) {
+    return v0 * (1 - t) + v1 * t;
+}
+/**
+ *
+ * Quadratic interpolation through three values using Lagrange interpolation.
+ * Passes through v0 at t=0, v1 at t=0.5, and v2 at t=1.
+ *
+ * @param v0 value at t=0
+ * @param v1 value at t=0.5
+ * @param v2 value at t=1
+ * @param t
+ * @returns
+ */
+function lagrange(v0, v1, v2, t) {
+    return 2 * (t - 1) * (t - 0.5) * v0 - 4 * (t - 1) * t * v1 + 2 * (t - 0.5) * t * v2;
+}
+/**
+ *
+ * Binomial coefficient, "n choose k": the number of ways to choose k items
+ * from a set of n without order or repetition.
+ *
+ * @param n total number of items
+ * @param k number of items to choose
+ * @returns the binomial coefficient, or 0 when k is out of range
+ */
+function binomial(n, k) {
+    if (k < 0 || k > n)
+        return 0;
+    // C(n, k) === C(n, n - k), so iterate over the smaller of the two
+    const j = Math.min(k, n - k);
+    let coeff = 1;
+    // interleave multiply/divide to keep intermediates small and integer-exact
+    for (let i = 0; i < j; i++) {
+        coeff = (coeff * (n - i)) / (i + 1);
+    }
+    return Math.round(coeff);
+}
+/**
+ * Clamp a value between min and max
+ */
+const clamp = (value, min, max) => {
+    return Math.max(min, Math.min(max, value));
+};
+/**
+ * Loops `t` so that it is never larger than `length` and never smaller than 0.
+ */
+function repeat(t, length) {
+    return clamp(t - Math.floor(t / length) * length, 0, length);
+}
+/**
+ * Remaps a number from one range to another.
+ */
+function remap(number, inLow, inHigh, outLow, outHigh) {
+    const scale = (number - inLow) / (inHigh - inLow);
+    return outLow + scale * (outHigh - outLow);
+}
+/**
+ * Remaps a number from one range to another, clamping the result to the output range.
+ */
+function remapClamp(value, inLow, inHigh, outLow, outHigh) {
+    const scale = (value - inLow) / (inHigh - inLow);
+    const remapped = outLow + scale * (outHigh - outLow);
+    return Math.max(outLow, Math.min(outHigh, remapped));
+}
+
+export { EPSILON, binomial, clamp, equals, fade, lagrange, lerp, remap, remapClamp, repeat, round };
+//# sourceMappingURL=scalar.js.map

package/dist/core/scalar.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"scalar.js","sources":["../../src/core/scalar.ts"],"sourcesContent":["export const EPSILON = 0.000001;\n\n/**\n * Symmetric round\n * see https://www.npmjs.com/package/round-half-up-symmetric#user-content-detailed-background\n *\n * @param a value to round\n */\nexport function round(a: number): number {\n    if (a >= 0) return Math.round(a);\n\n    return a % 0.5 === 0 ? Math.floor(a) : Math.round(a);\n}\n\n/**\n * Tests whether or not the arguments have approximately the same value, within an absolute\n * or relative tolerance of glMatrix.EPSILON (an absolute tolerance is used for values less\n * than or equal to 1.0, and a relative tolerance is used for larger values)\n *\n * @param a The first number to test.\n * @param b The second number to test.\n * @returns True if the numbers are approximately equal, false otherwise.\n */\nexport function equals(a: number, b: number, epsilon = EPSILON): boolean {\n    return Math.abs(a - b) <= epsilon * Math.max(1.0, Math.abs(a), Math.abs(b));\n}\n\n/**\n * Ease-in-out, goes to -Infinite before 0 and Infinite after 1\n *\n * https://www.desmos.com/calculator/vsnmlaljdu\n *\n * @param t\n * @returns\n */\nexport function fade(t: number) {\n    return t * t * t * (t * (t * 6 - 15) + 10);\n}\n\n/**\n *\n * Returns the result of linearly interpolating between input A and input B by input T.\n *\n * @param v0\n * @param v1\n * @param t\n * @returns\n */\nexport function lerp(v0: number, v1: number, t: number) {\n    return v0 * (1 - t) + v1 * t;\n}\n\n/**\n *\n * Quadratic interpolation through three values using Lagrange interpolation.\n * Passes through v0 at t=0, v1 at t=0.5, and v2 at t=1.\n *\n * @param v0 value at t=0\n * @param v1 value at t=0.5\n * @param v2 value at t=1\n * @param t\n * @returns\n */\nexport function lagrange(v0: number, v1: number, v2: number, t: number) {\n    return 2 * (t - 1) * (t - 0.5) * v0 - 4 * (t - 1) * t * v1 + 2 * (t - 0.5) * t * v2;\n}\n\n/**\n *\n * Binomial coefficient, \"n choose k\": the number of ways to choose k items\n * from a set of n without order or repetition.\n *\n * @param n total number of items\n * @param k number of items to choose\n * @returns the binomial coefficient, or 0 when k is out of range\n */\nexport function binomial(n: number, k: number): number {\n    if (k < 0 || k > n) return 0;\n    // C(n, k) === C(n, n - k), so iterate over the smaller of the two\n    const j = Math.min(k, n - k);\n    let coeff = 1;\n    // interleave multiply/divide to keep intermediates small and integer-exact\n    for (let i = 0; i < j; i++) {\n        coeff = (coeff * (n - i)) / (i + 1);\n    }\n    return Math.round(coeff);\n}\n\n/**\n * Clamp a value between min and max\n */\nexport const clamp = (value: number, min: number, max: number): number => {\n    return Math.max(min, Math.min(max, value));\n};\n\n/**\n * Loops `t` so that it is never larger than `length` and never smaller than 0.\n */\nexport function repeat(t: number, length: number): number {\n    return clamp(t - Math.floor(t / length) * length, 0, length);\n}\n\n/**\n * Remaps a number from one range to another.\n */\nexport function remap(number: number, inLow: number, inHigh: number, outLow: number, outHigh: number): number {\n    const scale = (number - inLow) / (inHigh - inLow);\n    return outLow + scale * (outHigh - outLow);\n}\n\n/**\n * Remaps a number from one range to another, clamping the result to the output range.\n */\nexport function remapClamp(value: number, inLow: number, inHigh: number, outLow: number, outHigh: number): number {\n    const scale = (value - inLow) / (inHigh - inLow);\n    const remapped = outLow + scale * (outHigh - outLow);\n    return Math.max(outLow, Math.min(outHigh, remapped));\n}\n"],"names":[],"mappings":"AAAO,MAAM,OAAO,GAAG;AAEvB;;;;;AAKG;AACG,SAAU,KAAK,CAAC,CAAS,EAAA;IAC3B,IAAI,CAAC,IAAI,CAAC;AAAE,QAAA,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;IAEhC,OAAO,CAAC,GAAG,GAAG,KAAK,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;AACxD;AAEA;;;;;;;;AAQG;AACG,SAAU,MAAM,CAAC,CAAS,EAAE,CAAS,EAAE,OAAO,GAAG,OAAO,EAAA;AAC1D,IAAA,OAAO,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,IAAI,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;AAC/E;AAEA;;;;;;;AAOG;AACG,SAAU,IAAI,CAAC,CAAS,EAAA;AAC1B,IAAA,OAAO,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC,GAAG,EAAE,CAAC;AAC9C;AAEA;;;;;;;;AAQG;SACa,IAAI,CAAC,EAAU,EAAE,EAAU,EAAE,CAAS,EAAA;IAClD,OAAO,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC;AAChC;AAEA;;;;;;;;;;AAUG;AACG,SAAU,QAAQ,CAAC,EAAU,EAAE,EAAU,EAAE,EAAU,EAAE,CAAS,EAAA;AAClE,IAAA,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,IAAI,CAAC,GAAG,GAAG,CAAC,GAAG,CAAC,GAAG,EAAE;AACvF;AAEA;;;;;;;;AAQG;AACG,SAAU,QAAQ,CAAC,CAAS,EAAE,CAAS,EAAA;AACzC,IAAA,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC;AAAE,QAAA,OAAO,CAAC;;AAE5B,IAAA,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC;IAC5B,IAAI,KAAK,GAAG,CAAC;;AAEb,IAAA,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE,EAAE;AACxB,QAAA,KAAK,GAAG,CAAC,KAAK,IAAI,CAAC,GAAG,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;IACvC;AACA,IAAA,OAAO,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC;AAC5B;AAEA;;AAEG;AACI,MAAM,KAAK,GAAG,CAAC,KAAa,EAAE,GAAW,EAAE,GAAW,KAAY;AACrE,IAAA,OAAO,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC;AAC9C;AAEA;;AAEG;AACG,SAAU,MAAM,CAAC,CAAS,EAAE,MAAc,EAAA;AAC5C,IAAA,OAAO,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,MAAM,CAAC,GAAG,MAAM,EAAE,CAAC,EAAE,MAAM,CAAC;AAChE;AAEA;;AAEG;AACG,SAAU,KAAK,CAAC,MAAc,EAAE,KAAa,EAAE,MAAc,EAAE,MAAc,EAAE,OAAe,EAAA;AAChG,IAAA,MAAM,KAAK,GAAG,CAAC,MAAM,GAAG,KAAK,KAAK,MAAM,GAAG,KAAK,CAAC;IACjD,OAAO,MAAM,GAAG,KAAK,IAAI,OAAO,GAAG,MAAM,CAAC;AAC9C;AAEA;;AAEG;AACG,SAAU,UAAU,CAAC,KAAa,EAAE,KAAa,EAAE,MAAc,EAAE,MAAc,EAAE,OAAe,EAAA;AACpG,IAAA,MAAM,KAAK,GAAG,CAAC,KAAK,GAAG,KAAK,KAAK,MAAM,GAAG,KAAK,CAAC;IAChD,MAAM,QAAQ,GAAG,MAAM,GAAG,KAAK,IAAI,OAAO,GAAG,MAAM,CAAC;AACpD,IAAA,OAAO,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,QAAQ,CAAC,CAAC;AACxD;;;;"}

package/dist/core/spherical.js

@@ -0,0 +1,248 @@
+import { wrapAngle } from './angle.js';
+import { equals as equals$1, lerp as lerp$1, EPSILON } from './scalar.js';
+
+/**
+ * Creates a new spherical coordinate at r=1, theta=0, phi=0
+ *
+ * @returns a new Spherical
+ */
+function create() {
+    return [1, 0, 0];
+}
+/**
+ * Creates a new Spherical initialized with the given values
+ *
+ * @param r radial distance
+ * @param theta azimuthal angle in the XZ plane from +Z (radians)
+ * @param phi polar angle from +Y axis (radians)
+ * @returns a new Spherical
+ */
+function fromValues(r, theta, phi) {
+    return [r, theta, phi];
+}
+/**
+ * Creates a new Spherical initialized with values from an existing one
+ *
+ * @param a the source Spherical
+ * @returns a new Spherical
+ */
+function clone(a) {
+    return [a[0], a[1], a[2]];
+}
+/**
+ * Copies values from one Spherical to another
+ *
+ * @param out the receiving Spherical
+ * @param a the source Spherical
+ * @returns out
+ */
+function copy(out, a) {
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    return out;
+}
+/**
+ * Sets the components of a Spherical
+ *
+ * @param out the receiving Spherical
+ * @param r radial distance
+ * @param theta azimuthal angle in the XZ plane from +Z (radians)
+ * @param phi polar angle from +Y axis (radians)
+ * @returns out
+ */
+function set(out, r, theta, phi) {
+    out[0] = r;
+    out[1] = theta;
+    out[2] = phi;
+    return out;
+}
+/**
+ * Sets r=1, preserving the angles. No-op if r is already zero.
+ *
+ * @param out the receiving Spherical
+ * @param a the source Spherical
+ * @returns out
+ */
+function normalize(out, a) {
+    out[0] = 1;
+    out[1] = a[1];
+    out[2] = a[2];
+    return out;
+}
+/**
+ * Scales the radial distance r by a scalar
+ *
+ * @param out the receiving Spherical
+ * @param a the source Spherical
+ * @param s scalar to multiply r by
+ * @returns out
+ */
+function scale(out, a, s) {
+    out[0] = a[0] * s;
+    out[1] = a[1];
+    out[2] = a[2];
+    return out;
+}
+/**
+ * Linearly interpolates between two Spherical coordinates taking the shortest
+ * angular path for theta and phi.
+ *
+ * @param out the receiving Spherical
+ * @param a the first operand
+ * @param b the second operand
+ * @param t interpolation factor in [0, 1]
+ * @returns out
+ */
+function lerp(out, a, b, t) {
+    out[0] = lerp$1(a[0], b[0], t);
+    out[1] = a[1] + wrapAngle(b[1] - a[1]) * t;
+    out[2] = a[2] + wrapAngle(b[2] - a[2]) * t;
+    return out;
+}
+/**
+ * Sets a Spherical from Cartesian Vec3 coordinates (Three.js / OpenGL convention):
+ *   r     = sqrt(x² + y² + z²)
+ *   theta = atan2(x, z)   (azimuthal angle in XZ plane from +Z)
+ *   phi   = acos(y / r)   (polar angle from +Y)
+ *
+ * @param out the receiving Spherical
+ * @param v the source Vec3
+ * @returns out
+ */
+function setFromVec3(out, v) {
+    const x = v[0];
+    const y = v[1];
+    const z = v[2];
+    const r = Math.sqrt(x * x + y * y + z * z);
+    out[0] = r;
+    out[1] = r === 0 ? 0 : Math.atan2(x, z);
+    out[2] = r === 0 ? 0 : Math.acos(Math.max(-1, Math.min(1, y / r)));
+    return out;
+}
+/** @alias setFromVec3 */
+const fromVec3 = setFromVec3;
+/**
+ * Clamps phi to the range [EPSILON, π - EPSILON] to avoid coordinate
+ * singularities at the poles (gimbal lock / division by zero).
+ * r and theta are left unchanged.
+ *
+ * @param out the receiving Spherical
+ * @param a the source Spherical
+ * @returns out
+ */
+function makeSafe(out, a) {
+    const EPS = EPSILON;
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = Math.max(EPS, Math.min(Math.PI - EPS, a[2]));
+    return out;
+}
+/**
+ * Converts spherical coordinates to a Cartesian Vec3 (Three.js / OpenGL convention):
+ *   x = r * sin(phi) * sin(theta)
+ *   y = r * cos(phi)
+ *   z = r * sin(phi) * cos(theta)
+ *
+ * @param out the receiving Vec3
+ * @param a the source Spherical
+ * @returns out
+ */
+function toVec3(out, a) {
+    const r = a[0];
+    const theta = a[1];
+    const phi = a[2];
+    const rSinPhi = r * Math.sin(phi);
+    out[0] = rSinPhi * Math.sin(theta);
+    out[1] = r * Math.cos(phi);
+    out[2] = rSinPhi * Math.cos(theta);
+    return out;
+}
+/**
+ * Converts a Vec2 (x, z) in the horizontal XZ plane to spherical coordinates.
+ * The point is treated as lying on the equator (phi = π/2, y = 0).
+ *
+ * @param out the receiving Spherical
+ * @param v the source Vec2 interpreted as (x, z)
+ * @returns out
+ */
+function fromVec2(out, v) {
+    const x = v[0];
+    const z = v[1];
+    const r = Math.sqrt(x * x + z * z);
+    out[0] = r;
+    out[1] = r === 0 ? 0 : Math.atan2(x, z);
+    out[2] = Math.PI / 2;
+    return out;
+}
+/**
+ * Projects spherical coordinates onto the XZ plane, returning a Vec2 (x, z).
+ * Equivalent to taking the horizontal footprint of the 3D point.
+ *
+ * @param out the receiving Vec2
+ * @param a the source Spherical
+ * @returns out
+ */
+function toVec2(out, a) {
+    const r = a[0];
+    const theta = a[1];
+    const phi = a[2];
+    const rSinPhi = r * Math.sin(phi);
+    out[0] = rSinPhi * Math.sin(theta);
+    out[1] = rSinPhi * Math.cos(theta);
+    return out;
+}
+/**
+ * Returns true if two Spherical coordinates are approximately equal,
+ * within an absolute/relative tolerance of EPSILON.
+ *
+ * @param a the first Spherical
+ * @param b the second Spherical
+ * @returns true if approximately equal
+ */
+function equals(a, b) {
+    return equals$1(a[0], b[0]) && equals$1(a[1], b[1]) && equals$1(a[2], b[2]);
+}
+/**
+ * Returns true if two Spherical coordinates are exactly equal (===).
+ *
+ * @param a the first Spherical
+ * @param b the second Spherical
+ * @returns true if exactly equal
+ */
+function exactEquals(a, b) {
+    return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];
+}
+/**
+ * Returns a string representation of a Spherical
+ *
+ * @param a the source Spherical
+ * @returns string representation
+ */
+function str(a) {
+    return `Spherical(${a[0]}, ${a[1]}, ${a[2]})`;
+}
+/**
+ * Returns the great-circle angle (in radians) between two spherical coordinates,
+ * ignoring r. Equivalent to the central angle between the two directions on a
+ * unit sphere.
+ *
+ * Uses the numerically stable haversine formula.
+ *
+ * @param a the first Spherical
+ * @param b the second Spherical
+ * @returns angle in radians in [0, π]
+ */
+function angleTo(a, b) {
+    const phiA = a[2];
+    const phiB = b[2];
+    const dTheta = b[1] - a[1];
+    // hav(c) = hav(phiB - phiA) + sin(phiA) * sin(phiB) * hav(dTheta)
+    const sHalfPhi = Math.sin((phiB - phiA) / 2);
+    const sHalfTheta = Math.sin(dTheta / 2);
+    const hav = sHalfPhi * sHalfPhi + Math.sin(phiA) * Math.sin(phiB) * sHalfTheta * sHalfTheta;
+    return 2 * Math.asin(Math.sqrt(Math.max(0, Math.min(1, hav))));
+}
+
+export { angleTo, clone, copy, create, equals, exactEquals, fromValues, fromVec2, fromVec3, lerp, makeSafe, normalize, scale, set, setFromVec3, str, toVec2, toVec3 };
+//# sourceMappingURL=spherical.js.map

package/dist/core/spherical.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"spherical.js","sources":["../../src/core/spherical.ts"],"sourcesContent":["import { wrapAngle } from './angle';\nimport * as scalar from './scalar';\nimport type { Vec2 } from './vec2';\nimport type { Vec3 } from './vec3';\n\n/**\n * A point in spherical coordinates [r, theta, phi] (Three.js / OpenGL convention)\n *  r     - radial distance from the origin\n *  theta - azimuthal angle in the XZ plane from the +Z axis (radians, range [-π, π])\n *  phi   - polar angle from the +Y axis (radians, range [0, π])\n */\nexport type Spherical = [r: number, theta: number, phi: number];\n\n/**\n * Creates a new spherical coordinate at r=1, theta=0, phi=0\n *\n * @returns a new Spherical\n */\nexport function create(): Spherical {\n    return [1, 0, 0];\n}\n\n/**\n * Creates a new Spherical initialized with the given values\n *\n * @param r radial distance\n * @param theta azimuthal angle in the XZ plane from +Z (radians)\n * @param phi polar angle from +Y axis (radians)\n * @returns a new Spherical\n */\nexport function fromValues(r: number, theta: number, phi: number): Spherical {\n    return [r, theta, phi];\n}\n\n/**\n * Creates a new Spherical initialized with values from an existing one\n *\n * @param a the source Spherical\n * @returns a new Spherical\n */\nexport function clone(a: Spherical): Spherical {\n    return [a[0], a[1], a[2]];\n}\n\n/**\n * Copies values from one Spherical to another\n *\n * @param out the receiving Spherical\n * @param a the source Spherical\n * @returns out\n */\nexport function copy(out: Spherical, a: Spherical): Spherical {\n    out[0] = a[0];\n    out[1] = a[1];\n    out[2] = a[2];\n    return out;\n}\n\n/**\n * Sets the components of a Spherical\n *\n * @param out the receiving Spherical\n * @param r radial distance\n * @param theta azimuthal angle in the XZ plane from +Z (radians)\n * @param phi polar angle from +Y axis (radians)\n * @returns out\n */\nexport function set(out: Spherical, r: number, theta: number, phi: number): Spherical {\n    out[0] = r;\n    out[1] = theta;\n    out[2] = phi;\n    return out;\n}\n\n/**\n * Sets r=1, preserving the angles. No-op if r is already zero.\n *\n * @param out the receiving Spherical\n * @param a the source Spherical\n * @returns out\n */\nexport function normalize(out: Spherical, a: Spherical): Spherical {\n    out[0] = 1;\n    out[1] = a[1];\n    out[2] = a[2];\n    return out;\n}\n\n/**\n * Scales the radial distance r by a scalar\n *\n * @param out the receiving Spherical\n * @param a the source Spherical\n * @param s scalar to multiply r by\n * @returns out\n */\nexport function scale(out: Spherical, a: Spherical, s: number): Spherical {\n    out[0] = a[0] * s;\n    out[1] = a[1];\n    out[2] = a[2];\n    return out;\n}\n\n/**\n * Linearly interpolates between two Spherical coordinates taking the shortest\n * angular path for theta and phi.\n *\n * @param out the receiving Spherical\n * @param a the first operand\n * @param b the second operand\n * @param t interpolation factor in [0, 1]\n * @returns out\n */\nexport function lerp(out: Spherical, a: Spherical, b: Spherical, t: number): Spherical {\n    out[0] = scalar.lerp(a[0], b[0], t);\n    out[1] = a[1] + wrapAngle(b[1] - a[1]) * t;\n    out[2] = a[2] + wrapAngle(b[2] - a[2]) * t;\n    return out;\n}\n\n/**\n * Sets a Spherical from Cartesian Vec3 coordinates (Three.js / OpenGL convention):\n *   r     = sqrt(x² + y² + z²)\n *   theta = atan2(x, z)   (azimuthal angle in XZ plane from +Z)\n *   phi   = acos(y / r)   (polar angle from +Y)\n *\n * @param out the receiving Spherical\n * @param v the source Vec3\n * @returns out\n */\nexport function setFromVec3(out: Spherical, v: Vec3): Spherical {\n    const x = v[0];\n    const y = v[1];\n    const z = v[2];\n    const r = Math.sqrt(x * x + y * y + z * z);\n    out[0] = r;\n    out[1] = r === 0 ? 0 : Math.atan2(x, z);\n    out[2] = r === 0 ? 0 : Math.acos(Math.max(-1, Math.min(1, y / r)));\n    return out;\n}\n\n/** @alias setFromVec3 */\nexport const fromVec3 = setFromVec3;\n\n/**\n * Clamps phi to the range [EPSILON, π - EPSILON] to avoid coordinate\n * singularities at the poles (gimbal lock / division by zero).\n * r and theta are left unchanged.\n *\n * @param out the receiving Spherical\n * @param a the source Spherical\n * @returns out\n */\nexport function makeSafe(out: Spherical, a: Spherical): Spherical {\n    const EPS = scalar.EPSILON;\n    out[0] = a[0];\n    out[1] = a[1];\n    out[2] = Math.max(EPS, Math.min(Math.PI - EPS, a[2]));\n    return out;\n}\n\n/**\n * Converts spherical coordinates to a Cartesian Vec3 (Three.js / OpenGL convention):\n *   x = r * sin(phi) * sin(theta)\n *   y = r * cos(phi)\n *   z = r * sin(phi) * cos(theta)\n *\n * @param out the receiving Vec3\n * @param a the source Spherical\n * @returns out\n */\nexport function toVec3(out: Vec3, a: Spherical): Vec3 {\n    const r = a[0];\n    const theta = a[1];\n    const phi = a[2];\n    const rSinPhi = r * Math.sin(phi);\n    out[0] = rSinPhi * Math.sin(theta);\n    out[1] = r * Math.cos(phi);\n    out[2] = rSinPhi * Math.cos(theta);\n    return out;\n}\n\n/**\n * Converts a Vec2 (x, z) in the horizontal XZ plane to spherical coordinates.\n * The point is treated as lying on the equator (phi = π/2, y = 0).\n *\n * @param out the receiving Spherical\n * @param v the source Vec2 interpreted as (x, z)\n * @returns out\n */\nexport function fromVec2(out: Spherical, v: Vec2): Spherical {\n    const x = v[0];\n    const z = v[1];\n    const r = Math.sqrt(x * x + z * z);\n    out[0] = r;\n    out[1] = r === 0 ? 0 : Math.atan2(x, z);\n    out[2] = Math.PI / 2;\n    return out;\n}\n\n/**\n * Projects spherical coordinates onto the XZ plane, returning a Vec2 (x, z).\n * Equivalent to taking the horizontal footprint of the 3D point.\n *\n * @param out the receiving Vec2\n * @param a the source Spherical\n * @returns out\n */\nexport function toVec2(out: Vec2, a: Spherical): Vec2 {\n    const r = a[0];\n    const theta = a[1];\n    const phi = a[2];\n    const rSinPhi = r * Math.sin(phi);\n    out[0] = rSinPhi * Math.sin(theta);\n    out[1] = rSinPhi * Math.cos(theta);\n    return out;\n}\n\n/**\n * Returns true if two Spherical coordinates are approximately equal,\n * within an absolute/relative tolerance of EPSILON.\n *\n * @param a the first Spherical\n * @param b the second Spherical\n * @returns true if approximately equal\n */\nexport function equals(a: Spherical, b: Spherical): boolean {\n    return scalar.equals(a[0], b[0]) && scalar.equals(a[1], b[1]) && scalar.equals(a[2], b[2]);\n}\n\n/**\n * Returns true if two Spherical coordinates are exactly equal (===).\n *\n * @param a the first Spherical\n * @param b the second Spherical\n * @returns true if exactly equal\n */\nexport function exactEquals(a: Spherical, b: Spherical): boolean {\n    return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];\n}\n\n/**\n * Returns a string representation of a Spherical\n *\n * @param a the source Spherical\n * @returns string representation\n */\nexport function str(a: Spherical): string {\n    return `Spherical(${a[0]}, ${a[1]}, ${a[2]})`;\n}\n\n/**\n * Returns the great-circle angle (in radians) between two spherical coordinates,\n * ignoring r. Equivalent to the central angle between the two directions on a\n * unit sphere.\n *\n * Uses the numerically stable haversine formula.\n *\n * @param a the first Spherical\n * @param b the second Spherical\n * @returns angle in radians in [0, π]\n */\nexport function angleTo(a: Spherical, b: Spherical): number {\n    const phiA = a[2];\n    const phiB = b[2];\n    const dTheta = b[1] - a[1];\n    // hav(c) = hav(phiB - phiA) + sin(phiA) * sin(phiB) * hav(dTheta)\n    const sHalfPhi = Math.sin((phiB - phiA) / 2);\n    const sHalfTheta = Math.sin(dTheta / 2);\n    const hav = sHalfPhi * sHalfPhi + Math.sin(phiA) * Math.sin(phiB) * sHalfTheta * sHalfTheta;\n    return 2 * Math.asin(Math.sqrt(Math.max(0, Math.min(1, 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