math 0.0.3 → 0.1.0

package/dist/core/vec4.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"vec4.js","sources":["../../src/core/vec4.ts"],"sourcesContent":["import type { MutableArrayLike } from './arrays';\nimport type { Mat4 } from './mat4';\nimport type { Quat } from './quat';\nimport * as scalar from './scalar';\n\n/** A 4D vector */\nexport type Vec4 = [x: number, y: number, z: number, w: number];\n\n/**\n * Creates a new, empty vec4\n *\n * @returns a new 4D vector\n */\nexport function create(): Vec4 {\n    return [0, 0, 0, 0];\n}\n\n/**\n * Creates a new vec4 initialized with values from an existing vector\n *\n * @param a vector to clone\n * @returns a new 4D vector\n */\nexport function clone(a: Vec4): Vec4 {\n    return [a[0], a[1], a[2], a[3]];\n}\n\n/**\n * Creates a new vec4 initialized with the given values\n *\n * @param x X component\n * @param y Y component\n * @param z Z component\n * @param w W component\n * @returns a new 4D vector\n */\nexport function fromValues(x: number, y: number, z: number, w: number): Vec4 {\n    return [x, y, z, w];\n}\n\n/**\n * Copy the values from one vec4 to another\n *\n * @param out the receiving vector\n * @param a the source vector\n * @returns out\n */\nexport function copy(out: Vec4, a: Vec4): Vec4 {\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 * Set the components of a vec4 to the given values\n *\n * @param out the receiving vector\n * @param x X component\n * @param y Y component\n * @param z Z component\n * @param w W component\n * @returns out\n */\nexport function set(out: Vec4, x: number, y: number, z: number, w: number): Vec4 {\n    out[0] = x;\n    out[1] = y;\n    out[2] = z;\n    out[3] = w;\n    return out;\n}\n\n/**\n * Sets the components of a vec4 from a buffer\n * @param out the receiving vector\n * @param buffer the source buffer\n * @param startIndex the starting index in the buffer\n * @returns out\n */\nexport function fromBuffer(out: Vec4, buffer: ArrayLike<number>, startIndex: number): Vec4 {\n    out[0] = buffer[startIndex];\n    out[1] = buffer[startIndex + 1];\n    out[2] = buffer[startIndex + 2];\n    out[3] = buffer[startIndex + 3];\n    return out;\n}\n\n/**\n * Writes the components of a vec4 to a buffer\n * @param outBuffer The output buffer\n * @param vec The source vector\n * @param startIndex The starting index in the buffer\n * @returns The output buffer\n */\nexport function toBuffer(outBuffer: MutableArrayLike<number>, vec: Vec4, startIndex: number): MutableArrayLike<number> {\n    outBuffer[startIndex] = vec[0];\n    outBuffer[startIndex + 1] = vec[1];\n    outBuffer[startIndex + 2] = vec[2];\n    outBuffer[startIndex + 3] = vec[3];\n    return outBuffer;\n}\n\n/**\n * Adds two vec4's\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function add(out: Vec4, a: Vec4, b: Vec4): Vec4 {\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    return out;\n}\n\n/**\n * Subtracts vector b from vector a\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function subtract(out: Vec4, a: Vec4, b: Vec4): Vec4 {\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    return out;\n}\n\n/**\n * Multiplies two vec4's\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function multiply(out: Vec4, a: Vec4, b: Vec4): Vec4 {\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    return out;\n}\n\n/**\n * Divides two vec4's\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function divide(out: Vec4, a: Vec4, b: Vec4): Vec4 {\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    return out;\n}\n\n/**\n * Math.ceil the components of a vec4\n *\n * @param out the receiving vector\n * @param a vector to ceil\n * @returns out\n */\nexport function ceil(out: Vec4, a: Vec4): Vec4 {\n    out[0] = Math.ceil(a[0]);\n    out[1] = Math.ceil(a[1]);\n    out[2] = Math.ceil(a[2]);\n    out[3] = Math.ceil(a[3]);\n    return out;\n}\n\n/**\n * Math.floor the components of a vec4\n *\n * @param out the receiving vector\n * @param a vector to floor\n * @returns out\n */\nexport function floor(out: Vec4, a: Vec4): Vec4 {\n    out[0] = Math.floor(a[0]);\n    out[1] = Math.floor(a[1]);\n    out[2] = Math.floor(a[2]);\n    out[3] = Math.floor(a[3]);\n    return out;\n}\n\n/**\n * Returns the minimum of two vec4's\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function min(out: Vec4, a: Vec4, b: Vec4): Vec4 {\n    out[0] = Math.min(a[0], b[0]);\n    out[1] = Math.min(a[1], b[1]);\n    out[2] = Math.min(a[2], b[2]);\n    out[3] = Math.min(a[3], b[3]);\n    return out;\n}\n\n/**\n * Returns the maximum of two vec4's\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function max(out: Vec4, a: Vec4, b: Vec4): Vec4 {\n    out[0] = Math.max(a[0], b[0]);\n    out[1] = Math.max(a[1], b[1]);\n    out[2] = Math.max(a[2], b[2]);\n    out[3] = Math.max(a[3], b[3]);\n    return out;\n}\n\n/**\n * symmetric round the components of a vec4\n *\n * @param out the receiving vector\n * @param a vector to round\n * @returns out\n */\nexport function round(out: Vec4, a: Vec4): Vec4 {\n    out[0] = scalar.round(a[0]);\n    out[1] = scalar.round(a[1]);\n    out[2] = scalar.round(a[2]);\n    out[3] = scalar.round(a[3]);\n    return out;\n}\n\n/**\n * Scales a vec4 by a scalar number\n *\n * @param out the receiving vector\n * @param a the vector to scale\n * @param b amount to scale the vector by\n * @returns out\n */\nexport function scale(out: Vec4, a: Vec4, b: number): Vec4 {\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    return out;\n}\n\n/**\n * Adds two vec4's after scaling the second operand by a scalar value\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @param scale the amount to scale b by before adding\n * @returns out\n */\nexport function scaleAndAdd(out: Vec4, a: Vec4, b: Vec4, scale: number): Vec4 {\n    out[0] = a[0] + b[0] * scale;\n    out[1] = a[1] + b[1] * scale;\n    out[2] = a[2] + b[2] * scale;\n    out[3] = a[3] + b[3] * scale;\n    return out;\n}\n\n/**\n * Calculates the euclidian distance between two vec4's\n *\n * @param a the first operand\n * @param b the second operand\n * @returns distance between a and b\n */\nexport function distance(a: Vec4, b: Vec4): number {\n    const x = b[0] - a[0];\n    const y = b[1] - a[1];\n    const z = b[2] - a[2];\n    const w = b[3] - a[3];\n    return Math.sqrt(x * x + y * y + z * z + w * w);\n}\n\n/**\n * Calculates the squared euclidian distance between two vec4's\n *\n * @param a the first operand\n * @param b the second operand\n * @returns squared distance between a and b\n */\nexport function squaredDistance(a: Vec4, b: Vec4): number {\n    const x = b[0] - a[0];\n    const y = b[1] - a[1];\n    const z = b[2] - a[2];\n    const w = b[3] - a[3];\n    return x * x + y * y + z * z + w * w;\n}\n\n/**\n * Calculates the length of a vec4\n *\n * @param a vector to calculate length of\n * @returns length of a\n */\nexport function length(a: Vec4): 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 * Calculates the squared length of a vec4\n *\n * @param a vector to calculate squared length of\n * @returns squared length of a\n */\nexport function squaredLength(a: Vec4): 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 * Negates the components of a vec4\n *\n * @param out the receiving vector\n * @param a vector to negate\n * @returns out\n */\nexport function negate(out: Vec4, a: Vec4): Vec4 {\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 * Returns the inverse of the components of a vec4\n *\n * @param out the receiving vector\n * @param a vector to invert\n * @returns out\n */\nexport function inverse(out: Vec4, a: Vec4): Vec4 {\n    out[0] = 1.0 / a[0];\n    out[1] = 1.0 / a[1];\n    out[2] = 1.0 / a[2];\n    out[3] = 1.0 / a[3];\n    return out;\n}\n\n/**\n * Normalize a vec4\n *\n * @param out the receiving vector\n * @param a vector to normalize\n * @returns out\n */\nexport function normalize(out: Vec4, a: Vec4): Vec4 {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    const w = a[3];\n    let len = x * x + y * y + z * z + w * w;\n    if (len > 0) {\n        len = 1 / Math.sqrt(len);\n    }\n    out[0] = x * len;\n    out[1] = y * len;\n    out[2] = z * len;\n    out[3] = w * len;\n    return out;\n}\n\n/**\n * Calculates the dot product of two vec4's\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: Vec4, b: Vec4): number {\n    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];\n}\n\n/**\n * Returns the cross-product of three vectors in a 4-dimensional space\n *\n * @param out the receiving vector\n * @param u the first vector\n * @param v the second vector\n * @param w the third vector\n * @returns result\n */\nexport function cross(out: Vec4, u: Vec4, v: Vec4, w: Vec4): Vec4 {\n    const A = v[0] * w[1] - v[1] * w[0];\n    const B = v[0] * w[2] - v[2] * w[0];\n    const C = v[0] * w[3] - v[3] * w[0];\n    const D = v[1] * w[2] - v[2] * w[1];\n    const E = v[1] * w[3] - v[3] * w[1];\n    const F = v[2] * w[3] - v[3] * w[2];\n    const G = u[0];\n    const H = u[1];\n    const I = u[2];\n    const J = u[3];\n\n    out[0] = H * F - I * E + J * D;\n    out[1] = -(G * F) + I * C - J * B;\n    out[2] = G * E - H * C + J * A;\n    out[3] = -(G * D) + H * B - I * A;\n\n    return out;\n}\n\n/**\n * Performs a linear interpolation between two vec4's\n *\n * @param out the receiving vector\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: Vec4, a: Vec4, b: Vec4, t: number): Vec4 {\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n    const aw = a[3];\n    out[0] = ax + t * (b[0] - ax);\n    out[1] = ay + t * (b[1] - ay);\n    out[2] = az + t * (b[2] - az);\n    out[3] = aw + t * (b[3] - aw);\n    return out;\n}\n\n/**\n * Quadratic interpolation through three vectors using Lagrange interpolation.\n * Passes through a at t=0, b at t=0.5, and c at t=1.\n *\n * @param out the receiving vector\n * @param a vector at t=0\n * @param b vector at t=0.5\n * @param c vector at t=1\n * @param t interpolation amount\n * @returns out\n */\nexport function lagrange(out: Vec4, a: Vec4, b: Vec4, c: Vec4, t: number): Vec4 {\n    const c0 = 2 * (t - 1) * (t - 0.5);\n    const c1 = -4 * (t - 1) * t;\n    const c2 = 2 * (t - 0.5) * t;\n    out[0] = c0 * a[0] + c1 * b[0] + c2 * c[0];\n    out[1] = c0 * a[1] + c1 * b[1] + c2 * c[1];\n    out[2] = c0 * a[2] + c1 * b[2] + c2 * c[2];\n    out[3] = c0 * a[3] + c1 * b[3] + c2 * c[3];\n    return out;\n}\n\n/**\n * Transforms the vec4 with a mat4.\n *\n * @param out the receiving vector\n * @param a the vector to transform\n * @param m matrix to transform with\n * @returns out\n */\nexport function transformMat4(out: Vec4, a: Vec4, m: Mat4): Vec4 {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    const w = a[3];\n    out[0] = m[0] * x + m[4] * y + m[8] * z + m[12] * w;\n    out[1] = m[1] * x + m[5] * y + m[9] * z + m[13] * w;\n    out[2] = m[2] * x + m[6] * y + m[10] * z + m[14] * w;\n    out[3] = m[3] * x + m[7] * y + m[11] * z + m[15] * w;\n    return out;\n}\n\n/**\n * Transforms the vec4 with a quat\n *\n * @param out the receiving vector\n * @param a the vector to transform\n * @param q quaternion to transform with\n * @returns out\n */\nexport function transformQuat(out: Vec4, a: Vec4, q: Quat): Vec4 {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    const qx = q[0];\n    const qy = q[1];\n    const qz = q[2];\n    const qw = q[3];\n\n    // calculate quat * vec\n    const ix = qw * x + qy * z - qz * y;\n    const iy = qw * y + qz * x - qx * z;\n    const iz = qw * z + qx * y - qy * x;\n    const iw = -qx * x - qy * y - qz * z;\n\n    // calculate result * inverse quat\n    out[0] = ix * qw + iw * -qx + iy * -qz - iz * -qy;\n    out[1] = iy * qw + iw * -qy + iz * -qx - ix * -qz;\n    out[2] = iz * qw + iw * -qz + ix * -qy - iy * -qx;\n    out[3] = a[3];\n    return out;\n}\n\n/**\n * Set the components of a vec4 to zero\n *\n * @param out the receiving vector\n * @returns out\n */\nexport function zero(out: Vec4): Vec4 {\n    out[0] = 0.0;\n    out[1] = 0.0;\n    out[2] = 0.0;\n    out[3] = 0.0;\n    return out;\n}\n\n/**\n * Returns a string representation of a vector\n *\n * @param a vector to represent as a string\n * @returns string representation of the vector\n */\nexport function str(a: Vec4): string {\n    return `vec4(${a[0]}, ${a[1]}, ${a[2]}, ${a[3]})`;\n}\n\n/**\n * Returns whether or not the vectors have exactly the same elements in the same position (when compared with ===)\n *\n * @param a The first vector.\n * @param b The second vector.\n * @returns True if the vectors are equal, false otherwise.\n */\nexport function exactEquals(a: Vec4, b: Vec4): boolean {\n    return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];\n}\n\n/**\n * Returns whether or not the vectors have approximately the same elements in the same position.\n *\n * @param a The first vector.\n * @param b The second vector.\n * @returns True if the vectors are equal, false otherwise.\n */\nexport function equals(a: Vec4, b: Vec4): boolean {\n    const a0 = a[0];\n    const a1 = a[1];\n    const a2 = a[2];\n    const a3 = a[3];\n    const b0 = b[0];\n    const b1 = b[1];\n    const b2 = b[2];\n    const b3 = b[3];\n    return (\n        Math.abs(a0 - b0) <= scalar.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&\n        Math.abs(a1 - b1) <= scalar.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&\n        Math.abs(a2 - b2) <= scalar.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) &&\n        Math.abs(a3 - b3) <= scalar.EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3))\n    );\n}\n\n/**\n * Returns whether or not the vector is finite\n * @param a vector to test\n * @returns whether or not the vector is finite\n */\nexport function finite(a: Vec4): boolean {\n    return Number.isFinite(a[0]) && Number.isFinite(a[1]) && Number.isFinite(a[2]) && Number.isFinite(a[3]);\n}\n\n/**\n * Alias for {@link subtract}\n */\nexport const sub = subtract;\n\n/**\n * Alias for {@link multiply}\n */\nexport const mul = multiply;\n\n/**\n * Alias for {@link divide}\n */\nexport const div = divide;\n\n/**\n * Alias for {@link distance}\n */\nexport const dist = distance;\n\n/**\n * Alias for {@link squaredDistance}\n */\nexport const sqrDist = squaredDistance;\n\n/**\n * Alias for {@link length}\n */\nexport const len = length;\n\n/**\n * Alias for {@link squaredLength}\n */\nexport const sqrLen = 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package/dist/geometry/circumcircle.js

@@ -0,0 +1,39 @@
+import { EPSILON } from '../core/scalar.js';
+
+/**
+ * Calculates the circumcircle of three points and stores the center in the output parameter.
+ * @param out The circle to store the result in
+ * @param triangle The triangle defined by three points
+ * @returns
+ */
+function circumcircle(out, a, b, c) {
+    // work relative to `a` at the origin, which collapses the circumcenter formula
+    const ax = a[0];
+    const ay = a[1];
+    const bx = b[0] - ax;
+    const by = b[1] - ay;
+    const cx = c[0] - ax;
+    const cy = c[1] - ay;
+    // cross product of the edge vectors (twice the signed triangle area)
+    const cp = bx * cy - by * cx;
+    if (Math.abs(cp) > EPSILON) {
+        const bSq = bx * bx + by * by;
+        const cSq = cx * cx + cy * cy;
+        const d = 0.5 / cp;
+        // circumcenter relative to `a`
+        const ux = (cy * bSq - by * cSq) * d;
+        const uy = (bx * cSq - cx * bSq) * d;
+        out.center[0] = ux + ax;
+        out.center[1] = uy + ay;
+        out.radius = Math.sqrt(ux * ux + uy * uy);
+        return out;
+    }
+    // degenerate (collinear) — no unique circumcircle
+    out.center[0] = ax;
+    out.center[1] = ay;
+    out.radius = 0;
+    return out;
+}
+
+export { circumcircle };
+//# sourceMappingURL=circumcircle.js.map

package/dist/geometry/circumcircle.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"circumcircle.js","sources":["../../src/geometry/circumcircle.ts"],"sourcesContent":["import { EPSILON } from '../core/scalar';\nimport type { Vec2 } from '../core/vec2';\nimport type { Circle } from '../shapes/circle';\n\n/**\n * Calculates the circumcircle of three points and stores the center in the output parameter.\n * @param out The circle to store the result in\n * @param triangle The triangle defined by three points\n * @returns\n */\nexport function circumcircle(out: Circle, a: Vec2, b: Vec2, c: Vec2): Circle {\n    // work relative to `a` at the origin, which collapses the circumcenter formula\n    const ax = a[0];\n    const ay = a[1];\n    const bx = b[0] - ax;\n    const by = b[1] - ay;\n    const cx = c[0] - ax;\n    const cy = c[1] - ay;\n\n    // cross product of the edge vectors (twice the signed triangle area)\n    const cp = bx * cy - by * cx;\n\n    if (Math.abs(cp) > EPSILON) {\n        const bSq = bx * bx + by * by;\n        const cSq = cx * cx + cy * cy;\n        const d = 0.5 / cp;\n\n        // circumcenter relative to `a`\n        const ux = (cy * bSq - by * cSq) * d;\n        const uy = (bx * cSq - cx * bSq) * d;\n\n        out.center[0] = ux + ax;\n        out.center[1] = uy + ay;\n        out.radius = Math.sqrt(ux * ux + uy * uy);\n\n        return out;\n    }\n\n    // degenerate (collinear) — no unique circumcircle\n    out.center[0] = ax;\n    out.center[1] = ay;\n    out.radius = 0;\n\n    return out;\n}\n"],"names":[],"mappings":";;AAIA;;;;;AAKG;AACG,SAAU,YAAY,CAAC,GAAW,EAAE,CAAO,EAAE,CAAO,EAAE,CAAO,EAAA;;AAE/D,IAAA,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC;AACf,IAAA,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC;IACf,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE;IACpB,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE;IACpB,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE;IACpB,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE;;IAGpB,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;IAE5B,IAAI,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,OAAO,EAAE;QACxB,MAAM,GAAG,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;QAC7B,MAAM,GAAG,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;AAC7B,QAAA,MAAM,CAAC,GAAG,GAAG,GAAG,EAAE;;AAGlB,QAAA,MAAM,EAAE,GAAG,CAAC,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,IAAI,CAAC;AACpC,QAAA,MAAM,EAAE,GAAG,CAAC,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,IAAI,CAAC;QAEpC,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,EAAE;QACvB,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,EAAE;AACvB,QAAA,GAAG,CAAC,MAAM,GAAG,IAAI,CAAC,IAAI,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;AAEzC,QAAA,OAAO,GAAG;IACd;;AAGA,IAAA,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,EAAE;AAClB,IAAA,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,EAAE;AAClB,IAAA,GAAG,CAAC,MAAM,GAAG,CAAC;AAEd,IAAA,OAAO,GAAG;AACd;;;;"}

package/dist/geometry/index.js

@@ -0,0 +1,6 @@
+export { circumcircle } from './circumcircle.js';
+export { decomposePolygon2Quality, decomposePolygon2Quick } from './polygon2-decompose.js';
+export { triangulatePolygon2 } from './polygon2-triangulate.js';
+export { quickhull2 } from './quickhull2.js';
+export { quickhull3 } from './quickhull3.js';
+//# sourceMappingURL=index.js.map

package/dist/geometry/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sources":[],"sourcesContent":[],"names":[],"mappings":";;;;"}

package/dist/geometry/polygon2-decompose.js

@@ -0,0 +1,411 @@
+import { isReflexVertex, signedArea, reverse } from '../shapes/polygon2.js';
+
+/*
+ * Convex decomposition
+ *
+ * Splits a simple (non-self-intersecting) polygon into convex sub-polygons.
+ * Polygons use the flat `[x0, y0, x1, y1, ...]` representation from math/shapes
+ * (polygon2), with an explicit vertex count `n`.
+ *
+ * Ported to the flat representation from poly-decomp-es
+ * (https://github.com/pmndrs/poly-decomp-es), MIT licensed, which itself is
+ * based on Mark Bayazit's algorithm. Each returned sub-polygon is a fresh flat
+ * `[x0, y0, ...]` array, wound counter-clockwise.
+ */
+const _decompIsect = [0, 0];
+/**
+ * Twice the signed area of the triangle (a, b, c); positive when
+ * counter-clockwise. This is the inlined, coordinate-form counterpart of
+ * `triangle2.signedArea` — kept local (and undivided) to avoid Vec2 allocations
+ * in the hot decomposition loops, where only the sign and relative magnitude
+ * matter.
+ */
+function triArea(ax, ay, bx, by, cx, cy) {
+    return (bx - ax) * (cy - ay) - (cx - ax) * (by - ay);
+}
+/** True if vertex `i` is reflex; delegates to the shared polygon2 primitive. */
+function isReflex(poly, i) {
+    return isReflexVertex(poly, poly.length >> 1, i);
+}
+function sqDist(ax, ay, bx, by) {
+    const dx = bx - ax;
+    const dy = by - ay;
+    return dx * dx + dy * dy;
+}
+/** Intersection point of the two infinite lines (p1,p2) and (q1,q2); writes [0,0] if parallel. */
+function lineIntersection(out, p1x, p1y, p2x, p2y, q1x, q1y, q2x, q2y) {
+    const a1 = p2y - p1y;
+    const b1 = p1x - p2x;
+    const c1 = a1 * p1x + b1 * p1y;
+    const a2 = q2y - q1y;
+    const b2 = q1x - q2x;
+    const c2 = a2 * q1x + b2 * q1y;
+    const det = a1 * b2 - a2 * b1;
+    if (det !== 0) {
+        out[0] = (b2 * c1 - b1 * c2) / det;
+        out[1] = (a1 * c2 - a2 * c1) / det;
+    }
+    else {
+        out[0] = 0;
+        out[1] = 0;
+    }
+    return out;
+}
+/**
+ * True if the closed segments (p1,p2) and (q1,q2) intersect. Inlined,
+ * coordinate-form counterpart of `segment2.intersects`, kept local to avoid
+ * Vec2 allocations in the visibility loops. Division-free: instead of computing
+ * the parameters `u = numU/denom` and `v = numV/denom`, it normalises the sign
+ * of `denom` and range-checks the numerators, which avoids two divisions per
+ * call in the hot visibility loop.
+ */
+function segmentsIntersect(p1x, p1y, p2x, p2y, q1x, q1y, q2x, q2y) {
+    const rx = p2x - p1x;
+    const ry = p2y - p1y;
+    const ex = q2x - q1x;
+    const ey = q2y - q1y;
+    let denom = rx * ey - ry * ex;
+    if (denom === 0)
+        return false; // parallel or collinear
+    const wx = q1x - p1x;
+    const wy = q1y - p1y;
+    let numU = wx * ey - wy * ex; // u = numU / denom
+    let numV = wx * ry - wy * rx; // v = numV / denom
+    // Make denom positive so the [0,1] range test is a plain comparison.
+    if (denom < 0) {
+        denom = -denom;
+        numU = -numU;
+        numV = -numV;
+    }
+    return numU >= 0 && numU <= denom && numV >= 0 && numV <= denom;
+}
+/** Appends vertices `from..to-1` of `src` onto `dst` (both flat arrays). */
+function appendRange(dst, src, from, to) {
+    for (let k = from; k < to; k++) {
+        dst.push(src[k * 2], src[k * 2 + 1]);
+    }
+}
+/** Copies vertices `i..j` (cyclic) of `poly` into a new flat polygon. */
+function polygonCopy(poly, i, j) {
+    const s = poly.length >> 1;
+    const out = [];
+    if (i < j) {
+        for (let k = i; k <= j; k++)
+            out.push(poly[k * 2], poly[k * 2 + 1]);
+    }
+    else {
+        for (let k = 0; k <= j; k++)
+            out.push(poly[k * 2], poly[k * 2 + 1]);
+        for (let k = i; k < s; k++)
+            out.push(poly[k * 2], poly[k * 2 + 1]);
+    }
+    return out;
+}
+/** Writes a CCW copy of the first `n` vertices of `vertices` into `out`, reversing if needed. */
+function toCCW(out, vertices, n) {
+    for (let k = 0; k < n * 2; k++)
+        out[k] = vertices[k];
+    if (signedArea(out, n) < 0)
+        reverse(out, out, n);
+    return out;
+}
+const QUICK_DECOMP_MAX_LEVEL = 100;
+/** True if vertices `a` and `b` can see each other without any edge blocking (segment test). */
+function canSeeSegment(poly, a, b) {
+    const s = poly.length >> 1;
+    const ax = poly[a * 2];
+    const ay = poly[a * 2 + 1];
+    const bx = poly[b * 2];
+    const by = poly[b * 2 + 1];
+    for (let i = 0; i < s; i++) {
+        const i1 = i + 1 === s ? 0 : i + 1;
+        if (i === a || i === b || i1 === a || i1 === b)
+            continue;
+        if (segmentsIntersect(ax, ay, bx, by, poly[i * 2], poly[i * 2 + 1], poly[i1 * 2], poly[i1 * 2 + 1])) {
+            return false;
+        }
+    }
+    return true;
+}
+/**
+ * Decomposes a simple polygon into convex sub-polygons using Bayazit's fast
+ * approximate algorithm. Fast (~O(n²)) but may use more pieces than the
+ * minimum; may introduce new (Steiner) vertices. Input winding is normalised
+ * internally, so either winding is accepted.
+ *
+ * Implemented iteratively with an explicit worklist of sub-polygons rather than
+ * recursion.
+ *
+ * @param vertices polygon vertices as a flat array `[x0, y0, x1, y1, ...]`
+ * @param n number of vertices to read from `vertices`
+ * @returns an array of convex sub-polygons, each a flat `[x0, y0, ...]` array (CCW)
+ */
+function decomposePolygon2Quick(vertices, n) {
+    if (n < 3)
+        return [];
+    const out = [];
+    // Sub-polygons still to decompose, each paired with its depth in `levels`
+    // (a runaway guard for pathological input). Both stacks stay in lockstep.
+    const stack = [toCCW([], vertices, n)];
+    const levels = [0];
+    while (stack.length > 0) {
+        const poly = stack.pop();
+        const level = levels.pop();
+        const s = poly.length >> 1;
+        if (s < 3)
+            continue;
+        if (level > QUICK_DECOMP_MAX_LEVEL) {
+            out.push(poly);
+            continue;
+        }
+        // Find the first reflex vertex and split there; a poly with none is convex.
+        let handled = false;
+        for (let i = 0; i < s; i++) {
+            if (!isReflexVertex(poly, s, i))
+                continue;
+            const ip = i === 0 ? s - 1 : i - 1;
+            const iN = i + 1 === s ? 0 : i + 1;
+            const iPrevX = poly[ip * 2];
+            const iPrevY = poly[ip * 2 + 1];
+            const iCurX = poly[i * 2];
+            const iCurY = poly[i * 2 + 1];
+            const iNextX = poly[iN * 2];
+            const iNextY = poly[iN * 2 + 1];
+            let lowerDist = Number.MAX_VALUE;
+            let upperDist = Number.MAX_VALUE;
+            let lowerIntX = 0;
+            let lowerIntY = 0;
+            let upperIntX = 0;
+            let upperIntY = 0;
+            let lowerIndex = 0;
+            let upperIndex = 0;
+            for (let j = 0; j < s; j++) {
+                const jx = poly[j * 2];
+                const jy = poly[j * 2 + 1];
+                // Lower: edge (j-1, j) crossing the ray from i-1 through i. Read the
+                // (j-1) neighbour only once the cheaper j-side test has passed.
+                if (triArea(iPrevX, iPrevY, iCurX, iCurY, jx, jy) > 0) {
+                    const jm = j === 0 ? s - 1 : j - 1;
+                    const jmx = poly[jm * 2];
+                    const jmy = poly[jm * 2 + 1];
+                    if (triArea(iPrevX, iPrevY, iCurX, iCurY, jmx, jmy) <= 0) {
+                        lineIntersection(_decompIsect, iPrevX, iPrevY, iCurX, iCurY, jx, jy, jmx, jmy);
+                        const px = _decompIsect[0];
+                        const py = _decompIsect[1];
+                        if (triArea(iNextX, iNextY, iCurX, iCurY, px, py) < 0) {
+                            const d = sqDist(iCurX, iCurY, px, py);
+                            if (d < lowerDist) {
+                                lowerDist = d;
+                                lowerIntX = px;
+                                lowerIntY = py;
+                                lowerIndex = j;
+                            }
+                        }
+                    }
+                }
+                // Upper: edge (j, j+1) crossing the ray from i+1 through i. Read the
+                // (j+1) neighbour only once the cheaper j-side test has passed.
+                if (triArea(iNextX, iNextY, iCurX, iCurY, jx, jy) <= 0) {
+                    const jp = j + 1 === s ? 0 : j + 1;
+                    const jpx = poly[jp * 2];
+                    const jpy = poly[jp * 2 + 1];
+                    if (triArea(iNextX, iNextY, iCurX, iCurY, jpx, jpy) > 0) {
+                        lineIntersection(_decompIsect, iNextX, iNextY, iCurX, iCurY, jx, jy, jpx, jpy);
+                        const px = _decompIsect[0];
+                        const py = _decompIsect[1];
+                        if (triArea(iPrevX, iPrevY, iCurX, iCurY, px, py) > 0) {
+                            const d = sqDist(iCurX, iCurY, px, py);
+                            if (d < upperDist) {
+                                upperDist = d;
+                                upperIntX = px;
+                                upperIntY = py;
+                                upperIndex = j;
+                            }
+                        }
+                    }
+                }
+            }
+            const lowerPoly = [];
+            const upperPoly = [];
+            if (lowerIndex === (upperIndex + 1) % s) {
+                // No vertex to connect to: add a Steiner point between the two intersections.
+                const px = (lowerIntX + upperIntX) / 2;
+                const py = (lowerIntY + upperIntY) / 2;
+                if (i < upperIndex) {
+                    appendRange(lowerPoly, poly, i, upperIndex + 1);
+                    lowerPoly.push(px, py);
+                    upperPoly.push(px, py);
+                    if (lowerIndex !== 0)
+                        appendRange(upperPoly, poly, lowerIndex, s);
+                    appendRange(upperPoly, poly, 0, i + 1);
+                }
+                else {
+                    if (i !== 0)
+                        appendRange(lowerPoly, poly, i, s);
+                    appendRange(lowerPoly, poly, 0, upperIndex + 1);
+                    lowerPoly.push(px, py);
+                    upperPoly.push(px, py);
+                    appendRange(upperPoly, poly, lowerIndex, i + 1);
+                }
+            }
+            else {
+                // Connect to the closest visible vertex within the cone.
+                if (lowerIndex > upperIndex)
+                    upperIndex += s;
+                // Degenerate split: drop this sub-polygon.
+                if (upperIndex < lowerIndex) {
+                    handled = true;
+                    break;
+                }
+                let closestDist = Number.MAX_VALUE;
+                let closestIndex = 0;
+                for (let j = lowerIndex; j <= upperIndex; j++) {
+                    const jj = j >= s ? j - s : j;
+                    const jx = poly[jj * 2];
+                    const jy = poly[jj * 2 + 1];
+                    if (triArea(iPrevX, iPrevY, iCurX, iCurY, jx, jy) >= 0 &&
+                        triArea(iNextX, iNextY, iCurX, iCurY, jx, jy) <= 0) {
+                        const d = sqDist(iCurX, iCurY, jx, jy);
+                        if (d < closestDist && canSeeSegment(poly, i, jj)) {
+                            closestDist = d;
+                            closestIndex = jj;
+                        }
+                    }
+                }
+                if (i < closestIndex) {
+                    appendRange(lowerPoly, poly, i, closestIndex + 1);
+                    if (closestIndex !== 0)
+                        appendRange(upperPoly, poly, closestIndex, s);
+                    appendRange(upperPoly, poly, 0, i + 1);
+                }
+                else {
+                    if (i !== 0)
+                        appendRange(lowerPoly, poly, i, s);
+                    appendRange(lowerPoly, poly, 0, closestIndex + 1);
+                    appendRange(upperPoly, poly, closestIndex, i + 1);
+                }
+            }
+            // Queue both sub-polygons, smaller first: push the larger, then the
+            // smaller, so the smaller is popped and processed next.
+            if (lowerPoly.length < upperPoly.length) {
+                stack.push(upperPoly, lowerPoly);
+            }
+            else {
+                stack.push(lowerPoly, upperPoly);
+            }
+            levels.push(level + 1, level + 1);
+            handled = true;
+            break;
+        }
+        if (!handled)
+            out.push(poly);
+    }
+    return out;
+}
+/** True if vertices `a` and `b` can see each other (visibility test, used by the quality decomposition). */
+function canSeeVisibility(poly, a, b) {
+    const s = poly.length >> 1;
+    const ax = poly[a * 2];
+    const ay = poly[a * 2 + 1];
+    const bx = poly[b * 2];
+    const by = poly[b * 2 + 1];
+    const an = a + 1 === s ? 0 : a + 1;
+    const ap = a === 0 ? s - 1 : a - 1;
+    // Reject `b` if it lies outside the cone at vertex `a`.
+    if (triArea(poly[an * 2], poly[an * 2 + 1], ax, ay, bx, by) >= 0 &&
+        triArea(poly[ap * 2], poly[ap * 2 + 1], ax, ay, bx, by) <= 0) {
+        return false;
+    }
+    const dist = sqDist(ax, ay, bx, by);
+    for (let i = 0; i < s; i++) {
+        const i1 = i + 1 === s ? 0 : i + 1;
+        if (i1 === a || i === a)
+            continue;
+        const e0x = poly[i * 2];
+        const e0y = poly[i * 2 + 1];
+        const e1x = poly[i1 * 2];
+        const e1y = poly[i1 * 2 + 1];
+        if (triArea(ax, ay, bx, by, e1x, e1y) >= 0 && triArea(ax, ay, bx, by, e0x, e0y) <= 0) {
+            lineIntersection(_decompIsect, ax, ay, bx, by, e0x, e0y, e1x, e1y);
+            if (sqDist(ax, ay, _decompIsect[0], _decompIsect[1]) < dist) {
+                return false;
+            }
+        }
+    }
+    return true;
+}
+/** Finds the minimal set of cut edges (as [ax, ay, bx, by]) that convex-partition the polygon. */
+function getCutEdges(poly) {
+    const s = poly.length >> 1;
+    let min = [];
+    let nDiags = Number.MAX_VALUE;
+    for (let i = 0; i < s; i++) {
+        if (!isReflex(poly, i))
+            continue;
+        for (let j = 0; j < s; j++) {
+            if (!canSeeVisibility(poly, i, j))
+                continue;
+            const tmp1 = getCutEdges(polygonCopy(poly, i, j));
+            const tmp2 = getCutEdges(polygonCopy(poly, j, i));
+            for (let k = 0; k < tmp2.length; k++)
+                tmp1.push(tmp2[k]);
+            if (tmp1.length < nDiags) {
+                min = tmp1;
+                nDiags = tmp1.length;
+                min.push([poly[i * 2], poly[i * 2 + 1], poly[j * 2], poly[j * 2 + 1]]);
+            }
+        }
+    }
+    return min;
+}
+/** Index of the vertex in `poly` with the exact coordinates (x, y), or -1. */
+function indexOfVertex(poly, x, y) {
+    const s = poly.length >> 1;
+    for (let k = 0; k < s; k++) {
+        if (poly[k * 2] === x && poly[k * 2 + 1] === y)
+            return k;
+    }
+    return -1;
+}
+/** Splits `poly` along all `cutEdges`, returning the resulting pieces. */
+function sliceByEdges(poly, cutEdges) {
+    if (cutEdges.length === 0)
+        return [poly];
+    const polys = [poly];
+    for (let e = 0; e < cutEdges.length; e++) {
+        const edge = cutEdges[e];
+        for (let p = 0; p < polys.length; p++) {
+            const sub = polys[p];
+            const i = indexOfVertex(sub, edge[0], edge[1]);
+            const j = indexOfVertex(sub, edge[2], edge[3]);
+            if (i !== -1 && j !== -1) {
+                polys.splice(p, 1);
+                polys.push(polygonCopy(sub, i, j), polygonCopy(sub, j, i));
+                break;
+            }
+        }
+    }
+    return polys;
+}
+/**
+ * Decomposes a simple polygon into the (near-)minimum number of convex
+ * sub-polygons. Produces fewer pieces than {@link decomposePolygon2Quick} but
+ * is much slower (~O(n⁴)) — use only for small polygons. Input winding is
+ * normalised internally, so either winding is accepted.
+ *
+ * @param vertices polygon vertices as a flat array `[x0, y0, x1, y1, ...]`
+ * @param n number of vertices to read from `vertices`
+ * @returns an array of convex sub-polygons, each a flat `[x0, y0, ...]` array (CCW)
+ */
+function decomposePolygon2Quality(vertices, n) {
+    if (n < 3)
+        return [];
+    const poly = toCCW([], vertices, n);
+    const edges = getCutEdges(poly);
+    if (edges.length > 0)
+        return sliceByEdges(poly, edges);
+    return [poly];
+}
+
+export { decomposePolygon2Quality, decomposePolygon2Quick };
+//# sourceMappingURL=polygon2-decompose.js.map

package/dist/geometry/polygon2-decompose.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"polygon2-decompose.js","sources":["../../src/geometry/polygon2-decompose.ts"],"sourcesContent":["import { isReflexVertex, reverse, signedArea } from '../shapes/polygon2';\n\n/*\n * Convex decomposition\n *\n * Splits a simple (non-self-intersecting) polygon into convex sub-polygons.\n * Polygons use the flat `[x0, y0, x1, y1, ...]` representation from math/shapes\n * (polygon2), with an explicit vertex count `n`.\n *\n * Ported to the flat representation from poly-decomp-es\n * (https://github.com/pmndrs/poly-decomp-es), MIT licensed, which itself is\n * based on Mark Bayazit's algorithm. Each returned sub-polygon is a fresh flat\n * `[x0, y0, ...]` array, wound counter-clockwise.\n */\n\nconst _decompIsect: [number, number] = [0, 0];\n\n/**\n * Twice the signed area of the triangle (a, b, c); positive when\n * counter-clockwise. This is the inlined, coordinate-form counterpart of\n * `triangle2.signedArea` — kept local (and undivided) to avoid Vec2 allocations\n * in the hot decomposition loops, where only the sign and relative magnitude\n * matter.\n */\nfunction triArea(ax: number, ay: number, bx: number, by: number, cx: number, cy: number): number {\n    return (bx - ax) * (cy - ay) - (cx - ax) * (by - ay);\n}\n\n/** True if vertex `i` is reflex; delegates to the shared polygon2 primitive. */\nfunction isReflex(poly: number[], i: number): boolean {\n    return isReflexVertex(poly, poly.length >> 1, i);\n}\n\nfunction sqDist(ax: number, ay: number, bx: number, by: number): number {\n    const dx = bx - ax;\n    const dy = by - ay;\n    return dx * dx + dy * dy;\n}\n\n/** Intersection point of the two infinite lines (p1,p2) and (q1,q2); writes [0,0] if parallel. */\nfunction lineIntersection(\n    out: [number, number],\n    p1x: number,\n    p1y: number,\n    p2x: number,\n    p2y: number,\n    q1x: number,\n    q1y: number,\n    q2x: number,\n    q2y: number,\n): [number, number] {\n    const a1 = p2y - p1y;\n    const b1 = p1x - p2x;\n    const c1 = a1 * p1x + b1 * p1y;\n    const a2 = q2y - q1y;\n    const b2 = q1x - q2x;\n    const c2 = a2 * q1x + b2 * q1y;\n    const det = a1 * b2 - a2 * b1;\n    if (det !== 0) {\n        out[0] = (b2 * c1 - b1 * c2) / det;\n        out[1] = (a1 * c2 - a2 * c1) / det;\n    } else {\n        out[0] = 0;\n        out[1] = 0;\n    }\n    return out;\n}\n\n/**\n * True if the closed segments (p1,p2) and (q1,q2) intersect. Inlined,\n * coordinate-form counterpart of `segment2.intersects`, kept local to avoid\n * Vec2 allocations in the visibility loops. Division-free: instead of computing\n * the parameters `u = numU/denom` and `v = numV/denom`, it normalises the sign\n * of `denom` and range-checks the numerators, which avoids two divisions per\n * call in the hot visibility loop.\n */\nfunction segmentsIntersect(\n    p1x: number,\n    p1y: number,\n    p2x: number,\n    p2y: number,\n    q1x: number,\n    q1y: number,\n    q2x: number,\n    q2y: number,\n): boolean {\n    const rx = p2x - p1x;\n    const ry = p2y - p1y;\n    const ex = q2x - q1x;\n    const ey = q2y - q1y;\n\n    let denom = rx * ey - ry * ex;\n    if (denom === 0) return false; // parallel or collinear\n\n    const wx = q1x - p1x;\n    const wy = q1y - p1y;\n    let numU = wx * ey - wy * ex; // u = numU / denom\n    let numV = wx * ry - wy * rx; // v = numV / denom\n\n    // Make denom positive so the [0,1] range test is a plain comparison.\n    if (denom < 0) {\n        denom = -denom;\n        numU = -numU;\n        numV = -numV;\n    }\n\n    return numU >= 0 && numU <= denom && numV >= 0 && numV <= denom;\n}\n\n/** Appends vertices `from..to-1` of `src` onto `dst` (both flat arrays). */\nfunction appendRange(dst: number[], src: number[], from: number, to: number): void {\n    for (let k = from; k < to; k++) {\n        dst.push(src[k * 2], src[k * 2 + 1]);\n    }\n}\n\n/** Copies vertices `i..j` (cyclic) of `poly` into a new flat polygon. */\nfunction polygonCopy(poly: number[], i: number, j: number): number[] {\n    const s = poly.length >> 1;\n    const out: number[] = [];\n    if (i < j) {\n        for (let k = i; k <= j; k++) out.push(poly[k * 2], poly[k * 2 + 1]);\n    } else {\n        for (let k = 0; k <= j; k++) out.push(poly[k * 2], poly[k * 2 + 1]);\n        for (let k = i; k < s; k++) out.push(poly[k * 2], poly[k * 2 + 1]);\n    }\n    return out;\n}\n\n/** Writes a CCW copy of the first `n` vertices of `vertices` into `out`, reversing if needed. */\nfunction toCCW(out: number[], vertices: number[], n: number): number[] {\n    for (let k = 0; k < n * 2; k++) out[k] = vertices[k];\n    if (signedArea(out, n) < 0) reverse(out, out, n);\n    return out;\n}\n\nconst QUICK_DECOMP_MAX_LEVEL = 100;\n\n/** True if vertices `a` and `b` can see each other without any edge blocking (segment test). */\nfunction canSeeSegment(poly: number[], a: number, b: number): boolean {\n    const s = poly.length >> 1;\n    const ax = poly[a * 2];\n    const ay = poly[a * 2 + 1];\n    const bx = poly[b * 2];\n    const by = poly[b * 2 + 1];\n\n    for (let i = 0; i < s; i++) {\n        const i1 = i + 1 === s ? 0 : i + 1;\n        if (i === a || i === b || i1 === a || i1 === b) continue;\n        if (segmentsIntersect(ax, ay, bx, by, poly[i * 2], poly[i * 2 + 1], poly[i1 * 2], poly[i1 * 2 + 1])) {\n            return false;\n        }\n    }\n    return true;\n}\n\n/**\n * Decomposes a simple polygon into convex sub-polygons using Bayazit's fast\n * approximate algorithm. Fast (~O(n²)) but may use more pieces than the\n * minimum; may introduce new (Steiner) vertices. Input winding is normalised\n * internally, so either winding is accepted.\n *\n * Implemented iteratively with an explicit worklist of sub-polygons rather than\n * recursion.\n *\n * @param vertices polygon vertices as a flat array `[x0, y0, x1, y1, ...]`\n * @param n number of vertices to read from `vertices`\n * @returns an array of convex sub-polygons, each a flat `[x0, y0, ...]` array (CCW)\n */\nexport function decomposePolygon2Quick(vertices: number[], n: number): number[][] {\n    if (n < 3) return [];\n\n    const out: number[][] = [];\n    // Sub-polygons still to decompose, each paired with its depth in `levels`\n    // (a runaway guard for pathological input). Both stacks stay in lockstep.\n    const stack: number[][] = [toCCW([], vertices, n)];\n    const levels: number[] = [0];\n\n    while (stack.length > 0) {\n        const poly = stack.pop() as number[];\n        const level = levels.pop() as number;\n        const s = poly.length >> 1;\n\n        if (s < 3) continue;\n        if (level > QUICK_DECOMP_MAX_LEVEL) {\n            out.push(poly);\n            continue;\n        }\n\n        // Find the first reflex vertex and split there; a poly with none is convex.\n        let handled = false;\n        for (let i = 0; i < s; i++) {\n            if (!isReflexVertex(poly, s, i)) continue;\n\n            const ip = i === 0 ? s - 1 : i - 1;\n            const iN = i + 1 === s ? 0 : i + 1;\n            const iPrevX = poly[ip * 2];\n            const iPrevY = poly[ip * 2 + 1];\n            const iCurX = poly[i * 2];\n            const iCurY = poly[i * 2 + 1];\n            const iNextX = poly[iN * 2];\n            const iNextY = poly[iN * 2 + 1];\n\n            let lowerDist = Number.MAX_VALUE;\n            let upperDist = Number.MAX_VALUE;\n            let lowerIntX = 0;\n            let lowerIntY = 0;\n            let upperIntX = 0;\n            let upperIntY = 0;\n            let lowerIndex = 0;\n            let upperIndex = 0;\n\n            for (let j = 0; j < s; j++) {\n                const jx = poly[j * 2];\n                const jy = poly[j * 2 + 1];\n\n                // Lower: edge (j-1, j) crossing the ray from i-1 through i. Read the\n                // (j-1) neighbour only once the cheaper j-side test has passed.\n                if (triArea(iPrevX, iPrevY, iCurX, iCurY, jx, jy) > 0) {\n                    const jm = j === 0 ? s - 1 : j - 1;\n                    const jmx = poly[jm * 2];\n                    const jmy = poly[jm * 2 + 1];\n                    if (triArea(iPrevX, iPrevY, iCurX, iCurY, jmx, jmy) <= 0) {\n                        lineIntersection(_decompIsect, iPrevX, iPrevY, iCurX, iCurY, jx, jy, jmx, jmy);\n                        const px = _decompIsect[0];\n                        const py = _decompIsect[1];\n                        if (triArea(iNextX, iNextY, iCurX, iCurY, px, py) < 0) {\n                            const d = sqDist(iCurX, iCurY, px, py);\n                            if (d < lowerDist) {\n                                lowerDist = d;\n                                lowerIntX = px;\n                                lowerIntY = py;\n                                lowerIndex = j;\n                            }\n                        }\n                    }\n                }\n\n                // Upper: edge (j, j+1) crossing the ray from i+1 through i. Read the\n                // (j+1) neighbour only once the cheaper j-side test has passed.\n                if (triArea(iNextX, iNextY, iCurX, iCurY, jx, jy) <= 0) {\n                    const jp = j + 1 === s ? 0 : j + 1;\n                    const jpx = poly[jp * 2];\n                    const jpy = poly[jp * 2 + 1];\n                    if (triArea(iNextX, iNextY, iCurX, iCurY, jpx, jpy) > 0) {\n                        lineIntersection(_decompIsect, iNextX, iNextY, iCurX, iCurY, jx, jy, jpx, jpy);\n                        const px = _decompIsect[0];\n                        const py = _decompIsect[1];\n                        if (triArea(iPrevX, iPrevY, iCurX, iCurY, px, py) > 0) {\n                            const d = sqDist(iCurX, iCurY, px, py);\n                            if (d < upperDist) {\n                                upperDist = d;\n                                upperIntX = px;\n                                upperIntY = py;\n                                upperIndex = j;\n                            }\n                        }\n                    }\n                }\n            }\n\n            const lowerPoly: number[] = [];\n            const upperPoly: number[] = [];\n\n            if (lowerIndex === (upperIndex + 1) % s) {\n                // No vertex to connect to: add a Steiner point between the two intersections.\n                const px = (lowerIntX + upperIntX) / 2;\n                const py = (lowerIntY + upperIntY) / 2;\n\n                if (i < upperIndex) {\n                    appendRange(lowerPoly, poly, i, upperIndex + 1);\n                    lowerPoly.push(px, py);\n                    upperPoly.push(px, py);\n                    if (lowerIndex !== 0) appendRange(upperPoly, poly, lowerIndex, s);\n                    appendRange(upperPoly, poly, 0, i + 1);\n                } else {\n                    if (i !== 0) appendRange(lowerPoly, poly, i, s);\n                    appendRange(lowerPoly, poly, 0, upperIndex + 1);\n                    lowerPoly.push(px, py);\n                    upperPoly.push(px, py);\n                    appendRange(upperPoly, poly, lowerIndex, i + 1);\n                }\n            } else {\n                // Connect to the closest visible vertex within the cone.\n                if (lowerIndex > upperIndex) upperIndex += s;\n\n                // Degenerate split: drop this sub-polygon.\n                if (upperIndex < lowerIndex) {\n                    handled = true;\n                    break;\n                }\n\n                let closestDist = Number.MAX_VALUE;\n                let closestIndex = 0;\n                for (let j = lowerIndex; j <= upperIndex; j++) {\n                    const jj = j >= s ? j - s : j;\n                    const jx = poly[jj * 2];\n                    const jy = poly[jj * 2 + 1];\n                    if (\n                        triArea(iPrevX, iPrevY, iCurX, iCurY, jx, jy) >= 0 &&\n                        triArea(iNextX, iNextY, iCurX, iCurY, jx, jy) <= 0\n                    ) {\n                        const d = sqDist(iCurX, iCurY, jx, jy);\n                        if (d < closestDist && canSeeSegment(poly, i, jj)) {\n                            closestDist = d;\n                            closestIndex = jj;\n                        }\n                    }\n                }\n\n                if (i < closestIndex) {\n                    appendRange(lowerPoly, poly, i, closestIndex + 1);\n                    if (closestIndex !== 0) appendRange(upperPoly, poly, closestIndex, s);\n                    appendRange(upperPoly, poly, 0, i + 1);\n                } else {\n                    if (i !== 0) appendRange(lowerPoly, poly, i, s);\n                    appendRange(lowerPoly, poly, 0, closestIndex + 1);\n                    appendRange(upperPoly, poly, closestIndex, i + 1);\n                }\n            }\n\n            // Queue both sub-polygons, smaller first: push the larger, then the\n            // smaller, so the smaller is popped and processed next.\n            if (lowerPoly.length < upperPoly.length) {\n                stack.push(upperPoly, lowerPoly);\n            } else {\n                stack.push(lowerPoly, upperPoly);\n            }\n            levels.push(level + 1, level + 1);\n            handled = true;\n            break;\n        }\n\n        if (!handled) out.push(poly);\n    }\n\n    return out;\n}\n\n/** True if vertices `a` and `b` can see each other (visibility test, used by the quality decomposition). */\nfunction canSeeVisibility(poly: number[], a: number, b: number): boolean {\n    const s = poly.length >> 1;\n    const ax = poly[a * 2];\n    const ay = poly[a * 2 + 1];\n    const bx = poly[b * 2];\n    const by = poly[b * 2 + 1];\n\n    const an = a + 1 === s ? 0 : a + 1;\n    const ap = a === 0 ? s - 1 : a - 1;\n    // Reject `b` if it lies outside the cone at vertex `a`.\n    if (\n        triArea(poly[an * 2], poly[an * 2 + 1], ax, ay, bx, by) >= 0 &&\n        triArea(poly[ap * 2], poly[ap * 2 + 1], ax, ay, bx, by) <= 0\n    ) {\n        return false;\n    }\n\n    const dist = sqDist(ax, ay, bx, by);\n    for (let i = 0; i < s; i++) {\n        const i1 = i + 1 === s ? 0 : i + 1;\n        if (i1 === a || i === a) continue;\n\n        const e0x = poly[i * 2];\n        const e0y = poly[i * 2 + 1];\n        const e1x = poly[i1 * 2];\n        const e1y = poly[i1 * 2 + 1];\n\n        if (triArea(ax, ay, bx, by, e1x, e1y) >= 0 && triArea(ax, ay, bx, by, e0x, e0y) <= 0) {\n            lineIntersection(_decompIsect, ax, ay, bx, by, e0x, e0y, e1x, e1y);\n            if (sqDist(ax, ay, _decompIsect[0], _decompIsect[1]) < dist) {\n                return false;\n            }\n        }\n    }\n\n    return true;\n}\n\n/** Finds the minimal set of cut edges (as [ax, ay, bx, by]) that convex-partition the polygon. */\nfunction getCutEdges(poly: number[]): number[][] {\n    const s = poly.length >> 1;\n    let min: number[][] = [];\n    let nDiags = Number.MAX_VALUE;\n\n    for (let i = 0; i < s; i++) {\n        if (!isReflex(poly, i)) continue;\n        for (let j = 0; j < s; j++) {\n            if (!canSeeVisibility(poly, i, j)) continue;\n\n            const tmp1 = getCutEdges(polygonCopy(poly, i, j));\n            const tmp2 = getCutEdges(polygonCopy(poly, j, i));\n            for (let k = 0; k < tmp2.length; k++) tmp1.push(tmp2[k]);\n\n            if (tmp1.length < nDiags) {\n                min = tmp1;\n                nDiags = tmp1.length;\n                min.push([poly[i * 2], poly[i * 2 + 1], poly[j * 2], poly[j * 2 + 1]]);\n            }\n        }\n    }\n\n    return min;\n}\n\n/** Index of the vertex in `poly` with the exact coordinates (x, y), or -1. */\nfunction indexOfVertex(poly: number[], x: number, y: number): number {\n    const s = poly.length >> 1;\n    for (let k = 0; k < s; k++) {\n        if (poly[k * 2] === x && poly[k * 2 + 1] === y) return k;\n    }\n    return -1;\n}\n\n/** Splits `poly` along all `cutEdges`, returning the resulting pieces. */\nfunction sliceByEdges(poly: number[], cutEdges: number[][]): number[][] {\n    if (cutEdges.length === 0) return [poly];\n\n    const polys: number[][] = [poly];\n    for (let e = 0; e < cutEdges.length; e++) {\n        const edge = cutEdges[e];\n        for (let p = 0; p < polys.length; p++) {\n            const sub = polys[p];\n            const i = indexOfVertex(sub, edge[0], edge[1]);\n            const j = indexOfVertex(sub, edge[2], edge[3]);\n            if (i !== -1 && j !== -1) {\n                polys.splice(p, 1);\n                polys.push(polygonCopy(sub, i, j), polygonCopy(sub, j, i));\n                break;\n            }\n        }\n    }\n\n    return polys;\n}\n\n/**\n * Decomposes a simple polygon into the (near-)minimum number of convex\n * sub-polygons. Produces fewer pieces than {@link decomposePolygon2Quick} but\n * is much slower (~O(n⁴)) — use only for small polygons. Input winding is\n * normalised internally, so either winding is accepted.\n *\n * @param vertices polygon vertices as a flat array `[x0, y0, x1, y1, ...]`\n * @param n number of vertices to read from `vertices`\n * @returns an array of convex sub-polygons, each a flat `[x0, y0, ...]` array (CCW)\n */\nexport function decomposePolygon2Quality(vertices: number[], n: number): number[][] {\n    if (n < 3) return [];\n    const poly = toCCW([], vertices, n);\n    const edges = getCutEdges(poly);\n    if (edges.length > 0) return sliceByEdges(poly, edges);\n    return 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