math 0.0.3 → 0.1.0

package/dist/ik/fabrik3.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"fabrik3.js","sources":["../../src/ik/fabrik3.ts"],"sourcesContent":["import { type Mat3, mat3, type Quat, quat, type Vec3, vec3 } from '../core';\n\n// FABRIK (Forward And Backward Reaching Inverse Kinematics) for 3D chains.\n//\n// Two passes, each preserving every bone length exactly: `forward` drags the chain onto the target\n// from the effector back, `backward` pushes it out from a pinned base. Both are exported, because\n// `forward` alone with no base pin is a follower - a rope or tentacle whose head leads and whose\n// body trails - and that wants one pass per frame rather than a converged solve.\n//\n// The constraint model follows Caliko, the reference implementation accompanying Aristidou &\n// Lasenby (2011), \"FABRIK: A fast, iterative solver for the Inverse Kinematics problem\".\n\n/**\n * How a joint may rotate relative to the bone before it.\n *\n * A {@link JointType.BALL} joint with a `rotor` of PI is unconstrained, which is the default, so\n * there is no separate \"no constraint\" type.\n */\nexport enum JointType {\n    /** Rotates freely within a cone of `rotor` radians about the previous bone's direction. */\n    BALL = 0,\n    /** Rotates only in the plane perpendicular to `rotationAxis`, which is in world space. */\n    GLOBAL_HINGE = 1,\n    /**\n     * Rotates only in the plane perpendicular to `rotationAxis`, which is fixed in the previous\n     * bone's frame.\n     *\n     * That frame comes from {@link mat3.fromDirection}, so local **+Z** is the previous bone's own\n     * direction and local +X and +Y are perpendicular to it. (`fabrik2` uses +Y for the same idea,\n     * so a rig ported from 2D needs its axes rotated.) The frame's roll about the bone is arbitrary\n     * and flips near world -Z, so a hinge whose parent swings through there will pop - hinge about a\n     * `GLOBAL_HINGE` axis you rebuild from your own frame if the parent turns freely.\n     */\n    LOCAL_HINGE = 2,\n}\n\n/**\n * How the first bone in a chain is constrained.\n *\n * The first bone has no bone before it to be constrained against, so it is constrained against a\n * direction held on the chain instead. `GLOBAL_` types read that direction as world space, while\n * `LOCAL_` types read it relative to the bone this chain is connected to, and so only mean\n * anything for a chain in a {@link Structure3}, where {@link solveStructure} resolves them.\n *\n * A `LOCAL_` direction is read in the host bone's frame from {@link mat3.fromDirection}, where\n * **+Z** is the host bone's own direction. (`fabrik2`'s equivalent uses +Y.) That frame's roll is\n * arbitrary and flips near world -Z, so a host bone that swings through there makes the constraint\n * pop.\n */\nexport enum BaseboneConstraintType {\n    /** The first bone may point anywhere. */\n    NONE = 0,\n    /** Confined to a cone of `baseboneRotor` radians about a world-space direction. */\n    GLOBAL_ROTOR = 1,\n    /** Confined to a cone of `baseboneRotor` radians about a direction relative to the host bone. */\n    LOCAL_ROTOR = 2,\n    /** Confined to the plane perpendicular to a world-space hinge axis. */\n    GLOBAL_HINGE = 3,\n    /** Confined to the plane perpendicular to a hinge axis relative to the host bone. */\n    LOCAL_HINGE = 4,\n}\n\n/** Which end of a host bone a connected chain hangs off. */\nexport enum BoneConnectionPoint {\n    /** The host bone's start - the joint it shares with the bone before it. */\n    START = 0,\n    /** The host bone's end. */\n    END = 1,\n}\n\n/**\n * A joint's rotational limits.\n *\n * Which fields apply depends on `type`: `rotor` for {@link JointType.BALL}, and `rotationAxis`,\n * `referenceAxis`, `clockwise` and `anticlockwise` for the two hinge types. All angles are in\n * radians, and a limit of PI means unconstrained.\n */\nexport type Joint3 = {\n    /** Which of the fields below apply. */\n    type: JointType;\n    /** Ball: the half-angle of the cone about the previous bone's direction, in [0, PI]. */\n    rotor: number;\n    /** Hinge: how far the bone may swing clockwise of `referenceAxis`, in [0, PI]. */\n    clockwise: number;\n    /** Hinge: how far the bone may swing anticlockwise of `referenceAxis`, in [0, PI]. */\n    anticlockwise: number;\n    /** Hinge: the axis the bone rotates about. Unit length. */\n    rotationAxis: Vec3;\n    /** Hinge: the zero direction the clockwise and anticlockwise limits are measured from. Unit length, perpendicular to `rotationAxis`. */\n    referenceAxis: Vec3;\n};\n\n/** A single bone: two points, the fixed distance between them, and how it may rotate. */\nexport type Bone3 = {\n    /** The joint shared with the previous bone; on the first bone, the base. */\n    start: Vec3;\n    /** The joint shared with the next bone; on the last bone, the end effector. */\n    end: Vec3;\n    /** The rest distance between `start` and `end`, preserved by every solve. */\n    length: number;\n    /** How far this bone may rotate away from the bone before it. */\n    joint: Joint3;\n};\n\n/**\n * A chain of bones, from the base (index 0) to the end effector (the last bone's `end`).\n *\n * Allocate one with {@link createChain3}, fill it with {@link addBone} or\n * {@link addConsecutiveBone}, then solve it every frame.\n *\n * `bones[0].joint` is unused - the first bone is governed by the chain's basebone fields instead,\n * so a joint's fields never change meaning with its index.\n */\nexport type Chain3 = {\n    /**\n     * The bones, base first and end effector last.\n     *\n     * Neighbours share a point - bone `i`'s end is bone `i + 1`'s start - and the solver keeps it\n     * that way, so moving one moves the other.\n     */\n    bones: Bone3[];\n    /** The sum of every bone length - the chain's reach. Maintained by {@link addBone}. */\n    length: number;\n    /** Where the base of the chain is pinned when `fixedBase` is set. */\n    base: Vec3;\n    /** Whether `backward` pins the base to `base`. Clear it to let the whole chain drift. Forced on for a chain connected in a structure. */\n    fixedBase: boolean;\n    /** How the first bone is held; see {@link BaseboneConstraintType}. */\n    baseboneConstraintType: BaseboneConstraintType;\n    /** The cone axis or hinge axis, in the space named by `baseboneConstraintType`. Unit length. */\n    baseboneAxis: Vec3;\n    /** The hinge reference axis, in the space named by `baseboneConstraintType`. Unit length. */\n    baseboneReferenceAxis: Vec3;\n    /** `baseboneAxis` in world space. Equal to it for `GLOBAL_` types; resolved by {@link solveStructure} for `LOCAL_` ones. */\n    baseboneWorldAxis: Vec3;\n    /** `baseboneReferenceAxis` in world space. */\n    baseboneWorldReferenceAxis: Vec3;\n    /** The half-angle of the basebone cone, in [0, PI]. */\n    baseboneRotor: number;\n    /** The basebone hinge's clockwise limit, in [0, PI]. */\n    baseboneClockwise: number;\n    /** The basebone hinge's anticlockwise limit, in [0, PI]. */\n    baseboneAnticlockwise: number;\n    /** The target this chain solves for inside a {@link Structure3} when `useEmbeddedTarget` is set. */\n    embeddedTarget: Vec3;\n    /**\n     * Whether this chain solves for its own `embeddedTarget` instead of the target passed to\n     * {@link solveStructure}. Ignored outside a {@link Structure3}.\n     */\n    useEmbeddedTarget: boolean;\n    /** The most iterations {@link solve} will run. */\n    maxIterations: number;\n    /** {@link solve} stops as soon as the effector is this close to the target. */\n    solveDistanceThreshold: number;\n    /**\n     * How still an iteration must be before {@link solve} treats the chain as stuck.\n     *\n     * Only consulted on an iteration that fails to beat the best distance so far, and compared\n     * against the previous iteration rather than the best - so a solve that is slowly getting worse\n     * runs its full budget. That is deliberate: FABRIK often worsens before it improves, and every\n     * stricter rule tried here bought fewer iterations at a disproportionate cost in final pose.\n     */\n    minIterationChange: number;\n    /** The distance from the effector to the target after the last {@link solve}. */\n    solveDistance: number;\n    /** Scratch holding the best pose {@link solve} has seen, six numbers per bone. Grown by {@link addBone}. */\n    bestSolution: number[];\n};\n\n/** A chain's attachment to a bone in another chain of the same structure. */\nexport type Connection = {\n    /** The index of the host chain in `structure.chains`, or -1 for a chain that hangs off nothing. */\n    hostChain: number;\n    /** The index of the host bone within that chain. */\n    hostBone: number;\n    /** Which end of the host bone this chain's base is pinned to. */\n    point: BoneConnectionPoint;\n};\n\n/** A set of chains, each optionally hanging off a bone of another. */\nexport type Structure3 = {\n    /** Solved in insertion order, so a connected chain always sees its host already posed. */\n    chains: Chain3[];\n    /** Parallel to `chains`. */\n    connections: Connection[];\n};\n\n// the most iterations a solve runs before giving up on reaching the target\nconst DEFAULT_MAX_ITERATIONS = 20;\n\n// how close the effector must get before a solve stops early. in world units, so scale it with the\n// scene - the default suits a chain a few units long\nconst DEFAULT_SOLVE_DISTANCE_THRESHOLD = 0.01;\n\n// how little an iteration may improve the solve distance before it counts as stalled. a constrained\n// chain can reach a pose no further iteration improves on while still short of the threshold, and\n// without this it would burn every remaining iteration going nowhere. two orders of magnitude below\n// the distance threshold, so a solve still closing in on the target is never mistaken for a stalled\n// one\nconst DEFAULT_MIN_ITERATION_CHANGE = 1e-4;\n\n// below this squared length a vector carries no usable direction - 1e-12 in length terms, well above\n// a normalize's noise floor and well below anything meaningful. every test against it also checks\n// for NaN, so a value poisoned upstream takes the same fallback instead of spreading down the chain\nconst DEGENERATE_SQUARED_LENGTH = 1e-24;\n\n/**\n * Normalizes `axis` into `out`, leaving `out` untouched if `axis` has no direction to give.\n *\n * A zero axis cannot be normalized, and storing one turns every constraint that reads it into NaN.\n * `out` always starts as a valid unit vector, so keeping it is the safe fallback.\n */\nfunction setUnitAxis(out: Vec3, axis: Vec3): Vec3 {\n    if (!hasDirection(vec3.squaredLength(axis))) return out;\n    return vec3.normalize(out, axis);\n}\n\n/**\n * Whether a squared length is a usable magnitude: a real number, and not effectively zero.\n *\n * NaN counts as unusable. A value poisoned upstream then takes the same fallback as a zero-length\n * one, instead of spreading down the chain and leaving it stuck.\n */\nfunction hasDirection(squaredLength: number): boolean {\n    if (Number.isNaN(squaredLength)) return false;\n    return squaredLength >= DEGENERATE_SQUARED_LENGTH;\n}\n\n/** Creates an unconstrained joint. */\nexport function createJoint3(): Joint3 {\n    return {\n        type: JointType.BALL,\n        rotor: Math.PI,\n        clockwise: Math.PI,\n        anticlockwise: Math.PI,\n        rotationAxis: [0, 0, 1],\n        referenceAxis: [1, 0, 0],\n    };\n}\n\n/** Creates an empty chain with a fixed base at the origin and no basebone constraint. */\nexport function createChain3(): Chain3 {\n    return {\n        bones: [],\n        length: 0,\n        base: [0, 0, 0],\n        fixedBase: true,\n        baseboneConstraintType: BaseboneConstraintType.NONE,\n        baseboneAxis: [0, 1, 0],\n        baseboneReferenceAxis: [1, 0, 0],\n        baseboneWorldAxis: [0, 1, 0],\n        baseboneWorldReferenceAxis: [1, 0, 0],\n        baseboneRotor: Math.PI,\n        baseboneClockwise: Math.PI,\n        baseboneAnticlockwise: Math.PI,\n        embeddedTarget: [0, 0, 0],\n        useEmbeddedTarget: false,\n        maxIterations: DEFAULT_MAX_ITERATIONS,\n        solveDistanceThreshold: DEFAULT_SOLVE_DISTANCE_THRESHOLD,\n        minIterationChange: DEFAULT_MIN_ITERATION_CHANGE,\n        solveDistance: Number.POSITIVE_INFINITY,\n        bestSolution: [],\n    };\n}\n\n/**\n * Appends a bone spanning `start` to `end`, copying both.\n *\n * The bone's length is taken from the distance between them. When this is the first bone the\n * chain's base is moved to `start`.\n *\n * @param chain the chain to append to\n * @param start the bone's start point\n * @param end the bone's end point\n * @param joint the bone's joint, or a fresh unconstrained one if omitted\n * @returns the appended bone\n */\nexport function addBone(chain: Chain3, start: Vec3, end: Vec3, joint: Joint3 = createJoint3()): Bone3 {\n    const bone: Bone3 = {\n        start: [start[0], start[1], start[2]],\n        end: [end[0], end[1], end[2]],\n        length: vec3.distance(start, end),\n        joint,\n    };\n\n    if (chain.bones.length === 0) {\n        chain.base[0] = start[0];\n        chain.base[1] = start[1];\n        chain.base[2] = start[2];\n    }\n\n    chain.bones.push(bone);\n    chain.length += bone.length;\n\n    // six numbers of best-pose scratch per bone, so `solve` never allocates\n    chain.bestSolution.push(0, 0, 0, 0, 0, 0);\n\n    return bone;\n}\n\n/**\n * Appends a bone starting where the chain currently ends, running `length` along `direction`.\n *\n * @param chain the chain to append to, which must already have at least one bone\n * @param direction the direction to extend in, assumed to be unit length\n * @param length the length of the new bone\n * @param joint the bone's joint, or a fresh unconstrained one if omitted\n * @returns the appended bone\n */\nexport function addConsecutiveBone(chain: Chain3, direction: Vec3, length: number, joint: Joint3 = createJoint3()): Bone3 {\n    const previous = chain.bones[chain.bones.length - 1];\n\n    _addConsecutive_end[0] = previous.end[0] + direction[0] * length;\n    _addConsecutive_end[1] = previous.end[1] + direction[1] * length;\n    _addConsecutive_end[2] = previous.end[2] + direction[2] * length;\n\n    return addBone(chain, previous.end, _addConsecutive_end, joint);\n}\n\nconst _addConsecutive_end: Vec3 = [0, 0, 0];\n\n/**\n * Prepends a bone at the base end, extending the chain backward.\n *\n * This is what a follower grows with: driven by {@link forward} alone the base end is the tail.\n *\n * `joint` becomes the joint of the bone that was previously first, because that is the junction the\n * new bone creates. The new first bone's own joint is unused, as always.\n *\n * @param chain the chain to prepend to, which must already have at least one bone\n * @param direction the direction the new bone points, from its own start toward the existing chain. Assumed to be unit length\n * @param length the length of the new bone\n * @param joint the joint for the junction this creates, or a fresh unconstrained one if omitted\n * @returns the prepended bone\n */\nexport function addBoneAtBase(chain: Chain3, direction: Vec3, length: number, joint: Joint3 = createJoint3()): Bone3 {\n    const first = chain.bones[0];\n\n    // the bone that was first now sits at index 1, so it is the one whose joint governs the new\n    // junction. its old joint was the unused basebone slot\n    first.joint = joint;\n\n    const bone: Bone3 = {\n        start: [\n            first.start[0] - direction[0] * length,\n            first.start[1] - direction[1] * length,\n            first.start[2] - direction[2] * length,\n        ],\n        end: [first.start[0], first.start[1], first.start[2]],\n        length,\n        joint: createJoint3(),\n    };\n\n    chain.bones.unshift(bone);\n    chain.length += length;\n\n    chain.base[0] = bone.start[0];\n    chain.base[1] = bone.start[1];\n    chain.base[2] = bone.start[2];\n\n    chain.bestSolution.push(0, 0, 0, 0, 0, 0);\n\n    return bone;\n}\n\n/**\n * Sets a ball-joint constraint: the bone may rotate within a cone of `rotor` radians about the\n * direction of the bone before it.\n *\n * @param joint the joint to configure\n * @param rotor the half-angle of the cone in radians, clamped to [0, PI]\n * @returns the joint\n */\nexport function setBallJoint(joint: Joint3, rotor: number): Joint3 {\n    joint.type = JointType.BALL;\n    joint.rotor = clampAngle(rotor);\n    return joint;\n}\n\n/**\n * Sets a hinge constraint: the bone may only rotate in the plane perpendicular to `rotationAxis`,\n * and within `clockwise` / `anticlockwise` radians of `referenceAxis` in that plane.\n *\n * `referenceAxis` is projected onto the hinge plane and normalized, so it need only be roughly\n * perpendicular. Pass PI for both limits for a hinge that spins freely.\n *\n * @param joint the joint to configure\n * @param type either {@link JointType.GLOBAL_HINGE} (axes in world space) or {@link JointType.LOCAL_HINGE} (axes relative to the previous bone)\n * @param rotationAxis the hinge axis, assumed to be unit length\n * @param clockwise the clockwise limit in radians, clamped to [0, PI]\n * @param anticlockwise the anticlockwise limit in radians, clamped to [0, PI]\n * @param referenceAxis the zero direction the limits are measured from\n * @returns the joint\n */\nexport function setHingeJoint(\n    joint: Joint3,\n    type: JointType.GLOBAL_HINGE | JointType.LOCAL_HINGE,\n    rotationAxis: Vec3,\n    clockwise: number,\n    anticlockwise: number,\n    referenceAxis: Vec3,\n): Joint3 {\n    joint.type = type;\n    joint.clockwise = clampAngle(clockwise);\n    joint.anticlockwise = clampAngle(anticlockwise);\n\n    setUnitAxis(joint.rotationAxis, rotationAxis);\n    orthonormalize(joint.referenceAxis, referenceAxis, joint.rotationAxis);\n\n    return joint;\n}\n\n/**\n * Confines the first bone to a cone of `rotor` radians about `axis`.\n *\n * @param chain the chain to configure\n * @param type either {@link BaseboneConstraintType.GLOBAL_ROTOR} or {@link BaseboneConstraintType.LOCAL_ROTOR}\n * @param axis the cone axis, assumed to be unit length\n * @param rotor the half-angle of the cone in radians, clamped to [0, PI]\n * @returns the chain\n */\nexport function setBaseboneRotorConstraint(\n    chain: Chain3,\n    type: BaseboneConstraintType.GLOBAL_ROTOR | BaseboneConstraintType.LOCAL_ROTOR,\n    axis: Vec3,\n    rotor: number,\n): Chain3 {\n    chain.baseboneConstraintType = type;\n    chain.baseboneRotor = clampAngle(rotor);\n\n    setUnitAxis(chain.baseboneAxis, axis);\n    vec3.copy(chain.baseboneWorldAxis, chain.baseboneAxis);\n\n    return chain;\n}\n\n/**\n * Confines the first bone to the plane perpendicular to `rotationAxis`, within `clockwise` /\n * `anticlockwise` radians of `referenceAxis`.\n *\n * @param chain the chain to configure\n * @param type either {@link BaseboneConstraintType.GLOBAL_HINGE} or {@link BaseboneConstraintType.LOCAL_HINGE}\n * @param rotationAxis the hinge axis, assumed to be unit length\n * @param clockwise the clockwise limit in radians, clamped to [0, PI]\n * @param anticlockwise the anticlockwise limit in radians, clamped to [0, PI]\n * @param referenceAxis the zero direction the limits are measured from\n * @returns the chain\n */\nexport function setBaseboneHingeConstraint(\n    chain: Chain3,\n    type: BaseboneConstraintType.GLOBAL_HINGE | BaseboneConstraintType.LOCAL_HINGE,\n    rotationAxis: Vec3,\n    clockwise: number,\n    anticlockwise: number,\n    referenceAxis: Vec3,\n): Chain3 {\n    chain.baseboneConstraintType = type;\n    chain.baseboneClockwise = clampAngle(clockwise);\n    chain.baseboneAnticlockwise = clampAngle(anticlockwise);\n\n    setUnitAxis(chain.baseboneAxis, rotationAxis);\n    orthonormalize(chain.baseboneReferenceAxis, referenceAxis, chain.baseboneAxis);\n\n    vec3.copy(chain.baseboneWorldAxis, chain.baseboneAxis);\n    vec3.copy(chain.baseboneWorldReferenceAxis, chain.baseboneReferenceAxis);\n\n    return chain;\n}\n\n/**\n * Moves the chain's pinned base, without moving the bones.\n *\n * The next {@link backward} or {@link solve} pulls the chain to it.\n */\nexport function setBaseLocation(chain: Chain3, base: Vec3): Chain3 {\n    chain.base[0] = base[0];\n    chain.base[1] = base[1];\n    chain.base[2] = base[2];\n    return chain;\n}\n\n/**\n * Lays the chain out straight from its base along `direction`, discarding the current pose.\n *\n * A dead-straight chain is the worst starting pose for {@link solve} - see the note there. Bend\n * `direction` slightly between bones instead if the chain will be solved cold.\n */\nexport function straighten(chain: Chain3, direction: Vec3): Chain3 {\n    const bones = chain.bones;\n\n    let x = chain.base[0];\n    let y = chain.base[1];\n    let z = chain.base[2];\n\n    for (let i = 0; i < bones.length; i++) {\n        const bone = bones[i];\n\n        bone.start[0] = x;\n        bone.start[1] = y;\n        bone.start[2] = z;\n\n        x += direction[0] * bone.length;\n        y += direction[1] * bone.length;\n        z += direction[2] * bone.length;\n\n        bone.end[0] = x;\n        bone.end[1] = y;\n        bone.end[2] = z;\n    }\n\n    return chain;\n}\n\n/**\n * Writes the end effector's position - the last bone's end - into `out`.\n *\n * A chain with no bones has its base as its effector, matching {@link solve}, which treats an empty\n * chain as a supported state rather than an error.\n */\nexport function getEffector(out: Vec3, chain: Chain3): Vec3 {\n    const count = chain.bones.length;\n    return vec3.copy(out, count === 0 ? chain.base : chain.bones[count - 1].end);\n}\n\n/** Writes the unit direction of bone `index`, from its start toward its end, into `out`. */\nexport function getBoneDirection(out: Vec3, chain: Chain3, index: number): Vec3 {\n    const bone = chain.bones[index];\n    vec3.subtract(out, bone.end, bone.start);\n    return normalizeOr(out, UP);\n}\n\n/**\n * Writes the rotation taking `up` onto the direction of bone `index` into `out`.\n *\n * Use it to orient a mesh along a bone, passing whichever axis the mesh is modelled along - `up`\n * is `[0, 1, 0]` for a cylinder or capsule built along Y. The roll about the bone is arbitrary.\n */\nexport function getBoneRotation(out: Quat, chain: Chain3, index: number, up: Vec3): Quat {\n    getBoneDirection(_boneRotation_direction, chain, index);\n    return quat.rotationTo(out, up, _boneRotation_direction);\n}\n\nconst _boneRotation_direction: Vec3 = [0, 0, 0];\n\n/** Whether `target` is within reach of the chain's base, so a solve can place the effector exactly on it. */\nexport function isReachable(chain: Chain3, target: Vec3): boolean {\n    return vec3.squaredDistance(chain.base, target) <= chain.length * chain.length;\n}\n\n/**\n * The forward pass: snaps the end effector onto `target` and drags the rest of the chain after it.\n *\n * A non-finite target leaves the chain untouched rather than poisoning it.\n *\n * The base is not pinned, so the whole chain moves. Run alone once per frame this is a follower\n * rather than a solver - a rope or tentacle whose head leads. Pair it with {@link backward}, or use\n * {@link solve}, to keep the base put.\n *\n * @param chain the chain to move, mutated in place\n * @param target where the end effector should go\n * @returns the chain\n */\nexport function forward(chain: Chain3, target: Vec3): Chain3 {\n    const bones = chain.bones;\n    const count = bones.length;\n\n    if (count === 0) return chain;\n\n    // a non-finite target would be written straight into the effector and spread down the chain\n    if (!Number.isFinite(target[0]) || !Number.isFinite(target[1]) || !Number.isFinite(target[2])) return chain;\n\n    // snap the effector onto the target. the rest of the pass follows from it\n    const effector = bones[count - 1];\n    effector.end[0] = target[0];\n    effector.end[1] = target[1];\n    effector.end[2] = target[2];\n\n    // the outer-to-inner direction of the bone one step further out, which is what a joint on this\n    // bone is constrained against on this pass. undefined for the effector itself.\n    let hasReference = false;\n\n    for (let i = count - 1; i >= 0; i--) {\n        const bone = bones[i];\n        const start = bone.start;\n        const end = bone.end;\n\n        // this bone's outer-to-inner direction\n        let dx = start[0] - end[0];\n        let dy = start[1] - end[1];\n        let dz = start[2] - end[2];\n\n        const squaredLength = dx * dx + dy * dy + dz * dz;\n\n        if (!hasDirection(squaredLength)) {\n            // the two ends coincide, so there is no direction to preserve. carry on along the bone\n            // further out, or straight up if this is the effector\n            dx = hasReference ? _pass_reference[0] : UP[0];\n            dy = hasReference ? _pass_reference[1] : UP[1];\n            dz = hasReference ? _pass_reference[2] : UP[2];\n        } else {\n            const inverseLength = 1 / Math.sqrt(squaredLength);\n            dx *= inverseLength;\n            dy *= inverseLength;\n            dz *= inverseLength;\n        }\n\n        constrainForward(chain, i, dx, dy, dz, hasReference);\n        dx = _pass_direction[0];\n        dy = _pass_direction[1];\n        dz = _pass_direction[2];\n\n        const x = end[0] + dx * bone.length;\n        const y = end[1] + dy * bone.length;\n        const z = end[2] + dz * bone.length;\n\n        start[0] = x;\n        start[1] = y;\n        start[2] = z;\n\n        // the previous bone shares this point\n        if (i > 0) {\n            const previousEnd = bones[i - 1].end;\n            previousEnd[0] = x;\n            previousEnd[1] = y;\n            previousEnd[2] = z;\n        }\n\n        _pass_reference[0] = dx;\n        _pass_reference[1] = dy;\n        _pass_reference[2] = dz;\n        hasReference = true;\n    }\n\n    return chain;\n}\n\n/**\n * The backward pass: pins the base and pushes each bone outward from it.\n *\n * Basebone constraints and hinge reference-axis limits are applied here only - the forward pass\n * skips the latter, because clamping on both degrades the solution.\n *\n * @param chain the chain to move, mutated in place\n * @param base where the base should go, used only when `chain.fixedBase` is set\n * @returns the chain\n */\nexport function backward(chain: Chain3, base: Vec3): Chain3 {\n    const bones = chain.bones;\n    const count = bones.length;\n\n    if (count === 0) return chain;\n    if (!Number.isFinite(base[0]) || !Number.isFinite(base[1]) || !Number.isFinite(base[2])) return chain;\n\n    if (chain.fixedBase) {\n        const start = bones[0].start;\n        start[0] = base[0];\n        start[1] = base[1];\n        start[2] = base[2];\n    }\n\n    let hasReference = false;\n\n    for (let i = 0; i < count; i++) {\n        const bone = bones[i];\n        const start = bone.start;\n        const end = bone.end;\n\n        // this bone's inner-to-outer direction\n        let dx = end[0] - start[0];\n        let dy = end[1] - start[1];\n        let dz = end[2] - start[2];\n\n        const squaredLength = dx * dx + dy * dy + dz * dz;\n\n        if (!hasDirection(squaredLength)) {\n            dx = hasReference ? _pass_reference[0] : UP[0];\n            dy = hasReference ? _pass_reference[1] : UP[1];\n            dz = hasReference ? _pass_reference[2] : UP[2];\n        } else {\n            const inverseLength = 1 / Math.sqrt(squaredLength);\n            dx *= inverseLength;\n            dy *= inverseLength;\n            dz *= inverseLength;\n        }\n\n        constrainBackward(chain, i, dx, dy, dz, hasReference);\n        dx = _pass_direction[0];\n        dy = _pass_direction[1];\n        dz = _pass_direction[2];\n\n        // when the base is free, the first bone swings about its end rather than its start\n        if (i === 0 && !chain.fixedBase) {\n            start[0] = end[0] - dx * bone.length;\n            start[1] = end[1] - dy * bone.length;\n            start[2] = end[2] - dz * bone.length;\n        }\n\n        const x = start[0] + dx * bone.length;\n        const y = start[1] + dy * bone.length;\n        const z = start[2] + dz * bone.length;\n\n        end[0] = x;\n        end[1] = y;\n        end[2] = z;\n\n        if (i < count - 1) {\n            const nextStart = bones[i + 1].start;\n            nextStart[0] = x;\n            nextStart[1] = y;\n            nextStart[2] = z;\n        }\n\n        _pass_reference[0] = dx;\n        _pass_reference[1] = dy;\n        _pass_reference[2] = dz;\n        hasReference = true;\n    }\n\n    return chain;\n}\n\n/**\n * One full FABRIK iteration - {@link forward} then {@link backward}. Often enough on its own for an\n * unconstrained chain reaching a nearby target. use {@link solve} to iterate to a tolerance.\n *\n * @param chain the chain to move, mutated in place\n * @param target where the end effector should go\n * @returns the distance from the effector to `target` afterwards\n */\nexport function iterate(chain: Chain3, target: Vec3): number {\n    if (chain.bones.length === 0) return Number.POSITIVE_INFINITY;\n\n    forward(chain, target);\n    backward(chain, chain.base);\n\n    return vec3.distance(chain.bones[chain.bones.length - 1].end, target);\n}\n\n/**\n * Solves the chain for `target`, iterating until it is close enough, stops improving, or runs out\n * of attempts.\n *\n * A constrained chain does not converge monotonically, so the best pose seen is kept and restored.\n *\n * A dead-straight chain is the worst case to solve cold: every direction lies on one line, leaving\n * nothing sideways to bend it with. Give it a slight bend if the first solve matters.\n *\n * @param chain the chain to solve, mutated in place\n * @param target where the end effector should go\n * @returns the distance from the effector to `target`, also stored as `chain.solveDistance`\n */\nexport function solve(chain: Chain3, target: Vec3): number {\n    const count = chain.bones.length;\n\n    if (count === 0) {\n        chain.solveDistance = Number.POSITIVE_INFINITY;\n        return chain.solveDistance;\n    }\n\n    // in case bones were pushed onto the chain directly rather than through addBone\n    if (chain.bestSolution.length < count * 6) {\n        chain.bestSolution.length = count * 6;\n        chain.bestSolution.fill(0);\n    }\n\n    let best = Number.POSITIVE_INFINITY;\n    let previous = Number.POSITIVE_INFINITY;\n\n    for (let i = 0; i < chain.maxIterations; i++) {\n        const distance = iterate(chain, target);\n\n        if (distance < best) {\n            best = distance;\n            saveSolution(chain);\n\n            if (distance <= chain.solveDistanceThreshold) break;\n        } else if (Math.abs(distance - previous) < chain.minIterationChange) {\n            // ground to a halt - more iterations will not improve on what we already have\n            break;\n        }\n\n        previous = distance;\n    }\n\n    if (best !== Number.POSITIVE_INFINITY) {\n        restoreSolution(chain);\n    }\n\n    chain.solveDistance = best;\n\n    return best;\n}\n\n/** Creates an empty structure. */\nexport function createStructure3(): Structure3 {\n    return { chains: [], connections: [] };\n}\n\n/**\n * Adds a chain that hangs off nothing, solving directly for the structure's target.\n *\n * @returns the index of the added chain\n */\nexport function addChain(structure: Structure3, chain: Chain3): number {\n    structure.chains.push(chain);\n    structure.connections.push({ hostChain: -1, hostBone: 0, point: BoneConnectionPoint.END });\n    return structure.chains.length - 1;\n}\n\n/**\n * Adds a chain whose base is pinned to one end of a bone in a chain already in the structure.\n *\n * Add the host first: {@link solveStructure} walks chains in insertion order, so a chain always\n * sees its host already posed.\n *\n * @param structure the structure to add to\n * @param chain the chain to add\n * @param hostChain the index of the chain to hang off\n * @param hostBone the index of the bone within that chain\n * @param point which end of the host bone to attach to\n * @returns the index of the added chain\n */\nexport function connectChain(\n    structure: Structure3,\n    chain: Chain3,\n    hostChain: number,\n    hostBone: number,\n    point: BoneConnectionPoint,\n): number {\n    structure.chains.push(chain);\n    structure.connections.push({ hostChain, hostBone, point });\n    return structure.chains.length - 1;\n}\n\n/**\n * Solves every chain in the structure.\n *\n * A connected chain has its base moved onto its host bone's connection point and any `LOCAL_`\n * basebone constraint resolved through the host bone's frame first. A chain with\n * `useEmbeddedTarget` set solves for its own `embeddedTarget` instead - how a walker's legs each\n * reach their own foothold.\n *\n * @param structure the structure to solve, mutated in place\n * @param target the target for every chain that does not use an embedded target\n */\nexport function solveStructure(structure: Structure3, target: Vec3): void {\n    const chains = structure.chains;\n\n    for (let i = 0; i < chains.length; i++) {\n        const chain = chains[i];\n        const connection = structure.connections[i];\n\n        if (connection.hostChain >= 0) {\n            const host = chains[connection.hostChain];\n            const hostBone = host.bones[connection.hostBone];\n\n            setBaseLocation(chain, connection.point === BoneConnectionPoint.START ? hostBone.start : hostBone.end);\n\n            // being connected IS what fixes this chain's base - a connected chain with a free base\n            // would drift away from the host it is supposed to hang off, so the flag is not the\n            // caller's to clear here\n            chain.fixedBase = true;\n\n            const type = chain.baseboneConstraintType;\n\n            if (type === BaseboneConstraintType.LOCAL_ROTOR || type === BaseboneConstraintType.LOCAL_HINGE) {\n                // the constraint is expressed in the host bone's frame, so rotate it into the world\n                getBoneDirection(_structure_direction, host, connection.hostBone);\n                basisFromDirection(_structure_basis, _structure_direction);\n\n                vec3.transformMat3(chain.baseboneWorldAxis, chain.baseboneAxis, _structure_basis);\n                vec3.normalize(chain.baseboneWorldAxis, chain.baseboneWorldAxis);\n\n                if (type === BaseboneConstraintType.LOCAL_HINGE) {\n                    vec3.transformMat3(chain.baseboneWorldReferenceAxis, chain.baseboneReferenceAxis, _structure_basis);\n                    orthonormalize(chain.baseboneWorldReferenceAxis, chain.baseboneWorldReferenceAxis, chain.baseboneWorldAxis);\n                }\n            }\n        }\n\n        solve(chain, chain.useEmbeddedTarget ? chain.embeddedTarget : target);\n    }\n}\n\nconst _structure_direction: Vec3 = [0, 0, 0];\nconst _structure_basis: Mat3 = /* @__PURE__ */ mat3.create();\n\n/* internals */\n\nconst UP: Vec3 = [0, 1, 0];\n\n// the direction the current pass is constraining against - the previous bone's, whichever way the\n// pass is walking - and the constrained result handed back from `constrain*`\nconst _pass_reference: Vec3 = [0, 0, 0];\nconst _pass_direction: Vec3 = [0, 0, 0];\nconst _constrain_axis: Vec3 = [0, 0, 0];\nconst _constrain_reference: Vec3 = [0, 0, 0];\nconst _constrain_basis: Mat3 = /* @__PURE__ */ mat3.create();\n\nfunction clampAngle(radians: number): number {\n    return radians < 0 ? 0 : radians > Math.PI ? Math.PI : radians;\n}\n\n/** Writes the component of `a` perpendicular to the unit vector `axis`, normalized. */\nfunction orthonormalize(out: Vec3, a: Vec3, axis: Vec3): Vec3 {\n    // the component of `a` perpendicular to `axis`\n    vec3.scaleAndAdd(out, a, axis, -vec3.dot(a, axis));\n\n    if (!hasDirection(vec3.squaredLength(out))) {\n        // `a` is parallel to `axis`, so it names no direction in the plane - any will do\n        return vec3.perpendicular(out, axis);\n    }\n\n    return vec3.normalize(out, out);\n}\n\n/** Normalizes `out` in place, falling back to `fallback` when it has no length. */\nfunction normalizeOr(out: Vec3, fallback: Vec3): Vec3 {\n    if (!hasDirection(vec3.squaredLength(out))) {\n        return vec3.copy(out, fallback);\n    }\n    return vec3.normalize(out, out);\n}\n\n/**\n * Flattens a direction into a hinge's plane.\n *\n * A direction parallel to the hinge axis projects to nothing, leaving no in-plane direction to\n * normalize. Fall back to the hinge's reference axis, which lies in the plane by construction.\n */\nfunction projectOntoHinge(out: Vec3, x: number, y: number, z: number, axis: Vec3, referenceAxis: Vec3): Vec3 {\n    const d = x * axis[0] + y * axis[1] + z * axis[2];\n\n    out[0] = x - axis[0] * d;\n    out[1] = y - axis[1] * d;\n    out[2] = z - axis[2] * d;\n\n    if (!hasDirection(vec3.squaredLength(out))) {\n        return vec3.copy(out, referenceAxis);\n    }\n\n    return vec3.normalize(out, out);\n}\n\n/** Rotates the unit vector `a` about the unit vector `axis` by `radians` (Rodrigues). */\nfunction rotateAboutAxis(out: Vec3, a: Vec3, axis: Vec3, radians: number): Vec3 {\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n    const kx = axis[0];\n    const ky = axis[1];\n    const kz = axis[2];\n\n    const c = Math.cos(radians);\n    const s = Math.sin(radians);\n    const d = (kx * ax + ky * ay + kz * az) * (1 - c);\n\n    out[0] = ax * c + (ky * az - kz * ay) * s + kx * d;\n    out[1] = ay * c + (kz * ax - kx * az) * s + ky * d;\n    out[2] = az * c + (kx * ay - ky * ax) * s + kz * d;\n\n    return out;\n}\n\n/** Flattens into the hinge plane, then clamps the swing about the reference axis. Writes `_pass_direction`. */\nfunction constrainHinge(\n    x: number,\n    y: number,\n    z: number,\n    axis: Vec3,\n    referenceAxis: Vec3,\n    clockwise: number,\n    anticlockwise: number,\n): void {\n    projectOntoHinge(_pass_direction, x, y, z, axis, referenceAxis);\n\n    if (clockwise >= Math.PI && anticlockwise >= Math.PI) return;\n\n    // anticlockwise about the hinge axis is positive\n    const signed = vec3.signedAngle(referenceAxis, _pass_direction, axis);\n\n    if (signed > anticlockwise) {\n        rotateAboutAxis(_pass_direction, referenceAxis, axis, anticlockwise);\n    } else if (signed < -clockwise) {\n        rotateAboutAxis(_pass_direction, referenceAxis, axis, -clockwise);\n    }\n}\n\n/**\n * Builds an orthonormal basis with `direction` as its Z axis, into `out`.\n *\n * Used to express a joint axis relative to the bone it hangs off. The X and Y axes are picked\n * arbitrarily but deterministically (the Frisvad method), because a bone frame has no meaningful\n * \"up\" to anchor them to - unlike a look-at matrix, which takes one and fails when the direction is\n * parallel to it.\n *\n * No choice of X and Y varies continuously over the whole sphere. This one is continuous everywhere\n * except at `direction` = (0, 0, -1), where the basis flips, so a local hinge whose parent swings\n * through there will pop.\n */\nfunction basisFromDirection(out: Mat3, direction: Vec3): Mat3 {\n    const x = direction[0];\n    const y = direction[1];\n    const z = direction[2];\n\n    if (z < -0.9999999) {\n        // the antipode, where the construction below divides by zero\n        out[0] = 0;\n        out[1] = -1;\n        out[2] = 0;\n        out[3] = -1;\n        out[4] = 0;\n        out[5] = 0;\n        out[6] = x;\n        out[7] = y;\n        out[8] = z;\n        return out;\n    }\n\n    const a = 1 / (1 + z);\n    const b = -x * y * a;\n\n    // column 0 - the X axis\n    out[0] = 1 - x * x * a;\n    out[1] = b;\n    out[2] = -x;\n\n    // column 1 - the Y axis\n    out[3] = b;\n    out[4] = 1 - y * y * a;\n    out[5] = -y;\n\n    // column 2 - the Z axis, which is `direction` itself\n    out[6] = x;\n    out[7] = y;\n    out[8] = z;\n\n    return out;\n}\n\n/** Resolves a local hinge's axes into world space through the frame of bone `index - 1`. */\nfunction resolveLocalHinge(chain: Chain3, index: number, joint: Joint3): void {\n    getBoneDirection(_constrain_axis, chain, index - 1);\n    basisFromDirection(_constrain_basis, _constrain_axis);\n\n    vec3.transformMat3(_constrain_axis, joint.rotationAxis, _constrain_basis);\n    vec3.normalize(_constrain_axis, _constrain_axis);\n\n    vec3.transformMat3(_constrain_reference, joint.referenceAxis, _constrain_basis);\n    orthonormalize(_constrain_reference, _constrain_reference, _constrain_axis);\n}\n\n/**\n * Constrains a bone's outer-to-inner direction during the forward pass.\n *\n * Two joints limit it. This bone's own hinge confines it to a plane. The rotor bounding its bend\n * away from the bone further out belongs to the joint between the two, which is the next bone's, so\n * a rotor means the same angle on both passes.\n *\n * Hinge reference-axis limits are left to the backward pass, because clamping on both lands on\n * worse poses.\n *\n * Writes the result into `_pass_direction`, which starts out holding the unconstrained direction,\n * so a branch that does not apply can simply return.\n */\nfunction constrainForward(chain: Chain3, index: number, x: number, y: number, z: number, hasReference: boolean): void {\n    // start from the unconstrained direction. each branch below narrows it if it applies\n    _pass_direction[0] = x;\n    _pass_direction[1] = y;\n    _pass_direction[2] = z;\n\n    // first: whatever confines this bone's own orientation, neighbours aside\n    if (index === 0) {\n        const type = chain.baseboneConstraintType;\n\n        if (type === BaseboneConstraintType.GLOBAL_HINGE || type === BaseboneConstraintType.LOCAL_HINGE) {\n            projectOntoHinge(_pass_direction, x, y, z, chain.baseboneWorldAxis, chain.baseboneWorldReferenceAxis);\n            return;\n        }\n\n        // a basebone rotor is measured against the base's own axis, which this pass knows nothing\n        // about - the backward pass applies it\n    } else {\n        const joint = chain.bones[index].joint;\n\n        if (joint.type === JointType.GLOBAL_HINGE) {\n            projectOntoHinge(_pass_direction, x, y, z, joint.rotationAxis, joint.referenceAxis);\n            return;\n        }\n\n        if (joint.type === JointType.LOCAL_HINGE) {\n            resolveLocalHinge(chain, index, joint);\n            projectOntoHinge(_pass_direction, x, y, z, _constrain_axis, _constrain_reference);\n            return;\n        }\n    }\n\n    // the rotor shared with the bone one step further out. the end effector has no such bone\n    if (!hasReference) return;\n\n    const outer = chain.bones[index + 1].joint;\n\n    if (outer.type !== JointType.BALL || outer.rotor >= Math.PI) return;\n\n    _pass_direction[0] = x;\n    _pass_direction[1] = y;\n    _pass_direction[2] = z;\n    vec3.rotateTowards(_pass_direction, _pass_reference, _pass_direction, outer.rotor);\n}\n\n/**\n * Constrains a bone's inner-to-outer direction during the backward pass.\n *\n * Writes the result into `_pass_direction`, which starts out holding the unconstrained direction,\n * so a branch that does not apply can simply return.\n */\nfunction constrainBackward(chain: Chain3, index: number, x: number, y: number, z: number, hasReference: boolean): void {\n    // start from the unconstrained direction. each branch below narrows it if it applies\n    _pass_direction[0] = x;\n    _pass_direction[1] = y;\n    _pass_direction[2] = z;\n\n    if (index === 0) {\n        switch (chain.baseboneConstraintType) {\n            case BaseboneConstraintType.GLOBAL_ROTOR:\n            case BaseboneConstraintType.LOCAL_ROTOR: {\n                if (chain.baseboneRotor >= Math.PI) return;\n                vec3.rotateTowards(_pass_direction, chain.baseboneWorldAxis, _pass_direction, chain.baseboneRotor);\n                return;\n            }\n            case BaseboneConstraintType.GLOBAL_HINGE:\n            case BaseboneConstraintType.LOCAL_HINGE: {\n                constrainHinge(\n                    x,\n                    y,\n                    z,\n                    chain.baseboneWorldAxis,\n                    chain.baseboneWorldReferenceAxis,\n                    chain.baseboneClockwise,\n                    chain.baseboneAnticlockwise,\n                );\n                return;\n            }\n            default:\n                return;\n        }\n    }\n\n    const joint = chain.bones[index].joint;\n\n    switch (joint.type) {\n        case JointType.BALL: {\n            if (!hasReference || joint.rotor >= Math.PI) return;\n            vec3.rotateTowards(_pass_direction, _pass_reference, _pass_direction, joint.rotor);\n            return;\n        }\n        case JointType.GLOBAL_HINGE: {\n            constrainHinge(x, y, z, joint.rotationAxis, joint.referenceAxis, joint.clockwise, joint.anticlockwise);\n            return;\n        }\n        case JointType.LOCAL_HINGE: {\n            resolveLocalHinge(chain, index, joint);\n            constrainHinge(x, y, z, _constrain_axis, _constrain_reference, joint.clockwise, joint.anticlockwise);\n            return;\n        }\n        default:\n            return;\n    }\n}\n\nfunction saveSolution(chain: Chain3): void {\n    const bones = chain.bones;\n    const solution = chain.bestSolution;\n\n    for (let i = 0; i < bones.length; i++) {\n        const bone = bones[i];\n        const offset = i * 6;\n\n        solution[offset] = bone.start[0];\n        solution[offset + 1] = bone.start[1];\n        solution[offset + 2] = bone.start[2];\n        solution[offset + 3] = bone.end[0];\n        solution[offset + 4] = bone.end[1];\n        solution[offset + 5] = bone.end[2];\n    }\n}\n\nfunction restoreSolution(chain: Chain3): void {\n    const bones = chain.bones;\n    const solution = chain.bestSolution;\n\n    for (let i = 0; i < bones.length; i++) {\n        const bone = bones[i];\n        const offset = i * 6;\n\n        bone.start[0] = solution[offset];\n        bone.start[1] = solution[offset + 1];\n        bone.start[2] = solution[offset + 2];\n        bone.end[0] = solution[offset + 3];\n        bone.end[1] = solution[offset + 4];\n        bone.end[2] = solution[offset + 5];\n    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package/dist/ik/index.js

@@ -0,0 +1,5 @@
+import * as fabrik2 from './fabrik2.js';
+export { fabrik2 };
+import * as fabrik3 from './fabrik3.js';
+export { fabrik3 };
+//# sourceMappingURL=index.js.map

package/dist/ik/index.js.map

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

package/dist/index.js

@@ -0,0 +1,27 @@
+export { EPSILON, binomial, clamp, equals, fade, lagrange, lerp, remap, remapClamp, repeat, round } from './core/scalar.js';
+export { DEGREES_TO_RADIANS, RADIANS_TO_DEGREES, degreesToRadians, deltaAngle, radiansToDegrees, wrapAngle } from './core/angle.js';
+import * as vec2 from './core/vec2.js';
+export { vec2 };
+import * as vec3 from './core/vec3.js';
+export { vec3 };
+import * as vec4 from './core/vec4.js';
+export { vec4 };
+import * as euler from './core/euler.js';
+export { euler };
+import * as quat from './core/quat.js';
+export { quat };
+import * as quat2 from './core/quat2.js';
+export { quat2 };
+import * as mat2 from './core/mat2.js';
+export { mat2 };
+import * as mat2d from './core/mat2d.js';
+export { mat2d };
+import * as mat3 from './core/mat3.js';
+export { mat3 };
+import * as mat4 from './core/mat4.js';
+export { mat4 };
+import * as spherical from './core/spherical.js';
+export { spherical };
+import * as polar from './core/polar.js';
+export { polar };
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

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

package/dist/noise/fractal.js

@@ -0,0 +1,185 @@
+// Fractal combinators: helpers that layer octaves of ANY base noise source into
+// the richer fields used for terrain, clouds, and marble. They are generic - the
+// `sample` callback receives the current octave's frequency and returns the base
+// noise at your coordinates scaled by it, so the same helper works with any
+// generator at any dimension:
+//
+//   fbm((f) => simplex2d.sample(gen, x * f, y * f), 5, 2, 0.5)
+//   fbm((f) => simplex3d.sample(gen, x * f, y * f, z * f), 5, 2, 0.5)
+/**
+ * Fractional Brownian motion: sums octaves of a noise source at increasing
+ * frequency and decreasing amplitude - the workhorse for natural-looking
+ * heightmaps and clouds. Given a source in [-1, 1], returns a value in [-1, 1].
+ *
+ * @param sample receives an octave frequency, returns the base noise scaled by it
+ * @param octaves number of octaves to sum
+ * @param lacunarity frequency multiplier between octaves
+ * @param gain amplitude multiplier between octaves
+ * @returns the summed, normalized noise value
+ */
+function fbm(sample, octaves, lacunarity, gain) {
+    let frequency = 1;
+    let amplitude = 1;
+    let sum = 0;
+    let norm = 0;
+    for (let o = 0; o < octaves; o++) {
+        sum += amplitude * sample(frequency);
+        norm += amplitude;
+        frequency *= lacunarity;
+        amplitude *= gain;
+    }
+    return norm === 0 ? 0 : sum / norm;
+}
+/**
+ * Ridged multifractal: like {@link fbm}, but each octave is folded to
+ * `1 - abs(noise)`, filling the field with sharp ridges - the classic mountain
+ * range / canyon look. Given a source in [-1, 1], returns a value in [0, 1].
+ *
+ * @param sample receives an octave frequency, returns the base noise scaled by it
+ * @param octaves number of octaves to sum
+ * @param lacunarity frequency multiplier between octaves
+ * @param gain amplitude multiplier between octaves
+ * @returns the summed, normalized ridged value
+ */
+function ridged(sample, octaves, lacunarity, gain) {
+    let frequency = 1;
+    let amplitude = 1;
+    let sum = 0;
+    let norm = 0;
+    for (let o = 0; o < octaves; o++) {
+        sum += amplitude * (1 - Math.abs(sample(frequency)));
+        norm += amplitude;
+        frequency *= lacunarity;
+        amplitude *= gain;
+    }
+    return norm === 0 ? 0 : sum / norm;
+}
+/**
+ * Billow noise: like {@link fbm}, but each octave is folded to `2*abs(noise) - 1`,
+ * giving puffy, rounded, cloud-like lobes. Given a source in [-1, 1], returns a
+ * value in [-1, 1].
+ *
+ * @param sample receives an octave frequency, returns the base noise scaled by it
+ * @param octaves number of octaves to sum
+ * @param lacunarity frequency multiplier between octaves
+ * @param gain amplitude multiplier between octaves
+ * @returns the summed, normalized billow value
+ */
+function billow(sample, octaves, lacunarity, gain) {
+    let frequency = 1;
+    let amplitude = 1;
+    let sum = 0;
+    let norm = 0;
+    for (let o = 0; o < octaves; o++) {
+        sum += amplitude * (2 * Math.abs(sample(frequency)) - 1);
+        norm += amplitude;
+        frequency *= lacunarity;
+        amplitude *= gain;
+    }
+    return norm === 0 ? 0 : sum / norm;
+}
+/**
+ * Domain warping (2D): offsets a point by a noise-derived vector, so feeding the
+ * result back into a noise source bends and swirls it - marble, meandering
+ * terrain, organic distortion. The two axes sample the warp noise at
+ * decorrelated offsets so they don't move in lockstep.
+ *
+ * @param out the receiving Vec2 (the warped point)
+ * @param sample the warp noise source, sampled at (x, y)
+ * @param x x coordinate
+ * @param y y coordinate
+ * @param amount displacement scale (default 1)
+ * @returns out
+ */
+function domainWarp2(out, sample, x, y, amount = 1) {
+    out[0] = x + amount * sample(x, y);
+    out[1] = y + amount * sample(x + 5.2, y + 1.3);
+    return out;
+}
+/**
+ * Domain warping (3D): offsets a point by a noise-derived vector so a noise
+ * source sampled at the result is bent and swirled. See {@link domainWarp2}.
+ *
+ * @param out the receiving Vec3 (the warped point)
+ * @param sample the warp noise source, sampled at (x, y, z)
+ * @param x x coordinate
+ * @param y y coordinate
+ * @param z z coordinate
+ * @param amount displacement scale (default 1)
+ * @returns out
+ */
+function domainWarp3(out, sample, x, y, z, amount = 1) {
+    out[0] = x + amount * sample(x, y, z);
+    out[1] = y + amount * sample(x + 5.2, y + 1.3, z + 2.8);
+    out[2] = z + amount * sample(x + 1.7, y + 9.2, z + 3.5);
+    return out;
+}
+/**
+ * Curl of a 2D scalar noise potential - a divergence-free (incompressible) flow
+ * field. Particles advected through it swirl like a fluid and never converge to
+ * sinks or fly apart, which is why it's the cheap go-to for procedural smoke /
+ * flow. Given a scalar potential psi(x, y), the flow is (d psi/dy, -d psi/dx),
+ * with the derivatives taken by central differences of step `eps`.
+ *
+ * @param out the receiving Vec2 (the flow velocity)
+ * @param sample the scalar potential noise, sampled at (x, y)
+ * @param x x coordinate
+ * @param y y coordinate
+ * @param eps finite-difference step (default 1e-4)
+ * @returns out
+ */
+function curl2(out, sample, x, y, eps = 1e-4) {
+    const inv = 1 / (2 * eps);
+    const dpdx = (sample(x + eps, y) - sample(x - eps, y)) * inv;
+    const dpdy = (sample(x, y + eps) - sample(x, y - eps)) * inv;
+    out[0] = dpdy;
+    out[1] = -dpdx;
+    return out;
+}
+// large, arbitrary offsets that decorrelate the three potential components in curl3
+const C3_O2X = 123.4;
+const C3_O2Y = 55.7;
+const C3_O2Z = -19.2;
+const C3_O3X = -73.1;
+const C3_O3Y = 218.9;
+const C3_O3Z = 90.3;
+/**
+ * Curl of a 3D noise vector potential - a divergence-free 3D flow field for
+ * volumetric smoke / fluid motion. The three potential components reuse a single
+ * `sample` at large, decorrelating offsets, and the flow is their curl,
+ * `∇ × psi`, with derivatives taken by central differences of step `eps`.
+ *
+ * @param out the receiving Vec3 (the flow velocity)
+ * @param sample the scalar potential noise, sampled at (x, y, z)
+ * @param x x coordinate
+ * @param y y coordinate
+ * @param z z coordinate
+ * @param eps finite-difference step (default 1e-4)
+ * @returns out
+ */
+function curl3(out, sample, x, y, z, eps = 1e-4) {
+    const inv = 1 / (2 * eps);
+    // potential 1 at (x, y, z): partials in y and z
+    const dp1dy = (sample(x, y + eps, z) - sample(x, y - eps, z)) * inv;
+    const dp1dz = (sample(x, y, z + eps) - sample(x, y, z - eps)) * inv;
+    // potential 2 at the +O2 offset: partials in x and z
+    const x2 = x + C3_O2X;
+    const y2 = y + C3_O2Y;
+    const z2 = z + C3_O2Z;
+    const dp2dx = (sample(x2 + eps, y2, z2) - sample(x2 - eps, y2, z2)) * inv;
+    const dp2dz = (sample(x2, y2, z2 + eps) - sample(x2, y2, z2 - eps)) * inv;
+    // potential 3 at the +O3 offset: partials in x and y
+    const x3 = x + C3_O3X;
+    const y3 = y + C3_O3Y;
+    const z3 = z + C3_O3Z;
+    const dp3dx = (sample(x3 + eps, y3, z3) - sample(x3 - eps, y3, z3)) * inv;
+    const dp3dy = (sample(x3, y3 + eps, z3) - sample(x3, y3 - eps, z3)) * inv;
+    // curl = ( dp3/dy - dp2/dz, dp1/dz - dp3/dx, dp2/dx - dp1/dy )
+    out[0] = dp3dy - dp2dz;
+    out[1] = dp1dz - dp3dx;
+    out[2] = dp2dx - dp1dy;
+    return out;
+}
+
+export { billow, curl2, curl3, domainWarp2, domainWarp3, fbm, ridged };
+//# sourceMappingURL=fractal.js.map

package/dist/noise/fractal.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"fractal.js","sources":["../../src/noise/fractal.ts"],"sourcesContent":["import type { Vec2 } from '../core/vec2';\nimport type { Vec3 } from '../core/vec3';\n\n// Fractal combinators: helpers that layer octaves of ANY base noise source into\n// the richer fields used for terrain, clouds, and marble. They are generic - the\n// `sample` callback receives the current octave's frequency and returns the base\n// noise at your coordinates scaled by it, so the same helper works with any\n// generator at any dimension:\n//\n//   fbm((f) => simplex2d.sample(gen, x * f, y * f), 5, 2, 0.5)\n//   fbm((f) => simplex3d.sample(gen, x * f, y * f, z * f), 5, 2, 0.5)\n\n/**\n * Fractional Brownian motion: sums octaves of a noise source at increasing\n * frequency and decreasing amplitude - the workhorse for natural-looking\n * heightmaps and clouds. Given a source in [-1, 1], returns a value in [-1, 1].\n *\n * @param sample receives an octave frequency, returns the base noise scaled by it\n * @param octaves number of octaves to sum\n * @param lacunarity frequency multiplier between octaves\n * @param gain amplitude multiplier between octaves\n * @returns the summed, normalized noise value\n */\nexport function fbm(sample: (frequency: number) => number, octaves: number, lacunarity: number, gain: number): number {\n    let frequency = 1;\n    let amplitude = 1;\n    let sum = 0;\n    let norm = 0;\n    for (let o = 0; o < octaves; o++) {\n        sum += amplitude * sample(frequency);\n        norm += amplitude;\n        frequency *= lacunarity;\n        amplitude *= gain;\n    }\n    return norm === 0 ? 0 : sum / norm;\n}\n\n/**\n * Ridged multifractal: like {@link fbm}, but each octave is folded to\n * `1 - abs(noise)`, filling the field with sharp ridges - the classic mountain\n * range / canyon look. Given a source in [-1, 1], returns a value in [0, 1].\n *\n * @param sample receives an octave frequency, returns the base noise scaled by it\n * @param octaves number of octaves to sum\n * @param lacunarity frequency multiplier between octaves\n * @param gain amplitude multiplier between octaves\n * @returns the summed, normalized ridged value\n */\nexport function ridged(\n    sample: (frequency: number) => number,\n    octaves: number,\n    lacunarity: number,\n    gain: number,\n): number {\n    let frequency = 1;\n    let amplitude = 1;\n    let sum = 0;\n    let norm = 0;\n    for (let o = 0; o < octaves; o++) {\n        sum += amplitude * (1 - Math.abs(sample(frequency)));\n        norm += amplitude;\n        frequency *= lacunarity;\n        amplitude *= gain;\n    }\n    return norm === 0 ? 0 : sum / norm;\n}\n\n/**\n * Billow noise: like {@link fbm}, but each octave is folded to `2*abs(noise) - 1`,\n * giving puffy, rounded, cloud-like lobes. Given a source in [-1, 1], returns a\n * value in [-1, 1].\n *\n * @param sample receives an octave frequency, returns the base noise scaled by it\n * @param octaves number of octaves to sum\n * @param lacunarity frequency multiplier between octaves\n * @param gain amplitude multiplier between octaves\n * @returns the summed, normalized billow value\n */\nexport function billow(\n    sample: (frequency: number) => number,\n    octaves: number,\n    lacunarity: number,\n    gain: number,\n): number {\n    let frequency = 1;\n    let amplitude = 1;\n    let sum = 0;\n    let norm = 0;\n    for (let o = 0; o < octaves; o++) {\n        sum += amplitude * (2 * Math.abs(sample(frequency)) - 1);\n        norm += amplitude;\n        frequency *= lacunarity;\n        amplitude *= gain;\n    }\n    return norm === 0 ? 0 : sum / norm;\n}\n\n/**\n * Domain warping (2D): offsets a point by a noise-derived vector, so feeding the\n * result back into a noise source bends and swirls it - marble, meandering\n * terrain, organic distortion. The two axes sample the warp noise at\n * decorrelated offsets so they don't move in lockstep.\n *\n * @param out the receiving Vec2 (the warped point)\n * @param sample the warp noise source, sampled at (x, y)\n * @param x x coordinate\n * @param y y coordinate\n * @param amount displacement scale (default 1)\n * @returns out\n */\nexport function domainWarp2(out: Vec2, sample: (x: number, y: number) => number, x: number, y: number, amount = 1): Vec2 {\n    out[0] = x + amount * sample(x, y);\n    out[1] = y + amount * sample(x + 5.2, y + 1.3);\n    return out;\n}\n\n/**\n * Domain warping (3D): offsets a point by a noise-derived vector so a noise\n * source sampled at the result is bent and swirled. See {@link domainWarp2}.\n *\n * @param out the receiving Vec3 (the warped point)\n * @param sample the warp noise source, sampled at (x, y, z)\n * @param x x coordinate\n * @param y y coordinate\n * @param z z coordinate\n * @param amount displacement scale (default 1)\n * @returns out\n */\nexport function domainWarp3(\n    out: Vec3,\n    sample: (x: number, y: number, z: number) => number,\n    x: number,\n    y: number,\n    z: number,\n    amount = 1,\n): Vec3 {\n    out[0] = x + amount * sample(x, y, z);\n    out[1] = y + amount * sample(x + 5.2, y + 1.3, z + 2.8);\n    out[2] = z + amount * sample(x + 1.7, y + 9.2, z + 3.5);\n    return out;\n}\n\n/**\n * Curl of a 2D scalar noise potential - a divergence-free (incompressible) flow\n * field. Particles advected through it swirl like a fluid and never converge to\n * sinks or fly apart, which is why it's the cheap go-to for procedural smoke /\n * flow. Given a scalar potential psi(x, y), the flow is (d psi/dy, -d psi/dx),\n * with the derivatives taken by central differences of step `eps`.\n *\n * @param out the receiving Vec2 (the flow velocity)\n * @param sample the scalar potential noise, sampled at (x, y)\n * @param x x coordinate\n * @param y y coordinate\n * @param eps finite-difference step (default 1e-4)\n * @returns out\n */\nexport function curl2(out: Vec2, sample: (x: number, y: number) => number, x: number, y: number, eps = 1e-4): Vec2 {\n    const inv = 1 / (2 * eps);\n    const dpdx = (sample(x + eps, y) - sample(x - eps, y)) * inv;\n    const dpdy = (sample(x, y + eps) - sample(x, y - eps)) * inv;\n    out[0] = dpdy;\n    out[1] = -dpdx;\n    return out;\n}\n\n// large, arbitrary offsets that decorrelate the three potential components in curl3\nconst C3_O2X = 123.4;\nconst C3_O2Y = 55.7;\nconst C3_O2Z = -19.2;\nconst C3_O3X = -73.1;\nconst C3_O3Y = 218.9;\nconst C3_O3Z = 90.3;\n\n/**\n * Curl of a 3D noise vector potential - a divergence-free 3D flow field for\n * volumetric smoke / fluid motion. The three potential components reuse a single\n * `sample` at large, decorrelating offsets, and the flow is their curl,\n * `∇ × psi`, with derivatives taken by central differences of step `eps`.\n *\n * @param out the receiving Vec3 (the flow velocity)\n * @param sample the scalar potential noise, sampled at (x, y, z)\n * @param x x coordinate\n * @param y y coordinate\n * @param z z coordinate\n * @param eps finite-difference step (default 1e-4)\n * @returns out\n */\nexport function curl3(\n    out: Vec3,\n    sample: (x: number, y: number, z: number) => number,\n    x: number,\n    y: number,\n    z: number,\n    eps = 1e-4,\n): Vec3 {\n    const inv = 1 / (2 * eps);\n\n    // potential 1 at (x, y, z): partials in y and z\n    const dp1dy = (sample(x, y + eps, z) - sample(x, y - eps, z)) * inv;\n    const dp1dz = (sample(x, y, z + eps) - sample(x, y, z - eps)) * inv;\n\n    // potential 2 at the +O2 offset: partials in x and z\n    const x2 = x + C3_O2X;\n    const y2 = y + C3_O2Y;\n    const z2 = z + C3_O2Z;\n    const dp2dx = (sample(x2 + eps, y2, z2) - sample(x2 - eps, y2, z2)) * inv;\n    const dp2dz = (sample(x2, y2, z2 + eps) - sample(x2, y2, z2 - eps)) * inv;\n\n    // potential 3 at the +O3 offset: partials in x and y\n    const x3 = x + C3_O3X;\n    const y3 = y + C3_O3Y;\n    const z3 = z + C3_O3Z;\n    const dp3dx = (sample(x3 + eps, y3, z3) - sample(x3 - eps, y3, z3)) * inv;\n    const dp3dy = (sample(x3, y3 + eps, z3) - sample(x3, y3 - eps, z3)) * inv;\n\n    // curl = ( dp3/dy - dp2/dz, dp1/dz - dp3/dx, dp2/dx - dp1/dy )\n    out[0] = dp3dy - dp2dz;\n    out[1] = dp1dz - dp3dx;\n    out[2] = dp2dx - dp1dy;\n    return 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package/dist/noise/index.js

@@ -0,0 +1,16 @@
+export { billow, curl2, curl3, domainWarp2, domainWarp3, fbm, ridged } from './fractal.js';
+import * as perlin2d from './perlin2d.js';
+export { perlin2d };
+import * as perlin3d from './perlin3d.js';
+export { perlin3d };
+import * as simplex2d from './simplex2d.js';
+export { simplex2d };
+import * as simplex3d from './simplex3d.js';
+export { simplex3d };
+import * as simplex4d from './simplex4d.js';
+export { simplex4d };
+import * as worley2d from './worley2d.js';
+export { worley2d };
+import * as worley3d from './worley3d.js';
+export { worley3d };
+//# sourceMappingURL=index.js.map

package/dist/noise/index.js.map

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

package/dist/noise/perlin2d.js

@@ -0,0 +1,50 @@
+import { lerp, fade } from '../core/scalar.js';
+import { createPermutation } from './permutation.js';
+
+/**
+ * Creates a 2D Perlin noise generator with the given seed.
+ *
+ * @param seed The seed value for the noise generator
+ * @returns A generator to pass to {@link sample}
+ */
+function create(seed) {
+    return createPermutation(seed);
+}
+/**
+ * Samples 2D Perlin noise.
+ *
+ * @param generator A generator created with {@link create}
+ * @param x X coordinate
+ * @param y Y coordinate
+ * @returns The noise value at (x, y)
+ */
+function sample({ perm, grad3 }, x, y) {
+    // Find unit grid cell containing point
+    let X = Math.floor(x);
+    let Y = Math.floor(y);
+    // Get relative xy coordinates of point within that cell
+    x = x - X;
+    y = y - Y;
+    // Wrap the integer cells at 255 (smaller integer period can be introduced here)
+    X = X & 255;
+    Y = Y & 255;
+    const x1 = x - 1;
+    const y1 = y - 1;
+    // Hashed gradient indices of the four corners (flat xyz triples in grad3)
+    const g00 = (X + perm[Y]) * 3;
+    const g01 = (X + perm[Y + 1]) * 3;
+    const g10 = (X + 1 + perm[Y]) * 3;
+    const g11 = (X + 1 + perm[Y + 1]) * 3;
+    // Calculate noise contributions from each of the four corners
+    const n00 = grad3[g00] * x + grad3[g00 + 1] * y;
+    const n01 = grad3[g01] * x + grad3[g01 + 1] * y1;
+    const n10 = grad3[g10] * x1 + grad3[g10 + 1] * y;
+    const n11 = grad3[g11] * x1 + grad3[g11 + 1] * y1;
+    // Compute the fade curve value for x
+    const u = fade(x);
+    // Interpolate the four results
+    return lerp(lerp(n00, n10, u), lerp(n01, n11, u), fade(y));
+}
+
+export { create, sample };
+//# sourceMappingURL=perlin2d.js.map

package/dist/noise/perlin2d.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"perlin2d.js","sources":["../../src/noise/perlin2d.ts"],"sourcesContent":["import { fade, lerp } from '../core/scalar';\nimport { createPermutation, type Permutation } from './permutation';\n\n/** A seeded 2D Perlin noise generator. Create one with {@link create}. */\nexport type Perlin2DGenerator = Permutation;\n\n/**\n * Creates a 2D Perlin noise generator with the given seed.\n *\n * @param seed The seed value for the noise generator\n * @returns A generator to pass to {@link sample}\n */\nexport function create(seed: number): Perlin2DGenerator {\n    return createPermutation(seed);\n}\n\n/**\n * Samples 2D Perlin noise.\n *\n * @param generator A generator created with {@link create}\n * @param x X coordinate\n * @param y Y coordinate\n * @returns The noise value at (x, y)\n */\nexport function sample({ perm, grad3 }: Perlin2DGenerator, x: number, y: number): number {\n    // Find unit grid cell containing point\n    let X = Math.floor(x);\n    let Y = Math.floor(y);\n    // Get relative xy coordinates of point within that cell\n    x = x - X;\n    y = y - Y;\n    // Wrap the integer cells at 255 (smaller integer period can be introduced here)\n    X = X & 255;\n    Y = Y & 255;\n\n    const x1 = x - 1;\n    const y1 = y - 1;\n\n    // Hashed gradient indices of the four corners (flat xyz triples in grad3)\n    const g00 = (X + perm[Y]) * 3;\n    const g01 = (X + perm[Y + 1]) * 3;\n    const g10 = (X + 1 + perm[Y]) * 3;\n    const g11 = (X + 1 + perm[Y + 1]) * 3;\n\n    // Calculate noise contributions from each of the four corners\n    const n00 = grad3[g00] * x + grad3[g00 + 1] * y;\n    const n01 = grad3[g01] * x + grad3[g01 + 1] * y1;\n    const n10 = grad3[g10] * x1 + grad3[g10 + 1] * y;\n    const n11 = grad3[g11] * x1 + grad3[g11 + 1] * y1;\n\n    // Compute the fade curve value for x\n    const u = fade(x);\n\n    // Interpolate the four results\n    return lerp(lerp(n00, n10, u), lerp(n01, n11, u), fade(y));\n}\n"],"names":[],"mappings":";;;AAMA;;;;;AAKG;AACG,SAAU,MAAM,CAAC,IAAY,EAAA;AAC/B,IAAA,OAAO,iBAAiB,CAAC,IAAI,CAAC;AAClC;AAEA;;;;;;;AAOG;AACG,SAAU,MAAM,CAAC,EAAE,IAAI,EAAE,KAAK,EAAqB,EAAE,CAAS,EAAE,CAAS,EAAA;;IAE3E,IAAI,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;IACrB,IAAI,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;;AAErB,IAAA,CAAC,GAAG,CAAC,GAAG,CAAC;AACT,IAAA,CAAC,GAAG,CAAC,GAAG,CAAC;;AAET,IAAA,CAAC,GAAG,CAAC,GAAG,GAAG;AACX,IAAA,CAAC,GAAG,CAAC,GAAG,GAAG;AAEX,IAAA,MAAM,EAAE,GAAG,CAAC,GAAG,CAAC;AAChB,IAAA,MAAM,EAAE,GAAG,CAAC,GAAG,CAAC;;AAGhB,IAAA,MAAM,GAAG,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC;AAC7B,IAAA,MAAM,GAAG,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC;AACjC,IAAA,MAAM,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC;AACjC,IAAA,MAAM,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC;;AAGrC,IAAA,MAAM,GAAG,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC;AAC/C,IAAA,MAAM,GAAG,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,EAAE;AAChD,IAAA,MAAM,GAAG,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC;AAChD,IAAA,MAAM,GAAG,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,EAAE;;AAGjD,IAAA,MAAM,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;;IAGjB,OAAO,IAAI,CAAC,IAAI,CAAC,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC;AAC9D;;;;"}

package/dist/noise/perlin3d.js

@@ -0,0 +1,72 @@
+import { lerp, fade } from '../core/scalar.js';
+import { createPermutation } from './permutation.js';
+
+/**
+ * Creates a 3D Perlin noise generator with the given seed.
+ *
+ * @param seed The seed value for the noise generator
+ * @returns A generator to pass to {@link sample}
+ */
+function create(seed) {
+    return createPermutation(seed);
+}
+/**
+ * Samples 3D Perlin noise.
+ *
+ * @param generator A generator created with {@link create}
+ * @param x X coordinate
+ * @param y Y coordinate
+ * @param z Z coordinate
+ * @returns The noise value at (x, y, z)
+ */
+function sample({ perm, grad3 }, x, y, z) {
+    // Find unit grid cell containing point
+    let X = Math.floor(x);
+    let Y = Math.floor(y);
+    let Z = Math.floor(z);
+    // Get relative xyz coordinates of point within that cell
+    x = x - X;
+    y = y - Y;
+    z = z - Z;
+    // Wrap the integer cells at 255 (smaller integer period can be introduced here)
+    X = X & 255;
+    Y = Y & 255;
+    Z = Z & 255;
+    const x1 = x - 1;
+    const y1 = y - 1;
+    const z1 = z - 1;
+    // Hash the Z and Y rows once; each corner then only needs one more lookup
+    const pz0 = perm[Z];
+    const pz1 = perm[Z + 1];
+    const py00 = perm[Y + pz0];
+    const py01 = perm[Y + pz1];
+    const py10 = perm[Y + 1 + pz0];
+    const py11 = perm[Y + 1 + pz1];
+    // Hashed gradient indices of the eight corners (flat xyz triples in grad3)
+    const g000 = (X + py00) * 3;
+    const g001 = (X + py01) * 3;
+    const g010 = (X + py10) * 3;
+    const g011 = (X + py11) * 3;
+    const g100 = (X + 1 + py00) * 3;
+    const g101 = (X + 1 + py01) * 3;
+    const g110 = (X + 1 + py10) * 3;
+    const g111 = (X + 1 + py11) * 3;
+    // Calculate noise contributions from each of the eight corners
+    const n000 = grad3[g000] * x + grad3[g000 + 1] * y + grad3[g000 + 2] * z;
+    const n001 = grad3[g001] * x + grad3[g001 + 1] * y + grad3[g001 + 2] * z1;
+    const n010 = grad3[g010] * x + grad3[g010 + 1] * y1 + grad3[g010 + 2] * z;
+    const n011 = grad3[g011] * x + grad3[g011 + 1] * y1 + grad3[g011 + 2] * z1;
+    const n100 = grad3[g100] * x1 + grad3[g100 + 1] * y + grad3[g100 + 2] * z;
+    const n101 = grad3[g101] * x1 + grad3[g101 + 1] * y + grad3[g101 + 2] * z1;
+    const n110 = grad3[g110] * x1 + grad3[g110 + 1] * y1 + grad3[g110 + 2] * z;
+    const n111 = grad3[g111] * x1 + grad3[g111 + 1] * y1 + grad3[g111 + 2] * z1;
+    // Compute the fade curve value for x, y, z
+    const u = fade(x);
+    const v = fade(y);
+    const w = fade(z);
+    // Interpolate
+    return lerp(lerp(lerp(n000, n100, u), lerp(n001, n101, u), w), lerp(lerp(n010, n110, u), lerp(n011, n111, u), w), v);
+}
+
+export { create, sample };
+//# sourceMappingURL=perlin3d.js.map

package/dist/noise/perlin3d.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"perlin3d.js","sources":["../../src/noise/perlin3d.ts"],"sourcesContent":["import { fade, lerp } from '../core/scalar';\nimport { createPermutation, type Permutation } from './permutation';\n\n/** A seeded 3D Perlin noise generator. Create one with {@link create}. */\nexport type Perlin3DGenerator = Permutation;\n\n/**\n * Creates a 3D Perlin noise generator with the given seed.\n *\n * @param seed The seed value for the noise generator\n * @returns A generator to pass to {@link sample}\n */\nexport function create(seed: number): Perlin3DGenerator {\n    return createPermutation(seed);\n}\n\n/**\n * Samples 3D Perlin noise.\n *\n * @param generator A generator created with {@link create}\n * @param x X coordinate\n * @param y Y coordinate\n * @param z Z coordinate\n * @returns The noise value at (x, y, z)\n */\nexport function sample({ perm, grad3 }: Perlin3DGenerator, x: number, y: number, z: number): number {\n    // Find unit grid cell containing point\n    let X = Math.floor(x);\n    let Y = Math.floor(y);\n    let Z = Math.floor(z);\n    // Get relative xyz coordinates of point within that cell\n    x = x - X;\n    y = y - Y;\n    z = z - Z;\n    // Wrap the integer cells at 255 (smaller integer period can be introduced here)\n    X = X & 255;\n    Y = Y & 255;\n    Z = Z & 255;\n\n    const x1 = x - 1;\n    const y1 = y - 1;\n    const z1 = z - 1;\n\n    // Hash the Z and Y rows once; each corner then only needs one more lookup\n    const pz0 = perm[Z];\n    const pz1 = perm[Z + 1];\n    const py00 = perm[Y + pz0];\n    const py01 = perm[Y + pz1];\n    const py10 = perm[Y + 1 + pz0];\n    const py11 = perm[Y + 1 + pz1];\n\n    // Hashed gradient indices of the eight corners (flat xyz triples in grad3)\n    const g000 = (X + py00) * 3;\n    const g001 = (X + py01) * 3;\n    const g010 = (X + py10) * 3;\n    const g011 = (X + py11) * 3;\n    const g100 = (X + 1 + py00) * 3;\n    const g101 = (X + 1 + py01) * 3;\n    const g110 = (X + 1 + py10) * 3;\n    const g111 = (X + 1 + py11) * 3;\n\n    // Calculate noise contributions from each of the eight corners\n    const n000 = grad3[g000] * x + grad3[g000 + 1] * y + grad3[g000 + 2] * z;\n    const n001 = grad3[g001] * x + grad3[g001 + 1] * y + grad3[g001 + 2] * z1;\n    const n010 = grad3[g010] * x + grad3[g010 + 1] * y1 + grad3[g010 + 2] * z;\n    const n011 = grad3[g011] * x + grad3[g011 + 1] * y1 + grad3[g011 + 2] * z1;\n    const n100 = grad3[g100] * x1 + grad3[g100 + 1] * y + grad3[g100 + 2] * z;\n    const n101 = grad3[g101] * x1 + grad3[g101 + 1] * y + grad3[g101 + 2] * z1;\n    const n110 = grad3[g110] * x1 + grad3[g110 + 1] * y1 + grad3[g110 + 2] * z;\n    const n111 = grad3[g111] * x1 + grad3[g111 + 1] * y1 + grad3[g111 + 2] * z1;\n\n    // Compute the fade curve value for x, y, z\n    const u = fade(x);\n    const v = fade(y);\n    const w = fade(z);\n\n    // Interpolate\n    return lerp(lerp(lerp(n000, n100, u), lerp(n001, n101, u), w), lerp(lerp(n010, n110, u), lerp(n011, n111, u), w), v);\n}\n"],"names":[],"mappings":";;;AAMA;;;;;AAKG;AACG,SAAU,MAAM,CAAC,IAAY,EAAA;AAC/B,IAAA,OAAO,iBAAiB,CAAC,IAAI,CAAC;AAClC;AAEA;;;;;;;;AAQG;AACG,SAAU,MAAM,CAAC,EAAE,IAAI,EAAE,KAAK,EAAqB,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS,EAAA;;IAEtF,IAAI,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;IACrB,IAAI,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;IACrB,IAAI,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;;AAErB,IAAA,CAAC,GAAG,CAAC,GAAG,CAAC;AACT,IAAA,CAAC,GAAG,CAAC,GAAG,CAAC;AACT,IAAA,CAAC,GAAG,CAAC,GAAG,CAAC;;AAET,IAAA,CAAC,GAAG,CAAC,GAAG,GAAG;AACX,IAAA,CAAC,GAAG,CAAC,GAAG,GAAG;AACX,IAAA,CAAC,GAAG,CAAC,GAAG,GAAG;AAEX,IAAA,MAAM,EAAE,GAAG,CAAC,GAAG,CAAC;AAChB,IAAA,MAAM,EAAE,GAAG,CAAC,GAAG,CAAC;AAChB,IAAA,MAAM,EAAE,GAAG,CAAC,GAAG,CAAC;;AAGhB,IAAA,MAAM,GAAG,GAAG,IAAI,CAAC,CAAC,CAAC;IACnB,MAAM,GAAG,GAAG,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC;IACvB,MAAM,IAAI,GAAG,IAAI,CAAC,CAAC,GAAG,GAAG,CAAC;IAC1B,MAAM,IAAI,GAAG,IAAI,CAAC,CAAC,GAAG,GAAG,CAAC;IAC1B,MAAM,IAAI,GAAG,IAAI,CAAC,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC;IAC9B,MAAM,IAAI,GAAG,IAAI,CAAC,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC;;IAG9B,MAAM,IAAI,GAAG,CAAC,CAAC,GAAG,IAAI,IAAI,CAAC;IAC3B,MAAM,IAAI,GAAG,CAAC,CAAC,GAAG,IAAI,IAAI,CAAC;IAC3B,MAAM,IAAI,GAAG,CAAC,CAAC,GAAG,IAAI,IAAI,CAAC;IAC3B,MAAM,IAAI,GAAG,CAAC,CAAC,GAAG,IAAI,IAAI,CAAC;IAC3B,MAAM,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,IAAI,CAAC;IAC/B,MAAM,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,IAAI,CAAC;IAC/B,MAAM,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,IAAI,CAAC;IAC/B,MAAM,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,IAAI,CAAC;;IAG/B,MAAM,IAAI,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC;IACxE,MAAM,IAAI,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,EAAE;IACzE,MAAM,IAAI,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC;IACzE,MAAM,IAAI,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,EAAE;IAC1E,MAAM,IAAI,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC;IACzE,MAAM,IAAI,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,EAAE;IAC1E,MAAM,IAAI,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,CAAC;IAC1E,MAAM,IAAI,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,KAAK,CAAC,IAAI,GAAG,CAAC,CAAC,GAAG,EAAE;;AAG3E,IAAA,MAAM,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;AACjB,IAAA,MAAM,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;AACjB,IAAA,MAAM,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;;IAGjB,OAAO,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,CAAC,CAAC,EAAE,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,IAAI,CAAC,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,CAAC,CAAC,EAAE,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;AACxH;;;;"}