math 0.0.3 → 0.1.0

package/dist/shapes/plane3.js

@@ -0,0 +1,267 @@
+import { clone as clone$1, copy as copy$1, dot, equals as equals$1, exactEquals as exactEquals$1, negate as negate$1, length, scale, scaleAndAdd } from '../core/vec3.js';
+
+/**
+ * Creates a new plane with normal (0, 1, 0) and constant 0
+ * @returns A new plane
+ */
+function create() {
+    return { normal: [0, 1, 0], constant: 0 };
+}
+/**
+ * Creates a plane from a normal and constant
+ * @param out - The output plane
+ * @param normal - The plane normal (should be unit length)
+ * @param constant - The signed distance from origin
+ * @returns The output plane
+ */
+function fromNormalAndConstant(out, normal, constant) {
+    copy$1(out.normal, normal);
+    out.constant = constant;
+    return out;
+}
+/**
+ * Creates a plane from a normal and a point on the plane
+ * @param out - The output plane
+ * @param normal - The plane normal (should be unit length)
+ * @param point - A point on the plane
+ * @returns The output plane
+ */
+function fromNormalAndPoint(out, normal, point) {
+    copy$1(out.normal, normal);
+    out.constant = -dot(normal, point);
+    return out;
+}
+/**
+ * Creates a plane from three coplanar points
+ * @param out - The output plane
+ * @param a - First point
+ * @param b - Second point
+ * @param c - Third point
+ * @returns The output plane
+ */
+function fromCoplanarPoints(out, a, b, c) {
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    // edge vectors v1 = b - a, v2 = c - a
+    const v1x = b[0] - ax;
+    const v1y = b[1] - ay;
+    const v1z = b[2] - az;
+    const v2x = c[0] - ax;
+    const v2y = c[1] - ay;
+    const v2z = c[2] - az;
+    // normal = normalize(v1 × v2) (matches vec3.normalize: zero-length stays zero)
+    let nx = v1y * v2z - v1z * v2y;
+    let ny = v1z * v2x - v1x * v2z;
+    let nz = v1x * v2y - v1y * v2x;
+    let len = nx * nx + ny * ny + nz * nz;
+    if (len > 0) {
+        len = 1 / Math.sqrt(len);
+    }
+    nx *= len;
+    ny *= len;
+    nz *= len;
+    out.normal[0] = nx;
+    out.normal[1] = ny;
+    out.normal[2] = nz;
+    out.constant = -(nx * ax + ny * ay + nz * az);
+    return out;
+}
+/**
+ * Clones a plane
+ * @param plane - The plane to clone
+ * @returns A new plane
+ */
+function clone(plane) {
+    return {
+        normal: clone$1(plane.normal),
+        constant: plane.constant,
+    };
+}
+/**
+ * Copies one plane to another
+ * @param out - The output plane
+ * @param plane - The source plane
+ * @returns The output plane
+ */
+function copy(out, plane) {
+    copy$1(out.normal, plane.normal);
+    out.constant = plane.constant;
+    return out;
+}
+/**
+ * Normalizes a plane (ensures the normal vector is unit length)
+ * @param out - The output plane
+ * @param plane - The input plane
+ * @returns The normalized plane
+ */
+function normalize(out, plane) {
+    const invMagnitude = 1.0 / length(plane.normal);
+    scale(out.normal, plane.normal, invMagnitude);
+    out.constant = plane.constant * invMagnitude;
+    return out;
+}
+/**
+ * Negates a plane (flips the normal and constant)
+ * @param out - The output plane
+ * @param plane - The input plane
+ * @returns The negated plane
+ */
+function negate(out, plane) {
+    negate$1(out.normal, plane.normal);
+    out.constant = -plane.constant;
+    return out;
+}
+/**
+ * Offsets a plane by a distance along its normal
+ * @param out - The output plane
+ * @param plane - The input plane
+ * @param distance - The distance to offset (positive = in direction of normal)
+ * @returns The offset plane
+ */
+function offset(out, plane, distance) {
+    copy$1(out.normal, plane.normal);
+    out.constant = plane.constant - distance;
+    return out;
+}
+/**
+ * Calculates the signed distance from a point to the plane
+ * @param plane - The plane
+ * @param point - The point
+ * @returns The signed distance (positive = in direction of normal)
+ */
+function distanceToPoint(plane, point) {
+    return dot(plane.normal, point) + plane.constant;
+}
+/**
+ * Projects a point onto the plane
+ * @param out - The output point
+ * @param plane - The plane
+ * @param point - The point to project
+ * @returns The projected point
+ */
+function projectPoint(out, plane, point) {
+    const distance = distanceToPoint(plane, point);
+    return scaleAndAdd(out, point, plane.normal, -distance);
+}
+/**
+ * Transforms a plane by a 4x4 matrix
+ * @param out - The output plane
+ * @param plane - The plane to transform
+ * @param matrix - The transformation matrix
+ * @returns The transformed plane
+ */
+function transform(out, plane, matrix) {
+    // Transform the normal by the inverse transpose of the matrix
+    // For a proper implementation, you'd need mat4.invert and proper normal transformation
+    // This is a simplified version (rotation-only normal transform). fully scalar, no allocations.
+    const inx = plane.normal[0];
+    const iny = plane.normal[1];
+    const inz = plane.normal[2];
+    // a point on the plane: normal * -constant
+    const px = inx * -plane.constant;
+    const py = iny * -plane.constant;
+    const pz = inz * -plane.constant;
+    // transform normal (rotation part only)
+    let nx = matrix[0] * inx + matrix[4] * iny + matrix[8] * inz;
+    let ny = matrix[1] * inx + matrix[5] * iny + matrix[9] * inz;
+    let nz = matrix[2] * inx + matrix[6] * iny + matrix[10] * inz;
+    // transform the point by the full matrix (matches vec3.transformMat4, incl. w divide)
+    let w = matrix[3] * px + matrix[7] * py + matrix[11] * pz + matrix[15];
+    w = w || 1.0;
+    const tpx = (matrix[0] * px + matrix[4] * py + matrix[8] * pz + matrix[12]) / w;
+    const tpy = (matrix[1] * px + matrix[5] * py + matrix[9] * pz + matrix[13]) / w;
+    const tpz = (matrix[2] * px + matrix[6] * py + matrix[10] * pz + matrix[14]) / w;
+    // normalize transformed normal (matches vec3.normalize)
+    let len = nx * nx + ny * ny + nz * nz;
+    if (len > 0) {
+        len = 1 / Math.sqrt(len);
+    }
+    nx *= len;
+    ny *= len;
+    nz *= len;
+    out.normal[0] = nx;
+    out.normal[1] = ny;
+    out.normal[2] = nz;
+    out.constant = -(nx * tpx + ny * tpy + nz * tpz);
+    return out;
+}
+/**
+ * Tests if a sphere intersects the plane
+ * @param plane - The plane
+ * @param sphere - The sphere
+ * @returns True if they intersect
+ */
+function intersectsSphere(plane, sphere) {
+    const distance = Math.abs(distanceToPoint(plane, sphere.center));
+    return distance <= sphere.radius;
+}
+/**
+ * Tests if two planes are exactly equal
+ * @param a - First plane
+ * @param b - Second plane
+ * @returns True if planes are exactly equal
+ */
+function exactEquals(a, b) {
+    return exactEquals$1(a.normal, b.normal) && a.constant === b.constant;
+}
+/**
+ * Finds the intersection point of three planes
+ * @param out - The output point where the three planes intersect
+ * @param p1 - First plane
+ * @param p2 - Second plane
+ * @param p3 - Third plane
+ * @returns True if intersection exists, false if planes are degenerate or parallel
+ */
+function intersect(out, p1, p2, p3) {
+    // point = -(d1*(N2×N3) + d2*(N3×N1) + d3*(N1×N2)) / (N1·(N2×N3))
+    // Cramer's rule: the three cross products are the columns of adj(M) and are reused
+    // between the determinant and the numerator. fully scalar, zero allocations.
+    const n1x = p1.normal[0];
+    const n1y = p1.normal[1];
+    const n1z = p1.normal[2];
+    const n2x = p2.normal[0];
+    const n2y = p2.normal[1];
+    const n2z = p2.normal[2];
+    const n3x = p3.normal[0];
+    const n3y = p3.normal[1];
+    const n3z = p3.normal[2];
+    // N2 × N3
+    const c1x = n2y * n3z - n2z * n3y;
+    const c1y = n2z * n3x - n2x * n3z;
+    const c1z = n2x * n3y - n2y * n3x;
+    // denominator: N1 · (N2 × N3)
+    const denom = n1x * c1x + n1y * c1y + n1z * c1z;
+    // planes are parallel or degenerate (determinant is zero)
+    if (Math.abs(denom) < 0.000001) {
+        return false;
+    }
+    // N3 × N1
+    const c2x = n3y * n1z - n3z * n1y;
+    const c2y = n3z * n1x - n3x * n1z;
+    const c2z = n3x * n1y - n3y * n1x;
+    // N1 × N2
+    const c3x = n1y * n2z - n1z * n2y;
+    const c3y = n1z * n2x - n1x * n2z;
+    const c3z = n1x * n2y - n1y * n2x;
+    const d1 = p1.constant;
+    const d2 = p2.constant;
+    const d3 = p3.constant;
+    const s = -1 / denom;
+    out[0] = (d1 * c1x + d2 * c2x + d3 * c3x) * s;
+    out[1] = (d1 * c1y + d2 * c2y + d3 * c3y) * s;
+    out[2] = (d1 * c1z + d2 * c2z + d3 * c3z) * s;
+    return true;
+}
+/**
+ * Tests if two planes are equal
+ * @param a - First plane
+ * @param b - Second plane
+ * @returns True if planes are equal
+ */
+function equals(a, b) {
+    return equals$1(a.normal, b.normal) && Math.abs(a.constant - b.constant) < 0.000001;
+}
+
+export { clone, copy, create, distanceToPoint, equals, exactEquals, fromCoplanarPoints, fromNormalAndConstant, fromNormalAndPoint, intersect, intersectsSphere, negate, normalize, offset, projectPoint, transform };
+//# sourceMappingURL=plane3.js.map

package/dist/shapes/plane3.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"plane3.js","sources":["../../src/shapes/plane3.ts"],"sourcesContent":["import type { Mat4 } from '../core/mat4';\nimport type { Vec3 } from '../core/vec3';\nimport * as vec3 from '../core/vec3';\nimport type { Sphere } from './sphere';\n\n/**\n * A plane in 3D space\n * normal - a unit length vector defining the normal of the plane.\n * constant - the signed distance from the origin to the plane.\n */\nexport type Plane3 = { normal: Vec3; constant: number };\n\n/**\n * Creates a new plane with normal (0, 1, 0) and constant 0\n * @returns A new plane\n */\nexport function create(): Plane3 {\n    return { normal: [0, 1, 0], constant: 0 };\n}\n\n/**\n * Creates a plane from a normal and constant\n * @param out - The output plane\n * @param normal - The plane normal (should be unit length)\n * @param constant - The signed distance from origin\n * @returns The output plane\n */\nexport function fromNormalAndConstant(out: Plane3, normal: Vec3, constant: number): Plane3 {\n    vec3.copy(out.normal, normal);\n    out.constant = constant;\n    return out;\n}\n\n/**\n * Creates a plane from a normal and a point on the plane\n * @param out - The output plane\n * @param normal - The plane normal (should be unit length)\n * @param point - A point on the plane\n * @returns The output plane\n */\nexport function fromNormalAndPoint(out: Plane3, normal: Vec3, point: Vec3): Plane3 {\n    vec3.copy(out.normal, normal);\n    out.constant = -vec3.dot(normal, point);\n    return out;\n}\n\n/**\n * Creates a plane from three coplanar points\n * @param out - The output plane\n * @param a - First point\n * @param b - Second point\n * @param c - Third point\n * @returns The output plane\n */\nexport function fromCoplanarPoints(out: Plane3, a: Vec3, b: Vec3, c: Vec3): Plane3 {\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n\n    // edge vectors v1 = b - a, v2 = c - a\n    const v1x = b[0] - ax;\n    const v1y = b[1] - ay;\n    const v1z = b[2] - az;\n    const v2x = c[0] - ax;\n    const v2y = c[1] - ay;\n    const v2z = c[2] - az;\n\n    // normal = normalize(v1 × v2) (matches vec3.normalize: zero-length stays zero)\n    let nx = v1y * v2z - v1z * v2y;\n    let ny = v1z * v2x - v1x * v2z;\n    let nz = v1x * v2y - v1y * v2x;\n    let len = nx * nx + ny * ny + nz * nz;\n    if (len > 0) {\n        len = 1 / Math.sqrt(len);\n    }\n    nx *= len;\n    ny *= len;\n    nz *= len;\n\n    out.normal[0] = nx;\n    out.normal[1] = ny;\n    out.normal[2] = nz;\n    out.constant = -(nx * ax + ny * ay + nz * az);\n\n    return out;\n}\n\n/**\n * Clones a plane\n * @param plane - The plane to clone\n * @returns A new plane\n */\nexport function clone(plane: Plane3): Plane3 {\n    return {\n        normal: vec3.clone(plane.normal),\n        constant: plane.constant,\n    };\n}\n\n/**\n * Copies one plane to another\n * @param out - The output plane\n * @param plane - The source plane\n * @returns The output plane\n */\nexport function copy(out: Plane3, plane: Plane3): Plane3 {\n    vec3.copy(out.normal, plane.normal);\n    out.constant = plane.constant;\n    return out;\n}\n\n/**\n * Normalizes a plane (ensures the normal vector is unit length)\n * @param out - The output plane\n * @param plane - The input plane\n * @returns The normalized plane\n */\nexport function normalize(out: Plane3, plane: Plane3): Plane3 {\n    const invMagnitude = 1.0 / vec3.length(plane.normal);\n    vec3.scale(out.normal, plane.normal, invMagnitude);\n    out.constant = plane.constant * invMagnitude;\n    return out;\n}\n\n/**\n * Negates a plane (flips the normal and constant)\n * @param out - The output plane\n * @param plane - The input plane\n * @returns The negated plane\n */\nexport function negate(out: Plane3, plane: Plane3): Plane3 {\n    vec3.negate(out.normal, plane.normal);\n    out.constant = -plane.constant;\n    return out;\n}\n\n/**\n * Offsets a plane by a distance along its normal\n * @param out - The output plane\n * @param plane - The input plane\n * @param distance - The distance to offset (positive = in direction of normal)\n * @returns The offset plane\n */\nexport function offset(out: Plane3, plane: Plane3, distance: number): Plane3 {\n    vec3.copy(out.normal, plane.normal);\n    out.constant = plane.constant - distance;\n    return out;\n}\n\n/**\n * Calculates the signed distance from a point to the plane\n * @param plane - The plane\n * @param point - The point\n * @returns The signed distance (positive = in direction of normal)\n */\nexport function distanceToPoint(plane: Plane3, point: Vec3): number {\n    return vec3.dot(plane.normal, point) + plane.constant;\n}\n\n/**\n * Projects a point onto the plane\n * @param out - The output point\n * @param plane - The plane\n * @param point - The point to project\n * @returns The projected point\n */\nexport function projectPoint(out: Vec3, plane: Plane3, point: Vec3): Vec3 {\n    const distance = distanceToPoint(plane, point);\n    return vec3.scaleAndAdd(out, point, plane.normal, -distance);\n}\n\n/**\n * Transforms a plane by a 4x4 matrix\n * @param out - The output plane\n * @param plane - The plane to transform\n * @param matrix - The transformation matrix\n * @returns The transformed plane\n */\nexport function transform(out: Plane3, plane: Plane3, matrix: Mat4): Plane3 {\n    // Transform the normal by the inverse transpose of the matrix\n    // For a proper implementation, you'd need mat4.invert and proper normal transformation\n    // This is a simplified version (rotation-only normal transform). fully scalar, no allocations.\n    const inx = plane.normal[0];\n    const iny = plane.normal[1];\n    const inz = plane.normal[2];\n\n    // a point on the plane: normal * -constant\n    const px = inx * -plane.constant;\n    const py = iny * -plane.constant;\n    const pz = inz * -plane.constant;\n\n    // transform normal (rotation part only)\n    let nx = matrix[0] * inx + matrix[4] * iny + matrix[8] * inz;\n    let ny = matrix[1] * inx + matrix[5] * iny + matrix[9] * inz;\n    let nz = matrix[2] * inx + matrix[6] * iny + matrix[10] * inz;\n\n    // transform the point by the full matrix (matches vec3.transformMat4, incl. w divide)\n    let w = matrix[3] * px + matrix[7] * py + matrix[11] * pz + matrix[15];\n    w = w || 1.0;\n    const tpx = (matrix[0] * px + matrix[4] * py + matrix[8] * pz + matrix[12]) / w;\n    const tpy = (matrix[1] * px + matrix[5] * py + matrix[9] * pz + matrix[13]) / w;\n    const tpz = (matrix[2] * px + matrix[6] * py + matrix[10] * pz + matrix[14]) / w;\n\n    // normalize transformed normal (matches vec3.normalize)\n    let len = nx * nx + ny * ny + nz * nz;\n    if (len > 0) {\n        len = 1 / Math.sqrt(len);\n    }\n    nx *= len;\n    ny *= len;\n    nz *= len;\n\n    out.normal[0] = nx;\n    out.normal[1] = ny;\n    out.normal[2] = nz;\n    out.constant = -(nx * tpx + ny * tpy + nz * tpz);\n\n    return out;\n}\n\n/**\n * Tests if a sphere intersects the plane\n * @param plane - The plane\n * @param sphere - The sphere\n * @returns True if they intersect\n */\nexport function intersectsSphere(plane: Plane3, sphere: Sphere): boolean {\n    const distance = Math.abs(distanceToPoint(plane, sphere.center));\n    return distance <= sphere.radius;\n}\n\n/**\n * Tests if two planes are exactly equal\n * @param a - First plane\n * @param b - Second plane\n * @returns True if planes are exactly equal\n */\nexport function exactEquals(a: Plane3, b: Plane3): boolean {\n    return vec3.exactEquals(a.normal, b.normal) && a.constant === b.constant;\n}\n\n/**\n * Finds the intersection point of three planes\n * @param out - The output point where the three planes intersect\n * @param p1 - First plane\n * @param p2 - Second plane\n * @param p3 - Third plane\n * @returns True if intersection exists, false if planes are degenerate or parallel\n */\nexport function intersect(out: Vec3, p1: Plane3, p2: Plane3, p3: Plane3): boolean {\n    // point = -(d1*(N2×N3) + d2*(N3×N1) + d3*(N1×N2)) / (N1·(N2×N3))\n    // Cramer's rule: the three cross products are the columns of adj(M) and are reused\n    // between the determinant and the numerator. fully scalar, zero allocations.\n    const n1x = p1.normal[0];\n    const n1y = p1.normal[1];\n    const n1z = p1.normal[2];\n    const n2x = p2.normal[0];\n    const n2y = p2.normal[1];\n    const n2z = p2.normal[2];\n    const n3x = p3.normal[0];\n    const n3y = p3.normal[1];\n    const n3z = p3.normal[2];\n\n    // N2 × N3\n    const c1x = n2y * n3z - n2z * n3y;\n    const c1y = n2z * n3x - n2x * n3z;\n    const c1z = n2x * n3y - n2y * n3x;\n\n    // denominator: N1 · (N2 × N3)\n    const denom = n1x * c1x + n1y * c1y + n1z * c1z;\n\n    // planes are parallel or degenerate (determinant is zero)\n    if (Math.abs(denom) < 0.000001) {\n        return false;\n    }\n\n    // N3 × N1\n    const c2x = n3y * n1z - n3z * n1y;\n    const c2y = n3z * n1x - n3x * n1z;\n    const c2z = n3x * n1y - n3y * n1x;\n\n    // N1 × N2\n    const c3x = n1y * n2z - n1z * n2y;\n    const c3y = n1z * n2x - n1x * n2z;\n    const c3z = n1x * n2y - n1y * n2x;\n\n    const d1 = p1.constant;\n    const d2 = p2.constant;\n    const d3 = p3.constant;\n    const s = -1 / denom;\n\n    out[0] = (d1 * c1x + d2 * c2x + d3 * c3x) * s;\n    out[1] = (d1 * c1y + d2 * c2y + d3 * c3y) * s;\n    out[2] = (d1 * c1z + d2 * c2z + d3 * c3z) * s;\n\n    return true;\n}\n\n/**\n * Tests if two planes are equal\n * @param a - First plane\n * @param b - Second plane\n * @returns True if planes are equal\n */\nexport function equals(a: Plane3, b: Plane3): boolean {\n    return vec3.equals(a.normal, b.normal) && Math.abs(a.constant - b.constant) < 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