@web-engine-dev/math

---

@web-engine-dev/math / Transform

Class: Transform

A 3D transform composed of position, rotation, and scale. Immutable by design - all operations return new instances.

Example

// Create a transform at position (10, 0, 5) rotated 45° around Y
const transform = new Transform(
  new Vec3(10, 0, 5),
  Quat.fromAxisAngle(Vec3.up(), Math.PI / 4),
  Vec3.one()
);

// Transform a point from local to world space
const worldPos = transform.transformPoint(localPos);

Constructors

Constructor

new Transform(position?, rotation?, scale?): Transform

Parameters

position?

Vec3 = ...

rotation?

Quat = ...

scale?

Vec3 = ...

Returns

Transform

Properties

position

readonly position: Vec3

---

rotation

readonly rotation: Quat

---

scale

readonly scale: Vec3

Methods

compose()

compose(parent): Transform

Computes the composition of transforms: parent * this. The result represents this transform in the parent's space.

Parameters

parent

Transform

Parent transform

Returns

Transform

Combined transform

Example

const parent = Transform.fromPosition(new Vec3(10, 0, 0));
const child = Transform.fromPosition(new Vec3(0, 5, 0));
const worldTransform = child.compose(parent);  // Child at (10, 5, 0)

---

equals()

equals(t, epsilon?): boolean

Parameters

t

Transform

epsilon?

number = 0

Returns

boolean

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forward()

forward(): Vec3

Returns

Vec3

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inverseTransformDirection()

inverseTransformDirection(direction): Vec3

Transforms a direction from world space to local space (ignores position).

Parameters

direction

Vec3

Returns

Vec3

---

inverseTransformPoint()

inverseTransformPoint(point): Vec3

Transforms a point from world space to local space.

Parameters

point

Vec3

Returns

Vec3

---

invert()

invert(): Transform

Computes the inverse transform.

Returns

Transform

---

lerp()

lerp(target, t): Transform

Parameters

target

Transform

t

number

Returns

Transform

---

right()

right(): Vec3

Returns

Vec3

---

rotate()

rotate(rotation): Transform

Parameters

rotation

Quat

Returns

Transform

---

rotateLocal()

rotateLocal(rotation): Transform

Parameters

rotation

Quat

Returns

Transform

---

scaleBy()

scaleBy(factor): Transform

Parameters

factor

Vec3

Returns

Transform

---

scaleUniform()

scaleUniform(factor): Transform

Parameters

factor

number

Returns

Transform

---

toMat4()

toMat4(): Mat4

Converts to a 4x4 transformation matrix.

Returns

Mat4

---

toString()

toString(): string

Returns

string

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transformDirection()

transformDirection(direction): Vec3

Transforms a direction from local space to world space (ignores position).

Parameters

direction

Vec3

Returns

Vec3

---

transformPoint()

transformPoint(point): Vec3

Transforms a point from local space to world space.

Parameters

point

Vec3

Point in local space

Returns

Vec3

Point in world space

Example

const transform = Transform.fromPosition(new Vec3(100, 0, 0));
const localPoint = new Vec3(5, 0, 0);
const worldPoint = transform.transformPoint(localPoint);  // (105, 0, 0)

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translate()

translate(delta): Transform

Parameters

delta

Vec3

Returns

Transform

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up()

up(): Vec3

Returns

Vec3

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withPosition()

withPosition(position): Transform

Parameters

position

Vec3

Returns

Transform

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withRotation()

withRotation(rotation): Transform

Parameters

rotation

Quat

Returns

Transform

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withScale()

withScale(scale): Transform

Parameters

scale

Vec3

Returns

Transform

---

withUniformScale()

withUniformScale(scale): Transform

Parameters

scale

number

Returns

Transform

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fromMat4()

static fromMat4(m): Transform

Creates a transform from a 4x4 matrix. Note: The matrix should be a valid TRS (Translation-Rotation-Scale) matrix.

Parameters

m

Mat4

Returns

Transform

---

fromPosition()

static fromPosition(position): Transform

Parameters

position

Vec3

Returns

Transform

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fromRotation()

static fromRotation(rotation): Transform

Parameters

rotation

Quat

Returns

Transform

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fromScale()

static fromScale(scale): Transform

Parameters

scale

Vec3

Returns

Transform

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fromUniformScale()

static fromUniformScale(scale): Transform

Parameters

scale

number

Returns

Transform

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identity()

static identity(): Transform

Returns

Transform