Module geometry3d 

Shared three-dimensional vector operations.

Functions

add3

cross3

dot3

len3

mat4_mul_row_major

Row-major matrix composition. Valid affine results use the kernel’s arithmetic. Keep the raw result for singular/projective/nonfinite display matrices: these callers historically accepted them, unlike AffineTransform::compose.

mat4_rigid_inverse

Transpose the rotation and invert its translation, preserving the raw result even when the kernel’s affine-result validator refuses the display matrix. As with the kernel helper, the caller is responsible for rigidity.

norm3

normalize3

Normalize a finite vector whose length exceeds 1e-12.

normalize3_or

Normalize or return the caller’s fallback unchanged.

rotate3

Rotate v around unit axis by angle (Rodrigues).

scale3

sub3