From 6a11afd9516ab0c17df2e793b1989125025ed118 Mon Sep 17 00:00:00 2001
From: waynemwashuma <94756970+waynemwashuma@users.noreply.github.com>
Date: Thu, 18 Sep 2025 00:20:55 +0300
Subject: [PATCH 1/5] Change `Orientation2D` to type `Rotary`

---
 src/transform/components/2d/orientation.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/transform/components/2d/orientation.js b/src/transform/components/2d/orientation.js
index 77012b7d..12e54544 100644
--- a/src/transform/components/2d/orientation.js
+++ b/src/transform/components/2d/orientation.js
@@ -1,3 +1,3 @@
-import { Angle } from '../../../math/index.js'
+import { Rotary } from '../../../math/index.js'
 
-export class Orientation2D extends Angle{}
\ No newline at end of file
+export class Orientation2D extends Rotary {}
\ No newline at end of file

From 8550eec8deec7870ab829dc022c2698e9ae97e50 Mon Sep 17 00:00:00 2001
From: waynemwashuma <94756970+waynemwashuma@users.noreply.github.com>
Date: Thu, 18 Sep 2025 00:21:09 +0300
Subject: [PATCH 2/5] Add `Rotary.slerp`

---
 src/math/core/angles/rotary.js | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/src/math/core/angles/rotary.js b/src/math/core/angles/rotary.js
index 377fbad3..231eb0ed 100644
--- a/src/math/core/angles/rotary.js
+++ b/src/math/core/angles/rotary.js
@@ -313,6 +313,21 @@ export class Rotary {
     return TAU - angle
   }
 
+  /**
+   * @param {Rotary} a
+   * @param {Rotary} b
+   * @param {number} t
+   */
+  static slerp(a,b,t, out = new Rotary()){
+    const x = (a.cos + b.cos) * t
+    const y = (a.sin + b.sin) * t
+    const length = Math.sqrt(x * x + y * y)
+
+    out.cos = x / length
+    out.sin = y / length
+    return out
+  }
+
   /**
    * @param {Rotary} rot1
    * @param {Rotary} rot2

From bb769977012745bcd2ffa98f7d0476a4ed5c2c6d Mon Sep 17 00:00:00 2001
From: waynemwashuma <94756970+waynemwashuma@users.noreply.github.com>
Date: Thu, 18 Sep 2025 00:21:15 +0300
Subject: [PATCH 3/5] Update functionality using `Orientation2D`

---
 demos/demos/transform/2d/lookat.js      |  6 +++---
 demos/demos/transform/2d/propagate.js   |  9 +++++----
 src/animation/core/animationeffector.js |  3 ++-
 src/integrator/systems/euler.js         |  5 +++--
 src/integrator/systems/verlet.js        |  4 ++--
 src/movable/prefabs/movable2d.js        |  4 ++--
 src/movable/prefabs/movable3d.js        |  4 ++--
 src/physics/systems/physics.js          |  3 ++-
 src/render-core/prefabs/camera2d.js     |  4 ++--
 src/render-core/prefabs/camera3d.js     | 21 ++++++++-------------
 src/transform/prefabs/transform.js      |  2 +-
 src/transform/systems/remote.js         |  2 +-
 src/transform/systems/transform.js      |  2 +-
 src/tween/plugin.js                     |  4 ++--
 14 files changed, 36 insertions(+), 37 deletions(-)

diff --git a/demos/demos/transform/2d/lookat.js b/demos/demos/transform/2d/lookat.js
index e462a3e8..000aecf4 100644
--- a/demos/demos/transform/2d/lookat.js
+++ b/demos/demos/transform/2d/lookat.js
@@ -95,7 +95,8 @@ function updateLookers(world) {
     target[0].x,
     target[0].y
   )
-
+  const offset = Rotary.fromAngle(-HALF_PI)
+  
   lookers.each(([orientation, transform]) => {
     const position = new Vector2(
       transform.x,
@@ -105,9 +106,8 @@ function updateLookers(world) {
 
     // eslint-disable-next-line no-unused-vars
     const [_, finalOrientation] = lookAt.decompose()
-    const angle = Rotary.toAngle(finalOrientation)
 
-    orientation.value = angle - HALF_PI
+    orientation.copy(finalOrientation.multiply(offset))
   })
 }
 
diff --git a/demos/demos/transform/2d/propagate.js b/demos/demos/transform/2d/propagate.js
index 3a6df752..24cd89d4 100644
--- a/demos/demos/transform/2d/propagate.js
+++ b/demos/demos/transform/2d/propagate.js
@@ -18,7 +18,8 @@ import {
   without,
   has,
   PI,
-  QUARTER_PI
+  QUARTER_PI,
+  Rotary
 } from 'wima'
 import { addDefaultCamera2D } from '../../utils.js'
 
@@ -85,7 +86,7 @@ function update(world) {
 
   if(!parent || !child || !grandChild) return
 
-  parent[0].value += QUARTER_PI * delta
-  child[0].value += QUARTER_PI * delta
-  grandChild[0].value += PI * delta
+  parent[0].multiply(Rotary.fromAngle(QUARTER_PI * delta))
+  child[0].multiply(Rotary.fromAngle(QUARTER_PI * delta))
+  grandChild[0].multiply(Rotary.fromAngle(PI * delta))
 }
\ No newline at end of file
diff --git a/src/animation/core/animationeffector.js b/src/animation/core/animationeffector.js
index bb5e8a40..6e575b3e 100644
--- a/src/animation/core/animationeffector.js
+++ b/src/animation/core/animationeffector.js
@@ -1,5 +1,6 @@
 /** @import { Entity } from '../../ecs/index.js' */
 import { World } from '../../ecs/registry.js'
+import { Rotary } from '../../math/index.js'
 import { Position2D, Orientation2D, Scale2D, Position3D, Orientation3D, Scale3D } from '../../transform/index.js'
 
 /**
@@ -65,7 +66,7 @@ export class Orientation2DAnimationEffector extends AnimationEffector {
   static apply(world, entity, results) {
     const component = world.get(entity, this.componentType)
     
-    component.value = results[0]
+    component.copy(Rotary.fromAngle(results[0]))
   }
   static elementSize() {
     return 1
diff --git a/src/integrator/systems/euler.js b/src/integrator/systems/euler.js
index d790fa81..d63bae7a 100644
--- a/src/integrator/systems/euler.js
+++ b/src/integrator/systems/euler.js
@@ -1,5 +1,5 @@
 import { Query, World } from '../../ecs/index.js'
-import { Quaternion, Vector2, Vector3 } from '../../math/index.js'
+import { Quaternion, Rotary, Vector2, Vector3 } from '../../math/index.js'
 import { Acceleration2D, Acceleration3D, Rotation2D, Rotation3D, Torque2D, Torque3D, Velocity2D, Velocity3D } from '../../movable/index.js'
 import { Orientation2D, Orientation3D, Position2D, Position3D } from '../../transform/index.js'
 
@@ -57,7 +57,8 @@ export function updateOrientationEuler2D(world) {
   const dt = 1 / 60
 
   query.each(([orientation, rotation]) => {
-    orientation.value += rotation.value * dt
+    const angle = Rotary.fromAngle(rotation.value * dt)
+    orientation.multiply(angle)
   })
 }
 
diff --git a/src/integrator/systems/verlet.js b/src/integrator/systems/verlet.js
index c02ddba4..24572f7d 100644
--- a/src/integrator/systems/verlet.js
+++ b/src/integrator/systems/verlet.js
@@ -1,5 +1,5 @@
 import { Query, World } from '../../ecs/index.js'
-import { Vector2 } from '../../math/index.js'
+import { Rotary, Vector2 } from '../../math/index.js'
 import { Acceleration2D, Rotation2D, Torque2D, Velocity2D } from '../../movable/index.js'
 import { Orientation2D, Position2D } from '../../transform/index.js'
 
@@ -33,7 +33,7 @@ export function updateOrientationVerlet2D(world) {
   query.each(([orientation, rotation, torque]) => {
     torque.value *= dt * 0.5
     rotation.value += torque.value
-    orientation.value += rotation.value * dt + torque.value * dt
+    orientation.multiply(Rotary.fromAngle(rotation.value * dt + torque.value * dt))
     rotation.value += torque.value * dt * 0.5
     torque.value = 0
   })
diff --git a/src/movable/prefabs/movable2d.js b/src/movable/prefabs/movable2d.js
index 6eaa4b76..b0e9c9dc 100644
--- a/src/movable/prefabs/movable2d.js
+++ b/src/movable/prefabs/movable2d.js
@@ -1,4 +1,4 @@
-import { GlobalTransform2D, Orientation2D, Position2D, Scale2D } from '../../transform/index.js'
+import { createTransform2D, GlobalTransform2D, Orientation2D, Position2D, Scale2D } from '../../transform/index.js'
 import { Velocity2D, Rotation2D, Acceleration2D, Torque2D } from '../components/index.js'
 
 /**
@@ -8,7 +8,7 @@ import { Velocity2D, Rotation2D, Acceleration2D, Torque2D } from '../components/
  * @returns {[Position2D, Orientation2D, Scale2D, GlobalTransform2D, Velocity2D, Rotation2D, Acceleration2D, Torque2D]}
  */
 export function createMovable2D(x = 0, y = 0, a = 0) {
-  return [new Position2D(x, y), new Orientation2D(a), new Scale2D(), new GlobalTransform2D(), new Velocity2D(), new Rotation2D(), new Acceleration2D(), new Torque2D()]
+  return [...createTransform2D(x, y, a), new Velocity2D(), new Rotation2D(), new Acceleration2D(), new Torque2D()]
 }
 
 /**
diff --git a/src/movable/prefabs/movable3d.js b/src/movable/prefabs/movable3d.js
index f2b2669e..09a71961 100644
--- a/src/movable/prefabs/movable3d.js
+++ b/src/movable/prefabs/movable3d.js
@@ -1,11 +1,11 @@
-import { GlobalTransform3D, Orientation3D, Position3D, Scale3D } from '../../transform/index.js'
+import { createTransform3D, GlobalTransform3D, Orientation3D, Position3D, Scale3D } from '../../transform/index.js'
 import { Velocity3D, Rotation3D, Acceleration3D, Torque3D } from '../components/index.js'
 
 /**
  * @returns {[Position3D,Orientation3D, Scale3D,GlobalTransform3D,Velocity3D,Rotation3D,Acceleration3D,Torque3D]}
  */
 export function createMovable3D() {
-  return [new Position3D(), new Orientation3D(), new Scale3D(), new GlobalTransform3D(), new Velocity3D(), new Rotation3D(), new Acceleration3D(), new Torque3D()]
+  return [...createTransform3D(), new Velocity3D(), new Rotation3D(), new Acceleration3D(), new Torque3D()]
 }
 
 /**
diff --git a/src/physics/systems/physics.js b/src/physics/systems/physics.js
index c7dd9ff5..e6b762a3 100644
--- a/src/physics/systems/physics.js
+++ b/src/physics/systems/physics.js
@@ -4,6 +4,7 @@ import { CollisionManifold, Contacts } from '../../narrowphase/index.js'
 import { PhysicsSettings } from '../settings.js'
 import { Collider2D } from '../components/index.js'
 import { Orientation2D, Position2D, Scale2D } from '../../transform/index.js'
+import { Rotary } from '../../math/index.js'
 
 /**
  * @param {World} world
@@ -15,7 +16,7 @@ export function updateBodies(world) {
     Collider2D.update(
       shape,
       position,
-      orientation.value,
+      Rotary.toAngle(orientation),
       scale
     )
   })
diff --git a/src/render-core/prefabs/camera2d.js b/src/render-core/prefabs/camera2d.js
index d729281d..cb61a1a5 100644
--- a/src/render-core/prefabs/camera2d.js
+++ b/src/render-core/prefabs/camera2d.js
@@ -1,4 +1,4 @@
-import { GlobalTransform2D, Orientation2D, Position2D, Scale2D } from '../../transform/index.js'
+import { createTransform2D, GlobalTransform2D, Orientation2D, Position2D, Scale2D } from '../../transform/index.js'
 import { Camera, RenderLists2D } from '../components/index.js'
 
 /**
@@ -10,5 +10,5 @@ import { Camera, RenderLists2D } from '../components/index.js'
  * @returns {[Position2D,Orientation2D,Scale2D,GlobalTransform2D,Camera,RenderLists2D]}
  */
 export function createCamera2D(x = 0, y = 0, a = 0, sx = 1, sy = 1) {
-  return [new Position2D(x, y), new Orientation2D(a), new Scale2D(sx, sy), new GlobalTransform2D(), new Camera(), new RenderLists2D()]
+  return [...createTransform2D(x, y, a, sx, sy), new Camera(), new RenderLists2D()]
 }
\ No newline at end of file
diff --git a/src/render-core/prefabs/camera3d.js b/src/render-core/prefabs/camera3d.js
index 75e30eee..c847e498 100644
--- a/src/render-core/prefabs/camera3d.js
+++ b/src/render-core/prefabs/camera3d.js
@@ -1,5 +1,5 @@
 import { Quaternion } from '../../math/index.js'
-import { Orientation3D, Position3D, Scale3D, GlobalTransform3D } from '../../transform/index.js'
+import { Orientation3D, Position3D, Scale3D, GlobalTransform3D, createTransform3D } from '../../transform/index.js'
 import { Camera, RenderLists3D } from '../components/index.js'
 import { } from '../plugins/index.js'
 
@@ -16,23 +16,18 @@ import { } from '../plugins/index.js'
  * @returns {[Position3D,Orientation3D,Scale3D,GlobalTransform3D,Camera,RenderLists3D]}
  */
 export function createCamera3D(
-  x = 0, 
-  y = 0, 
+  x = 0,
+  y = 0,
   z = 0,
-  ox = 0, 
-  oy = 0, 
+  ox = 0,
+  oy = 0,
   oz = 0,
-  sx = 1, 
-  sy = 1, 
+  sx = 1,
+  sy = 1,
   sz = 1
 ) {
-  const quaternion = Quaternion.fromEuler(ox, oy, oz)
-
   return [
-    new Position3D(x, y, z),
-    new Orientation3D().copy(quaternion),
-    new Scale3D(sx, sy, sz),
-    new GlobalTransform3D(),
+    ...createTransform3D(x, y, z, ox, oy, oz, sx, sy, sz),
     new Camera(),
     new RenderLists3D()
   ]
diff --git a/src/transform/prefabs/transform.js b/src/transform/prefabs/transform.js
index 8642459a..6699e0cf 100644
--- a/src/transform/prefabs/transform.js
+++ b/src/transform/prefabs/transform.js
@@ -17,7 +17,7 @@ export function createTransform2D(
 ) {
   return [
     new Position2D(dx, dy),
-    new Orientation2D(a),
+    new Orientation2D(Math.cos(a),Math.sin(a)),
     new Scale2D(sx, sy),
     new GlobalTransform2D()
   ]
diff --git a/src/transform/systems/remote.js b/src/transform/systems/remote.js
index ad921bec..620113a7 100644
--- a/src/transform/systems/remote.js
+++ b/src/transform/systems/remote.js
@@ -20,7 +20,7 @@ export function transformRemote2D(world) {
       position.copy(entity[0]).add(offPosition)
     }
     if (remote.copyOrientation) {
-      orientation.value = entity[1].value + Rotary.toAngle(offOrientation)
+      orientation.copy(Rotary.multiply(entity[1], offOrientation))
     }
     if (remote.copyScale) {
       scale.copy(entity[2]).multiply(offScale)
diff --git a/src/transform/systems/transform.js b/src/transform/systems/transform.js
index 1686adbd..df042752 100644
--- a/src/transform/systems/transform.js
+++ b/src/transform/systems/transform.js
@@ -11,7 +11,7 @@ export function synctransform2D(world) {
   const query = new Query(world, [Position2D, Orientation2D, Scale2D, GlobalTransform2D])
 
   query.each(([position, orientation, scale, transform]) => {
-    transform.compose(position, Rotary.fromAngle(orientation.value), scale)
+    transform.compose(position, orientation, scale)
   })
 }
 
diff --git a/src/tween/plugin.js b/src/tween/plugin.js
index e9bb4680..c8cb1e3f 100644
--- a/src/tween/plugin.js
+++ b/src/tween/plugin.js
@@ -11,7 +11,7 @@ import {
   TweenRepeat,
   Tween
 } from './components/index.js'
-import { Vector2, Quaternion, Vector3, Angle } from '../math/index.js'
+import { Vector2, Quaternion, Vector3, Angle, Rotary } from '../math/index.js'
 import { generateTweenFlipSystem, generateTweenRepeatTween, generateTweenTimerSystem, generateTweenUpdateSystem } from './systems/index.js'
 import { Orientation2D, Orientation3D, Position2D, Position3D, Scale2D, Scale3D } from '../transform/index.js'
 import { typeidGeneric } from '../reflect/index.js'
@@ -36,7 +36,7 @@ export class DefaultTweenPlugin extends Plugin {
       .registerPlugin(new TweenPlugin({
         component: Orientation2D,
         tween: Orientation2DTween,
-        interpolation: Angle.lerp
+        interpolation: Rotary.slerp
       }))
       .registerPlugin(new TweenPlugin({
         component: Orientation3D,

From cfd44ffceaab7d5e171233621185bafad9ef5f0a Mon Sep 17 00:00:00 2001
From: waynemwashuma <94756970+waynemwashuma@users.noreply.github.com>
Date: Thu, 18 Sep 2025 00:21:28 +0300
Subject: [PATCH 4/5] Fix `Rotary.multiply` instance method

Ensure results are copied to calling rotary
---
 src/math/core/angles/rotary.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/math/core/angles/rotary.js b/src/math/core/angles/rotary.js
index 231eb0ed..b131c086 100644
--- a/src/math/core/angles/rotary.js
+++ b/src/math/core/angles/rotary.js
@@ -84,7 +84,7 @@ export class Rotary {
    * @returns {this}
    */
   multiply(rotary) {
-    Rotary.multiply(rotary, this)
+    Rotary.multiply(rotary, this, this)
 
     return this
   }

From d25a413df9da64a176bc3913b5bb148a95e80e69 Mon Sep 17 00:00:00 2001
From: waynemwashuma <94756970+waynemwashuma@users.noreply.github.com>
Date: Sun, 21 Sep 2025 01:17:22 +0300
Subject: [PATCH 5/5] lint files

---
 src/integrator/systems/euler.js     | 1 +
 src/math/core/angles/rotary.js      | 4 +++-
 src/render-core/prefabs/camera3d.js | 1 -
 src/transform/prefabs/transform.js  | 2 +-
 src/transform/systems/transform.js  | 2 +-
 src/tween/plugin.js                 | 2 +-
 6 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/src/integrator/systems/euler.js b/src/integrator/systems/euler.js
index d63bae7a..6c4117db 100644
--- a/src/integrator/systems/euler.js
+++ b/src/integrator/systems/euler.js
@@ -58,6 +58,7 @@ export function updateOrientationEuler2D(world) {
 
   query.each(([orientation, rotation]) => {
     const angle = Rotary.fromAngle(rotation.value * dt)
+
     orientation.multiply(angle)
   })
 }
diff --git a/src/math/core/angles/rotary.js b/src/math/core/angles/rotary.js
index b131c086..fe6e8a4b 100644
--- a/src/math/core/angles/rotary.js
+++ b/src/math/core/angles/rotary.js
@@ -317,14 +317,16 @@ export class Rotary {
    * @param {Rotary} a
    * @param {Rotary} b
    * @param {number} t
+   * @param {Rotary} out
    */
-  static slerp(a,b,t, out = new Rotary()){
+  static slerp(a, b, t, out = new Rotary()){
     const x = (a.cos + b.cos) * t
     const y = (a.sin + b.sin) * t
     const length = Math.sqrt(x * x + y * y)
 
     out.cos = x / length
     out.sin = y / length
+
     return out
   }
 
diff --git a/src/render-core/prefabs/camera3d.js b/src/render-core/prefabs/camera3d.js
index c847e498..efd61965 100644
--- a/src/render-core/prefabs/camera3d.js
+++ b/src/render-core/prefabs/camera3d.js
@@ -1,4 +1,3 @@
-import { Quaternion } from '../../math/index.js'
 import { Orientation3D, Position3D, Scale3D, GlobalTransform3D, createTransform3D } from '../../transform/index.js'
 import { Camera, RenderLists3D } from '../components/index.js'
 import { } from '../plugins/index.js'
diff --git a/src/transform/prefabs/transform.js b/src/transform/prefabs/transform.js
index 6699e0cf..43baa1ee 100644
--- a/src/transform/prefabs/transform.js
+++ b/src/transform/prefabs/transform.js
@@ -17,7 +17,7 @@ export function createTransform2D(
 ) {
   return [
     new Position2D(dx, dy),
-    new Orientation2D(Math.cos(a),Math.sin(a)),
+    new Orientation2D(Math.cos(a), Math.sin(a)),
     new Scale2D(sx, sy),
     new GlobalTransform2D()
   ]
diff --git a/src/transform/systems/transform.js b/src/transform/systems/transform.js
index df042752..c0163a0b 100644
--- a/src/transform/systems/transform.js
+++ b/src/transform/systems/transform.js
@@ -1,6 +1,6 @@
 import { Entity, has, Query, without, World } from '../../ecs/index.js'
 import { Children, Parent } from '../../hierarchy/index.js'
-import { Affine2, Affine3, Rotary } from '../../math/index.js'
+import { Affine2, Affine3 } from '../../math/index.js'
 import { RelationshipQuery } from '../../relationship/index.js'
 import { Position2D, Orientation2D, Scale2D, GlobalTransform2D, Position3D, Orientation3D, Scale3D, GlobalTransform3D } from '../components/index.js'
 
diff --git a/src/tween/plugin.js b/src/tween/plugin.js
index c8cb1e3f..3004f61b 100644
--- a/src/tween/plugin.js
+++ b/src/tween/plugin.js
@@ -11,7 +11,7 @@ import {
   TweenRepeat,
   Tween
 } from './components/index.js'
-import { Vector2, Quaternion, Vector3, Angle, Rotary } from '../math/index.js'
+import { Vector2, Quaternion, Vector3, Rotary } from '../math/index.js'
 import { generateTweenFlipSystem, generateTweenRepeatTween, generateTweenTimerSystem, generateTweenUpdateSystem } from './systems/index.js'
 import { Orientation2D, Orientation3D, Position2D, Position3D, Scale2D, Scale3D } from '../transform/index.js'
 import { typeidGeneric } from '../reflect/index.js'