@blecsd/3d Package Skill

The @blecsd/3d package provides a complete 3D rendering pipeline for blECSd terminal applications. It includes a software rasterizer, 3D math library, multiple terminal rendering backends, OBJ model loading, scene graph system, and camera management. All blECSd functional programming rules apply.

Install: pnpm add @blecsd/3d Peer dependency: blecsd >= 0.6.0

Subpath Imports

import { vec3, vec3Add, mat4Identity, mat4Multiply, perspectiveMatrix, lookAt } from '@blecsd/3d/math';
import { createBrailleBackend, detectBestBackend } from '@blecsd/3d/backends';
import { Transform3D, Camera3D, Mesh, Material3D } from '@blecsd/3d/components';
import { parseObj, loadObjAsMesh } from '@blecsd/3d/loaders';
import { createPixelFramebuffer, fillTriangleFlat, drawLine } from '@blecsd/3d/rasterizer';
import { sceneGraphSystem, projectionSystem, rasterSystem, viewportOutputSystem } from '@blecsd/3d/systems';
import { createCubeMesh, createSphereMesh } from '@blecsd/3d/stores';

Or use namespace API:

import { vec3 as v3, mat4 as m4, projection, clipping, pixelBuffer, raster, transform3d, camera3d, mesh, backends } from '@blecsd/3d';

3D Math

Vec3

import {
  vec3, vec3Add, vec3Sub, vec3Scale, vec3Dot, vec3Cross,
  vec3Normalize, vec3Length, vec3Distance, vec3Lerp, vec3Zero, vec3Negate,
} from '@blecsd/3d/math';

const a = vec3(1, 2, 3);
const b = vec3(4, 5, 6);
const sum = vec3Add(a, b);           // [5, 7, 9]
const diff = vec3Sub(a, b);          // [-3, -3, -3]
const scaled = vec3Scale(a, 2);      // [2, 4, 6]
const dot = vec3Dot(a, b);           // 32
const cross = vec3Cross(a, b);       // [-3, 6, -3]
const norm = vec3Normalize(a);       // unit vector
const len = vec3Length(a);           // 3.741...
const dist = vec3Distance(a, b);     // 5.196...
const lerped = vec3Lerp(a, b, 0.5); // [2.5, 3.5, 4.5]
const zero = vec3Zero();             // [0, 0, 0]
const neg = vec3Negate(a);           // [-1, -2, -3]

Mat4

import {
  mat4Identity, mat4Multiply, mat4Transpose, mat4Invert, mat4Determinant,
  mat4Translate, mat4RotateX, mat4RotateY, mat4RotateZ, mat4Scale,
  mat4FromTRS, mat4TransformVec3,
} from '@blecsd/3d/math';

const identity = mat4Identity();
const translated = mat4Translate(identity, vec3(10, 0, 0));
const rotated = mat4RotateY(identity, Math.PI / 4);
const scaled = mat4Scale(identity, vec3(2, 2, 2));
const combined = mat4Multiply(translated, rotated);

// Transform a point
const worldPos = mat4TransformVec3(combined, vec3(0, 0, 0));

// Build from Translation, Rotation, Scale
const trs = mat4FromTRS(
  vec3(10, 5, 0),      // translation
  vec3(0, Math.PI, 0), // rotation (euler angles)
  vec3(1, 1, 1),       // scale
);

// Inverse and transpose
const inv = mat4Invert(combined);
const trans = mat4Transpose(combined);

Projection

import {
  perspectiveMatrix, orthographicMatrix, lookAt, buildMVP,
  projectVertex, unprojectVertex, viewportTransform,
} from '@blecsd/3d/math';

// Perspective projection
const proj = perspectiveMatrix(
  Math.PI / 4,  // FOV (radians)
  80 / 24,      // Aspect ratio
  0.1,          // Near plane
  100,          // Far plane
);

// Orthographic projection
const ortho = orthographicMatrix(-10, 10, 10, -10, 0.1, 100);

// View matrix (camera)
const view = lookAt(
  vec3(0, 5, 10),  // Eye position
  vec3(0, 0, 0),   // Look at target
  vec3(0, 1, 0),   // Up vector
);

// Combined MVP matrix
const model = mat4Identity();
const mvp = buildMVP(model, view, proj);

// Project 3D point to screen
const screenPos = projectVertex(vec3(1, 2, 3), mvp, { width: 80, height: 24 });

// Unproject screen point back to 3D
const worldPos = unprojectVertex({ x: 40, y: 12, z: 0.5 }, mvp, { width: 80, height: 24 });

Frustum Culling

import { extractFrustumPlanes, isPointInFrustum, isSphereInFrustum, clipLine } from '@blecsd/3d/math';

const planes = extractFrustumPlanes(mvp);
const visible = isPointInFrustum(vec3(0, 0, -5), planes);
const sphereVisible = isSphereInFrustum(vec3(0, 0, -5), 2.0, planes);
const clipped = clipLine(p1, p2, planes);

Rendering Backends

Multiple backends with different quality/compatibility trade-offs:

import {
  createBrailleBackend, createHalfBlockBackend, createSextantBackend,
  createSixelBackend, createKittyBackend, detectBestBackend, createBackendByType,
} from '@blecsd/3d/backends';

// Auto-detect best backend for current terminal
const backend = detectBestBackend();

// Or create specific backend
const braille = createBrailleBackend();    // 2x4 dots per cell (widest support)
const halfblock = createHalfBlockBackend(); // 2 pixels per cell vertically
const sextant = createSextantBackend();     // 2x3 pixels per cell
const sixel = createSixelBackend();         // True pixel (requires Sixel support)
const kitty = createKittyBackend();         // True pixel (requires Kitty protocol)

// Create by name
const byName = createBackendByType('braille');

Backend comparison:

ECS Components

Transform3D

Position, rotation, scale with world matrix caching:

import { Transform3D, setTranslation, setRotation, setScale, getWorldMatrix, markDirty } from '@blecsd/3d/components';

setTranslation(world, eid, vec3(10, 5, 0));
setRotation(world, eid, vec3(0, Math.PI / 4, 0));
setScale(world, eid, vec3(2, 2, 2));

const worldMatrix = getWorldMatrix(eid); // Computed from parent chain
markDirty(eid); // Force recalculation

Camera3D

Camera with projection and view matrices:

import { Camera3D, setCamera3D, getCamera3D, getProjMatrix, getViewMatrix } from '@blecsd/3d/components';

setCamera3D(world, eid, {
  fov: Math.PI / 4,
  near: 0.1,
  far: 100,
  eye: vec3(0, 5, 10),
  target: vec3(0, 0, 0),
  up: vec3(0, 1, 0),
});

const proj = getProjMatrix(eid);
const view = getViewMatrix(eid);

Mesh

Vertex and index buffers:

import { Mesh, createMeshFromArrays, registerMesh, setMesh, getMesh } from '@blecsd/3d/components';

// Create mesh from raw arrays
const mesh = createMeshFromArrays(
  [0,0,0, 1,0,0, 0,1,0], // vertices (x,y,z triplets)
  [0, 1, 2],               // indices (triangle)
);

// Register for reuse
registerMesh('triangle', mesh);

// Assign to entity
setMesh(world, eid, 'triangle');

// Retrieve
const data = getMeshData('triangle');

Material3D

Surface appearance:

import { Material3D, setMaterial3D } from '@blecsd/3d/components';

setMaterial3D(world, eid, {
  color: [255, 128, 0],  // RGB
  shadingMode: 'flat',   // 'flat' | 'wireframe' | 'points'
});

Primitive Meshes

Pre-built geometry:

import { createCubeMesh, createSphereMesh, createPlaneMesh, createCylinderMesh } from '@blecsd/3d/stores';

const cube = createCubeMesh();
const sphere = createSphereMesh(1.0, 16); // radius, segments
const plane = createPlaneMesh(5, 5);      // width, height
const cylinder = createCylinderMesh(0.5, 2.0, 12); // radius, height, segments

Rasterizer

Software rasterization pipeline:

Pixel Framebuffer

import {
  createPixelFramebuffer, setPixel, getPixel, clearFramebuffer,
  fillRect, testAndSetDepth, isInBounds,
} from '@blecsd/3d/rasterizer';

const fb = createPixelFramebuffer(160, 96); // width x height in pixels
clearFramebuffer(fb, [0, 0, 0]); // Clear to black

setPixel(fb, 10, 20, [255, 0, 0]); // Red pixel
const color = getPixel(fb, 10, 20);

// Depth testing
if (testAndSetDepth(fb, x, y, z)) {
  setPixel(fb, x, y, color); // Closer than existing
}

Line Drawing

import { drawLine, drawLineColor, drawLineDepth, drawLineAA, blendPixel } from '@blecsd/3d/rasterizer';

drawLine(fb, 0, 0, 80, 48, [255, 255, 255]);             // White line
drawLineColor(fb, 0, 0, 80, 48, [255,0,0], [0,0,255]);   // Gradient red to blue
drawLineDepth(fb, 0, 0, 80, 48, 0.1, 0.9, [255,255,255]); // With depth
drawLineAA(fb, 0, 0, 80, 48, [255, 255, 255]);            // Anti-aliased
blendPixel(fb, 40, 24, [255, 0, 0, 128]);                  // Alpha blend

Triangle Rasterization

import {
  fillTriangleFlat, fillTriangle, triangleArea2, triangleBoundingBox,
  computeFaceNormal, computeFlatShading,
} from '@blecsd/3d/rasterizer';

// Flat color triangle
fillTriangleFlat(fb, v1, v2, v3, [255, 128, 0]);

// Custom shader triangle
fillTriangle(fb, v1, v2, v3, (x, y, bary) => {
  // bary = barycentric coordinates [u, v, w]
  // Return color based on barycentric interpolation
  return interpolateColor(c1, c2, c3, bary);
});

// Shading
const normal = computeFaceNormal(v1, v2, v3);
const lightDir = vec3Normalize(vec3(1, 1, 1));
const color = computeFlatShading(normal, lightDir, [200, 100, 50]);

ECS Systems (Rendering Pipeline)

The 3D systems form a rendering pipeline:

import {
  sceneGraphSystem,     // 1. Compute world matrices from hierarchy
  projectionSystem,     // 2. Project 3D to 2D screen coords
  rasterSystem,         // 3. Rasterize triangles to framebuffer
  viewportOutputSystem, // 4. Encode framebuffer via backend
  animation3DSystem,    // Update 3D animations
  mouseInteraction3DSystem, // Handle mouse input for 3D
} from '@blecsd/3d/systems';

// Run pipeline each frame
function render3D(world: World): void {
  sceneGraphSystem(world);
  projectionSystem(world);
  rasterSystem(world);
  viewportOutputSystem(world);
}

Stores (shared state between systems):

import {
  projectionStore, clearProjectionStore,
  framebufferStore, clearFramebufferStore,
  backendStore, clearBackendStore,
  outputStore, clearOutputStore,
} from '@blecsd/3d/systems';

OBJ Loader

Load 3D models from OBJ files:

import { parseObj, loadObjAsMesh, computeBoundingBox } from '@blecsd/3d/loaders';

// Parse OBJ file
const objData = parseObj(objFileContent);
// { vertices, normals, texcoords, faces, groups }

// Load directly as mesh
const mesh = loadObjAsMesh('/models/teapot.obj');
registerMesh('teapot', mesh);

// Compute bounding box
const bbox = computeBoundingBox(objData.vertices);
// { min: Vec3, max: Vec3, center: Vec3, size: Vec3 }

Complete Example: Spinning Cube

import { createWorld, addEntity, addComponent } from 'blecsd';
import { vec3, mat4RotateY, perspectiveMatrix, lookAt } from '@blecsd/3d/math';
import { setTranslation, setRotation } from '@blecsd/3d/components';
import { setCamera3D } from '@blecsd/3d/components';
import { setMesh, registerMesh } from '@blecsd/3d/components';
import { setMaterial3D } from '@blecsd/3d/components';
import { createCubeMesh } from '@blecsd/3d/stores';
import { detectBestBackend } from '@blecsd/3d/backends';
import {
  sceneGraphSystem, projectionSystem, rasterSystem, viewportOutputSystem,
} from '@blecsd/3d/systems';

const world = createWorld();

// Register cube mesh
registerMesh('cube', createCubeMesh());

// Create cube entity
const cube = addEntity(world);
setMesh(world, cube, 'cube');
setMaterial3D(world, cube, { color: [0, 200, 100], shadingMode: 'flat' });
setTranslation(world, cube, vec3(0, 0, 0));

// Create camera
const cam = addEntity(world);
setCamera3D(world, cam, {
  fov: Math.PI / 4,
  near: 0.1,
  far: 100,
  eye: vec3(3, 3, 5),
  target: vec3(0, 0, 0),
  up: vec3(0, 1, 0),
});

// Detect best rendering backend
const backend = detectBestBackend();

// Render loop
let angle = 0;
setInterval(() => {
  angle += 0.05;
  setRotation(world, cube, vec3(0, angle, 0));

  sceneGraphSystem(world);
  projectionSystem(world);
  rasterSystem(world);
  viewportOutputSystem(world);
}, 1000 / 30);

Best Practices

1. Use detectBestBackend() to automatically select the best rendering backend for the user’s terminal.
2. Cache mesh registrations. Call registerMesh once, then reuse the ID with setMesh for multiple entities.
3. Run systems in pipeline order: sceneGraph -> projection -> raster -> viewportOutput.
4. Use frustum culling for scenes with many objects. Check isSphereInFrustum before projecting.
5. Clear stores in tests. Use clearProjectionStore(), clearFramebufferStore(), etc.
6. Braille backend is the safest default. It works in almost all terminals and gives 2×4 pixel resolution per character cell.
7. Use primitive factories (createCubeMesh, createSphereMesh) for quick prototyping.
8. All blECSd rules apply. No classes, pure functions, early returns, Zod at boundaries.