@aura3d/math 4.3.7 → 4.5.0

package/dist/three/Quaternion.js

@@ -0,0 +1,444 @@
+import { clamp } from "../MathUtils.js";
+import { Quaternion as ImmutableQuaternion } from "../Quaternion.js";
+/**
+ * Mutable three.js-compatible quaternion. Every modifier mutates `this` and
+ * returns `this`, exactly like three r185 `Quaternion`, including the
+ * `_onChange` callback that `Euler` uses to stay in sync.
+ */
+export class Quaternion {
+    _x;
+    _y;
+    _z;
+    _w;
+    constructor(x = 0, y = 0, z = 0, w = 1) {
+        this._x = x;
+        this._y = y;
+        this._z = z;
+        this._w = w;
+    }
+    static slerpFlat(dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t) {
+        // fuzz-free, array-based Quaternion SLERP operation
+        let x0 = src0[srcOffset0 + 0];
+        let y0 = src0[srcOffset0 + 1];
+        let z0 = src0[srcOffset0 + 2];
+        let w0 = src0[srcOffset0 + 3];
+        let x1 = src1[srcOffset1 + 0];
+        let y1 = src1[srcOffset1 + 1];
+        let z1 = src1[srcOffset1 + 2];
+        let w1 = src1[srcOffset1 + 3];
+        if (w0 !== w1 || x0 !== x1 || y0 !== y1 || z0 !== z1) {
+            let dot = x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1;
+            if (dot < 0) {
+                x1 = -x1;
+                y1 = -y1;
+                z1 = -z1;
+                w1 = -w1;
+                dot = -dot;
+            }
+            let s = 1 - t;
+            if (dot < 0.9995) {
+                // slerp
+                const theta = Math.acos(dot);
+                const sin = Math.sin(theta);
+                s = Math.sin(s * theta) / sin;
+                t = Math.sin(t * theta) / sin;
+                x0 = x0 * s + x1 * t;
+                y0 = y0 * s + y1 * t;
+                z0 = z0 * s + z1 * t;
+                w0 = w0 * s + w1 * t;
+            }
+            else {
+                // for small angles, lerp then normalize
+                x0 = x0 * s + x1 * t;
+                y0 = y0 * s + y1 * t;
+                z0 = z0 * s + z1 * t;
+                w0 = w0 * s + w1 * t;
+                const f = 1 / Math.sqrt(x0 * x0 + y0 * y0 + z0 * z0 + w0 * w0);
+                x0 *= f;
+                y0 *= f;
+                z0 *= f;
+                w0 *= f;
+            }
+        }
+        dst[dstOffset] = x0;
+        dst[dstOffset + 1] = y0;
+        dst[dstOffset + 2] = z0;
+        dst[dstOffset + 3] = w0;
+    }
+    static multiplyQuaternionsFlat(dst, dstOffset, src0, srcOffset0, src1, srcOffset1) {
+        const x0 = src0[srcOffset0];
+        const y0 = src0[srcOffset0 + 1];
+        const z0 = src0[srcOffset0 + 2];
+        const w0 = src0[srcOffset0 + 3];
+        const x1 = src1[srcOffset1];
+        const y1 = src1[srcOffset1 + 1];
+        const z1 = src1[srcOffset1 + 2];
+        const w1 = src1[srcOffset1 + 3];
+        dst[dstOffset] = x0 * w1 + w0 * x1 + y0 * z1 - z0 * y1;
+        dst[dstOffset + 1] = y0 * w1 + w0 * y1 + z0 * x1 - x0 * z1;
+        dst[dstOffset + 2] = z0 * w1 + w0 * z1 + x0 * y1 - y0 * x1;
+        dst[dstOffset + 3] = w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1;
+        return dst;
+    }
+    get x() {
+        return this._x;
+    }
+    set x(value) {
+        this._x = value;
+        this._onChangeCallback();
+    }
+    get y() {
+        return this._y;
+    }
+    set y(value) {
+        this._y = value;
+        this._onChangeCallback();
+    }
+    get z() {
+        return this._z;
+    }
+    set z(value) {
+        this._z = value;
+        this._onChangeCallback();
+    }
+    get w() {
+        return this._w;
+    }
+    set w(value) {
+        this._w = value;
+        this._onChangeCallback();
+    }
+    /** Copy an immutable `@aura3d/math` Quaternion (or any `{x, y, z, w}`) into this quaternion. */
+    fromImmutable(q) {
+        return this.copy(q);
+    }
+    /** Snapshot as an immutable `@aura3d/math` Quaternion. */
+    toImmutable() {
+        return new ImmutableQuaternion(this._x, this._y, this._z, this._w);
+    }
+    set(x, y, z, w) {
+        this._x = x;
+        this._y = y;
+        this._z = z;
+        this._w = w;
+        this._onChangeCallback();
+        return this;
+    }
+    clone() {
+        return new this.constructor(this._x, this._y, this._z, this._w);
+    }
+    copy(quaternion) {
+        this._x = quaternion.x;
+        this._y = quaternion.y;
+        this._z = quaternion.z;
+        this._w = quaternion.w;
+        this._onChangeCallback();
+        return this;
+    }
+    setFromEuler(euler, update = true) {
+        const x = euler.x;
+        const y = euler.y;
+        const z = euler.z;
+        const order = euler.order;
+        // http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
+        const cos = Math.cos;
+        const sin = Math.sin;
+        const c1 = cos(x / 2);
+        const c2 = cos(y / 2);
+        const c3 = cos(z / 2);
+        const s1 = sin(x / 2);
+        const s2 = sin(y / 2);
+        const s3 = sin(z / 2);
+        switch (order) {
+            case "XYZ":
+                this._x = s1 * c2 * c3 + c1 * s2 * s3;
+                this._y = c1 * s2 * c3 - s1 * c2 * s3;
+                this._z = c1 * c2 * s3 + s1 * s2 * c3;
+                this._w = c1 * c2 * c3 - s1 * s2 * s3;
+                break;
+            case "YXZ":
+                this._x = s1 * c2 * c3 + c1 * s2 * s3;
+                this._y = c1 * s2 * c3 - s1 * c2 * s3;
+                this._z = c1 * c2 * s3 - s1 * s2 * c3;
+                this._w = c1 * c2 * c3 + s1 * s2 * s3;
+                break;
+            case "ZXY":
+                this._x = s1 * c2 * c3 - c1 * s2 * s3;
+                this._y = c1 * s2 * c3 + s1 * c2 * s3;
+                this._z = c1 * c2 * s3 + s1 * s2 * c3;
+                this._w = c1 * c2 * c3 - s1 * s2 * s3;
+                break;
+            case "ZYX":
+                this._x = s1 * c2 * c3 - c1 * s2 * s3;
+                this._y = c1 * s2 * c3 + s1 * c2 * s3;
+                this._z = c1 * c2 * s3 - s1 * s2 * c3;
+                this._w = c1 * c2 * c3 + s1 * s2 * s3;
+                break;
+            case "YZX":
+                this._x = s1 * c2 * c3 + c1 * s2 * s3;
+                this._y = c1 * s2 * c3 + s1 * c2 * s3;
+                this._z = c1 * c2 * s3 - s1 * s2 * c3;
+                this._w = c1 * c2 * c3 - s1 * s2 * s3;
+                break;
+            case "XZY":
+                this._x = s1 * c2 * c3 - c1 * s2 * s3;
+                this._y = c1 * s2 * c3 - s1 * c2 * s3;
+                this._z = c1 * c2 * s3 + s1 * s2 * c3;
+                this._w = c1 * c2 * c3 + s1 * s2 * s3;
+                break;
+            default:
+                console.warn(`THREE.Quaternion: .setFromEuler() encountered an unknown order: ${String(order)}`);
+        }
+        if (update === true)
+            this._onChangeCallback();
+        return this;
+    }
+    setFromAxisAngle(axis, angle) {
+        // assumes axis is normalized
+        const halfAngle = angle / 2;
+        const s = Math.sin(halfAngle);
+        this._x = axis.x * s;
+        this._y = axis.y * s;
+        this._z = axis.z * s;
+        this._w = Math.cos(halfAngle);
+        this._onChangeCallback();
+        return this;
+    }
+    setFromRotationMatrix(m) {
+        // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+        const te = m.elements;
+        const m11 = te[0];
+        const m12 = te[4];
+        const m13 = te[8];
+        const m21 = te[1];
+        const m22 = te[5];
+        const m23 = te[9];
+        const m31 = te[2];
+        const m32 = te[6];
+        const m33 = te[10];
+        const trace = m11 + m22 + m33;
+        if (trace > 0) {
+            const s = 0.5 / Math.sqrt(trace + 1.0);
+            this._w = 0.25 / s;
+            this._x = (m32 - m23) * s;
+            this._y = (m13 - m31) * s;
+            this._z = (m21 - m12) * s;
+        }
+        else if (m11 > m22 && m11 > m33) {
+            const s = 2.0 * Math.sqrt(1.0 + m11 - m22 - m33);
+            this._w = (m32 - m23) / s;
+            this._x = 0.25 * s;
+            this._y = (m12 + m21) / s;
+            this._z = (m13 + m31) / s;
+        }
+        else if (m22 > m33) {
+            const s = 2.0 * Math.sqrt(1.0 + m22 - m11 - m33);
+            this._w = (m13 - m31) / s;
+            this._x = (m12 + m21) / s;
+            this._y = 0.25 * s;
+            this._z = (m23 + m32) / s;
+        }
+        else {
+            const s = 2.0 * Math.sqrt(1.0 + m33 - m11 - m22);
+            this._w = (m21 - m12) / s;
+            this._x = (m13 + m31) / s;
+            this._y = (m23 + m32) / s;
+            this._z = 0.25 * s;
+        }
+        this._onChangeCallback();
+        return this;
+    }
+    setFromUnitVectors(vFrom, vTo) {
+        // assumes direction vectors vFrom and vTo are normalized
+        let r = vFrom.x * vTo.x + vFrom.y * vTo.y + vFrom.z * vTo.z + 1;
+        if (r < 1e-8) {
+            // vFrom and vTo point in opposite directions
+            r = 0;
+            if (Math.abs(vFrom.x) > Math.abs(vFrom.z)) {
+                this._x = -vFrom.y;
+                this._y = vFrom.x;
+                this._z = 0;
+                this._w = r;
+            }
+            else {
+                this._x = 0;
+                this._y = -vFrom.z;
+                this._z = vFrom.y;
+                this._w = r;
+            }
+        }
+        else {
+            // crossVectors( vFrom, vTo ) // inlined to avoid cyclic dependency on Vector3
+            this._x = vFrom.y * vTo.z - vFrom.z * vTo.y;
+            this._y = vFrom.z * vTo.x - vFrom.x * vTo.z;
+            this._z = vFrom.x * vTo.y - vFrom.y * vTo.x;
+            this._w = r;
+        }
+        return this.normalize();
+    }
+    angleTo(q) {
+        return 2 * Math.acos(Math.abs(clamp(this.dot(q), -1, 1)));
+    }
+    rotateTowards(q, step) {
+        const angle = this.angleTo(q);
+        if (angle === 0)
+            return this;
+        const t = Math.min(1, step / angle);
+        this.slerp(q, t);
+        return this;
+    }
+    identity() {
+        return this.set(0, 0, 0, 1);
+    }
+    invert() {
+        // quaternion is assumed to have unit length
+        return this.conjugate();
+    }
+    conjugate() {
+        this._x *= -1;
+        this._y *= -1;
+        this._z *= -1;
+        this._onChangeCallback();
+        return this;
+    }
+    dot(v) {
+        return this._x * v.x + this._y * v.y + this._z * v.z + this._w * v.w;
+    }
+    lengthSq() {
+        return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;
+    }
+    length() {
+        return Math.sqrt(this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w);
+    }
+    normalize() {
+        let l = this.length();
+        if (l === 0) {
+            this._x = 0;
+            this._y = 0;
+            this._z = 0;
+            this._w = 1;
+        }
+        else {
+            l = 1 / l;
+            this._x = this._x * l;
+            this._y = this._y * l;
+            this._z = this._z * l;
+            this._w = this._w * l;
+        }
+        this._onChangeCallback();
+        return this;
+    }
+    multiply(q) {
+        return this.multiplyQuaternions(this, q);
+    }
+    premultiply(q) {
+        return this.multiplyQuaternions(q, this);
+    }
+    multiplyQuaternions(a, b) {
+        // from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
+        const qax = a.x;
+        const qay = a.y;
+        const qaz = a.z;
+        const qaw = a.w;
+        const qbx = b.x;
+        const qby = b.y;
+        const qbz = b.z;
+        const qbw = b.w;
+        this._x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
+        this._y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
+        this._z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
+        this._w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
+        this._onChangeCallback();
+        return this;
+    }
+    slerp(qb, t) {
+        let x = qb.x;
+        let y = qb.y;
+        let z = qb.z;
+        let w = qb.w;
+        let dot = this.dot(qb);
+        if (dot < 0) {
+            x = -x;
+            y = -y;
+            z = -z;
+            w = -w;
+            dot = -dot;
+        }
+        let s = 1 - t;
+        if (dot < 0.9995) {
+            // slerp
+            const theta = Math.acos(dot);
+            const sin = Math.sin(theta);
+            s = Math.sin(s * theta) / sin;
+            t = Math.sin(t * theta) / sin;
+            this._x = this._x * s + x * t;
+            this._y = this._y * s + y * t;
+            this._z = this._z * s + z * t;
+            this._w = this._w * s + w * t;
+            this._onChangeCallback();
+        }
+        else {
+            // for small angles, lerp then normalize
+            this._x = this._x * s + x * t;
+            this._y = this._y * s + y * t;
+            this._z = this._z * s + z * t;
+            this._w = this._w * s + w * t;
+            this.normalize(); // normalize calls _onChangeCallback()
+        }
+        return this;
+    }
+    slerpQuaternions(qa, qb, t) {
+        return this.copy(qa).slerp(qb, t);
+    }
+    random() {
+        // sets this quaternion to a uniform random unit quaternnion
+        const theta1 = 2 * Math.PI * Math.random();
+        const theta2 = 2 * Math.PI * Math.random();
+        const x0 = Math.random();
+        const r1 = Math.sqrt(1 - x0);
+        const r2 = Math.sqrt(x0);
+        return this.set(r1 * Math.sin(theta1), r1 * Math.cos(theta1), r2 * Math.sin(theta2), r2 * Math.cos(theta2));
+    }
+    equals(quaternion) {
+        return quaternion.x === this._x && quaternion.y === this._y && quaternion.z === this._z && quaternion.w === this._w;
+    }
+    fromArray(array, offset = 0) {
+        this._x = array[offset];
+        this._y = array[offset + 1];
+        this._z = array[offset + 2];
+        this._w = array[offset + 3];
+        this._onChangeCallback();
+        return this;
+    }
+    toArray(array = [], offset = 0) {
+        array[offset] = this._x;
+        array[offset + 1] = this._y;
+        array[offset + 2] = this._z;
+        array[offset + 3] = this._w;
+        return array;
+    }
+    fromBufferAttribute(attribute, index) {
+        this._x = attribute.getX(index);
+        this._y = attribute.getY(index);
+        this._z = attribute.getZ(index);
+        this._w = attribute.getW(index);
+        this._onChangeCallback();
+        return this;
+    }
+    toJSON() {
+        return this.toArray();
+    }
+    _onChange(callback) {
+        this._onChangeCallback = callback;
+        return this;
+    }
+    _onChangeCallback() { }
+    *[Symbol.iterator]() {
+        yield this._x;
+        yield this._y;
+        yield this._z;
+        yield this._w;
+    }
+}
+Quaternion.prototype.isQuaternion = true;
+//# sourceMappingURL=Quaternion.js.map

package/dist/three/Quaternion.js.map

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package/dist/three/Ray.d.ts

@@ -0,0 +1,56 @@
+import { Ray as ImmutableRay } from "../Ray.js";
+import { Vector3 } from "./Vector3.js";
+import type { Vector3Like } from "./Vector3.js";
+import type { Box3Like } from "./Box3.js";
+/** Anything with `origin` and `direction` corners, including the immutable `@aura3d/math` Ray. */
+export interface RayLike {
+    readonly origin: Vector3Like;
+    readonly direction: Vector3Like;
+}
+interface SphereLike {
+    readonly center: Vector3Like;
+    readonly radius: number;
+}
+interface PlaneLike {
+    readonly normal: Vector3Like;
+    readonly constant: number;
+    distanceToPoint(point: Vector3): number;
+}
+/**
+ * Mutable three.js-compatible ray. Every modifier mutates `this` and returns
+ * `this`, exactly like three r185 `Ray`, including `null` for intersection
+ * misses (the immutable `@aura3d/math` Ray returns `undefined`).
+ */
+export declare class Ray {
+    origin: Vector3;
+    direction: Vector3;
+    constructor(origin?: Vector3, direction?: Vector3);
+    /** Copy an immutable `@aura3d/math` Ray (or any `{origin, direction}`) into this ray. */
+    fromImmutable(ray: RayLike): this;
+    /** Snapshot as an immutable `@aura3d/math` Ray (normalizes the direction, throws on a zero direction). */
+    toImmutable(): ImmutableRay;
+    set(origin: Vector3Like, direction: Vector3Like): this;
+    copy(ray: RayLike): this;
+    at(t: number, target: Vector3): Vector3;
+    lookAt(v: Vector3Like): this;
+    recast(t: number): this;
+    closestPointToPoint(point: Vector3Like, target: Vector3): Vector3;
+    distanceToPoint(point: Vector3): number;
+    distanceSqToPoint(point: Vector3): number;
+    distanceSqToSegment(v0: Vector3, v1: Vector3, optionalPointOnRay?: Vector3, optionalPointOnSegment?: Vector3): number;
+    intersectSphere(sphere: SphereLike, target: Vector3): Vector3 | null;
+    intersectsSphere(sphere: SphereLike): boolean;
+    distanceToPlane(plane: PlaneLike): number | null;
+    intersectPlane(plane: PlaneLike, target: Vector3): Vector3 | null;
+    intersectsPlane(plane: PlaneLike): boolean;
+    intersectBox(box: Box3Like, target: Vector3): Vector3 | null;
+    intersectsBox(box: Box3Like): boolean;
+    intersectTriangle(a: Vector3, b: Vector3, c: Vector3, backfaceCulling: boolean, target: Vector3): Vector3 | null;
+    applyMatrix4(matrix4: {
+        readonly elements: ArrayLike<number>;
+    }): this;
+    equals(ray: RayLike): boolean;
+    clone(): this;
+}
+export {};
+//# sourceMappingURL=Ray.d.ts.map

package/dist/three/Ray.d.ts.map

@@ -0,0 +1 @@
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