@es3d/es3d 1.0.0 → 1.0.2

package/src/transform/transform.js

@@ -1,211 +1,211 @@
-// The ES3D transform system.
-//
-// transform="translate(0,2,0) rotate(0,45,0) scale(2)" is read exactly like
-// SVG: functions are applied left to right as nested coordinate systems, so the
-// resulting matrix is T1 * T2 * T3 (the rightmost function acts on the object
-// first). Supported functions:
-//
-//   translate(x[,y[,z]])      rotate(x,y,z)  Euler degrees (X, then Y, then Z)
-//   rotateX(a) rotateY(a) rotateZ(a)         rotate(a, ax,ay,az) axis-angle
-//   scale(s) | scale(x,y,z)                  quat(x,y,z,w)
-//   matrix(m0..m15)  16 numbers, column-major (like CSS matrix3d)
-//
-// Elements additionally accept position / rotation / scale attributes. The
-// local matrix of an element is   transform * T(position) * R(rotation) * S(scale)
-// mirroring SVG <use>, where x/y are applied after (inside) the transform.
-
-import * as mat4 from '../math/mat4.js';
-import { ValueError } from '../format/value-error.js';
-import { suggest } from '../format/errors.js';
-import { readNumber, numberValue } from '../path/path-parser.js';
-
-const FUNCS = {
-  translate: [1, 3],
-  rotate: [3, 4],
-  rotateX: [1, 1],
-  rotateY: [1, 1],
-  rotateZ: [1, 1],
-  scale: [1, 3],
-  matrix: [16, 16],
-  quat: [4, 4],
-};
-
-function isWs(c) {
-  return c === 32 || c === 9 || c === 10 || c === 13 || c === 44; // comma acts as separator between functions
-}
-
-/** Parse a transform list into operations (validated, with offsets). */
-export function parseTransformOps(str) {
-  const ops = [];
-  const n = str.length;
-  let i = 0;
-  while (true) {
-    while (i < n && isWs(str.charCodeAt(i))) i++;
-    if (i >= n) break;
-    const nameStart = i;
-    while (i < n && /[A-Za-z0-9]/.test(str[i])) i++;
-    const fn = str.slice(nameStart, i);
-    if (!fn) throw new ValueError(`Unexpected character '${str[i]}' in transform.`, i, 1);
-    if (!(fn in FUNCS)) {
-      throw new ValueError(`Unknown transform function '${fn}'.`, nameStart, fn.length, {
-        suggestion: suggest(fn, Object.keys(FUNCS)),
-        hint: 'Valid functions: translate, rotate, rotateX, rotateY, rotateZ, scale, matrix, quat.',
-      });
-    }
-    while (i < n && (str[i] === ' ' || str[i] === '\t')) i++;
-    if (str[i] !== '(') throw new ValueError(`Expected '(' after '${fn}'.`, i, 1);
-    i++;
-    const args = [];
-    for (;;) {
-      while (i < n && /[\s,]/.test(str[i])) i++;
-      if (str[i] === ')') {
-        i++;
-        break;
-      }
-      if (i >= n) throw new ValueError(`Missing ')' to close '${fn}('.`, nameStart, fn.length + 1);
-      const end = readNumber(str, i);
-      if (end < 0) throw new ValueError(`Expected a number in '${fn}()' but found '${str[i]}'.`, i, 1);
-      args.push(numberValue);
-      i = end;
-    }
-    const [min, max] = FUNCS[fn];
-    if (args.length < min || args.length > max) {
-      let hint;
-      if (fn === 'rotate' && args.length === 1) hint = 'rotate() takes Euler angles rotate(x,y,z) or an axis-angle rotate(a,ax,ay,az); use rotateY(a) for a single angle.';
-      if (fn === 'rotate' && args.length === 2) hint = 'rotate() takes 3 Euler angles in degrees, e.g. rotate(0,45,0).';
-      throw new ValueError(
-        `${fn}() takes ${min === max ? min : `${min} to ${max}`} numbers but ${args.length} ${args.length === 1 ? 'was' : 'were'} given.`,
-        nameStart,
-        i - nameStart,
-        { hint },
-      );
-    }
-    if (fn === 'rotate' && args.length === 4 && Math.hypot(args[1], args[2], args[3]) < 1e-12) {
-      throw new ValueError('rotate(angle, ax, ay, az): the rotation axis must not be zero.', nameStart, i - nameStart);
-    }
-    if (fn === 'scale' && args.length === 2) {
-      throw new ValueError('scale() takes 1 (uniform) or 3 numbers.', nameStart, i - nameStart);
-    }
-    ops.push({ fn, args, offset: nameStart });
-  }
-  return ops;
-}
-
-/** Matrix of a single transform operation. */
-export function opMatrix(op, out = mat4.createF64()) {
-  const a = op.args;
-  switch (op.fn) {
-    case 'translate':
-      return mat4.fromTranslation(out, a[0], a[1] || 0, a[2] || 0);
-    case 'rotate':
-      if (a.length === 4) return mat4.fromAxisAngle(out, a[1], a[2], a[3], a[0] * mat4.DEG);
-      return mat4.fromEulerDeg(out, a[0], a[1], a[2]);
-    case 'rotateX':
-      return mat4.fromRotationX(out, a[0] * mat4.DEG);
-    case 'rotateY':
-      return mat4.fromRotationY(out, a[0] * mat4.DEG);
-    case 'rotateZ':
-      return mat4.fromRotationZ(out, a[0] * mat4.DEG);
-    case 'scale':
-      return a.length === 1 ? mat4.fromScaling(out, a[0], a[0], a[0]) : mat4.fromScaling(out, a[0], a[1], a[2]);
-    case 'matrix':
-      for (let k = 0; k < 16; k++) out[k] = a[k];
-      return out;
-    case 'quat':
-      return mat4.fromQuat(out, a[0], a[1], a[2], a[3]);
-    default:
-      throw new Error(`unknown transform ${op.fn}`);
-  }
-}
-
-export function opsToMatrix(ops) {
-  const m = mat4.createF64();
-  const t = mat4.createF64();
-  for (const op of ops) {
-    opMatrix(op, t);
-    mat4.multiply(m, m, t);
-  }
-  return m;
-}
-
-/**
- * {ops, matrix} for already separated operations (binary decoding), applying
- * the same rules as the text parser; null when an operation is invalid.
- */
-export function transformFromOps(ops) {
-  for (const op of ops) {
-    const range = FUNCS[op.fn];
-    if (!range) return null;
-    const n = op.args.length;
-    if (n < range[0] || n > range[1] || !op.args.every(Number.isFinite)) return null;
-    if (op.fn === 'rotate' && n === 4 && Math.hypot(op.args[1], op.args[2], op.args[3]) < 1e-12) return null;
-    if (op.fn === 'scale' && n === 2) return null;
-  }
-  return { ops, matrix: opsToMatrix(ops) };
-}
-
-/** Parse a transform attribute value into {ops, matrix}. */
-export function parseTransform(str) {
-  const ops = parseTransformOps(str);
-  return { ops, matrix: opsToMatrix(ops) };
-}
-
-const ZERO = [0, 0, 0];
-const ONE = [1, 1, 1];
-
-/**
- * Local matrix of an element from its typed values:
- *   transform * T(position) * R(rotation) * S(scale)
- */
-export function localMatrix(values, out = mat4.createF64(), overrides = null) {
-  const position = (overrides && overrides.position) || values.position || ZERO;
-  const rotation = (overrides && overrides.rotation) || values.rotation || ZERO;
-  const scale = (overrides && overrides.scale) || values.scale || ONE;
-  mat4.compose(out, position, rotation, scale);
-  const tr = values.transform;
-  if (tr && tr.ops.length) mat4.multiply(out, tr.matrix, out);
-  return out;
-}
-
-/** Format a matrix as a transform string (used by serializers / expansion). */
-export function matrixToTransformString(m, fmt) {
-  const d = mat4.decompose(m);
-  if (d) {
-    const parts = [];
-    const [tx, ty, tz] = d.translation;
-    if (Math.abs(tx) > 1e-9 || Math.abs(ty) > 1e-9 || Math.abs(tz) > 1e-9) parts.push(`translate(${fmt(tx)},${fmt(ty)},${fmt(tz)})`);
-    const [qx, qy, qz, qw] = d.rotation;
-    if (Math.abs(qx) > 1e-9 || Math.abs(qy) > 1e-9 || Math.abs(qz) > 1e-9) parts.push(`quat(${fmt(qx)},${fmt(qy)},${fmt(qz)},${fmt(qw)})`);
-    const [sx, sy, sz] = d.scale;
-    if (Math.abs(sx - 1) > 1e-9 || Math.abs(sy - 1) > 1e-9 || Math.abs(sz - 1) > 1e-9) {
-      if (Math.abs(sx - sy) < 1e-9 && Math.abs(sy - sz) < 1e-9) parts.push(`scale(${fmt(sx)})`);
-      else parts.push(`scale(${fmt(sx)},${fmt(sy)},${fmt(sz)})`);
-    }
-    return parts.join(' ');
-  }
-  return `matrix(${Array.from(m, fmt).join(',')})`;
-}
-
-/**
- * Decompose a shear-free affine matrix into translation, ES3D Euler angles
- * (degrees, R = Rz * Ry * Rx) and scale. Returns null when shear is present.
- */
-export function matrixToEuler(m) {
-  const d = mat4.decompose(m);
-  if (!d) return null;
-  const [sx, sy, sz] = d.scale;
-  const r = [m[0] / sx, m[1] / sx, m[2] / sx, m[4] / sy, m[5] / sy, m[6] / sy, m[8] / sz, m[9] / sz, m[10] / sz];
-  const R2 = Math.max(-1, Math.min(1, -r[2]));
-  const y = Math.asin(R2);
-  let x, z;
-  if (Math.abs(R2) < 0.9999999) {
-    x = Math.atan2(r[5], r[8]);
-    z = Math.atan2(r[1], r[0]);
-  } else {
-    // gimbal lock: rotation about X and Z are coupled; put everything into Z
-    x = 0;
-    z = Math.atan2(-r[3], r[4]);
-  }
-  const deg = (v) => (v * 180) / Math.PI;
-  return { translation: d.translation, rotation: [deg(x), deg(y), deg(z)], scale: d.scale };
-}
+// The ES3D transform system.
+//
+// transform="translate(0,2,0) rotate(0,45,0) scale(2)" is read exactly like
+// SVG: functions are applied left to right as nested coordinate systems, so the
+// resulting matrix is T1 * T2 * T3 (the rightmost function acts on the object
+// first). Supported functions:
+//
+//   translate(x[,y[,z]])      rotate(x,y,z)  Euler degrees (X, then Y, then Z)
+//   rotateX(a) rotateY(a) rotateZ(a)         rotate(a, ax,ay,az) axis-angle
+//   scale(s) | scale(x,y,z)                  quat(x,y,z,w)
+//   matrix(m0..m15)  16 numbers, column-major (like CSS matrix3d)
+//
+// Elements additionally accept position / rotation / scale attributes. The
+// local matrix of an element is   transform * T(position) * R(rotation) * S(scale)
+// mirroring SVG <use>, where x/y are applied after (inside) the transform.
+
+import * as mat4 from '../math/mat4.js';
+import { ValueError } from '../format/value-error.js';
+import { suggest } from '../format/errors.js';
+import { readNumber, numberValue } from '../path/path-parser.js';
+
+const FUNCS = {
+  translate: [1, 3],
+  rotate: [3, 4],
+  rotateX: [1, 1],
+  rotateY: [1, 1],
+  rotateZ: [1, 1],
+  scale: [1, 3],
+  matrix: [16, 16],
+  quat: [4, 4],
+};
+
+function isWs(c) {
+  return c === 32 || c === 9 || c === 10 || c === 13 || c === 44; // comma acts as separator between functions
+}
+
+/** Parse a transform list into operations (validated, with offsets). */
+export function parseTransformOps(str) {
+  const ops = [];
+  const n = str.length;
+  let i = 0;
+  while (true) {
+    while (i < n && isWs(str.charCodeAt(i))) i++;
+    if (i >= n) break;
+    const nameStart = i;
+    while (i < n && /[A-Za-z0-9]/.test(str[i])) i++;
+    const fn = str.slice(nameStart, i);
+    if (!fn) throw new ValueError(`Unexpected character '${str[i]}' in transform.`, i, 1);
+    if (!(fn in FUNCS)) {
+      throw new ValueError(`Unknown transform function '${fn}'.`, nameStart, fn.length, {
+        suggestion: suggest(fn, Object.keys(FUNCS)),
+        hint: 'Valid functions: translate, rotate, rotateX, rotateY, rotateZ, scale, matrix, quat.',
+      });
+    }
+    while (i < n && (str[i] === ' ' || str[i] === '\t')) i++;
+    if (str[i] !== '(') throw new ValueError(`Expected '(' after '${fn}'.`, i, 1);
+    i++;
+    const args = [];
+    for (;;) {
+      while (i < n && /[\s,]/.test(str[i])) i++;
+      if (str[i] === ')') {
+        i++;
+        break;
+      }
+      if (i >= n) throw new ValueError(`Missing ')' to close '${fn}('.`, nameStart, fn.length + 1);
+      const end = readNumber(str, i);
+      if (end < 0) throw new ValueError(`Expected a number in '${fn}()' but found '${str[i]}'.`, i, 1);
+      args.push(numberValue);
+      i = end;
+    }
+    const [min, max] = FUNCS[fn];
+    if (args.length < min || args.length > max) {
+      let hint;
+      if (fn === 'rotate' && args.length === 1) hint = 'rotate() takes Euler angles rotate(x,y,z) or an axis-angle rotate(a,ax,ay,az); use rotateY(a) for a single angle.';
+      if (fn === 'rotate' && args.length === 2) hint = 'rotate() takes 3 Euler angles in degrees, e.g. rotate(0,45,0).';
+      throw new ValueError(
+        `${fn}() takes ${min === max ? min : `${min} to ${max}`} numbers but ${args.length} ${args.length === 1 ? 'was' : 'were'} given.`,
+        nameStart,
+        i - nameStart,
+        { hint },
+      );
+    }
+    if (fn === 'rotate' && args.length === 4 && Math.hypot(args[1], args[2], args[3]) < 1e-12) {
+      throw new ValueError('rotate(angle, ax, ay, az): the rotation axis must not be zero.', nameStart, i - nameStart);
+    }
+    if (fn === 'scale' && args.length === 2) {
+      throw new ValueError('scale() takes 1 (uniform) or 3 numbers.', nameStart, i - nameStart);
+    }
+    ops.push({ fn, args, offset: nameStart });
+  }
+  return ops;
+}
+
+/** Matrix of a single transform operation. */
+export function opMatrix(op, out = mat4.createF64()) {
+  const a = op.args;
+  switch (op.fn) {
+    case 'translate':
+      return mat4.fromTranslation(out, a[0], a[1] || 0, a[2] || 0);
+    case 'rotate':
+      if (a.length === 4) return mat4.fromAxisAngle(out, a[1], a[2], a[3], a[0] * mat4.DEG);
+      return mat4.fromEulerDeg(out, a[0], a[1], a[2]);
+    case 'rotateX':
+      return mat4.fromRotationX(out, a[0] * mat4.DEG);
+    case 'rotateY':
+      return mat4.fromRotationY(out, a[0] * mat4.DEG);
+    case 'rotateZ':
+      return mat4.fromRotationZ(out, a[0] * mat4.DEG);
+    case 'scale':
+      return a.length === 1 ? mat4.fromScaling(out, a[0], a[0], a[0]) : mat4.fromScaling(out, a[0], a[1], a[2]);
+    case 'matrix':
+      for (let k = 0; k < 16; k++) out[k] = a[k];
+      return out;
+    case 'quat':
+      return mat4.fromQuat(out, a[0], a[1], a[2], a[3]);
+    default:
+      throw new Error(`unknown transform ${op.fn}`);
+  }
+}
+
+export function opsToMatrix(ops) {
+  const m = mat4.createF64();
+  const t = mat4.createF64();
+  for (const op of ops) {
+    opMatrix(op, t);
+    mat4.multiply(m, m, t);
+  }
+  return m;
+}
+
+/**
+ * {ops, matrix} for already separated operations (binary decoding), applying
+ * the same rules as the text parser; null when an operation is invalid.
+ */
+export function transformFromOps(ops) {
+  for (const op of ops) {
+    const range = FUNCS[op.fn];
+    if (!range) return null;
+    const n = op.args.length;
+    if (n < range[0] || n > range[1] || !op.args.every(Number.isFinite)) return null;
+    if (op.fn === 'rotate' && n === 4 && Math.hypot(op.args[1], op.args[2], op.args[3]) < 1e-12) return null;
+    if (op.fn === 'scale' && n === 2) return null;
+  }
+  return { ops, matrix: opsToMatrix(ops) };
+}
+
+/** Parse a transform attribute value into {ops, matrix}. */
+export function parseTransform(str) {
+  const ops = parseTransformOps(str);
+  return { ops, matrix: opsToMatrix(ops) };
+}
+
+const ZERO = [0, 0, 0];
+const ONE = [1, 1, 1];
+
+/**
+ * Local matrix of an element from its typed values:
+ *   transform * T(position) * R(rotation) * S(scale)
+ */
+export function localMatrix(values, out = mat4.createF64(), overrides = null) {
+  const position = (overrides && overrides.position) || values.position || ZERO;
+  const rotation = (overrides && overrides.rotation) || values.rotation || ZERO;
+  const scale = (overrides && overrides.scale) || values.scale || ONE;
+  mat4.compose(out, position, rotation, scale);
+  const tr = values.transform;
+  if (tr && tr.ops.length) mat4.multiply(out, tr.matrix, out);
+  return out;
+}
+
+/** Format a matrix as a transform string (used by serializers / expansion). */
+export function matrixToTransformString(m, fmt) {
+  const d = mat4.decompose(m);
+  if (d) {
+    const parts = [];
+    const [tx, ty, tz] = d.translation;
+    if (Math.abs(tx) > 1e-9 || Math.abs(ty) > 1e-9 || Math.abs(tz) > 1e-9) parts.push(`translate(${fmt(tx)},${fmt(ty)},${fmt(tz)})`);
+    const [qx, qy, qz, qw] = d.rotation;
+    if (Math.abs(qx) > 1e-9 || Math.abs(qy) > 1e-9 || Math.abs(qz) > 1e-9) parts.push(`quat(${fmt(qx)},${fmt(qy)},${fmt(qz)},${fmt(qw)})`);
+    const [sx, sy, sz] = d.scale;
+    if (Math.abs(sx - 1) > 1e-9 || Math.abs(sy - 1) > 1e-9 || Math.abs(sz - 1) > 1e-9) {
+      if (Math.abs(sx - sy) < 1e-9 && Math.abs(sy - sz) < 1e-9) parts.push(`scale(${fmt(sx)})`);
+      else parts.push(`scale(${fmt(sx)},${fmt(sy)},${fmt(sz)})`);
+    }
+    return parts.join(' ');
+  }
+  return `matrix(${Array.from(m, fmt).join(',')})`;
+}
+
+/**
+ * Decompose a shear-free affine matrix into translation, ES3D Euler angles
+ * (degrees, R = Rz * Ry * Rx) and scale. Returns null when shear is present.
+ */
+export function matrixToEuler(m) {
+  const d = mat4.decompose(m);
+  if (!d) return null;
+  const [sx, sy, sz] = d.scale;
+  const r = [m[0] / sx, m[1] / sx, m[2] / sx, m[4] / sy, m[5] / sy, m[6] / sy, m[8] / sz, m[9] / sz, m[10] / sz];
+  const R2 = Math.max(-1, Math.min(1, -r[2]));
+  const y = Math.asin(R2);
+  let x, z;
+  if (Math.abs(R2) < 0.9999999) {
+    x = Math.atan2(r[5], r[8]);
+    z = Math.atan2(r[1], r[0]);
+  } else {
+    // gimbal lock: rotation about X and Z are coupled; put everything into Z
+    x = 0;
+    z = Math.atan2(-r[3], r[4]);
+  }
+  const deg = (v) => (v * 180) / Math.PI;
+  return { translation: d.translation, rotation: [deg(x), deg(y), deg(z)], scale: d.scale };
+}