@gnsx/three 0.184.0

package/src/math/Quaternion.js

@@ -0,0 +1,918 @@
+import { clamp } from './MathUtils.js';
+import { warn } from '../utils.js';
+
+/**
+ * Class for representing a Quaternion. Quaternions are used in three.js to represent rotations.
+ *
+ * Iterating through a vector instance will yield its components `(x, y, z, w)` in
+ * the corresponding order.
+ *
+ * Note that three.js expects Quaternions to be normalized.
+ * ```js
+ * const quaternion = new THREE.Quaternion();
+ * quaternion.setFromAxisAngle( new THREE.Vector3( 0, 1, 0 ), Math.PI / 2 );
+ *
+ * const vector = new THREE.Vector3( 1, 0, 0 );
+ * vector.applyQuaternion( quaternion );
+ * ```
+ */
+class Quaternion {
+
+	/**
+	 * Constructs a new quaternion.
+	 *
+	 * @param {number} [x=0] - The x value of this quaternion.
+	 * @param {number} [y=0] - The y value of this quaternion.
+	 * @param {number} [z=0] - The z value of this quaternion.
+	 * @param {number} [w=1] - The w value of this quaternion.
+	 */
+	constructor( x = 0, y = 0, z = 0, w = 1 ) {
+
+		/**
+		 * This flag can be used for type testing.
+		 *
+		 * @type {boolean}
+		 * @readonly
+		 * @default true
+		 */
+		this.isQuaternion = true;
+
+		this._x = x;
+		this._y = y;
+		this._z = z;
+		this._w = w;
+
+	}
+
+	/**
+	 * Interpolates between two quaternions via SLERP. This implementation assumes the
+	 * quaternion data are managed in flat arrays.
+	 *
+	 * @param {Array<number>} dst - The destination array.
+	 * @param {number} dstOffset - An offset into the destination array.
+	 * @param {Array<number>} src0 - The source array of the first quaternion.
+	 * @param {number} srcOffset0 - An offset into the first source array.
+	 * @param {Array<number>} src1 -  The source array of the second quaternion.
+	 * @param {number} srcOffset1 - An offset into the second source array.
+	 * @param {number} t - The interpolation factor. A value in the range `[0,1]` will interpolate. A value outside the range `[0,1]` will extrapolate.
+	 * @see {@link Quaternion#slerp}
+	 */
+	static slerpFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {
+
+		let x0 = src0[ srcOffset0 + 0 ],
+			y0 = src0[ srcOffset0 + 1 ],
+			z0 = src0[ srcOffset0 + 2 ],
+			w0 = src0[ srcOffset0 + 3 ];
+
+		let x1 = src1[ srcOffset1 + 0 ],
+			y1 = src1[ srcOffset1 + 1 ],
+			z1 = src1[ srcOffset1 + 2 ],
+			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;
+
+	}
+
+	/**
+	 * Multiplies two quaternions. This implementation assumes the quaternion data are managed
+	 * in flat arrays.
+	 *
+	 * @param {Array<number>} dst - The destination array.
+	 * @param {number} dstOffset - An offset into the destination array.
+	 * @param {Array<number>} src0 - The source array of the first quaternion.
+	 * @param {number} srcOffset0 - An offset into the first source array.
+	 * @param {Array<number>} src1 -  The source array of the second quaternion.
+	 * @param {number} srcOffset1 - An offset into the second source array.
+	 * @return {Array<number>} The destination array.
+	 * @see {@link Quaternion#multiplyQuaternions}.
+	 */
+	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;
+
+	}
+
+	/**
+	 * The x value of this quaternion.
+	 *
+	 * @type {number}
+	 * @default 0
+	 */
+	get x() {
+
+		return this._x;
+
+	}
+
+	set x( value ) {
+
+		this._x = value;
+		this._onChangeCallback();
+
+	}
+
+	/**
+	 * The y value of this quaternion.
+	 *
+	 * @type {number}
+	 * @default 0
+	 */
+	get y() {
+
+		return this._y;
+
+	}
+
+	set y( value ) {
+
+		this._y = value;
+		this._onChangeCallback();
+
+	}
+
+	/**
+	 * The z value of this quaternion.
+	 *
+	 * @type {number}
+	 * @default 0
+	 */
+	get z() {
+
+		return this._z;
+
+	}
+
+	set z( value ) {
+
+		this._z = value;
+		this._onChangeCallback();
+
+	}
+
+	/**
+	 * The w value of this quaternion.
+	 *
+	 * @type {number}
+	 * @default 1
+	 */
+	get w() {
+
+		return this._w;
+
+	}
+
+	set w( value ) {
+
+		this._w = value;
+		this._onChangeCallback();
+
+	}
+
+	/**
+	 * Sets the quaternion components.
+	 *
+	 * @param {number} x - The x value of this quaternion.
+	 * @param {number} y - The y value of this quaternion.
+	 * @param {number} z - The z value of this quaternion.
+	 * @param {number} w - The w value of this quaternion.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	set( x, y, z, w ) {
+
+		this._x = x;
+		this._y = y;
+		this._z = z;
+		this._w = w;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	/**
+	 * Returns a new quaternion with copied values from this instance.
+	 *
+	 * @return {Quaternion} A clone of this instance.
+	 */
+	clone() {
+
+		return new this.constructor( this._x, this._y, this._z, this._w );
+
+	}
+
+	/**
+	 * Copies the values of the given quaternion to this instance.
+	 *
+	 * @param {Quaternion} quaternion - The quaternion to copy.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	copy( quaternion ) {
+
+		this._x = quaternion.x;
+		this._y = quaternion.y;
+		this._z = quaternion.z;
+		this._w = quaternion.w;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	/**
+	 * Sets this quaternion from the rotation specified by the given
+	 * Euler angles.
+	 *
+	 * @param {Euler} euler - The Euler angles.
+	 * @param {boolean} [update=true] - Whether the internal `onChange` callback should be executed or not.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	setFromEuler( euler, update = true ) {
+
+		const x = euler._x, y = euler._y, z = euler._z, 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:
+				warn( 'Quaternion: .setFromEuler() encountered an unknown order: ' + order );
+
+		}
+
+		if ( update === true ) this._onChangeCallback();
+
+		return this;
+
+	}
+
+	/**
+	 * Sets this quaternion from the given axis and angle.
+	 *
+	 * @param {Vector3} axis - The normalized axis.
+	 * @param {number} angle - The angle in radians.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	setFromAxisAngle( axis, angle ) {
+
+		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm
+
+		const halfAngle = angle / 2, 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;
+
+	}
+
+	/**
+	 * Sets this quaternion from the given rotation matrix.
+	 *
+	 * @param {Matrix4} m - A 4x4 matrix of which the upper 3x3 of matrix is a pure rotation matrix (i.e. unscaled).
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	setFromRotationMatrix( m ) {
+
+		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
+
+		// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+
+		const te = m.elements,
+
+			m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ],
+			m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ],
+			m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ],
+
+			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;
+
+	}
+
+	/**
+	 * Sets this quaternion to the rotation required to rotate the direction vector
+	 * `vFrom` to the direction vector `vTo`.
+	 *
+	 * @param {Vector3} vFrom - The first (normalized) direction vector.
+	 * @param {Vector3} vTo - The second (normalized) direction vector.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	setFromUnitVectors( vFrom, vTo ) {
+
+		// assumes direction vectors vFrom and vTo are normalized
+
+		let r = vFrom.dot( vTo ) + 1;
+
+		if ( r < 1e-8 ) { // the epsilon value has been discussed in #31286
+
+			// 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();
+
+	}
+
+	/**
+	 * Returns the angle between this quaternion and the given one in radians.
+	 *
+	 * @param {Quaternion} q - The quaternion to compute the angle with.
+	 * @return {number} The angle in radians.
+	 */
+	angleTo( q ) {
+
+		return 2 * Math.acos( Math.abs( clamp( this.dot( q ), - 1, 1 ) ) );
+
+	}
+
+	/**
+	 * Rotates this quaternion by a given angular step to the given quaternion.
+	 * The method ensures that the final quaternion will not overshoot `q`.
+	 *
+	 * @param {Quaternion} q - The target quaternion.
+	 * @param {number} step - The angular step in radians.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	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;
+
+	}
+
+	/**
+	 * Sets this quaternion to the identity quaternion; that is, to the
+	 * quaternion that represents "no rotation".
+	 *
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	identity() {
+
+		return this.set( 0, 0, 0, 1 );
+
+	}
+
+	/**
+	 * Inverts this quaternion via {@link Quaternion#conjugate}. The
+	 * quaternion is assumed to have unit length.
+	 *
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	invert() {
+
+		return this.conjugate();
+
+	}
+
+	/**
+	 * Returns the rotational conjugate of this quaternion. The conjugate of a
+	 * quaternion represents the same rotation in the opposite direction about
+	 * the rotational axis.
+	 *
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	conjugate() {
+
+		this._x *= - 1;
+		this._y *= - 1;
+		this._z *= - 1;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	/**
+	 * Calculates the dot product of this quaternion and the given one.
+	 *
+	 * @param {Quaternion} v - The quaternion to compute the dot product with.
+	 * @return {number} The result of the dot product.
+	 */
+	dot( v ) {
+
+		return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;
+
+	}
+
+	/**
+	 * Computes the squared Euclidean length (straight-line length) of this quaternion,
+	 * considered as a 4 dimensional vector. This can be useful if you are comparing the
+	 * lengths of two quaternions, as this is a slightly more efficient calculation than
+	 * {@link Quaternion#length}.
+	 *
+	 * @return {number} The squared Euclidean length.
+	 */
+	lengthSq() {
+
+		return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;
+
+	}
+
+	/**
+	 * Computes the Euclidean length (straight-line length) of this quaternion,
+	 * considered as a 4 dimensional vector.
+	 *
+	 * @return {number} The Euclidean length.
+	 */
+	length() {
+
+		return Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w );
+
+	}
+
+	/**
+	 * Normalizes this quaternion - that is, calculated the quaternion that performs
+	 * the same rotation as this one, but has a length equal to `1`.
+	 *
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	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;
+
+	}
+
+	/**
+	 * Multiplies this quaternion by the given one.
+	 *
+	 * @param {Quaternion} q - The quaternion.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	multiply( q ) {
+
+		return this.multiplyQuaternions( this, q );
+
+	}
+
+	/**
+	 * Pre-multiplies this quaternion by the given one.
+	 *
+	 * @param {Quaternion} q - The quaternion.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	premultiply( q ) {
+
+		return this.multiplyQuaternions( q, this );
+
+	}
+
+	/**
+	 * Multiplies the given quaternions and stores the result in this instance.
+	 *
+	 * @param {Quaternion} a - The first quaternion.
+	 * @param {Quaternion} b - The second quaternion.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	multiplyQuaternions( a, b ) {
+
+		// from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
+
+		const qax = a._x, qay = a._y, qaz = a._z, qaw = a._w;
+		const qbx = b._x, qby = b._y, qbz = b._z, 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;
+
+	}
+
+	/**
+	 * Performs a spherical linear interpolation between this quaternion and the target quaternion.
+	 *
+	 * @param {Quaternion} qb - The target quaternion.
+	 * @param {number} t - The interpolation factor. A value in the range `[0,1]` will interpolate. A value outside the range `[0,1]` will extrapolate.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	slerp( qb, t ) {
+
+		let x = qb._x, y = qb._y, z = qb._z, 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;
+
+	}
+
+	/**
+	 * Performs a spherical linear interpolation between the given quaternions
+	 * and stores the result in this quaternion.
+	 *
+	 * @param {Quaternion} qa - The source quaternion.
+	 * @param {Quaternion} qb - The target quaternion.
+	 * @param {number} t - The interpolation factor in the closed interval `[0, 1]`.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	slerpQuaternions( qa, qb, t ) {
+
+		return this.copy( qa ).slerp( qb, t );
+
+	}
+
+	/**
+	 * Sets this quaternion to a uniformly random, normalized quaternion.
+	 *
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	random() {
+
+		// Ken Shoemake
+		// Uniform random rotations
+		// D. Kirk, editor, Graphics Gems III, pages 124-132. Academic Press, New York, 1992.
+
+		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 ),
+		);
+
+	}
+
+	/**
+	 * Returns `true` if this quaternion is equal with the given one.
+	 *
+	 * @param {Quaternion} quaternion - The quaternion to test for equality.
+	 * @return {boolean} Whether this quaternion is equal with the given one.
+	 */
+	equals( quaternion ) {
+
+		return ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w );
+
+	}
+
+	/**
+	 * Sets this quaternion's components from the given array.
+	 *
+	 * @param {Array<number>} array - An array holding the quaternion component values.
+	 * @param {number} [offset=0] - The offset into the array.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	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;
+
+	}
+
+	/**
+	 * Writes the components of this quaternion to the given array. If no array is provided,
+	 * the method returns a new instance.
+	 *
+	 * @param {Array<number>} [array=[]] - The target array holding the quaternion components.
+	 * @param {number} [offset=0] - Index of the first element in the array.
+	 * @return {Array<number>} The quaternion components.
+	 */
+	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;
+
+	}
+
+	/**
+	 * Sets the components of this quaternion from the given buffer attribute.
+	 *
+	 * @param {BufferAttribute} attribute - The buffer attribute holding quaternion data.
+	 * @param {number} index - The index into the attribute.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
+	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;
+
+	}
+
+	/**
+	 * This methods defines the serialization result of this class. Returns the
+	 * numerical elements of this quaternion in an array of format `[x, y, z, w]`.
+	 *
+	 * @return {Array<number>} The serialized quaternion.
+	 */
+	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;
+
+	}
+
+}
+
+export { Quaternion };