@lakuna/umath 1.3.4 → 1.3.6

package/dist/linalg/Quaternion.d.ts

@@ -1,83 +1,408 @@
-import type { Matrix3Like } from "#Matrix3";
-import type { Vector3Like } from "#Vector3";
-import type AxisAngle from "#AxisAngle";
-export type QuaternionLike = Quaternion | [number, number, number, number];
-export declare function createQuaternionLike(): QuaternionLike;
-export declare function fromMatrix3<T extends QuaternionLike>(matrix: Matrix3Like, out: T): T;
-export declare function fromEuler<T extends QuaternionLike>(x: number, y: number, z: number, out: T): T;
-export declare function fromAxes<T extends QuaternionLike>(view: Vector3Like, right: Vector3Like, up: Vector3Like, out: T): T;
-export declare function identity<T extends QuaternionLike>(out: T): T;
-export declare function getAxisAngle<T extends AxisAngle>(quaternion: QuaternionLike, out: T): T;
-export declare function setAxisAngle<T extends QuaternionLike>(axisAngle: AxisAngle, out: T): T;
-export declare function getAngle(a: QuaternionLike, b: QuaternionLike): number;
-export declare function multiply<T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, out: T): T;
-export declare function rotateX<T extends QuaternionLike>(quaternion: QuaternionLike, radians: number, out: T): T;
-export declare function rotateY<T extends QuaternionLike>(quaternion: QuaternionLike, radians: number, out: T): T;
-export declare function rotateZ<T extends QuaternionLike>(quaternion: QuaternionLike, radians: number, out: T): T;
-export declare function calculateW<T extends QuaternionLike>(quaternion: QuaternionLike, out: T): T;
-export declare function exp<T extends QuaternionLike>(quaternion: QuaternionLike, out: T): T;
-export declare function ln<T extends QuaternionLike>(quaternion: QuaternionLike, out: T): T;
-export declare function pow<T extends QuaternionLike>(quaternion: QuaternionLike, scalar: number, out: T): T;
-export declare function slerp<T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, t: number, out: T): T;
-export declare function random<T extends QuaternionLike>(out: T): T;
-export declare function invert<T extends QuaternionLike>(quaternion: QuaternionLike, out: T): T;
-export declare function conjugate<T extends QuaternionLike>(quaternion: QuaternionLike, out: T): T;
-export declare function sqlerp<T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, c: QuaternionLike, d: QuaternionLike, t: number, out: T): T;
-export default class Quaternion extends Float32Array {
-    static fromMatrix3(matrix: Matrix3Like): Quaternion;
-    static fromMatrix3<T extends QuaternionLike>(matrix: Matrix3Like, out: T): T;
-    static fromEuler(x: number, y: number, z: number): Quaternion;
-    static fromEuler<T extends QuaternionLike>(x: number, y: number, z: number, out: T): T;
-    static fromValues(x: number, y: number, z: number, w: number): Quaternion;
-    static fromValues<T extends QuaternionLike>(x: number, y: number, z: number, w: number, out: T): T;
-    static fromAxes(view: Vector3Like, right: Vector3Like, up: Vector3Like): Quaternion;
-    static fromAxes<T extends QuaternionLike>(view: Vector3Like, right: Vector3Like, up: Vector3Like, out: T): T;
+import { type Matrix3Like } from "./Matrix3.js";
+import type AxisAngle from "../types/AxisAngle.js";
+import type { Vector3Like } from "./Vector3.js";
+/** A complex number that is commonly used to describe rotations. */
+export interface QuaternionLike extends Record<number, number> {
+    /** The first component of this quaternion. */
+    0: number;
+    /** The second component of this quaternion. */
+    1: number;
+    /** The third component of this quaternion. */
+    2: number;
+    /** The fourth component of this quaternion. */
+    3: number;
+}
+/**
+ * Create a quaternion-like object.
+ * @returns A quaternion-like object.
+ */
+export declare const createQuaternionLike: () => QuaternionLike;
+/**
+ * Create a quaternion from a three-by-three rotation matrix.
+ * @param matrix - The matrix.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
+ */
+export declare const fromMatrix3: <T extends QuaternionLike>(matrix: Matrix3Like, out: T) => T;
+/**
+ * Create a quaternion from equivalent X-Y-Z Tait-Bryan angles
+ * @param x - The X angle.
+ * @param y - The Y angle.
+ * @param z - The Z angle.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ * @see [Euler angles](https://en.wikipedia.org/wiki/Euler_angles)
+ */
+export declare const fromEuler: <T extends QuaternionLike>(x: number, y: number, z: number, out: T) => T;
+/**
+ * Create a quaternion with values corresponding to the given orthonormal set of vectors.
+ * @param view - The vector representing the viewing direction.
+ * @param right - The vector representing the local "right" direction.
+ * @param up - The vector representing the local "up" direction.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ */
+export declare const fromAxes: <T extends QuaternionLike>(view: Vector3Like, right: Vector3Like, up: Vector3Like, out: T) => T;
+/**
+ * Set a quaternion to the identity.
+ * @param out - The quaternion to store the result in.
+ * @returns This quaternion.
+ */
+export declare const identity: <T extends QuaternionLike>(out: T) => T;
+/**
+ * Calculate the axis and angle that represent a quaternion.
+ * @param quaternion - The quaternion.
+ * @param out - The axis and angle to store the result in.
+ * @returns The axis and angle.
+ */
+export declare const getAxisAngle: <T extends AxisAngle>(quaternion: QuaternionLike, out: T) => T;
+/**
+ * Set the axis and angle that represent a quaternion.
+ * @param axisAngle - The axis and angle.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ */
+export declare const setAxisAngle: <T extends QuaternionLike>(axisAngle: AxisAngle, out: T) => T;
+/**
+ * Get the angular distance between two unit quaternions.
+ * @param a - The first unit quaternion.
+ * @param b - The second unit quaternion.
+ * @returns The angular distance in radians.
+ */
+export declare const getAngle: (a: QuaternionLike, b: QuaternionLike) => number;
+/**
+ * Multiply two quaternions.
+ * @param a - The multiplier.
+ * @param b - The multiplicand.
+ * @param out - The quaternion to store the result in.
+ * @returns The product.
+ */
+export declare const multiply: <T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, out: T) => T;
+/**
+ * Rotate a quaternion by the given angle around the X-axis.
+ * @param quaternion - The quaternion.
+ * @param radians - The angle in radians.
+ * @param out - The quaternion to store the result in.
+ * @returns The rotated quaternion.
+ */
+export declare const rotateX: <T extends QuaternionLike>(quaternion: QuaternionLike, radians: number, out: T) => T;
+/**
+ * Rotate a quaternion by the given angle around the Y-axis.
+ * @param quaternion - The quaternion.
+ * @param radians - The angle in radians.
+ * @param out - The quaternion to store the result in.
+ * @returns The rotated quaternion.
+ */
+export declare const rotateY: <T extends QuaternionLike>(quaternion: QuaternionLike, radians: number, out: T) => T;
+/**
+ * Rotate a quaternion by the given angle around the Z-axis.
+ * @param quaternion - The quaternion.
+ * @param radians - The angle in radians.
+ * @param out - The quaternion to store the result in.
+ * @returns The rotated quaternion.
+ */
+export declare const rotateZ: <T extends QuaternionLike>(quaternion: QuaternionLike, radians: number, out: T) => T;
+/**
+ * Calculate the fourth component of a unit quaternion from the first three, ignoring the existing fourth component.
+ * @param quaternion - The quaternion.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ */
+export declare const calculateW: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+/**
+ * Calculate the exponential of a unit quaternion.
+ * @param quaternion - The quaternion.
+ * @param out - The quaternion to store the result in.
+ * @returns The exponential.
+ */
+export declare const exp: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+/**
+ * Calculate the natural logarithm of a unit quaternion.
+ * @param quaternion - The quaternion.
+ * @param out - The quaternion to store the result in.
+ * @returns The natural logarithm.
+ */
+export declare const ln: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+/**
+ * Calculate a power of a unit quaternion.
+ * @param quaternion - The quaternion.
+ * @param scalar - The amount to scale the quaternion by.
+ * @param out - The quaternion to store the result in.
+ * @returns The power.
+ */
+export declare const pow: <T extends QuaternionLike>(quaternion: QuaternionLike, scalar: number, out: T) => T;
+/**
+ * Perform a spherical linear interpolation between two quaternions.
+ * @param a - The first quaternion.
+ * @param b - The second quaternion.
+ * @param t - The interpolation amount in `[0,1]`.
+ * @param out - The quaternion to store the result in.
+ * @returns The interpolated quaternion.
+ * @see [Slerp](https://en.wikipedia.org/wiki/Slerp)
+ */
+export declare const slerp: <T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, t: number, out: T) => T;
+/**
+ * Set a quaternion to a random unit quaternion.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ */
+export declare const random: <T extends QuaternionLike>(out: T) => T;
+/**
+ * Calculate the inverse of a quaternion. If the quaternion is normalized, the conjugate is the same but faster to calculate.
+ * @param quaternion - The quaternion.
+ * @param out - The quaternion to store the result in.
+ * @returns The inverse.
+ */
+export declare const invert: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+/**
+ * Calculate the conjugate of a quaternion. If the quaternion is normalized, this is the same as the inverse but faster to calculate.
+ * @param quaternion - The quaternion.
+ * @param out - The quaternion to store the result in.
+ * @returns The conjugate.
+ */
+export declare const conjugate: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+/**
+ * Perform a spherical linear interpolation with two control points between two quaternions.
+ * @param a - The first quaternion.
+ * @param b - The first control point.
+ * @param c - The second control point.
+ * @param d - The second quaternion.
+ * @param t - The interpolation amount in `[0,1]`.
+ * @param out - The quaternion to store the result in.
+ * @returns The interpolated value.
+ * @see [Slerp](https://en.wikipedia.org/wiki/Slerp)
+ */
+export declare const sqlerp: <T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, c: QuaternionLike, d: QuaternionLike, t: number, out: T) => T;
+/**
+ * A complex number that is commonly used to describe rotations.
+ * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
+ */
+export default class Quaternion extends Float32Array implements QuaternionLike {
+    /**
+     * Create a quaternion from a three-by-three rotation matrix.
+     * @param matrix - The matrix.
+     * @param out - The quaternion to store the result in.
+     * @returns The quaternion.
+     * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
+     */
+    static fromMatrix3<T extends QuaternionLike>(matrix: Matrix3Like, out?: T): T;
+    /**
+     * Create a quaternion from equivalent x-y-z Tait-Bryan angles
+     * @param x - The x angle.
+     * @param y - The y angle.
+     * @param z - The z angle.
+     * @param out - The quaternion to store the result in.
+     * @returns The quaternion.
+     * @see [Euler angles](https://en.wikipedia.org/wiki/Euler_angles)
+     */
+    static fromEuler<T extends QuaternionLike>(x: number, y: number, z: number, out?: T): T;
+    /**
+     * Create a quaternion with the given values.
+     * @param x - The first component.
+     * @param y - The second component.
+     * @param z - The third component.
+     * @param w - The fourth component.
+     * @param out - The quaternion to store the result in.
+     * @returns A new quaternion.
+     */
+    static fromValues<T extends QuaternionLike>(x: number, y: number, z: number, w: number, out?: T): T;
+    /**
+     * Create a quaternion with values corresponding to the given orthonormal set of vectors.
+     * @param view - The vector representing the viewing direction.
+     * @param right - The vector representing the local "right" direction.
+     * @param up - The vector representing the local "up" direction.
+     * @param out - The quaternion to store the result in.
+     * @returns The quaternion.
+     */
+    static fromAxes<T extends QuaternionLike>(view: Vector3Like, right: Vector3Like, up: Vector3Like, out?: T): T;
+    /**
+     * Create an identity quaternion.
+     * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
+     */
     constructor();
+    /** The first component of this quaternion. */
+    0: number;
+    /** The second component of this quaternion. */
+    1: number;
+    /** The third component of this quaternion. */
+    2: number;
+    /** The fourth component of this quaternion. */
+    3: number;
+    /**
+     * Set this quaternion to the identity.
+     * @returns This quaternion.
+     */
     identity(): this;
-    getAxisAngle(): AxisAngle;
-    getAxisAngle<T extends AxisAngle>(out: T): T;
+    /**
+     * Get the axis and angle that represent this quaternion.
+     * @param out - The axis and angle to store the result in.
+     * @returns The axis and angle.
+     */
+    getAxisAngle<T extends AxisAngle>(out?: T): T;
+    /**
+     * Set the axis and angle that represent this quaternion.
+     * @param axisAngle - The axis and angle.
+     * @returns This quaternion.
+     */
     setAxisAngle(axisAngle: AxisAngle): this;
+    /**
+     * Get the angular distance between this unit quaternion and another.
+     * @param quaternion - The other unit quaternion.
+     * @returns The angular distance in radians.
+     */
     getAngle(quaternion: QuaternionLike): number;
-    multiply(quaternion: QuaternionLike): Quaternion;
-    multiply<T extends QuaternionLike>(quaternion: QuaternionLike, out: T): T;
-    rotateX(radians: number): Quaternion;
-    rotateX<T extends QuaternionLike>(radians: number, out: T): T;
-    rotateY(radians: number): Quaternion;
-    rotateY<T extends QuaternionLike>(radians: number, out: T): T;
-    rotateZ(radians: number): Quaternion;
-    rotateZ<T extends QuaternionLike>(radians: number, out: T): T;
-    calculateW(): Quaternion;
-    calculateW<T extends QuaternionLike>(out: T): T;
-    exp(): Quaternion;
-    exp<T extends QuaternionLike>(out: T): T;
-    ln(): Quaternion;
-    ln<T extends QuaternionLike>(out: T): T;
-    pow(scalar: number): Quaternion;
-    pow<T extends QuaternionLike>(scalar: number, out: T): T;
-    slerp(quaternion: QuaternionLike, t: number): Quaternion;
-    slerp<T extends QuaternionLike>(quaternion: QuaternionLike, t: number, out: T): T;
+    /**
+     * Multiply this and another quaternion.
+     * @param quaternion - The other quaternion.
+     * @param out - The quaternion to store the result in.
+     * @returns The product.
+     */
+    multiply<T extends QuaternionLike>(quaternion: QuaternionLike, out?: T): T;
+    /**
+     * Rotate this quaternion by the given angle around the X-axis.
+     * @param r - The angle in radians.
+     * @param out - The quaternion to store the result in.
+     * @returns The rotated quaternion.
+     */
+    rotateX<T extends QuaternionLike>(r: number, out?: T): T;
+    /**
+     * Rotate this quaternion by the given angle around the Y-axis.
+     * @param r - The angle in radians.
+     * @param out - The quaternion to store the result in.
+     * @returns The rotated quaternion.
+     */
+    rotateY<T extends QuaternionLike>(r: number, out?: T): T;
+    /**
+     * Rotate this quaternion by the given angle around the Z-axis.
+     * @param r - The angle in radians.
+     * @param out - The quaternion to store the result in.
+     * @returns The rotated quaternion.
+     */
+    rotateZ<T extends QuaternionLike>(r: number, out?: T): T;
+    /**
+     * Calculate the fourth component of this unit quaternion from the first three, ignoring the existing fourth component.
+     * @param out - The quaternion to store the result in.
+     * @returns The quaternion.
+     */
+    calculateW<T extends QuaternionLike>(out?: T): T;
+    /**
+     * Calculate the exponential of this unit quaternion.
+     * @param out - The quaternion to store the result in.
+     * @returns The exponential.
+     */
+    exp<T extends QuaternionLike>(out?: T): T;
+    /**
+     * Calculate the natural logarithm of this unit quaternion.
+     * @param out - The quaternion to store the result in.
+     * @returns The natural logarithm.
+     */
+    ln<T extends QuaternionLike>(out?: T): T;
+    /**
+     * Calculate a power of this unit quaternion.
+     * @param scalar - The amount to scale the quaternion by.
+     * @param out - The quaternion to store the result in.
+     * @returns The power.
+     */
+    pow<T extends QuaternionLike>(scalar: number, out?: T): T;
+    /**
+     * Perform a spherical linear interpolation between this and another quaternion.
+     * @param quaternion - The other quaternion.
+     * @param t - The interpolation amount in `[0,1]`.
+     * @param out - The quaternion to store the result in.
+     * @returns The interpolated quaternion.
+     * @see [Slerp](https://en.wikipedia.org/wiki/Slerp)
+     */
+    slerp<T extends QuaternionLike>(quaternion: QuaternionLike, t: number, out?: T): T;
+    /**
+     * Set this to a random unit quaternion.
+     * @returns A random unit quaternion.
+     */
     random(): this;
-    invert(): Quaternion;
-    invert<T extends QuaternionLike>(out: T): T;
-    conjugate(): Quaternion;
-    conjugate<T extends QuaternionLike>(out: T): T;
-    clone(): Quaternion;
-    clone<T extends QuaternionLike>(out: T): T;
+    /**
+     * Calculate the inverse of this quaternion. If the quaternion is normalized, the conjugate is the same but faster to calculate.
+     * @param out - The quaternion to store the result in.
+     * @returns The inverse.
+     */
+    invert<T extends QuaternionLike>(out?: T): T;
+    /**
+     * Calculate the conjugate of this quaternion. If the quaternion is normalized, this is the same as the inverse but faster to calculate.
+     * @param out - The quaternion to store the result in.
+     * @returns The conjugate.
+     */
+    conjugate<T extends QuaternionLike>(out?: T): T;
+    /**
+     * Copy the values from this quaternion to another one.
+     * @param out - The quaternion to store the result in.
+     * @returns The copy.
+     */
+    clone<T extends QuaternionLike>(out?: T): T;
+    /**
+     * Copy the values of another quaternion into this one.
+     * @param quaternion - The quaternion to copy.
+     * @returns This quaternion.
+     */
     copy(quaternion: QuaternionLike): this;
-    add(quaternion: QuaternionLike): Quaternion;
-    add<T extends QuaternionLike>(quaternion: QuaternionLike, out: T): T;
-    scale(scalar: number): Quaternion;
-    scale<T extends QuaternionLike>(scalar: number, out: T): T;
+    /**
+     * Add two quaternions of the same size.
+     * @param quaternion - The other quaternion.
+     * @param out - The quaternion to store the result in.
+     * @returns The sum of the quaternions.
+     */
+    add<T extends QuaternionLike>(quaternion: QuaternionLike, out?: T): T;
+    /**
+     * Scale this quaternion by a scalar.
+     * @param scalar - The scalar.
+     * @param out - The quaternion to store the result in.
+     * @returns The scaled quaternion.
+     */
+    scale<T extends QuaternionLike>(scalar: number, out?: T): T;
+    /**
+     * Calculate the dot product of this and another quaternion.
+     * @param quaternion - The other quaternion.
+     * @returns The dot product.
+     */
     dot(quaternion: QuaternionLike): number;
-    lerp(quaternion: QuaternionLike, t: number): Quaternion;
-    lerp<T extends QuaternionLike>(quaternion: QuaternionLike, t: number, out: T): T;
+    /**
+     * Perform a linear interpolation between this and another quaternion.
+     * @param quaternion - The other quaternion.
+     * @param t - The interpolation amount (in `[0,1]`).
+     * @param out - The quaternion to store the result in.
+     * @returns The interpolated quaternion.
+     */
+    lerp<T extends QuaternionLike>(quaternion: QuaternionLike, t: number, out?: T): T;
+    /** Get the magnitude (length) of this quaternion. */
     get magnitude(): number;
+    /** Get the squared magnitude (length) of this quaternion. */
     get squaredMagnitude(): number;
-    normalize(): Quaternion;
-    normalize<T extends QuaternionLike>(out: T): T;
+    /**
+     * Normalize this quaternion.
+     * @param out - The quaternion to store the result in.
+     * @returns The normalized quaternion.
+     */
+    normalize<T extends QuaternionLike>(out?: T): T;
+    /**
+     * Determine whether or not this quaternion is roughly equivalent to another.
+     * @param quaternion - The other quaternion.
+     * @returns Whether or not the quaternions are equivalent.
+     */
     equals(quaternion: QuaternionLike): boolean;
+    /**
+     * Determine whether or not this quaternion is exactly equivalent to another.
+     * @param quaternion - The other quaternion.
+     * @returns Whether or not the quaternions are equivalent.
+     */
     exactEquals(quaternion: QuaternionLike): boolean;
-    sqlerp(a: QuaternionLike, b: QuaternionLike, quaternion: QuaternionLike, t: number): Quaternion;
-    sqlerp<T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, quaternion: QuaternionLike, t: number, out: T): T;
+    /**
+     * Perform a spherical linear interpolation with two control points between this and another quaternion.
+     * @param a - The first control point.
+     * @param b - The second control point.
+     * @param quaternion - The other quaternion.
+     * @param t - The interpolation amount in `[0,1]`.
+     * @param out - The quaternion to store the result in.
+     * @returns The interpolated value.
+     * @see [Slerp](https://en.wikipedia.org/wiki/Slerp)
+     */
+    sqlerp<T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, quaternion: QuaternionLike, t: number, out?: T): T;
 }
 //# sourceMappingURL=Quaternion.d.ts.map

package/dist/linalg/Quaternion.d.ts.map

@@ -1 +1 @@
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