@lakuna/umath 1.3.9 → 1.4.2

package/dist/linalg/Quaternion.js

@@ -1,25 +1,127 @@
-import { createMatrix3Like } from "./Matrix3.js";
-import { add, copy, dot, equals, exactEquals, fromValues, getMagnitude, getSquaredMagnitude, lerp, normalize, scale } from "./Vector4.js";
+import { createMatrix3Like, fromValues as matrix3FromValues } from "./Matrix3.js";
+import Vector3, { createVector3Like, cross as vector3Cross, dot as vector3Dot, fromValues as vector3FromValues, getMagnitude as vector3GetMagnitude, normalize as vector3Normalize } from "./Vector3.js";
+import { add as vector4Add, copy as vector4Copy, dot as vector4Dot, exactEquals as vector4ExactEquals, fromValues as vector4FromValues, getMagnitude as vector4GetMagnitude, getSquaredMagnitude as vector4GetSquaredMagnitude, lerp as vector4Lerp, normalize as vector4Normalize, scale as vector4Scale } from "./Vector4.js";
 import epsilon from "../utility/epsilon.js";
+import radiansToDegrees from "../algorithms/radiansToDegrees.js";
 /**
  * Create a quaternion-like object.
  * @returns A quaternion-like object.
+ * @public
  */
 export const createQuaternionLike = () => {
     return new Float32Array(4);
 };
+/**
+ * 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.
+ * @public
+ */
+export const fromValues = vector4FromValues;
+/**
+ * Add two quaternions.
+ * @param a - The first quaternion
+ * @param b - The second quaternion.
+ * @param out - The quaternion to store the result in.
+ * @returns The sum of the quaternions.
+ * @public
+ */
+export const add = vector4Add;
+/**
+ * Copy the values from one quaternion to another.
+ * @param quaternion - The quaternion to copy.
+ * @param out - The quaternion to store the result in.
+ * @returns The copy.
+ * @public
+ */
+export const copy = vector4Copy;
+/**
+ * Calculate the dot product of two quaternions.
+ * @param a - The first quaternion
+ * @param b - The second quaternion.
+ * @returns The dot product.
+ * @public
+ */
+export const dot = vector4Dot;
+/**
+ * Determine whether or not two unit quaternions point in roughly the same direction.
+ * @param a - The first unit quaternion.
+ * @param b - The second unit quaternion.
+ * @returns Whether or not the unit quaternions point in the same direction.
+ * @public
+ */
+export const equals = (a, b) => Math.abs(dot(a, b)) >= 1 - epsilon;
+/**
+ * Determine whether or not two quaternions are exactly equivalent.
+ * @param a - The first quaternion.
+ * @param b - The second quaternion.
+ * @returns Whether or not the quaternions are equivalent.
+ * @public
+ */
+export const exactEquals = vector4ExactEquals;
+/**
+ * Calculate the magnitude (length) of a quaternion.
+ * @param quaternion - The quaternion.
+ * @returns The magnitude.
+ * @public
+ */
+export const getMagnitude = vector4GetMagnitude;
+/**
+ * Calculate the squared magnitude (length) of a quaternion.
+ * @param quaternion - The quaternion.
+ * @returns The squared magnitude.
+ * @public
+ */
+export const getSquaredMagnitude = vector4GetSquaredMagnitude;
+/**
+ * Perform a 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 {@link https://en.wikipedia.org/wiki/Linear_interpolation | Linear interpolation}
+ * @public
+ */
+export const lerp = vector4Lerp;
+/**
+ * Normalize a quaternion.
+ * @param quaternion - The quaternion.
+ * @param out - The quaternion to store the result in.
+ * @returns The normalized quaternion.
+ * @public
+ */
+export const normalize = vector4Normalize;
+/**
+ * Scale a quaternion by a scalar.
+ * @param quaternion - The multiplier.
+ * @param scalar - The multiplicand.
+ * @param out - The quaternion to store the result in.
+ * @returns The product.
+ * @public
+ */
+export const scale = vector4Scale;
 /**
  * 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)
+ * @returns The quaternion (not normalized).
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @see Ken Shoemake. Quaternion calculus and fast animation. SIGGRAPH Course Notes, 10:101-121, 1987.
+ * @public
  */
 export const fromMatrix3 = (matrix, out) => {
-    const fTrace = matrix[0] + matrix[4] + matrix[8];
+    const m0 = matrix[0];
+    const m4 = matrix[4];
+    const m8 = matrix[8];
+    const fTrace = m0 + m4 + m8;
     if (fTrace > 0) {
         let fRoot = Math.sqrt(fTrace + 1);
-        out[3] = 0.5 * fRoot;
+        out[3] = fRoot / 2;
         fRoot = 0.5 / fRoot;
         out[0] = (matrix[5] - matrix[7]) * fRoot;
         out[1] = (matrix[6] - matrix[2]) * fRoot;
@@ -27,10 +129,10 @@ export const fromMatrix3 = (matrix, out) => {
         return out;
     }
     let i = 0;
-    if (matrix[4] > matrix[0]) {
+    if (m4 > m0) {
         i = 1;
     }
-    if (matrix[8] > matrix[(i * 3 + i)]) {
+    if (m8 > matrix[(i * 3 + i)]) {
         i = 2;
     }
     const j = ((i + 1) % 3);
@@ -39,7 +141,7 @@ export const fromMatrix3 = (matrix, out) => {
         matrix[(j * 3 + j)] -
         matrix[(k * 3 + k)] +
         1);
-    out[i] = 0.5 * fRoot;
+    out[i] = fRoot / 2;
     fRoot = 0.5 / fRoot;
     out[3] =
         (matrix[(j * 3 + k)] - matrix[(k * 3 + j)]) *
@@ -52,79 +154,237 @@ export const fromMatrix3 = (matrix, out) => {
             fRoot;
     return out;
 };
+const ratio = Math.PI / 360;
 /**
- * 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.
+ * Create a quaternion from equivalent x-y'-z" (intrinsic) Tait-Bryan angles.
+ * @param x - The X angle in degrees.
+ * @param y - The Y angle in degrees.
+ * @param z - The Z angle in degrees.
  * @param out - The quaternion to store the result in.
  * @returns The quaternion.
- * @see [Euler angles](https://en.wikipedia.org/wiki/Euler_angles)
+ * @see {@link https://en.wikipedia.org/wiki/Euler_angles | Euler angles}
+ * @public
  */
-export const fromEuler = (x, y, z, out) => {
-    const r = (0.5 * Math.PI) / 180;
-    const x2 = x * r;
-    const y2 = y * r;
-    const z2 = z * r;
+export const fromEulerXyz = (x, y, z, out) => {
+    const x2 = x * ratio;
+    const y2 = y * ratio;
+    const z2 = z * ratio;
     const sx = Math.sin(x2);
     const cx = Math.cos(x2);
     const sy = Math.sin(y2);
     const cy = Math.cos(y2);
     const sz = Math.sin(z2);
     const cz = Math.cos(z2);
-    out[0] = sx * cy * cz - cx * sy * sz;
-    out[1] = cx * sy * cz + sx * cy * sz;
-    out[2] = cx * cy * sz - sx * sy * cz;
-    out[3] = cx * cy * cz + sx * sy * sz;
-    return out;
+    const sxcy = sx * cy;
+    const cxsy = cx * sy;
+    const cxcy = cx * cy;
+    const sxsy = sx * sy;
+    return fromValues(sxcy * cz - cxsy * sz, cxsy * cz + sxcy * sz, cxcy * sz - sxsy * cz, cxcy * cz + sxsy * sz, out);
+};
+/**
+ * Create a quaternion from equivalent x-z'-y" (intrinsic) Tait-Bryan angles.
+ * @param x - The X angle in degrees.
+ * @param z - The Z angle in degrees.
+ * @param y - The Y angle in degrees.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ * @see {@link https://en.wikipedia.org/wiki/Euler_angles | Euler angles}
+ * @public
+ */
+export const fromEulerXzy = (x, z, y, out) => {
+    const x2 = x * ratio;
+    const y2 = y * ratio;
+    const z2 = z * ratio;
+    const sx = Math.sin(x2);
+    const cx = Math.cos(x2);
+    const sy = Math.sin(y2);
+    const cy = Math.cos(y2);
+    const sz = Math.sin(z2);
+    const cz = Math.cos(z2);
+    const sxcy = sx * cy;
+    const cxsy = cx * sy;
+    const cxcy = cx * cy;
+    const sxsy = sx * sy;
+    return fromValues(sxcy * cz - cxsy * sz, cxsy * cz - sxcy * sz, cxcy * sz + sxsy * cz, cxcy * cz + sxsy * sz, out);
+};
+/**
+ * Create a quaternion from equivalent y-x'-z" (intrinsic) Tait-Bryan angles.
+ * @param y - The Y angle in degrees.
+ * @param x - The X angle in degrees.
+ * @param z - The Z angle in degrees.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ * @see {@link https://en.wikipedia.org/wiki/Euler_angles | Euler angles}
+ * @public
+ */
+export const fromEulerYxz = (y, x, z, out) => {
+    const x2 = x * ratio;
+    const y2 = y * ratio;
+    const z2 = z * ratio;
+    const sx = Math.sin(x2);
+    const cx = Math.cos(x2);
+    const sy = Math.sin(y2);
+    const cy = Math.cos(y2);
+    const sz = Math.sin(z2);
+    const cz = Math.cos(z2);
+    const sxcy = sx * cy;
+    const cxsy = cx * sy;
+    const cxcy = cx * cy;
+    const sxsy = sx * sy;
+    return fromValues(sxcy * cz + cxsy * sz, cxsy * cz - sxcy * sz, cxcy * sz - sxsy * cz, cxcy * cz + sxsy * sz, out);
+};
+/**
+ * Create a quaternion from equivalent y-z'-x" (intrinsic) Tait-Bryan angles.
+ * @param y - The Y angle in degrees.
+ * @param z - The Z angle in degrees.
+ * @param x - The X angle in degrees.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ * @see {@link https://en.wikipedia.org/wiki/Euler_angles | Euler angles}
+ * @public
+ */
+export const fromEulerYzx = (y, z, x, out) => {
+    const x2 = x * ratio;
+    const y2 = y * ratio;
+    const z2 = z * ratio;
+    const sx = Math.sin(x2);
+    const cx = Math.cos(x2);
+    const sy = Math.sin(y2);
+    const cy = Math.cos(y2);
+    const sz = Math.sin(z2);
+    const cz = Math.cos(z2);
+    const sxcy = sx * cy;
+    const cxsy = cx * sy;
+    const cxcy = cx * cy;
+    const sxsy = sx * sy;
+    return fromValues(sxcy * cz + cxsy * sz, cxsy * cz + sxcy * sz, cxcy * sz - sxsy * cz, cxcy * cz - sxsy * sz, out);
+};
+/**
+ * Create a quaternion from equivalent z-x'-y" (intrinsic) Tait-Bryan angles.
+ * @param z - The Z angle in degrees.
+ * @param x - The X angle in degrees.
+ * @param y - The Y angle in degrees.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ * @see {@link https://en.wikipedia.org/wiki/Euler_angles | Euler angles}
+ * @public
+ */
+export const fromEulerZxy = (z, x, y, out) => {
+    const x2 = x * ratio;
+    const y2 = y * ratio;
+    const z2 = z * ratio;
+    const sx = Math.sin(x2);
+    const cx = Math.cos(x2);
+    const sy = Math.sin(y2);
+    const cy = Math.cos(y2);
+    const sz = Math.sin(z2);
+    const cz = Math.cos(z2);
+    const sxcy = sx * cy;
+    const cxsy = cx * sy;
+    const cxcy = cx * cy;
+    const sxsy = sx * sy;
+    return fromValues(sxcy * cz - cxsy * sz, cxsy * cz + sxcy * sz, cxcy * sz + sxsy * cz, cxcy * cz - sxsy * sz, out);
+};
+/**
+ * Create a quaternion from equivalent z-y'-x" (intrinsic) Tait-Bryan angles.
+ * @param z - The Z angle (yaw) in degrees.
+ * @param y - The Y angle (pitch) in degrees.
+ * @param x - The X angle (roll) in degrees.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ * @see {@link https://en.wikipedia.org/wiki/Euler_angles | Euler angles}
+ * @public
+ */
+export const fromEulerZyx = (z, y, x, out) => {
+    const x2 = x * ratio;
+    const y2 = y * ratio;
+    const z2 = z * ratio;
+    const sx = Math.sin(x2);
+    const cx = Math.cos(x2);
+    const sy = Math.sin(y2);
+    const cy = Math.cos(y2);
+    const sz = Math.sin(z2);
+    const cz = Math.cos(z2);
+    const sxcy = sx * cy;
+    const cxsy = cx * sy;
+    const cxcy = cx * cy;
+    const sxsy = sx * sy;
+    return fromValues(sxcy * cz - cxsy * sz, cxsy * cz + sxcy * sz, cxcy * sz - sxsy * cz, cxcy * cz + sxsy * sz, out);
 };
-// Stores intermediary values for some functions.
-const intermediary = createMatrix3Like();
 /**
- * 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.
+ * Create a quaternion from equivalent z-y'-x" (intrinsic) Tait-Bryan angles.
+ * @param z - The Z angle (roll) in degrees.
+ * @param y - The Y angle (pitch) in degrees.
+ * @param x - The X angle (yaw) in degrees.
  * @param out - The quaternion to store the result in.
  * @returns The quaternion.
+ * @see {@link https://en.wikipedia.org/wiki/Euler_angles | Euler angles}
+ * @public
  */
-export const fromAxes = (view, right, up, out) => {
-    intermediary[0] = right[0];
-    intermediary[3] = right[1];
-    intermediary[6] = right[2];
-    intermediary[1] = up[0];
-    intermediary[4] = up[1];
-    intermediary[7] = up[2];
-    intermediary[2] = -view[0];
-    intermediary[5] = -view[1];
-    intermediary[8] = -view[2];
-    return normalize(fromMatrix3(intermediary, out), out);
+export const fromEuler = fromEulerZyx;
+// Used in `toEuler`.
+const halfEpsilon = 0.5 - epsilon;
+const doubleRatio = 360 / Math.PI;
+/**
+ * Convert a quaternion to equivalent z-y'-x" (intrinsic) Tait-Bryan angles.
+ * @param quaternion - The quaternion.
+ * @param out - The vector in which to store the Tait-Bryan angles.
+ * @returns The Tait-Bryan angles in degrees in roll (z), pitch (y'), yaw (x") order.
+ * @public
+ */
+export const toEuler = (quaternion, out) => {
+    const x = quaternion[0];
+    const y = quaternion[1];
+    const z = quaternion[2];
+    const w = quaternion[3];
+    const y2 = y * y;
+    const z2 = z * z;
+    const w2 = w * w;
+    const test = x * w - y * z;
+    const heu = halfEpsilon * (x * x + y2 + z2 + w2);
+    if (test > heu) {
+        return vector3FromValues(90, Math.atan2(y, x) * doubleRatio, 0, out);
+    }
+    if (test < -heu) {
+        return vector3FromValues(-90, Math.atan2(y, x) * doubleRatio, 0, out);
+    }
+    return vector3FromValues(radiansToDegrees(Math.asin(2 * (x * z - w * y))), radiansToDegrees(Math.atan2(2 * (x * w + y * z), 1 - 2 * (z2 + w2))), radiansToDegrees(Math.atan2(2 * (x * y + z * w), 1 - 2 * (y2 + z2))), out);
 };
+// Stores intermediary values for some functions.
+const im3 = createMatrix3Like();
+/**
+ * Create a quaternion with values corresponding to the given orthonormal set of unit vectors.
+ * @param view - The unit vector representing the viewing direction.
+ * @param right - The unit vector representing the local "right" direction.
+ * @param up - The unit vector representing the local "up" direction.
+ * @param out - The quaternion to store the result in.
+ * @returns The quaternion.
+ * @public
+ */
+export const fromAxes = (view, right, up, out) => normalize(fromMatrix3(matrix3FromValues(right[0], up[0], -view[0], right[1], up[1], -view[1], right[2], up[2], -view[2], im3), out), out);
 /**
  * Set a quaternion to the identity.
  * @param out - The quaternion to store the result in.
  * @returns This quaternion.
+ * @public
  */
-export const identity = (out) => {
-    out[0] = 0;
-    out[1] = 0;
-    out[2] = 0;
-    out[3] = 1;
-    return out;
-};
+export const identity = (out) => fromValues(0, 0, 0, 1, out);
 /**
  * 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.
+ * @public
  */
 export const getAxisAngle = (quaternion, out) => {
     const r = Math.acos(quaternion[3]) * 2;
     const s = Math.sin(r / 2);
-    out.axis =
-        s > epsilon
-            ? [quaternion[0] / s, quaternion[1] / s, quaternion[2] / s]
-            : [1, 0, 0];
+    if (s > epsilon) {
+        vector3FromValues(quaternion[0] / s, quaternion[1] / s, quaternion[2] / s, out.axis);
+    }
+    else {
+        vector3FromValues(1, 0, 0, out.axis);
+    }
     out.angle = r;
     return out;
 };
@@ -133,21 +393,19 @@ export const getAxisAngle = (quaternion, out) => {
  * @param axisAngle - The axis and angle.
  * @param out - The quaternion to store the result in.
  * @returns The quaternion.
+ * @public
  */
-export const setAxisAngle = (axisAngle, out) => {
-    const r = axisAngle.angle * 0.5;
+export const setAxisAngle = ({ angle, axis }, out) => {
+    const r = angle / 2;
     const s = Math.sin(r);
-    out[0] = s * axisAngle.axis[0];
-    out[1] = s * axisAngle.axis[1];
-    out[2] = s * axisAngle.axis[2];
-    out[3] = Math.cos(r);
-    return out;
+    return fromValues(axis[0] * s, axis[1] * s, axis[2] * s, Math.cos(r), out);
 };
 /**
  * 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.
+ * @public
  */
 export const getAngle = (a, b) => {
     const dp = dot(a, b);
@@ -159,6 +417,7 @@ export const getAngle = (a, b) => {
  * @param b - The multiplicand.
  * @param out - The quaternion to store the result in.
  * @returns The product.
+ * @public
  */
 export const multiply = (a, b, out) => {
     const ax = a[0];
@@ -169,11 +428,7 @@ export const multiply = (a, b, out) => {
     const by = b[1];
     const bz = b[2];
     const bw = b[3];
-    out[0] = ax * bw + aw * bx + ay * bz - az * by;
-    out[1] = ay * bw + aw * by + az * bx - ax * bz;
-    out[2] = az * bw + aw * bz + ax * by - ay * bx;
-    out[3] = aw * bw - ax * bx - ay * by - az * bz;
-    return out;
+    return fromValues(ax * bw + aw * bx + ay * bz - az * by, ay * bw + aw * by + az * bx - ax * bz, az * bw + aw * bz + ax * by - ay * bx, aw * bw - ax * bx - ay * by - az * bz, out);
 };
 /**
  * Rotate a quaternion by the given angle around the X-axis.
@@ -181,20 +436,17 @@ export const multiply = (a, b, out) => {
  * @param radians - The angle in radians.
  * @param out - The quaternion to store the result in.
  * @returns The rotated quaternion.
+ * @public
  */
 export const rotateX = (quaternion, radians, out) => {
-    const r = radians * 0.5;
     const ax = quaternion[0];
     const ay = quaternion[1];
     const az = quaternion[2];
     const aw = quaternion[3];
-    const bx = Math.sin(r);
-    const bw = Math.cos(r);
-    out[0] = ax * bw + aw * bx;
-    out[1] = ay * bw + az * bx;
-    out[2] = az * bw - ay * bx;
-    out[3] = aw * bw - ax * bx;
-    return out;
+    const r = radians / 2;
+    const s = Math.sin(r);
+    const c = Math.cos(r);
+    return fromValues(ax * c + aw * s, ay * c + az * s, az * c - ay * s, aw * c - ax * s, out);
 };
 /**
  * Rotate a quaternion by the given angle around the Y-axis.
@@ -202,20 +454,17 @@ export const rotateX = (quaternion, radians, out) => {
  * @param radians - The angle in radians.
  * @param out - The quaternion to store the result in.
  * @returns The rotated quaternion.
+ * @public
  */
 export const rotateY = (quaternion, radians, out) => {
-    const r = radians * 0.5;
     const ax = quaternion[0];
     const ay = quaternion[1];
     const az = quaternion[2];
     const aw = quaternion[3];
-    const by = Math.sin(r);
-    const bw = Math.cos(r);
-    out[0] = ax * bw - az * by;
-    out[1] = ay * bw + aw * by;
-    out[2] = az * bw + ax * by;
-    out[3] = aw * bw - ay * by;
-    return out;
+    const r = radians / 2;
+    const s = Math.sin(r);
+    const c = Math.cos(r);
+    return fromValues(ax * c - az * s, ay * c + aw * s, az * c + ax * s, aw * c - ay * s, out);
 };
 /**
  * Rotate a quaternion by the given angle around the Z-axis.
@@ -223,86 +472,79 @@ export const rotateY = (quaternion, radians, out) => {
  * @param radians - The angle in radians.
  * @param out - The quaternion to store the result in.
  * @returns The rotated quaternion.
+ * @public
  */
 export const rotateZ = (quaternion, radians, out) => {
-    const r = radians * 0.5;
     const ax = quaternion[0];
     const ay = quaternion[1];
     const az = quaternion[2];
     const aw = quaternion[3];
-    const bz = Math.sin(r);
-    const bw = Math.cos(r);
-    out[0] = ax * bw + ay * bz;
-    out[1] = ay * bw - ax * bz;
-    out[2] = az * bw + aw * bz;
-    out[3] = aw * bw - az * bz;
-    return out;
+    const r = radians / 2;
+    const s = Math.sin(r);
+    const c = Math.cos(r);
+    return fromValues(ax * c + ay * s, ay * c - ax * s, az * c + aw * s, aw * c - az * s, out);
 };
 /**
  * Calculate the fourth component of a unit quaternion from the first three, ignoring the existing fourth component.
- * @param quaternion - The quaternion.
+ * @param quaternion - The unit quaternion.
  * @param out - The quaternion to store the result in.
  * @returns The quaternion.
+ * @public
  */
 export const calculateW = (quaternion, out) => {
     const x = quaternion[0];
     const y = quaternion[1];
     const z = quaternion[2];
-    out[0] = x;
-    out[1] = y;
-    out[2] = z;
+    if (quaternion !== out) {
+        out[0] = x;
+        out[1] = y;
+        out[2] = z;
+    }
     out[3] = Math.sqrt(Math.abs(1 - x * x - y * y - z * z));
     return out;
 };
 /**
  * Calculate the exponential of a unit quaternion.
- * @param quaternion - The quaternion.
+ * @param quaternion - The unit quaternion.
  * @param out - The quaternion to store the result in.
  * @returns The exponential.
+ * @public
  */
 export const exp = (quaternion, out) => {
     const x = quaternion[0];
     const y = quaternion[1];
     const z = quaternion[2];
-    const w = quaternion[3];
-    const r = Math.sqrt(x * x + y * y + z * z);
-    const et = Math.exp(w);
+    const r = Math.sqrt(x * x + y * y + z * z); // `Math.hypot` is slower.
+    const et = Math.exp(quaternion[3]);
     const s = r > 0 ? (et * Math.sin(r)) / r : 0;
-    out[0] = x * s;
-    out[1] = y * s;
-    out[2] = z * s;
-    out[3] = et * Math.cos(r);
-    return out;
+    return fromValues(x * s, y * s, z * s, et * Math.cos(r), out);
 };
 /**
  * Calculate the natural logarithm of a unit quaternion.
- * @param quaternion - The quaternion.
+ * @param quaternion - The unit quaternion.
  * @param out - The quaternion to store the result in.
  * @returns The natural logarithm.
+ * @public
  */
 export const ln = (quaternion, out) => {
     const x = quaternion[0];
     const y = quaternion[1];
     const z = quaternion[2];
     const w = quaternion[3];
-    const r = Math.sqrt(x * x + y * y + z * z);
+    const xyz2 = x * x + y * y + z * z;
+    const r = Math.sqrt(xyz2); // `Math.hypot` is slower.
     const t = r > 0 ? Math.atan2(r, w) / r : 0;
-    out[0] = x * t;
-    out[1] = y * t;
-    out[2] = z * t;
-    out[3] = 0.5 * Math.log(x * x + y * y + z * z + w * w);
-    return out;
+    return fromValues(x * t, y * t, z * t, Math.log(xyz2 + w * w) / 2, out);
 };
 /**
- * Calculate a power of a unit quaternion.
- * @param quaternion - The quaternion.
+ * Calculate a scalar power of a unit quaternion.
+ * @param quaternion - The unit quaternion.
  * @param scalar - The amount to scale the quaternion by.
  * @param out - The quaternion to store the result in.
- * @returns The power.
+ * @returns The scalar power.
+ * @public
  */
-export const pow = (quaternion, scalar, out) => {
-    return exp(scale(ln(quaternion, out), scalar, out), out);
-};
+export const pow = (quaternion, scalar, out) => exp(scale(ln(quaternion, out), scalar, out), out);
 /**
  * Perform a spherical linear interpolation between two quaternions.
  * @param a - The first quaternion.
@@ -310,7 +552,8 @@ export const pow = (quaternion, scalar, out) => {
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
+ * @public
  */
 export const slerp = (a, b, t, out) => {
     const ax = a[0];
@@ -344,34 +587,29 @@ export const slerp = (a, b, t, out) => {
         scale0 = 1 - t;
         scale1 = t;
     }
-    out[0] = scale0 * ax + scale1 * bx;
-    out[1] = scale0 * ay + scale1 * by;
-    out[2] = scale0 * az + scale1 * bz;
-    out[3] = scale0 * aw + scale1 * bw;
-    return out;
+    return fromValues(ax * scale0 + bx * scale1, ay * scale0 + by * scale1, az * scale0 + bz * scale1, aw * scale0 + bw * scale1, out);
 };
+const pi2 = Math.PI * 2;
 /**
  * Set a quaternion to a random unit quaternion.
  * @param out - The quaternion to store the result in.
  * @returns The quaternion.
+ * @public
  */
 export const random = (out) => {
-    const u1 = Math.random();
-    const u2 = Math.random();
-    const u3 = Math.random();
-    const sqrt1MinusU1 = Math.sqrt(1 - u1);
-    const sqrtU1 = Math.sqrt(u1);
-    out[0] = sqrt1MinusU1 * Math.sin(2 * Math.PI * u2);
-    out[1] = sqrt1MinusU1 * Math.cos(2 * Math.PI * u2);
-    out[2] = sqrtU1 * Math.sin(2 * Math.PI * u3);
-    out[3] = sqrtU1 * Math.cos(2 * Math.PI * u3);
-    return out;
+    const rand = Math.random();
+    const sqInvRand = Math.sqrt(1 - rand);
+    const sqRand = Math.sqrt(rand);
+    const pi2u2 = pi2 * Math.random();
+    const pi2u3 = pi2 * Math.random();
+    return fromValues(sqInvRand * Math.sin(pi2u2), sqInvRand * Math.cos(pi2u2), sqRand * Math.sin(pi2u3), sqRand * Math.cos(pi2u3), out);
 };
 /**
  * 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.
+ * @public
  */
 export const invert = (quaternion, out) => {
     const a0 = quaternion[0];
@@ -380,32 +618,18 @@ export const invert = (quaternion, out) => {
     const a3 = quaternion[3];
     const aDotA = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3;
     const invDot = aDotA ? 1 / aDotA : 0;
-    if (aDotA === 0) {
-        out[0] = 0;
-        out[1] = 0;
-        out[2] = 0;
-        out[3] = 0;
-        return out;
-    }
-    out[0] = -a0 * invDot;
-    out[1] = -a1 * invDot;
-    out[2] = -a2 * invDot;
-    out[3] = a3 * invDot;
-    return out;
+    return aDotA === 0 ?
+        fromValues(0, 0, 0, 0, out)
+        : fromValues(-a0 * invDot, -a1 * invDot, -a2 * invDot, a3 * invDot, out);
 };
 /**
  * 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.
+ * @public
  */
-export const conjugate = (quaternion, out) => {
-    out[0] = -quaternion[0];
-    out[1] = -quaternion[1];
-    out[2] = -quaternion[2];
-    out[3] = quaternion[3];
-    return out;
-};
+export const conjugate = (quaternion, out) => fromValues(-quaternion[0], -quaternion[1], -quaternion[2], quaternion[3], out);
 // Used to store intermediate values for some functions.
 const controlPointOne = createQuaternionLike();
 const controlPointTwo = createQuaternionLike();
@@ -418,16 +642,44 @@ const controlPointTwo = createQuaternionLike();
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
+ * @public
+ */
+export const sqlerp = (a, b, c, d, t, out) => slerp(slerp(a, d, t, controlPointOne), slerp(b, c, t, controlPointTwo), 2 * t * (1 - t), out);
+// The unit three-dimensional vector that represents the X-axis.
+const xAxis = vector3FromValues(1, 0, 0, createVector3Like());
+// The unit three-dimensional vector that represents the Y-axis.
+const yAxis = vector3FromValues(0, 1, 0, createVector3Like());
+// Used to store intermediary values for some functions.
+const iv3 = createVector3Like();
+/**
+ * Create a unit quaternion that represents the shortest rotation from one unit vector to another.
+ * @param a - The first unit vector.
+ * @param b - The second unit vector.
+ * @param out - The quaternion to store the result in.
+ * @returns The unit quaternion.
+ * @public
  */
-export const sqlerp = (a, b, c, d, t, out) => {
-    slerp(a, d, t, controlPointOne);
-    slerp(b, c, t, controlPointTwo);
-    return slerp(controlPointOne, controlPointTwo, 2 * t * (1 - t), out);
+export const fromRotationTo = (a, b, out) => {
+    const dp = vector3Dot(a, b);
+    if (dp < epsilon - 1) {
+        vector3Cross(xAxis, a, iv3);
+        if (vector3GetMagnitude(iv3) < epsilon) {
+            vector3Cross(yAxis, a, iv3);
+        }
+        vector3Normalize(iv3, iv3);
+        return setAxisAngle({ angle: Math.PI, axis: iv3 }, out);
+    }
+    if (dp > 1 - epsilon) {
+        return fromValues(0, 0, 0, 1, out);
+    }
+    vector3Cross(a, b, iv3);
+    return normalize(fromValues(iv3[0], iv3[1], iv3[2], 1 + dp, out), out);
 };
 /**
  * A complex number that is commonly used to describe rotations.
- * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
+ * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
+ * @public
  */
 export default class Quaternion extends Float32Array {
     /**
@@ -435,22 +687,22 @@ export default class Quaternion extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
     static fromMatrix3(matrix, out = new Quaternion()) {
         return fromMatrix3(matrix, out);
     }
     /**
-     * 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.
+     * Create a quaternion from equivalent z-y'-x" (intrinsic) Tait-Bryan angles.
+     * @param z - The z (roll) angle.
+     * @param y - The y (pitch) angle.
+     * @param x - The x (yaw) angle.
      * @param out - The quaternion to store the result in.
      * @returns The quaternion.
-     * @see [Euler angles](https://en.wikipedia.org/wiki/Euler_angles)
+     * @see {@link https://en.wikipedia.org/wiki/Euler_angles | Euler angles}
      */
-    static fromEuler(x, y, z, out = new Quaternion()) {
-        return fromEuler(x, y, z, out);
+    static fromEuler(z, y, x, out = new Quaternion()) {
+        return fromEuler(z, y, x, out);
     }
     /**
      * Create a quaternion with the given values.
@@ -475,9 +727,19 @@ export default class Quaternion extends Float32Array {
     static fromAxes(view, right, up, out = new Quaternion()) {
         return fromAxes(view, right, up, out);
     }
+    /**
+     * Create a unit quaternion that represents the shortest rotation from one unit vector to another.
+     * @param a - The first unit vector.
+     * @param b - The second unit vector.
+     * @param out - The quaternion to store the result in.
+     * @returns The unit quaternion.
+     */
+    static fromRotationTo(a, b, out = new Quaternion()) {
+        return fromRotationTo(a, b, out);
+    }
     /**
      * Create an identity quaternion.
-     * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
+     * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
      */
     constructor() {
         super(4);
@@ -597,7 +859,7 @@ export default class Quaternion extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
      */
     slerp(quaternion, t, out = new Quaternion()) {
         return slerp(this, quaternion, t, out);
@@ -717,10 +979,18 @@ export default class Quaternion extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
      */
     sqlerp(a, b, quaternion, t, out = new Quaternion()) {
         return sqlerp(this, a, b, quaternion, t, out);
     }
+    /**
+     * Convert this quaternion to equivalent z-y'-x" (intrinsic) Tait-Bryan angles.
+     * @param out - The vector in which to store the Tait-Bryan angles.
+     * @returns The Tait-Bryan angles in degrees in roll (z), pitch (y'), yaw (x") order.
+     */
+    toEuler(out = new Vector3()) {
+        return toEuler(this, out);
+    }
 }
 //# sourceMappingURL=Quaternion.js.map