@lakuna/umath 1.5.0 → 3.0.0

package/dist/linalg/Quaternion.d.ts

@@ -1,6 +1,7 @@
+import type AxisAngle from "../types/AxisAngle.js";
+import createAxisAngleLike from "../utility/createAxisAngleLike.js";
 import { type Matrix3Like } from "./Matrix3.js";
 import Vector3, { type Vector3Like } from "./Vector3.js";
-import type AxisAngle from "../types/AxisAngle.js";
 /**
  * A complex number that is commonly used to describe rotations.
  * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
@@ -383,81 +384,116 @@ export declare const fromRotationTo: <T extends QuaternionLike>(a: Vector3Like,
  * @public
  */
 export default class Quaternion extends Float32Array implements QuaternionLike {
+    /** 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;
+    /** The axis and angle that represent this quaternion. */
+    get axisAngle(): ReturnType<typeof createAxisAngleLike>;
+    set axisAngle(value: AxisAngle);
+    /** Get the magnitude (length) of this quaternion. */
+    get magnitude(): number;
+    /** Get the squared magnitude (length) of this quaternion. */
+    get squaredMagnitude(): number;
     /**
-     * Create a quaternion from a three-by-three rotation matrix.
-     * @param matrix - The matrix.
-     * @param out - The quaternion to store the result in.
+     * Create an identity quaternion.
+     * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
+     */
+    constructor();
+    /**
+     * 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.
      * @returns The quaternion.
-     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
-    static fromMatrix3<T extends QuaternionLike = Quaternion>(matrix: Matrix3Like, out?: T): T;
+    static fromAxes(view: Vector3Like, right: Vector3Like, up: Vector3Like): Quaternion;
     /**
      * 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 {@link https://en.wikipedia.org/wiki/Euler_angles | Euler angles}
      */
-    static fromEuler<T extends QuaternionLike = Quaternion>(z: number, y: number, x: number, out?: T): T;
+    static fromEuler(z: number, y: number, x: number): Quaternion;
+    /**
+     * Create a quaternion from a three-by-three rotation matrix.
+     * @param matrix - The matrix.
+     * @returns The quaternion.
+     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+     */
+    static fromMatrix3(matrix: Matrix3Like): Quaternion;
+    /**
+     * 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.
+     * @returns The unit quaternion.
+     */
+    static fromRotationTo(a: Vector3Like, b: Vector3Like): Quaternion;
     /**
      * 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 = Quaternion>(x: number, y: number, z: number, w: number, out?: T): T;
+    static fromValues(x: number, y: number, z: number, w: number): Quaternion;
     /**
-     * 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.
+     * Add two quaternions of the same size.
+     * @param quaternion - The other quaternion.
+     * @returns The sum of the quaternions.
+     */
+    add(quaternion: QuaternionLike): Quaternion;
+    /**
+     * Calculate the fourth component of this unit quaternion from the first three, ignoring the existing fourth component.
      * @returns The quaternion.
      */
-    static fromAxes<T extends QuaternionLike = Quaternion>(view: Vector3Like, right: Vector3Like, up: Vector3Like, out?: T): T;
+    calculateW(): Quaternion;
     /**
-     * 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.
+     * Copy the values from this quaternion to another one.
+     * @returns The copy.
      */
-    static fromRotationTo<T extends QuaternionLike = Quaternion>(a: Vector3Like, b: Vector3Like, out?: T): T;
+    clone(): Quaternion;
     /**
-     * Create an identity quaternion.
-     * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
+     * Calculate the conjugate of this quaternion. If the quaternion is normalized, this is the same as the inverse but faster to calculate.
+     * @returns The conjugate.
      */
-    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;
+    conjugate(): Quaternion;
     /**
-     * Set this quaternion to the identity.
+     * Copy the values of another quaternion into this one.
+     * @param quaternion - The quaternion to copy.
      * @returns This quaternion.
      */
-    identity(): this;
+    copy(quaternion: QuaternionLike): this;
     /**
-     * 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.
+     * Calculate the dot product of this and another quaternion.
+     * @param quaternion - The other quaternion.
+     * @returns The dot product.
      */
-    getAxisAngle<T extends AxisAngle>(out?: T): T;
+    dot(quaternion: QuaternionLike): number;
     /**
-     * Set the axis and angle that represent this quaternion.
-     * @param axisAngle - The axis and angle.
-     * @returns This quaternion.
+     * 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;
+    /**
+     * Calculate the exponential of this unit quaternion.
+     * @returns The exponential.
      */
-    setAxisAngle(axisAngle: AxisAngle): this;
+    exp(): Quaternion;
     /**
      * Get the angular distance between this unit quaternion and another.
      * @param quaternion - The other unit quaternion.
@@ -465,162 +501,95 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
      */
     getAngle(quaternion: QuaternionLike): number;
     /**
-     * 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>(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.
+     * Set this quaternion to the identity.
+     * @returns This quaternion.
      */
-    rotateX<T extends QuaternionLike = Quaternion>(r: number, out?: T): T;
+    identity(): this;
     /**
-     * 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.
+     * Calculate the inverse of this quaternion. If the quaternion is normalized, the conjugate is the same but faster to calculate.
+     * @returns The inverse.
      */
-    rotateY<T extends QuaternionLike = Quaternion>(r: number, out?: T): T;
+    invert(): Quaternion;
     /**
-     * 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.
+     * Perform a linear interpolation between this and another quaternion.
+     * @param quaternion - The other quaternion.
+     * @param t - The interpolation amount (in `[0,1]`).
+     * @returns The interpolated quaternion.
      */
-    rotateZ<T extends QuaternionLike = Quaternion>(r: number, out?: T): T;
+    lerp(quaternion: QuaternionLike, t: number): Quaternion;
     /**
-     * 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.
+     * Calculate the natural logarithm of this unit quaternion.
+     * @returns The natural logarithm.
      */
-    calculateW<T extends QuaternionLike = Quaternion>(out?: T): T;
+    ln(): Quaternion;
     /**
-     * Calculate the exponential of this unit quaternion.
-     * @param out - The quaternion to store the result in.
-     * @returns The exponential.
+     * Multiply this and another quaternion.
+     * @param quaternion - The other quaternion.
+     * @returns The product.
      */
-    exp<T extends QuaternionLike = Quaternion>(out?: T): T;
+    multiply(quaternion: QuaternionLike): Quaternion;
     /**
-     * Calculate the natural logarithm of this unit quaternion.
-     * @param out - The quaternion to store the result in.
-     * @returns The natural logarithm.
+     * Normalize this quaternion.
+     * @returns The normalized quaternion.
      */
-    ln<T extends QuaternionLike = Quaternion>(out?: T): T;
+    normalize(): Quaternion;
     /**
      * 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 = Quaternion>(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 {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
-     */
-    slerp<T extends QuaternionLike = Quaternion>(quaternion: QuaternionLike, t: number, out?: T): T;
+    pow(scalar: number): Quaternion;
     /**
      * Set this to a random unit quaternion.
      * @returns A random unit quaternion.
      */
     random(): this;
     /**
-     * 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 = Quaternion>(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 = Quaternion>(out?: T): T;
-    /**
-     * Copy the values from this quaternion to another one.
-     * @param out - The quaternion to store the result in.
-     * @returns The copy.
+     * Rotate this quaternion by the given angle around the X-axis.
+     * @param r - The angle in radians.
+     * @returns The rotated quaternion.
      */
-    clone<T extends QuaternionLike = Quaternion>(out?: T): T;
+    rotateX(r: number): Quaternion;
     /**
-     * Copy the values of another quaternion into this one.
-     * @param quaternion - The quaternion to copy.
-     * @returns This quaternion.
+     * Rotate this quaternion by the given angle around the Y-axis.
+     * @param r - The angle in radians.
+     * @returns The rotated quaternion.
      */
-    copy(quaternion: QuaternionLike): this;
+    rotateY(r: number): Quaternion;
     /**
-     * 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.
+     * Rotate this quaternion by the given angle around the Z-axis.
+     * @param r - The angle in radians.
+     * @returns The rotated quaternion.
      */
-    add<T extends QuaternionLike = Quaternion>(quaternion: QuaternionLike, out?: T): T;
+    rotateZ(r: number): Quaternion;
     /**
      * 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 = Quaternion>(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;
+    scale(scalar: number): Quaternion;
     /**
-     * Perform a linear interpolation between this and another quaternion.
+     * 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.
+     * @param t - The interpolation amount in `[0,1]`.
      * @returns The interpolated quaternion.
+     * @see {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
      */
-    lerp<T extends QuaternionLike = Quaternion>(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 this quaternion.
-     * @param out - The quaternion to store the result in.
-     * @returns The normalized quaternion.
-     */
-    normalize<T extends QuaternionLike = Quaternion>(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;
+    slerp(quaternion: QuaternionLike, t: number): Quaternion;
     /**
      * 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 {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
      */
-    sqlerp<T extends QuaternionLike = Quaternion>(a: QuaternionLike, b: QuaternionLike, quaternion: QuaternionLike, t: number, out?: T): T;
+    sqlerp(a: QuaternionLike, b: QuaternionLike, quaternion: QuaternionLike, t: number): Quaternion;
     /**
      * 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<T extends Vector3Like = Vector3>(out?: T): T;
+    toEuler(): Vector3;
 }
 //# sourceMappingURL=Quaternion.d.ts.map

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

@@ -1 +1 @@
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