@lakuna/umath 3.0.0 → 4.0.0

package/dist/linalg/Quaternion.d.ts

@@ -1,5 +1,3 @@
-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";
 /**
@@ -42,7 +40,7 @@ export declare const fromValues: <T extends QuaternionLike>(x: number, y: number
  * @returns The sum of the quaternions.
  * @public
  */
-export declare const add: <T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, out: T) => T;
+export declare const add: <T extends QuaternionLike>(a: Readonly<QuaternionLike>, b: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Copy the values from one quaternion to another.
  * @param quaternion - The quaternion to copy.
@@ -50,7 +48,7 @@ export declare const add: <T extends QuaternionLike>(a: QuaternionLike, b: Quate
  * @returns The copy.
  * @public
  */
-export declare const copy: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+export declare const copy: <T extends QuaternionLike>(quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Calculate the dot product of two quaternions.
  * @param a - The first quaternion
@@ -58,7 +56,7 @@ export declare const copy: <T extends QuaternionLike>(quaternion: QuaternionLike
  * @returns The dot product.
  * @public
  */
-export declare const dot: (a: QuaternionLike, b: QuaternionLike) => number;
+export declare const dot: (a: Readonly<QuaternionLike>, b: Readonly<QuaternionLike>) => number;
 /**
  * Determine whether or not two unit quaternions point in roughly the same direction.
  * @param a - The first unit quaternion.
@@ -66,7 +64,7 @@ export declare const dot: (a: QuaternionLike, b: QuaternionLike) => number;
  * @returns Whether or not the unit quaternions point in the same direction.
  * @public
  */
-export declare const equals: (a: QuaternionLike, b: QuaternionLike) => boolean;
+export declare const equals: (a: Readonly<QuaternionLike>, b: Readonly<QuaternionLike>) => boolean;
 /**
  * Determine whether or not two quaternions are exactly equivalent.
  * @param a - The first quaternion.
@@ -74,21 +72,21 @@ export declare const equals: (a: QuaternionLike, b: QuaternionLike) => boolean;
  * @returns Whether or not the quaternions are equivalent.
  * @public
  */
-export declare const exactEquals: (a: QuaternionLike, b: QuaternionLike) => boolean;
+export declare const exactEquals: (a: Readonly<QuaternionLike>, b: Readonly<QuaternionLike>) => boolean;
 /**
  * Calculate the magnitude (length) of a quaternion.
  * @param quaternion - The quaternion.
  * @returns The magnitude.
  * @public
  */
-export declare const getMagnitude: (quaternion: QuaternionLike) => number;
+export declare const getMagnitude: (quaternion: Readonly<QuaternionLike>) => number;
 /**
  * Calculate the squared magnitude (length) of a quaternion.
  * @param quaternion - The quaternion.
  * @returns The squared magnitude.
  * @public
  */
-export declare const getSquaredMagnitude: (quaternion: QuaternionLike) => number;
+export declare const getSquaredMagnitude: (quaternion: Readonly<QuaternionLike>) => number;
 /**
  * Perform a linear interpolation between two quaternions.
  * @param a - The first quaternion.
@@ -99,7 +97,7 @@ export declare const getSquaredMagnitude: (quaternion: QuaternionLike) => number
  * @see {@link https://en.wikipedia.org/wiki/Linear_interpolation | Linear interpolation}
  * @public
  */
-export declare const lerp: <T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, t: number, out: T) => T;
+export declare const lerp: <T extends QuaternionLike>(a: Readonly<QuaternionLike>, b: Readonly<QuaternionLike>, t: number, out: T) => T;
 /**
  * Normalize a quaternion.
  * @param quaternion - The quaternion.
@@ -107,7 +105,7 @@ export declare const lerp: <T extends QuaternionLike>(a: QuaternionLike, b: Quat
  * @returns The normalized quaternion.
  * @public
  */
-export declare const normalize: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+export declare const normalize: <T extends QuaternionLike>(quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Scale a quaternion by a scalar.
  * @param quaternion - The multiplier.
@@ -116,7 +114,7 @@ export declare const normalize: <T extends QuaternionLike>(quaternion: Quaternio
  * @returns The product.
  * @public
  */
-export declare const scale: <T extends QuaternionLike>(quaternion: QuaternionLike, scalar: number, out: T) => T;
+export declare const scale: <T extends QuaternionLike>(quaternion: Readonly<QuaternionLike>, scalar: number, out: T) => T;
 /**
  * Create a quaternion from a three-by-three rotation matrix.
  * @param matrix - The matrix.
@@ -126,7 +124,7 @@ export declare const scale: <T extends QuaternionLike>(quaternion: QuaternionLik
  * @see Ken Shoemake. Quaternion calculus and fast animation. SIGGRAPH Course Notes, 10:101-121, 1987.
  * @public
  */
-export declare const fromMatrix3: <T extends QuaternionLike>(matrix: Matrix3Like, out: T) => T;
+export declare const fromMatrix3: <T extends QuaternionLike>(matrix: Readonly<Matrix3Like>, out: T) => T;
 /**
  * Create a quaternion from equivalent x-y'-z" (intrinsic) Tait-Bryan angles.
  * @param x - The X angle in degrees.
@@ -211,7 +209,7 @@ export declare const fromEuler: <T extends QuaternionLike>(z: number, y: number,
  * @returns The Tait-Bryan angles in degrees in roll (z), pitch (y'), yaw (x") order.
  * @public
  */
-export declare const toEuler: <T extends Vector3Like>(quaternion: QuaternionLike, out: T) => T;
+export declare const toEuler: <T extends Vector3Like>(quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Create a quaternion with values corresponding to the given orthonormal set of unit vectors.
  * @param view - The unit vector representing the viewing direction.
@@ -221,7 +219,7 @@ export declare const toEuler: <T extends Vector3Like>(quaternion: QuaternionLike
  * @returns The quaternion.
  * @public
  */
-export declare const fromAxes: <T extends QuaternionLike>(view: Vector3Like, right: Vector3Like, up: Vector3Like, out: T) => T;
+export declare const fromAxes: <T extends QuaternionLike>(view: Readonly<Vector3Like>, right: Readonly<Vector3Like>, up: Readonly<Vector3Like>, out: T) => T;
 /**
  * Set a quaternion to the identity.
  * @param out - The quaternion to store the result in.
@@ -232,19 +230,20 @@ 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.
+ * @param out - The axis to store the result in.
  * @returns The axis and angle.
  * @public
  */
-export declare const getAxisAngle: <T extends AxisAngle>(quaternion: QuaternionLike, out: T) => T;
+export declare const getAxisAngle: <T extends Vector3Like>(quaternion: Readonly<QuaternionLike>, out: T) => [T, number];
 /**
  * Set the axis and angle that represent a quaternion.
- * @param axisAngle - The axis and angle.
+ * @param axis - The axis.
+ * @param angle - The angle.
  * @param out - The quaternion to store the result in.
  * @returns The quaternion.
  * @public
  */
-export declare const setAxisAngle: <T extends QuaternionLike>({ angle, axis }: AxisAngle, out: T) => T;
+export declare const setAxisAngle: <T extends QuaternionLike>(axis: Readonly<Vector3Like>, angle: number, out: T) => T;
 /**
  * Get the angular distance between two unit quaternions.
  * @param a - The first unit quaternion.
@@ -252,7 +251,7 @@ export declare const setAxisAngle: <T extends QuaternionLike>({ angle, axis }: A
  * @returns The angular distance in radians.
  * @public
  */
-export declare const getAngle: (a: QuaternionLike, b: QuaternionLike) => number;
+export declare const getAngle: (a: Readonly<QuaternionLike>, b: Readonly<QuaternionLike>) => number;
 /**
  * Multiply two quaternions.
  * @param a - The multiplier.
@@ -261,7 +260,7 @@ export declare const getAngle: (a: QuaternionLike, b: QuaternionLike) => number;
  * @returns The product.
  * @public
  */
-export declare const multiply: <T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, out: T) => T;
+export declare const multiply: <T extends QuaternionLike>(a: Readonly<QuaternionLike>, b: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Rotate a quaternion by the given angle around the X-axis.
  * @param quaternion - The quaternion.
@@ -270,7 +269,7 @@ export declare const multiply: <T extends QuaternionLike>(a: QuaternionLike, b:
  * @returns The rotated quaternion.
  * @public
  */
-export declare const rotateX: <T extends QuaternionLike>(quaternion: QuaternionLike, radians: number, out: T) => T;
+export declare const rotateX: <T extends QuaternionLike>(quaternion: Readonly<QuaternionLike>, radians: number, out: T) => T;
 /**
  * Rotate a quaternion by the given angle around the Y-axis.
  * @param quaternion - The quaternion.
@@ -279,7 +278,7 @@ export declare const rotateX: <T extends QuaternionLike>(quaternion: QuaternionL
  * @returns The rotated quaternion.
  * @public
  */
-export declare const rotateY: <T extends QuaternionLike>(quaternion: QuaternionLike, radians: number, out: T) => T;
+export declare const rotateY: <T extends QuaternionLike>(quaternion: Readonly<QuaternionLike>, radians: number, out: T) => T;
 /**
  * Rotate a quaternion by the given angle around the Z-axis.
  * @param quaternion - The quaternion.
@@ -288,7 +287,7 @@ export declare const rotateY: <T extends QuaternionLike>(quaternion: QuaternionL
  * @returns The rotated quaternion.
  * @public
  */
-export declare const rotateZ: <T extends QuaternionLike>(quaternion: QuaternionLike, radians: number, out: T) => T;
+export declare const rotateZ: <T extends QuaternionLike>(quaternion: Readonly<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 unit quaternion.
@@ -296,7 +295,7 @@ export declare const rotateZ: <T extends QuaternionLike>(quaternion: QuaternionL
  * @returns The quaternion.
  * @public
  */
-export declare const calculateW: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+export declare const calculateW: <T extends QuaternionLike>(quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Calculate the exponential of a unit quaternion.
  * @param quaternion - The unit quaternion.
@@ -304,7 +303,7 @@ export declare const calculateW: <T extends QuaternionLike>(quaternion: Quaterni
  * @returns The exponential.
  * @public
  */
-export declare const exp: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+export declare const exp: <T extends QuaternionLike>(quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Calculate the natural logarithm of a unit quaternion.
  * @param quaternion - The unit quaternion.
@@ -312,7 +311,7 @@ export declare const exp: <T extends QuaternionLike>(quaternion: QuaternionLike,
  * @returns The natural logarithm.
  * @public
  */
-export declare const ln: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+export declare const ln: <T extends QuaternionLike>(quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Calculate a scalar power of a unit quaternion.
  * @param quaternion - The unit quaternion.
@@ -321,7 +320,7 @@ export declare const ln: <T extends QuaternionLike>(quaternion: QuaternionLike,
  * @returns The scalar power.
  * @public
  */
-export declare const pow: <T extends QuaternionLike>(quaternion: QuaternionLike, scalar: number, out: T) => T;
+export declare const pow: <T extends QuaternionLike>(quaternion: Readonly<QuaternionLike>, scalar: number, out: T) => T;
 /**
  * Perform a spherical linear interpolation between two quaternions.
  * @param a - The first quaternion.
@@ -332,7 +331,7 @@ export declare const pow: <T extends QuaternionLike>(quaternion: QuaternionLike,
  * @see {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
  * @public
  */
-export declare const slerp: <T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, t: number, out: T) => T;
+export declare const slerp: <T extends QuaternionLike>(a: Readonly<QuaternionLike>, b: Readonly<QuaternionLike>, t: number, out: T) => T;
 /**
  * Set a quaternion to a random unit quaternion.
  * @param out - The quaternion to store the result in.
@@ -347,7 +346,7 @@ export declare const random: <T extends QuaternionLike>(out: T) => T;
  * @returns The inverse.
  * @public
  */
-export declare const invert: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+export declare const invert: <T extends QuaternionLike>(quaternion: Readonly<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.
@@ -355,7 +354,7 @@ export declare const invert: <T extends QuaternionLike>(quaternion: QuaternionLi
  * @returns The conjugate.
  * @public
  */
-export declare const conjugate: <T extends QuaternionLike>(quaternion: QuaternionLike, out: T) => T;
+export declare const conjugate: <T extends QuaternionLike>(quaternion: Readonly<QuaternionLike>, out: T) => T;
 /**
  * Perform a spherical linear interpolation with two control points between two quaternions.
  * @param a - The first quaternion.
@@ -368,7 +367,7 @@ export declare const conjugate: <T extends QuaternionLike>(quaternion: Quaternio
  * @see {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
  * @public
  */
-export declare const sqlerp: <T extends QuaternionLike>(a: QuaternionLike, b: QuaternionLike, c: QuaternionLike, d: QuaternionLike, t: number, out: T) => T;
+export declare const sqlerp: <T extends QuaternionLike>(a: Readonly<QuaternionLike>, b: Readonly<QuaternionLike>, c: Readonly<QuaternionLike>, d: Readonly<QuaternionLike>, t: number, out: T) => T;
 /**
  * Create a unit quaternion that represents the shortest rotation from one unit vector to another.
  * @param a - The first unit vector.
@@ -377,7 +376,7 @@ export declare const sqlerp: <T extends QuaternionLike>(a: QuaternionLike, b: Qu
  * @returns The unit quaternion.
  * @public
  */
-export declare const fromRotationTo: <T extends QuaternionLike>(a: Vector3Like, b: Vector3Like, out: T) => T;
+export declare const fromRotationTo: <T extends QuaternionLike>(a: Readonly<Vector3Like>, b: Readonly<Vector3Like>, out: T) => T;
 /**
  * A complex number that is commonly used to describe rotations.
  * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
@@ -393,8 +392,11 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
     /** 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 axisAngle(): readonly [Readonly<Vector3Like>, number];
+    set axisAngle([axis, angle]: readonly [
+        Readonly<Vector3Like>,
+        number
+    ]);
     /** Get the magnitude (length) of this quaternion. */
     get magnitude(): number;
     /** Get the squared magnitude (length) of this quaternion. */
@@ -411,7 +413,7 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
      * @param up - The vector representing the local "up" direction.
      * @returns The quaternion.
      */
-    static fromAxes(view: Vector3Like, right: Vector3Like, up: Vector3Like): Quaternion;
+    static fromAxes(view: Readonly<Vector3Like>, right: Readonly<Vector3Like>, up: Readonly<Vector3Like>): Quaternion;
     /**
      * Create a quaternion from equivalent z-y'-x" (intrinsic) Tait-Bryan angles.
      * @param z - The z (roll) angle.
@@ -427,14 +429,14 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
      * @returns The quaternion.
      * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
-    static fromMatrix3(matrix: Matrix3Like): Quaternion;
+    static fromMatrix3(matrix: Readonly<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;
+    static fromRotationTo(a: Readonly<Vector3Like>, b: Readonly<Vector3Like>): Quaternion;
     /**
      * Create a quaternion with the given values.
      * @param x - The first component.
@@ -449,7 +451,7 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
      * @param quaternion - The other quaternion.
      * @returns The sum of the quaternions.
      */
-    add(quaternion: QuaternionLike): Quaternion;
+    add(quaternion: Readonly<QuaternionLike>): Quaternion;
     /**
      * Calculate the fourth component of this unit quaternion from the first three, ignoring the existing fourth component.
      * @returns The quaternion.
@@ -470,25 +472,25 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
      * @param quaternion - The quaternion to copy.
      * @returns This quaternion.
      */
-    copy(quaternion: QuaternionLike): this;
+    copy(quaternion: Readonly<QuaternionLike>): this;
     /**
      * Calculate the dot product of this and another quaternion.
      * @param quaternion - The other quaternion.
      * @returns The dot product.
      */
-    dot(quaternion: QuaternionLike): number;
+    dot(quaternion: Readonly<QuaternionLike>): number;
     /**
      * 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;
+    equals(quaternion: Readonly<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;
+    exactEquals(quaternion: Readonly<QuaternionLike>): boolean;
     /**
      * Calculate the exponential of this unit quaternion.
      * @returns The exponential.
@@ -499,7 +501,7 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
      * @param quaternion - The other unit quaternion.
      * @returns The angular distance in radians.
      */
-    getAngle(quaternion: QuaternionLike): number;
+    getAngle(quaternion: Readonly<QuaternionLike>): number;
     /**
      * Set this quaternion to the identity.
      * @returns This quaternion.
@@ -516,7 +518,7 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
      * @param t - The interpolation amount (in `[0,1]`).
      * @returns The interpolated quaternion.
      */
-    lerp(quaternion: QuaternionLike, t: number): Quaternion;
+    lerp(quaternion: Readonly<QuaternionLike>, t: number): Quaternion;
     /**
      * Calculate the natural logarithm of this unit quaternion.
      * @returns The natural logarithm.
@@ -527,7 +529,7 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
      * @param quaternion - The other quaternion.
      * @returns The product.
      */
-    multiply(quaternion: QuaternionLike): Quaternion;
+    multiply(quaternion: Readonly<QuaternionLike>): Quaternion;
     /**
      * Normalize this quaternion.
      * @returns The normalized quaternion.
@@ -575,7 +577,7 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
      * @returns The interpolated quaternion.
      * @see {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
      */
-    slerp(quaternion: QuaternionLike, t: number): Quaternion;
+    slerp(quaternion: Readonly<QuaternionLike>, t: number): Quaternion;
     /**
      * Perform a spherical linear interpolation with two control points between this and another quaternion.
      * @param a - The first control point.
@@ -585,7 +587,7 @@ export default class Quaternion extends Float32Array implements QuaternionLike {
      * @returns The interpolated value.
      * @see {@link https://en.wikipedia.org/wiki/Slerp | Slerp}
      */
-    sqlerp(a: QuaternionLike, b: QuaternionLike, quaternion: QuaternionLike, t: number): Quaternion;
+    sqlerp(a: Readonly<QuaternionLike>, b: Readonly<QuaternionLike>, quaternion: Readonly<QuaternionLike>, t: number): Quaternion;
     /**
      * Convert this quaternion to equivalent z-y'-x" (intrinsic) Tait-Bryan angles.
      * @returns The Tait-Bryan angles in degrees in roll (z), pitch (y'), yaw (x") order.

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

@@ -1 +1 @@
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+{"version":3,"file":"Quaternion.d.ts","sourceRoot":"","sources":["../../src/linalg/Quaternion.ts"],"names":[],"mappings":"AAEA,OAAO,EAGN,KAAK,WAAW,EAChB,MAAM,cAAc,CAAC;AACtB,OAAO,OAAO,EAAE,EAMf,KAAK,WAAW,EAEhB,MAAM,cAAc,CAAC;AActB;;;;GAIG;AACH,MAAM,WAAW,cAAe,SAAQ,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC;IAC7D,8CAA8C;IAE9C,CAAC,EAAE,MAAM,CAAC;IAEV,+CAA+C;IAE/C,CAAC,EAAE,MAAM,CAAC;IAEV,8CAA8C;IAE9C,CAAC,EAAE,MAAM,CAAC;IAEV,+CAA+C;IAE/C,CAAC,EAAE,MAAM,CAAC;CACV;AAED;;;;GAIG;AACH,eAAO,MAAM,oBAAoB,QAAO,YAAY,GAAG,cAEF,CAAC;AAEtD;;;;;;;;;GASG;AACH,eAAO,MAAM,UAAU,EAAE,CAAC,CAAC,SAAS,cAAc,EACjD,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,GAAG,EAAE,CAAC,KACF,CAAqB,CAAC;AAE3B;;;;;;;GAOG;AACH,eAAO,MAAM,GAAG,EAAE,CAAC,CAAC,SAAS,cAAc,EAC1C,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC3B,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC3B,GAAG,EAAE,CAAC,KACF,CAAc,CAAC;AAEpB;;;;;;GAMG;AACH,eAAO,MAAM,IAAI,EAAE,CAAC,CAAC,SAAS,cAAc,EAC3C,UAAU,EAAE,QAAQ,CAAC,cAAc,CAAC,EACpC,GAAG,EAAE,CAAC,KACF,CAAe,CAAC;AAErB;;;;;;GAMG;AACH,eAAO,MAAM,GAAG,EAAE,CACjB,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC3B,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,KACvB,MAAmB,CAAC;AAEzB;;;;;;GAMG;AACH,eAAO,MAAM,MAAM,GAClB,GAAG,QAAQ,CAAC,cAAc,CAAC,EAC3B,GAAG,QAAQ,CAAC,cAAc,CAAC,KACzB,OAA6C,CAAC;AAEjD;;;;;;GAMG;AACH,eAAO,MAAM,WAAW,EAAE,CACzB,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC3B,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,KACvB,OAA4B,CAAC;AAElC;;;;;GAKG;AACH,eAAO,MAAM,YAAY,EAAE,CAAC,UAAU,EAAE,QAAQ,CAAC,cAAc,CAAC,KAAK,MACjD,CAAC;AAErB;;;;;GAKG;AACH,eAAO,MAAM,mBAAmB,EAAE,CACjC,UAAU,EAAE,QAAQ,CAAC,cAAc,CAAC,KAChC,MAAmC,CAAC;AAEzC;;;;;;;;;GASG;AACH,eAAO,MAAM,IAAI,EAAE,CAAC,CAAC,SAAS,cAAc,EAC3C,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC3B,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC3B,CAAC,EAAE,MAAM,EACT,GAAG,EAAE,CAAC,KACF,CAAe,CAAC;AAErB;;;;;;GAMG;AACH,eAAO,MAAM,SAAS,EAAE,CAAC,CAAC,SAAS,cAAc,EAChD,UAAU,EAAE,QAAQ,CAAC,cAAc,CAAC,EACpC,GAAG,EAAE,CAAC,KACF,CAAoB,CAAC;AAE1B;;;;;;;GAOG;AACH,eAAO,MAAM,KAAK,EAAE,CAAC,CAAC,SAAS,cAAc,EAC5C,UAAU,EAAE,QAAQ,CAAC,cAAc,CAAC,EACpC,MAAM,EAAE,MAAM,EACd,GAAG,EAAE,CAAC,KACF,CAAgB,CAAC;AAEtB;;;;;;;;GAQG;AACH,eAAO,MAAM,WAAW,GAAI,CAAC,SAAS,cAAc,EACnD,QAAQ,QAAQ,CAAC,WAAW,CAAC,EAC7B,KAAK,CAAC,KACJ,CAqDF,CAAC;AAIF;;;;;;;;;GASG;AACH,eAAO,MAAM,YAAY,GAAI,CAAC,SAAS,cAAc,EACpD,GAAG,MAAM,EACT,GAAG,MAAM,EACT,GAAG,MAAM,EACT,KAAK,CAAC,KACJ,CAwBF,CAAC;AAEF;;;;;;;;;GASG;AACH,eAAO,MAAM,YAAY,GAAI,CAAC,SAAS,cAAc,EACpD,GAAG,MAAM,EACT,GAAG,MAAM,EACT,GAAG,MAAM,EACT,KAAK,CAAC,KACJ,CAwBF,CAAC;AAEF;;;;;;;;;GASG;AACH,eAAO,MAAM,YAAY,GAAI,CAAC,SAAS,cAAc,EACpD,GAAG,MAAM,EACT,GAAG,MAAM,EACT,GAAG,MAAM,EACT,KAAK,CAAC,KACJ,CAwBF,CAAC;AAEF;;;;;;;;;GASG;AACH,eAAO,MAAM,YAAY,GAAI,CAAC,SAAS,cAAc,EACpD,GAAG,MAAM,EACT,GAAG,MAAM,EACT,GAAG,MAAM,EACT,KAAK,CAAC,KACJ,CAwBF,CAAC;AAEF;;;;;;;;;GASG;AACH,eAAO,MAAM,YAAY,GAAI,CAAC,SAAS,cAAc,EACpD,GAAG,MAAM,EACT,GAAG,MAAM,EACT,GAAG,MAAM,EACT,KAAK,CAAC,KACJ,CAwBF,CAAC;AAEF;;;;;;;;;GASG;AACH,eAAO,MAAM,YAAY,GAAI,CAAC,SAAS,cAAc,EACpD,GAAG,MAAM,EACT,GAAG,MAAM,EACT,GAAG,MAAM,EACT,KAAK,CAAC,KACJ,CAwBF,CAAC;AAEF;;;;;;;;;GASG;AACH,eAAO,MAAM,SAAS,EAAE,CAAC,CAAC,SAAS,cAAc,EAChD,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,EACT,GAAG,EAAE,CAAC,KACF,CAAgB,CAAC;AAMtB;;;;;;GAMG;AACH,eAAO,MAAM,OAAO,GAAI,CAAC,SAAS,WAAW,EAC5C,YAAY,QAAQ,CAAC,cAAc,CAAC,EACpC,KAAK,CAAC,KACJ,CA4BF,CAAC;AAKF;;;;;;;;GAQG;AACH,eAAO,MAAM,QAAQ,GAAI,CAAC,SAAS,cAAc,EAChD,MAAM,QAAQ,CAAC,WAAW,CAAC,EAC3B,OAAO,QAAQ,CAAC,WAAW,CAAC,EAC5B,IAAI,QAAQ,CAAC,WAAW,CAAC,EACzB,KAAK,CAAC,KACJ,CAkBD,CAAC;AAEH;;;;;GAKG;AACH,eAAO,MAAM,QAAQ,GAAI,CAAC,SAAS,cAAc,EAAE,KAAK,CAAC,KAAG,CAChC,CAAC;AAE7B;;;;;;GAMG;AACH,eAAO,MAAM,YAAY,GAAI,CAAC,SAAS,WAAW,EACjD,YAAY,QAAQ,CAAC,cAAc,CAAC,EACpC,KAAK,CAAC,KACJ,CAAC,CAAC,EAAE,MAAM,CAgBZ,CAAC;AAEF;;;;;;;GAOG;AACH,eAAO,MAAM,YAAY,GAAI,CAAC,SAAS,cAAc,EACpD,MAAM,QAAQ,CAAC,WAAW,CAAC,EAC3B,OAAO,MAAM,EACb,KAAK,CAAC,KACJ,CAKF,CAAC;AAEF;;;;;;GAMG;AACH,eAAO,MAAM,QAAQ,GACpB,GAAG,QAAQ,CAAC,cAAc,CAAC,EAC3B,GAAG,QAAQ,CAAC,cAAc,CAAC,KACzB,MAGF,CAAC;AAEF;;;;;;;GAOG;AACH,eAAO,MAAM,QAAQ,GAAI,CAAC,SAAS,cAAc,EAChD,GAAG,QAAQ,CAAC,cAAc,CAAC,EAC3B,GAAG,QAAQ,CAAC,cAAc,CAAC,EAC3B,KAAK,CAAC,KACJ,CAkBF,CAAC;AAEF;;;;;;;GAOG;AACH,eAAO,MAAM,OAAO,GAAI,CAAC,SAAS,cAAc,EAC/C,YAAY,QAAQ,CAAC,cAAc,CAAC,EACpC,SAAS,MAAM,EACf,KAAK,CAAC,KACJ,CAiBF,CAAC;AAEF;;;;;;;GAOG;AACH,eAAO,MAAM,OAAO,GAAI,CAAC,SAAS,cAAc,EAC/C,YAAY,QAAQ,CAAC,cAAc,CAAC,EACpC,SAAS,MAAM,EACf,KAAK,CAAC,KACJ,CAiBF,CAAC;AAEF;;;;;;;GAOG;AACH,eAAO,MAAM,OAAO,GAAI,CAAC,SAAS,cAAc,EAC/C,YAAY,QAAQ,CAAC,cAAc,CAAC,EACpC,SAAS,MAAM,EACf,KAAK,CAAC,KACJ,CAiBF,CAAC;AAEF;;;;;;GAMG;AACH,eAAO,MAAM,UAAU,GAAI,CAAC,SAAS,cAAc,EAClD,YAAY,QAAQ,CAAC,cAAc,CAAC,EACpC,KAAK,CAAC,KACJ,CAaF,CAAC;AAEF;;;;;;GAMG;AACH,eAAO,MAAM,GAAG,GAAI,CAAC,SAAS,cAAc,EAC3C,YAAY,QAAQ,CAAC,cAAc,CAAC,EACpC,KAAK,CAAC,KACJ,CAUF,CAAC;AAEF;;;;;;GAMG;AACH,eAAO,MAAM,EAAE,GAAI,CAAC,SAAS,cAAc,EAC1C,YAAY,QAAQ,CAAC,cAAc,CAAC,EACpC,KAAK,CAAC,KACJ,CAWF,CAAC;AAEF;;;;;;;GAOG;AACH,eAAO,MAAM,GAAG,GAAI,CAAC,SAAS,cAAc,EAC3C,YAAY,QAAQ,CAAC,cAAc,CAAC,EACpC,QAAQ,MAAM,EACd,KAAK,CAAC,KACJ,CAAsD,CAAC;AAE1D;;;;;;;;;GASG;AACH,eAAO,MAAM,KAAK,GAAI,CAAC,SAAS,cAAc,EAC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package/dist/linalg/Quaternion.js

@@ -1,5 +1,4 @@
 import radiansToDegrees from "../algorithms/radiansToDegrees.js";
-import createAxisAngleLike from "../utility/createAxisAngleLike.js";
 import epsilon from "../utility/epsilon.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";
@@ -383,7 +382,7 @@ 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.
+ * @param out - The axis to store the result in.
  * @returns The axis and angle.
  * @public
  */
@@ -391,22 +390,22 @@ export const getAxisAngle = (quaternion, out) => {
     const r = Math.acos(quaternion[3]) * 2;
     const s = Math.sin(r / 2);
     if (s > epsilon) {
-        vector3FromValues(quaternion[0] / s, quaternion[1] / s, quaternion[2] / s, out.axis);
+        vector3FromValues(quaternion[0] / s, quaternion[1] / s, quaternion[2] / s, out);
     }
     else {
-        vector3FromValues(1, 0, 0, out.axis);
+        vector3FromValues(1, 0, 0, out);
     }
-    out.angle = r;
-    return out;
+    return [out, r];
 };
 /**
  * Set the axis and angle that represent a quaternion.
- * @param axisAngle - The axis and angle.
+ * @param axis - The axis.
+ * @param angle - The angle.
  * @param out - The quaternion to store the result in.
  * @returns The quaternion.
  * @public
  */
-export const setAxisAngle = ({ angle, axis }, out) => {
+export const setAxisAngle = (axis, angle, out) => {
     const r = angle / 2;
     const s = Math.sin(r);
     return fromValues(axis[0] * s, axis[1] * s, axis[2] * s, Math.cos(r), out);
@@ -679,7 +678,7 @@ export const fromRotationTo = (a, b, out) => {
             vector3Cross(yAxis, a, iv3);
         }
         vector3Normalize(iv3, iv3);
-        return setAxisAngle({ angle: Math.PI, axis: iv3 }, out);
+        return setAxisAngle(iv3, Math.PI, out);
     }
     if (dp > 1 - epsilon) {
         return fromValues(0, 0, 0, 1, out);
@@ -707,10 +706,10 @@ export default class Quaternion extends Float32Array {
     3;
     /** The axis and angle that represent this quaternion. */
     get axisAngle() {
-        return getAxisAngle(this, createAxisAngleLike());
+        return getAxisAngle(this, createVector3Like());
     }
-    set axisAngle(value) {
-        setAxisAngle(value, this);
+    set axisAngle([axis, angle]) {
+        setAxisAngle(axis, angle, this);
     }
     /** Get the magnitude (length) of this quaternion. */
     get magnitude() {

package/dist/linalg/Quaternion.js.map

@@ -1 +1 @@
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