@math.gl/core 3.4.3 → 3.4.4
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/es6/classes/base/math-array.js.map +1 -1
- package/dist/es6/classes/base/vector.js.map +1 -1
- package/dist/es6/classes/euler.js.map +1 -1
- package/dist/es6/classes/matrix3.js.map +1 -1
- package/dist/es6/classes/matrix4.js.map +1 -1
- package/dist/es6/classes/pose.js.map +1 -1
- package/dist/es6/classes/quaternion.js.map +1 -1
- package/dist/es6/classes/spherical-coordinates.js.map +1 -1
- package/dist/es6/classes/vector2.js.map +1 -1
- package/dist/es6/classes/vector3.js.map +1 -1
- package/dist/es6/classes/vector4.js.map +1 -1
- package/package.json +2 -2
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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport {config, formatValue, equals, isArray} from '../../lib/common';\nimport assert from '../../lib/assert';\n\nexport default class MathArray extends Array {\n // Defined by derived class\n get ELEMENTS() {\n assert(false);\n return 0;\n }\n\n // Defined by derived class\n get RANK() {\n assert(false);\n return 0;\n }\n\n clone() {\n // @ts-ignore error TS2351: Cannot use 'new' with an expression whose type lacks a call or construct signature.\n return new this.constructor().copy(this);\n }\n\n from(arrayOrObject) {\n // @ts-ignore error TS2339: Property 'copy' does not exist on type 'MathArray'.\n return Array.isArray(arrayOrObject) ? this.copy(arrayOrObject) : this.fromObject(arrayOrObject);\n }\n\n fromArray(array, offset = 0) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] = array[i + offset];\n }\n return this.check();\n }\n\n to(arrayOrObject) {\n if (arrayOrObject === this) {\n return this;\n }\n // @ts-ignore error TS2339: Property 'toObject' does not exist on type 'MathArray'.\n return isArray(arrayOrObject) ? this.toArray(arrayOrObject) : this.toObject(arrayOrObject);\n }\n\n toTarget(target) {\n return target ? this.to(target) : this;\n }\n\n toArray(array = [], offset = 0) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n array[offset + i] = this[i];\n }\n return array;\n }\n\n toFloat32Array() {\n return new Float32Array(this);\n }\n\n toString() {\n return this.formatString(config);\n }\n\n formatString(opts) {\n let string = '';\n for (let i = 0; i < this.ELEMENTS; ++i) {\n string += (i > 0 ? ', ' : '') + formatValue(this[i], opts);\n }\n return `${opts.printTypes ? this.constructor.name : ''}[${string}]`;\n }\n\n equals(array) {\n if (!array || this.length !== array.length) {\n return false;\n }\n for (let i = 0; i < this.ELEMENTS; ++i) {\n if (!equals(this[i], array[i])) {\n return false;\n }\n }\n return true;\n }\n\n exactEquals(array) {\n if (!array || this.length !== array.length) {\n return false;\n }\n for (let i = 0; i < this.ELEMENTS; ++i) {\n if (this[i] !== array[i]) {\n return false;\n }\n }\n return true;\n }\n\n // Modifiers\n\n negate() {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] = -this[i];\n }\n return this.check();\n }\n\n lerp(a, b, t) {\n if (t === undefined) {\n t = b;\n b = a;\n a = this; // eslint-disable-line\n }\n for (let i = 0; i < this.ELEMENTS; ++i) {\n const ai = a[i];\n this[i] = ai + t * (b[i] - ai);\n }\n return this.check();\n }\n\n min(vector) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] = Math.min(vector[i], this[i]);\n }\n return this.check();\n }\n\n max(vector) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] = Math.max(vector[i], this[i]);\n }\n return this.check();\n }\n\n clamp(minVector, maxVector) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] = Math.min(Math.max(this[i], minVector[i]), maxVector[i]);\n }\n return this.check();\n }\n\n add(...vectors) {\n for (const vector of vectors) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] += vector[i];\n }\n }\n return this.check();\n }\n\n subtract(...vectors) {\n for (const vector of vectors) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] -= vector[i];\n }\n }\n return this.check();\n }\n\n scale(scale) {\n if (Array.isArray(scale)) {\n // @ts-ignore error TS2339: Property 'multiply' does not exist on type 'MathArray'.\n return this.multiply(scale);\n }\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] *= scale;\n }\n return this.check();\n }\n\n // three.js compatibility\n\n sub(a) {\n return this.subtract(a);\n }\n\n setScalar(a) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] = a;\n }\n return this.check();\n }\n\n addScalar(a) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] += a;\n }\n return this.check();\n }\n\n subScalar(a) {\n return this.addScalar(-a);\n }\n\n multiplyScalar(scalar) {\n // Multiplies all elements\n // `Matrix4.scale` only scales its 3x3 \"minor\"\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] *= scalar;\n }\n return this.check();\n }\n\n divideScalar(a) {\n return this.scale(1 / a);\n }\n\n clampScalar(min, max) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] = Math.min(Math.max(this[i], min), max);\n }\n return this.check();\n }\n\n // Cesium compatibility\n\n multiplyByScalar(scalar) {\n return this.scale(scalar);\n }\n\n // THREE.js compatibility\n get elements() {\n return this;\n }\n\n // Debug checks\n\n check() {\n if (config.debug && !this.validate()) {\n throw new Error(`math.gl: ${this.constructor.name} some fields set to invalid numbers'`);\n }\n return this;\n }\n\n validate() {\n let valid = this.length === this.ELEMENTS;\n for (let i = 0; i < this.ELEMENTS; ++i) {\n valid = valid && Number.isFinite(this[i]);\n }\n return valid;\n }\n}\n"],"file":"math-array.js"}
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IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport {config, formatValue, equals, isArray} from '../../lib/common';\nimport assert from '../../lib/assert';\n\nexport default class MathArray extends Array {\n // Defined by derived class\n get ELEMENTS() {\n assert(false);\n return 0;\n }\n\n // Defined by derived class\n get RANK() {\n assert(false);\n return 0;\n }\n\n clone() {\n // @ts-ignore error TS2351: Cannot use 'new' with an expression whose type lacks a call or construct signature.\n return new this.constructor().copy(this);\n }\n\n from(arrayOrObject) {\n // @ts-ignore error TS2339: Property 'copy' does not exist on type 'MathArray'.\n return Array.isArray(arrayOrObject) ? this.copy(arrayOrObject) : this.fromObject(arrayOrObject);\n }\n\n fromArray(array, offset = 0) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n this[i] = array[i + offset];\n }\n return this.check();\n }\n\n to(arrayOrObject) {\n if (arrayOrObject === this) {\n return this;\n }\n // @ts-ignore error TS2339: Property 'toObject' does not exist on type 'MathArray'.\n return isArray(arrayOrObject) ? this.toArray(arrayOrObject) : this.toObject(arrayOrObject);\n }\n\n toTarget(target) {\n return target ? this.to(target) : this;\n }\n\n toArray(array = [], offset = 0) {\n for (let i = 0; i < this.ELEMENTS; ++i) {\n array[offset + i] = this[i];\n }\n return array;\n }\n\n toFloat32Array() {\n return new Float32Array(this);\n }\n\n toString() {\n return this.formatString(config);\n }\n\n formatString(opts) {\n let string = '';\n for (let i = 0; i < this.ELEMENTS; ++i) {\n string += (i > 0 ? 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@@ -1 +1 @@
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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport MathArray from './base/math-array';\nimport {clamp} from '../lib/common';\nimport {checkNumber} from '../lib/validators';\nimport Quaternion from './quaternion';\n\n// Internal constants\nconst ERR_UNKNOWN_ORDER = 'Unknown Euler angle order';\nconst ALMOST_ONE = 0.99999;\n\nfunction validateOrder(value) {\n return value >= 0 && value < 6;\n}\n\nfunction checkOrder(value) {\n if (value < 0 && value >= 6) {\n throw new Error(ERR_UNKNOWN_ORDER);\n }\n return value;\n}\n\nexport default class Euler extends MathArray {\n // static XYZ = 0;\n // static YZX = 1;\n // static ZXY = 2;\n // static XZY = 3;\n // static YXZ = 4;\n // static ZYX = 5;\n // static RollPitchYaw = 0;\n // static DefaultOrder = 0;\n\n // Constants\n /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n static get ZYX() {\n return 0;\n }\n\n static get YXZ() {\n return 1;\n }\n\n static get XZY() {\n return 2;\n }\n\n static get ZXY() {\n return 3;\n }\n\n static get YZX() {\n return 4;\n }\n\n static get XYZ() {\n return 5;\n }\n\n static get RollPitchYaw() {\n return 0;\n }\n\n static get DefaultOrder() {\n return Euler.ZYX;\n }\n\n static get RotationOrders() {\n return ['ZYX', 'YXZ', 'XZY', 'ZXY', 'YZX', 'XYZ'];\n }\n\n static rotationOrder(order) {\n return Euler.RotationOrders[order];\n }\n\n get ELEMENTS() {\n return 4;\n }\n\n /* eslint-enable no-multi-spaces, brace-style, no-return-assign */\n\n /**\n * @class\n * @param {Number | Number[]} x\n * @param {Number=} [y]\n * @param {Number=} [z]\n * @param {Number=} [order]\n */\n constructor(x = 0, y = 0, z = 0, order = Euler.DefaultOrder) {\n // PERF NOTE: initialize elements as double precision numbers\n super(-0, -0, -0, -0);\n // eslint-disable-next-line prefer-rest-params\n if (arguments.length > 0 && Array.isArray(arguments[0])) {\n // eslint-disable-next-line prefer-rest-params\n this.fromVector3(...arguments);\n } else {\n // @ts-ignore error TS2345: Argument of type 'number | [number, number, number, number]' not assignable to 'number'\n this.set(x, y, z, order);\n }\n }\n\n fromQuaternion(quaternion) {\n const [x, y, z, w] = quaternion;\n const ysqr = y * y;\n const t0 = -2.0 * (ysqr + z * z) + 1.0;\n const t1 = +2.0 * (x * y + w * z);\n let t2 = -2.0 * (x * z - w * y);\n const t3 = +2.0 * (y * z + w * x);\n const t4 = -2.0 * (x * x + ysqr) + 1.0;\n\n t2 = t2 > 1.0 ? 1.0 : t2;\n t2 = t2 < -1.0 ? -1.0 : t2;\n\n const roll = Math.atan2(t3, t4);\n const pitch = Math.asin(t2);\n const yaw = Math.atan2(t1, t0);\n\n return new Euler(roll, pitch, yaw, Euler.RollPitchYaw);\n }\n\n // fromQuaternion(q, order) {\n // this._fromRotationMat[-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];\n // return this.check();\n // }\n\n // If copied array does contain fourth element, preserves currently set order\n copy(array) {\n this[0] = array[0];\n this[1] = array[1];\n this[2] = array[2];\n this[3] = Number.isFinite(array[3]) || this.order;\n return this.check();\n }\n\n // Sets the three angles, and optionally sets the rotation order\n // If order is not specified, preserves currently set order\n set(x = 0, y = 0, z = 0, order) {\n this[0] = x;\n this[1] = y;\n this[2] = z;\n this[3] = Number.isFinite(order) ? order : this[3];\n return this.check();\n }\n\n validate() {\n return (\n validateOrder(this[3]) &&\n Number.isFinite(this[0]) &&\n Number.isFinite(this[1]) &&\n Number.isFinite(this[2])\n );\n }\n\n // Does not copy the orientation element\n toArray(array = [], offset = 0) {\n array[offset] = this[0];\n array[offset + 1] = this[1];\n array[offset + 2] = this[2];\n return array;\n }\n\n // Copies the orientation element\n toArray4(array = [], offset = 0) {\n array[offset] = this[0];\n array[offset + 1] = this[1];\n array[offset + 2] = this[2];\n array[offset + 3] = this[3];\n return array;\n }\n\n toVector3(result = [-0, -0, -0]) {\n result[0] = this[0];\n result[1] = this[1];\n result[2] = this[2];\n return result;\n }\n\n /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n\n // x, y, z angle notation (note: only corresponds to axis in XYZ orientation)\n /** @type {number} */\n get x() {\n return this[0];\n }\n\n set x(value) {\n this[0] = checkNumber(value);\n }\n\n /** @type {number} */\n get y() {\n return this[1];\n }\n\n set y(value) {\n this[1] = checkNumber(value);\n }\n\n /** @type {number} */\n get z() {\n return this[2];\n }\n\n set z(value) {\n this[2] = checkNumber(value);\n }\n\n // alpha, beta, gamma angle notation\n get alpha() {\n return this[0];\n }\n\n set alpha(value) {\n this[0] = checkNumber(value);\n }\n\n get beta() {\n return this[1];\n }\n\n set beta(value) {\n this[1] = checkNumber(value);\n }\n\n get gamma() {\n return this[2];\n }\n\n set gamma(value) {\n this[2] = checkNumber(value);\n }\n\n // phi, theta, psi angle notation\n get phi() {\n return this[0];\n }\n\n set phi(value) {\n this[0] = checkNumber(value);\n }\n\n get theta() {\n return this[1];\n }\n\n set theta(value) {\n this[1] = checkNumber(value);\n }\n\n get psi() {\n return this[2];\n }\n\n set psi(value) {\n this[2] = checkNumber(value);\n }\n\n // roll, pitch, yaw angle notation\n /** @type {number} */\n get roll() {\n return this[0];\n }\n\n set roll(value) {\n this[0] = checkNumber(value);\n }\n\n /** @type {number} */\n get pitch() {\n return this[1];\n }\n\n set pitch(value) {\n this[1] = checkNumber(value);\n }\n\n /** @type {number} */\n get yaw() {\n return this[2];\n }\n\n set yaw(value) {\n this[2] = checkNumber(value);\n }\n\n // rotation order, in all three angle notations\n get order() {\n return this[3];\n }\n\n set order(value) {\n this[3] = checkOrder(value);\n }\n\n /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n\n // Constructors\n fromVector3(v, order) {\n return this.set(v[0], v[1], v[2], Number.isFinite(order) ? order : this[3]);\n }\n\n // TODO - with and without 4th element\n fromArray(array, offset = 0) {\n this[0] = array[0 + offset];\n this[1] = array[1 + offset];\n this[2] = array[2 + offset];\n if (array[3] !== undefined) {\n this[3] = array[3];\n }\n return this.check();\n }\n\n // Common ZYX rotation order\n fromRollPitchYaw(roll, pitch, yaw) {\n return this.set(roll, pitch, yaw, Euler.ZYX);\n }\n\n fromRotationMatrix(m, order = Euler.DefaultOrder) {\n this._fromRotationMatrix(m, order);\n return this.check();\n }\n\n // ACCESSORS\n\n getRotationMatrix(m) {\n return this._getRotationMatrix(m);\n }\n\n // TODO - move to Quaternion\n getQuaternion() {\n const q = new Quaternion();\n switch (this[4]) {\n case Euler.XYZ:\n return q\n .rotateX(this[0])\n .rotateY(this[1])\n .rotateZ(this[2]);\n case Euler.YXZ:\n return q\n .rotateY(this[0])\n .rotateX(this[1])\n .rotateZ(this[2]);\n case Euler.ZXY:\n return q\n .rotateZ(this[0])\n .rotateX(this[1])\n .rotateY(this[2]);\n case Euler.ZYX:\n return q\n .rotateZ(this[0])\n .rotateY(this[1])\n .rotateX(this[2]);\n case Euler.YZX:\n return q\n .rotateY(this[0])\n .rotateZ(this[1])\n .rotateX(this[2]);\n case Euler.XZY:\n return q\n .rotateX(this[0])\n .rotateZ(this[1])\n .rotateY(this[2]);\n default:\n throw new Error(ERR_UNKNOWN_ORDER);\n }\n }\n\n // INTERNAL METHODS\n\n // Concersion from Euler to rotation matrix and from matrix to Euler\n // Adapted from three.js under MIT license\n\n // // WARNING: this discards revolution information -bhouston\n // reorder(newOrder) {\n // const q = new Quaternion().setFromEuler(this);\n // return this.setFromQuaternion(q, newOrder);\n\n /* eslint-disable complexity, max-statements, one-var */\n _fromRotationMatrix(m, order = Euler.DefaultOrder) {\n // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)\n\n const te = m.elements;\n const m11 = te[0],\n m12 = te[4],\n m13 = te[8];\n const m21 = te[1],\n m22 = te[5],\n m23 = te[9];\n const m31 = te[2],\n m32 = te[6],\n m33 = te[10];\n\n order = order || this[3];\n\n switch (order) {\n case Euler.XYZ:\n this[1] = Math.asin(clamp(m13, -1, 1));\n\n if (Math.abs(m13) < ALMOST_ONE) {\n this[0] = Math.atan2(-m23, m33);\n this[2] = Math.atan2(-m12, m11);\n } else {\n this[0] = Math.atan2(m32, m22);\n this[2] = 0;\n }\n break;\n\n case Euler.YXZ:\n this[0] = Math.asin(-clamp(m23, -1, 1));\n\n if (Math.abs(m23) < ALMOST_ONE) {\n this[1] = Math.atan2(m13, m33);\n this[2] = Math.atan2(m21, m22);\n } else {\n this[1] = Math.atan2(-m31, m11);\n this[2] = 0;\n }\n break;\n\n case Euler.ZXY:\n this[0] = Math.asin(clamp(m32, -1, 1));\n\n if (Math.abs(m32) < ALMOST_ONE) {\n this[1] = Math.atan2(-m31, m33);\n this[2] = Math.atan2(-m12, m22);\n } else {\n this[1] = 0;\n this[2] = Math.atan2(m21, m11);\n }\n break;\n\n case Euler.ZYX:\n this[1] = Math.asin(-clamp(m31, -1, 1));\n\n if (Math.abs(m31) < ALMOST_ONE) {\n this[0] = Math.atan2(m32, m33);\n this[2] = Math.atan2(m21, m11);\n } else {\n this[0] = 0;\n this[2] = Math.atan2(-m12, m22);\n }\n break;\n\n case Euler.YZX:\n this[2] = Math.asin(clamp(m21, -1, 1));\n\n if (Math.abs(m21) < ALMOST_ONE) {\n this[0] = Math.atan2(-m23, m22);\n this[1] = Math.atan2(-m31, m11);\n } else {\n this[0] = 0;\n this[1] = Math.atan2(m13, m33);\n }\n break;\n\n case Euler.XZY:\n this[2] = Math.asin(-clamp(m12, -1, 1));\n\n if (Math.abs(m12) < ALMOST_ONE) {\n this[0] = Math.atan2(m32, m22);\n this[1] = Math.atan2(m13, m11);\n } else {\n this[0] = Math.atan2(-m23, m33);\n this[1] = 0;\n }\n break;\n\n default:\n throw new Error(ERR_UNKNOWN_ORDER);\n }\n\n this[3] = order;\n\n return this;\n }\n\n _getRotationMatrix(result) {\n const te = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];\n\n const x = this.x,\n y = this.y,\n z = this.z;\n const a = Math.cos(x);\n const c = Math.cos(y);\n const e = Math.cos(z);\n const b = Math.sin(x);\n const d = Math.sin(y);\n const f = Math.sin(z);\n\n switch (this[3]) {\n case Euler.XYZ: {\n const ae = a * e,\n af = a * f,\n be = b * e,\n bf = b * f;\n\n te[0] = c * e;\n te[4] = -c * f;\n te[8] = d;\n\n te[1] = af + be * d;\n te[5] = ae - bf * d;\n te[9] = -b * c;\n\n te[2] = bf - ae * d;\n te[6] = be + af * d;\n te[10] = a * c;\n break;\n }\n\n case Euler.YXZ: {\n const ce = c * e,\n cf = c * f,\n de = d * e,\n df = d * f;\n\n te[0] = ce + df * b;\n te[4] = de * b - cf;\n te[8] = a * d;\n\n te[1] = a * f;\n te[5] = a * e;\n te[9] = -b;\n\n te[2] = cf * b - de;\n te[6] = df + ce * b;\n te[10] = a * c;\n break;\n }\n\n case Euler.ZXY: {\n const ce = c * e,\n cf = c * f,\n de = d * e,\n df = d * f;\n\n te[0] = ce - df * b;\n te[4] = -a * f;\n te[8] = de + cf * b;\n\n te[1] = cf + de * b;\n te[5] = a * e;\n te[9] = df - ce * b;\n\n te[2] = -a * d;\n te[6] = b;\n te[10] = a * c;\n break;\n }\n\n case Euler.ZYX: {\n const ae = a * e,\n af = a * f,\n be = b * e,\n bf = b * f;\n\n te[0] = c * e;\n te[4] = be * d - af;\n te[8] = ae * d + bf;\n\n te[1] = c * f;\n te[5] = bf * d + ae;\n te[9] = af * d - be;\n\n te[2] = -d;\n te[6] = b * c;\n te[10] = a * c;\n break;\n }\n\n case Euler.YZX: {\n const ac = a * c,\n ad = a * d,\n bc = b * c,\n bd = b * d;\n\n te[0] = c * e;\n te[4] = bd - ac * f;\n te[8] = bc * f + ad;\n\n te[1] = f;\n te[5] = a * e;\n te[9] = -b * e;\n\n te[2] = -d * e;\n te[6] = ad * f + bc;\n te[10] = ac - bd * f;\n break;\n }\n\n case Euler.XZY: {\n const ac = a * c,\n ad = a * d,\n bc = b * c,\n bd = b * d;\n\n te[0] = c * e;\n te[4] = -f;\n te[8] = d * e;\n\n te[1] = ac * f + bd;\n te[5] = a * e;\n te[9] = ad * f - bc;\n\n te[2] = bc * f - ad;\n te[6] = b * e;\n te[10] = bd * f + ac;\n break;\n }\n\n default:\n throw new Error(ERR_UNKNOWN_ORDER);\n }\n\n // last column\n te[3] = 0;\n te[7] = 0;\n te[11] = 0;\n\n // bottom row\n te[12] = 0;\n te[13] = 0;\n te[14] = 0;\n te[15] = 1;\n\n return te;\n }\n\n toQuaternion() {\n // Abbreviations for the various angular functions\n const cy = Math.cos(this.yaw * 0.5);\n const sy = Math.sin(this.yaw * 0.5);\n const cr = Math.cos(this.roll * 0.5);\n const sr = Math.sin(this.roll * 0.5);\n const cp = Math.cos(this.pitch * 0.5);\n const sp = Math.sin(this.pitch * 0.5);\n\n const w = cy * cr * cp + sy * sr * sp;\n const x = cy * sr * cp - sy * cr * sp;\n const y = cy * cr * sp + sy * sr * cp;\n const z = sy * cr * cp - cy * sr * sp;\n\n return new Quaternion(x, y, z, w);\n }\n}\n"],"file":"euler.js"}
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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport MathArray from './base/math-array';\nimport {clamp} from '../lib/common';\nimport {checkNumber} from '../lib/validators';\nimport Quaternion from './quaternion';\n\n// Internal constants\nconst ERR_UNKNOWN_ORDER = 'Unknown Euler angle order';\nconst ALMOST_ONE = 0.99999;\n\nfunction validateOrder(value) {\n return value >= 0 && value < 6;\n}\n\nfunction checkOrder(value) {\n if (value < 0 && value >= 6) {\n throw new Error(ERR_UNKNOWN_ORDER);\n }\n return value;\n}\n\nexport default class Euler extends MathArray {\n // static XYZ = 0;\n // static YZX = 1;\n // static ZXY = 2;\n // static XZY = 3;\n // static YXZ = 4;\n // static ZYX = 5;\n // static RollPitchYaw = 0;\n // static DefaultOrder = 0;\n\n // Constants\n /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n static get ZYX() {\n return 0;\n }\n\n static get YXZ() {\n return 1;\n }\n\n static get XZY() {\n return 2;\n }\n\n static get ZXY() {\n return 3;\n }\n\n static get YZX() {\n return 4;\n }\n\n static get XYZ() {\n return 5;\n }\n\n static get RollPitchYaw() {\n return 0;\n }\n\n static get DefaultOrder() {\n return Euler.ZYX;\n }\n\n static get RotationOrders() {\n return ['ZYX', 'YXZ', 'XZY', 'ZXY', 'YZX', 'XYZ'];\n }\n\n static rotationOrder(order) {\n return Euler.RotationOrders[order];\n }\n\n get ELEMENTS() {\n return 4;\n }\n\n /* eslint-enable no-multi-spaces, brace-style, no-return-assign */\n\n /**\n * @class\n * @param {Number | Number[]} x\n * @param {Number=} [y]\n * @param {Number=} [z]\n * @param {Number=} [order]\n */\n constructor(x = 0, y = 0, z = 0, order = Euler.DefaultOrder) {\n // PERF NOTE: initialize elements as double precision numbers\n super(-0, -0, -0, -0);\n // eslint-disable-next-line prefer-rest-params\n if (arguments.length > 0 && Array.isArray(arguments[0])) {\n // eslint-disable-next-line prefer-rest-params\n this.fromVector3(...arguments);\n } else {\n // @ts-ignore error TS2345: Argument of type 'number | [number, number, number, number]' not assignable to 'number'\n this.set(x, y, z, order);\n }\n }\n\n fromQuaternion(quaternion) {\n const [x, y, z, w] = quaternion;\n const ysqr = y * y;\n const t0 = -2.0 * (ysqr + z * z) + 1.0;\n const t1 = +2.0 * (x * y + w * z);\n let t2 = -2.0 * (x * z - w * y);\n const t3 = +2.0 * (y * z + w * x);\n const t4 = -2.0 * (x * x + ysqr) + 1.0;\n\n t2 = t2 > 1.0 ? 1.0 : t2;\n t2 = t2 < -1.0 ? -1.0 : t2;\n\n const roll = Math.atan2(t3, t4);\n const pitch = Math.asin(t2);\n const yaw = Math.atan2(t1, t0);\n\n return new Euler(roll, pitch, yaw, Euler.RollPitchYaw);\n }\n\n // fromQuaternion(q, order) {\n // this._fromRotationMat[-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];\n // return this.check();\n // }\n\n // If copied array does contain fourth element, preserves currently set order\n copy(array) {\n this[0] = array[0];\n this[1] = array[1];\n this[2] = array[2];\n this[3] = Number.isFinite(array[3]) || this.order;\n return this.check();\n }\n\n // Sets the three angles, and optionally sets the rotation order\n // If order is not specified, preserves currently set order\n set(x = 0, y = 0, z = 0, order) {\n this[0] = x;\n this[1] = y;\n this[2] = z;\n this[3] = Number.isFinite(order) ? order : this[3];\n return this.check();\n }\n\n validate() {\n return (\n validateOrder(this[3]) &&\n Number.isFinite(this[0]) &&\n Number.isFinite(this[1]) &&\n Number.isFinite(this[2])\n );\n }\n\n // Does not copy the orientation element\n toArray(array = [], offset = 0) {\n array[offset] = this[0];\n array[offset + 1] = this[1];\n array[offset + 2] = this[2];\n return array;\n }\n\n // Copies the orientation element\n toArray4(array = [], offset = 0) {\n array[offset] = this[0];\n array[offset + 1] = this[1];\n array[offset + 2] = this[2];\n array[offset + 3] = this[3];\n return array;\n }\n\n toVector3(result = [-0, -0, -0]) {\n result[0] = this[0];\n result[1] = this[1];\n result[2] = this[2];\n return result;\n }\n\n /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n\n // x, y, z angle notation (note: only corresponds to axis in XYZ orientation)\n /** @type {number} */\n get x() {\n return this[0];\n }\n\n set x(value) {\n this[0] = checkNumber(value);\n }\n\n /** @type {number} */\n get y() {\n return this[1];\n }\n\n set y(value) {\n this[1] = checkNumber(value);\n }\n\n /** @type {number} */\n get z() {\n return this[2];\n }\n\n set z(value) {\n this[2] = checkNumber(value);\n }\n\n // alpha, beta, gamma angle notation\n get alpha() {\n return this[0];\n }\n\n set alpha(value) {\n this[0] = checkNumber(value);\n }\n\n get beta() {\n return this[1];\n }\n\n set beta(value) {\n this[1] = checkNumber(value);\n }\n\n get gamma() {\n return this[2];\n }\n\n set gamma(value) {\n this[2] = checkNumber(value);\n }\n\n // phi, theta, psi angle notation\n get phi() {\n return this[0];\n }\n\n set phi(value) {\n this[0] = checkNumber(value);\n }\n\n get theta() {\n return this[1];\n }\n\n set theta(value) {\n this[1] = checkNumber(value);\n }\n\n get psi() {\n return this[2];\n }\n\n set psi(value) {\n this[2] = checkNumber(value);\n }\n\n // roll, pitch, yaw angle notation\n /** @type {number} */\n get roll() {\n return this[0];\n }\n\n set roll(value) {\n this[0] = checkNumber(value);\n }\n\n /** @type {number} */\n get pitch() {\n return this[1];\n }\n\n set pitch(value) {\n this[1] = checkNumber(value);\n }\n\n /** @type {number} */\n get yaw() {\n return this[2];\n }\n\n set yaw(value) {\n this[2] = checkNumber(value);\n }\n\n // rotation order, in all three angle notations\n get order() {\n return this[3];\n }\n\n set order(value) {\n this[3] = checkOrder(value);\n }\n\n /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n\n // Constructors\n fromVector3(v, order) {\n return this.set(v[0], v[1], v[2], Number.isFinite(order) ? order : this[3]);\n }\n\n // TODO - with and without 4th element\n fromArray(array, offset = 0) {\n this[0] = array[0 + offset];\n this[1] = array[1 + offset];\n this[2] = array[2 + offset];\n if (array[3] !== undefined) {\n this[3] = array[3];\n }\n return this.check();\n }\n\n // Common ZYX rotation order\n fromRollPitchYaw(roll, pitch, yaw) {\n return this.set(roll, pitch, yaw, Euler.ZYX);\n }\n\n fromRotationMatrix(m, order = Euler.DefaultOrder) {\n this._fromRotationMatrix(m, order);\n return this.check();\n }\n\n // ACCESSORS\n\n getRotationMatrix(m) {\n return this._getRotationMatrix(m);\n }\n\n // TODO - move to Quaternion\n getQuaternion() {\n const q = new Quaternion();\n switch (this[4]) {\n case Euler.XYZ:\n return q\n .rotateX(this[0])\n .rotateY(this[1])\n .rotateZ(this[2]);\n case Euler.YXZ:\n return q\n .rotateY(this[0])\n .rotateX(this[1])\n .rotateZ(this[2]);\n case Euler.ZXY:\n return q\n .rotateZ(this[0])\n .rotateX(this[1])\n .rotateY(this[2]);\n case Euler.ZYX:\n return q\n .rotateZ(this[0])\n .rotateY(this[1])\n .rotateX(this[2]);\n case Euler.YZX:\n return q\n .rotateY(this[0])\n .rotateZ(this[1])\n .rotateX(this[2]);\n case Euler.XZY:\n return q\n .rotateX(this[0])\n .rotateZ(this[1])\n .rotateY(this[2]);\n default:\n throw new Error(ERR_UNKNOWN_ORDER);\n }\n }\n\n // INTERNAL METHODS\n\n // Concersion from Euler to rotation matrix and from matrix to Euler\n // Adapted from three.js under MIT license\n\n // // WARNING: this discards revolution information -bhouston\n // reorder(newOrder) {\n // const q = new Quaternion().setFromEuler(this);\n // return this.setFromQuaternion(q, newOrder);\n\n /* eslint-disable complexity, max-statements, one-var */\n _fromRotationMatrix(m, order = Euler.DefaultOrder) {\n // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)\n\n const te = m.elements;\n const m11 = te[0],\n m12 = te[4],\n m13 = te[8];\n const m21 = te[1],\n m22 = te[5],\n m23 = te[9];\n const m31 = te[2],\n m32 = te[6],\n m33 = te[10];\n\n order = order || this[3];\n\n switch (order) {\n case Euler.XYZ:\n this[1] = Math.asin(clamp(m13, -1, 1));\n\n if (Math.abs(m13) < ALMOST_ONE) {\n this[0] = Math.atan2(-m23, m33);\n this[2] = Math.atan2(-m12, m11);\n } else {\n this[0] = Math.atan2(m32, m22);\n this[2] = 0;\n }\n break;\n\n case Euler.YXZ:\n this[0] = Math.asin(-clamp(m23, -1, 1));\n\n if (Math.abs(m23) < ALMOST_ONE) {\n this[1] = Math.atan2(m13, m33);\n this[2] = Math.atan2(m21, m22);\n } else {\n this[1] = Math.atan2(-m31, m11);\n this[2] = 0;\n }\n break;\n\n case Euler.ZXY:\n this[0] = Math.asin(clamp(m32, -1, 1));\n\n if (Math.abs(m32) < ALMOST_ONE) {\n this[1] = Math.atan2(-m31, m33);\n this[2] = Math.atan2(-m12, m22);\n } else {\n this[1] = 0;\n this[2] = Math.atan2(m21, m11);\n }\n break;\n\n case Euler.ZYX:\n this[1] = Math.asin(-clamp(m31, -1, 1));\n\n if (Math.abs(m31) < ALMOST_ONE) {\n this[0] = Math.atan2(m32, m33);\n this[2] = Math.atan2(m21, m11);\n } else {\n this[0] = 0;\n this[2] = Math.atan2(-m12, m22);\n }\n break;\n\n case Euler.YZX:\n this[2] = Math.asin(clamp(m21, -1, 1));\n\n if (Math.abs(m21) < ALMOST_ONE) {\n this[0] = Math.atan2(-m23, m22);\n this[1] = Math.atan2(-m31, m11);\n } else {\n this[0] = 0;\n this[1] = Math.atan2(m13, m33);\n }\n break;\n\n case Euler.XZY:\n this[2] = Math.asin(-clamp(m12, -1, 1));\n\n if (Math.abs(m12) < ALMOST_ONE) {\n this[0] = Math.atan2(m32, m22);\n this[1] = Math.atan2(m13, m11);\n } else {\n this[0] = Math.atan2(-m23, m33);\n this[1] = 0;\n }\n break;\n\n default:\n throw new Error(ERR_UNKNOWN_ORDER);\n }\n\n this[3] = order;\n\n return this;\n }\n\n _getRotationMatrix(result) {\n const te = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];\n\n const x = this.x,\n y = this.y,\n z = this.z;\n const a = Math.cos(x);\n const c = Math.cos(y);\n const e = Math.cos(z);\n const b = Math.sin(x);\n const d = Math.sin(y);\n const f = Math.sin(z);\n\n switch (this[3]) {\n case Euler.XYZ: {\n const ae = a * e,\n af = a * f,\n be = b * e,\n bf = b * f;\n\n te[0] = c * e;\n te[4] = -c * f;\n te[8] = d;\n\n te[1] = af + be * d;\n te[5] = ae - bf * d;\n te[9] = -b * c;\n\n te[2] = bf - ae * d;\n te[6] = be + af * d;\n te[10] = a * c;\n break;\n }\n\n case Euler.YXZ: {\n const ce = c * e,\n cf = c * f,\n de = d * e,\n df = d * f;\n\n te[0] = ce + df * b;\n te[4] = de * b - cf;\n te[8] = a * d;\n\n te[1] = a * f;\n te[5] = a * e;\n te[9] = -b;\n\n te[2] = cf * b - de;\n te[6] = df + ce * b;\n te[10] = a * c;\n break;\n }\n\n case Euler.ZXY: {\n const ce = c * e,\n cf = c * f,\n de = d * e,\n df = d * f;\n\n te[0] = ce - df * b;\n te[4] = -a * f;\n te[8] = de + cf * b;\n\n te[1] = cf + de * b;\n te[5] = a * e;\n te[9] = df - ce * b;\n\n te[2] = -a * d;\n te[6] = b;\n te[10] = a * c;\n break;\n }\n\n case Euler.ZYX: {\n const ae = a * e,\n af = a * f,\n be = b * e,\n bf = b * f;\n\n te[0] = c * e;\n te[4] = be * d - af;\n te[8] = ae * d + bf;\n\n te[1] = c * f;\n te[5] = bf * d + ae;\n te[9] = af * d - be;\n\n te[2] = -d;\n te[6] = b * c;\n te[10] = a * c;\n break;\n }\n\n case Euler.YZX: {\n const ac = a * c,\n ad = a * d,\n bc = b * c,\n bd = b * d;\n\n te[0] = c * e;\n te[4] = bd - ac * f;\n te[8] = bc * f + ad;\n\n te[1] = f;\n te[5] = a * e;\n te[9] = -b * e;\n\n te[2] = -d * e;\n te[6] = ad * f + bc;\n te[10] = ac - bd * f;\n break;\n }\n\n case Euler.XZY: {\n const ac = a * c,\n ad = a * d,\n bc = b * c,\n bd = b * d;\n\n te[0] = c * e;\n te[4] = -f;\n te[8] = d * e;\n\n te[1] = ac * f + bd;\n te[5] = a * e;\n te[9] = ad * f - bc;\n\n te[2] = bc * f - ad;\n te[6] = b * e;\n te[10] = bd * f + ac;\n break;\n }\n\n default:\n throw new Error(ERR_UNKNOWN_ORDER);\n }\n\n // last column\n te[3] = 0;\n te[7] = 0;\n te[11] = 0;\n\n // bottom row\n te[12] = 0;\n te[13] = 0;\n te[14] = 0;\n te[15] = 1;\n\n return te;\n }\n\n toQuaternion() {\n // Abbreviations for the various angular functions\n const cy = Math.cos(this.yaw * 0.5);\n const sy = Math.sin(this.yaw * 0.5);\n const cr = Math.cos(this.roll * 0.5);\n const sr = Math.sin(this.roll * 0.5);\n const cp = Math.cos(this.pitch * 0.5);\n const sp = Math.sin(this.pitch * 0.5);\n\n const w = cy * cr * cp + sy * sr * sp;\n const x = cy * sr * cp - sy * cr * sp;\n const y = cy * cr * sp + sy * sr * cp;\n const z = sy * cr * cp - cy * sr * sp;\n\n return new Quaternion(x, y, z, w);\n }\n}\n"],"file":"euler.js"}
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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport Matrix from './base/matrix';\nimport {checkVector, deprecated} from '../lib/validators';\nimport {vec4_transformMat3} from '../lib/gl-matrix-extras';\n\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as mat3 from 'gl-matrix/mat3';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec2 from 'gl-matrix/vec2';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec3 from 'gl-matrix/vec3';\n\nconst IDENTITY = Object.freeze([1, 0, 0, 0, 1, 0, 0, 0, 1]);\nconst ZERO = Object.freeze([0, 0, 0, 0, 0, 0, 0, 0, 0]);\n\nconst INDICES = Object.freeze({\n COL0ROW0: 0,\n COL0ROW1: 1,\n COL0ROW2: 2,\n COL1ROW0: 3,\n COL1ROW1: 4,\n COL1ROW2: 5,\n COL2ROW0: 6,\n COL2ROW1: 7,\n COL2ROW2: 8\n});\n\nconst constants = {};\n\nexport default class Matrix3 extends Matrix {\n static get IDENTITY() {\n constants.IDENTITY = constants.IDENTITY || Object.freeze(new Matrix3(IDENTITY));\n return constants.IDENTITY;\n }\n\n static get ZERO() {\n constants.ZERO = constants.ZERO || Object.freeze(new Matrix3(ZERO));\n return constants.ZERO;\n }\n\n get ELEMENTS() {\n return 9;\n }\n\n get RANK() {\n return 3;\n }\n\n get INDICES() {\n return INDICES;\n }\n\n constructor(array) {\n // PERF NOTE: initialize elements as double precision numbers\n super(-0, -0, -0, -0, -0, -0, -0, -0, -0);\n if (arguments.length === 1 && Array.isArray(array)) {\n this.copy(array);\n } else {\n this.identity();\n }\n }\n\n copy(array) {\n this[0] = array[0];\n this[1] = array[1];\n this[2] = array[2];\n this[3] = array[3];\n this[4] = array[4];\n this[5] = array[5];\n this[6] = array[6];\n this[7] = array[7];\n this[8] = array[8];\n return this.check();\n }\n\n // accepts column major order, stores in column major order\n // eslint-disable-next-line max-params\n set(m00, m10, m20, m01, m11, m21, m02, m12, m22) {\n this[0] = m00;\n this[1] = m10;\n this[2] = m20;\n this[3] = m01;\n this[4] = m11;\n this[5] = m21;\n this[6] = m02;\n this[7] = m12;\n this[8] = m22;\n return this.check();\n }\n\n // accepts row major order, stores as column major\n // eslint-disable-next-line max-params\n setRowMajor(m00, m01, m02, m10, m11, m12, m20, m21, m22) {\n this[0] = m00;\n this[1] = m10;\n this[2] = m20;\n this[3] = m01;\n this[4] = m11;\n this[5] = m21;\n this[6] = m02;\n this[7] = m12;\n this[8] = m22;\n return this.check();\n }\n\n // Accessors\n\n determinant() {\n return mat3.determinant(this);\n }\n\n // Constructors\n\n identity() {\n return this.copy(IDENTITY);\n }\n\n // Calculates a 3x3 matrix from the given quaternion\n // q quat Quaternion to create matrix from\n fromQuaternion(q) {\n mat3.fromQuat(this, q);\n return this.check();\n }\n\n // Modifiers\n\n transpose() {\n mat3.transpose(this, this);\n return this.check();\n }\n\n invert() {\n mat3.invert(this, this);\n return this.check();\n }\n\n // Operations\n\n multiplyLeft(a) {\n mat3.multiply(this, a, this);\n return this.check();\n }\n\n multiplyRight(a) {\n mat3.multiply(this, this, a);\n return this.check();\n }\n\n rotate(radians) {\n mat3.rotate(this, this, radians);\n return this.check();\n }\n\n scale(factor) {\n if (Array.isArray(factor)) {\n mat3.scale(this, this, factor);\n } else {\n mat3.scale(this, this, [factor, factor, factor]);\n }\n\n return this.check();\n }\n\n translate(vec) {\n mat3.translate(this, this, vec);\n return this.check();\n }\n\n // Transforms\n\n transform(vector, result) {\n switch (vector.length) {\n case 2:\n result = vec2.transformMat3(result || [-0, -0], vector, this);\n break;\n case 3:\n result = vec3.transformMat3(result || [-0, -0, -0], vector, this);\n break;\n case 4:\n result = vec4_transformMat3(result || [-0, -0, -0, -0], vector, this);\n break;\n default:\n throw new Error('Illegal vector');\n }\n checkVector(result, vector.length);\n return result;\n }\n\n // DEPRECATED IN 3.0\n\n transformVector(vector, result) {\n deprecated('Matrix3.transformVector');\n return this.transform(vector, result);\n }\n\n transformVector2(vector, result) {\n deprecated('Matrix3.transformVector');\n return this.transform(vector, result);\n }\n\n transformVector3(vector, result) {\n deprecated('Matrix3.transformVector');\n return this.transform(vector, result);\n }\n}\n"],"file":"matrix3.js"}
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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport Matrix from './base/matrix';\nimport {checkVector, deprecated} from '../lib/validators';\nimport {vec4_transformMat3} from '../lib/gl-matrix-extras';\n\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as mat3 from 'gl-matrix/mat3';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec2 from 'gl-matrix/vec2';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec3 from 'gl-matrix/vec3';\n\nconst IDENTITY = Object.freeze([1, 0, 0, 0, 1, 0, 0, 0, 1]);\nconst ZERO = Object.freeze([0, 0, 0, 0, 0, 0, 0, 0, 0]);\n\nconst INDICES = Object.freeze({\n COL0ROW0: 0,\n COL0ROW1: 1,\n COL0ROW2: 2,\n COL1ROW0: 3,\n COL1ROW1: 4,\n COL1ROW2: 5,\n COL2ROW0: 6,\n COL2ROW1: 7,\n COL2ROW2: 8\n});\n\nconst constants = {};\n\nexport default class Matrix3 extends Matrix {\n static get IDENTITY() {\n constants.IDENTITY = constants.IDENTITY || Object.freeze(new Matrix3(IDENTITY));\n return constants.IDENTITY;\n }\n\n static get ZERO() {\n constants.ZERO = constants.ZERO || Object.freeze(new Matrix3(ZERO));\n return constants.ZERO;\n }\n\n get ELEMENTS() {\n return 9;\n }\n\n get RANK() {\n return 3;\n }\n\n get INDICES() {\n return INDICES;\n }\n\n constructor(array) {\n // PERF NOTE: initialize elements as double precision numbers\n super(-0, -0, -0, -0, -0, -0, -0, -0, -0);\n if (arguments.length === 1 && Array.isArray(array)) {\n this.copy(array);\n } else {\n this.identity();\n }\n }\n\n copy(array) {\n this[0] = array[0];\n this[1] = array[1];\n this[2] = array[2];\n this[3] = array[3];\n this[4] = array[4];\n this[5] = array[5];\n this[6] = array[6];\n this[7] = array[7];\n this[8] = array[8];\n return this.check();\n }\n\n // accepts column major order, stores in column major order\n // eslint-disable-next-line max-params\n set(m00, m10, m20, m01, m11, m21, m02, m12, m22) {\n this[0] = m00;\n this[1] = m10;\n this[2] = m20;\n this[3] = m01;\n this[4] = m11;\n this[5] = m21;\n this[6] = m02;\n this[7] = m12;\n this[8] = m22;\n return this.check();\n }\n\n // accepts row major order, stores as column major\n // eslint-disable-next-line max-params\n setRowMajor(m00, m01, m02, m10, m11, m12, m20, m21, m22) {\n this[0] = m00;\n this[1] = m10;\n this[2] = m20;\n this[3] = m01;\n this[4] = m11;\n this[5] = m21;\n this[6] = m02;\n this[7] = m12;\n this[8] = m22;\n return this.check();\n }\n\n // Accessors\n\n determinant() {\n return mat3.determinant(this);\n }\n\n // Constructors\n\n identity() {\n return this.copy(IDENTITY);\n }\n\n // Calculates a 3x3 matrix from the given quaternion\n // q quat Quaternion to create matrix from\n fromQuaternion(q) {\n mat3.fromQuat(this, q);\n return this.check();\n }\n\n // Modifiers\n\n transpose() {\n mat3.transpose(this, this);\n return this.check();\n }\n\n invert() {\n mat3.invert(this, this);\n return this.check();\n }\n\n // Operations\n\n multiplyLeft(a) {\n mat3.multiply(this, a, this);\n return this.check();\n }\n\n multiplyRight(a) {\n mat3.multiply(this, this, a);\n return this.check();\n }\n\n rotate(radians) {\n mat3.rotate(this, this, radians);\n return this.check();\n }\n\n scale(factor) {\n if (Array.isArray(factor)) {\n mat3.scale(this, this, factor);\n } else {\n mat3.scale(this, this, [factor, factor, factor]);\n }\n\n return this.check();\n }\n\n translate(vec) {\n mat3.translate(this, this, vec);\n return this.check();\n }\n\n // Transforms\n\n transform(vector, result) {\n switch (vector.length) {\n case 2:\n result = vec2.transformMat3(result || [-0, -0], vector, this);\n break;\n case 3:\n result = vec3.transformMat3(result || [-0, -0, -0], vector, this);\n break;\n case 4:\n result = vec4_transformMat3(result || [-0, -0, -0, -0], vector, this);\n break;\n default:\n throw new Error('Illegal vector');\n }\n checkVector(result, vector.length);\n return result;\n }\n\n // DEPRECATED IN 3.0\n\n transformVector(vector, result) {\n deprecated('Matrix3.transformVector');\n return this.transform(vector, result);\n }\n\n transformVector2(vector, result) {\n deprecated('Matrix3.transformVector');\n return this.transform(vector, result);\n }\n\n transformVector3(vector, result) {\n deprecated('Matrix3.transformVector');\n return this.transform(vector, result);\n }\n}\n"],"file":"matrix3.js"}
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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport {checkVector, deprecated} from '../lib/validators';\nimport Matrix from './base/matrix';\n\nimport {vec2_transformMat4AsVector, vec3_transformMat4AsVector} from '../lib/gl-matrix-extras';\n\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as mat4 from 'gl-matrix/mat4';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec2 from 'gl-matrix/vec2';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec3 from 'gl-matrix/vec3';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec4 from 'gl-matrix/vec4';\n\nconst IDENTITY = Object.freeze([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);\nconst ZERO = Object.freeze([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);\n\nconst INDICES = Object.freeze({\n COL0ROW0: 0,\n COL0ROW1: 1,\n COL0ROW2: 2,\n COL0ROW3: 3,\n COL1ROW0: 4,\n COL1ROW1: 5,\n COL1ROW2: 6,\n COL1ROW3: 7,\n COL2ROW0: 8,\n COL2ROW1: 9,\n COL2ROW2: 10,\n COL2ROW3: 11,\n COL3ROW0: 12,\n COL3ROW1: 13,\n COL3ROW2: 14,\n COL3ROW3: 15\n});\n\nconst constants = {};\n\nexport default class Matrix4 extends Matrix {\n static get IDENTITY() {\n constants.IDENTITY = constants.IDENTITY || Object.freeze(new Matrix4(IDENTITY));\n return constants.IDENTITY;\n }\n\n static get ZERO() {\n constants.ZERO = constants.ZERO || Object.freeze(new Matrix4(ZERO));\n return constants.ZERO;\n }\n\n get INDICES() {\n return INDICES;\n }\n\n get ELEMENTS() {\n return 16;\n }\n\n get RANK() {\n return 4;\n }\n\n constructor(array) {\n // PERF NOTE: initialize elements as double precision numbers\n super(-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0);\n if (arguments.length === 1 && Array.isArray(array)) {\n this.copy(array);\n } else {\n this.identity();\n }\n }\n\n copy(array) {\n this[0] = array[0];\n this[1] = array[1];\n this[2] = array[2];\n this[3] = array[3];\n this[4] = array[4];\n this[5] = array[5];\n this[6] = array[6];\n this[7] = array[7];\n this[8] = array[8];\n this[9] = array[9];\n this[10] = array[10];\n this[11] = array[11];\n this[12] = array[12];\n this[13] = array[13];\n this[14] = array[14];\n this[15] = array[15];\n return this.check();\n }\n\n // eslint-disable-next-line max-params\n set(m00, m10, m20, m30, m01, m11, m21, m31, m02, m12, m22, m32, m03, m13, m23, m33) {\n this[0] = m00;\n this[1] = m10;\n this[2] = m20;\n this[3] = m30;\n this[4] = m01;\n this[5] = m11;\n this[6] = m21;\n this[7] = m31;\n this[8] = m02;\n this[9] = m12;\n this[10] = m22;\n this[11] = m32;\n this[12] = m03;\n this[13] = m13;\n this[14] = m23;\n this[15] = m33;\n return this.check();\n }\n\n // accepts row major order, stores as column major\n // eslint-disable-next-line max-params\n setRowMajor(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {\n this[0] = m00;\n this[1] = m10;\n this[2] = m20;\n this[3] = m30;\n this[4] = m01;\n this[5] = m11;\n this[6] = m21;\n this[7] = m31;\n this[8] = m02;\n this[9] = m12;\n this[10] = m22;\n this[11] = m32;\n this[12] = m03;\n this[13] = m13;\n this[14] = m23;\n this[15] = m33;\n return this.check();\n }\n\n toRowMajor(result) {\n result[0] = this[0];\n result[1] = this[4];\n result[2] = this[8];\n result[3] = this[12];\n result[4] = this[1];\n result[5] = this[5];\n result[6] = this[9];\n result[7] = this[13];\n result[8] = this[2];\n result[9] = this[6];\n result[10] = this[10];\n result[11] = this[14];\n result[12] = this[3];\n result[13] = this[7];\n result[14] = this[11];\n result[15] = this[15];\n return result;\n }\n\n // Constructors\n\n identity() {\n return this.copy(IDENTITY);\n }\n\n // Calculates a 4x4 matrix from the given quaternion\n // q quat Quaternion to create matrix from\n fromQuaternion(q) {\n mat4.fromQuat(this, q);\n return this.check();\n }\n\n // Generates a frustum matrix with the given bounds\n // left Number Left bound of the frustum\n // right Number Right bound of the frustum\n // bottom Number Bottom bound of the frustum\n // top Number Top bound of the frustum\n // near Number Near bound of the frustum\n // far Number Far bound of the frustum\n frustum({left, right, bottom, top, near, far}) {\n if (far === Infinity) {\n Matrix4._computeInfinitePerspectiveOffCenter(this, left, right, bottom, top, near);\n } else {\n mat4.frustum(this, left, right, bottom, top, near, far);\n }\n return this.check();\n }\n\n // eslint-disable-next-line max-params\n static _computeInfinitePerspectiveOffCenter(result, left, right, bottom, top, near) {\n const column0Row0 = (2.0 * near) / (right - left);\n const column1Row1 = (2.0 * near) / (top - bottom);\n const column2Row0 = (right + left) / (right - left);\n const column2Row1 = (top + bottom) / (top - bottom);\n const column2Row2 = -1.0;\n const column2Row3 = -1.0;\n const column3Row2 = -2.0 * near;\n\n result[0] = column0Row0;\n result[1] = 0.0;\n result[2] = 0.0;\n result[3] = 0.0;\n result[4] = 0.0;\n result[5] = column1Row1;\n result[6] = 0.0;\n result[7] = 0.0;\n result[8] = column2Row0;\n result[9] = column2Row1;\n result[10] = column2Row2;\n result[11] = column2Row3;\n result[12] = 0.0;\n result[13] = 0.0;\n result[14] = column3Row2;\n result[15] = 0.0;\n return result;\n }\n\n // Generates a look-at matrix with the given eye position, focal point,\n // and up axis\n // eye vec3 Position of the viewer\n // center vec3 Point the viewer is looking at\n // up vec3 vec3 pointing up\n lookAt(eye, center, up) {\n // Signature: lookAt({eye, center = [0, 0, 0], up = [0, 1, 0]}))\n if (arguments.length === 1) {\n ({eye, center, up} = eye);\n }\n\n center = center || [0, 0, 0];\n up = up || [0, 1, 0];\n\n mat4.lookAt(this, eye, center, up);\n return this.check();\n }\n\n // Generates a orthogonal projection matrix with the given bounds\n // from \"traditional\" view space parameters\n // left number Left bound of the frustum\n // right number Right bound of the frustum\n // bottom number Bottom bound of the frustum\n // top number Top bound of the frustum\n // near number Near bound of the frustum\n // far number Far bound of the frustum\n ortho({left, right, bottom, top, near = 0.1, far = 500}) {\n mat4.ortho(this, left, right, bottom, top, near, far);\n return this.check();\n }\n\n // Generates an orthogonal projection matrix with the same parameters\n // as a perspective matrix (plus focalDistance)\n // fovy number Vertical field of view in radians\n // aspect number Aspect ratio. typically viewport width/height\n // focalDistance distance in the view frustum used for extent calculations\n // near number Near bound of the frustum\n // far number Far bound of the frustum\n orthographic({\n fovy = (45 * Math.PI) / 180,\n aspect = 1,\n focalDistance = 1,\n near = 0.1,\n far = 500\n }) {\n if (fovy > Math.PI * 2) {\n throw Error('radians');\n }\n const halfY = fovy / 2;\n const top = focalDistance * Math.tan(halfY); // focus_plane is the distance from the camera\n const right = top * aspect;\n\n return new Matrix4().ortho({\n left: -right,\n right,\n bottom: -top,\n top,\n near,\n far\n });\n }\n\n // Generates a perspective projection matrix with the given bounds\n // fovy number Vertical field of view in radians\n // aspect number Aspect ratio. typically viewport width/height\n // near number Near bound of the frustum\n // far number Far bound of the frustum\n perspective({\n fovy = undefined,\n fov = (45 * Math.PI) / 180, // DEPRECATED\n aspect = 1,\n near = 0.1,\n far = 500\n } = {}) {\n fovy = fovy || fov;\n if (fovy > Math.PI * 2) {\n throw Error('radians');\n }\n mat4.perspective(this, fovy, aspect, near, far);\n return this.check();\n }\n\n // Accessors\n\n determinant() {\n return mat4.determinant(this);\n }\n\n // Extracts the non-uniform scale assuming the matrix is an affine transformation.\n // The scales are the \"lengths\" of the column vectors in the upper-left 3x3 matrix.\n getScale(result = [-0, -0, -0]) {\n // explicit is faster than hypot...\n result[0] = Math.sqrt(this[0] * this[0] + this[1] * this[1] + this[2] * this[2]);\n result[1] = Math.sqrt(this[4] * this[4] + this[5] * this[5] + this[6] * this[6]);\n result[2] = Math.sqrt(this[8] * this[8] + this[9] * this[9] + this[10] * this[10]);\n // result[0] = Math.hypot(this[0], this[1], this[2]);\n // result[1] = Math.hypot(this[4], this[5], this[6]);\n // result[2] = Math.hypot(this[8], this[9], this[10]);\n return result;\n }\n\n // Gets the translation portion, assuming the matrix is a affine transformation matrix.\n getTranslation(result = [-0, -0, -0]) {\n result[0] = this[12];\n result[1] = this[13];\n result[2] = this[14];\n return result;\n }\n\n // Gets upper left 3x3 pure rotation matrix (non-scaling), assume affine transformation matrix\n getRotation(\n result = [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0],\n scaleResult = null\n ) {\n const scale = this.getScale(scaleResult || [-0, -0, -0]);\n\n const inverseScale0 = 1 / scale[0];\n const inverseScale1 = 1 / scale[1];\n const inverseScale2 = 1 / scale[2];\n\n result[0] = this[0] * inverseScale0;\n result[1] = this[1] * inverseScale1;\n result[2] = this[2] * inverseScale2;\n result[3] = 0;\n result[4] = this[4] * inverseScale0;\n result[5] = this[5] * inverseScale1;\n result[6] = this[6] * inverseScale2;\n result[7] = 0;\n result[8] = this[8] * inverseScale0;\n result[9] = this[9] * inverseScale1;\n result[10] = this[10] * inverseScale2;\n result[11] = 0;\n result[12] = 0;\n result[13] = 0;\n result[14] = 0;\n result[15] = 1;\n return result;\n }\n\n getRotationMatrix3(result = [-0, -0, -0, -0, -0, -0, -0, -0, -0], scaleResult = null) {\n const scale = this.getScale(scaleResult || [-0, -0, -0]);\n\n const inverseScale0 = 1 / scale[0];\n const inverseScale1 = 1 / scale[1];\n const inverseScale2 = 1 / scale[2];\n\n result[0] = this[0] * inverseScale0;\n result[1] = this[1] * inverseScale1;\n result[2] = this[2] * inverseScale2;\n result[3] = this[4] * inverseScale0;\n result[4] = this[5] * inverseScale1;\n result[5] = this[6] * inverseScale2;\n result[6] = this[8] * inverseScale0;\n result[7] = this[9] * inverseScale1;\n result[8] = this[10] * inverseScale2;\n return result;\n }\n\n // Modifiers\n\n transpose() {\n mat4.transpose(this, this);\n return this.check();\n }\n\n invert() {\n mat4.invert(this, this);\n return this.check();\n }\n\n // Operations\n\n multiplyLeft(a) {\n mat4.multiply(this, a, this);\n return this.check();\n }\n\n multiplyRight(a) {\n mat4.multiply(this, this, a);\n return this.check();\n }\n\n // Rotates a matrix by the given angle around the X axis\n rotateX(radians) {\n mat4.rotateX(this, this, radians);\n // mat4.rotate(this, this, radians, [1, 0, 0]);\n return this.check();\n }\n\n // Rotates a matrix by the given angle around the Y axis.\n rotateY(radians) {\n mat4.rotateY(this, this, radians);\n // mat4.rotate(this, this, radians, [0, 1, 0]);\n return this.check();\n }\n\n // Rotates a matrix by the given angle around the Z axis.\n rotateZ(radians) {\n mat4.rotateZ(this, this, radians);\n // mat4.rotate(this, this, radians, [0, 0, 1]);\n return this.check();\n }\n\n rotateXYZ([rx, ry, rz]) {\n return this.rotateX(rx)\n .rotateY(ry)\n .rotateZ(rz);\n }\n\n rotateAxis(radians, axis) {\n mat4.rotate(this, this, radians, axis);\n return this.check();\n }\n\n scale(factor) {\n if (Array.isArray(factor)) {\n mat4.scale(this, this, factor);\n } else {\n mat4.scale(this, this, [factor, factor, factor]);\n }\n\n return this.check();\n }\n\n translate(vec) {\n mat4.translate(this, this, vec);\n return this.check();\n }\n\n // Transforms\n\n // Transforms any 2, 3 or 4 element vector. 2 and 3 elements are treated as points\n transform(vector, result) {\n if (vector.length === 4) {\n result = vec4.transformMat4(result || [-0, -0, -0, -0], vector, this);\n checkVector(result, 4);\n return result;\n }\n return this.transformAsPoint(vector, result);\n }\n\n // Transforms any 2 or 3 element array as point (w implicitly 1)\n transformAsPoint(vector, result) {\n const {length} = vector;\n switch (length) {\n case 2:\n result = vec2.transformMat4(result || [-0, -0], vector, this);\n break;\n case 3:\n result = vec3.transformMat4(result || [-0, -0, -0], vector, this);\n break;\n default:\n throw new Error('Illegal vector');\n }\n checkVector(result, vector.length);\n return result;\n }\n\n // Transforms any 2 or 3 element array as vector (w implicitly 0)\n transformAsVector(vector, result) {\n switch (vector.length) {\n case 2:\n result = vec2_transformMat4AsVector(result || [-0, -0], vector, this);\n break;\n case 3:\n result = vec3_transformMat4AsVector(result || [-0, -0, -0], vector, this);\n break;\n default:\n throw new Error('Illegal vector');\n }\n checkVector(result, vector.length);\n return result;\n }\n\n // three.js math API compatibility\n makeRotationX(radians) {\n return this.identity().rotateX(radians);\n }\n\n makeTranslation(x, y, z) {\n return this.identity().translate([x, y, z]);\n }\n\n // DEPRECATED in 3.0\n\n transformPoint(vector, result) {\n deprecated('Matrix4.transformPoint', '3.0');\n return this.transformAsPoint(vector, result);\n }\n\n transformVector(vector, result) {\n deprecated('Matrix4.transformVector', '3.0');\n return this.transformAsPoint(vector, result);\n }\n\n transformDirection(vector, result) {\n deprecated('Matrix4.transformDirection', '3.0');\n return this.transformAsVector(vector, result);\n }\n}\n"],"file":"matrix4.js"}
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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport {checkVector, deprecated} from '../lib/validators';\nimport Matrix from './base/matrix';\n\nimport {vec2_transformMat4AsVector, vec3_transformMat4AsVector} from '../lib/gl-matrix-extras';\n\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as mat4 from 'gl-matrix/mat4';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec2 from 'gl-matrix/vec2';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec3 from 'gl-matrix/vec3';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec4 from 'gl-matrix/vec4';\n\nconst IDENTITY = Object.freeze([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);\nconst ZERO = Object.freeze([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);\n\nconst INDICES = Object.freeze({\n COL0ROW0: 0,\n COL0ROW1: 1,\n COL0ROW2: 2,\n COL0ROW3: 3,\n COL1ROW0: 4,\n COL1ROW1: 5,\n COL1ROW2: 6,\n COL1ROW3: 7,\n COL2ROW0: 8,\n COL2ROW1: 9,\n COL2ROW2: 10,\n COL2ROW3: 11,\n COL3ROW0: 12,\n COL3ROW1: 13,\n COL3ROW2: 14,\n COL3ROW3: 15\n});\n\nconst constants = {};\n\nexport default class Matrix4 extends Matrix {\n static get IDENTITY() {\n constants.IDENTITY = constants.IDENTITY || Object.freeze(new Matrix4(IDENTITY));\n return constants.IDENTITY;\n }\n\n static get ZERO() {\n constants.ZERO = constants.ZERO || Object.freeze(new Matrix4(ZERO));\n return constants.ZERO;\n }\n\n get INDICES() {\n return INDICES;\n }\n\n get ELEMENTS() {\n return 16;\n }\n\n get RANK() {\n return 4;\n }\n\n constructor(array) {\n // PERF NOTE: initialize elements as double precision numbers\n super(-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0);\n if (arguments.length === 1 && Array.isArray(array)) {\n this.copy(array);\n } else {\n this.identity();\n }\n }\n\n copy(array) {\n this[0] = array[0];\n this[1] = array[1];\n this[2] = array[2];\n this[3] = array[3];\n this[4] = array[4];\n this[5] = array[5];\n this[6] = array[6];\n this[7] = array[7];\n this[8] = array[8];\n this[9] = array[9];\n this[10] = array[10];\n this[11] = array[11];\n this[12] = array[12];\n this[13] = array[13];\n this[14] = array[14];\n this[15] = array[15];\n return this.check();\n }\n\n // eslint-disable-next-line max-params\n set(m00, m10, m20, m30, m01, m11, m21, m31, m02, m12, m22, m32, m03, m13, m23, m33) {\n this[0] = m00;\n this[1] = m10;\n this[2] = m20;\n this[3] = m30;\n this[4] = m01;\n this[5] = m11;\n this[6] = m21;\n this[7] = m31;\n this[8] = m02;\n this[9] = m12;\n this[10] = m22;\n this[11] = m32;\n this[12] = m03;\n this[13] = m13;\n this[14] = m23;\n this[15] = m33;\n return this.check();\n }\n\n // accepts row major order, stores as column major\n // eslint-disable-next-line max-params\n setRowMajor(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {\n this[0] = m00;\n this[1] = m10;\n this[2] = m20;\n this[3] = m30;\n this[4] = m01;\n this[5] = m11;\n this[6] = m21;\n this[7] = m31;\n this[8] = m02;\n this[9] = m12;\n this[10] = m22;\n this[11] = m32;\n this[12] = m03;\n this[13] = m13;\n this[14] = m23;\n this[15] = m33;\n return this.check();\n }\n\n toRowMajor(result) {\n result[0] = this[0];\n result[1] = this[4];\n result[2] = this[8];\n result[3] = this[12];\n result[4] = this[1];\n result[5] = this[5];\n result[6] = this[9];\n result[7] = this[13];\n result[8] = this[2];\n result[9] = this[6];\n result[10] = this[10];\n result[11] = this[14];\n result[12] = this[3];\n result[13] = this[7];\n result[14] = this[11];\n result[15] = this[15];\n return result;\n }\n\n // Constructors\n\n identity() {\n return this.copy(IDENTITY);\n }\n\n // Calculates a 4x4 matrix from the given quaternion\n // q quat Quaternion to create matrix from\n fromQuaternion(q) {\n mat4.fromQuat(this, q);\n return this.check();\n }\n\n // Generates a frustum matrix with the given bounds\n // left Number Left bound of the frustum\n // right Number Right bound of the frustum\n // bottom Number Bottom bound of the frustum\n // top Number Top bound of the frustum\n // near Number Near bound of the frustum\n // far Number Far bound of the frustum\n frustum({left, right, bottom, top, near, far}) {\n if (far === Infinity) {\n Matrix4._computeInfinitePerspectiveOffCenter(this, left, right, bottom, top, near);\n } else {\n mat4.frustum(this, left, right, bottom, top, near, far);\n }\n return this.check();\n }\n\n // eslint-disable-next-line max-params\n static _computeInfinitePerspectiveOffCenter(result, left, right, bottom, top, near) {\n const column0Row0 = (2.0 * near) / (right - left);\n const column1Row1 = (2.0 * near) / (top - bottom);\n const column2Row0 = (right + left) / (right - left);\n const column2Row1 = (top + bottom) / (top - bottom);\n const column2Row2 = -1.0;\n const column2Row3 = -1.0;\n const column3Row2 = -2.0 * near;\n\n result[0] = column0Row0;\n result[1] = 0.0;\n result[2] = 0.0;\n result[3] = 0.0;\n result[4] = 0.0;\n result[5] = column1Row1;\n result[6] = 0.0;\n result[7] = 0.0;\n result[8] = column2Row0;\n result[9] = column2Row1;\n result[10] = column2Row2;\n result[11] = column2Row3;\n result[12] = 0.0;\n result[13] = 0.0;\n result[14] = column3Row2;\n result[15] = 0.0;\n return result;\n }\n\n // Generates a look-at matrix with the given eye position, focal point,\n // and up axis\n // eye vec3 Position of the viewer\n // center vec3 Point the viewer is looking at\n // up vec3 vec3 pointing up\n lookAt(eye, center, up) {\n // Signature: lookAt({eye, center = [0, 0, 0], up = [0, 1, 0]}))\n if (arguments.length === 1) {\n ({eye, center, up} = eye);\n }\n\n center = center || [0, 0, 0];\n up = up || [0, 1, 0];\n\n mat4.lookAt(this, eye, center, up);\n return this.check();\n }\n\n // Generates a orthogonal projection matrix with the given bounds\n // from \"traditional\" view space parameters\n // left number Left bound of the frustum\n // right number Right bound of the frustum\n // bottom number Bottom bound of the frustum\n // top number Top bound of the frustum\n // near number Near bound of the frustum\n // far number Far bound of the frustum\n ortho({left, right, bottom, top, near = 0.1, far = 500}) {\n mat4.ortho(this, left, right, bottom, top, near, far);\n return this.check();\n }\n\n // Generates an orthogonal projection matrix with the same parameters\n // as a perspective matrix (plus focalDistance)\n // fovy number Vertical field of view in radians\n // aspect number Aspect ratio. typically viewport width/height\n // focalDistance distance in the view frustum used for extent calculations\n // near number Near bound of the frustum\n // far number Far bound of the frustum\n orthographic({\n fovy = (45 * Math.PI) / 180,\n aspect = 1,\n focalDistance = 1,\n near = 0.1,\n far = 500\n }) {\n if (fovy > Math.PI * 2) {\n throw Error('radians');\n }\n const halfY = fovy / 2;\n const top = focalDistance * Math.tan(halfY); // focus_plane is the distance from the camera\n const right = top * aspect;\n\n return new Matrix4().ortho({\n left: -right,\n right,\n bottom: -top,\n top,\n near,\n far\n });\n }\n\n // Generates a perspective projection matrix with the given bounds\n // fovy number Vertical field of view in radians\n // aspect number Aspect ratio. typically viewport width/height\n // near number Near bound of the frustum\n // far number Far bound of the frustum\n perspective({\n fovy = undefined,\n fov = (45 * Math.PI) / 180, // DEPRECATED\n aspect = 1,\n near = 0.1,\n far = 500\n } = {}) {\n fovy = fovy || fov;\n if (fovy > Math.PI * 2) {\n throw Error('radians');\n }\n mat4.perspective(this, fovy, aspect, near, far);\n return this.check();\n }\n\n // Accessors\n\n determinant() {\n return mat4.determinant(this);\n }\n\n // Extracts the non-uniform scale assuming the matrix is an affine transformation.\n // The scales are the \"lengths\" of the column vectors in the upper-left 3x3 matrix.\n getScale(result = [-0, -0, -0]) {\n // explicit is faster than hypot...\n result[0] = Math.sqrt(this[0] * this[0] + this[1] * this[1] + this[2] * this[2]);\n result[1] = Math.sqrt(this[4] * this[4] + this[5] * this[5] + this[6] * this[6]);\n result[2] = Math.sqrt(this[8] * this[8] + this[9] * this[9] + this[10] * this[10]);\n // result[0] = Math.hypot(this[0], this[1], this[2]);\n // result[1] = Math.hypot(this[4], this[5], this[6]);\n // result[2] = Math.hypot(this[8], this[9], this[10]);\n return result;\n }\n\n // Gets the translation portion, assuming the matrix is a affine transformation matrix.\n getTranslation(result = [-0, -0, -0]) {\n result[0] = this[12];\n result[1] = this[13];\n result[2] = this[14];\n return result;\n }\n\n // Gets upper left 3x3 pure rotation matrix (non-scaling), assume affine transformation matrix\n getRotation(\n result = [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0],\n scaleResult = null\n ) {\n const scale = this.getScale(scaleResult || [-0, -0, -0]);\n\n const inverseScale0 = 1 / scale[0];\n const inverseScale1 = 1 / scale[1];\n const inverseScale2 = 1 / scale[2];\n\n result[0] = this[0] * inverseScale0;\n result[1] = this[1] * inverseScale1;\n result[2] = this[2] * inverseScale2;\n result[3] = 0;\n result[4] = this[4] * inverseScale0;\n result[5] = this[5] * inverseScale1;\n result[6] = this[6] * inverseScale2;\n result[7] = 0;\n result[8] = this[8] * inverseScale0;\n result[9] = this[9] * inverseScale1;\n result[10] = this[10] * inverseScale2;\n result[11] = 0;\n result[12] = 0;\n result[13] = 0;\n result[14] = 0;\n result[15] = 1;\n return result;\n }\n\n getRotationMatrix3(result = [-0, -0, -0, -0, -0, -0, -0, -0, -0], scaleResult = null) {\n const scale = this.getScale(scaleResult || [-0, -0, -0]);\n\n const inverseScale0 = 1 / scale[0];\n const inverseScale1 = 1 / scale[1];\n const inverseScale2 = 1 / scale[2];\n\n result[0] = this[0] * inverseScale0;\n result[1] = this[1] * inverseScale1;\n result[2] = this[2] * inverseScale2;\n result[3] = this[4] * inverseScale0;\n result[4] = this[5] * inverseScale1;\n result[5] = this[6] * inverseScale2;\n result[6] = this[8] * inverseScale0;\n result[7] = this[9] * inverseScale1;\n result[8] = this[10] * inverseScale2;\n return result;\n }\n\n // Modifiers\n\n transpose() {\n mat4.transpose(this, this);\n return this.check();\n }\n\n invert() {\n mat4.invert(this, this);\n return this.check();\n }\n\n // Operations\n\n multiplyLeft(a) {\n mat4.multiply(this, a, this);\n return this.check();\n }\n\n multiplyRight(a) {\n mat4.multiply(this, this, a);\n return this.check();\n }\n\n // Rotates a matrix by the given angle around the X axis\n rotateX(radians) {\n mat4.rotateX(this, this, radians);\n // mat4.rotate(this, this, radians, [1, 0, 0]);\n return this.check();\n }\n\n // Rotates a matrix by the given angle around the Y axis.\n rotateY(radians) {\n mat4.rotateY(this, this, radians);\n // mat4.rotate(this, this, radians, [0, 1, 0]);\n return this.check();\n }\n\n // Rotates a matrix by the given angle around the Z axis.\n rotateZ(radians) {\n mat4.rotateZ(this, this, radians);\n // mat4.rotate(this, this, radians, [0, 0, 1]);\n return this.check();\n }\n\n rotateXYZ([rx, ry, rz]) {\n return this.rotateX(rx)\n .rotateY(ry)\n .rotateZ(rz);\n }\n\n rotateAxis(radians, axis) {\n mat4.rotate(this, this, radians, axis);\n return this.check();\n }\n\n scale(factor) {\n if (Array.isArray(factor)) {\n mat4.scale(this, this, factor);\n } else {\n mat4.scale(this, this, [factor, factor, factor]);\n }\n\n return this.check();\n }\n\n translate(vec) {\n mat4.translate(this, this, vec);\n return this.check();\n }\n\n // Transforms\n\n // Transforms any 2, 3 or 4 element vector. 2 and 3 elements are treated as points\n transform(vector, result) {\n if (vector.length === 4) {\n result = vec4.transformMat4(result || [-0, -0, -0, -0], vector, this);\n checkVector(result, 4);\n return result;\n }\n return this.transformAsPoint(vector, result);\n }\n\n // Transforms any 2 or 3 element array as point (w implicitly 1)\n transformAsPoint(vector, result) {\n const {length} = vector;\n switch (length) {\n case 2:\n result = vec2.transformMat4(result || [-0, -0], vector, this);\n break;\n case 3:\n result = vec3.transformMat4(result || [-0, -0, -0], vector, this);\n break;\n default:\n throw new Error('Illegal vector');\n }\n checkVector(result, vector.length);\n return result;\n }\n\n // Transforms any 2 or 3 element array as vector (w implicitly 0)\n transformAsVector(vector, result) {\n switch (vector.length) {\n case 2:\n result = vec2_transformMat4AsVector(result || [-0, -0], vector, this);\n break;\n case 3:\n result = vec3_transformMat4AsVector(result || [-0, -0, -0], vector, this);\n break;\n default:\n throw new Error('Illegal vector');\n }\n checkVector(result, vector.length);\n return result;\n }\n\n // three.js math API compatibility\n makeRotationX(radians) {\n return this.identity().rotateX(radians);\n }\n\n makeTranslation(x, y, z) {\n return this.identity().translate([x, y, z]);\n }\n\n // DEPRECATED in 3.0\n\n transformPoint(vector, result) {\n deprecated('Matrix4.transformPoint', '3.0');\n return this.transformAsPoint(vector, result);\n }\n\n transformVector(vector, result) {\n deprecated('Matrix4.transformVector', '3.0');\n return this.transformAsPoint(vector, result);\n }\n\n transformDirection(vector, result) {\n deprecated('Matrix4.transformDirection', '3.0');\n return this.transformAsVector(vector, result);\n }\n}\n"],"file":"matrix4.js"}
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IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\nimport Matrix4 from './matrix4';\nimport Vector3 from './vector3';\nimport Euler from './euler';\n\nexport default class Pose {\n // @ts-ignore TS2740: Type '{}' is missing the following properties from type\n constructor({\n x = 0,\n y = 0,\n z = 0,\n roll = 0,\n pitch = 0,\n yaw = 0,\n position = undefined,\n orientation = undefined\n } = {}) {\n if (Array.isArray(position) && position.length === 3) {\n this.position = new Vector3(position);\n } else {\n this.position = new Vector3(x, y, z);\n }\n if (Array.isArray(orientation) && orientation.length === 4) {\n this.orientation = new Euler(orientation, orientation[3]);\n } else {\n this.orientation = new Euler(roll, pitch, yaw, Euler.RollPitchYaw);\n }\n }\n\n get x() {\n return this.position.x;\n }\n set x(value) {\n this.position.x = value;\n }\n get y() {\n return this.position.y;\n }\n set y(value) {\n this.position.y = value;\n }\n get z() {\n return this.position.z;\n }\n set z(value) {\n this.position.z = value;\n }\n get roll() {\n return this.orientation.roll;\n }\n set roll(value) {\n this.orientation.roll = value;\n }\n get pitch() {\n return this.orientation.pitch;\n }\n set pitch(value) {\n this.orientation.pitch = value;\n }\n get yaw() {\n return this.orientation.yaw;\n }\n set yaw(value) {\n this.orientation.yaw = value;\n }\n\n getPosition() {\n return this.position;\n }\n\n getOrientation() {\n return this.orientation;\n }\n\n equals(pose) {\n if (!pose) {\n return false;\n }\n return this.position.equals(pose.position) && this.orientation.equals(pose.orientation);\n }\n\n exactEquals(pose) {\n if (!pose) {\n return false;\n }\n return (\n this.position.exactEquals(pose.position) && this.orientation.exactEquals(pose.orientation)\n );\n }\n\n getTransformationMatrix() {\n // setup precomputations for the sin/cos of the angles\n const sr = Math.sin(this.roll);\n const sp = Math.sin(this.pitch);\n const sw = Math.sin(this.yaw);\n\n const cr = Math.cos(this.roll);\n const cp = Math.cos(this.pitch);\n const cw = Math.cos(this.yaw);\n\n const matrix = new Matrix4().setRowMajor(\n cw * cp, // 0,0\n -sw * cr + cw * sp * sr, // 0,1\n sw * sr + cw * sp * cr, // 0,2\n this.x, // 0,3\n\n sw * cp, // 1,0\n cw * cr + sw * sp * sr, // 1,1\n -cw * sr + sw * sp * cr, // 1,2\n this.y, // 1,3\n\n -sp, // 2,0\n cp * sr, // 2,1\n cp * cr, // 2,2\n this.z, // 2,3\n\n 0,\n 0,\n 0,\n 1\n );\n\n return matrix;\n }\n\n getTransformationMatrixFromPose(pose) {\n return new Matrix4()\n .multiplyRight(this.getTransformationMatrix())\n .multiplyRight(pose.getTransformationMatrix().invert());\n }\n\n getTransformationMatrixToPose(pose) {\n return new Matrix4()\n .multiplyRight(pose.getTransformationMatrix())\n .multiplyRight(this.getTransformationMatrix().invert());\n }\n}\n"],"file":"pose.js"}
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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport MathArray from './base/math-array';\nimport {checkNumber, checkVector} from '../lib/validators';\nimport assert from '../lib/assert';\n\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as quat from 'gl-matrix/quat';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec4 from 'gl-matrix/vec4';\n\nconst IDENTITY_QUATERNION = [0, 0, 0, 1];\n\nexport default class Quaternion extends MathArray {\n constructor(x = 0, y = 0, z = 0, w = 1) {\n // PERF NOTE: initialize elements as double precision numbers\n super(-0, -0, -0, -0);\n // eslint-disable-next-line prefer-rest-params\n if (Array.isArray(x) && arguments.length === 1) {\n this.copy(x);\n } else {\n this.set(x, y, z, w);\n }\n }\n\n copy(array) {\n this[0] = array[0];\n this[1] = array[1];\n this[2] = array[2];\n this[3] = array[3];\n return this.check();\n }\n\n set(x, y, z, w) {\n this[0] = x;\n this[1] = y;\n this[2] = z;\n this[3] = w;\n return this.check();\n }\n\n // Creates a quaternion from the given 3x3 rotation matrix.\n // NOTE: The resultant quaternion is not normalized, so you should\n // be sure to renormalize the quaternion yourself where necessary.\n fromMatrix3(m) {\n quat.fromMat3(this, m);\n return this.check();\n }\n\n // Set a quat to the identity quaternion\n identity() {\n quat.identity(this);\n return this.check();\n }\n\n fromAxisRotation(axis, rad) {\n quat.setAxisAngle(this, axis, rad);\n return this.check();\n }\n\n // Set the components of a quat to the given values\n // set(i, j, k, l) {\n // quat.set(this, i, j, k, l);\n // return this.check();\n // }\n\n // Sets a quat from the given angle and rotation axis, then returns it.\n setAxisAngle(axis, rad) {\n return this.fromAxisRotation(axis, rad);\n }\n\n // Getters/setters\n /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n get ELEMENTS() {\n return 4;\n }\n\n get x() {\n return this[0];\n }\n\n set x(value) {\n this[0] = checkNumber(value);\n }\n\n get y() {\n return this[1];\n }\n\n set y(value) {\n this[1] = checkNumber(value);\n }\n\n get z() {\n return this[2];\n }\n\n set z(value) {\n this[2] = checkNumber(value);\n }\n\n get w() {\n return this[3];\n }\n\n set w(value) {\n this[3] = checkNumber(value);\n }\n\n /* eslint-enable no-multi-spaces, brace-style, no-return-assign */\n\n // Calculates the length of a quat\n len() {\n return quat.length(this);\n }\n\n // Calculates the squared length of a quat\n lengthSquared() {\n return quat.squaredLength(this);\n }\n\n // Calculates the dot product of two quat's\n // @return {Number}\n dot(a, b) {\n if (b !== undefined) {\n throw new Error('Quaternion.dot only takes one argument');\n }\n return quat.dot(this, a);\n }\n\n // Gets the rotation axis and angle for a given quaternion.\n // If a quaternion is created with setAxisAngle, this method will\n // return the same values as providied in the original parameter\n // list OR functionally equivalent values.\n // Example: The quaternion formed by axis [0, 0, 1] and angle -90\n // is the same as the quaternion formed by [0, 0, 1] and 270.\n // This method favors the latter.\n // @return {{[x,y,z], Number}}\n // getAxisAngle() {\n // const axis = [];\n // const angle = quat.getAxisAngle(axis, this);\n // return {axis, angle};\n // }\n\n // MODIFIERS\n\n // Sets a quaternion to represent the shortest rotation from one vector\n // to another. 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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport MathArray from './base/math-array';\nimport {checkNumber, checkVector} from '../lib/validators';\nimport assert from '../lib/assert';\n\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as quat from 'gl-matrix/quat';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec4 from 'gl-matrix/vec4';\n\nconst IDENTITY_QUATERNION = [0, 0, 0, 1];\n\nexport default class Quaternion extends MathArray {\n constructor(x = 0, y = 0, z = 0, w = 1) {\n // PERF NOTE: initialize elements as double precision numbers\n super(-0, -0, -0, -0);\n // eslint-disable-next-line prefer-rest-params\n if (Array.isArray(x) && arguments.length === 1) {\n this.copy(x);\n } else {\n this.set(x, y, z, w);\n }\n }\n\n copy(array) {\n this[0] = array[0];\n this[1] = array[1];\n this[2] = array[2];\n this[3] = array[3];\n return this.check();\n }\n\n set(x, y, z, w) {\n this[0] = x;\n this[1] = y;\n this[2] = z;\n this[3] = w;\n return this.check();\n }\n\n // Creates a quaternion from the given 3x3 rotation matrix.\n // NOTE: The resultant quaternion is not normalized, so you should\n // be sure to renormalize the quaternion yourself where necessary.\n fromMatrix3(m) {\n quat.fromMat3(this, m);\n return this.check();\n }\n\n // Set a quat to the identity quaternion\n identity() {\n quat.identity(this);\n return this.check();\n }\n\n fromAxisRotation(axis, rad) {\n quat.setAxisAngle(this, axis, rad);\n return this.check();\n }\n\n // Set the components of a quat to the given values\n // set(i, j, k, l) {\n // quat.set(this, i, j, k, l);\n // return this.check();\n // }\n\n // Sets a quat from the given angle and rotation axis, then returns it.\n setAxisAngle(axis, rad) {\n return this.fromAxisRotation(axis, rad);\n }\n\n // Getters/setters\n /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n get ELEMENTS() {\n return 4;\n }\n\n get x() {\n return this[0];\n }\n\n set x(value) {\n this[0] = checkNumber(value);\n }\n\n get y() {\n return this[1];\n }\n\n set y(value) {\n this[1] = checkNumber(value);\n }\n\n get z() {\n return this[2];\n }\n\n set z(value) {\n this[2] = checkNumber(value);\n }\n\n get w() {\n return this[3];\n }\n\n set w(value) {\n this[3] = checkNumber(value);\n }\n\n /* eslint-enable no-multi-spaces, brace-style, no-return-assign */\n\n // Calculates the length of a quat\n len() {\n return quat.length(this);\n }\n\n // Calculates the squared length of a quat\n lengthSquared() {\n return quat.squaredLength(this);\n }\n\n // Calculates the dot product of two quat's\n // @return {Number}\n dot(a, b) {\n if (b !== undefined) {\n throw new Error('Quaternion.dot only takes one argument');\n }\n return quat.dot(this, a);\n }\n\n // Gets the rotation axis and angle for a given quaternion.\n // If a quaternion is created with setAxisAngle, this method will\n // return the same values as providied in the original parameter\n // list OR functionally equivalent values.\n // Example: The quaternion formed by axis [0, 0, 1] and angle -90\n // is the same as the quaternion formed by [0, 0, 1] and 270.\n // This method favors the latter.\n // @return {{[x,y,z], Number}}\n // getAxisAngle() {\n // const axis = [];\n // const angle = quat.getAxisAngle(axis, this);\n // return {axis, angle};\n // }\n\n // MODIFIERS\n\n // Sets a quaternion to represent the shortest rotation from one vector\n // to another. 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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport Vector from './base/vector';\nimport {config, isArray} from '../lib/common';\nimport {checkNumber} from '../lib/validators';\n\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec3 from 'gl-matrix/vec3';\nimport {vec3_transformMat2, vec3_transformMat4AsVector} from '../lib/gl-matrix-extras';\n\nconst ORIGIN = [0, 0, 0];\nconst constants = {};\n\nexport default class Vector3 extends Vector {\n static get ZERO() {\n return (constants.ZERO = constants.ZERO || Object.freeze(new Vector3(0, 0, 0, 0)));\n }\n\n /**\n * @class\n * @param {Number | [Number, Number, Number]} x\n * @param {Number} y - rotation around X (latitude)\n * @param {Number} z - rotation around X (latitude)\n */\n constructor(x = 0, y = 0, z = 0) {\n // PERF NOTE: initialize elements as double precision numbers\n super(-0, -0, -0);\n if (arguments.length === 1 && isArray(x)) {\n this.copy(x);\n } else {\n // this.set(x, y, z);\n if (config.debug) {\n checkNumber(x);\n checkNumber(y);\n checkNumber(z);\n }\n // @ts-ignore TS2412: Property '0' of type 'number | [number, number, number]' is not assignable to numeric index type 'number'\n this[0] = x;\n this[1] = y;\n this[2] = z;\n }\n }\n\n set(x, y, z) {\n this[0] = x;\n this[1] = y;\n this[2] = z;\n return this.check();\n }\n\n copy(array) {\n this[0] = array[0];\n this[1] = array[1];\n this[2] = array[2];\n return this.check();\n }\n\n fromObject(object) {\n if (config.debug) {\n checkNumber(object.x);\n checkNumber(object.y);\n checkNumber(object.z);\n }\n this[0] = object.x;\n this[1] = object.y;\n this[2] = object.z;\n return this.check();\n }\n\n toObject(object) {\n object.x = this[0];\n object.y = this[1];\n object.z = this[2];\n return object;\n }\n\n // Getters/setters\n /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n get ELEMENTS() {\n return 3;\n }\n\n // x,y inherited from Vector\n\n get z() {\n return this[2];\n }\n set z(value) {\n this[2] = checkNumber(value);\n }\n /* eslint-enable no-multi-spaces, brace-style, no-return-assign */\n\n angle(vector) {\n return vec3.angle(this, vector);\n }\n\n // MODIFIERS\n\n cross(vector) {\n vec3.cross(this, this, vector);\n return this.check();\n }\n\n rotateX({radians, origin = ORIGIN}) {\n vec3.rotateX(this, this, origin, radians);\n return this.check();\n }\n\n rotateY({radians, origin = ORIGIN}) {\n vec3.rotateY(this, this, origin, radians);\n return this.check();\n }\n\n rotateZ({radians, origin = ORIGIN}) {\n vec3.rotateZ(this, this, origin, radians);\n return this.check();\n }\n\n // Transforms\n\n // transforms as point (4th component is implicitly 1)\n transform(matrix4) {\n return this.transformAsPoint(matrix4);\n }\n\n // transforms as point (4th component is implicitly 1)\n transformAsPoint(matrix4) {\n vec3.transformMat4(this, this, matrix4);\n return this.check();\n }\n\n // transforms as vector (4th component is implicitly 0, ignores translation. slightly faster)\n transformAsVector(matrix4) {\n vec3_transformMat4AsVector(this, this, matrix4);\n return this.check();\n }\n\n transformByMatrix3(matrix3) {\n vec3.transformMat3(this, this, matrix3);\n return this.check();\n }\n\n transformByMatrix2(matrix2) {\n vec3_transformMat2(this, this, matrix2);\n return this.check();\n }\n\n transformByQuaternion(quaternion) {\n vec3.transformQuat(this, this, quaternion);\n return this.check();\n }\n}\n"],"file":"vector3.js"}
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IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport Vector from './base/vector';\nimport {config, isArray} from '../lib/common';\nimport {checkNumber} from '../lib/validators';\n\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec4 from 'gl-matrix/vec3';\nimport {vec4_transformMat2, vec4_transformMat3} from '../lib/gl-matrix-extras';\n\nconst constants = {};\n\nexport default class Vector4 extends Vector {\n static get ZERO() {\n return (constants.ZERO = constants.ZERO || Object.freeze(new Vector4(0, 0, 0, 0)));\n }\n\n constructor(x = 0, y = 0, z = 0, w = 0) {\n // PERF NOTE: initialize elements as double precision numbers\n super(-0, -0, -0, -0);\n if (isArray(x) && arguments.length === 1) {\n this.copy(x);\n } else {\n // this.set(x, y, z, w);\n if (config.debug) {\n checkNumber(x);\n checkNumber(y);\n checkNumber(z);\n checkNumber(w);\n }\n this[0] = x;\n this[1] = y;\n this[2] = z;\n this[3] = w;\n }\n }\n\n set(x, y, z, w) {\n this[0] = x;\n this[1] = y;\n this[2] = z;\n this[3] = w;\n return this.check();\n }\n\n copy(array) {\n this[0] = array[0];\n this[1] = array[1];\n this[2] = array[2];\n this[3] = array[3];\n return this.check();\n }\n\n fromObject(object) {\n if (config.debug) {\n checkNumber(object.x);\n checkNumber(object.y);\n checkNumber(object.z);\n checkNumber(object.w);\n }\n this[0] = object.x;\n this[1] = object.y;\n this[2] = object.z;\n this[3] = object.w;\n return this;\n }\n\n toObject(object) {\n object.x = this[0];\n object.y = this[1];\n object.z = this[2];\n object.w = this[3];\n return object;\n }\n\n // Getters/setters\n /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n get ELEMENTS() {\n return 4;\n }\n\n // x,y inherited from Vector\n\n get z() {\n return this[2];\n }\n\n set z(value) {\n this[2] = checkNumber(value);\n }\n\n get w() {\n return this[3];\n }\n\n set w(value) {\n this[3] = checkNumber(value);\n }\n /* eslint-enable no-multi-spaces, brace-style, no-return-assign */\n\n transform(matrix4) {\n vec4.transformMat4(this, this, matrix4);\n return this.check();\n }\n\n transformByMatrix3(matrix3) {\n vec4_transformMat3(this, this, matrix3);\n return this.check();\n }\n\n transformByMatrix2(matrix2) {\n vec4_transformMat2(this, this, matrix2);\n return this.check();\n }\n\n transformByQuaternion(quaternion) {\n vec4.transformQuat(this, this, quaternion);\n return this.check();\n }\n\n // three.js compatibility\n applyMatrix4(m) {\n m.transform(this, this);\n return this;\n }\n}\n"],"file":"vector4.js"}
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package/package.json
CHANGED
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@@ -5,7 +5,7 @@
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"publishConfig": {
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"access": "public"
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},
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-
"version": "3.4.
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8
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+
"version": "3.4.4",
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"keywords": [
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"webgl",
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"javascript",
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@@ -41,5 +41,5 @@
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"@babel/runtime": "^7.12.0",
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"gl-matrix": "^3.0.0"
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},
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44
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-
"gitHead": "
|
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44
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+
"gitHead": "13a7e26f5243beca891164e4c9ce1607de46bcbf"
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45
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}
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