@math.gl/core 3.5.3 → 3.5.7
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.
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@@ -303,7 +303,7 @@ var Euler = function (_MathArray) {
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value: function getQuaternion() {
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var q = new _quaternion2.default();
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-
switch (this[
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+
switch (this[3]) {
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case Euler.XYZ:
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return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);
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@@ -1 +1 @@
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1
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-
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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.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);\n case Euler.YXZ:\n return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);\n case Euler.ZXY:\n return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);\n case Euler.ZYX:\n return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);\n case Euler.YZX:\n return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);\n case Euler.XZY:\n return q.rotateX(this[0]).rotateZ(this[1]).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[3]) {\n case Euler.XYZ:\n return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);\n case Euler.YXZ:\n return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);\n case Euler.ZXY:\n return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);\n case Euler.ZYX:\n return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);\n case Euler.YZX:\n return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);\n case Euler.XZY:\n return q.rotateX(this[0]).rotateZ(this[1]).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.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);\n case Euler.YXZ:\n return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);\n case Euler.ZXY:\n return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);\n case Euler.ZYX:\n return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);\n case Euler.YZX:\n return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);\n case Euler.XZY:\n return q.rotateX(this[0]).rotateZ(this[1]).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[3]) {\n case Euler.XYZ:\n return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);\n case Euler.YXZ:\n return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);\n case Euler.ZXY:\n return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);\n case Euler.ZYX:\n return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);\n case Euler.YZX:\n return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);\n case Euler.XZY:\n return q.rotateX(this[0]).rotateZ(this[1]).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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package/package.json
CHANGED
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@@ -5,7 +5,7 @@
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5
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"publishConfig": {
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"access": "public"
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},
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8
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-
"version": "3.5.
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8
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+
"version": "3.5.7",
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"keywords": [
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"webgl",
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"javascript",
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@@ -38,7 +38,7 @@
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],
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"dependencies": {
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"@babel/runtime": "^7.12.0",
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-
"gl-matrix": "
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+
"gl-matrix": "~3.3.0"
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},
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-
"gitHead": "
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+
"gitHead": "60abe7148aa6f32edde0322006ed8d8ad25c0d73"
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}
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package/src/classes/euler.js
CHANGED
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@@ -346,7 +346,7 @@ export default class Euler extends MathArray {
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// TODO - move to Quaternion
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getQuaternion() {
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const q = new Quaternion();
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349
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-
switch (this[
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349
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+
switch (this[3]) {
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350
350
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case Euler.XYZ:
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return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);
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case Euler.YXZ:
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