@math.gl/core 3.5.6 → 3.6.0-alpha.2

package/dist/esm/classes/euler.js.map

@@ -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[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// MIT License\nimport MathArray from './base/math-array';\nimport Quaternion from './quaternion';\nimport {NumericArray} from '@math.gl/types';\n\nimport {clamp} from '../lib/common';\nimport {checkNumber} from '../lib/validators';\n\n// Internal constants\nconst ERR_UNKNOWN_ORDER = 'Unknown Euler angle order';\nconst ALMOST_ONE = 0.99999;\n\nenum RotationOrder {\n  ZYX = 0,\n  YXZ = 1,\n  XZY = 2,\n  ZXY = 3,\n  YZX = 4,\n  XYZ = 5\n}\n\nexport default class Euler extends MathArray {\n  // Constants\n  static get ZYX(): RotationOrder {\n    return RotationOrder.ZYX;\n  }\n  static get YXZ(): RotationOrder {\n    return RotationOrder.YXZ;\n  }\n  static get XZY(): RotationOrder {\n    return RotationOrder.XZY;\n  }\n  static get ZXY(): RotationOrder {\n    return RotationOrder.ZXY;\n  }\n  static get YZX(): RotationOrder {\n    return RotationOrder.YZX;\n  }\n  static get XYZ(): RotationOrder {\n    return RotationOrder.XYZ;\n  }\n  static get RollPitchYaw(): RotationOrder {\n    return RotationOrder.ZYX;\n  }\n  static get DefaultOrder(): RotationOrder {\n    return RotationOrder.ZYX;\n  }\n  static get RotationOrders(): typeof RotationOrder {\n    return RotationOrder;\n  }\n  static rotationOrder(order: RotationOrder): string {\n    return RotationOrder[order];\n  }\n  get ELEMENTS(): number {\n    return 4;\n  }\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      // @ts-expect-error\n      this.fromVector3(...arguments);\n    } else {\n      this.set(x, y, z, order);\n    }\n  }\n\n  fromQuaternion(quaternion: Readonly<NumericArray>): this {\n    const [x, y, z, w] = quaternion;\n    const ysqr = y * y;\n    const t0 = -2 * (ysqr + z * z) + 1;\n    const t1 = +2 * (x * y + w * z);\n    let t2 = -2 * (x * z - w * y);\n    const t3 = +2 * (y * z + w * x);\n    const t4 = -2 * (x * x + ysqr) + 1;\n    t2 = t2 > 1 ? 1 : t2;\n    t2 = t2 < -1 ? -1 : t2;\n    const roll = Math.atan2(t3, t4);\n    const pitch = Math.asin(t2);\n    const yaw = Math.atan2(t1, t0);\n    return this.set(roll, pitch, yaw, Euler.RollPitchYaw);\n  }\n\n  fromObject(object: object): this {\n    throw new Error('not implemented');\n    //  return this.set(object.x, object.y, object.z, object.order);\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  // If copied array does contain fourth element, preserves currently set order\n  copy(array: Readonly<NumericArray>): this {\n    this[0] = array[0];\n    this[1] = array[1];\n    this[2] = array[2];\n    // @ts-expect-error\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: RotationOrder): this {\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(): boolean {\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: NumericArray = [], offset: number = 0): NumericArray {\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: NumericArray = [], offset: number = 0): NumericArray {\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: NumericArray = [-0, -0, -0]): NumericArray {\n    result[0] = this[0];\n    result[1] = this[1];\n    result[2] = this[2];\n    return result;\n  }\n  /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n  // x, y, z angle notation (note: only corresponds to axis in XYZ orientation)\n\n  get x(): number {\n    return this[0];\n  }\n  set x(value: number) {\n    this[0] = checkNumber(value);\n  }\n\n  get y(): number {\n    return this[1];\n  }\n  set y(value: number) {\n    this[1] = checkNumber(value);\n  }\n\n  get z(): number {\n    return this[2];\n  }\n  set z(value: number) {\n    this[2] = checkNumber(value);\n  }\n  // alpha, beta, gamma angle notation\n  get alpha(): number {\n    return this[0];\n  }\n  set alpha(value: number) {\n    this[0] = checkNumber(value);\n  }\n\n  get beta(): number {\n    return this[1];\n  }\n  set beta(value: number) {\n    this[1] = checkNumber(value);\n  }\n\n  get gamma(): number {\n    return this[2];\n  }\n  set gamma(value: number) {\n    this[2] = checkNumber(value);\n  }\n\n  // phi, theta, psi angle notation\n  get phi(): number {\n    return this[0];\n  }\n  set phi(value: number) {\n    this[0] = checkNumber(value);\n  }\n\n  get theta(): number {\n    return this[1];\n  }\n  set theta(value: number) {\n    this[1] = checkNumber(value);\n  }\n\n  get psi(): number {\n    return this[2];\n  }\n  set psi(value: number) {\n    this[2] = checkNumber(value);\n  }\n  // roll, pitch, yaw angle notation\n\n  get roll(): number {\n    return this[0];\n  }\n  set roll(value: number) {\n    this[0] = checkNumber(value);\n  }\n\n  get pitch(): number {\n    return this[1];\n  }\n  set pitch(value: number) {\n    this[1] = checkNumber(value);\n  }\n\n  get yaw(): number {\n    return this[2];\n  }\n  set yaw(value: number) {\n    this[2] = checkNumber(value);\n  }\n\n  // rotation order, in all three angle notations\n  get order(): RotationOrder {\n    return this[3];\n  }\n  set order(value: RotationOrder) {\n    this[3] = checkOrder(value);\n  }\n\n  // Constructors\n  fromVector3(v: Readonly<NumericArray>, order: RotationOrder): this {\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: Readonly<NumericArray>, offset: number = 0): this {\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: number, pitch: number, yaw: number): this {\n    return this.set(roll, pitch, yaw, RotationOrder.ZYX);\n  }\n\n  fromRotationMatrix(m: Readonly<NumericArray>, order: RotationOrder = Euler.DefaultOrder): this {\n    this._fromRotationMatrix(m, order);\n    return this.check();\n  }\n\n  // ACCESSORS\n\n  getRotationMatrix(m: NumericArray): NumericArray {\n    return this._getRotationMatrix(m);\n  }\n\n  // TODO - move to Quaternion\n  getQuaternion(): Quaternion {\n    const q = new Quaternion();\n    switch (this[4]) {\n      case RotationOrder.XYZ:\n        return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);\n      case RotationOrder.YXZ:\n        return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);\n      case RotationOrder.ZXY:\n        return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);\n      case RotationOrder.ZYX:\n        return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);\n      case RotationOrder.YZX:\n        return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);\n      case RotationOrder.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  // Conversion from Euler to rotation matrix and from matrix to Euler\n  // Adapted from three.js under MIT license\n  // // WARNING: this discards revolution information -bhouston\n  // reorder(newOrder) {\n  //   const q = new Quaternion().setFromEuler(this);\n  //   return this.setFromQuaternion(q, newOrder);\n  /* eslint-disable complexity, max-statements, one-var */\n  _fromRotationMatrix(m: Readonly<NumericArray>, order = Euler.DefaultOrder): this {\n    // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)\n    const m11 = m[0],\n      m12 = m[4],\n      m13 = m[8];\n    const m21 = m[1],\n      m22 = m[5],\n      m23 = m[9];\n    const m31 = m[2],\n      m32 = m[6],\n      m33 = m[10];\n    order = order || this[3];\n    switch (order) {\n      case Euler.XYZ:\n        this[1] = Math.asin(clamp(m13, -1, 1));\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      case Euler.YXZ:\n        this[0] = Math.asin(-clamp(m23, -1, 1));\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      case Euler.ZXY:\n        this[0] = Math.asin(clamp(m32, -1, 1));\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      case Euler.ZYX:\n        this[1] = Math.asin(-clamp(m31, -1, 1));\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      case Euler.YZX:\n        this[2] = Math.asin(clamp(m21, -1, 1));\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      case Euler.XZY:\n        this[2] = Math.asin(-clamp(m12, -1, 1));\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      default:\n        throw new Error(ERR_UNKNOWN_ORDER);\n    }\n    this[3] = order;\n    return this;\n  }\n\n  _getRotationMatrix(result: NumericArray): NumericArray {\n    const te = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];\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    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        te[0] = c * e;\n        te[4] = -c * f;\n        te[8] = d;\n        te[1] = af + be * d;\n        te[5] = ae - bf * d;\n        te[9] = -b * c;\n        te[2] = bf - ae * d;\n        te[6] = be + af * d;\n        te[10] = a * c;\n        break;\n      }\n      case Euler.YXZ: {\n        const ce = c * e,\n          cf = c * f,\n          de = d * e,\n          df = d * f;\n        te[0] = ce + df * b;\n        te[4] = de * b - cf;\n        te[8] = a * d;\n        te[1] = a * f;\n        te[5] = a * e;\n        te[9] = -b;\n        te[2] = cf * b - de;\n        te[6] = df + ce * b;\n        te[10] = a * c;\n        break;\n      }\n      case Euler.ZXY: {\n        const ce = c * e,\n          cf = c * f,\n          de = d * e,\n          df = d * f;\n        te[0] = ce - df * b;\n        te[4] = -a * f;\n        te[8] = de + cf * b;\n        te[1] = cf + de * b;\n        te[5] = a * e;\n        te[9] = df - ce * b;\n        te[2] = -a * d;\n        te[6] = b;\n        te[10] = a * c;\n        break;\n      }\n      case Euler.ZYX: {\n        const ae = a * e,\n          af = a * f,\n          be = b * e,\n          bf = b * f;\n        te[0] = c * e;\n        te[4] = be * d - af;\n        te[8] = ae * d + bf;\n        te[1] = c * f;\n        te[5] = bf * d + ae;\n        te[9] = af * d - be;\n        te[2] = -d;\n        te[6] = b * c;\n        te[10] = a * c;\n        break;\n      }\n      case Euler.YZX: {\n        const ac = a * c,\n          ad = a * d,\n          bc = b * c,\n          bd = b * d;\n        te[0] = c * e;\n        te[4] = bd - ac * f;\n        te[8] = bc * f + ad;\n        te[1] = f;\n        te[5] = a * e;\n        te[9] = -b * e;\n        te[2] = -d * e;\n        te[6] = ad * f + bc;\n        te[10] = ac - bd * f;\n        break;\n      }\n      case Euler.XZY: {\n        const ac = a * c,\n          ad = a * d,\n          bc = b * c,\n          bd = b * d;\n        te[0] = c * e;\n        te[4] = -f;\n        te[8] = d * e;\n        te[1] = ac * f + bd;\n        te[5] = a * e;\n        te[9] = ad * f - bc;\n        te[2] = bc * f - ad;\n        te[6] = b * e;\n        te[10] = bd * f + ac;\n        break;\n      }\n      default:\n        throw new Error(ERR_UNKNOWN_ORDER);\n    }\n    // last column\n    te[3] = 0;\n    te[7] = 0;\n    te[11] = 0;\n    // bottom row\n    te[12] = 0;\n    te[13] = 0;\n    te[14] = 0;\n    te[15] = 1;\n    return te;\n  }\n\n  toQuaternion(): Quaternion {\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    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    return new Quaternion(x, y, z, w);\n  }\n}\n\n// HELPER FUNCTIONS\n\nfunction validateOrder(value: number): boolean {\n  return value >= 0 && value < 6;\n}\n\nfunction checkOrder(value: number) {\n  if (value < 0 && value >= 6) {\n    throw new Error(ERR_UNKNOWN_ORDER);\n  }\n  return value;\n}\n"],"file":"euler.js"}

package/dist/esm/classes/matrix3.js

@@ -1,32 +1,31 @@
 import Matrix from './base/matrix';
-import { checkVector, deprecated } from '../lib/validators';
+import { checkVector } from '../lib/validators';
 import { vec4_transformMat3 } from '../lib/gl-matrix-extras';
 import * as mat3 from 'gl-matrix/mat3';
 import * as vec2 from 'gl-matrix/vec2';
 import * as vec3 from 'gl-matrix/vec3';
-const IDENTITY = Object.freeze([1, 0, 0, 0, 1, 0, 0, 0, 1]);
-const ZERO = Object.freeze([0, 0, 0, 0, 0, 0, 0, 0, 0]);
-const INDICES = Object.freeze({
-  COL0ROW0: 0,
-  COL0ROW1: 1,
-  COL0ROW2: 2,
-  COL1ROW0: 3,
-  COL1ROW1: 4,
-  COL1ROW2: 5,
-  COL2ROW0: 6,
-  COL2ROW1: 7,
-  COL2ROW2: 8
-});
-const constants = {};
+var INDICES;
+
+(function (INDICES) {
+  INDICES[INDICES["COL0ROW0"] = 0] = "COL0ROW0";
+  INDICES[INDICES["COL0ROW1"] = 1] = "COL0ROW1";
+  INDICES[INDICES["COL0ROW2"] = 2] = "COL0ROW2";
+  INDICES[INDICES["COL1ROW0"] = 3] = "COL1ROW0";
+  INDICES[INDICES["COL1ROW1"] = 4] = "COL1ROW1";
+  INDICES[INDICES["COL1ROW2"] = 5] = "COL1ROW2";
+  INDICES[INDICES["COL2ROW0"] = 6] = "COL2ROW0";
+  INDICES[INDICES["COL2ROW1"] = 7] = "COL2ROW1";
+  INDICES[INDICES["COL2ROW2"] = 8] = "COL2ROW2";
+})(INDICES || (INDICES = {}));
+
+const IDENTITY_MATRIX = Object.freeze([1, 0, 0, 0, 1, 0, 0, 0, 1]);
 export default class Matrix3 extends Matrix {
   static get IDENTITY() {
-    constants.IDENTITY = constants.IDENTITY || Object.freeze(new Matrix3(IDENTITY));
-    return constants.IDENTITY;
+    return getIdentityMatrix();
   }
 
   static get ZERO() {
-    constants.ZERO = constants.ZERO || Object.freeze(new Matrix3(ZERO));
-    return constants.ZERO;
+    return getZeroMatrix();
   }
 
   get ELEMENTS() {
@@ -41,11 +40,13 @@ export default class Matrix3 extends Matrix {
     return INDICES;
   }
 
-  constructor(array) {
+  constructor(array, ...args) {
     super(-0, -0, -0, -0, -0, -0, -0, -0, -0);
 
     if (arguments.length === 1 && Array.isArray(array)) {
       this.copy(array);
+    } else if (args.length > 0) {
+      this.copy([array, ...args]);
     } else {
       this.identity();
     }
@@ -64,6 +65,19 @@ export default class Matrix3 extends Matrix {
     return this.check();
   }
 
+  identity() {
+    return this.copy(IDENTITY_MATRIX);
+  }
+
+  fromObject(object) {
+    return this.check();
+  }
+
+  fromQuaternion(q) {
+    mat3.fromQuat(this, q);
+    return this.check();
+  }
+
   set(m00, m10, m20, m01, m11, m21, m02, m12, m22) {
     this[0] = m00;
     this[1] = m10;
@@ -94,15 +108,6 @@ export default class Matrix3 extends Matrix {
     return mat3.determinant(this);
   }
 
-  identity() {
-    return this.copy(IDENTITY);
-  }
-
-  fromQuaternion(q) {
-    mat3.fromQuat(this, q);
-    return this.check();
-  }
-
   transpose() {
     mat3.transpose(this, this);
     return this.check();
@@ -132,7 +137,7 @@ export default class Matrix3 extends Matrix {
     if (Array.isArray(factor)) {
       mat3.scale(this, this, factor);
     } else {
-      mat3.scale(this, this, [factor, factor, factor]);
+      mat3.scale(this, this, [factor, factor]);
     }
 
     return this.check();
@@ -166,19 +171,36 @@ export default class Matrix3 extends Matrix {
   }
 
   transformVector(vector, result) {
-    deprecated('Matrix3.transformVector');
     return this.transform(vector, result);
   }
 
   transformVector2(vector, result) {
-    deprecated('Matrix3.transformVector');
     return this.transform(vector, result);
   }
 
   transformVector3(vector, result) {
-    deprecated('Matrix3.transformVector');
     return this.transform(vector, result);
   }
 
 }
+let ZERO_MATRIX3;
+let IDENTITY_MATRIX3;
+
+function getZeroMatrix() {
+  if (!ZERO_MATRIX3) {
+    ZERO_MATRIX3 = new Matrix3([0, 0, 0, 0, 0, 0, 0, 0, 0]);
+    Object.freeze(ZERO_MATRIX3);
+  }
+
+  return ZERO_MATRIX3;
+}
+
+function getIdentityMatrix() {
+  if (!IDENTITY_MATRIX3) {
+    IDENTITY_MATRIX3 = new Matrix3();
+    Object.freeze(IDENTITY_MATRIX3);
+  }
+
+  return IDENTITY_MATRIX3;
+}
 //# sourceMappingURL=matrix3.js.map

package/dist/esm/classes/matrix3.js.map

@@ -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 Matrix from './base/matrix';\nimport {checkVector, deprecated} from '../lib/validators';\n// eslint-disable-next-line camelcase\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// MIT License\nimport Matrix from './base/matrix';\nimport {checkVector} from '../lib/validators';\n/* eslint-disable camelcase */\nimport {vec4_transformMat3} from '../lib/gl-matrix-extras';\nimport * as mat3 from 'gl-matrix/mat3';\nimport * as vec2 from 'gl-matrix/vec2';\nimport * as vec3 from 'gl-matrix/vec3';\nimport {NumericArray} from '@math.gl/types';\n\nenum INDICES {\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 IDENTITY_MATRIX = Object.freeze([1, 0, 0, 0, 1, 0, 0, 0, 1]);\n\nexport default class Matrix3 extends Matrix {\n  static get IDENTITY(): Readonly<Matrix3> {\n    return getIdentityMatrix();\n  }\n\n  static get ZERO(): Readonly<Matrix3> {\n    return getZeroMatrix();\n  }\n\n  get ELEMENTS(): number {\n    return 9;\n  }\n\n  get RANK(): number {\n    return 3;\n  }\n\n  get INDICES(): typeof INDICES {\n    return INDICES;\n  }\n\n  constructor(array?: Readonly<NumericArray>);\n  /** @deprecated */\n  constructor(...args: number[]);\n\n  constructor(array?: number | Readonly<NumericArray>, ...args: number[]) {\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 if (args.length > 0) {\n      this.copy([array as number, ...args]);\n    } else {\n      this.identity();\n    }\n  }\n\n  copy(array: Readonly<NumericArray>): this {\n    // Element wise copy for performance\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  // Constructors\n\n  identity(): this {\n    return this.copy(IDENTITY_MATRIX);\n  }\n\n  /**\n   *\n   * @param object\n   * @returns self\n   */\n  fromObject(object: {[key: string]: any}): this {\n    return this.check();\n  }\n\n  // Calculates a 3x3 matrix from the given quaternion\n  // q quat  Quaternion to create matrix from\n  fromQuaternion(q: Readonly<NumericArray>): this {\n    mat3.fromQuat(this, q);\n    return this.check();\n  }\n\n  /**\n   * accepts column major order, stores in column major order\n   */\n  // eslint-disable-next-line max-params\n  set(\n    m00: number,\n    m10: number,\n    m20: number,\n    m01: number,\n    m11: number,\n    m21: number,\n    m02: number,\n    m12: number,\n    m22: number\n  ): this {\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  /**\n   * accepts row major order, stores as column major\n   */\n  // eslint-disable-next-line max-params\n  setRowMajor(\n    m00: number,\n    m01: number,\n    m02: number,\n    m10: number,\n    m11: number,\n    m12: number,\n    m20: number,\n    m21: number,\n    m22: number\n  ): this {\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(): number {\n    return mat3.determinant(this);\n  }\n\n  // Modifiers\n  transpose(): this {\n    mat3.transpose(this, this);\n    return this.check();\n  }\n\n  /** Invert a matrix. Note that this can fail if the matrix is not invertible */\n  invert(): this {\n    mat3.invert(this, this);\n    return this.check();\n  }\n\n  // Operations\n  multiplyLeft(a: NumericArray): this {\n    mat3.multiply(this, a, this);\n    return this.check();\n  }\n\n  multiplyRight(a: NumericArray): this {\n    mat3.multiply(this, this, a);\n    return this.check();\n  }\n\n  rotate(radians: number): NumericArray {\n    mat3.rotate(this, this, radians);\n    return this.check();\n  }\n\n  scale(factor: NumericArray | number): this {\n    if (Array.isArray(factor)) {\n      mat3.scale(this, this, factor);\n    } else {\n      mat3.scale(this, this, [factor as number, factor as number]);\n    }\n    return this.check();\n  }\n\n  translate(vec: NumericArray): this {\n    mat3.translate(this, this, vec);\n    return this.check();\n  }\n\n  // Transforms\n  transform(vector: Readonly<NumericArray>, result?: NumericArray): NumericArray {\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 */\n  transformVector(vector: Readonly<NumericArray>, result?: NumericArray): NumericArray {\n    return this.transform(vector, result);\n  }\n\n  /** @deprecated */\n  transformVector2(vector: Readonly<NumericArray>, result?: NumericArray): NumericArray {\n    return this.transform(vector, result);\n  }\n\n  /** @deprecated */\n  transformVector3(vector: Readonly<NumericArray>, result?: NumericArray): NumericArray {\n    return this.transform(vector, result);\n  }\n}\n\nlet ZERO_MATRIX3;\nlet IDENTITY_MATRIX3;\n\nfunction getZeroMatrix(): Readonly<Matrix3> {\n  if (!ZERO_MATRIX3) {\n    ZERO_MATRIX3 = new Matrix3([0, 0, 0, 0, 0, 0, 0, 0, 0]);\n    Object.freeze(ZERO_MATRIX3);\n  }\n  return ZERO_MATRIX3;\n}\n\nfunction getIdentityMatrix(): Matrix3 {\n  if (!IDENTITY_MATRIX3) {\n    IDENTITY_MATRIX3 = new Matrix3();\n    Object.freeze(IDENTITY_MATRIX3);\n  }\n  return IDENTITY_MATRIX3;\n}\n"],"file":"matrix3.js"}