@math.gl/core 3.6.0-alpha.1 → 3.6.0-alpha.4

package/dist/esm/classes/base/matrix.js

@@ -1,18 +1,7 @@
 import MathArray from './math-array';
 import { checkNumber } from '../../lib/validators';
 import { config } from '../../lib/common';
-import assert from '../../lib/assert';
 export default class Matrix extends MathArray {
-  get ELEMENTS() {
-    assert(false);
-    return 0;
-  }
-
-  get RANK() {
-    assert(false);
-    return 0;
-  }
-
   toString() {
     let string = '[';
 

package/dist/esm/classes/base/matrix.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../../../src/classes/base/matrix.js"],"names":["MathArray","checkNumber","config","assert","Matrix","ELEMENTS","RANK","toString","string","printRowMajor","row","col","i","getElementIndex","getElement","setElement","value","getColumn","columnIndex","result","Array","fill","firstIndex","setColumn","columnVector"],"mappings":"AAAA,OAAOA,SAAP,MAAsB,cAAtB;AACA,SAAQC,WAAR,QAA0B,sBAA1B;AACA,SAAQC,MAAR,QAAqB,kBAArB;AACA,OAAOC,MAAP,MAAmB,kBAAnB;AAEA,eAAe,MAAMC,MAAN,SAAqBJ,SAArB,CAA+B;AAEhC,MAARK,QAAQ,GAAG;AACbF,IAAAA,MAAM,CAAC,KAAD,CAAN;AACA,WAAO,CAAP;AACD;;AAEO,MAAJG,IAAI,GAAG;AACTH,IAAAA,MAAM,CAAC,KAAD,CAAN;AACA,WAAO,CAAP;AACD;;AAaDI,EAAAA,QAAQ,GAAG;AACT,QAAIC,MAAM,GAAG,GAAb;;AACA,QAAIN,MAAM,CAACO,aAAX,EAA0B;AACxBD,MAAAA,MAAM,IAAI,YAAV;;AACA,WAAK,IAAIE,GAAG,GAAG,CAAf,EAAkBA,GAAG,GAAG,KAAKJ,IAA7B,EAAmC,EAAEI,GAArC,EAA0C;AACxC,aAAK,IAAIC,GAAG,GAAG,CAAf,EAAkBA,GAAG,GAAG,KAAKL,IAA7B,EAAmC,EAAEK,GAArC,EAA0C;AACxCH,UAAAA,MAAM,eAAQ,KAAKG,GAAG,GAAG,KAAKL,IAAX,GAAkBI,GAAvB,CAAR,CAAN;AACD;AACF;AACF,KAPD,MAOO;AACLF,MAAAA,MAAM,IAAI,eAAV;;AACA,WAAK,IAAII,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAG,KAAKP,QAAzB,EAAmC,EAAEO,CAArC,EAAwC;AACtCJ,QAAAA,MAAM,eAAQ,KAAKI,CAAL,CAAR,CAAN;AACD;AACF;;AACDJ,IAAAA,MAAM,IAAI,GAAV;AACA,WAAOA,MAAP;AACD;;AAEDK,EAAAA,eAAe,CAACH,GAAD,EAAMC,GAAN,EAAW;AACxB,WAAOA,GAAG,GAAG,KAAKL,IAAX,GAAkBI,GAAzB;AACD;;AAGDI,EAAAA,UAAU,CAACJ,GAAD,EAAMC,GAAN,EAAW;AACnB,WAAO,KAAKA,GAAG,GAAG,KAAKL,IAAX,GAAkBI,GAAvB,CAAP;AACD;;AAGDK,EAAAA,UAAU,CAACL,GAAD,EAAMC,GAAN,EAAWK,KAAX,EAAkB;AAC1B,SAAKL,GAAG,GAAG,KAAKL,IAAX,GAAkBI,GAAvB,IAA8BT,WAAW,CAACe,KAAD,CAAzC;AACA,WAAO,IAAP;AACD;;AAEDC,EAAAA,SAAS,CAACC,WAAD,EAAcC,MAAM,GAAG,IAAIC,KAAJ,CAAU,KAAKd,IAAf,EAAqBe,IAArB,CAA0B,CAAC,CAA3B,CAAvB,EAAsD;AAC7D,UAAMC,UAAU,GAAGJ,WAAW,GAAG,KAAKZ,IAAtC;;AACA,SAAK,IAAIM,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAG,KAAKN,IAAzB,EAA+B,EAAEM,CAAjC,EAAoC;AAClCO,MAAAA,MAAM,CAACP,CAAD,CAAN,GAAY,KAAKU,UAAU,GAAGV,CAAlB,CAAZ;AACD;;AACD,WAAOO,MAAP;AACD;;AAEDI,EAAAA,SAAS,CAACL,WAAD,EAAcM,YAAd,EAA4B;AACnC,UAAMF,UAAU,GAAGJ,WAAW,GAAG,KAAKZ,IAAtC;;AACA,SAAK,IAAIM,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAG,KAAKN,IAAzB,EAA+B,EAAEM,CAAjC,EAAoC;AAClC,WAAKU,UAAU,GAAGV,CAAlB,IAAuBY,YAAY,CAACZ,CAAD,CAAnC;AACD;;AACD,WAAO,IAAP;AACD;;AAvE2C","sourcesContent":["import MathArray from './math-array';\nimport {checkNumber} from '../../lib/validators';\nimport {config} from '../../lib/common';\nimport assert from '../../lib/assert';\n\nexport default class Matrix extends MathArray {\n  // Defined by derived class\n  get ELEMENTS() {\n    assert(false);\n    return 0;\n  }\n\n  get RANK() {\n    assert(false);\n    return 0;\n  }\n\n  // fromObject(object) {\n  //   const array = object.elements;\n  //   return this.fromRowMajor(array);\n  // }\n\n  // toObject(object) {\n  //   const array = object.elements;\n  //   this.toRowMajor(array);\n  //   return object;\n  // }\n\n  toString() {\n    let string = '[';\n    if (config.printRowMajor) {\n      string += 'row-major:';\n      for (let row = 0; row < this.RANK; ++row) {\n        for (let col = 0; col < this.RANK; ++col) {\n          string += ` ${this[col * this.RANK + row]}`;\n        }\n      }\n    } else {\n      string += 'column-major:';\n      for (let i = 0; i < this.ELEMENTS; ++i) {\n        string += ` ${this[i]}`;\n      }\n    }\n    string += ']';\n    return string;\n  }\n\n  getElementIndex(row, col) {\n    return col * this.RANK + row;\n  }\n\n  // By default assumes row major indices\n  getElement(row, col) {\n    return this[col * this.RANK + row];\n  }\n\n  // By default assumes row major indices\n  setElement(row, col, value) {\n    this[col * this.RANK + row] = checkNumber(value);\n    return this;\n  }\n\n  getColumn(columnIndex, result = new Array(this.RANK).fill(-0)) {\n    const firstIndex = columnIndex * this.RANK;\n    for (let i = 0; i < this.RANK; ++i) {\n      result[i] = this[firstIndex + i];\n    }\n    return result;\n  }\n\n  setColumn(columnIndex, columnVector) {\n    const firstIndex = columnIndex * this.RANK;\n    for (let i = 0; i < this.RANK; ++i) {\n      this[firstIndex + i] = columnVector[i];\n    }\n    return this;\n  }\n}\n"],"file":"matrix.js"}
+{"version":3,"sources":["../../../../src/classes/base/matrix.ts"],"names":["MathArray","checkNumber","config","Matrix","toString","string","printRowMajor","row","RANK","col","i","ELEMENTS","getElementIndex","getElement","setElement","value","getColumn","columnIndex","result","Array","fill","firstIndex","setColumn","columnVector"],"mappings":"AAGA,OAAOA,SAAP,MAAsB,cAAtB;AACA,SAAQC,WAAR,QAA0B,sBAA1B;AACA,SAAQC,MAAR,QAAqB,kBAArB;AAGA,eAAe,MAAeC,MAAf,SAA8BH,SAA9B,CAAwC;AAcrDI,EAAAA,QAAQ,GAAW;AACjB,QAAIC,MAAM,GAAG,GAAb;;AACA,QAAIH,MAAM,CAACI,aAAX,EAA0B;AACxBD,MAAAA,MAAM,IAAI,YAAV;;AACA,WAAK,IAAIE,GAAG,GAAG,CAAf,EAAkBA,GAAG,GAAG,KAAKC,IAA7B,EAAmC,EAAED,GAArC,EAA0C;AACxC,aAAK,IAAIE,GAAG,GAAG,CAAf,EAAkBA,GAAG,GAAG,KAAKD,IAA7B,EAAmC,EAAEC,GAArC,EAA0C;AACxCJ,UAAAA,MAAM,eAAQ,KAAKI,GAAG,GAAG,KAAKD,IAAX,GAAkBD,GAAvB,CAAR,CAAN;AACD;AACF;AACF,KAPD,MAOO;AACLF,MAAAA,MAAM,IAAI,eAAV;;AACA,WAAK,IAAIK,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAG,KAAKC,QAAzB,EAAmC,EAAED,CAArC,EAAwC;AACtCL,QAAAA,MAAM,eAAQ,KAAKK,CAAL,CAAR,CAAN;AACD;AACF;;AACDL,IAAAA,MAAM,IAAI,GAAV;AACA,WAAOA,MAAP;AACD;;AAEDO,EAAAA,eAAe,CAACL,GAAD,EAAcE,GAAd,EAAmC;AAChD,WAAOA,GAAG,GAAG,KAAKD,IAAX,GAAkBD,GAAzB;AACD;;AAGDM,EAAAA,UAAU,CAACN,GAAD,EAAcE,GAAd,EAAmC;AAC3C,WAAO,KAAKA,GAAG,GAAG,KAAKD,IAAX,GAAkBD,GAAvB,CAAP;AACD;;AAGDO,EAAAA,UAAU,CAACP,GAAD,EAAcE,GAAd,EAA2BM,KAA3B,EAAgD;AACxD,SAAKN,GAAG,GAAG,KAAKD,IAAX,GAAkBD,GAAvB,IAA8BN,WAAW,CAACc,KAAD,CAAzC;AACA,WAAO,IAAP;AACD;;AAIDC,EAAAA,SAAS,CAACC,WAAD,EAAsBC,MAAgB,GAAG,IAAIC,KAAJ,CAAU,KAAKX,IAAf,EAAqBY,IAArB,CAA0B,CAAC,CAA3B,CAAzC,EAAkF;AACzF,UAAMC,UAAU,GAAGJ,WAAW,GAAG,KAAKT,IAAtC;;AACA,SAAK,IAAIE,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAG,KAAKF,IAAzB,EAA+B,EAAEE,CAAjC,EAAoC;AAClCQ,MAAAA,MAAM,CAACR,CAAD,CAAN,GAAY,KAAKW,UAAU,GAAGX,CAAlB,CAAZ;AACD;;AACD,WAAOQ,MAAP;AACD;;AAEDI,EAAAA,SAAS,CAACL,WAAD,EAAsBM,YAAtB,EAAkE;AACzE,UAAMF,UAAU,GAAGJ,WAAW,GAAG,KAAKT,IAAtC;;AACA,SAAK,IAAIE,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAG,KAAKF,IAAzB,EAA+B,EAAEE,CAAjC,EAAoC;AAClC,WAAKW,UAAU,GAAGX,CAAlB,IAAuBa,YAAY,CAACb,CAAD,CAAnC;AACD;;AACD,WAAO,IAAP;AACD;;AAhEoD","sourcesContent":["// Copyright (c) 2017 Uber Technologies, Inc.\n// MIT License\nimport {NumericArray} from '@math.gl/types';\nimport MathArray from './math-array';\nimport {checkNumber} from '../../lib/validators';\nimport {config} from '../../lib/common';\n\n/** Base class for matrices */\nexport default abstract class Matrix extends MathArray {\n  abstract get RANK(): number;\n\n  // fromObject(object) {\n  //   const array = object.elements;\n  //   return this.fromRowMajor(array);\n  // }\n  // toObject(object) {\n  //   const array = object.elements;\n  //   this.toRowMajor(array);\n  //   return object;\n  // }\n\n  // TODO better override formatString?\n  toString(): string {\n    let string = '[';\n    if (config.printRowMajor) {\n      string += 'row-major:';\n      for (let row = 0; row < this.RANK; ++row) {\n        for (let col = 0; col < this.RANK; ++col) {\n          string += ` ${this[col * this.RANK + row]}`;\n        }\n      }\n    } else {\n      string += 'column-major:';\n      for (let i = 0; i < this.ELEMENTS; ++i) {\n        string += ` ${this[i]}`;\n      }\n    }\n    string += ']';\n    return string;\n  }\n\n  getElementIndex(row: number, col: number): number {\n    return col * this.RANK + row;\n  }\n\n  // By default assumes row major indices\n  getElement(row: number, col: number): number {\n    return this[col * this.RANK + row];\n  }\n\n  // By default assumes row major indices\n  setElement(row: number, col: number, value: number): this {\n    this[col * this.RANK + row] = checkNumber(value);\n    return this;\n  }\n  getColumn<NumArrayT>(columnIndex: number, result: NumArrayT): NumArrayT;\n  getColumn(columnIndex: number): number[];\n\n  getColumn(columnIndex: number, result: number[] = new Array(this.RANK).fill(-0)): number[] {\n    const firstIndex = columnIndex * this.RANK;\n    for (let i = 0; i < this.RANK; ++i) {\n      result[i] = this[firstIndex + i];\n    }\n    return result;\n  }\n\n  setColumn(columnIndex: number, columnVector: Readonly<NumericArray>): this {\n    const firstIndex = columnIndex * this.RANK;\n    for (let i = 0; i < this.RANK; ++i) {\n      this[firstIndex + i] = columnVector[i];\n    }\n    return this;\n  }\n}\n"],"file":"matrix.js"}

package/dist/esm/classes/base/vector.js

@@ -2,16 +2,6 @@ import MathArray from './math-array';
 import { checkNumber } from '../../lib/validators';
 import assert from '../../lib/assert';
 export default class Vector extends MathArray {
-  get ELEMENTS() {
-    assert(false);
-    return 0;
-  }
-
-  copy(vector) {
-    assert(false);
-    return this;
-  }
-
   get x() {
     return this[0];
   }

package/dist/esm/classes/base/vector.js.map

@@ -1 +1 @@
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i < this.ELEMENTS; ++i) {\n      length += this[i] * this[i];\n    }\n    return length;\n  }\n\n  magnitudeSquared() {\n    return this.lengthSquared();\n  }\n\n  distance(mathArray) {\n    return Math.sqrt(this.distanceSquared(mathArray));\n  }\n\n  distanceSquared(mathArray) {\n    let length = 0;\n    for (let i = 0; i < this.ELEMENTS; ++i) {\n      const dist = this[i] - mathArray[i];\n      length += dist * dist;\n    }\n    return checkNumber(length);\n  }\n\n  dot(mathArray) {\n    let product = 0;\n    for (let i = 0; i < this.ELEMENTS; ++i) {\n      product += this[i] * mathArray[i];\n    }\n    return checkNumber(product);\n  }\n\n  // MODIFIERS\n\n  normalize() {\n    const length = this.magnitude();\n    if (length !== 0) {\n      for (let i = 0; i < this.ELEMENTS; ++i) {\n        this[i] /= length;\n      }\n    }\n    return this.check();\n  }\n\n  // negate() {\n  //   for (let i = 0; i < this.ELEMENTS; ++i) {\n  //     this[i] = -this[i];\n  //   }\n  //   return this.check();\n  // }\n\n  // inverse() {\n  //   for (let i = 0; i < this.ELEMENTS; ++i) {\n  //     this[i] = 1 / this[i];\n  //   }\n  //   return this.check();\n  // }\n\n  multiply(...vectors) {\n    for (const vector of vectors) {\n      for (let i = 0; i < this.ELEMENTS; ++i) {\n        this[i] *= vector[i];\n      }\n    }\n    return this.check();\n  }\n\n  divide(...vectors) {\n    for (const vector of vectors) {\n      for (let i = 0; i < this.ELEMENTS; ++i) {\n        this[i] /= vector[i];\n      }\n    }\n    return this.check();\n  }\n\n  // THREE.js compatibility\n  lengthSq() {\n    return this.lengthSquared();\n  }\n\n  distanceTo(vector) {\n    return this.distance(vector);\n  }\n\n  distanceToSquared(vector) {\n    return this.distanceSquared(vector);\n  }\n\n  getComponent(i) {\n    assert(i >= 0 && i < this.ELEMENTS, 'index is out of range');\n    return checkNumber(this[i]);\n  }\n\n  setComponent(i, value) {\n    assert(i >= 0 && i < this.ELEMENTS, 'index is out of range');\n    this[i] = value;\n    return this.check();\n  }\n\n  addVectors(a, b) {\n    return this.copy(a).add(b);\n  }\n\n  subVectors(a, b) {\n    return this.copy(a).subtract(b);\n  }\n\n  multiplyVectors(a, b) {\n    return this.copy(a).multiply(b);\n  }\n\n  addScaledVector(a, b) {\n    // @ts-ignore error TS2351: Cannot use 'new' with an expression whose type lacks a call or construct signature.\n    return this.add(new this.constructor(a).multiplyScalar(b));\n  }\n}\n"],"file":"vector.js"}
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Copyright (c) 2017 Uber Technologies, Inc.\n// MIT License\nimport {NumericArray} from '@math.gl/types';\nimport MathArray from './math-array';\nimport {checkNumber} from '../../lib/validators';\nimport assert from '../../lib/assert';\n\n/** Base class for vectors with at least 2 elements */\nexport default abstract class Vector extends MathArray {\n  // ACCESSORS\n\n  get x(): number {\n    return this[0];\n  }\n\n  set x(value: number) {\n    this[0] = checkNumber(value);\n  }\n\n  get y(): number {\n    return this[1];\n  }\n\n  set y(value: number) {\n    this[1] = checkNumber(value);\n  }\n\n  /**\n   * Returns the length of the vector from the origin to the point described by this vector\n   *\n   * @note `length` is a reserved word for Arrays, so `v.length()` will return number of elements\n   * Instead we provide `len` and `magnitude`\n   */\n  len(): number {\n    return Math.sqrt(this.lengthSquared());\n  }\n\n  /**\n   * Returns the length of the vector from the origin to the point described by this vector\n   */\n  magnitude(): number {\n    return this.len();\n  }\n\n  /**\n   * Returns the squared length of the vector from the origin to the point described by this vector\n   */\n  lengthSquared(): number {\n    let length = 0;\n    for (let i = 0; i < this.ELEMENTS; ++i) {\n      length += this[i] * this[i];\n    }\n    return length;\n  }\n\n  /**\n   * Returns the squared length of the vector from the origin to the point described by this vector\n   */\n  magnitudeSquared(): number {\n    return this.lengthSquared();\n  }\n\n  distance(mathArray: Readonly<NumericArray>): number {\n    return Math.sqrt(this.distanceSquared(mathArray));\n  }\n\n  distanceSquared(mathArray: Readonly<NumericArray>): number {\n    let length = 0;\n    for (let i = 0; i < this.ELEMENTS; ++i) {\n      const dist = this[i] - mathArray[i];\n      length += dist * dist;\n    }\n    return checkNumber(length);\n  }\n\n  dot(mathArray: Readonly<NumericArray>): number {\n    let product = 0;\n    for (let i = 0; i < this.ELEMENTS; ++i) {\n      product += this[i] * mathArray[i];\n    }\n    return checkNumber(product);\n  }\n\n  // MODIFIERS\n\n  normalize(): this {\n    const length = this.magnitude();\n    if (length !== 0) {\n      for (let i = 0; i < this.ELEMENTS; ++i) {\n        this[i] /= length;\n      }\n    }\n    return this.check();\n  }\n\n  multiply(...vectors: Readonly<NumericArray>[]): this {\n    for (const vector of vectors) {\n      for (let i = 0; i < this.ELEMENTS; ++i) {\n        this[i] *= vector[i];\n      }\n    }\n    return this.check();\n  }\n\n  divide(...vectors: Readonly<NumericArray>[]): this {\n    for (const vector of vectors) {\n      for (let i = 0; i < this.ELEMENTS; ++i) {\n        this[i] /= vector[i];\n      }\n    }\n    return this.check();\n  }\n\n  // THREE.js compatibility\n\n  lengthSq(): number {\n    return this.lengthSquared();\n  }\n  distanceTo(vector: Readonly<NumericArray>): number {\n    return this.distance(vector);\n  }\n  distanceToSquared(vector: Readonly<NumericArray>): number {\n    return this.distanceSquared(vector);\n  }\n\n  getComponent(i: number): number {\n    assert(i >= 0 && i < this.ELEMENTS, 'index is out of range');\n    return checkNumber(this[i]);\n  }\n\n  setComponent(i: number, value: number): this {\n    assert(i >= 0 && i < this.ELEMENTS, 'index is out of range');\n    this[i] = value;\n    return this.check();\n  }\n\n  addVectors(a: Readonly<NumericArray>, b: Readonly<NumericArray>): this {\n    return this.copy(a).add(b);\n  }\n\n  subVectors(a: Readonly<NumericArray>, b: Readonly<NumericArray>): this {\n    return this.copy(a).subtract(b);\n  }\n\n  multiplyVectors(a: Readonly<NumericArray>, b: Readonly<NumericArray>): this {\n    return this.copy(a).multiply(b);\n  }\n\n  addScaledVector(a: Readonly<NumericArray>, b: number): this {\n    // @ts-expect-error error TS2351: Cannot use 'new' with an expression whose type lacks a call or construct signature.\n    return this.add(new this.constructor(a).multiplyScalar(b));\n  }\n}\n"],"file":"vector.js"}

package/dist/esm/classes/euler.js

@@ -1,61 +1,59 @@
 import MathArray from './base/math-array';
+import Quaternion from './quaternion';
 import { clamp } from '../lib/common';
 import { checkNumber } from '../lib/validators';
-import Quaternion from './quaternion';
 const ERR_UNKNOWN_ORDER = 'Unknown Euler angle order';
 const ALMOST_ONE = 0.99999;
+var RotationOrder;
 
-function validateOrder(value) {
-  return value >= 0 && value < 6;
-}
-
-function checkOrder(value) {
-  if (value < 0 && value >= 6) {
-    throw new Error(ERR_UNKNOWN_ORDER);
-  }
-
-  return value;
-}
+(function (RotationOrder) {
+  RotationOrder[RotationOrder["ZYX"] = 0] = "ZYX";
+  RotationOrder[RotationOrder["YXZ"] = 1] = "YXZ";
+  RotationOrder[RotationOrder["XZY"] = 2] = "XZY";
+  RotationOrder[RotationOrder["ZXY"] = 3] = "ZXY";
+  RotationOrder[RotationOrder["YZX"] = 4] = "YZX";
+  RotationOrder[RotationOrder["XYZ"] = 5] = "XYZ";
+})(RotationOrder || (RotationOrder = {}));
 
 export default class Euler extends MathArray {
   static get ZYX() {
-    return 0;
+    return RotationOrder.ZYX;
   }
 
   static get YXZ() {
-    return 1;
+    return RotationOrder.YXZ;
   }
 
   static get XZY() {
-    return 2;
+    return RotationOrder.XZY;
   }
 
   static get ZXY() {
-    return 3;
+    return RotationOrder.ZXY;
   }
 
   static get YZX() {
-    return 4;
+    return RotationOrder.YZX;
   }
 
   static get XYZ() {
-    return 5;
+    return RotationOrder.XYZ;
   }
 
   static get RollPitchYaw() {
-    return 0;
+    return RotationOrder.ZYX;
   }
 
   static get DefaultOrder() {
-    return Euler.ZYX;
+    return RotationOrder.ZYX;
   }
 
   static get RotationOrders() {
-    return ['ZYX', 'YXZ', 'XZY', 'ZXY', 'YZX', 'XYZ'];
+    return RotationOrder;
   }
 
   static rotationOrder(order) {
-    return Euler.RotationOrders[order];
+    return RotationOrder[order];
   }
 
   get ELEMENTS() {
@@ -75,17 +73,21 @@ export default class Euler extends MathArray {
   fromQuaternion(quaternion) {
     const [x, y, z, w] = quaternion;
     const ysqr = y * y;
-    const t0 = -2.0 * (ysqr + z * z) + 1.0;
-    const t1 = +2.0 * (x * y + w * z);
-    let t2 = -2.0 * (x * z - w * y);
-    const t3 = +2.0 * (y * z + w * x);
-    const t4 = -2.0 * (x * x + ysqr) + 1.0;
-    t2 = t2 > 1.0 ? 1.0 : t2;
-    t2 = t2 < -1.0 ? -1.0 : t2;
+    const t0 = -2 * (ysqr + z * z) + 1;
+    const t1 = +2 * (x * y + w * z);
+    let t2 = -2 * (x * z - w * y);
+    const t3 = +2 * (y * z + w * x);
+    const t4 = -2 * (x * x + ysqr) + 1;
+    t2 = t2 > 1 ? 1 : t2;
+    t2 = t2 < -1 ? -1 : t2;
     const roll = Math.atan2(t3, t4);
     const pitch = Math.asin(t2);
     const yaw = Math.atan2(t1, t0);
-    return new Euler(roll, pitch, yaw, Euler.RollPitchYaw);
+    return this.set(roll, pitch, yaw, Euler.RollPitchYaw);
+  }
+
+  fromObject(object) {
+    throw new Error('not implemented');
   }
 
   copy(array) {
@@ -251,7 +253,7 @@ export default class Euler extends MathArray {
   }
 
   fromRollPitchYaw(roll, pitch, yaw) {
-    return this.set(roll, pitch, yaw, Euler.ZYX);
+    return this.set(roll, pitch, yaw, RotationOrder.ZYX);
   }
 
   fromRotationMatrix(m, order = Euler.DefaultOrder) {
@@ -267,23 +269,23 @@ export default class Euler extends MathArray {
   getQuaternion() {
     const q = new Quaternion();
 
-    switch (this[3]) {
-      case Euler.XYZ:
+    switch (this[4]) {
+      case RotationOrder.XYZ:
         return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);
 
-      case Euler.YXZ:
+      case RotationOrder.YXZ:
         return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);
 
-      case Euler.ZXY:
+      case RotationOrder.ZXY:
         return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);
 
-      case Euler.ZYX:
+      case RotationOrder.ZYX:
         return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);
 
-      case Euler.YZX:
+      case RotationOrder.YZX:
         return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);
 
-      case Euler.XZY:
+      case RotationOrder.XZY:
         return q.rotateX(this[0]).rotateZ(this[1]).rotateY(this[2]);
 
       default:
@@ -292,16 +294,15 @@ export default class Euler extends MathArray {
   }
 
   _fromRotationMatrix(m, order = Euler.DefaultOrder) {
-    const te = m.elements;
-    const m11 = te[0],
-          m12 = te[4],
-          m13 = te[8];
-    const m21 = te[1],
-          m22 = te[5],
-          m23 = te[9];
-    const m31 = te[2],
-          m32 = te[6],
-          m33 = te[10];
+    const m11 = m[0],
+          m12 = m[4],
+          m13 = m[8];
+    const m21 = m[1],
+          m22 = m[5],
+          m23 = m[9];
+    const m31 = m[2],
+          m32 = m[6],
+          m33 = m[10];
     order = order || this[3];
 
     switch (order) {
@@ -541,4 +542,16 @@ export default class Euler extends MathArray {
   }
 
 }
+
+function validateOrder(value) {
+  return value >= 0 && value < 6;
+}
+
+function checkOrder(value) {
+  if (value < 0 && value >= 6) {
+    throw new Error(ERR_UNKNOWN_ORDER);
+  }
+
+  return value;
+}
 //# sourceMappingURL=euler.js.map

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